+ python -m lidar_slam --no-model /working/910217d2-2dd4-4806-a3b7-a019c7e66750 Lidar SLAM 0.0.15 ===================================================== The recording path: /working/910217d2-2dd4-4806-a3b7-a019c7e66750 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 0.028040942 Adjusted end_distance from 9.223372036854776e+18 to 199.178040942 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.028040942 meters Centerline goodness : 0.994598 Centerline is valid? [0, True] SLAMing on 0.058040942 meters Centerline goodness : 0.994204 Centerline is valid? [True, True] Translation: X:0.03, Y:0.00, Z:-0.00 [[ 0.99999893 -0.00146053 0. 0.02949945] [ 0.00146053 0.99999893 0. 0.00476855] [ 0. 0. 1. -0.00278716] [ 0. 0. 0. 1. ]] SLAMing on 0.088040942 meters Centerline goodness : 0.993818 Centerline is valid? [True, True] Translation: X:0.07, Y:0.02, Z:-0.01 [[ 0.99995215 -0.00978206 0. 0.06502114] [ 0.00978206 0.99995215 0. 0.02336922] [ 0. 0. 1. -0.01417312] [ 0. 0. 0. 1. ]] SLAMing on 0.118040942 meters Centerline goodness : 0.992518 Centerline is valid? [True, True] Translation: X:0.09, Y:0.02, Z:-0.01 [[ 0.99999603 -0.00281636 0. 0.08612951] [ 0.00281636 0.99999603 0. 0.02198828] [ 0. 0. 1. -0.00546451] [ 0. 0. 0. 1. ]] SLAMing on 0.148040942 meters Centerline goodness : 0.990518 Centerline is valid? [True, True] Translation: X:0.13, Y:0.02, Z:-0.00 [[ 0.99999696 0.00246432 0. 0.13080058] [-0.00246432 0.99999696 0. 0.02065699] [ 0. 0. 1. -0.00363974] [ 0. 0. 0. 1. ]] SLAMing on 0.17804094199999998 meters Centerline goodness : 0.986606 Centerline is valid? [True, True] Translation: X:0.16, Y:0.03, Z:-0.00 [[ 0.9999964 0.00268469 0. 0.16174453] [-0.00268469 0.9999964 0. 0.02999645] [ 0. 0. 1. -0.00299724] [ 0. 0. 0. 1. ]] SLAMing on 0.208040942 meters Centerline goodness : 0.180530 Centerline is valid? [True, False] Translation: X:0.18, Y:0.04, Z:-0.00 [[ 0.99999608 0.00151282 0.00235825 0.18103201] [-0.00149835 0.9999801 -0.00612754 0.03760168] [-0.00236747 0.00612398 0.99997845 -0.00421528] [ 0. 0. 0. 1. ]] SLAMing on 0.23804094199999998 meters Centerline goodness : 0.188212 Centerline is valid? [False, False] Translation: X:0.20, Y:0.04, Z:-0.00 [[ 0.99998655 0.00270243 0.00442753 0.20057527] [-0.00266522 0.99996127 -0.00838784 0.04264543] [-0.00445003 0.00837592 0.99995502 -0.00465606] [ 0. 0. 0. 1. ]] SLAMing on 0.268040942 meters Centerline goodness : 0.977814 Centerline is valid? [False, True] Translation: X:0.22, Y:0.05, Z:-0.01 [[ 0.99996991 0.00418297 0.00653249 0.22088364] [-0.0041186 0.99994313 -0.00983699 0.04715586] [-0.00657326 0.00980979 0.99993028 -0.00548996] [ 0. 0. 0. 1. ]] SLAMing on 0.29804094200000003 meters Centerline goodness : 0.968798 Centerline is valid? [True, True] Translation: X:0.25, Y:0.05, Z:0.00 [[ 9.99955932e-01 6.42016479e-03 6.84954765e-03 2.53644910e-01] [-6.41876908e-03 9.99979374e-01 -2.25730758e-04 4.92188020e-02] [-6.85085560e-03 1.81755146e-04 9.99976516e-01 2.82263416e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.328040942 meters Centerline goodness : 0.298648 Centerline is valid? [True, False] Translation: X:0.27, Y:0.06, Z:-0.00 [[ 0.99994857 0.00494095 0.00885698 0.27343486] [-0.0048852 0.99996819 -0.00630461 0.05612395] [-0.00888785 0.00626102 0.9999409 -0.0010247 ] [ 0. 0. 0. 1. ]] SLAMing on 0.358040942 meters Centerline goodness : 0.244186 Centerline is valid? [False, False] Translation: X:0.30, Y:0.07, Z:-0.00 [[ 0.99995383 0.00392137 0.00877303 0.29822753] [-0.00382823 0.9999364 -0.01060876 0.06563873] [-0.00881408 0.01057469 0.99990524 -0.00284422] [ 0. 0. 0. 1. ]] SLAMing on 0.388040942 meters Centerline goodness : 0.242904 Centerline is valid? [False, False] Translation: X:0.32, Y:0.07, Z:-0.00 [[ 0.9999421 0.00454829 0.00975263 0.32004795] [-0.00442988 0.99991663 -0.01212911 0.06959519] [-0.00980698 0.0120852 0.99987888 -0.0042446 ] [ 0. 0. 0. 1. ]] SLAMing on 0.418040942 meters Centerline goodness : 0.245837 Centerline is valid? [False, False] Translation: X:0.36, Y:0.08, Z:-0.00 [[ 0.99994635 0.00467568 0.00924336 0.36118218] [-0.00453345 0.99987192 -0.01534873 0.07809039] [-0.00931395 0.015306 0.99983948 -0.00316776] [ 0. 0. 0. 1. ]] SLAMing on 0.448040942 meters Centerline goodness : 0.238552 Centerline is valid? [False, False] Translation: X:0.38, Y:0.08, Z:-0.00 [[ 0.99992364 0.00557752 0.01102721 0.38210129] [-0.00540639 0.99986544 -0.01548804 0.08075447] [-0.01111211 0.01542724 0.99981924 -0.0041112 ] [ 0. 0. 0. 1. ]] SLAMing on 0.47804094199999997 meters Centerline goodness : 0.242944 Centerline is valid? [False, False] Translation: X:0.39, Y:0.08, Z:-0.00 [[ 0.99992533 0.0071651 0.00989896 0.38556102] [-0.00703707 0.99989192 -0.01290844 0.08238385] [-0.00999038 0.01283782 0.99986768 -0.00479637] [ 0. 0. 0. 1. ]] SLAMing on 0.5080409419999999 meters Centerline goodness : 0.258559 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:-0.00 [[ 0.99997162 0.00522055 0.00543244 0.39603551] [-0.00517223 0.99994727 -0.00887167 0.08865886] [-0.00547847 0.00884332 0.99994589 -0.0011198 ] [ 0. 0. 0. 1. ]] SLAMing on 0.538040942 meters Centerline goodness : 0.260665 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:-0.00 [[ 0.999973 0.00616241 0.0040019 0.40034995] [-0.00613486 0.99995766 -0.00685882 0.09182391] [-0.00404399 0.00683408 0.99996847 -0.00187211] [ 0. 0. 0. 1. ]] SLAMing on 0.568040942 meters Centerline goodness : 0.254106 Centerline is valid? [False, False] Translation: X:0.40, Y:0.10, Z:-0.00 [[ 0.99998435 0.00481193 0.00285288 0.40325207] [-0.00478858 0.99995545 -0.00813468 0.09710789] [-0.0028919 0.00812089 0.99996284 -0.00182401] [ 0. 0. 0. 1. ]] SLAMing on 0.5980409419999999 meters Centerline goodness : 0.255835 Centerline is valid? [False, False] Translation: X:0.41, Y:0.10, Z:0.00 [[ 0.99999487 0.00255248 -0.00193382 0.41482286] [-0.00256134 0.99998617 -0.00459399 0.10314177] [ 0.00192207 0.00459892 0.99998758 0.00108432] [ 0. 0. 0. 1. ]] SLAMing on 0.6280409419999999 meters Centerline goodness : 0.251688 Centerline is valid? [False, False] Translation: X:0.42, Y:0.11, Z:0.00 [[ 9.99990929e-01 2.79537008e-03 -3.21355907e-03 4.19107849e-01] [-2.80525963e-03 9.99991331e-01 -3.07706802e-03 1.05934054e-01] [ 3.20492967e-03 3.08605498e-03 9.99990102e-01 2.36882387e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.658040942 meters Centerline goodness : 0.251260 Centerline is valid? [False, False] Translation: X:0.42, Y:0.11, Z:0.00 [[ 9.99989705e-01 1.29026114e-03 -4.35035907e-03 4.21810722e-01] [-1.30758971e-03 9.99991214e-01 -3.98275992e-03 1.09823887e-01] [ 4.34518204e-03 3.98840740e-03 9.99982606e-01 7.66947976e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6880409419999999 meters Centerline goodness : 0.255388 Centerline is valid? [False, False] Translation: X:0.43, Y:0.12, Z:0.00 [[ 0.99996062 -0.00368532 -0.00807308 0.42995775] [ 0.00364448 0.99998052 -0.00506806 0.1182014 ] [ 0.0080916 0.00503844 0.99995457 0.00389642] [ 0. 0. 0. 1. ]] SLAMing on 0.7180409419999999 meters Centerline goodness : 0.256242 Centerline is valid? [False, False] Translation: X:0.43, Y:0.12, Z:0.00 [[ 0.99994228 -0.00553227 -0.00920982 0.43310346] [ 0.00547698 0.99996689 -0.00601784 0.1221043 ] [ 0.0092428 0.00596705 0.99993948 0.00420987] [ 0. 0. 0. 1. ]] SLAMing on 0.7480409419999999 meters Centerline goodness : 0.257356 Centerline is valid? [False, False] Translation: X:0.44, Y:0.13, Z:0.00 [[ 0.99991932 -0.00739733 -0.01032604 0.43624371] [ 0.00732506 0.99994853 -0.00701933 0.12607079] [ 0.01037743 0.00694313 0.99992205 0.0045047 ] [ 0. 0. 0. 1. ]] SLAMing on 0.778040942 meters Centerline goodness : 0.252409 Centerline is valid? [False, False] Translation: X:0.45, Y:0.13, Z:0.01 [[ 0.99982834 -0.0120882 -0.01404132 0.44681448] [ 0.01199142 0.9999039 -0.00695627 0.13410279] [ 0.01412406 0.00678671 0.99987722 0.00575175] [ 0. 0. 0. 1. ]] SLAMing on 0.808040942 meters Centerline goodness : 0.252040 Centerline is valid? [False, False] Translation: X:0.45, Y:0.14, Z:0.01 [[ 0.99978972 -0.01397056 -0.0150112 0.4500395 ] [ 0.01384876 0.99987058 -0.00818745 0.13844053] [ 0.01512364 0.00797784 0.9998538 0.00556304] [ 0. 0. 0. 1. ]] SLAMing on 0.8380409419999999 meters Centerline goodness : 0.254155 Centerline is valid? [False, False] Translation: X:0.45, Y:0.14, Z:0.00 [[ 0.99976813 -0.01425061 -0.01614356 0.45475946] [ 0.01413824 0.99987517 -0.00705354 0.14186825] [ 0.01624206 0.00682367 0.9998448 0.00442253] [ 0. 0. 0. 1. ]] SLAMing on 0.8680409419999999 meters Centerline goodness : 0.253749 Centerline is valid? [False, False] Translation: X:0.47, Y:0.15, Z:0.00 [[ 9.99792262e-01 -1.73746311e-02 -1.06562244e-02 4.73100588e-01] [ 1.73845811e-02 9.99848522e-01 8.41800115e-04 1.48535959e-01] [ 1.06399843e-02 -1.02687924e-03 9.99942866e-01 3.58770927e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.898040942 meters Centerline goodness : 0.840696 Centerline is valid? [False, False] Translation: X:0.49, Y:0.16, Z:-0.00 [[ 9.99815219e-01 -1.81114549e-02 -6.44232081e-03 4.91302760e-01] [ 1.80965952e-02 9.99833464e-01 -2.35744302e-03 1.56283714e-01] [ 6.48394466e-03 2.24042333e-03 9.99976469e-01 -6.08915209e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9280409419999999 meters Centerline goodness : 0.136081 Centerline is valid? [False, False] Translation: X:0.50, Y:0.17, Z:0.00 [[ 9.99753445e-01 -1.96842301e-02 -1.02752432e-02 5.01313096e-01] [ 1.96848373e-02 9.99806234e-01 -4.20500745e-05 1.65793287e-01] [ 1.02740799e-02 -1.60226784e-04 9.99947207e-01 1.44804142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9580409419999999 meters Centerline goodness : 0.133503 Centerline is valid? [False, False] Translation: X:0.52, Y:0.17, Z:-0.00 [[ 9.99761047e-01 -2.10201080e-02 -6.00038847e-03 5.19309606e-01] [ 2.09908467e-02 9.99767667e-01 -4.89858973e-03 1.73376523e-01] [ 6.10196327e-03 4.77146596e-03 9.99969999e-01 -3.54027037e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9880409419999999 meters Centerline goodness : 0.137634 Centerline is valid? [False, False] Translation: X:0.52, Y:0.18, Z:-0.00 [[ 0.99976285 -0.02069946 -0.00676515 0.52366012] [ 0.02067644 0.99978025 -0.00345534 0.17679186] [ 0.00683519 0.00331464 0.99997115 -0.00163784] [ 0. 0. 0. 1. ]] SLAMing on 1.018040942 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.048040942 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.0780409420000001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.1080409420000001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.138040942 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.168040942 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.198040942 meters Centerline goodness : 0.120811 Centerline is valid? [False, False] Translation: X:0.63, Y:0.21, Z:-0.00 [[ 9.99705883e-01 -2.41182641e-02 2.54116171e-03 6.29620280e-01] [ 2.41169159e-02 9.99708988e-01 5.59886079e-04 2.11415882e-01] [-2.55392569e-03 -4.98436423e-04 9.99996615e-01 -1.82769889e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.228040942 meters Centerline goodness : 0.122779 Centerline is valid? [False, False] Translation: X:0.64, Y:0.22, Z:-0.00 [[ 9.99591717e-01 -2.85612934e-02 -8.07315108e-04 6.42645234e-01] [ 2.85636683e-02 9.99587163e-01 3.10169512e-03 2.17530415e-01] [ 7.18393394e-04 -3.12348863e-03 9.99994864e-01 -2.17176547e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.258040942 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.288040942 meters Centerline goodness : 0.132849 Centerline is valid? [False, False] Translation: X:0.66, Y:0.22, Z:-0.00 [[ 0.99944855 -0.03286405 -0.00474975 0.65692451] [ 0.03289199 0.99944132 0.00592926 0.22359649] [ 0.00455223 -0.00608222 0.99997114 -0.00184841] [ 0. 0. 0. 1. ]] SLAMing on 1.318040942 meters Centerline goodness : 0.876953 Centerline is valid? [False, False] Translation: X:0.67, Y:0.23, Z:-0.00 [[ 0.99928479 -0.03695857 -0.00799865 0.66894422] [ 0.03703235 0.99927097 0.0092812 0.22900309] [ 0.00764979 -0.00957077 0.99992494 -0.0016539 ] [ 0. 0. 0. 1. ]] SLAMing on 1.348040942 meters Centerline goodness : 0.259588 Centerline is valid? [False, False] Translation: X:0.67, Y:0.23, Z:-0.00 [[ 0.99930037 -0.03617815 -0.0094824 0.67448069] [ 0.03631503 0.9992325 0.01468406 0.2276744 ] [ 0.00894388 -0.01501814 0.99984722 -0.00146947] [ 0. 0. 0. 1. ]] SLAMing on 1.378040942 meters Centerline goodness : 0.137222 Centerline is valid? [False, False] Translation: X:0.68, Y:0.23, Z:-0.00 [[ 0.9992206 -0.03811456 -0.01026958 0.67787349] [ 0.03826028 0.99916422 0.01438817 0.22818099] [ 0.0097126 -0.01476987 0.99984375 -0.00206734] [ 0. 0. 0. 1. ]] SLAMing on 1.408040942 meters Centerline goodness : 0.173889 Centerline is valid? [False, False] Translation: X:0.68, Y:0.23, Z:-0.00 [[ 0.99910868 -0.04059195 -0.01158144 0.68466735] [ 0.04076236 0.99905809 0.01487856 0.22785375] [ 0.01096658 -0.01533738 0.99982223 -0.00431728] [ 0. 0. 0. 1. ]] SLAMing on 1.438040942 meters Centerline goodness : 0.131850 Centerline is valid? [False, False] Translation: X:0.69, Y:0.23, Z:-0.00 [[ 0.99903622 -0.04206992 -0.01251989 0.68833371] [ 0.04225851 0.99899108 0.0152003 0.22851983] [ 0.01186779 -0.01571473 0.99980608 -0.00473556] [ 0. 0. 0. 1. ]] SLAMing on 1.468040942 meters Centerline goodness : 0.145559 Centerline is valid? [False, False] Translation: X:0.69, Y:0.23, Z:-0.01 [[ 0.9989081 -0.04451843 -0.0141675 0.69495998] [ 0.04474744 0.99886567 0.01628022 0.22975411] [ 0.01342666 -0.0168964 0.99976709 -0.00534401] [ 0. 0. 0. 1. ]] SLAMing on 1.498040942 meters Centerline goodness : 0.156469 Centerline is valid? [False, False] Translation: X:0.70, Y:0.23, Z:-0.01 [[ 0.99883832 -0.0457412 -0.01515789 0.69860744] [ 0.04599501 0.99879969 0.01684156 0.2296586 ] [ 0.01436934 -0.01751918 0.99974327 -0.00577986] [ 0. 0. 0. 1. ]] SLAMing on 1.528040942 meters Centerline goodness : 0.165055 Centerline is valid? [False, False] Translation: X:0.70, Y:0.23, Z:-0.01 [[ 0.99876002 -0.04709834 -0.01612958 0.70230805] [ 0.04737557 0.99872802 0.01725977 0.22911803] [ 0.01529615 -0.01800252 0.99972093 -0.00646993] [ 0. 0. 0. 1. ]] SLAMing on 1.558040942 meters Centerline goodness : 0.202823 Centerline is valid? [False, False] Translation: X:0.71, Y:0.23, Z:-0.01 [[ 0.99862633 -0.04938266 -0.01751595 0.70998483] [ 0.04972715 0.99856637 0.01980934 0.22501781] [ 0.0165126 -0.02065314 0.99965033 -0.00848849] [ 0. 0. 0. 1. ]] SLAMing on 1.5880409420000001 meters Centerline goodness : 0.169681 Centerline is valid? [False, False] Translation: X:0.71, Y:0.23, Z:-0.01 [[ 0.99838532 -0.0538266 -0.01815059 0.71317423] [ 0.05411831 0.99840662 0.01598242 0.22519201] [ 0.01726139 -0.01693889 0.99970752 -0.00977297] [ 0. 0. 0. 1. ]] SLAMing on 1.618040942 meters Centerline goodness : 0.177684 Centerline is valid? [False, False] Translation: X:0.72, Y:0.22, Z:-0.01 [[ 0.99829811 -0.05499786 -0.01939385 0.71827455] [ 0.05532944 0.99832349 0.01699624 0.22282261] [ 0.01842658 -0.01804036 0.99966745 -0.01145283] [ 0. 0. 0. 1. ]] SLAMing on 1.648040942 meters Centerline goodness : 0.164723 Centerline is valid? [False, False] Translation: X:0.75, Y:0.22, Z:-0.01 [[ 0.99801177 -0.0585977 -0.0232125 0.74578558] [ 0.05901717 0.99809795 0.01781747 0.22047404] [ 0.02212428 -0.01915198 0.99957177 -0.01301279] [ 0. 0. 0. 1. ]] SLAMing on 1.678040942 meters Centerline goodness : 0.175658 Centerline is valid? [False, False] Translation: X:0.75, Y:0.22, Z:-0.02 [[ 0.99788343 -0.06020626 -0.02457359 0.75133989] [ 0.06063602 0.99801287 0.01713419 0.21969 ] [ 0.02349317 -0.01858797 0.99955118 -0.01568136] [ 0. 0. 0. 1. ]] SLAMing on 1.708040942 meters Centerline goodness : 0.691774 Centerline is valid? [False, False] Translation: X:0.77, Y:0.22, Z:-0.02 [[ 0.99785505 -0.05974412 -0.02675714 0.76696961] [ 0.06008288 0.99812078 0.01203995 0.21591882] [ 0.02598754 -0.01362177 0.99956945 -0.01789138] [ 0. 0. 0. 1. ]] SLAMing on 1.738040942 meters Centerline goodness : 0.164882 Centerline is valid? [False, False] Translation: X:0.78, Y:0.22, Z:-0.02 [[ 0.99792617 -0.05902242 -0.02568507 0.78214759] [ 0.05913278 0.99824379 0.00355792 0.21705593] [ 0.02542996 -0.00506937 0.99966375 -0.02086952] [ 0. 0. 0. 1. ]] SLAMing on 1.768040942 meters Centerline goodness : 0.181210 Centerline is valid? [False, False] Translation: X:0.79, Y:0.22, Z:-0.02 [[ 0.99781761 -0.06036318 -0.0267637 0.78710866] [ 0.0604587 0.99816685 0.00277323 0.21554514] [ 0.02654723 -0.00438528 0.99963794 -0.02359696] [ 0. 0. 0. 1. ]] SLAMing on 1.798040942 meters Centerline goodness : 0.175094 Centerline is valid? [False, False] Translation: X:0.81, Y:0.21, Z:-0.03 [[ 0.99802747 -0.057224 -0.0258182 0.80509787] [ 0.05728205 0.99835689 0.00151396 0.21056177] [ 0.02568915 -0.00298989 0.99966551 -0.02936199] [ 0. 0. 0. 1. ]] SLAMing on 1.828040942 meters Centerline goodness : 0.169251 Centerline is valid? [False, False] Translation: X:0.82, Y:0.21, Z:-0.03 [[ 9.98227539e-01 -5.32955453e-02 -2.64833107e-02 8.20591771e-01] [ 5.32508538e-02 9.98578306e-01 -2.39043403e-03 2.09019571e-01] [ 2.65730591e-02 9.75938172e-04 9.99646398e-01 -3.21387688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.858040942 meters Centerline goodness : 0.189378 Centerline is valid? [False, False] Translation: X:0.82, Y:0.21, Z:-0.03 [[ 9.98242848e-01 -5.24611920e-02 -2.75506625e-02 8.24549877e-01] [ 5.24627773e-02 9.98622658e-01 -6.65784155e-04 2.05647697e-01] [ 2.75476437e-02 -7.80769999e-04 9.99620187e-01 -3.40633764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.888040942 meters Centerline goodness : 0.139989 Centerline is valid? [False, False] Translation: X:0.86, Y:0.20, Z:-0.04 [[ 9.98485960e-01 -4.83909571e-02 -2.61553671e-02 8.59179292e-01] [ 4.83704229e-02 9.98828460e-01 -1.41756796e-03 1.99747049e-01] [ 2.61933225e-02 1.50275532e-04 9.99656885e-01 -3.70982800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.918040942 meters Centerline goodness : 0.936250 Centerline is valid? [False, False] Translation: X:0.86, Y:0.20, Z:-0.04 [[ 9.98501076e-01 -4.74914438e-02 -2.72059561e-02 8.63049853e-01] [ 4.75209084e-02 9.98870148e-01 4.37133162e-04 1.95878870e-01] [ 2.71544573e-02 -1.72932968e-03 9.99629754e-01 -3.89114714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.948040942 meters Centerline goodness : 0.915841 Centerline is valid? [False, False] Translation: X:0.88, Y:0.19, Z:-0.04 [[ 9.98694612e-01 -4.23282626e-02 -2.85900334e-02 8.78456688e-01] [ 4.23737102e-02 9.99101345e-01 9.85379943e-04 1.87587614e-01] [ 2.85226314e-02 -2.19555943e-03 9.99590736e-01 -4.19536147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.978040942 meters Centerline goodness : 0.925819 Centerline is valid? [False, False] Translation: X:0.88, Y:0.19, Z:-0.04 [[ 9.98628240e-01 -4.32127716e-02 -2.95684570e-02 8.82637704e-01] [ 4.32443222e-02 9.99064435e-01 4.28094648e-04 1.85910838e-01] [ 2.95222947e-02 -1.70617529e-03 9.99562666e-01 -4.41303777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.008040942 meters Centerline goodness : 0.916592 Centerline is valid? [False, False] Translation: X:0.90, Y:0.19, Z:-0.05 [[ 0.99880825 -0.0407916 -0.026798 0.89626376] [ 0.04063409 0.99915362 -0.00639637 0.18591492] [ 0.02703623 0.00529983 0.9996204 -0.04698332] [ 0. 0. 0. 1. ]] SLAMing on 2.038040942 meters Centerline goodness : 0.947066 Centerline is valid? [False, False] Translation: X:0.91, Y:0.19, Z:-0.05 [[ 0.99903115 -0.03782283 -0.02249863 0.90849261] [ 0.03754189 0.99921331 -0.01278138 0.18546759] [ 0.02296436 0.01192435 0.99966517 -0.04998558] [ 0. 0. 0. 1. ]] SLAMing on 2.068040942 meters Centerline goodness : 0.951813 Centerline is valid? [False, True] Translation: X:0.93, Y:0.18, Z:-0.05 [[ 0.99916824 -0.03487953 -0.02112439 0.93055828] [ 0.03478298 0.99938277 -0.00492092 0.17549784] [ 0.02128299 0.00418206 0.99976474 -0.05130941] [ 0. 0. 0. 1. ]] SLAMing on 2.098040942 meters Centerline goodness : 0.953226 Centerline is valid? [True, True] Translation: X:0.95, Y:0.17, Z:-0.06 [[ 0.99933079 -0.02982144 -0.02118148 0.95318548] [ 0.02975631 0.99955146 -0.00338343 0.17064502] [ 0.02127288 0.00275088 0.99976992 -0.0563592 ] [ 0. 0. 0. 1. ]] SLAMing on 2.128040942 meters Centerline goodness : 0.954764 Centerline is valid? [True, True] Translation: X:0.99, Y:0.17, Z:-0.05 [[ 0.99929972 -0.03084879 -0.02117593 0.99474782] [ 0.03078069 0.99951991 -0.00353451 0.16815149] [ 0.0212748 0.00288022 0.99976952 -0.05052996] [ 0. 0. 0. 1. ]] SLAMing on 2.158040942 meters Centerline goodness : 0.956728 Centerline is valid? [True, True] Translation: X:1.03, Y:0.16, Z:-0.05 [[ 0.99934188 -0.02943343 -0.0212008 1.02801329] [ 0.02938049 0.99956437 -0.00280393 0.16443003] [ 0.02127409 0.00217919 0.99977131 -0.05025247] [ 0. 0. 0. 1. ]] SLAMing on 2.188040942 meters Centerline goodness : 0.952100 Centerline is valid? [True, True] Translation: X:1.06, Y:0.17, Z:-0.05 [[ 0.99944166 -0.02581417 -0.02121332 1.06190344] [ 0.02576878 0.99966502 -0.00241009 0.16506562] [ 0.02126843 0.0018621 0.99977207 -0.05101887] [ 0. 0. 0. 1. ]] SLAMing on 2.218040942 meters Centerline goodness : 0.951126 Centerline is valid? [True, True] Translation: X:1.10, Y:0.16, Z:-0.05 [[ 0.9993705 -0.02842838 -0.02122346 1.10305642] [ 0.02839069 0.99959475 -0.00207491 0.16170074] [ 0.02127384 0.00147105 0.9997726 -0.04991273] [ 0. 0. 0. 1. ]] SLAMing on 2.248040942 meters Centerline goodness : 0.956280 Centerline is valid? [True, True] Translation: X:1.13, Y:0.16, Z:-0.05 [[ 9.99344863e-01 -2.93008017e-02 -2.12440294e-02 1.13050974e+00] [ 2.92783547e-02 9.99570362e-01 -1.36695449e-03 1.59466470e-01] [ 2.12749551e-02 7.44068723e-04 9.99773386e-01 -4.80527043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.278040942 meters Centerline goodness : 0.966137 Centerline is valid? [True, True] Translation: X:1.14, Y:0.15, Z:-0.05 [[ 9.99575051e-01 -1.99621945e-02 -2.12421456e-02 1.13758466e+00] [ 1.99362559e-02 9.99800227e-01 -1.43218195e-03 1.52341542e-01] [ 2.12664915e-02 1.00808449e-03 9.99773334e-01 -4.87340319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.308040942 meters Centerline goodness : 0.969834 Centerline is valid? [True, True] Translation: X:1.16, Y:0.15, Z:-0.04 [[ 0.99964777 -0.01596498 -0.02120034 1.16439907] [ 0.01591068 0.9998697 -0.00272733 0.15248054] [ 0.02124112 0.00238905 0.99977153 -0.04163843] [ 0. 0. 0. 1. ]] SLAMing on 2.338040942 meters Centerline goodness : 0.822568 Centerline is valid? [True, False] Translation: X:1.18, Y:0.16, Z:-0.05 [[ 0.99977588 -0.01373688 -0.01610868 1.17665604] [ 0.0135792 0.99985921 -0.00985695 0.15538171] [ 0.01624182 0.009636 0.99982166 -0.04509522] [ 0. 0. 0. 1. ]] SLAMing on 2.368040942 meters Centerline goodness : 0.969326 Centerline is valid? [False, True] Translation: X:1.20, Y:0.15, Z:-0.05 [[ 0.99984206 -0.01291654 -0.01220741 1.19516483] [ 0.01281641 0.99988387 -0.00824537 0.15432963] [ 0.01231249 0.00808761 0.99989149 -0.04547798] [ 0. 0. 0. 1. ]] SLAMing on 2.398040942 meters Centerline goodness : 0.973402 Centerline is valid? [True, True] Translation: X:1.22, Y:0.11, Z:-0.05 [[ 0.9993399 0.03418636 -0.01229027 1.21670398] [-0.03421235 0.99941276 -0.00191078 0.10822892] [ 0.01221773 0.00232999 0.99992265 -0.05173348] [ 0. 0. 0. 1. ]] SLAMing on 2.428040942 meters Centerline goodness : 0.955910 Centerline is valid? [True, True] Translation: X:1.23, Y:0.11, Z:-0.06 [[ 0.99907535 0.04119967 -0.01228929 1.22563484] [-0.04122504 0.99914823 -0.00181795 0.11260186] [ 0.01220393 0.00232289 0.99992283 -0.05809744] [ 0. 0. 0. 1. ]] SLAMing on 2.458040942 meters Centerline goodness : 0.943255 Centerline is valid? [True, False] Translation: X:1.23, Y:0.11, Z:-0.06 [[ 0.99908243 0.04080392 -0.01301304 1.2273818 ] [-0.04084078 0.99916234 -0.0025795 0.11479079] [ 0.01289689 0.00310859 0.999912 -0.05838556] [ 0. 0. 0. 1. ]] SLAMing on 2.488040942 meters Centerline goodness : 0.971403 Centerline is valid? [False, True] Translation: X:1.24, Y:0.12, Z:-0.06 [[ 0.99921257 0.03702093 -0.01427225 1.23879357] [-0.0369923 0.99931298 0.00226535 0.11803265] [ 0.01434631 -0.0017356 0.99989558 -0.05757691] [ 0. 0. 0. 1. ]] SLAMing on 2.518040942 meters Centerline goodness : 0.978345 Centerline is valid? [True, True] Translation: X:1.23, Y:0.12, Z:-0.07 [[ 9.99004589e-01 4.22371913e-02 -1.43475217e-02 1.23068940e+00] [-4.22460601e-02 9.99107187e-01 -3.15493105e-04 1.17048662e-01] [ 1.43213865e-02 9.21305322e-04 9.99897019e-01 -6.59892156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.548040942 meters Centerline goodness : 0.978645 Centerline is valid? [True, True] Translation: X:1.28, Y:0.12, Z:-0.06 [[ 0.99916271 0.03830281 -0.01437937 1.27735102] [-0.03833377 0.99926322 -0.00188355 0.11965413] [ 0.01429663 0.00243318 0.99989484 -0.06472702] [ 0. 0. 0. 1. ]] SLAMing on 2.578040942 meters Centerline goodness : 0.981602 Centerline is valid? [True, True] Translation: X:1.30, Y:0.12, Z:-0.06 [[ 0.99898228 0.0427528 -0.01437363 1.303626 ] [-0.04278048 0.99908318 -0.0016242 0.11821052] [ 0.01429101 0.00223746 0.99989537 -0.06109023] [ 0. 0. 0. 1. ]] SLAMing on 2.608040942 meters Centerline goodness : 0.982318 Centerline is valid? [True, True] Translation: X:1.32, Y:0.11, Z:-0.06 [[ 0.99856534 0.05158151 -0.01437414 1.3241304 ] [-0.0516104 0.99866594 -0.00164587 0.11299937] [ 0.01427007 0.00238537 0.99989533 -0.05678416] [ 0. 0. 0. 1. ]] SLAMing on 2.638040942 meters Centerline goodness : 0.983758 Centerline is valid? [True, True] Translation: X:1.36, Y:0.11, Z:-0.05 [[ 0.99869773 0.04894897 -0.01438211 1.36491315] [-0.04898185 0.99879778 -0.00194259 0.11440221] [ 0.01426973 0.00264452 0.99989469 -0.05308381] [ 0. 0. 0. 1. ]] SLAMing on 2.6680409419999997 meters Centerline goodness : 0.978804 Centerline is valid? [True, True] Translation: X:1.43, Y:0.12, Z:-0.04 [[ 0.9988951 0.04474596 -0.01436553 1.43260532] [-0.04477112 0.99899624 -0.00143451 0.11895025] [ 0.01428692 0.00207609 0.99989578 -0.04479341] [ 0. 0. 0. 1. ]] SLAMing on 2.698040942 meters Centerline goodness : 0.980795 Centerline is valid? [True, True] Translation: X:1.47, Y:0.12, Z:-0.04 [[ 9.98958731e-01 4.33217089e-02 -1.43067389e-02 1.46594878e+00] [-4.33236001e-02 9.99061076e-01 1.77851583e-04 1.18261980e-01] [ 1.43010108e-02 4.42153044e-04 9.99897638e-01 -4.27009836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.728040942 meters Centerline goodness : 0.984621 Centerline is valid? [True, True] Translation: X:1.50, Y:0.12, Z:-0.04 [[ 9.99211836e-01 3.70301480e-02 -1.42995025e-02 1.49821584e+00] [-3.70286147e-02 9.99314136e-01 3.72063660e-04 1.23002664e-01] [ 1.43034725e-02 1.57720354e-04 9.99897688e-01 -3.72115054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.758040942 meters Centerline goodness : 0.985214 Centerline is valid? [True, True] Translation: X:1.50, Y:0.12, Z:-0.05 [[ 9.99072030e-01 4.06287196e-02 -1.42963909e-02 1.49673203e+00] [-4.06263676e-02 9.99174305e-01 4.55016017e-04 1.22848752e-01] [ 1.43030731e-02 1.26216656e-04 9.99897698e-01 -5.12661818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.788040942 meters Centerline goodness : 0.983196 Centerline is valid? [True, True] Translation: X:1.55, Y:0.12, Z:-0.04 [[ 9.99115018e-01 3.95446062e-02 -1.43319638e-02 1.54996947e+00] [-3.95584673e-02 9.99217023e-01 -6.84843420e-04 1.21608111e-01] [ 1.42936603e-02 1.25118787e-03 9.99897058e-01 -4.34493986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.818040942 meters Centerline goodness : 0.987884 Centerline is valid? [True, True] Translation: X:1.59, Y:0.12, Z:-0.03 [[ 9.99439729e-01 3.02589880e-02 -1.43045804e-02 1.59343138e+00] [-3.02605184e-02 9.99542040e-01 1.09497803e-04 1.24159551e-01] [ 1.43013428e-02 3.23427564e-04 9.99897678e-01 -2.57834321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.848040942 meters Centerline goodness : 0.985668 Centerline is valid? [True, True] Translation: X:1.62, Y:0.12, Z:-0.04 [[ 9.99492774e-01 2.84628243e-02 -1.42850310e-02 1.61981829e+00] [-2.84563348e-02 9.99594820e-01 6.57383660e-04 1.24932568e-01] [ 1.42979540e-02 -2.50550593e-04 9.99897748e-01 -4.26609859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.878040942 meters Centerline goodness : 0.989112 Centerline is valid? [True, True] Translation: X:1.65, Y:0.13, Z:-0.03 [[ 9.99616823e-01 2.37074383e-02 -1.42886065e-02 1.65107887e+00] [-2.37019081e-02 9.99718916e-01 5.56278542e-04 1.27327027e-01] [ 1.42977781e-02 -2.17398151e-04 9.99897758e-01 -2.56037620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.908040942 meters Centerline goodness : 0.990268 Centerline is valid? [True, True] Translation: X:1.68, Y:0.13, Z:-0.03 [[ 9.99748102e-01 1.73094410e-02 -1.42869199e-02 1.67970931e+00] [-1.73025770e-02 9.99850117e-01 6.03919546e-04 1.31229308e-01] [ 1.42952320e-02 -3.56566888e-04 9.99897754e-01 -2.51200450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9380409419999998 meters Centerline goodness : 0.991184 Centerline is valid? [True, True] Translation: X:1.73, Y:0.14, Z:-0.04 [[ 9.99883624e-01 5.35138314e-03 -1.42864089e-02 1.72541964e+00] [-5.34309342e-03 9.99985534e-01 6.18358105e-04 1.35242896e-01] [ 1.42895114e-02 -5.41952525e-04 9.99897753e-01 -3.67547616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.968040942 meters Centerline goodness : 0.990841 Centerline is valid? [True, True] Translation: X:1.73, Y:0.14, Z:-0.04 [[ 9.99805495e-01 1.36200504e-02 -1.42641778e-02 1.73278495e+00] [-1.36040719e-02 9.99906720e-01 1.21662064e-03 1.38679856e-01] [ 1.42794176e-02 -1.02233310e-03 9.99897521e-01 -4.26447990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.998040942 meters Centerline goodness : 0.992326 Centerline is valid? [True, True] Translation: X:1.76, Y:0.14, Z:-0.04 [[ 9.99881649e-01 5.69734398e-03 -1.42908139e-02 1.76489809e+00] [-5.69132062e-03 9.99983698e-01 4.62118716e-04 1.44810313e-01] [ 1.42932138e-02 -3.80730420e-04 9.99897774e-01 -3.50309858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.028040942 meters Centerline goodness : 0.992293 Centerline is valid? [True, True] Translation: X:1.80, Y:0.15, Z:-0.04 [[ 9.99886585e-01 4.75742695e-03 -1.42892712e-02 1.79919702e+00] [-4.75068523e-03 9.99988588e-01 5.05709743e-04 1.48777546e-01] [ 1.42915140e-02 -4.37768558e-04 9.99897775e-01 -3.76307044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.058040942 meters Centerline goodness : 0.992352 Centerline is valid? [True, True] Translation: X:1.84, Y:0.15, Z:-0.05 [[ 9.99891253e-01 -3.67031324e-03 -1.42832610e-02 1.83513586e+00] [ 3.68029959e-03 9.99993001e-01 6.72942772e-04 1.52819146e-01] [ 1.42806911e-02 -7.25436271e-04 9.99897763e-01 -5.34690254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.088040942 meters Centerline goodness : 0.992352 Centerline is valid? [True, True] Translation: X:1.86, Y:0.15, Z:-0.05 [[ 9.99889238e-01 -4.20379845e-03 -1.42772181e-02 1.86439455e+00] [ 4.21625382e-03 9.99990757e-01 8.42406935e-04 1.52055622e-01] [ 1.42735448e-02 -9.02510004e-04 9.99897720e-01 -5.30610876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.118040942 meters Centerline goodness : 0.993537 Centerline is valid? [True, True] Translation: X:1.90, Y:0.15, Z:-0.04 [[ 9.99897744e-01 -8.09742855e-04 -1.42774929e-02 1.89845010e+00] [ 8.21742623e-04 9.99999314e-01 8.34620944e-04 1.53124521e-01] [ 1.42768073e-02 -8.46268023e-04 9.99897723e-01 -4.33204403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.148040942 meters Centerline goodness : 0.993863 Centerline is valid? [True, True] Translation: X:1.91, Y:0.15, Z:-0.03 [[ 9.99861002e-01 8.61663281e-03 -1.42734449e-02 1.91474610e+00] [-8.60391342e-03 9.99962532e-01 9.52291546e-04 1.52676125e-01] [ 1.42811156e-02 -8.29351695e-04 9.99897676e-01 -2.85977998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.178040942 meters Centerline goodness : 0.995654 Centerline is valid? [True, True] Translation: X:1.97, Y:0.16, Z:-0.04 [[ 9.99896818e-01 1.47503236e-03 -1.42890593e-02 1.97029449e+00] [-1.46829268e-03 9.99998806e-01 4.82146960e-04 1.56663730e-01] [ 1.42897534e-02 -4.61116690e-04 9.99897790e-01 -4.43800689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.208040942 meters Centerline goodness : 0.996502 Centerline is valid? [True, True] Translation: X:2.02, Y:0.16, Z:-0.04 [[ 9.99893924e-01 -2.97177138e-03 -1.42586889e-02 2.01685703e+00] [ 2.99105478e-03 9.99994641e-01 1.33126141e-03 1.60474494e-01] [ 1.42546563e-02 -1.37376871e-03 9.99897454e-01 -3.75132803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.238040942 meters Centerline goodness : 0.994947 Centerline is valid? [True, True] Translation: X:2.00, Y:0.16, Z:-0.04 [[ 9.99748926e-01 1.73004585e-02 -1.42400784e-02 2.00163678e+00] [-1.72759855e-02 9.99849066e-01 1.83982747e-03 1.57936220e-01] [ 1.42697590e-02 -1.59335414e-03 9.99896912e-01 -3.59994879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.268040942 meters Centerline goodness : 0.994936 Centerline is valid? [True, True] Translation: X:2.05, Y:0.16, Z:-0.05 [[ 9.99685658e-01 2.06044228e-02 -1.42843577e-02 2.04580867e+00] [-2.05995415e-02 9.99787687e-01 4.88785650e-04 1.60508764e-01] [ 1.42913960e-02 -1.94380786e-04 9.99897854e-01 -4.72001143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.298040942 meters Centerline goodness : 0.994751 Centerline is valid? [True, True] Translation: X:2.06, Y:0.16, Z:-0.03 [[ 9.99604230e-01 2.42453375e-02 -1.42670021e-02 2.05979518e+00] [-2.42335561e-02 9.99705826e-01 9.98105238e-04 1.59192010e-01] [ 1.42870045e-02 -6.51970022e-04 9.99897723e-01 -2.68751362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.328040942 meters Centerline goodness : 0.992760 Centerline is valid? [True, True] Translation: X:2.18, Y:0.17, Z:-0.05 [[ 9.99864187e-01 -8.21906019e-03 -1.42847621e-02 2.18431361e+00] [ 8.22641555e-03 9.99966058e-01 4.56225546e-04 1.74826805e-01] [ 1.42805275e-02 -5.73675973e-04 9.99897863e-01 -4.57425882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.358040942 meters Centerline goodness : 0.886925 Centerline is valid? [True, False] Translation: X:2.19, Y:0.17, Z:-0.05 [[ 9.99860533e-01 -8.16109160e-03 -1.45708916e-02 2.18518052e+00] [ 8.17040447e-03 9.99966454e-01 5.79727455e-04 1.74728718e-01] [ 1.45656716e-02 -6.98696680e-04 9.99893671e-01 -4.60237130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.388040942 meters Centerline goodness : 0.996427 Centerline is valid? [False, True] Translation: X:2.19, Y:0.17, Z:-0.05 [[ 9.99854053e-01 -8.13607380e-03 -1.50225533e-02 2.18639610e+00] [ 8.14745673e-03 9.99966566e-01 6.96675908e-04 1.74660875e-01] [ 1.50163828e-02 -8.18969833e-04 9.99886912e-01 -4.63737307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4180409419999997 meters Centerline goodness : 0.996217 Centerline is valid? [True, True] Translation: X:2.22, Y:0.18, Z:-0.05 [[ 9.99823792e-01 -1.12542285e-02 -1.50242348e-02 2.21520667e+00] [ 1.12593722e-02 9.99936578e-01 2.57815875e-04 1.76062997e-01] [ 1.50203804e-02 -4.26933898e-04 9.99887097e-01 -4.64777774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.448040942 meters Centerline goodness : 0.996801 Centerline is valid? [True, True] Translation: X:2.25, Y:0.17, Z:-0.05 [[ 9.99814016e-01 -1.20916116e-02 -1.50241919e-02 2.24793566e+00] [ 1.20970497e-02 9.99926791e-01 2.71126344e-04 1.72960189e-01] [ 1.50198137e-02 -4.52824316e-04 9.99887094e-01 -4.90006915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.478040942 meters Centerline goodness : 0.996480 Centerline is valid? [True, True] Translation: X:2.28, Y:0.18, Z:-0.05 [[ 9.99796404e-01 -1.34698591e-02 -1.50237437e-02 2.28128663e+00] [ 1.34776388e-02 9.99909086e-01 4.16696720e-04 1.81084460e-01] [ 1.50167649e-02 -6.19096473e-04 9.99887050e-01 -5.41691128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.508040942 meters Centerline goodness : 0.996997 Centerline is valid? [True, True] Translation: X:2.31, Y:0.18, Z:-0.05 [[ 9.99747186e-01 -1.67291122e-02 -1.50233429e-02 2.30510981e+00] [ 1.67393371e-02 9.99859733e-01 5.55100253e-04 1.75053171e-01] [ 1.50119493e-02 -8.06440717e-04 9.99886989e-01 -4.51826048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.538040942 meters Centerline goodness : 0.996655 Centerline is valid? [True, True] Translation: X:2.32, Y:0.18, Z:-0.05 [[ 9.99811290e-01 -1.23159819e-02 -1.50233773e-02 2.32343292e+00] [ 1.23220913e-02 9.99924031e-01 3.14160160e-04 1.79034448e-01] [ 1.50183668e-02 -4.99220302e-04 9.99887093e-01 -4.75139918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.568040942 meters Centerline goodness : 0.997633 Centerline is valid? [True, True] Translation: X:2.37, Y:0.17, Z:-0.05 [[ 9.99791548e-01 -1.38266665e-02 -1.50227750e-02 2.36518007e+00] [ 1.38252313e-02 9.99904407e-01 -1.99391803e-04 1.72939483e-01] [ 1.50240958e-02 -8.34309798e-06 9.99887132e-01 -5.26855340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.598040942 meters Centerline goodness : 0.997838 Centerline is valid? [True, True] Translation: X:2.39, Y:0.18, Z:-0.04 [[ 9.99614603e-01 -2.33456656e-02 -1.50208189e-02 2.38833108e+00] [ 2.33555838e-02 9.99727103e-01 4.85189814e-04 1.81372535e-01] [ 1.50053926e-02 -8.35822817e-04 9.99887063e-01 -4.12943901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6280409419999997 meters Centerline goodness : 0.997126 Centerline is valid? [True, True] Translation: X:2.41, Y:0.18, Z:-0.04 [[ 9.99715380e-01 -1.85342937e-02 -1.50212918e-02 2.41144572e+00] [ 1.85402035e-02 9.99828083e-01 2.54251230e-04 1.81054828e-01] [ 1.50139970e-02 -5.32676672e-04 9.99887142e-01 -4.29662163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.658040942 meters Centerline goodness : 0.998370 Centerline is valid? [True, True] Translation: X:2.45, Y:0.18, Z:-0.04 [[ 9.99632234e-01 -2.25775897e-02 -1.50216079e-02 2.44728567e+00] [ 2.25804418e-02 9.99745029e-01 2.02665898e-05 1.80202806e-01] [ 1.50173203e-02 -3.59453680e-04 9.99887169e-01 -4.35174974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6880409419999998 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:2.49, Y:0.18, Z:-0.05 [[ 9.99532239e-01 -2.66395478e-02 -1.50212339e-02 2.48691864e+00] [ 2.66469205e-02 9.99644865e-01 2.90845954e-04 1.81799069e-01] [ 1.50081514e-02 -6.90979533e-04 9.99887133e-01 -5.14522248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.718040942 meters Centerline goodness : 0.998647 Centerline is valid? [True, True] Translation: X:2.51, Y:0.18, Z:-0.04 [[ 9.99652621e-01 -2.16568734e-02 -1.50205283e-02 2.50824314e+00] [ 2.16693582e-02 9.99764968e-01 6.68914265e-04 1.77628882e-01] [ 1.50025115e-02 -9.94167108e-04 9.99886962e-01 -4.32315134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.748040942 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:2.54, Y:0.18, Z:-0.05 [[ 9.99749775e-01 -1.65758333e-02 -1.50209683e-02 2.53572680e+00] [ 1.65833737e-02 9.99862415e-01 3.77571176e-04 1.76845231e-01] [ 1.50126431e-02 -6.26575030e-04 9.99887108e-01 -4.94254848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.778040942 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:2.57, Y:0.18, Z:-0.04 [[ 9.99752499e-01 -1.64106816e-02 -1.50210176e-02 2.56591688e+00] [ 1.64174734e-02 9.99865170e-01 3.28942296e-04 1.78407592e-01] [ 1.50135942e-02 -5.75468039e-04 9.99887124e-01 -4.36768375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.808040942 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:2.59, Y:0.18, Z:-0.04 [[ 9.99784625e-01 -1.43204342e-02 -1.50209758e-02 2.59447699e+00] [ 1.43276979e-02 9.99897283e-01 3.76059927e-04 1.78754286e-01] [ 1.50140476e-02 -5.91194937e-04 9.99887108e-01 -4.21598585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.838040942 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:2.62, Y:0.18, Z:-0.04 [[ 9.99814922e-01 -1.20205485e-02 -1.50209508e-02 2.62017436e+00] [ 1.20281244e-02 9.99927574e-01 4.14112916e-04 1.79488825e-01] [ 1.50148851e-02 -5.94710138e-04 9.99887093e-01 -4.22603775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.868040942 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:2.65, Y:0.18, Z:-0.04 [[ 9.99822883e-01 -1.13389692e-02 -1.50209659e-02 2.64959843e+00] [ 1.13455981e-02 9.99935573e-01 3.56159911e-04 1.77584952e-01] [ 1.50159597e-02 -5.26518671e-04 9.99887115e-01 -4.03142493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8980409419999997 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:2.67, Y:0.17, Z:-0.04 [[ 9.99880134e-01 -3.75356679e-03 -1.50209624e-02 2.66952510e+00] [ 3.76038256e-03 9.99992839e-01 4.25532445e-04 1.72502249e-01] [ 1.50192576e-02 -4.81966003e-04 9.99887088e-01 -4.42675145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.928040942 meters Centerline goodness : 0.998385 Centerline is valid? [True, True] Translation: X:2.71, Y:0.18, Z:-0.04 [[ 9.99790231e-01 -1.39234905e-02 -1.50209867e-02 2.70795599e+00] [ 1.39261590e-02 9.99903024e-01 7.30624598e-05 1.75261137e-01] [ 1.50185127e-02 -2.82231782e-04 9.99887176e-01 -3.64161205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.958040942 meters Centerline goodness : 0.998400 Centerline is valid? [True, True] Translation: X:2.73, Y:0.17, Z:-0.04 [[ 9.99874175e-01 -5.10090295e-03 -1.50204806e-02 2.72977248e+00] [ 5.10837603e-03 9.99986847e-01 4.59200759e-04 1.67439016e-01] [ 1.50179407e-02 -5.35873243e-04 9.99887081e-01 -4.14368815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.988040942 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:2.76, Y:0.17, Z:-0.04 [[ 9.99875425e-01 -4.84936247e-03 -1.50206102e-02 2.75707181e+00] [ 4.85119942e-03 9.99988229e-01 8.58612286e-05 1.66588145e-01] [ 1.50200170e-02 -1.58718508e-04 9.99887181e-01 -4.30159425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.018040942 meters Centerline goodness : 0.998001 Centerline is valid? [True, True] Translation: X:2.78, Y:0.17, Z:-0.04 [[ 9.99868353e-01 -6.13672053e-03 -1.50205796e-02 2.78385418e+00] [ 6.13786789e-03 9.99981163e-01 3.02868696e-05 1.67659588e-01] [ 1.50201108e-02 -1.22477215e-04 9.99887184e-01 -4.21725881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.048040941999999 meters Centerline goodness : 0.995796 Centerline is valid? [True, True] Translation: X:2.81, Y:0.17, Z:-0.04 [[ 9.99851852e-01 -8.40580890e-03 -1.50205654e-02 2.81083459e+00] [ 8.40691073e-03 9.99964661e-01 1.02131925e-05 1.68978570e-01] [ 1.50199488e-02 -1.36488232e-04 9.99887185e-01 -4.18249979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0780409419999994 meters Centerline goodness : 0.993714 Centerline is valid? [True, True] Translation: X:2.84, Y:0.17, Z:-0.04 [[ 9.99835651e-01 -1.01515992e-02 -1.50205465e-02 2.83842674e+00] [ 1.01525567e-02 9.99948461e-01 -1.25063566e-05 1.66180289e-01] [ 1.50198993e-02 -1.39992650e-04 9.99887185e-01 -4.31747480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.108040942 meters Centerline goodness : 0.991643 Centerline is valid? [True, True] Translation: X:2.87, Y:0.16, Z:-0.04 [[ 9.99817932e-01 -1.17679806e-02 -1.50205427e-02 2.86633900e+00] [ 1.17690670e-02 9.99930742e-01 -1.60661949e-05 1.64151327e-01] [ 1.50196915e-02 -1.60714504e-04 9.99887185e-01 -4.31614204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.138040941999999 meters Centerline goodness : 0.990878 Centerline is valid? [True, True] Translation: X:2.89, Y:0.16, Z:-0.04 [[ 9.99792254e-01 -1.37779290e-02 -1.50205381e-02 2.89365166e+00] [ 1.37791890e-02 9.99905062e-01 -1.96060052e-05 1.60651533e-01] [ 1.50193822e-02 -1.87368901e-04 9.99887185e-01 -4.10005492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.168040941999999 meters Centerline goodness : 0.991253 Centerline is valid? [True, True] Translation: X:2.92, Y:0.16, Z:-0.04 [[ 9.99774469e-01 -1.50131649e-02 -1.50205366e-02 2.92192106e+00] [ 1.50145479e-02 9.99887275e-01 -2.07019395e-05 1.60709537e-01] [ 1.50191542e-02 -2.04829295e-04 9.99887185e-01 -3.96003512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1980409419999996 meters Centerline goodness : 0.990580 Centerline is valid? [True, True] Translation: X:2.95, Y:0.16, Z:-0.04 [[ 9.99752695e-01 -1.63991597e-02 -1.50205310e-02 2.94983763e+00] [ 1.64006466e-02 9.99865500e-01 -2.41917483e-05 1.60905038e-01] [ 1.50189074e-02 -2.22160655e-04 9.99887185e-01 -3.90917671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.228040942 meters Centerline goodness : 0.991088 Centerline is valid? [True, True] Translation: X:2.98, Y:0.16, Z:-0.04 [[ 9.99704599e-01 -1.91075580e-02 -1.50205246e-02 2.97823494e+00] [ 1.91092985e-02 9.99817400e-01 -2.76546664e-05 1.59791237e-01] [ 1.50183102e-02 -2.59385191e-04 9.99887185e-01 -3.79944585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.258040941999999 meters Centerline goodness : 0.990584 Centerline is valid? [True, True] Translation: X:3.00, Y:0.16, Z:-0.04 [[ 9.99674983e-01 -2.05988348e-02 -1.50205174e-02 3.00486779e+00] [ 2.06006913e-02 9.99787783e-01 -3.11357204e-05 1.58927510e-01] [ 1.50179711e-02 -2.78307440e-04 9.99887185e-01 -3.85822931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.288040941999999 meters Centerline goodness : 0.990144 Centerline is valid? [True, True] Translation: X:3.03, Y:0.16, Z:-0.04 [[ 9.99616352e-01 -2.32708754e-02 -1.50205141e-02 3.03279264e+00] [ 2.32730107e-02 9.99729146e-01 -3.26449621e-05 1.58394408e-01] [ 1.50172054e-02 -3.16940148e-04 9.99887185e-01 -3.90547935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.318040942 meters Centerline goodness : 0.990470 Centerline is valid? [True, True] Translation: X:3.06, Y:0.16, Z:-0.04 [[ 9.99503234e-01 -2.77068441e-02 -1.50205058e-02 3.06011604e+00] [ 2.77094283e-02 9.99616019e-01 -3.60858457e-05 1.56975374e-01] [ 1.50157381e-02 -3.80141709e-04 9.99887185e-01 -4.31458215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.348040942 meters Centerline goodness : 0.990848 Centerline is valid? [True, True] Translation: X:3.09, Y:0.16, Z:-0.04 [[ 9.99461220e-01 -2.91831078e-02 -1.50204968e-02 3.08848961e+00] [ 2.91858072e-02 9.99574003e-01 -3.95100620e-05 1.56579169e-01] [ 1.50152511e-02 -3.98896549e-04 9.99887185e-01 -4.31092342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.378040941999999 meters Centerline goodness : 0.990639 Centerline is valid? [True, True] Translation: X:3.12, Y:0.16, Z:-0.04 [[ 9.99431949e-01 -3.01689148e-02 -1.50204870e-02 3.11580264e+00] [ 3.01716740e-02 9.99544730e-01 -4.29359533e-05 1.56436989e-01] [ 1.50149440e-02 -4.10281674e-04 9.99887185e-01 -4.19217928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4080409419999995 meters Centerline goodness : 0.990419 Centerline is valid? [True, True] Translation: X:3.14, Y:0.16, Z:-0.04 [[ 9.99455535e-01 -2.93771756e-02 -1.50204826e-02 3.14318649e+00] [ 2.93798231e-02 9.99568319e-01 -4.44228691e-05 1.57024129e-01] [ 1.50153036e-02 -3.96900439e-04 9.99887185e-01 -4.06133632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.438040942 meters Centerline goodness : 0.990595 Centerline is valid? [True, True] Translation: X:3.17, Y:0.16, Z:-0.04 [[ 9.99502748e-01 -2.77244076e-02 -1.50204781e-02 3.17145584e+00] [ 2.77268464e-02 9.99615536e-01 -4.58996020e-05 1.57939872e-01] [ 1.50159758e-02 -3.70593711e-04 9.99887185e-01 -3.88042504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.468040941999999 meters Centerline goodness : 0.990476 Centerline is valid? [True, True] Translation: X:3.20, Y:0.16, Z:-0.04 [[ 9.99544190e-01 -2.61877388e-02 -1.50204670e-02 3.19925791e+00] [ 2.61899535e-02 9.99656983e-01 -4.92776672e-05 1.59553520e-01] [ 1.50166052e-02 -3.44130126e-04 9.99887185e-01 -3.65246493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.498040941999999 meters Centerline goodness : 0.991881 Centerline is valid? [True, True] Translation: X:3.23, Y:0.16, Z:-0.03 [[ 9.99623731e-01 -2.29517331e-02 -1.50204553e-02 3.22646123e+00] [ 2.29535322e-02 9.99736532e-01 -5.26334491e-05 1.60977419e-01] [ 1.50177059e-02 -2.92158858e-04 9.99887185e-01 -3.40319302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.528040942 meters Centerline goodness : 0.992250 Centerline is valid? [True, True] Translation: X:3.25, Y:0.16, Z:-0.03 [[ 9.99639255e-01 -2.22653533e-02 -1.50204500e-02 3.25459183e+00] [ 2.22670530e-02 9.99752057e-01 -5.40898654e-05 1.60650722e-01] [ 1.50179301e-02 -2.80390804e-04 9.99887185e-01 -3.44227542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.558040942 meters Centerline goodness : 0.992258 Centerline is valid? [True, True] Translation: X:3.28, Y:0.16, Z:-0.04 [[ 9.99637743e-01 -2.23331318e-02 -1.50204374e-02 3.28202864e+00] [ 2.23347894e-02 9.99750546e-01 -5.74023027e-05 1.59494237e-01] [ 1.50179724e-02 -2.78096797e-04 9.99887185e-01 -3.55537240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.588040941999999 meters Centerline goodness : 0.992406 Centerline is valid? [True, True] Translation: X:3.31, Y:0.16, Z:-0.04 [[ 9.99630064e-01 -2.26742588e-02 -1.50204317e-02 3.30981160e+00] [ 2.26759333e-02 9.99742866e-01 -5.88390653e-05 1.59422923e-01] [ 1.50179036e-02 -2.81785009e-04 9.99887185e-01 -3.58973491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6180409419999995 meters Centerline goodness : 0.992406 Centerline is valid? [True, True] Translation: X:3.34, Y:0.16, Z:-0.04 [[ 9.99638787e-01 -2.22863759e-02 -1.50204143e-02 3.33713062e+00] [ 2.22879443e-02 9.99751591e-01 -6.29907958e-05 1.59583575e-01] [ 1.50180870e-02 -2.71806116e-04 9.99887185e-01 -3.71121613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.648040942 meters Centerline goodness : 0.992932 Centerline is valid? [True, True] Translation: X:3.37, Y:0.16, Z:-0.04 [[ 9.99673249e-01 -2.06829030e-02 -1.50204066e-02 3.36500531e+00] [ 2.06842634e-02 9.99786056e-01 -6.47891486e-05 1.60835979e-01] [ 1.50185331e-02 -2.45918067e-04 9.99887185e-01 -3.62606008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.678040941999999 meters Centerline goodness : 0.993059 Centerline is valid? [True, True] Translation: X:3.39, Y:0.16, Z:-0.04 [[ 9.99688202e-01 -1.99471096e-02 -1.50203878e-02 3.39315724e+00] [ 1.99483257e-02 9.99801010e-01 -6.88742040e-05 1.62265143e-01] [ 1.50187728e-02 -2.30778859e-04 9.99887185e-01 -3.59933148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.708040941999999 meters Centerline goodness : 0.992145 Centerline is valid? [True, True] Translation: X:3.42, Y:0.16, Z:-0.04 [[ 9.99728157e-01 -1.78325870e-02 -1.50203681e-02 3.42159304e+00] [ 1.78335034e-02 9.99840968e-01 -7.29400717e-05 1.62956955e-01] [ 1.50192801e-02 -1.94945542e-04 9.99887185e-01 -3.59839418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.738040942 meters Centerline goodness : 0.992357 Centerline is valid? [True, True] Translation: X:3.45, Y:0.16, Z:-0.04 [[ 9.99741324e-01 -1.70784530e-02 -1.50203459e-02 3.44832228e+00] [ 1.70792194e-02 9.99854137e-01 -7.72596626e-05 1.63000514e-01] [ 1.50194744e-02 -1.79296106e-04 9.99887185e-01 -3.54795417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.768040942 meters Centerline goodness : 0.992200 Centerline is valid? [True, True] Translation: X:3.48, Y:0.16, Z:-0.03 [[ 9.99752079e-01 -1.64368412e-02 -1.50203360e-02 3.47502128e+00] [ 1.64375069e-02 9.99864892e-01 -7.91390411e-05 1.62459003e-01] [ 1.50196074e-02 -1.67777456e-04 9.99887185e-01 -3.47399353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.798040941999999 meters Centerline goodness : 0.992389 Centerline is valid? [True, True] Translation: X:3.50, Y:0.16, Z:-0.03 [[ 9.99767177e-01 -1.54913217e-02 -1.50203261e-02 3.50392514e+00] [ 1.54918534e-02 9.99879991e-01 -8.09652815e-05 1.61780136e-01] [ 1.50197778e-02 -1.51746259e-04 9.99887185e-01 -3.34433344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8280409419999994 meters Centerline goodness : 0.992536 Centerline is valid? [True, True] Translation: X:3.53, Y:0.16, Z:-0.03 [[ 9.99765122e-01 -1.56233086e-02 -1.50203943e-02 3.53049775e+00] [ 1.56240394e-02 9.99877935e-01 -6.86967435e-05 1.60516842e-01] [ 1.50196341e-02 -1.65998625e-04 9.99887185e-01 -3.20120244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.858040942 meters Centerline goodness : 0.992479 Centerline is valid? [True, True] Translation: X:3.56, Y:0.16, Z:-0.03 [[ 9.99771600e-01 -1.52032445e-02 -1.50202902e-02 3.55865488e+00] [ 1.52036571e-02 9.99884414e-01 -8.67237470e-05 1.60054213e-01] [ 1.50198726e-02 -1.41659403e-04 9.99887185e-01 -3.14787970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.888040941999999 meters Centerline goodness : 0.992746 Centerline is valid? [True, True] Translation: X:3.59, Y:0.16, Z:-0.03 [[ 9.99789773e-01 -1.39571401e-02 -1.50202650e-02 3.58706752e+00] [ 1.39573494e-02 9.99902587e-01 -9.08974680e-05 1.58413090e-01] [ 1.50200705e-02 -1.18764728e-04 9.99887185e-01 -3.05190550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.918040941999999 meters Centerline goodness : 0.993113 Centerline is valid? [True, True] Translation: X:3.61, Y:0.16, Z:-0.03 [[ 9.99784063e-01 -1.43603410e-02 -1.50202716e-02 3.61451433e+00] [ 1.43606120e-02 9.99896877e-01 -8.98152920e-05 1.57941443e-01] [ 1.50200125e-02 -1.25904395e-04 9.99887185e-01 -2.90862591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9480409419999996 meters Centerline goodness : 0.993008 Centerline is valid? [True, True] Translation: X:3.64, Y:0.16, Z:-0.03 [[ 9.99774133e-01 -1.50358391e-02 -1.50202306e-02 3.64194007e+00] [ 1.50360901e-02 9.99886947e-01 -9.62245962e-05 1.57101270e-01] [ 1.50199793e-02 -1.29642679e-04 9.99887185e-01 -2.84515471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.978040942 meters Centerline goodness : 0.993008 Centerline is valid? [True, True] Translation: X:3.67, Y:0.16, Z:-0.03 [[ 9.99769876e-01 -1.53162485e-02 -1.50202186e-02 3.67040562e+00] [ 1.53165036e-02 9.99882691e-01 -9.80581220e-05 1.57376856e-01] [ 1.50199585e-02 -1.32021675e-04 9.99887185e-01 -2.80238228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.008040941999999 meters Centerline goodness : 0.993066 Centerline is valid? [True, True] Translation: X:3.70, Y:0.16, Z:-0.03 [[ 9.99771607e-01 -1.52028592e-02 -1.50201899e-02 3.69681274e+00] [ 1.52030382e-02 9.99884422e-01 -1.02270946e-04 1.56137979e-01] [ 1.50200087e-02 -1.26104933e-04 9.99887185e-01 -2.92184474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.038040941999999 meters Centerline goodness : 0.993597 Centerline is valid? [True, True] Translation: X:3.72, Y:0.15, Z:-0.03 [[ 9.99730087e-01 -1.77243960e-02 -1.50199694e-02 3.72490468e+00] [ 1.77243930e-02 9.99842902e-01 -1.33322450e-04 1.52756747e-01] [ 1.50199728e-02 -1.32933376e-04 9.99887185e-01 -2.69804432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.068040942 meters Centerline goodness : 0.993423 Centerline is valid? [True, True] Translation: X:3.76, Y:0.15, Z:-0.03 [[ 9.99720797e-01 -1.82409991e-02 -1.50198035e-02 3.75516400e+00] [ 1.82407131e-02 9.99833612e-01 -1.56046807e-04 1.49754673e-01] [ 1.50201508e-02 -1.17968687e-04 9.99887184e-01 -2.54171427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.098040941999999 meters Centerline goodness : 0.992358 Centerline is valid? [True, True] Translation: X:3.78, Y:0.15, Z:-0.03 [[ 9.99728622e-01 -1.78066840e-02 -1.50201333e-02 3.78198499e+00] [ 1.78070153e-02 9.99841436e-01 -1.11695266e-04 1.45702371e-01] [ 1.50197406e-02 -1.55798789e-04 9.99887185e-01 -2.73600578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.128040941999999 meters Centerline goodness : 0.993828 Centerline is valid? [True, True] Translation: X:3.81, Y:0.14, Z:-0.03 [[ 9.99711646e-01 -1.87359823e-02 -1.50195596e-02 3.81164329e+00] [ 1.87352956e-02 9.99824462e-01 -1.86432767e-04 1.44649057e-01] [ 1.50204161e-02 -9.50168818e-05 9.99887183e-01 -2.50798299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1580409419999995 meters Centerline goodness : 0.994110 Centerline is valid? [True, True] Translation: X:3.84, Y:0.14, Z:-0.03 [[ 9.99712988e-01 -1.86638329e-02 -1.50201038e-02 3.83864153e+00] [ 1.86641971e-02 9.99825802e-01 -1.15944768e-04 1.42047713e-01] [ 1.50196513e-02 -1.64426687e-04 9.99887185e-01 -2.50722190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.188040942 meters Centerline goodness : 0.994214 Centerline is valid? [True, True] Translation: X:3.87, Y:0.14, Z:-0.02 [[ 9.99701629e-01 -1.92626316e-02 -1.50200895e-02 3.86669634e+00] [ 1.92630360e-02 9.99814444e-01 -1.17764481e-04 1.40647842e-01] [ 1.50195709e-02 -1.71603181e-04 9.99887185e-01 -2.43453093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.218040941999999 meters Centerline goodness : 0.994209 Centerline is valid? [True, True] Translation: X:3.89, Y:0.14, Z:-0.02 [[ 9.99690369e-01 -1.98384590e-02 -1.50200565e-02 3.89434768e+00] [ 1.98388672e-02 9.99803183e-01 -1.21836932e-04 1.38894592e-01] [ 1.50195174e-02 -1.76181698e-04 9.99887185e-01 -2.31013143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.248040941999999 meters Centerline goodness : 0.993552 Centerline is valid? [True, True] Translation: X:3.92, Y:0.14, Z:-0.02 [[ 9.99650702e-01 -2.17456312e-02 -1.50200213e-02 3.92140160e+00] [ 2.17461916e-02 9.99763516e-01 -1.26032852e-04 1.35772787e-01] [ 1.50192100e-02 -2.00639431e-04 9.99887185e-01 -2.49202583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.278040942 meters Centerline goodness : 0.994663 Centerline is valid? [True, True] Translation: X:3.95, Y:0.14, Z:-0.03 [[ 9.99572661e-01 -2.50783116e-02 -1.50191157e-02 3.95027131e+00] [ 2.50776992e-02 9.99685479e-01 -2.29136646e-04 1.35855891e-01] [ 1.50201383e-02 -1.47606140e-04 9.99887180e-01 -2.72936895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.308040941999999 meters Centerline goodness : 0.993879 Centerline is valid? [True, True] Translation: X:3.98, Y:0.13, Z:-0.02 [[ 9.99583440e-01 -2.46446363e-02 -1.50195838e-02 3.97791386e+00] [ 2.46447785e-02 9.99696256e-01 -1.75651969e-04 1.29394213e-01] [ 1.50193506e-02 -1.94575516e-04 9.99887184e-01 -2.46891131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.338040941999999 meters Centerline goodness : 0.995070 Centerline is valid? [True, True] Translation: X:4.01, Y:0.13, Z:-0.02 [[ 9.99582355e-01 -2.46889027e-02 -1.50190944e-02 4.00758968e+00] [ 2.46882366e-02 9.99695173e-01 -2.29785922e-04 1.26642618e-01] [ 1.50201894e-02 -1.41105004e-04 9.99887181e-01 -2.15835067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3680409419999995 meters Centerline goodness : 0.994144 Centerline is valid? [True, True] Translation: X:4.03, Y:0.13, Z:-0.02 [[ 9.99546782e-01 -2.60889277e-02 -1.50199488e-02 4.03449572e+00] [ 2.60898569e-02 9.99659593e-01 -1.34112279e-04 1.26420297e-01] [ 1.50183347e-02 -2.57816818e-04 9.99887185e-01 -2.46895287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.398040942 meters Centerline goodness : 0.995161 Centerline is valid? [True, True] Translation: X:4.06, Y:0.12, Z:-0.02 [[ 9.99550753e-01 -2.59369452e-02 -1.50188920e-02 4.06409355e+00] [ 2.59361703e-02 9.99663571e-01 -2.46400561e-04 1.24536221e-01] [ 1.50202301e-02 -1.43242675e-04 9.99887180e-01 -2.12154586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.428040941999999 meters Centerline goodness : 0.995364 Centerline is valid? [True, True] Translation: X:4.09, Y:0.12, Z:-0.02 [[ 9.99522330e-01 -2.70095217e-02 -1.50198825e-02 4.09227373e+00] [ 2.70104576e-02 9.99635141e-01 -1.40584312e-04 1.22660460e-01] [ 1.50181995e-02 -2.65176741e-04 9.99887185e-01 -2.11802118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.458040941999999 meters Centerline goodness : 0.995350 Centerline is valid? [True, True] Translation: X:4.12, Y:0.12, Z:-0.02 [[ 9.99508045e-01 -2.75331120e-02 -1.50198415e-02 4.11923302e+00] [ 2.75340430e-02 9.99620856e-01 -1.44842657e-04 1.21034775e-01] [ 1.50181348e-02 -2.68785559e-04 9.99887185e-01 -2.13295269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.488040942 meters Centerline goodness : 0.995824 Centerline is valid? [True, True] Translation: X:4.15, Y:0.12, Z:-0.02 [[ 9.99483302e-01 -2.84171388e-02 -1.50198235e-02 4.14679149e+00] [ 2.84181419e-02 9.99596112e-01 -1.46682732e-04 1.16168448e-01] [ 1.50179255e-02 -2.80228535e-04 9.99887185e-01 -2.05866298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.518040942 meters Centerline goodness : 0.995789 Centerline is valid? [True, True] Translation: X:4.17, Y:0.11, Z:-0.02 [[ 9.99474538e-01 -2.87237631e-02 -1.50197827e-02 4.17463374e+00] [ 2.87247398e-02 9.99587348e-01 -1.50744592e-04 1.14701947e-01] [ 1.50179147e-02 -2.80773970e-04 9.99887185e-01 -1.91775963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.548040941999999 meters Centerline goodness : 0.996103 Centerline is valid? [True, True] Translation: X:4.20, Y:0.11, Z:-0.02 [[ 9.99504700e-01 -2.76543201e-02 -1.50197398e-02 4.20274997e+00] [ 2.76551135e-02 9.99617512e-01 -1.54911625e-04 1.12509541e-01] [ 1.50182789e-02 -2.60537710e-04 9.99887185e-01 -1.80765243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5780409419999994 meters Centerline goodness : 0.996077 Centerline is valid? [True, True] Translation: X:4.23, Y:0.11, Z:-0.02 [[ 9.99516179e-01 -2.72363064e-02 -1.50196961e-02 4.23063046e+00] [ 2.72369907e-02 9.99628992e-01 -1.59035943e-04 1.11500241e-01] [ 1.50184552e-02 -2.50132323e-04 9.99887185e-01 -1.72381978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.608040942 meters Centerline goodness : 0.996316 Centerline is valid? [True, True] Translation: X:4.26, Y:0.11, Z:-0.02 [[ 9.99534662e-01 -2.65493888e-02 -1.50196510e-02 4.25814565e+00] [ 2.65499331e-02 9.99647475e-01 -1.63189930e-04 1.10513897e-01] [ 1.50186887e-02 -2.35656737e-04 9.99887185e-01 -1.59829874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.638040941999999 meters Centerline goodness : 0.995970 Centerline is valid? [True, True] Translation: X:4.29, Y:0.11, Z:-0.02 [[ 9.99553093e-01 -2.58462113e-02 -1.50196047e-02 4.28611677e+00] [ 2.58466139e-02 9.99665906e-01 -1.67340433e-04 1.09023816e-01] [ 1.50189119e-02 -2.20940277e-04 9.99887185e-01 -1.54316180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.668040941999999 meters Centerline goodness : 0.996375 Centerline is valid? [True, True] Translation: X:4.31, Y:0.10, Z:-0.02 [[ 9.99615803e-01 -2.32950675e-02 -1.50195567e-02 4.31313305e+00] [ 2.32951190e-02 9.99728617e-01 -1.71544354e-04 1.04928156e-01] [ 1.50194768e-02 -1.78403914e-04 9.99887185e-01 -1.52516786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6980409419999996 meters Centerline goodness : 0.996570 Centerline is valid? [True, True] Translation: X:4.34, Y:0.10, Z:-0.02 [[ 9.99658268e-01 -2.13953264e-02 -1.50195356e-02 4.34062702e+00] [ 2.13951361e-02 9.99771083e-01 -1.73371246e-04 1.02967728e-01] [ 1.50198067e-02 -1.48033008e-04 9.99887185e-01 -1.51716240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.728040942 meters Centerline goodness : 0.995796 Centerline is valid? [True, True] Translation: X:4.37, Y:0.10, Z:-0.02 [[ 9.99710300e-01 -1.88077084e-02 -1.50195152e-02 4.36851044e+00] [ 1.88071998e-02 9.99823114e-01 -1.75118561e-04 1.01610099e-01] [ 1.50201521e-02 -1.07407194e-04 9.99887185e-01 -1.68384976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.758040941999999 meters Centerline goodness : 0.995423 Centerline is valid? [True, True] Translation: X:4.40, Y:0.10, Z:-0.02 [[ 9.99797042e-01 -1.34275081e-02 -1.50192289e-02 4.39617410e+00] [ 1.34260299e-02 9.99909847e-01 -1.99254873e-04 9.98304133e-02] [ 1.50205504e-02 -2.43418303e-06 9.99887185e-01 -1.54960590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.788040941999999 meters Centerline goodness : 0.995775 Centerline is valid? [True, True] Translation: X:4.42, Y:0.10, Z:-0.02 [[ 9.99825888e-01 -1.10740064e-02 -1.50186728e-02 4.42271983e+00] [ 1.10715742e-02 9.99938678e-01 -2.45085795e-04 9.88628060e-02] [ 1.50204659e-02 7.87627729e-05 9.99887183e-01 -1.56932511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.818040942 meters Centerline goodness : 0.996874 Centerline is valid? [True, True] Translation: X:4.45, Y:0.10, Z:-0.01 [[ 9.99849648e-01 -8.66731875e-03 -1.50185990e-02 4.45258999e+00] [ 8.66452432e-03 9.99962431e-01 -2.51124513e-04 9.52563035e-02] [ 1.50202113e-02 1.20957740e-04 9.99887183e-01 -1.24699964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.848040941999999 meters Centerline goodness : 0.996863 Centerline is valid? [True, True] Translation: X:4.48, Y:0.09, Z:-0.01 [[ 9.99852009e-01 -8.38913249e-03 -1.50194034e-02 4.48059929e+00] [ 8.38729652e-03 9.99964809e-01 -1.85226707e-04 9.25902059e-02] [ 1.50204287e-02 5.92271056e-05 9.99887185e-01 -1.16016514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.878040941999999 meters Centerline goodness : 0.995821 Centerline is valid? [True, True] Translation: X:4.51, Y:0.09, Z:-0.01 [[ 9.99852309e-01 -8.35329002e-03 -1.50194084e-02 4.50887465e+00] [ 8.35145610e-03 9.99965109e-01 -1.84821131e-04 8.93923573e-02] [ 1.50204282e-02 5.93599048e-05 9.99887185e-01 -1.12980246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9080409419999995 meters Centerline goodness : 0.996058 Centerline is valid? [True, True] Translation: X:4.53, Y:0.08, Z:-0.01 [[ 9.99821816e-01 -1.14348223e-02 -1.50193490e-02 4.53455769e+00] [ 1.14332653e-02 9.99934620e-01 -1.89528332e-04 8.37664605e-02] [ 1.50205342e-02 1.77743598e-05 9.99887185e-01 -1.15279419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.938040942 meters Centerline goodness : 0.997420 Centerline is valid? [True, True] Translation: X:4.56, Y:0.08, Z:-0.01 [[ 9.99797299e-01 -1.34092024e-02 -1.50184946e-02 4.56483507e+00] [ 1.34068921e-02 9.99910091e-01 -2.54506116e-04 8.27725084e-02] [ 1.50205571e-02 5.31031901e-05 9.99887184e-01 -8.30885647e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.968040941999999 meters Centerline goodness : 0.996012 Centerline is valid? [True, True] Translation: X:4.59, Y:0.08, Z:-0.01 [[ 9.99783313e-01 -1.44135408e-02 -1.50192196e-02 4.59269757e+00] [ 1.44121612e-02 9.99896119e-01 -2.00088616e-04 8.16975297e-02] [ 1.50205434e-02 -1.64141555e-05 9.99887185e-01 -1.07690861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.998040941999999 meters Centerline goodness : 0.997790 Centerline is valid? [True, True] Translation: X:4.62, Y:0.08, Z:-0.01 [[ 9.99739185e-01 -1.72040341e-02 -1.50193968e-02 4.62069471e+00] [ 1.72031665e-02 9.99851997e-01 -1.86964557e-04 7.89094743e-02] [ 1.50203904e-02 -7.14653902e-05 9.99887185e-01 -9.51824066e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.028040942 meters Centerline goodness : 0.997399 Centerline is valid? [True, True] Translation: X:4.65, Y:0.08, Z:-0.01 [[ 9.99709839e-01 -1.88325188e-02 -1.50191331e-02 4.64846263e+00] [ 1.88315465e-02 9.99822649e-01 -2.06171662e-04 7.74971621e-02] [ 1.50203522e-02 -7.67216642e-05 9.99887185e-01 -1.07829235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.058040941999999 meters Centerline goodness : 0.997273 Centerline is valid? [True, True] Translation: X:4.68, Y:0.08, Z:-0.01 [[ 9.99662555e-01 -2.11944051e-02 -1.50191162e-02 4.67652051e+00] [ 2.11936809e-02 9.99775367e-01 -2.07398344e-04 7.59582738e-02] [ 1.50201381e-02 -1.10981997e-04 9.99887185e-01 -1.12234941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.088040941999999 meters Centerline goodness : 0.997505 Centerline is valid? [True, True] Translation: X:4.71, Y:0.07, Z:-0.01 [[ 9.99588828e-01 -2.44254595e-02 -1.50190605e-02 4.70539596e+00] [ 2.44250406e-02 9.99701642e-01 -2.11351461e-04 7.03354583e-02] [ 1.50197418e-02 -1.55576604e-04 9.99887185e-01 -1.27851280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1180409419999995 meters Centerline goodness : 0.997761 Centerline is valid? [True, True] Translation: X:4.74, Y:0.07, Z:-0.01 [[ 9.99533326e-01 -2.66000079e-02 -1.50190114e-02 4.73501613e+00] [ 2.65997827e-02 9.99646140e-01 -2.14789050e-04 6.85650016e-02] [ 1.50194102e-02 -1.84813627e-04 9.99887185e-01 -1.23223790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.148040942 meters Centerline goodness : 0.997787 Centerline is valid? [True, True] Translation: X:4.76, Y:0.07, Z:-0.01 [[ 9.99507010e-01 -2.75708731e-02 -1.50194784e-02 4.76180817e+00] [ 2.75712466e-02 9.99619824e-01 -1.82234707e-04 6.79597084e-02] [ 1.50187928e-02 -2.31960877e-04 9.99887185e-01 -1.21459029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.178040941999999 meters Centerline goodness : 0.997947 Centerline is valid? [True, True] Translation: X:4.79, Y:0.07, Z:-0.01 [[ 9.99455947e-01 -2.93639639e-02 -1.50189389e-02 4.79040863e+00] [ 2.93639844e-02 9.99568761e-01 -2.19201035e-04 6.70462250e-02] [ 1.50188988e-02 -2.21934111e-04 9.99887185e-01 -8.82983720e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.208040941999999 meters Centerline goodness : 0.997864 Centerline is valid? [True, True] Translation: X:4.82, Y:0.07, Z:-0.01 [[ 9.99453710e-01 -2.94399217e-02 -1.50190773e-02 4.81689223e+00] [ 2.94400920e-02 9.99566525e-01 -2.09800132e-04 6.61581845e-02] [ 1.50187434e-02 -2.32477496e-04 9.99887185e-01 -8.72548818e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.238040942 meters Centerline goodness : 0.997969 Centerline is valid? [True, True] Translation: X:4.84, Y:0.07, Z:-0.01 [[ 9.99438482e-01 -2.99525292e-02 -1.50188732e-02 4.84487602e+00] [ 2.99525514e-02 9.99551297e-01 -2.23512311e-04 6.51984131e-02] [ 1.50188289e-02 -2.26466766e-04 9.99887185e-01 -7.09266879e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.268040942 meters Centerline goodness : 0.997928 Centerline is valid? [True, True] Translation: X:4.87, Y:0.06, Z:-0.00 [[ 9.99416835e-01 -3.06663486e-02 -1.50188158e-02 4.87336251e+00] [ 3.06663944e-02 9.99529650e-01 -2.27302547e-04 6.25152117e-02] [ 1.50187223e-02 -2.33402938e-04 9.99887185e-01 -3.80752467e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.298040941999999 meters Centerline goodness : 0.997921 Centerline is valid? [True, True] Translation: X:4.90, Y:0.06, Z:-0.00 [[ 9.99388815e-01 -3.15663273e-02 -1.50187623e-02 4.90126366e+00] [ 3.15664224e-02 9.99501630e-01 -2.30784283e-04 6.21782415e-02] [ 1.50185624e-02 -2.43445365e-04 9.99887185e-01 -3.61242016e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3280409419999994 meters Centerline goodness : 0.998169 Centerline is valid? [True, True] Translation: X:4.93, Y:0.06, Z:-0.00 [[ 9.99402113e-01 -3.11424903e-02 -1.50186990e-02 4.92957382e+00] [ 3.11424767e-02 9.99514928e-01 -2.34837302e-04 6.16492412e-02] [ 1.50187272e-02 -2.33022585e-04 9.99887185e-01 -2.49837181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.358040942 meters Centerline goodness : 0.998470 Centerline is valid? [True, True] Translation: X:4.96, Y:0.06, Z:0.00 [[ 9.99440687e-01 -2.98789726e-02 -1.50186348e-02 4.95796824e+00] [ 2.98787558e-02 9.99553502e-01 -2.38869523e-04 6.19101594e-02] [ 1.50190662e-02 -2.10002201e-04 9.99887185e-01 1.00243013e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.388040941999999 meters Centerline goodness : 0.998534 Centerline is valid? [True, True] Translation: X:4.99, Y:0.06, Z:-0.00 [[ 9.99457784e-01 -2.93017533e-02 -1.50181817e-02 4.98535837e+00] [ 2.93010506e-02 9.99570596e-01 -2.66876874e-04 6.25370425e-02] [ 1.50195528e-02 -1.73316333e-04 9.99887185e-01 -1.89424429e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.418040941999999 meters Centerline goodness : 0.998244 Centerline is valid? [True, True] Translation: X:5.01, Y:0.06, Z:-0.00 [[ 9.99543251e-01 -2.62246439e-02 -1.50185522e-02 5.01284071e+00] [ 2.62239363e-02 9.99656064e-01 -2.44084326e-04 6.28547993e-02] [ 1.50197878e-02 -1.49872714e-04 9.99887185e-01 -2.61249998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4480409419999996 meters Centerline goodness : 0.998494 Centerline is valid? [True, True] Translation: X:5.04, Y:0.06, Z:-0.00 [[ 9.99587228e-01 -2.44911797e-02 -1.50185072e-02 5.03924970e+00] [ 2.44902353e-02 9.99700039e-01 -2.46817840e-04 6.38550418e-02] [ 1.50200471e-02 -1.21090815e-04 9.99887185e-01 -1.84916419e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.478040942 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:5.07, Y:0.06, Z:0.00 [[ 9.99611624e-01 -2.34751645e-02 -1.50172280e-02 5.06808310e+00] [ 2.34729644e-02 9.99724420e-01 -3.22771031e-04 6.48691324e-02] [ 1.50206666e-02 -2.98531844e-05 9.99887183e-01 1.29410109e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.508040941999999 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:5.10, Y:0.06, Z:0.00 [[ 9.99644450e-01 -2.20322647e-02 -1.50184087e-02 5.09644559e+00] [ 2.20309566e-02 9.99757257e-01 -2.52564339e-04 6.45570472e-02] [ 1.50203276e-02 -7.83953697e-05 9.99887185e-01 6.21068421e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.538040941999999 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:5.12, Y:0.06, Z:0.00 [[ 9.99676547e-01 -2.05243943e-02 -1.50183426e-02 5.12417488e+00] [ 2.05228578e-02 9.99789351e-01 -2.56437604e-04 6.34101411e-02] [ 1.50204422e-02 -5.18646500e-05 9.99887185e-01 1.40253203e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.568040942 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:5.15, Y:0.06, Z:0.00 [[ 9.99751153e-01 -1.64949864e-02 -1.50182668e-02 5.15232540e+00] [ 1.64929297e-02 9.99863948e-01 -2.60799619e-04 6.09284999e-02] [ 1.50205254e-02 1.30395012e-05 9.99887185e-01 2.69658476e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.598040941999999 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:5.18, Y:0.06, Z:0.00 [[ 9.99765214e-01 -1.56195765e-02 -1.50181899e-02 5.17941106e+00] [ 1.56173555e-02 9.99878007e-01 -2.65157784e-04 6.10166807e-02] [ 1.50204994e-02 3.05511181e-05 9.99887185e-01 3.28622203e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.628040941999999 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:5.21, Y:0.06, Z:0.00 [[ 9.99774324e-01 -1.50251750e-02 -1.50181562e-02 5.20657889e+00] [ 1.50228586e-02 9.99887115e-01 -2.67050610e-04 6.14060253e-02] [ 1.50204734e-02 4.13747064e-05 9.99887185e-01 2.17633737e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6580409419999995 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:5.23, Y:0.06, Z:0.00 [[ 9.99770149e-01 -1.53005184e-02 -1.50181030e-02 5.23410974e+00] [ 1.52981886e-02 9.99882939e-01 -2.70008564e-04 6.13056235e-02] [ 1.50204763e-02 4.01967300e-05 9.99887185e-01 3.96607022e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.688040942 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:5.26, Y:0.06, Z:0.00 [[ 9.99760169e-01 -1.59393357e-02 -1.50180258e-02 5.26226075e+00] [ 1.59370144e-02 9.99872960e-01 -2.74237771e-04 6.08280633e-02] [ 1.50204891e-02 3.48295060e-05 9.99887185e-01 4.04609732e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.718040941999999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:5.29, Y:0.06, Z:0.00 [[ 9.99723598e-01 -1.80883503e-02 -1.50179474e-02 5.28991577e+00] [ 1.80862080e-02 9.99836392e-01 -2.78466955e-04 5.77057403e-02] [ 1.50205273e-02 6.77226645e-06 9.99887185e-01 2.22533634e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.748040941999999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:5.32, Y:0.06, Z:0.00 [[ 9.99690256e-01 -1.98457670e-02 -1.50179230e-02 5.31797284e+00] [ 1.98438033e-02 9.99803053e-01 -2.79775700e-04 5.65264813e-02] [ 1.50205176e-02 -1.83236694e-05 9.99887185e-01 3.86140287e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.778040942 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:5.35, Y:0.06, Z:0.00 [[ 9.99638357e-01 -2.23073840e-02 -1.50178442e-02 5.34583612e+00] [ 2.23056355e-02 9.99751158e-01 -2.83941196e-04 5.56921160e-02] [ 1.50204412e-02 -5.11440492e-05 9.99887186e-01 4.86463562e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.808040941999999 meters Centerline goodness : 0.998006 Centerline is valid? [True, True] Translation: X:5.37, Y:0.05, Z:0.00 [[ 9.99525552e-01 -2.68912099e-02 -1.50177648e-02 5.37134470e+00] [ 2.68899164e-02 9.99638359e-01 -2.88084721e-04 5.45215104e-02] [ 1.50200807e-02 -1.15878399e-04 9.99887186e-01 3.47657737e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.838040941999999 meters Centerline goodness : 0.998069 Centerline is valid? [True, True] Translation: X:5.40, Y:0.05, Z:0.00 [[ 9.99538258e-01 -2.64160748e-02 -1.50153935e-02 5.39659573e+00] [ 2.64129231e-02 9.99651035e-01 -4.08200879e-04 5.29221105e-02] [ 1.50209368e-02 1.14119602e-05 9.99887179e-01 4.14613663e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8680409419999995 meters Centerline goodness : 0.998254 Centerline is valid? [True, True] Translation: X:5.42, Y:0.05, Z:0.00 [[ 9.99479028e-01 -2.85706152e-02 -1.50130702e-02 5.42343435e+00] [ 2.85659541e-02 9.99591772e-01 -5.24868739e-04 5.33110275e-02] [ 1.50219373e-02 9.57326226e-05 9.99887160e-01 4.40078646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.898040942 meters Centerline goodness : 0.998254 Centerline is valid? [True, True] Translation: X:5.45, Y:0.05, Z:0.00 [[ 9.99485718e-01 -2.83365565e-02 -1.50112851e-02 5.45090252e+00] [ 2.83305365e-02 9.99598421e-01 -6.13574807e-04 5.36897458e-02] [ 1.50226435e-02 1.87981496e-04 9.99887136e-01 4.80590816e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.928040941999999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:5.48, Y:0.05, Z:0.00 [[ 9.99460761e-01 -2.92036305e-02 -1.50111909e-02 5.47828001e+00] [ 2.91976377e-02 9.99573467e-01 -6.18269698e-04 5.25480860e-02] [ 1.50228438e-02 1.79644989e-04 9.99887135e-01 1.15187185e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.958040941999999 meters Centerline goodness : 0.998232 Centerline is valid? [True, True] Translation: X:5.51, Y:0.05, Z:0.00 [[ 9.99380839e-01 -3.18218189e-02 -1.50103674e-02 5.51360648e+00] [ 3.18155067e-02 9.99493541e-01 -6.59188662e-04 5.13314207e-02] [ 1.50237418e-02 1.81218074e-04 9.99887121e-01 3.33971458e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.988040942 meters Centerline goodness : 0.998027 Centerline is valid? [True, True] Translation: X:5.54, Y:0.05, Z:0.00 [[ 9.99362600e-01 -3.23871509e-02 -1.50155416e-02 5.54167848e+00] [ 3.23848579e-02 9.99475395e-01 -3.95900441e-04 5.06808871e-02] [ 1.50204864e-02 -9.06280843e-05 9.99887182e-01 3.64970944e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.018040941999999 meters Centerline goodness : 0.998218 Centerline is valid? [True, True] Translation: X:5.57, Y:0.05, Z:0.01 [[ 9.99312337e-01 -3.39026815e-02 -1.50153928e-02 5.56979773e+00] [ 3.39004468e-02 9.99425133e-01 -4.03403316e-04 4.89924361e-02] [ 1.50204374e-02 -1.05902614e-04 9.99887181e-01 5.20216479e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.048040941999999 meters Centerline goodness : 0.998085 Centerline is valid? [True, True] Translation: X:5.59, Y:0.05, Z:0.01 [[ 9.99377361e-01 -3.19284024e-02 -1.50155860e-02 5.59458063e+00] [ 3.19260908e-02 9.99490155e-01 -3.93686210e-04 4.77711802e-02] [ 1.50205001e-02 -8.59478769e-05 9.99887182e-01 5.87002501e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0780409419999994 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:5.63, Y:0.05, Z:0.01 [[ 9.99235767e-01 -3.60901896e-02 -1.50126645e-02 5.62779094e+00] [ 3.60861791e-02 9.99348537e-01 -5.38037063e-04 4.68043288e-02] [ 1.50223021e-02 -4.12382016e-06 9.99887159e-01 1.04343736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.108040942 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:5.66, Y:0.05, Z:0.01 [[ 9.99208724e-01 -3.68293663e-02 -1.50174317e-02 5.65561870e+00] [ 3.68290597e-02 9.99321536e-01 -2.97061617e-04 4.58856537e-02] [ 1.50181835e-02 -2.56251328e-04 9.99887188e-01 1.06289878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.138040941999999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:5.68, Y:0.05, Z:0.01 [[ 9.99198904e-01 -3.70948657e-02 -1.50173539e-02 5.68242877e+00] [ 3.70945308e-02 9.99311716e-01 -3.00941156e-04 4.53411928e-02] [ 1.50181811e-02 -2.56361625e-04 9.99887188e-01 1.10782538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.168040941999999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:5.71, Y:0.05, Z:0.01 [[ 9.99203027e-01 -3.69836584e-02 -1.50173200e-02 5.71024085e+00] [ 3.69832857e-02 9.99315838e-01 -3.02623480e-04 4.51853616e-02] [ 1.50182379e-02 -2.53007539e-04 9.99887188e-01 1.21416316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1980409419999996 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:5.74, Y:0.05, Z:0.01 [[ 9.99166152e-01 -3.79668792e-02 -1.50172417e-02 5.73803638e+00] [ 3.79665598e-02 9.99278963e-01 -3.06463364e-04 4.56681251e-02] [ 1.50180491e-02 -2.63945184e-04 9.99887188e-01 1.40550043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.228040941999999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:5.76, Y:0.05, Z:0.01 [[ 9.99148943e-01 -3.84171229e-02 -1.50171622e-02 5.76465947e+00] [ 3.84167965e-02 9.99261754e-01 -3.10308782e-04 4.61348571e-02] [ 1.50179970e-02 -2.66866573e-04 9.99887188e-01 1.45900495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.258040941999999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:5.79, Y:0.05, Z:0.01 [[ 9.99114972e-01 -3.92907061e-02 -1.50171077e-02 5.79284298e+00] [ 3.92904391e-02 9.99227784e-01 -3.12922203e-04 4.55042108e-02] [ 1.50178062e-02 -2.77383500e-04 9.99887188e-01 1.39995846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.288040941999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:5.82, Y:0.05, Z:0.01 [[ 9.99097408e-01 -3.97348530e-02 -1.50170279e-02 5.82113129e+00] [ 3.97345794e-02 9.99210220e-01 -3.16705757e-04 4.51858139e-02] [ 1.50177520e-02 -2.80275389e-04 9.99887188e-01 1.43147286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.318040942 meters Centerline goodness : 0.998192 Centerline is valid? [True, True] Translation: X:5.85, Y:0.04, Z:0.01 [[ 9.99210682e-01 -3.67764088e-02 -1.50169476e-02 5.84721831e+00] [ 3.67757446e-02 9.99323492e-01 -3.20470346e-04 4.38062853e-02] [ 1.50185743e-02 -2.32042036e-04 9.99887188e-01 1.38918431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.348040941999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.88, Y:0.04, Z:0.02 [[ 9.99089500e-01 -3.99342478e-02 -1.50142322e-02 5.87919738e+00] [ 3.99319970e-02 9.99202298e-01 -4.49788443e-04 4.34797659e-02] [ 1.50202173e-02 -1.50169366e-04 9.99887179e-01 1.67485389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.378040941999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.90, Y:0.05, Z:0.01 [[ 9.99005199e-01 -4.19892932e-02 -1.50170618e-02 5.90459908e+00] [ 4.19893023e-02 9.99118011e-01 -3.14826782e-04 4.67446294e-02] [ 1.50170362e-02 -3.16042355e-04 9.99887188e-01 1.08027210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4080409419999995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:5.93, Y:0.05, Z:0.02 [[ 9.99081178e-01 -4.01416313e-02 -1.50149884e-02 5.93450383e+00] [ 4.01399763e-02 9.99193982e-01 -4.11692752e-04 4.50247658e-02] [ 1.50194121e-02 -1.91386800e-04 9.99887184e-01 1.80604714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.96, Y:0.05, Z:0.01 [[ 9.99055519e-01 -4.07745235e-02 -1.50169394e-02 5.96127418e+00] [ 4.07743147e-02 9.99168331e-01 -3.20198572e-04 4.74251631e-02] [ 1.50175062e-02 -2.92409261e-04 9.99887188e-01 1.22736273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.468040941999999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:5.99, Y:0.05, Z:0.01 [[ 9.99181595e-01 -3.75589505e-02 -1.50155191e-02 5.98885968e+00] [ 3.75573917e-02 9.99294398e-01 -3.85884569e-04 4.53143144e-02] [ 1.50194175e-02 -1.78374973e-04 9.99887186e-01 1.16497260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.498040941999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.02, Y:0.05, Z:0.01 [[ 9.99089232e-01 -3.99405760e-02 -1.50152430e-02 6.01835204e+00] [ 3.99390958e-02 9.99202037e-01 -3.98554244e-04 4.61184052e-02] [ 1.50191799e-02 -2.01503976e-04 9.99887185e-01 1.33256484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.528040942 meters Centerline goodness : 0.998169 Centerline is valid? [True, True] Translation: X:6.05, Y:0.04, Z:0.02 [[ 9.99117573e-01 -3.92248579e-02 -1.50161575e-02 6.04698070e+00] [ 3.92239203e-02 9.99230382e-01 -3.57060426e-04 4.45697657e-02] [ 1.50186065e-02 -2.32247220e-04 9.99887187e-01 1.90142193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.558040941999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:6.08, Y:0.05, Z:0.02 [[ 9.99134601e-01 -3.87885114e-02 -1.50166699e-02 6.07504900e+00] [ 3.87878723e-02 9.99247412e-01 -3.33919039e-04 4.50637262e-02] [ 1.50183207e-02 -2.48834608e-04 9.99887188e-01 1.63263966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.588040941999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.10, Y:0.05, Z:0.02 [[ 9.99126889e-01 -3.89866128e-02 -1.50167575e-02 6.10372013e+00] [ 3.89860551e-02 9.99239700e-01 -3.29992524e-04 4.63014917e-02] [ 1.50182055e-02 -2.55739730e-04 9.99887188e-01 2.34224697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6180409419999995 meters Centerline goodness : 0.998139 Centerline is valid? [True, True] Translation: X:6.13, Y:0.04, Z:0.02 [[ 9.99299155e-01 -3.42884954e-02 -1.50165806e-02 6.12822249e+00] [ 3.42872890e-02 9.99411961e-01 -3.37855204e-04 4.48827319e-02] [ 1.50193348e-02 -1.77259419e-04 9.99887188e-01 2.22718822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.16, Y:0.05, Z:0.02 [[ 9.99193747e-01 -3.72356413e-02 -1.50121108e-02 6.16068679e+00] [ 3.72318614e-02 9.99306513e-01 -5.31282527e-04 4.69498683e-02] [ 1.50214828e-02 -2.80746522e-05 9.99887171e-01 2.39791438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.678040941999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.19, Y:0.05, Z:0.03 [[ 9.99206051e-01 -3.69022479e-02 -1.50164131e-02 6.18911089e+00] [ 3.69012612e-02 9.99318858e-01 -3.42871327e-04 4.70650441e-02] [ 1.50188375e-02 -2.11525479e-04 9.99887189e-01 2.50114164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.708040941999999 meters Centerline goodness : 0.997863 Centerline is valid? [True, True] Translation: X:6.22, Y:0.05, Z:0.03 [[ 9.99275676e-01 -3.49661595e-02 -1.50163278e-02 6.21511780e+00] [ 3.49648988e-02 9.99388481e-01 -3.46567413e-04 4.63170557e-02] [ 1.50192632e-02 -1.78727996e-04 9.99887189e-01 2.59993373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.25, Y:0.05, Z:0.02 [[ 9.99208734e-01 -3.68301349e-02 -1.50148817e-02 6.24596307e+00] [ 3.68281130e-02 9.99321530e-01 -4.11231067e-04 4.71465976e-02] [ 1.50198402e-02 -1.42064085e-04 9.99887186e-01 2.24817357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.768040941999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.27, Y:0.05, Z:0.02 [[ 9.99201860e-01 -3.70153896e-02 -1.50167816e-02 6.27329099e+00] [ 3.70146517e-02 9.99314669e-01 -3.27166844e-04 4.80661995e-02] [ 1.50186004e-02 -2.28935223e-04 9.99887188e-01 2.25366265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.798040941999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.30, Y:0.05, Z:0.02 [[ 9.99237521e-01 -3.60399287e-02 -1.50166720e-02 6.30232637e+00] [ 3.60390081e-02 9.99350329e-01 -3.31991676e-04 4.80106720e-02] [ 1.50188811e-02 -2.09447427e-04 9.99887188e-01 2.22192376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8280409419999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.33, Y:0.05, Z:0.03 [[ 9.99277419e-01 -3.49158887e-02 -1.50173532e-02 6.32913766e+00] [ 3.49152900e-02 9.99390230e-01 -3.02128791e-04 4.73587540e-02] [ 1.50187451e-02 -2.22424762e-04 9.99887188e-01 2.69448951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.36, Y:0.05, Z:0.02 [[ 9.99265155e-01 -3.52655495e-02 -1.50163383e-02 6.35898332e+00] [ 3.52643288e-02 9.99377960e-01 -3.46153330e-04 4.71964179e-02] [ 1.50192049e-02 -1.83642132e-04 9.99887189e-01 2.00924740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.888040941999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.39, Y:0.05, Z:0.02 [[ 9.99302269e-01 -3.41974186e-02 -1.50170684e-02 6.38747950e+00] [ 3.41965521e-02 9.99415077e-01 -3.14557878e-04 4.66649804e-02] [ 1.50190417e-02 -1.99193561e-04 9.99887188e-01 2.07424807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.918040941999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.42, Y:0.05, Z:0.02 [[ 9.99387880e-01 -3.15964459e-02 -1.50176641e-02 6.41500483e+00] [ 3.15956707e-02 9.99500690e-01 -2.88933472e-04 4.60639786e-02] [ 1.50192949e-02 -1.85736560e-04 9.99887187e-01 2.27393483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9480409419999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.44, Y:0.05, Z:0.02 [[ 9.99412500e-01 -3.08079926e-02 -1.50174224e-02 6.44406686e+00] [ 3.08069740e-02 9.99525308e-01 -2.99209089e-04 4.59261212e-02] [ 1.50195117e-02 -1.63608037e-04 9.99887187e-01 2.33531307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.978040941999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.47, Y:0.04, Z:0.03 [[ 9.99541041e-01 -2.63089494e-02 -1.50181738e-02 6.47436617e+00] [ 2.63079003e-02 9.99653852e-01 -2.67443809e-04 4.43347791e-02] [ 1.50200114e-02 -1.27775555e-04 9.99887185e-01 2.59970177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.008040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.50, Y:0.04, Z:0.03 [[ 9.99582619e-01 -2.46779693e-02 -1.50195261e-02 6.50284676e+00] [ 2.46775932e-02 9.99695440e-01 -2.10401699e-04 4.40037592e-02] [ 1.50201440e-02 -1.60331873e-04 9.99887178e-01 2.74907098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.038040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.53, Y:0.05, Z:0.03 [[ 9.99525474e-01 -2.68927658e-02 -1.50202098e-02 6.52712332e+00] [ 2.68930698e-02 9.99638299e-01 -1.81778397e-04 4.76457191e-02] [ 1.50196655e-02 -2.22247410e-04 9.99887174e-01 3.16028781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.068040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.55, Y:0.05, Z:0.03 [[ 9.99542729e-01 -2.62452102e-02 -1.50174144e-02 6.55356425e+00] [ 2.62437161e-02 9.99655530e-01 -2.96586857e-04 4.70373610e-02] [ 1.50200253e-02 -9.76615215e-05 9.99887188e-01 3.25042176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.58, Y:0.05, Z:0.03 [[ 9.99521934e-01 -2.70266069e-02 -1.50155432e-02 6.58092714e+00] [ 2.70240666e-02 9.99634714e-01 -3.72097263e-04 4.73435910e-02] [ 1.50201147e-02 -3.38616624e-05 9.99887191e-01 3.32255892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.61, Y:0.05, Z:0.03 [[ 9.99475930e-01 -2.86775326e-02 -1.50154977e-02 6.60896078e+00] [ 2.86751511e-02 9.99588713e-01 -3.73925342e-04 4.61999764e-02] [ 1.50200452e-02 -5.68422847e-05 9.99887191e-01 3.44614863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.158040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.64, Y:0.05, Z:0.03 [[ 9.99448011e-01 -2.96346363e-02 -1.50153899e-02 6.63634929e+00] [ 2.96322985e-02 9.99560795e-01 -3.78202400e-04 4.59573772e-02] [ 1.50200030e-02 -6.69468807e-05 9.99887191e-01 3.48010190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.66, Y:0.05, Z:0.03 [[ 9.99415301e-01 -3.07180008e-02 -1.50153431e-02 6.66440662e+00] [ 3.07157575e-02 9.99528088e-01 -3.80054305e-04 4.59370197e-02] [ 1.50199316e-02 -8.13755477e-05 9.99887191e-01 3.46885834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.70, Y:0.05, Z:0.03 [[ 9.99399844e-01 -3.12169034e-02 -1.50152351e-02 6.69510913e+00] [ 3.12146530e-02 9.99512630e-01 -3.84271386e-04 4.50121575e-02] [ 1.50199129e-02 -8.46545911e-05 9.99887191e-01 3.16710731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.72, Y:0.05, Z:0.03 [[ 9.99339960e-01 -3.30772674e-02 -1.50179662e-02 6.72010049e+00] [ 3.30768389e-02 9.99452773e-01 -2.76990992e-04 4.72106193e-02] [ 1.50189101e-02 -2.19938682e-04 9.99887186e-01 3.41870635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.75, Y:0.05, Z:0.03 [[ 9.99294575e-01 -3.44223963e-02 -1.50150440e-02 6.74848176e+00] [ 3.44204274e-02 9.99407366e-01 -3.89613233e-04 4.86572430e-02] [ 1.50195570e-02 -1.27485842e-04 9.99887192e-01 3.48165295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.78, Y:0.05, Z:0.03 [[ 9.99111704e-01 -3.93745378e-02 -1.50149358e-02 6.77502945e+00] [ 3.93730659e-02 9.99224503e-01 -3.93739670e-04 5.33174997e-02] [ 1.50187951e-02 -1.97794143e-04 9.99887192e-01 3.07262180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.338040942000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.80, Y:0.05, Z:0.04 [[ 9.99222405e-01 -3.64579888e-02 -1.50133196e-02 6.80449846e+00] [ 3.64552658e-02 9.99335182e-01 -4.55098978e-04 5.03059017e-02] [ 1.50199305e-02 -9.25694608e-05 9.99887190e-01 3.54413435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.83, Y:0.05, Z:0.04 [[ 9.99193282e-01 -3.72470078e-02 -1.50148787e-02 6.83112064e+00] [ 3.72452621e-02 9.99306076e-01 -3.95981209e-04 5.12805424e-02] [ 1.50192087e-02 -1.63571329e-04 9.99887192e-01 3.57020717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.398040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:6.86, Y:0.05, Z:0.04 [[ 9.99190147e-01 -3.73310217e-02 -1.50148301e-02 6.85932731e+00] [ 3.73292579e-02 9.99302941e-01 -3.97816522e-04 5.22943425e-02] [ 1.50192148e-02 -1.62998115e-04 9.99887192e-01 3.57462959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.89, Y:0.05, Z:0.04 [[ 9.99205973e-01 -3.69050306e-02 -1.50147190e-02 6.88709015e+00] [ 3.69031564e-02 9.99318766e-01 -4.01964672e-04 5.26251182e-02] [ 1.50193250e-02 -1.52445024e-04 9.99887192e-01 3.56824019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.458040942 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:6.91, Y:0.05, Z:0.04 [[ 9.99216386e-01 -3.66220771e-02 -1.50146030e-02 6.91418257e+00] [ 3.66201065e-02 9.99329176e-01 -4.06252098e-04 5.27128821e-02] [ 1.50194087e-02 -1.43902609e-04 9.99887192e-01 3.59359062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.94, Y:0.05, Z:0.04 [[ 9.99232790e-01 -3.61717320e-02 -1.50145525e-02 6.94209844e+00] [ 3.61696827e-02 9.99345580e-01 -4.08110453e-04 5.33622771e-02] [ 1.50194888e-02 -1.35274254e-04 9.99887192e-01 3.62191771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.97, Y:0.05, Z:0.04 [[ 9.99242897e-01 -3.58915086e-02 -1.50144368e-02 6.96951050e+00] [ 3.58893643e-02 9.99355684e-01 -4.12323168e-04 5.48785567e-02] [ 1.50195617e-02 -1.26847597e-04 9.99887192e-01 3.55787973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.00, Y:0.06, Z:0.04 [[ 9.99245299e-01 -3.58245931e-02 -1.50143865e-02 6.99774839e+00] [ 3.58224139e-02 9.99358086e-01 -4.14149434e-04 5.67670915e-02] [ 1.50195853e-02 -1.24014691e-04 9.99887192e-01 3.55507104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.578040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:7.03, Y:0.06, Z:0.04 [[ 9.99223956e-01 -3.64150645e-02 -1.50142706e-02 7.02585543e+00] [ 3.64128894e-02 9.99336743e-01 -4.18309440e-04 5.78310091e-02] [ 1.50195450e-02 -1.28728159e-04 9.99887192e-01 3.65088139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.608040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:7.05, Y:0.06, Z:0.04 [[ 9.99208601e-01 -3.68340362e-02 -1.50141497e-02 7.05281253e+00] [ 3.68318438e-02 9.99321388e-01 -4.22602590e-04 5.88925200e-02] [ 1.50195271e-02 -1.30730675e-04 9.99887192e-01 3.69415914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.638040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.08, Y:0.06, Z:0.04 [[ 9.99176184e-01 -3.77032013e-02 -1.50140664e-02 7.08072393e+00] [ 3.77010628e-02 9.99288972e-01 -4.25541508e-04 6.03417655e-02] [ 1.50194353e-02 -1.40855322e-04 9.99887192e-01 3.85319884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.668040942000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.11, Y:0.06, Z:0.04 [[ 9.99174060e-01 -3.77594831e-02 -1.50139458e-02 7.10849436e+00] [ 3.77572877e-02 9.99286847e-01 -4.29755120e-04 6.13468905e-02] [ 1.50194659e-02 -1.37485704e-04 9.99887192e-01 3.90430879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.698040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:7.14, Y:0.06, Z:0.04 [[ 9.99167052e-01 -3.79445283e-02 -1.50138214e-02 7.13642178e+00] [ 3.79422891e-02 9.99279838e-01 -4.34057279e-04 6.25361802e-02] [ 1.50194792e-02 -1.35963023e-04 9.99887192e-01 3.93227817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.728040942 meters Centerline goodness : 0.997756 Centerline is valid? [True, True] Translation: X:7.16, Y:0.06, Z:0.04 [[ 9.99179336e-01 -3.76197082e-02 -1.50136968e-02 7.16434076e+00] [ 3.76173683e-02 9.99292120e-01 -4.38326983e-04 6.43937514e-02] [ 1.50195586e-02 -1.26808497e-04 9.99887192e-01 3.98878532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.758040942000001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:7.19, Y:0.07, Z:0.04 [[ 9.99177514e-01 -3.76680340e-02 -1.50138049e-02 7.19170617e+00] [ 3.76657550e-02 9.99290299e-01 -4.34637208e-04 6.54519768e-02] [ 1.50195216e-02 -1.31226573e-04 9.99887192e-01 3.97125616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.788040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:7.22, Y:0.07, Z:0.04 [[ 9.99167108e-01 -3.79431828e-02 -1.50134929e-02 7.22020390e+00] [ 3.79407767e-02 9.99279890e-01 -4.45162577e-04 6.63939064e-02] [ 1.50195724e-02 -1.24831775e-04 9.99887192e-01 4.01396281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.818040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:7.25, Y:0.07, Z:0.04 [[ 9.99178879e-01 -3.76319752e-02 -1.50133692e-02 7.24784320e+00] [ 3.76294718e-02 9.99291660e-01 -4.49295001e-04 6.71723814e-02] [ 1.50196425e-02 -1.16019078e-04 9.99887192e-01 3.98297400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.848040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:7.28, Y:0.07, Z:0.04 [[ 9.99171394e-01 -3.78302599e-02 -1.50132441e-02 7.27623879e+00] [ 3.78277167e-02 9.99284173e-01 -4.53438279e-04 6.84263094e-02] [ 1.50196509e-02 -1.14854185e-04 9.99887192e-01 3.91840457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.878040942 meters Centerline goodness : 0.997886 Centerline is valid? [True, True] Translation: X:7.30, Y:0.07, Z:0.04 [[ 9.99193794e-01 -3.72339766e-02 -1.50131168e-02 7.30371126e+00] [ 3.72313033e-02 9.99306570e-01 -4.57614539e-04 6.96915115e-02] [ 1.50197450e-02 -1.01712297e-04 9.99887192e-01 3.83266900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.908040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:7.33, Y:0.07, Z:0.04 [[ 9.99197304e-01 -3.71403219e-02 -1.50114538e-02 7.33109013e+00] [ 3.71368259e-02 9.99310059e-01 -5.11676097e-04 7.05597703e-02] [ 1.50201006e-02 -4.62123677e-05 9.99887191e-01 3.83035957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.36, Y:0.07, Z:0.04 [[ 9.99120952e-01 -3.91403363e-02 -1.50119157e-02 7.36024125e+00] [ 3.91372933e-02 9.99233719e-01 -4.96544954e-04 7.06405591e-02] [ 1.50198473e-02 -9.14172818e-05 9.99887192e-01 3.95314939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.39, Y:0.07, Z:0.04 [[ 9.99065967e-01 -4.05191557e-02 -1.50130293e-02 7.38841503e+00] [ 4.05168142e-02 9.99178751e-01 -4.60218497e-04 7.02247071e-02] [ 1.50193475e-02 -1.48491481e-04 9.99887192e-01 4.12834071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.998040942 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:7.42, Y:0.07, Z:0.04 [[ 9.99050800e-01 -4.08914606e-02 -1.50129008e-02 7.41611419e+00] [ 4.08890986e-02 9.99163583e-01 -4.64372628e-04 7.05400594e-02] [ 1.50193327e-02 -1.49932137e-04 9.99887192e-01 4.12157315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.44, Y:0.07, Z:0.04 [[ 9.99055429e-01 -4.07782713e-02 -1.50127674e-02 7.44334074e+00] [ 4.07758324e-02 9.99168210e-01 -4.68646323e-04 7.10939815e-02] [ 1.50193905e-02 -1.43954435e-04 9.99887192e-01 4.15762953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.058040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:7.47, Y:0.07, Z:0.04 [[ 9.99065970e-01 -4.05192029e-02 -1.50127094e-02 7.47175379e+00] [ 4.05167069e-02 9.99178750e-01 -4.70497903e-04 7.22003230e-02] [ 1.50194444e-02 -1.38207102e-04 9.99887192e-01 4.14452252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.088040942000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:7.50, Y:0.07, Z:0.04 [[ 9.99122273e-01 -3.91063462e-02 -1.50125807e-02 7.49976274e+00] [ 3.91036295e-02 9.99235048e-01 -4.74569293e-04 7.28522801e-02] [ 1.50196555e-02 -1.12893643e-04 9.99887192e-01 4.04145978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.118040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:7.53, Y:0.07, Z:0.04 [[ 9.99139276e-01 -3.86695459e-02 -1.50124458e-02 7.52650593e+00] [ 3.86667164e-02 9.99252048e-01 -4.78798446e-04 7.33084486e-02] [ 1.50197321e-02 -1.02095652e-04 9.99887192e-01 4.08628698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.148040942 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:7.55, Y:0.07, Z:0.04 [[ 9.99200488e-01 -3.70542014e-02 -1.50123872e-02 7.55377157e+00] [ 3.70511620e-02 9.99313254e-01 -4.80630082e-04 7.31305428e-02] [ 1.50198868e-02 -7.59805772e-05 9.99887192e-01 4.08831426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.178040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:7.58, Y:0.07, Z:0.04 [[ 9.99219563e-01 -3.65362197e-02 -1.50123310e-02 7.58161939e+00] [ 3.65330956e-02 9.99332327e-01 -4.82376561e-04 7.41884568e-02] [ 1.50199319e-02 -6.64468296e-05 9.99887192e-01 3.98556717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.61, Y:0.08, Z:0.04 [[ 9.99230930e-01 -3.62240535e-02 -1.50121912e-02 7.60606867e+00] [ 3.62208294e-02 9.99343692e-01 -4.86688970e-04 7.75848524e-02] [ 1.50199685e-02 -5.74393458e-05 9.99887192e-01 4.14006020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.238040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:7.64, Y:0.07, Z:0.04 [[ 9.99360047e-01 -3.24695607e-02 -1.50074950e-02 7.63778964e+00] [ 3.24637658e-02 9.99472715e-01 -6.29649976e-04 7.49489796e-02] [ 1.50200262e-02 1.42047228e-04 9.99887183e-01 4.04094550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.67, Y:0.08, Z:0.04 [[ 9.99394873e-01 -3.13771669e-02 -1.50120556e-02 7.66557410e+00] [ 3.13733477e-02 9.99507615e-01 -4.89901476e-04 7.54308578e-02] [ 1.50200357e-02 1.86265810e-05 9.99887193e-01 4.06696715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.69, Y:0.08, Z:0.04 [[ 9.99471851e-01 -2.88212075e-02 -1.50119157e-02 7.69168352e+00] [ 2.88170362e-02 9.99584581e-01 -4.94154409e-04 7.68934280e-02] [ 1.50199215e-02 6.12945051e-05 9.99887193e-01 4.23614790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.72, Y:0.08, Z:0.04 [[ 9.99503886e-01 -2.76899624e-02 -1.50082687e-02 7.72252162e+00] [ 2.76840171e-02 9.99616542e-01 -6.03783577e-04 7.55708923e-02] [ 1.50192324e-02 1.87994863e-04 9.99887187e-01 4.05350061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.358040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.75, Y:0.08, Z:0.04 [[ 9.99538866e-01 -2.63953452e-02 -1.50113531e-02 7.75033273e+00] [ 2.63906474e-02 9.99651576e-01 -5.10993725e-04 7.51603190e-02] [ 1.50196106e-02 1.14598764e-04 9.99887193e-01 4.10001970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.388040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.78, Y:0.07, Z:0.04 [[ 9.99573818e-01 -2.50371596e-02 -1.50107549e-02 7.77807474e+00] [ 2.50320406e-02 9.99686509e-01 -5.28841736e-04 7.31458183e-02] [ 1.50192899e-02 1.52866526e-04 9.99887192e-01 4.04003920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.418040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:7.81, Y:0.07, Z:0.04 [[ 9.99561115e-01 -2.55391709e-02 -1.50109497e-02 7.80562514e+00] [ 2.55341954e-02 9.99673812e-01 -5.23053371e-04 7.24937938e-02] [ 1.50194117e-02 1.39531287e-04 9.99887193e-01 4.14954102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.83, Y:0.07, Z:0.04 [[ 9.99542117e-01 -2.62718864e-02 -1.50114563e-02 7.83282585e+00] [ 2.62672182e-02 9.99654828e-01 -5.08085305e-04 6.96964343e-02] [ 1.50196231e-02 1.13543462e-04 9.99887193e-01 4.27465724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.478040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.86, Y:0.07, Z:0.04 [[ 9.99539383e-01 -2.63757518e-02 -1.50113961e-02 7.86020274e+00] [ 2.63710688e-02 9.99652093e-01 -5.09857818e-04 6.86060874e-02] [ 1.50196214e-02 1.13756410e-04 9.99887193e-01 4.28402271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.508040942000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.89, Y:0.07, Z:0.04 [[ 9.99437329e-01 -2.99954906e-02 -1.50098784e-02 7.88802577e+00] [ 2.99905497e-02 9.99550029e-01 -5.54209520e-04 6.56651456e-02] [ 1.50197481e-02 1.03743179e-04 9.99887192e-01 4.25601709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.538040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.91, Y:0.07, Z:0.04 [[ 9.99202635e-01 -3.69967340e-02 -1.50111932e-02 7.90760758e+00] [ 3.69931574e-02 9.99315386e-01 -5.15956968e-04 7.14953760e-02] [ 1.50200050e-02 -3.97658693e-05 9.99887193e-01 4.28767244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.568040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.95, Y:0.06, Z:0.04 [[ 9.99328499e-01 -3.34306417e-02 -1.49981097e-02 7.94529196e+00] [ 3.34210831e-02 9.99440965e-01 -8.87579908e-04 6.23576887e-02] [ 1.50193976e-02 3.85730827e-04 9.99887128e-01 4.22906601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.97, Y:0.06, Z:0.04 [[ 9.99188416e-01 -3.73789203e-02 -1.50108671e-02 7.97213024e+00] [ 3.73753604e-02 9.99301163e-01 -5.17717246e-04 5.82731625e-02] [ 1.50197287e-02 -4.37394932e-05 9.99887197e-01 4.28555070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.00, Y:0.06, Z:0.04 [[ 9.99108471e-01 -3.94580606e-02 -1.50108034e-02 8.00062569e+00] [ 3.94547077e-02 9.99221225e-01 -5.19557735e-04 5.75113523e-02] [ 1.50196141e-02 -7.31523253e-05 9.99887197e-01 4.38098864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.658040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.03, Y:0.06, Z:0.04 [[ 9.99011570e-01 -4.18397165e-02 -1.50106890e-02 8.02852460e+00] [ 4.18365831e-02 9.99124330e-01 -5.22836907e-04 5.64333528e-02] [ 1.50194199e-02 -1.05675818e-04 9.99887197e-01 4.38223685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.688040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:8.05, Y:0.06, Z:0.04 [[ 9.98604524e-01 -5.06328833e-02 -1.50105075e-02 8.05135933e+00] [ 5.06306652e-02 9.98717306e-01 -5.27997277e-04 5.82333852e-02] [ 1.50179876e-02 -2.32731509e-04 9.99887197e-01 4.06221818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.08, Y:0.06, Z:0.05 [[ 9.98521106e-01 -5.22547779e-02 -1.50012857e-02 8.07862222e+00] [ 5.22488618e-02 9.98633786e-01 -7.86295694e-04 5.76214714e-02] [ 1.50218784e-02 1.33274562e-06 9.99887165e-01 4.53129662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.748040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:8.11, Y:0.05, Z:0.04 [[ 9.98421500e-01 -5.41250601e-02 -1.49995427e-02 8.10759896e+00] [ 5.41186271e-02 9.98534164e-01 -8.34749103e-04 5.41585512e-02] [ 1.50227366e-02 2.16767964e-05 9.99887152e-01 4.39060413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.778040942 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:8.14, Y:0.05, Z:0.04 [[ 9.98369629e-01 -5.50732864e-02 -1.50005633e-02 8.13867614e+00] [ 5.50673726e-02 9.98482315e-01 -8.07306658e-04 5.32877312e-02] [ 1.50222582e-02 -2.00511580e-05 9.99887159e-01 4.11292092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.17, Y:0.05, Z:0.04 [[ 9.98458375e-01 -5.34392017e-02 -1.50041730e-02 8.16603205e+00] [ 5.34345923e-02 9.98571101e-01 -7.08219778e-04 5.19804237e-02] [ 1.50205802e-02 -9.46138960e-05 9.99887180e-01 4.28838822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.838040942000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.19, Y:0.05, Z:0.04 [[ 9.98507625e-01 -5.25112515e-02 -1.50030191e-02 8.19439058e+00] [ 5.25060610e-02 9.98620331e-01 -7.39920867e-04 5.20263332e-02] [ 1.50211741e-02 -4.89328083e-05 9.99887175e-01 4.26100990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.23, Y:0.05, Z:0.05 [[ 9.98811612e-01 -4.63711499e-02 -1.50026970e-02 8.22770474e+00] [ 4.63651341e-02 9.98924278e-01 -7.48744294e-04 4.56868995e-02] [ 1.50212784e-02 5.22524385e-05 9.99887173e-01 4.57692442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.26, Y:0.05, Z:0.05 [[ 9.98861522e-01 -4.52808554e-02 -1.50101599e-02 8.25618301e+00] [ 4.52778207e-02 9.98974286e-01 -5.42121981e-04 4.52684174e-02] [ 1.50193115e-02 -1.38122540e-04 9.99887194e-01 4.65682327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.928040942 meters Centerline goodness : 0.996805 Centerline is valid? [True, True] Translation: X:8.28, Y:0.04, Z:0.04 [[ 9.99016011e-01 -4.17338046e-02 -1.50100018e-02 8.28454909e+00] [ 4.17303043e-02 9.99128762e-01 -5.46462436e-04 4.31428242e-02] [ 1.50197305e-02 -8.04472221e-05 9.99887194e-01 4.49202894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.31, Y:0.04, Z:0.05 [[ 9.99081491e-01 -4.01362722e-02 -1.50084939e-02 8.31252707e+00] [ 4.01319755e-02 9.99194215e-01 -5.87470565e-04 4.22129883e-02] [ 1.50199791e-02 -1.53895399e-05 9.99887194e-01 4.76269600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.34, Y:0.04, Z:0.05 [[ 9.99308217e-01 -3.40263783e-02 -1.50097492e-02 8.33926575e+00] [ 3.40219039e-02 9.99420934e-01 -5.53422858e-04 3.92601939e-02] [ 1.50198886e-02 4.23797639e-05 9.99887194e-01 4.68716490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.37, Y:0.04, Z:0.05 [[ 9.99245582e-01 -3.58190686e-02 -1.50087008e-02 8.36839498e+00] [ 3.58143725e-02 9.99358290e-01 -5.81638647e-04 4.04990532e-02] [ 1.50199033e-02 4.36726473e-05 9.99887194e-01 4.89751516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.40, Y:0.04, Z:0.05 [[ 9.99264766e-01 -3.52795116e-02 -1.50094738e-02 8.39518363e+00] [ 3.52750653e-02 9.99377484e-01 -5.60954490e-04 3.95849679e-02] [ 1.50199204e-02 3.10818872e-05 9.99887194e-01 4.93058810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.42, Y:0.04, Z:0.05 [[ 9.99282318e-01 -3.47788141e-02 -1.50094030e-02 8.42362599e+00] [ 3.47742829e-02 9.99395033e-01 -5.62843614e-04 3.80472615e-02] [ 1.50198978e-02 4.04984456e-05 9.99887194e-01 4.96303271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.46, Y:0.03, Z:0.05 [[ 9.99400583e-01 -3.11961063e-02 -1.50092399e-02 8.45543903e+00] [ 3.11911063e-02 9.99513278e-01 -5.67158926e-04 3.09280517e-02] [ 1.50196278e-02 9.86641630e-05 9.99887194e-01 5.01960637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.48, Y:0.03, Z:0.05 [[ 9.99337171e-01 -3.31628866e-02 -1.50147235e-02 8.47906774e+00] [ 3.31603005e-02 9.99449957e-01 -4.21229035e-04 3.19924874e-02] [ 1.50204339e-02 -7.69429121e-05 9.99887184e-01 5.26192372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.51, Y:0.03, Z:0.05 [[ 9.99374554e-01 -3.20192334e-02 -1.50089929e-02 8.50602824e+00] [ 3.20142583e-02 9.99487249e-01 -5.71685543e-04 2.95297585e-02] [ 1.50196019e-02 9.08262105e-05 9.99887195e-01 5.32521851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.53, Y:0.03, Z:0.05 [[ 9.99485009e-01 -2.83628171e-02 -1.50089221e-02 8.53458758e+00] [ 2.83574019e-02 9.99597683e-01 -5.73537426e-04 2.70117130e-02] [ 1.50191509e-02 1.47628023e-04 9.99887195e-01 5.23814925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.228040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.57, Y:0.03, Z:0.05 [[ 9.99422492e-01 -3.04863911e-02 -1.50087604e-02 8.56516956e+00] [ 3.04811522e-02 9.99535175e-01 -5.77739466e-04 2.58209039e-02] [ 1.50193971e-02 1.19921508e-04 9.99887195e-01 5.33334167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.258040942000001 meters Centerline goodness : 0.996931 Centerline is valid? [True, True] Translation: X:8.59, Y:0.02, Z:0.05 [[ 9.99421649e-01 -3.05126788e-02 -1.50114644e-02 8.59305884e+00] [ 3.05085101e-02 9.99534379e-01 -5.06674206e-04 2.41976076e-02] [ 1.50199347e-02 4.84037568e-05 9.99887193e-01 5.31145255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.62, Y:0.02, Z:0.05 [[ 9.99417608e-01 -3.06453238e-02 -1.50103207e-02 8.61992048e+00] [ 3.06407210e-02 9.99530319e-01 -5.36579961e-04 2.23860755e-02] [ 1.50197143e-02 7.63404134e-05 9.99887195e-01 5.46855203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.318040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:8.65, Y:0.02, Z:0.05 [[ 9.99394538e-01 -3.13894676e-02 -1.50086309e-02 8.64856027e+00] [ 3.13842923e-02 9.99507223e-01 -5.80284540e-04 2.03729961e-02] [ 1.50194498e-02 1.08897940e-04 9.99887196e-01 5.38564442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.68, Y:0.02, Z:0.06 [[ 9.99314326e-01 -3.38470694e-02 -1.50084714e-02 8.67674269e+00] [ 3.38421097e-02 9.99427021e-01 -5.84382317e-04 1.53424188e-02] [ 1.50196514e-02 7.60632874e-05 9.99887196e-01 5.56306903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.378040942 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:8.70, Y:0.01, Z:0.06 [[ 9.99299484e-01 -3.42825441e-02 -1.50083016e-02 8.70227266e+00] [ 3.42775685e-02 9.99412178e-01 -5.88710329e-04 1.34121021e-02] [ 1.50196619e-02 7.38498422e-05 9.99887196e-01 5.63970669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.408040942 meters Centerline goodness : 0.997030 Centerline is valid? [True, True] Translation: X:8.73, Y:0.01, Z:0.05 [[ 9.99109669e-01 -3.94303932e-02 -1.50037487e-02 8.73361049e+00] [ 3.94242920e-02 9.99222314e-01 -7.02312962e-04 1.18929372e-02] [ 1.50197730e-02 1.10175501e-04 9.99887191e-01 5.48440117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.76, Y:0.01, Z:0.06 [[ 9.98985769e-01 -4.24522989e-02 -1.50078269e-02 8.76055610e+00] [ 4.24480698e-02 9.99098494e-01 -6.00368912e-04 1.10407395e-02] [ 1.50197843e-02 -3.72932854e-05 9.99887196e-01 5.62344264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.79, Y:0.01, Z:0.06 [[ 9.98892400e-01 -4.45952993e-02 -1.50077344e-02 8.78886887e+00] [ 4.45912775e-02 9.99005133e-01 -6.02672282e-04 9.00321159e-03] [ 1.50196801e-02 -6.72092872e-05 9.99887196e-01 5.70660997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.82, Y:0.01, Z:0.06 [[ 9.98793289e-01 -4.67625725e-02 -1.50075563e-02 8.81615312e+00] [ 4.67587291e-02 9.98906028e-01 -6.07076174e-04 6.72515118e-03] [ 1.50195269e-02 -9.53906497e-05 9.99887196e-01 5.83471360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.84, Y:0.00, Z:0.06 [[ 9.98606241e-01 -5.05999196e-02 -1.50074789e-02 8.84435186e+00] [ 5.05964807e-02 9.98718992e-01 -6.08983394e-04 2.66632955e-03] [ 1.50190687e-02 -1.51190999e-04 9.99887196e-01 6.03212437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.87, Y:0.00, Z:0.06 [[ 9.98475440e-01 -5.31189300e-02 -1.50058028e-02 8.87202991e+00] [ 5.31151583e-02 9.98588182e-01 -6.50058188e-04 2.07600498e-03] [ 1.50191478e-02 -1.47968457e-04 9.99887195e-01 5.95387536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.90, Y:0.00, Z:0.06 [[ 9.98253811e-01 -5.71323942e-02 -1.50073065e-02 8.90103010e+00] [ 5.71296288e-02 9.98366581e-01 -6.13260438e-04 1.35538689e-03] [ 1.50178304e-02 -2.45172283e-04 9.99887196e-01 5.80203007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.93, Y:0.00, Z:0.06 [[ 9.98234314e-01 -5.74719315e-02 -1.50077421e-02 8.92760942e+00] [ 5.74693642e-02 9.98347088e-01 -6.02634812e-04 8.08081306e-04] [ 1.50175703e-02 -2.60914652e-04 9.99887196e-01 5.96410157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.96, Y:0.00, Z:0.06 [[ 9.98204393e-01 -5.79894572e-02 -1.50070659e-02 8.95578731e+00] [ 5.79867019e-02 9.98317164e-01 -6.19028603e-04 5.74274040e-04] [ 1.50177086e-02 -2.52293187e-04 9.99887196e-01 5.99374257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.98, Y:-0.00, Z:0.06 [[ 9.98173115e-01 -5.85254278e-02 -1.50068892e-02 8.98400629e+00] [ 5.85226691e-02 9.98285885e-01 -6.23283276e-04 -2.25060991e-03] [ 1.50176436e-02 -2.56098603e-04 9.99887196e-01 5.98147482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.00, Z:0.06 [[ 9.98155146e-01 -5.88311377e-02 -1.50066972e-02 9.01253721e+00] [ 5.88283446e-02 9.98267916e-01 -6.27872183e-04 -1.00406694e-03] [ 1.50176428e-02 -2.56105305e-04 9.99887196e-01 6.02425676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.04, Y:-0.00, Z:0.06 [[ 9.98169871e-01 -5.85808266e-02 -1.50065035e-02 9.03982000e+00] [ 5.85779361e-02 9.98282638e-01 -6.32467740e-04 -1.28887102e-03] [ 1.50177824e-02 -2.47739762e-04 9.99887196e-01 6.18552932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.07, Y:-0.00, Z:0.06 [[ 9.98145608e-01 -5.89928122e-02 -1.50064194e-02 9.06862255e+00] [ 5.89899384e-02 9.98258376e-01 -6.34456729e-04 -1.02436629e-03] [ 1.50177123e-02 -2.51947560e-04 9.99887196e-01 6.03071064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.798040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.10, Y:-0.00, Z:0.06 [[ 9.98180876e-01 -5.83929388e-02 -1.50068006e-02 9.09520260e+00] [ 5.83901324e-02 9.98293645e-01 -6.25465419e-04 -4.23455078e-04] [ 1.50177165e-02 -2.51921456e-04 9.99887196e-01 6.20600610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.828040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.12, Y:0.00, Z:0.06 [[ 9.98162911e-01 -5.86993782e-02 -1.50061852e-02 9.12391316e+00] [ 5.86963895e-02 9.98275676e-01 -6.39898932e-04 4.61817446e-04] [ 1.50178713e-02 -2.42085507e-04 9.99887196e-01 6.13365532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.00, Z:0.06 [[ 9.98307403e-01 -5.61881702e-02 -1.50073139e-02 9.15137881e+00] [ 5.61852953e-02 9.98420170e-01 -6.13449143e-04 -2.35928585e-04] [ 1.50180735e-02 -2.30779541e-04 9.99887196e-01 6.33982534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.18, Y:-0.00, Z:0.06 [[ 9.98390363e-01 -5.46943848e-02 -1.50069260e-02 9.17936646e+00] [ 5.46912054e-02 9.98503122e-01 -6.22483644e-04 -2.65220899e-06] [ 1.50185089e-02 -1.99265204e-04 9.99887196e-01 6.43098712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.21, Y:-0.00, Z:0.06 [[ 9.98536659e-01 -5.19554311e-02 -1.50057716e-02 9.20784659e+00] [ 5.19515414e-02 9.98649396e-01 -6.49168710e-04 -2.99941982e-04] [ 1.50192326e-02 -1.31354212e-04 9.99887196e-01 6.42999829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.24, Y:0.00, Z:0.07 [[ 9.98620533e-01 -5.03175119e-02 -1.50059804e-02 9.23693637e+00] [ 5.03135096e-02 9.98733265e-01 -6.44356461e-04 5.12262390e-04] [ 1.50193942e-02 -1.11535944e-04 9.99887196e-01 6.52534206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.978040942 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:9.27, Y:0.00, Z:0.07 [[ 9.98674668e-01 -4.92312081e-02 -1.50065305e-02 9.26587512e+00] [ 4.92272729e-02 9.98787403e-01 -6.31732411e-04 2.04764659e-03] [ 1.50194345e-02 -1.07835413e-04 9.99887196e-01 6.52595838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.008040942000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.29, Y:0.00, Z:0.06 [[ 9.98792159e-01 -4.67870207e-02 -1.50065748e-02 9.29405779e+00] [ 4.67828248e-02 9.98904885e-01 -6.30714563e-04 2.67330785e-03] [ 1.50196502e-02 -7.20972013e-05 9.99887196e-01 6.48092259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.038040942 meters Centerline goodness : 0.995903 Centerline is valid? [True, True] Translation: X:9.32, Y:0.00, Z:0.07 [[ 9.98810890e-01 -4.63852112e-02 -1.50072843e-02 9.32252844e+00] [ 4.63812156e-02 9.98923623e-01 -6.14374436e-04 3.37986975e-03] [ 1.50196287e-02 -8.24122095e-05 9.99887196e-01 6.55589808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.068040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:9.35, Y:0.00, Z:0.07 [[ 9.98817271e-01 -4.62475983e-02 -1.50072710e-02 9.35164411e+00] [ 4.62435826e-02 9.98930004e-01 -6.14678490e-04 2.74935649e-03] [ 1.50196407e-02 -8.00384822e-05 9.99887196e-01 6.81524980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.38, Y:0.00, Z:0.07 [[ 9.98802951e-01 -4.65557249e-02 -1.50076780e-02 9.37781474e+00] [ 4.65518819e-02 9.98915690e-01 -6.05498864e-04 3.80397324e-03] [ 1.50195944e-02 -9.38615998e-05 9.99887195e-01 7.01220669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.128040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:9.41, Y:0.00, Z:0.07 [[ 9.98790122e-01 -4.68310586e-02 -1.50048251e-02 9.40781010e+00] [ 4.68262859e-02 9.98902823e-01 -6.69443483e-04 3.79804882e-03] [ 1.50197129e-02 -3.39866911e-05 9.99887197e-01 7.01174860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.158040942 meters Centerline goodness : 0.995730 Centerline is valid? [True, True] Translation: X:9.44, Y:0.00, Z:0.07 [[ 9.98744982e-01 -4.77833482e-02 -1.50070527e-02 9.43536016e+00] [ 4.77794400e-02 9.98857719e-01 -6.19059134e-04 4.68499860e-03] [ 1.50194911e-02 -9.87463692e-05 9.99887196e-01 6.88562552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.46, Y:0.01, Z:0.07 [[ 9.98698816e-01 -4.87380064e-02 -1.50094052e-02 9.46287213e+00] [ 4.87350109e-02 9.98811583e-01 -5.65490970e-04 5.47913704e-03] [ 1.50191286e-02 -1.66728363e-04 9.99887193e-01 7.15383568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.218040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:9.49, Y:0.00, Z:0.07 [[ 9.98676439e-01 -4.91957523e-02 -1.50049077e-02 9.49463406e+00] [ 4.91912875e-02 9.98789153e-01 -6.66711049e-04 4.72631564e-03] [ 1.50195385e-02 -7.22821145e-05 9.99887198e-01 7.02079513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.52, Y:0.01, Z:0.07 [[ 9.98515027e-01 -5.23677514e-02 -1.50120012e-02 9.52072543e+00] [ 5.23660543e-02 9.98627829e-01 -5.06380252e-04 7.05869099e-03] [ 1.50179202e-02 -2.80490979e-04 9.99887185e-01 7.13808236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.278040942 meters Centerline goodness : 0.997202 Centerline is valid? [True, True] Translation: X:9.55, Y:0.01, Z:0.07 [[ 9.98362130e-01 -5.52071645e-02 -1.50075465e-02 9.54829425e+00] [ 5.52042767e-02 9.98474897e-01 -6.06935860e-04 7.49306089e-03] [ 1.50181657e-02 -2.22538972e-04 9.99887196e-01 7.09046935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.308040942 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:9.57, Y:0.01, Z:0.07 [[ 9.98316040e-01 -5.60342241e-02 -1.50083359e-02 9.57405277e+00] [ 5.60316975e-02 9.98428817e-01 -5.89119874e-04 7.84660130e-03] [ 1.50177659e-02 -2.52814718e-04 9.99887195e-01 7.00656698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.338040942 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:9.60, Y:0.01, Z:0.07 [[ 9.98169504e-01 -5.85875481e-02 -1.50046680e-02 9.60252951e+00] [ 5.85840774e-02 9.98282252e-01 -6.71126784e-04 6.37475094e-03] [ 1.50182134e-02 -2.09136340e-04 9.99887198e-01 7.04925927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.368040942 meters Centerline goodness : 0.995988 Centerline is valid? [True, True] Translation: X:9.63, Y:0.01, Z:0.07 [[ 9.98081316e-01 -6.00712223e-02 -1.50044688e-02 9.63194702e+00] [ 6.00678527e-02 9.98194068e-01 -6.75550015e-04 7.04499580e-03] [ 1.50179529e-02 -2.27032374e-04 9.99887198e-01 7.16106898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.398040942 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:9.66, Y:0.01, Z:0.07 [[ 9.98072303e-01 -6.02201025e-02 -1.50072479e-02 9.65829511e+00] [ 6.02176770e-02 9.98185080e-01 -6.13856635e-04 7.44453846e-03] [ 1.50169774e-02 -2.91028301e-04 9.99887196e-01 7.15143848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.69, Y:0.01, Z:0.07 [[ 9.98045998e-01 -6.06552707e-02 -1.50041520e-02 9.68811997e+00] [ 6.06518705e-02 9.98158748e-01 -6.81970909e-04 7.59123262e-03] [ 1.50178907e-02 -2.29391546e-04 9.99887199e-01 7.24214027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.71, Y:0.01, Z:0.07 [[ 9.98065831e-01 -6.03274481e-02 -1.50065344e-02 9.71411300e+00] [ 6.03247961e-02 9.98178602e-01 -6.29728696e-04 8.94229228e-03] [ 1.50171915e-02 -2.76755435e-04 9.99887197e-01 7.37165781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.488040942 meters Centerline goodness : 0.995581 Centerline is valid? [True, True] Translation: X:9.74, Y:0.01, Z:0.07 [[ 9.98115301e-01 -5.95040458e-02 -1.50038423e-02 9.74307159e+00] [ 5.95004188e-02 9.98228043e-01 -6.88405104e-04 9.67585405e-03] [ 1.50182190e-02 -2.05627232e-04 9.99887199e-01 7.18772577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.77, Y:0.01, Z:0.07 [[ 9.98398033e-01 -5.45543678e-02 -1.50063026e-02 9.76793383e+00] [ 5.45509852e-02 9.98510785e-01 -6.34952378e-04 8.11779522e-03] [ 1.50185944e-02 -1.84673385e-04 9.99887197e-01 7.20910321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.80, Y:0.01, Z:0.07 [[ 9.98456214e-01 -5.34802649e-02 -1.50016721e-02 9.79799516e+00] [ 5.34752411e-02 9.98568904e-01 -7.36099414e-04 9.30226982e-03] [ 1.50195700e-02 -6.72549964e-05 9.99887198e-01 7.34380352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.578040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.83, Y:0.01, Z:0.07 [[ 9.98737045e-01 -4.79494636e-02 -1.50054788e-02 9.82555736e+00] [ 4.79450583e-02 9.98849761e-01 -6.53385052e-04 9.69531077e-03] [ 1.50195484e-02 -6.68786996e-05 9.99887198e-01 7.27347382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.608040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.86, Y:0.00, Z:0.07 [[ 9.99111979e-01 -3.93713142e-02 -1.50051074e-02 9.86444893e+00] [ 3.93658210e-02 9.99224647e-01 -6.61391997e-04 3.63921607e-03] [ 1.50195131e-02 7.01162938e-05 9.99887198e-01 6.91281865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.638040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.89, Y:0.00, Z:0.07 [[ 9.99226129e-01 -3.63525028e-02 -1.50212950e-02 9.89215135e+00] [ 3.63519958e-02 9.99339001e-01 -3.06881072e-04 3.48046748e-03] [ 1.50225218e-02 -2.39410467e-04 9.99887127e-01 6.90616524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.91, Y:0.01, Z:0.07 [[ 9.99011115e-01 -4.18469110e-02 -1.50208988e-02 9.91196433e+00] [ 4.18468962e-02 9.99123985e-01 -3.15426066e-04 1.23593726e-02] [ 1.50209399e-02 -3.13463849e-04 9.99887130e-01 7.36849442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.94, Y:0.01, Z:0.07 [[ 9.99097591e-01 -3.97358492e-02 -1.50021947e-02 9.94008356e+00] [ 3.97296607e-02 9.99210213e-01 -7.10427855e-04 1.15126525e-02] [ 1.50185757e-02 1.13754651e-04 9.99887208e-01 7.33321322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.728040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.98, Y:0.01, Z:0.07 [[ 9.99274037e-01 -3.50190652e-02 -1.50021306e-02 9.97539585e+00] [ 3.50123249e-02 9.99386627e-01 -7.11779663e-04 5.55497815e-03] [ 1.50178546e-02 1.86003468e-04 9.99887208e-01 7.03103354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.758040942000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.00, Y:0.00, Z:0.07 [[ 9.99231862e-01 -3.61974959e-02 -1.50142418e-02 1.00045508e+01] [ 3.61947220e-02 9.99344652e-01 -4.56534113e-04 4.22196304e-03] [ 1.50209276e-02 -8.72528740e-05 9.99887176e-01 7.06668463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.788040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.03, Y:0.01, Z:0.07 [[ 9.99134947e-01 -3.87809305e-02 -1.50132287e-02 1.00341205e+01] [ 3.87781333e-02 9.99247731e-01 -4.77488928e-04 5.14405455e-03] [ 1.50204522e-02 -1.05109108e-04 9.99887181e-01 7.21723092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.818040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.06, Y:0.01, Z:0.07 [[ 9.99098508e-01 -3.97086447e-02 -1.50131272e-02 1.00606885e+01] [ 3.97059209e-02 9.99211294e-01 -4.79571190e-04 5.16926641e-03] [ 1.50203294e-02 -1.16971180e-04 9.99887182e-01 7.11562917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.09, Y:0.01, Z:0.07 [[ 9.98926865e-01 -4.38151838e-02 -1.50116113e-02 1.00884078e+01] [ 4.38124604e-02 9.99039643e-01 -5.10396802e-04 5.05781839e-03] [ 1.50195579e-02 -1.47846548e-04 9.99887189e-01 7.18577710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.12, Y:0.01, Z:0.07 [[ 9.98840925e-01 -4.57332876e-02 -1.50091238e-02 1.01150878e+01] [ 4.57300274e-02 9.98953678e-01 -5.60528176e-04 5.52766304e-03] [ 1.50190542e-02 -1.26489161e-04 9.99887200e-01 7.18067580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.908040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.14, Y:0.00, Z:0.07 [[ 9.98656129e-01 -4.96063561e-02 -1.50048342e-02 1.01396710e+01] [ 4.96022463e-02 9.98768842e-01 -6.46162967e-04 4.87961064e-03] [ 1.50184147e-02 -9.89788753e-05 9.99887212e-01 7.07777896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.17, Y:0.01, Z:0.07 [[ 9.98549704e-01 -5.17060080e-02 -1.49992567e-02 1.01697075e+01] [ 5.17004758e-02 9.98662350e-01 -7.56614944e-04 5.16871023e-03] [ 1.50183145e-02 -1.99510824e-05 9.99887219e-01 7.08284423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.20, Y:0.01, Z:0.07 [[ 9.98474149e-01 -5.31445557e-02 -1.50009678e-02 1.01968256e+01] [ 5.31396933e-02 9.98586827e-01 -7.22829175e-04 6.12829089e-03] [ 1.50181832e-02 -7.54205807e-05 9.99887218e-01 6.80264743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.998040942 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:10.23, Y:0.00, Z:0.06 [[ 9.98434275e-01 -5.38895883e-02 -1.49970381e-02 1.02290049e+01] [ 5.38836577e-02 9.98546900e-01 -7.99538198e-04 6.23264831e-05] [ 1.50183327e-02 -9.80892446e-06 9.99887218e-01 6.40457697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.26, Y:-0.00, Z:0.07 [[ 9.98405600e-01 -5.44157516e-02 -1.50061233e-02 1.02574859e+01] [ 5.44125509e-02 9.98518346e-01 -6.21797140e-04 -7.71312659e-04] [ 1.50177250e-02 -1.95715703e-04 9.99887208e-01 6.72235923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.28, Y:0.00, Z:0.07 [[ 9.98328614e-01 -5.58108675e-02 -1.50041681e-02 1.02840445e+01] [ 5.58072541e-02 9.98441343e-01 -6.59738780e-04 2.98197669e-04] [ 1.50176024e-02 -1.78705322e-04 9.99887213e-01 6.80006638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.00, Z:0.07 [[ 9.98293287e-01 -5.64405061e-02 -1.49994107e-02 1.03107595e+01] [ 5.64355875e-02 9.98405960e-01 -7.51332344e-04 -1.43823462e-03] [ 1.50179066e-02 -9.64505170e-05 9.99887220e-01 7.01846061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.34, Y:-0.00, Z:0.07 [[ 9.98401117e-01 -5.45002270e-02 -1.49978410e-02 1.03379331e+01] [ 5.44946368e-02 9.98513757e-01 -7.81458171e-04 -6.12446075e-05] [ 1.50181402e-02 -3.70931861e-05 9.99887221e-01 6.92133386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.148040942 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:10.37, Y:0.00, Z:0.07 [[ 9.98680576e-01 -4.91138867e-02 -1.49977473e-02 1.03663833e+01] [ 4.91076621e-02 9.98793184e-01 -7.83252190e-04 4.33977664e-03] [ 1.50181163e-02 4.57144438e-05 9.99887221e-01 7.05540576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.39, Y:0.01, Z:0.07 [[ 9.98812331e-01 -4.63575272e-02 -1.49969272e-02 1.03946403e+01] [ 4.63507568e-02 9.98924907e-01 -7.98906042e-04 5.93611934e-03] [ 1.50178394e-02 1.02838279e-04 9.99887221e-01 7.01720897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.208040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:10.43, Y:0.00, Z:0.07 [[ 9.99200557e-01 -3.70583509e-02 -1.49974898e-02 1.04325616e+01] [ 3.70506935e-02 9.99313076e-01 -7.88201559e-04 2.36660584e-03] [ 1.50163971e-02 2.31904039e-04 9.99887221e-01 6.56258380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.238040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:10.46, Y:0.00, Z:0.07 [[ 9.99275566e-01 -3.49697245e-02 -1.50153564e-02 1.04624901e+01] [ 3.49669257e-02 9.99388369e-01 -4.48970965e-04 3.98449808e-03] [ 1.50218729e-02 -7.63951351e-05 9.99887162e-01 6.87277137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.268040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:10.48, Y:0.01, Z:0.07 [[ 9.99115243e-01 -3.92840991e-02 -1.50163289e-02 1.04804590e+01] [ 3.92820649e-02 9.99228069e-01 -4.30506706e-04 1.26670437e-02] [ 1.50216494e-02 -1.59746595e-04 9.99887156e-01 7.08352197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.52, Y:0.01, Z:0.07 [[ 9.99396018e-01 -3.13484944e-02 -1.49956732e-02 1.05221337e+01] [ 3.13397866e-02 9.99508456e-01 -8.15385617e-04 6.08951405e-03] [ 1.50138633e-02 3.44931940e-04 9.99887226e-01 7.06346678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.54, Y:0.02, Z:0.07 [[ 9.99150967e-01 -3.83619600e-02 -1.50235194e-02 1.05379216e+01] [ 3.83618331e-02 9.99263870e-01 -2.96735389e-04 1.67162821e-02] [ 1.50238435e-02 -2.79846295e-04 9.99887097e-01 7.20741391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.358040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:10.57, Y:0.02, Z:0.07 [[ 9.99141326e-01 -3.86235730e-02 -1.49943686e-02 1.05662486e+01] [ 3.86155289e-02 9.99253801e-01 -8.25734702e-04 1.92311512e-02] [ 1.50150727e-02 2.46010190e-04 9.99887237e-01 7.14536769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.388040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.59, Y:0.02, Z:0.07 [[ 9.99094961e-01 -3.98049708e-02 -1.49941283e-02 1.05940279e+01] [ 3.97969946e-02 9.99207441e-01 -8.30075833e-04 2.03753727e-02] [ 1.50152857e-02 2.32603339e-04 9.99887237e-01 7.32803608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.418040942 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:10.64, Y:0.01, Z:0.07 [[ 9.99404741e-01 -3.10700290e-02 -1.49938879e-02 1.06370885e+01] [ 3.10610051e-02 9.99517142e-01 -8.34395921e-04 9.34232056e-03] [ 1.50125727e-02 3.68174011e-04 9.99887237e-01 7.05009944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.448040942 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:10.65, Y:0.02, Z:0.08 [[ 9.99006178e-01 -4.19636976e-02 -1.50234492e-02 1.06505344e+01] [ 4.19640403e-02 9.99119079e-01 -2.92568189e-04 2.20429942e-02] [ 1.50224919e-02 -3.38167198e-04 9.99887099e-01 7.68565577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.478040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.70, Y:0.01, Z:0.07 [[ 9.99219594e-01 -3.65437388e-02 -1.49919599e-02 1.06965352e+01] [ 3.65350127e-02 9.99332007e-01 -8.55612736e-04 1.07599288e-02] [ 1.50132127e-02 3.07213564e-04 9.99887248e-01 7.16021869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.508040942000001 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:10.71, Y:0.02, Z:0.08 [[ 9.98744831e-01 -4.77804592e-02 -1.50263037e-02 1.07086165e+01] [ 4.77824749e-02 9.98857740e-01 -2.25049548e-04 2.30740425e-02] [ 1.50198927e-02 -4.93226904e-04 9.99887073e-01 7.90063981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.538040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:10.75, Y:0.01, Z:0.07 [[ 9.98861685e-01 -4.52833296e-02 -1.49917771e-02 1.07506132e+01] [ 4.52757931e-02 9.98974171e-01 -8.41904832e-04 1.13149598e-02] [ 1.50145224e-02 1.62181881e-04 9.99887263e-01 7.36707185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.568040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:10.77, Y:0.02, Z:0.08 [[ 9.98395312e-01 -5.46006031e-02 -1.50191405e-02 1.07663083e+01] [ 5.46016070e-02 9.98508160e-01 -3.43510155e-04 2.19571705e-02] [ 1.50154902e-02 -4.77110279e-04 9.99887147e-01 7.79860413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.598040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:10.81, Y:0.01, Z:0.08 [[ 9.98654729e-01 -4.96389309e-02 -1.49903042e-02 1.08091503e+01] [ 4.96316410e-02 9.98767222e-01 -8.58161281e-04 1.21273531e-02] [ 1.50144227e-02 1.13013424e-04 9.99887271e-01 7.72936757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.628040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:10.84, Y:0.01, Z:0.08 [[ 9.98614424e-01 -5.04337243e-02 -1.50223663e-02 1.08376854e+01] [ 5.04353230e-02 9.98727292e-01 -2.72652286e-04 1.37544764e-02] [ 1.50169981e-02 -4.85383389e-04 9.99887121e-01 7.79180072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.658040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.86, Y:0.02, Z:0.08 [[ 9.98319779e-01 -5.59641295e-02 -1.50211465e-02 1.08594128e+01] [ 5.59660214e-02 9.98432630e-01 -2.94708408e-04 1.52390436e-02] [ 1.50140959e-02 -5.46460576e-04 9.99887133e-01 7.91307403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.89, Y:0.02, Z:0.08 [[ 9.98089166e-01 -5.99394088e-02 -1.50094418e-02 1.08867900e+01] [ 5.99385302e-02 9.98201940e-01 -5.08780352e-04 1.84442330e-02] [ 1.50129499e-02 -3.91835723e-04 9.99887223e-01 8.03132705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.92, Y:0.02, Z:0.08 [[ 9.97989859e-01 -6.15717717e-02 -1.50053017e-02 1.09165504e+01] [ 6.15699651e-02 9.98102600e-01 -5.82768402e-04 1.92922405e-02] [ 1.50127127e-02 -3.42278945e-04 9.99887244e-01 8.14083291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.95, Y:0.02, Z:0.08 [[ 9.98026094e-01 -6.09808250e-02 -1.50084733e-02 1.09457339e+01] [ 6.09798018e-02 9.98138862e-01 -5.26227892e-04 1.51661078e-02] [ 1.50126303e-02 -3.90024560e-04 9.99887228e-01 8.16220726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.778040942 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:10.98, Y:0.01, Z:0.08 [[ 9.97940332e-01 -6.23680156e-02 -1.50108206e-02 1.09773292e+01] [ 6.23677788e-02 9.98053118e-01 -4.84356415e-04 1.46121953e-02] [ 1.50118047e-02 -4.52832737e-04 9.99887214e-01 8.10815064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.00, Y:0.02, Z:0.08 [[ 9.97976736e-01 -6.17818571e-02 -1.50145465e-02 1.10031761e+01] [ 6.17825540e-02 9.98089546e-01 -4.17868648e-04 1.55249180e-02] [ 1.50116786e-02 -5.10613842e-04 9.99887188e-01 8.45683801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.03, Y:0.02, Z:0.09 [[ 9.97971516e-01 -6.18673379e-02 -1.50095014e-02 1.10323770e+01] [ 6.18667204e-02 9.98084292e-01 -5.05900917e-04 1.82691753e-02] [ 1.50120463e-02 -4.23713923e-04 9.99887223e-01 8.67277756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.868040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:11.06, Y:0.02, Z:0.09 [[ 9.98125731e-01 -5.93271994e-02 -1.50102961e-02 1.10614383e+01] [ 5.93265018e-02 9.98238511e-01 -4.92141775e-04 2.02949693e-02] [ 1.50130530e-02 -3.99288989e-04 9.99887218e-01 8.65266594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.898040942 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:11.08, Y:0.03, Z:0.09 [[ 9.97968303e-01 -6.19190000e-02 -1.50101382e-02 1.10795184e+01] [ 6.19185532e-02 9.98081083e-01 -4.94940200e-04 2.90156286e-02] [ 1.50119812e-02 -4.35471407e-04 9.99887219e-01 8.89835533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.928040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:11.11, Y:0.03, Z:0.09 [[ 9.98348100e-01 -5.54658238e-02 -1.49871296e-02 1.11145025e+01] [ 5.54586449e-02 9.98460584e-01 -8.94504331e-04 2.50827425e-02] [ 1.50136726e-02 6.18608022e-05 9.99887287e-01 8.62751194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.958040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:11.15, Y:0.03, Z:0.09 [[ 9.98299073e-01 -5.63375627e-02 -1.50013182e-02 1.11456226e+01] [ 5.63340952e-02 9.98411760e-01 -6.53946771e-04 2.80739140e-02] [ 1.50143343e-02 -1.92251235e-04 9.99887260e-01 9.08999516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.988040942 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:11.17, Y:0.03, Z:0.09 [[ 9.98380809e-01 -5.48690180e-02 -1.50050646e-02 1.11724368e+01] [ 5.48663363e-02 9.98493533e-01 -5.90629925e-04 2.96998357e-02] [ 1.50148673e-02 -2.33599341e-04 9.99887243e-01 9.30204257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.018040942 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:11.20, Y:0.04, Z:0.10 [[ 9.98298522e-01 -5.63475948e-02 -1.50003395e-02 1.11996847e+01] [ 5.63438986e-02 9.98411196e-01 -6.69244420e-04 3.59885931e-02] [ 1.50142172e-02 -1.77071891e-04 9.99887265e-01 9.68244588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.048040942 meters Centerline goodness : 0.998092 Centerline is valid? [True, True] Translation: X:11.23, Y:0.04, Z:0.10 [[ 9.98360749e-01 -5.52355252e-02 -1.49950542e-02 1.12275082e+01] [ 5.52303965e-02 9.98473350e-01 -7.56240575e-04 3.77975423e-02] [ 1.50139333e-02 -7.31818794e-05 9.99887282e-01 9.56682364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.078040942 meters Centerline goodness : 0.997717 Centerline is valid? [True, True] Translation: X:11.25, Y:0.04, Z:0.10 [[ 9.98277670e-01 -5.67170508e-02 -1.49956796e-02 1.12548136e+01] [ 5.67122431e-02 9.98390287e-01 -7.45997392e-04 4.21512902e-02] [ 1.50138516e-02 -1.05726087e-04 9.99887280e-01 1.01289545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.108040942 meters Centerline goodness : 0.997895 Centerline is valid? [True, True] Translation: X:11.28, Y:0.04, Z:0.10 [[ 9.98295158e-01 -5.64097502e-02 -1.49905607e-02 1.12833569e+01] [ 5.64036630e-02 9.98407702e-01 -8.28881496e-04 4.42999237e-02] [ 1.50134483e-02 -1.80541489e-05 9.99887292e-01 1.01588785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.138040942 meters Centerline goodness : 0.997985 Centerline is valid? [True, True] Translation: X:11.31, Y:0.05, Z:0.10 [[ 9.98359152e-01 -5.52653092e-02 -1.49916394e-02 1.13103746e+01] [ 5.52593543e-02 9.98471705e-01 -8.11481469e-04 4.90239939e-02] [ 1.50135746e-02 -1.82783629e-05 9.99887290e-01 1.01213432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.168040942 meters Centerline goodness : 0.998027 Centerline is valid? [True, True] Translation: X:11.34, Y:0.05, Z:0.10 [[ 9.98443344e-01 -5.37233397e-02 -1.49897298e-02 1.13395927e+01] [ 5.37167500e-02 9.98555858e-01 -8.42185742e-04 5.03597084e-02] [ 1.50133276e-02 3.56751795e-05 9.99887293e-01 9.98174338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.198040942 meters Centerline goodness : 0.998272 Centerline is valid? [True, True] Translation: X:11.36, Y:0.05, Z:0.10 [[ 9.98509484e-01 -5.24793442e-02 -1.49909785e-02 1.13645522e+01] [ 5.24729144e-02 9.98622009e-01 -8.22193247e-04 5.19246335e-02] [ 1.50134692e-02 3.43474238e-05 9.99887291e-01 1.01707087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.228040942 meters Centerline goodness : 0.998252 Centerline is valid? [True, True] Translation: X:11.40, Y:0.05, Z:0.10 [[ 9.98533176e-01 -5.20285555e-02 -1.49842127e-02 1.13974445e+01] [ 5.20204610e-02 9.98645586e-01 -9.29723204e-04 5.17670295e-02] [ 1.50122900e-02 1.48873810e-04 9.99887298e-01 1.04944849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.258040942 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:11.43, Y:0.05, Z:0.11 [[ 9.98486175e-01 -5.29205528e-02 -1.49924341e-02 1.14273626e+01] [ 5.29144784e-02 9.98598726e-01 -8.01832707e-04 5.42503854e-02] [ 1.50138590e-02 7.30204121e-06 9.99887286e-01 1.08495802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.288040942 meters Centerline goodness : 0.998622 Centerline is valid? [True, True] Translation: X:11.46, Y:0.05, Z:0.11 [[ 9.98708289e-01 -4.85477216e-02 -1.49957320e-02 1.14577561e+01] [ 4.85419221e-02 9.98820864e-01 -7.50698532e-04 5.43348872e-02] [ 1.50144947e-02 2.18071902e-05 9.99887276e-01 1.06877927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.318040942 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:11.48, Y:0.06, Z:0.11 [[ 9.98420059e-01 -5.41493905e-02 -1.50076081e-02 1.14780264e+01] [ 5.41471161e-02 9.98532813e-01 -5.58136318e-04 6.48299568e-02] [ 1.50158119e-02 -2.55364204e-04 9.99887224e-01 1.12261063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.348040942 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:11.50, Y:0.07, Z:0.11 [[ 9.98513824e-01 -5.23975635e-02 -1.49879325e-02 1.15031059e+01] [ 5.23903754e-02 9.98626300e-01 -8.72098972e-04 6.81942814e-02] [ 1.50130394e-02 8.55794709e-05 9.99887294e-01 1.09111068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.378040942 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:11.53, Y:0.07, Z:0.11 [[ 9.98686319e-01 -4.90013554e-02 -1.49834623e-02 1.15312686e+01] [ 4.89927193e-02 9.98798690e-01 -9.43117440e-04 6.91874367e-02] [ 1.50116766e-02 2.07797920e-04 9.99887297e-01 1.06098538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.408040942 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:11.56, Y:0.07, Z:0.11 [[ 9.98541355e-01 -5.18721206e-02 -1.49814961e-02 1.15641549e+01] [ 5.18633395e-02 9.98653716e-01 -9.74310005e-04 7.23966841e-02] [ 1.50118663e-02 1.95898414e-04 9.99887296e-01 1.06331710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.438040942 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:11.59, Y:0.08, Z:0.11 [[ 9.98443167e-01 -5.37263533e-02 -1.49906921e-02 1.15919650e+01] [ 5.37199595e-02 9.98555696e-01 -8.29153253e-04 7.52568179e-02] [ 1.50135884e-02 2.25630267e-05 9.99887289e-01 1.06643463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.468040942 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:11.62, Y:0.08, Z:0.11 [[ 9.98341776e-01 -5.55791970e-02 -1.49883757e-02 1.16184983e+01] [ 5.55724671e-02 9.98454281e-01 -8.65448876e-04 7.92151614e-02] [ 1.50133088e-02 3.10727554e-05 9.99887293e-01 1.11823614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.498040942 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:11.65, Y:0.08, Z:0.11 [[ 9.98330415e-01 -5.57837099e-02 -1.49853061e-02 1.16452725e+01] [ 5.57762822e-02 9.98442874e-01 -9.13469195e-04 8.21601625e-02] [ 1.50129288e-02 7.61194188e-05 9.99887297e-01 1.10400930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.528040942 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:11.67, Y:0.09, Z:0.11 [[ 9.98148072e-01 -5.89572624e-02 -1.49822230e-02 1.16735877e+01] [ 5.89494711e-02 9.98260505e-01 -9.61510730e-04 8.58164046e-02] [ 1.50128495e-02 7.65359608e-05 9.99887298e-01 1.10491320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.558040942 meters Centerline goodness : 0.998650 Centerline is valid? [True, True] Translation: X:11.70, Y:0.09, Z:0.11 [[ 9.98007847e-01 -6.12852225e-02 -1.49819486e-02 1.17016926e+01] [ 6.12776295e-02 9.98120293e-01 -9.65767743e-04 8.78289346e-02] [ 1.50129742e-02 4.57854931e-05 9.99887298e-01 1.09765964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.588040942 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:11.73, Y:0.09, Z:0.11 [[ 9.97779173e-01 -6.49020134e-02 -1.49816748e-02 1.17296481e+01] [ 6.48947646e-02 9.97891642e-01 -9.69995999e-04 8.94930923e-02] [ 1.50130428e-02 -4.39045376e-06 9.99887298e-01 1.11882762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.618040942 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:11.76, Y:0.09, Z:0.11 [[ 9.97623438e-01 -6.72534649e-02 -1.49815900e-02 1.17572565e+01] [ 6.72464616e-02 9.97735922e-01 -9.71303446e-04 9.24838579e-02] [ 1.50129941e-02 -3.84638351e-05 9.99887298e-01 1.11439963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.648040942 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:11.78, Y:0.10, Z:0.11 [[ 9.97501117e-01 -6.90440515e-02 -1.49813197e-02 1.17846824e+01] [ 6.90371877e-02 9.97613610e-01 -9.75455329e-04 9.56304645e-02] [ 1.50129178e-02 -6.12503991e-05 9.99887298e-01 1.12894276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.678040942 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:11.81, Y:0.10, Z:0.11 [[ 9.97334162e-01 -7.14152133e-02 -1.49812359e-02 1.18128728e+01] [ 7.14085977e-02 9.97446669e-01 -9.76740345e-04 9.93654471e-02] [ 1.50127380e-02 -9.56525352e-05 9.99887298e-01 1.11923362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.708040942 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:11.84, Y:0.10, Z:0.12 [[ 9.97167707e-01 -7.37030186e-02 -1.49809675e-02 1.18402027e+01] [ 7.36965995e-02 9.97280226e-01 -9.80840321e-04 1.03829486e-01] [ 1.50125135e-02 -1.25984066e-04 9.99887298e-01 1.15496275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.738040942 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:11.87, Y:0.11, Z:0.12 [[ 9.97015555e-01 -7.57341505e-02 -1.49773537e-02 1.18699570e+01] [ 7.57271354e-02 9.97128040e-01 -1.03577070e-03 1.06977604e-01] [ 1.50127826e-02 -1.01512591e-04 9.99887297e-01 1.16805023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.768040942 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:11.90, Y:0.11, Z:0.12 [[ 9.96930622e-01 -7.68432856e-02 -1.49814697e-02 1.18970638e+01] [ 7.68373339e-02 9.97043167e-01 -9.73318568e-04 1.11280168e-01] [ 1.50119650e-02 -1.80805106e-04 9.99887298e-01 1.16507418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.798040942 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:11.93, Y:0.12, Z:0.12 [[ 9.96910346e-01 -7.71061003e-02 -1.49803342e-02 1.19253745e+01] [ 7.70999203e-02 9.97022879e-01 -9.90492941e-04 1.15520309e-01] [ 1.50121090e-02 -1.67549909e-04 9.99887298e-01 1.18202032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.828040942 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:11.95, Y:0.12, Z:0.12 [[ 9.96908305e-01 -7.71325400e-02 -1.49800508e-02 1.19521688e+01] [ 7.71262988e-02 9.97020835e-01 -9.94759932e-04 1.20331175e-01] [ 1.50121511e-02 -1.63671437e-04 9.99887298e-01 1.18634909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.858040942 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:11.98, Y:0.13, Z:0.12 [[ 9.96999624e-01 -7.59430789e-02 -1.49799278e-02 1.19794303e+01] [ 7.59366756e-02 9.97112144e-01 -9.96609775e-04 1.27976541e-01] [ 1.50123535e-02 -1.43906344e-04 9.99887298e-01 1.18701892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.888040942 meters Centerline goodness : 0.998748 Centerline is valid? [True, True] Translation: X:12.01, Y:0.13, Z:0.12 [[ 9.97035222e-01 -7.54743475e-02 -1.49796511e-02 1.20060672e+01] [ 7.54678292e-02 9.97147735e-01 -1.00075024e-03 1.32349313e-01] [ 1.50124562e-02 -1.32698519e-04 9.99887298e-01 1.18534771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.918040942 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:12.03, Y:0.14, Z:0.12 [[ 9.97048621e-01 -7.52971464e-02 -1.49795310e-02 1.20341485e+01] [ 7.52905811e-02 9.97161132e-01 -1.00254532e-03 1.36760025e-01] [ 1.50124949e-02 -1.28231167e-04 9.99887298e-01 1.19001897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.948040942 meters Centerline goodness : 0.998621 Centerline is valid? [True, True] Translation: X:12.07, Y:0.14, Z:0.12 [[ 9.97331150e-01 -7.14576699e-02 -1.49792531e-02 1.20691223e+01] [ 7.14506094e-02 9.97443631e-01 -1.00668021e-03 1.37738947e-01] [ 1.50128956e-02 -6.62832273e-05 9.99887298e-01 1.18825670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.978040942 meters Centerline goodness : 0.998688 Centerline is valid? [True, True] Translation: X:12.09, Y:0.15, Z:0.12 [[ 9.96914493e-01 -7.70494684e-02 -1.49957803e-02 1.20935242e+01] [ 7.70467667e-02 9.97027191e-01 -7.58662641e-04 1.46547134e-01] [ 1.50096552e-02 -3.99054603e-04 9.99887269e-01 1.19803300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.008040942 meters Centerline goodness : 0.998545 Centerline is valid? [True, True] Translation: X:12.12, Y:0.15, Z:0.12 [[ 9.96974215e-01 -7.62742538e-02 -1.49884408e-02 1.21182736e+01] [ 7.62698066e-02 9.97086838e-01 -8.68935759e-04 1.51116192e-01] [ 1.50110545e-02 -2.76858935e-04 9.99887289e-01 1.20345592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.038040942 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:12.15, Y:0.16, Z:0.12 [[ 9.96868841e-01 -7.76410549e-02 -1.49793585e-02 1.21461299e+01] [ 7.76347264e-02 9.96981364e-01 -1.00438972e-03 1.58244848e-01] [ 1.50121232e-02 -1.61673590e-04 9.99887299e-01 1.19050283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.068040942 meters Centerline goodness : 0.998748 Centerline is valid? [True, True] Translation: X:12.17, Y:0.16, Z:0.12 [[ 9.96932480e-01 -7.68191919e-02 -1.49813884e-02 1.21717435e+01] [ 7.68132251e-02 9.97045024e-01 -9.74140246e-04 1.62233262e-01] [ 1.50119514e-02 -1.79616710e-04 9.99887298e-01 1.19085997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.098040942 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:12.20, Y:0.17, Z:0.12 [[ 9.96885528e-01 -7.74268733e-02 -1.49774410e-02 1.22007954e+01] [ 7.74200936e-02 9.96998025e-01 -1.03280956e-03 1.68472242e-01] [ 1.50124463e-02 -1.29961981e-04 9.99887298e-01 1.21838689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.128040942 meters Centerline goodness : 0.995279 Centerline is valid? [True, True] Translation: X:12.23, Y:0.17, Z:0.12 [[ 9.97035660e-01 -7.54682707e-02 -1.49810666e-02 1.22275139e+01] [ 7.54620829e-02 9.97148192e-01 -9.78705820e-04 1.71570507e-01] [ 1.50122047e-02 -1.54697889e-04 9.99887299e-01 1.21836636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.158040942 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:12.26, Y:0.18, Z:0.12 [[ 9.96975058e-01 -7.62656110e-02 -1.49763438e-02 1.22570888e+01] [ 7.62584605e-02 9.97087532e-01 -1.04877903e-03 1.76217554e-01] [ 1.50127115e-02 -9.64663894e-05 9.99887298e-01 1.22109021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.188040942 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:12.29, Y:0.18, Z:0.12 [[ 9.97331180e-01 -7.14570775e-02 -1.49801095e-02 1.22877124e+01] [ 7.14502189e-02 9.97443672e-01 -9.93231385e-04 1.78763247e-01] [ 1.50127888e-02 -7.97514705e-05 9.99887299e-01 1.20861426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.218040942 meters Centerline goodness : 0.998696 Centerline is valid? [True, True] Translation: X:12.32, Y:0.19, Z:0.12 [[ 9.97101607e-01 -7.45909848e-02 -1.49856371e-02 1.23155936e+01] [ 7.45856931e-02 9.97214191e-01 -9.12475734e-04 1.85883065e-01] [ 1.50119524e-02 -2.07883109e-04 9.99887293e-01 1.24273278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.248040942 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:12.34, Y:0.19, Z:0.13 [[ 9.97185962e-01 -7.34556176e-02 -1.49809732e-02 1.23420720e+01] [ 7.34491773e-02 9.97298479e-01 -9.80390264e-04 1.89301954e-01] [ 1.50125169e-02 -1.22708746e-04 9.99887298e-01 1.25147248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.278040942 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:12.37, Y:0.19, Z:0.13 [[ 9.97243905e-01 -7.26648377e-02 -1.49804837e-02 1.23694159e+01] [ 7.26582017e-02 9.97356411e-01 -9.87479438e-04 1.92653504e-01] [ 1.50126364e-02 -1.03697151e-04 9.99887299e-01 1.26482988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.308040942 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:12.40, Y:0.20, Z:0.13 [[ 9.97356828e-01 -7.10987205e-02 -1.49776086e-02 1.23959728e+01] [ 7.10912847e-02 9.97469283e-01 -1.02896534e-03 1.97345468e-01] [ 1.50128626e-02 -3.85318241e-05 9.99887300e-01 1.28833063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.338040942 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:12.43, Y:0.20, Z:0.13 [[ 9.97492158e-01 -6.91745461e-02 -1.49758698e-02 1.24270039e+01] [ 6.91665179e-02 9.97604572e-01 -1.05398090e-03 1.99408745e-01] [ 1.50129048e-02 1.55089176e-05 9.99887300e-01 1.28740516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.368040942 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:12.46, Y:0.20, Z:0.13 [[ 9.97562749e-01 -6.81477482e-02 -1.49815581e-02 1.24550890e+01] [ 6.81408330e-02 9.97675239e-01 -9.72143812e-04 2.03734161e-01] [ 1.50129790e-02 -5.10813960e-05 9.99887298e-01 1.29537646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.398040942 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:12.48, Y:0.21, Z:0.13 [[ 9.97385916e-01 -7.06885834e-02 -1.49819339e-02 1.24827846e+01] [ 7.06820359e-02 9.97498429e-01 -9.66746954e-04 2.08993449e-01] [ 1.50127935e-02 -9.47337915e-05 9.99887297e-01 1.28311897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.428040941999999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:12.51, Y:0.21, Z:0.13 [[ 9.97663117e-01 -6.66625497e-02 -1.49802779e-02 1.25105452e+01] [ 6.66551920e-02 9.97775578e-01 -9.90464338e-04 2.10509890e-01] [ 1.50129823e-02 -1.03635626e-05 9.99887299e-01 1.28664132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.458040942 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:12.54, Y:0.22, Z:0.13 [[ 9.97590315e-01 -6.77438766e-02 -1.49776640e-02 1.25383562e+01] [ 6.77360810e-02 9.97702745e-01 -1.02774602e-03 2.15742786e-01] [ 1.50128800e-02 1.07412092e-05 9.99887300e-01 1.29884100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.488040942 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:12.57, Y:0.22, Z:0.13 [[ 9.97614382e-01 -6.73889000e-02 -1.49760031e-02 1.25674195e+01] [ 6.73807093e-02 9.97726784e-01 -1.05139936e-03 2.19186268e-01] [ 1.50128121e-02 3.97974059e-05 9.99887301e-01 1.29433287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.518040942 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:12.60, Y:0.22, Z:0.13 [[ 9.97638285e-01 -6.70341647e-02 -1.49757295e-02 1.25952427e+01] [ 6.70258757e-02 9.97750679e-01 -1.05528188e-03 2.22217316e-01] [ 1.50127843e-02 4.90282197e-05 9.99887301e-01 1.29063684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.548040942 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:12.62, Y:0.22, Z:0.13 [[ 9.97619308e-01 -6.73160659e-02 -1.49754301e-02 1.26237150e+01] [ 6.73077452e-02 9.97731700e-01 -1.05951408e-03 2.24318083e-01] [ 1.50127836e-02 4.90292666e-05 9.99887301e-01 1.29491300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.578040942 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:12.65, Y:0.23, Z:0.13 [[ 9.97623462e-01 -6.72545399e-02 -1.49751295e-02 1.26519669e+01] [ 6.72461488e-02 9.97735849e-01 -1.06374514e-03 2.27812037e-01] [ 1.50127653e-02 5.41973213e-05 9.99887301e-01 1.30242121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.608040942 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:12.68, Y:0.23, Z:0.13 [[ 9.97704057e-01 -6.60482364e-02 -1.49748301e-02 1.26783241e+01] [ 6.60396464e-02 9.97816428e-01 -1.06794421e-03 2.29936367e-01] [ 1.50126673e-02 7.65597884e-05 9.99887301e-01 1.31313216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.638040942 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:12.71, Y:0.23, Z:0.13 [[ 9.97549798e-01 -6.83401032e-02 -1.49676617e-02 1.27080781e+01] [ 6.83302732e-02 9.97662072e-01 -1.16776668e-03 2.31422050e-01] [ 1.50124737e-02 1.42161006e-04 9.99887296e-01 1.30501530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.668040942 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:12.74, Y:0.23, Z:0.13 [[ 9.97491620e-01 -6.91826376e-02 -1.49743594e-02 1.27391083e+01] [ 6.91743034e-02 9.97604010e-01 -1.07442108e-03 2.31569592e-01] [ 1.50128123e-02 3.58851457e-05 9.99887301e-01 1.31885589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.698040942 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:12.77, Y:0.23, Z:0.13 [[ 9.97361707e-01 -7.10297153e-02 -1.49801217e-02 1.27650672e+01] [ 7.10227957e-02 9.97474197e-01 -9.94080863e-04 2.34203188e-01] [ 1.50128941e-02 -7.24719340e-05 9.99887298e-01 1.34232384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.728040942 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:12.79, Y:0.24, Z:0.13 [[ 9.96872209e-01 -7.75988316e-02 -1.49740110e-02 1.27890216e+01] [ 7.75913791e-02 9.96984661e-01 -1.07889160e-03 2.40718396e-01] [ 1.50125800e-02 -8.63371180e-05 9.99887301e-01 1.29405418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.758040942 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:12.82, Y:0.24, Z:0.13 [[ 9.96783221e-01 -7.87362849e-02 -1.49602149e-02 1.28162429e+01] [ 7.87261046e-02 9.96895476e-01 -1.26910393e-03 2.43197861e-01] [ 1.50136951e-02 8.72620614e-05 9.99887284e-01 1.32179104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.788040942 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:12.84, Y:0.25, Z:0.13 [[ 9.96654333e-01 -8.03520958e-02 -1.49559587e-02 1.28443647e+01] [ 8.03412311e-02 9.96766535e-01 -1.32683346e-03 2.46288169e-01] [ 1.50142130e-02 1.20814184e-04 9.99887273e-01 1.30209178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.818040942 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:12.88, Y:0.24, Z:0.14 [[ 9.97183621e-01 -7.34928770e-02 -1.49540012e-02 1.28814726e+01] [ 7.34808422e-02 9.97295710e-01 -1.35339548e-03 2.36879020e-01] [ 1.50130262e-02 2.50751203e-04 9.99887267e-01 1.40113788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.848040942 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:12.91, Y:0.25, Z:0.13 [[ 9.96696425e-01 -7.98251212e-02 -1.49728679e-02 1.29061065e+01] [ 7.98176697e-02 9.96808878e-01 -1.09555114e-03 2.48172043e-01] [ 1.50125402e-02 -1.03167524e-04 9.99887300e-01 1.31240936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.878040942 meters Centerline goodness : 0.994684 Centerline is valid? [True, True] Translation: X:12.94, Y:0.25, Z:0.14 [[ 9.96679925e-01 -8.00328329e-02 -1.49624023e-02 1.29384795e+01] [ 8.00233167e-02 9.96792227e-01 -1.23459514e-03 2.47914273e-01] [ 1.50132145e-02 3.31551301e-05 9.99887295e-01 1.36180292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.908040942 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:12.97, Y:0.25, Z:0.14 [[ 9.96652258e-01 -8.03742999e-02 -1.49749570e-02 1.29702410e+01] [ 8.03673335e-02 9.96764743e-01 -1.06738094e-03 2.50353573e-01] [ 1.50122992e-02 -1.39689744e-04 9.99887299e-01 1.35097295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.938040942 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:12.99, Y:0.25, Z:0.14 [[ 9.96329959e-01 -8.42737362e-02 -1.49850029e-02 1.29948739e+01] [ 8.42691467e-02 9.96442587e-01 -9.38558771e-04 2.54346153e-01] [ 1.50107910e-02 -3.27659190e-04 9.99887278e-01 1.35393280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.968040942 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:13.02, Y:0.26, Z:0.14 [[ 9.96037143e-01 -8.76684969e-02 -1.49747756e-02 1.30214529e+01] [ 8.76623442e-02 9.96149674e-01 -1.06804253e-03 2.57194119e-01] [ 1.50107515e-02 -2.48913897e-04 9.99887301e-01 1.39966181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.998040942 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:13.05, Y:0.26, Z:0.14 [[ 9.95722941e-01 -9.11694187e-02 -1.49653263e-02 1.30459996e+01] [ 9.11618711e-02 9.95835380e-01 -1.18716155e-03 2.63393479e-01] [ 1.50112342e-02 -1.82183152e-04 9.99887308e-01 1.36318741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.028040942 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:13.08, Y:0.26, Z:0.14 [[ 9.95646049e-01 -9.20071585e-02 -1.49542007e-02 1.30816996e+01] [ 9.19976163e-02 9.95758344e-01 -1.32622404e-03 2.62247074e-01] [ 1.50127923e-02 -5.53010923e-05 9.99887300e-01 1.40388163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.058040942 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:13.11, Y:0.27, Z:0.14 [[ 9.95632234e-01 -9.21527521e-02 -1.49774657e-02 1.31059911e+01] [ 9.21476051e-02 9.95744821e-01 -1.03486517e-03 2.65819136e-01] [ 1.50090996e-02 -3.49792467e-04 9.99887296e-01 1.39671084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.088040942 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:13.14, Y:0.27, Z:0.14 [[ 9.95335471e-01 -9.53069731e-02 -1.49626776e-02 1.31356281e+01] [ 9.52994196e-02 9.95447907e-01 -1.21864639e-03 2.69994444e-01] [ 1.50107116e-02 -2.12972518e-04 9.99887310e-01 1.41561224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.118040942 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:13.16, Y:0.27, Z:0.14 [[ 9.95687338e-01 -9.15566970e-02 -1.49698626e-02 1.31623334e+01] [ 9.15500605e-02 9.95799835e-01 -1.12944568e-03 2.70220170e-01] [ 1.50103950e-02 -2.45917065e-04 9.99887307e-01 1.44914445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.148040942 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:13.19, Y:0.27, Z:0.14 [[ 9.95477754e-01 -9.38090665e-02 -1.49632678e-02 1.31949422e+01] [ 9.38014597e-02 9.95590187e-01 -1.21093657e-03 2.73948182e-01] [ 1.50108794e-02 -1.98115946e-04 9.99887311e-01 1.42393189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.178040941999999 meters Centerline goodness : 0.994910 Centerline is valid? [True, True] Translation: X:13.22, Y:0.28, Z:0.14 [[ 9.95362303e-01 -9.50243860e-02 -1.49750676e-02 1.32225941e+01] [ 9.50191652e-02 9.95474878e-01 -1.06135752e-03 2.77273741e-01] [ 1.50081585e-02 -3.66483159e-04 9.99887304e-01 1.43072814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.208040942 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:13.25, Y:0.28, Z:0.14 [[ 9.95269282e-01 -9.59940017e-02 -1.49735861e-02 1.32473026e+01] [ 9.59886099e-02 9.95381846e-01 -1.08002126e-03 2.81879277e-01] [ 1.50081114e-02 -3.62381728e-04 9.99887306e-01 1.38888349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.238040942 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:13.27, Y:0.29, Z:0.14 [[ 9.95325323e-01 -9.54131734e-02 -1.49608995e-02 1.32738119e+01] [ 9.54052897e-02 9.95437738e-01 -1.24141307e-03 2.85312716e-01] [ 1.50110911e-02 -1.91739092e-04 9.99887309e-01 1.41273122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.268040942 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:13.30, Y:0.29, Z:0.14 [[ 9.95432924e-01 -9.42848701e-02 -1.49551485e-02 1.33031919e+01] [ 9.42757632e-02 9.95545254e-01 -1.31434967e-03 2.86244934e-01] [ 1.50124504e-02 -1.01561101e-04 9.99887302e-01 1.44178651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.298040942 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:13.33, Y:0.29, Z:0.14 [[ 9.95295205e-01 -9.57269540e-02 -1.49600946e-02 1.33309435e+01] [ 9.57189523e-02 9.95407613e-01 -1.25162508e-03 2.89726939e-01] [ 1.50112063e-02 -1.86228139e-04 9.99887308e-01 1.43728164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.328040942 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:13.36, Y:0.29, Z:0.15 [[ 9.95254081e-01 -9.61540407e-02 -1.49570746e-02 1.33596641e+01] [ 9.61455135e-02 9.95366453e-01 -1.28980621e-03 2.92245840e-01] [ 1.50117904e-02 -1.54370720e-04 9.99887305e-01 1.46039179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.358040942 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:13.39, Y:0.30, Z:0.15 [[ 9.95334541e-01 -9.53167878e-02 -1.49619799e-02 1.33871136e+01] [ 9.53090971e-02 9.95446969e-01 -1.22784821e-03 2.95091623e-01] [ 1.50108921e-02 -2.03893063e-04 9.99887309e-01 1.46042395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.388040942 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:13.42, Y:0.30, Z:0.15 [[ 9.95373778e-01 -9.49066778e-02 -1.49587603e-02 1.34151367e+01] [ 9.48983313e-02 9.95486162e-01 -1.26840958e-03 3.00095995e-01] [ 1.50116194e-02 -1.57019754e-04 9.99887307e-01 1.46877295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.418040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:13.44, Y:0.31, Z:0.14 [[ 9.95287259e-01 -9.58098205e-02 -1.49583001e-02 1.34439764e+01] [ 9.58014891e-02 9.95399644e-01 -1.27419120e-03 3.05704421e-01] [ 1.50115666e-02 -1.64841154e-04 9.99887306e-01 1.42694208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.448040942 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:13.47, Y:0.31, Z:0.14 [[ 9.95319065e-01 -9.54787439e-02 -1.49588800e-02 1.34676257e+01] [ 9.54704845e-02 9.95431455e-01 -1.26691202e-03 3.09791565e-01] [ 1.50115029e-02 -1.67149834e-04 9.99887307e-01 1.43857181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.478040942 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:13.49, Y:0.31, Z:0.14 [[ 9.95525307e-01 -9.33060891e-02 -1.49444266e-02 1.34949519e+01] [ 9.32948763e-02 9.95637470e-01 -1.44722981e-03 3.13996470e-01] [ 1.50142664e-02 4.65154678e-05 9.99887278e-01 1.42554188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.508040942 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:13.52, Y:0.32, Z:0.14 [[ 9.95612079e-01 -9.23754622e-02 -1.49453167e-02 1.35231725e+01] [ 9.23643112e-02 9.95724245e-01 -1.43613668e-03 3.17161617e-01] [ 1.50140779e-02 4.94211510e-05 9.99887281e-01 1.43319846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.538040942 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:13.55, Y:0.32, Z:0.14 [[ 9.95721249e-01 -9.11910729e-02 -1.49460021e-02 1.35516309e+01] [ 9.11799167e-02 9.95833412e-01 -1.42758946e-03 3.19846731e-01] [ 1.50139117e-02 5.87059348e-05 9.99887283e-01 1.43848314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.568040942 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:13.58, Y:0.32, Z:0.14 [[ 9.95702075e-01 -9.14000885e-02 -1.49466088e-02 1.35793920e+01] [ 9.13890694e-02 9.95814251e-01 -1.42002660e-03 3.24635484e-01] [ 1.50138366e-02 4.79667626e-05 9.99887285e-01 1.43155810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.598040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:13.61, Y:0.33, Z:0.14 [[ 9.95490309e-01 -9.36781594e-02 -1.49481808e-02 1.36092994e+01] [ 9.36676908e-02 9.95602532e-01 -1.40045755e-03 3.29409539e-01] [ 1.50136389e-02 -6.01965566e-06 9.99887289e-01 1.42356124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.628040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:13.64, Y:0.33, Z:0.14 [[ 9.95468436e-01 -9.39093649e-02 -1.49540878e-02 1.36362103e+01] [ 9.39000278e-02 9.95580747e-01 -1.32685773e-03 3.31846605e-01] [ 1.50126063e-02 -8.33442670e-05 9.99887301e-01 1.42056295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.658040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:13.67, Y:0.33, Z:0.14 [[ 9.95520002e-01 -9.33620226e-02 -1.49485424e-02 1.36673206e+01] [ 9.33515843e-02 9.95632228e-01 -1.39606875e-03 3.32972473e-01] [ 1.50135904e-02 -5.65575331e-06 9.99887290e-01 1.41935017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.688040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:13.69, Y:0.34, Z:0.14 [[ 9.95010165e-01 -9.86464463e-02 -1.49549179e-02 1.36918076e+01] [ 9.86378007e-02 9.95122531e-01 -1.31641647e-03 3.39094210e-01] [ 1.50118356e-02 -1.65272442e-04 9.99887302e-01 1.44159267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.718040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:13.72, Y:0.34, Z:0.14 [[ 9.95359479e-01 -9.50582176e-02 -1.49480255e-02 1.37186626e+01] [ 9.50478772e-02 9.95471715e-01 -1.40228563e-03 3.41544749e-01] [ 1.50136354e-02 -2.49997978e-05 9.99887289e-01 1.38143559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.748040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:13.75, Y:0.35, Z:0.15 [[ 9.94982650e-01 -9.89256782e-02 -1.49411291e-02 1.37498457e+01] [ 9.89144861e-02 9.95094825e-01 -1.48803721e-03 3.47233547e-01] [ 1.50150453e-02 2.67710671e-06 9.99887268e-01 1.47550109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.778040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:13.79, Y:0.34, Z:0.14 [[ 9.95737422e-01 -9.10129885e-02 -1.49540260e-02 1.37907988e+01] [ 9.10033187e-02 9.95849705e-01 -1.32725357e-03 3.39796547e-01] [ 1.50127597e-02 -3.92699513e-05 9.99887301e-01 1.44539945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.808040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:13.81, Y:0.35, Z:0.15 [[ 9.94891668e-01 -9.98296993e-02 -1.49866552e-02 1.38109536e+01] [ 9.98272140e-02 9.95004366e-01 -9.15699744e-04 3.52160374e-01] [ 1.50032014e-02 -5.85053993e-04 9.99887274e-01 1.52567753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.838040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:13.85, Y:0.35, Z:0.14 [[ 9.95485111e-01 -9.37308363e-02 -1.49641033e-02 1.38500474e+01] [ 9.37234223e-02 9.95597552e-01 -1.19751582e-03 3.46803252e-01] [ 1.50104687e-02 -2.10377797e-04 9.99887314e-01 1.43351594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.868040942 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:13.87, Y:0.36, Z:0.15 [[ 9.94981382e-01 -9.89314133e-02 -1.49875243e-02 1.38726206e+01] [ 9.89290221e-02 9.95094083e-01 -9.02680852e-04 3.55198592e-01] [ 1.50033002e-02 -5.84550481e-04 9.99887273e-01 1.53305521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.90, Y:0.36, Z:0.16 [[ 9.94715125e-01 -1.01576312e-01 -1.49690659e-02 1.38982473e+01] [ 1.01570752e-01 9.94827673e-01 -1.13315672e-03 3.61765825e-01] [ 1.50067429e-02 -3.93251158e-04 9.99887315e-01 1.55973125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.928040941999999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:13.93, Y:0.37, Z:0.16 [[ 9.94712419e-01 -1.01603646e-01 -1.49633623e-02 1.39256196e+01] [ 1.01597023e-01 9.94824907e-01 -1.20403986e-03 3.65981011e-01] [ 1.50082603e-02 -3.22559664e-04 9.99887318e-01 1.56735257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.958040942 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:13.95, Y:0.37, Z:0.15 [[ 9.94905941e-01 -9.96908987e-02 -1.49630439e-02 1.39532106e+01] [ 9.96840008e-02 9.95018412e-01 -1.20798319e-03 3.71594188e-01] [ 1.50089291e-02 -2.89746432e-04 9.99887318e-01 1.52039538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.988040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:13.98, Y:0.37, Z:0.15 [[ 9.95025441e-01 -9.84915792e-02 -1.49593205e-02 1.39826227e+01] [ 9.84838563e-02 9.95137859e-01 -1.25384748e-03 3.74098311e-01] [ 1.50100796e-02 -2.25641434e-04 9.99887317e-01 1.51992554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.018040942 meters Centerline goodness : 0.997135 Centerline is valid? [True, True] Translation: X:14.01, Y:0.38, Z:0.15 [[ 9.95159034e-01 -9.71316949e-02 -1.49643116e-02 1.40108120e+01] [ 9.71247442e-02 9.95271502e-01 -1.19225091e-03 3.76611865e-01] [ 1.50093582e-02 -2.66925675e-04 9.99887318e-01 1.53598099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.048040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:14.04, Y:0.38, Z:0.16 [[ 9.95446905e-01 -9.41364617e-02 -1.49594476e-02 1.40394720e+01] [ 9.41282732e-02 9.95559290e-01 -1.25210367e-03 3.78400334e-01] [ 1.50108856e-02 -1.61704248e-04 9.99887317e-01 1.60654323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.078040942 meters Centerline goodness : 0.997878 Centerline is valid? [True, True] Translation: X:14.07, Y:0.38, Z:0.16 [[ 9.95658941e-01 -9.18662205e-02 -1.49623143e-02 1.40670229e+01] [ 9.18583053e-02 9.95771345e-01 -1.21685526e-03 3.80695272e-01] [ 1.50108317e-02 -1.62840012e-04 9.99887318e-01 1.56074639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.10, Y:0.38, Z:0.16 [[ 9.95892600e-01 -8.92981485e-02 -1.49589349e-02 1.40954703e+01] [ 8.92893208e-02 9.96004937e-01 -1.25829991e-03 3.84948965e-01] [ 1.50115369e-02 -8.25415696e-05 9.99887317e-01 1.62612179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.138040942 meters Centerline goodness : 0.997316 Centerline is valid? [True, True] Translation: X:14.12, Y:0.39, Z:0.16 [[ 9.95920560e-01 -8.89852546e-02 -1.49620098e-02 1.41243983e+01] [ 8.89769578e-02 9.96032937e-01 -1.22060904e-03 3.89269016e-01] [ 1.50112707e-02 -1.15644469e-04 9.99887318e-01 1.57387259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.15, Y:0.39, Z:0.16 [[ 9.96065874e-01 -8.73437516e-02 -1.49614095e-02 1.41518120e+01] [ 8.73351595e-02 9.96178228e-01 -1.22794188e-03 3.91643456e-01] [ 1.50114834e-02 -8.35460763e-05 9.99887318e-01 1.61713530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.18, Y:0.39, Z:0.16 [[ 9.96154863e-01 -8.63228916e-02 -1.49615076e-02 1.41783569e+01] [ 8.63142023e-02 9.96267210e-01 -1.22674516e-03 3.93858138e-01] [ 1.50115556e-02 -6.93624312e-05 9.99887318e-01 1.60827884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.228040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.21, Y:0.39, Z:0.16 [[ 9.96325214e-01 -8.43340151e-02 -1.49613561e-02 1.42063182e+01] [ 8.43250738e-02 9.96437541e-01 -1.22859023e-03 3.94352332e-01] [ 1.50116688e-02 -3.75420350e-05 9.99887318e-01 1.61418024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.258040942 meters Centerline goodness : 0.996938 Centerline is valid? [True, True] Translation: X:14.23, Y:0.40, Z:0.16 [[ 9.96341062e-01 -8.41466320e-02 -1.49610073e-02 1.42336651e+01] [ 8.41376061e-02 9.96453382e-01 -1.23282301e-03 3.96171853e-01] [ 1.50116842e-02 -3.04711492e-05 9.99887318e-01 1.58617886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.26, Y:0.40, Z:0.16 [[ 9.96474677e-01 -8.25500523e-02 -1.49568155e-02 1.42626338e+01] [ 8.25400853e-02 9.96586919e-01 -1.28352444e-03 3.96274400e-01] [ 1.50117217e-02 4.44627759e-05 9.99887317e-01 1.63434648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.318040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:14.29, Y:0.40, Z:0.16 [[ 9.96474586e-01 -8.25504563e-02 -1.49606709e-02 1.42893279e+01] [ 8.25411894e-02 9.96586886e-01 -1.23689183e-03 3.98951740e-01] [ 1.50117144e-02 -2.34029479e-06 9.99887318e-01 1.63112591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.348040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:14.32, Y:0.40, Z:0.16 [[ 9.96454864e-01 -8.27882063e-02 -1.49605179e-02 1.43172644e+01] [ 8.27789383e-02 9.96567164e-01 -1.23874023e-03 4.01713207e-01] [ 1.50117139e-02 -4.06705713e-06 9.99887318e-01 1.62379586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.34, Y:0.40, Z:0.16 [[ 9.96358683e-01 -8.39378898e-02 -1.49601600e-02 1.43439793e+01] [ 8.39286868e-02 9.96470988e-01 -1.24304734e-03 4.03753966e-01] [ 1.50117042e-02 -1.70655685e-05 9.99887318e-01 1.60676464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.408040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.37, Y:0.41, Z:0.16 [[ 9.96335303e-01 -8.42149770e-02 -1.49600047e-02 1.43724117e+01] [ 8.42057772e-02 9.96447609e-01 -1.24491329e-03 4.06210403e-01] [ 1.50117013e-02 -1.93677628e-05 9.99887318e-01 1.61104530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.40, Y:0.41, Z:0.16 [[ 9.96252825e-01 -8.51851898e-02 -1.49596573e-02 1.43997964e+01] [ 8.51760370e-02 9.96365135e-01 -1.24907367e-03 4.07019144e-01] [ 1.50116836e-02 -2.98111569e-05 9.99887318e-01 1.61313826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.468040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:14.43, Y:0.41, Z:0.16 [[ 9.96091724e-01 -8.70487806e-02 -1.49595066e-02 1.44274601e+01] [ 8.70398108e-02 9.96204049e-01 -1.25087577e-03 4.07176707e-01] [ 1.50116083e-02 -5.60856215e-05 9.99887318e-01 1.61890215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.46, Y:0.41, Z:0.16 [[ 9.95887917e-01 -8.93503222e-02 -1.49591613e-02 1.44558399e+01] [ 8.93415501e-02 9.96000257e-01 -1.25499228e-03 4.07416892e-01] [ 1.50114625e-02 -8.66430071e-05 9.99887318e-01 1.63063580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.528040942 meters Centerline goodness : 0.998113 Centerline is valid? [True, True] Translation: X:14.49, Y:0.41, Z:0.16 [[ 9.95468844e-01 -9.39042856e-02 -1.49588050e-02 1.44852614e+01] [ 9.38959638e-02 9.95581218e-01 -1.25922444e-03 4.07591802e-01] [ 1.50109519e-02 -1.51052713e-04 9.99887318e-01 1.62504430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.51, Y:0.41, Z:0.16 [[ 9.95243325e-01 -9.62643159e-02 -1.49634935e-02 1.45130835e+01] [ 9.62570964e-02 9.95355777e-01 -1.20360982e-03 4.10369856e-01] [ 1.50098644e-02 -2.42457796e-04 9.99887316e-01 1.60769769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.54, Y:0.41, Z:0.16 [[ 9.94963093e-01 -9.91190658e-02 -1.49617803e-02 1.45421903e+01] [ 9.91118661e-02 9.95075545e-01 -1.22376267e-03 4.10805920e-01] [ 1.50093999e-02 -2.65291273e-04 9.99887317e-01 1.58619102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.618040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:14.57, Y:0.41, Z:0.16 [[ 9.94827847e-01 -1.00467128e-01 -1.49636344e-02 1.45703058e+01] [ 1.00460409e-01 9.94940331e-01 -1.20192770e-03 4.10800761e-01] [ 1.50086776e-02 -3.07541684e-04 9.99887316e-01 1.59060418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.60, Y:0.41, Z:0.16 [[ 9.94700196e-01 -1.01723060e-01 -1.49645680e-02 1.45973886e+01] [ 1.01716648e-01 9.94812699e-01 -1.19095526e-03 4.12049757e-01] [ 1.50080898e-02 -3.37502261e-04 9.99887315e-01 1.63200910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.678040942 meters Centerline goodness : 0.997569 Centerline is valid? [True, True] Translation: X:14.63, Y:0.41, Z:0.16 [[ 9.94473650e-01 -1.03915567e-01 -1.49570613e-02 1.46266406e+01] [ 1.03908083e-01 9.94586082e-01 -1.27875745e-03 4.13303270e-01] [ 1.50089678e-02 -2.82468981e-04 9.99887319e-01 1.63253994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.65, Y:0.42, Z:0.17 [[ 9.94620335e-01 -1.02501189e-01 -1.49631612e-02 1.46523598e+01] [ 1.02494617e-01 9.94732826e-01 -1.20743153e-03 4.15676505e-01] [ 1.50081108e-02 -3.32707524e-04 9.99887317e-01 1.65519574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.68, Y:0.42, Z:0.17 [[ 9.94844254e-01 -1.00305604e-01 -1.49565022e-02 1.46791654e+01] [ 1.00297618e-01 9.94956651e-01 -1.28494180e-03 4.18615843e-01] [ 1.50099582e-02 -2.21784586e-04 9.99887320e-01 1.65134561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.71, Y:0.42, Z:0.16 [[ 9.94986385e-01 -9.88858040e-02 -1.49563483e-02 1.47067624e+01] [ 9.88776314e-02 9.95098768e-01 -1.28673104e-03 4.20403177e-01] [ 1.50102832e-02 -1.98568429e-04 9.99887320e-01 1.64582799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.798040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.73, Y:0.42, Z:0.16 [[ 9.95129668e-01 -9.74333724e-02 -1.49559870e-02 1.47335701e+01] [ 9.74249728e-02 9.95242035e-01 -1.29091614e-03 4.21495305e-01] [ 1.50106053e-02 -1.72457682e-04 9.99887320e-01 1.64683464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.828040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.76, Y:0.42, Z:0.17 [[ 9.95304436e-01 -9.56316032e-02 -1.49558303e-02 1.47618010e+01] [ 9.56229730e-02 9.95416785e-01 -1.29272881e-03 4.22172735e-01] [ 1.50109103e-02 -1.43462247e-04 9.99887320e-01 1.65119324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.79, Y:0.42, Z:0.17 [[ 9.95494418e-01 -9.36333099e-02 -1.49554695e-02 1.47903873e+01] [ 9.36243917e-02 9.95606745e-01 -1.29689004e-03 4.22635787e-01] [ 1.50111984e-02 -1.09149936e-04 9.99887320e-01 1.66128017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.82, Y:0.42, Z:0.17 [[ 9.95577436e-01 -9.27465064e-02 -1.49551025e-02 1.48188077e+01] [ 9.27374247e-02 9.95689749e-01 -1.30110871e-03 4.24666214e-01] [ 1.50113155e-02 -9.15432122e-05 9.99887320e-01 1.66835017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.85, Y:0.42, Z:0.17 [[ 9.95736129e-01 -9.10270153e-02 -1.49547333e-02 1.48505195e+01] [ 9.10176762e-02 9.95848422e-01 -1.30533868e-03 4.24939621e-01] [ 1.50114686e-02 -6.13721885e-05 9.99887320e-01 1.66086680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.87, Y:0.43, Z:0.17 [[ 9.95657992e-01 -9.18755231e-02 -1.49683701e-02 1.48738442e+01] [ 9.18686301e-02 9.95770473e-01 -1.14891697e-03 4.27673269e-01] [ 1.50106184e-02 -2.31195297e-04 9.99887308e-01 1.68025179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.978040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.90, Y:0.43, Z:0.17 [[ 9.95617580e-01 -9.23147565e-02 -1.49539617e-02 1.49016288e+01] [ 9.23054473e-02 9.95729873e-01 -1.31301745e-03 4.28509111e-01] [ 1.50113173e-02 -7.30688686e-05 9.99887321e-01 1.68905925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.008040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.93, Y:0.43, Z:0.17 [[ 9.95567671e-01 -9.28515092e-02 -1.49535941e-02 1.49293633e+01] [ 9.28421978e-02 9.95679964e-01 -1.31719073e-03 4.27352518e-01] [ 1.50112972e-02 -7.69720338e-05 9.99887321e-01 1.70814469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.038040942 meters Centerline goodness : 0.997491 Centerline is valid? [True, True] Translation: X:14.96, Y:0.43, Z:0.17 [[ 9.95383558e-01 -9.48049230e-02 -1.49532289e-02 1.49589333e+01] [ 9.47957699e-02 9.95495864e-01 -1.32132289e-03 4.29586326e-01] [ 1.50111455e-02 -1.02279772e-04 9.99887321e-01 1.73205811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.068040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.99, Y:0.43, Z:0.17 [[ 9.95516465e-01 -9.33982343e-02 -1.49578954e-02 1.49857723e+01] [ 9.33897147e-02 9.95628822e-01 -1.26858809e-03 4.30701145e-01] [ 1.50109956e-02 -1.34013250e-04 9.99887320e-01 1.72204224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.02, Y:0.43, Z:0.17 [[ 9.95689977e-01 -9.15308003e-02 -1.49526996e-02 1.50174624e+01] [ 9.15211907e-02 9.95802245e-01 -1.32712910e-03 4.31608861e-01] [ 1.50114050e-02 -4.70797230e-05 9.99887321e-01 1.69081228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.04, Y:0.44, Z:0.17 [[ 9.95644261e-01 -9.20246426e-02 -1.49656732e-02 1.50415680e+01] [ 9.20172864e-02 9.95756710e-01 -1.18084732e-03 4.35294900e-01] [ 1.50108366e-02 -2.01396780e-04 9.99887311e-01 1.70390463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.158040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.07, Y:0.43, Z:0.17 [[ 9.95857211e-01 -8.96930928e-02 -1.49520886e-02 1.50744232e+01] [ 8.96831848e-02 9.95969452e-01 -1.33320301e-03 4.34028339e-01] [ 1.50114026e-02 -1.32710986e-05 9.99887322e-01 1.69792217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.10, Y:0.44, Z:0.17 [[ 9.95819992e-01 -9.01026165e-02 -1.49687064e-02 1.50976203e+01] [ 9.00955613e-02 9.95932465e-01 -1.14638180e-03 4.37695441e-01] [ 1.50111127e-02 -2.07024091e-04 9.99887305e-01 1.71820462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.218040942 meters Centerline goodness : 0.997108 Centerline is valid? [True, True] Translation: X:15.13, Y:0.44, Z:0.17 [[ 9.95777204e-01 -9.05770973e-02 -1.49515367e-02 1.51266092e+01] [ 9.05672137e-02 9.95889446e-01 -1.33821684e-03 4.40315130e-01] [ 1.50112894e-02 -2.15531969e-05 9.99887324e-01 1.73902207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.248040942 meters Centerline goodness : 0.997107 Centerline is valid? [True, True] Translation: X:15.15, Y:0.44, Z:0.17 [[ 9.95785033e-01 -9.04906343e-02 -1.49536945e-02 1.51544250e+01] [ 9.04811020e-02 9.95897306e-01 -1.31417030e-03 4.42764068e-01] [ 1.50112642e-02 -4.43956369e-05 9.99887324e-01 1.74848309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.19, Y:0.44, Z:0.18 [[ 9.96053184e-01 -8.74894885e-02 -1.49547127e-02 1.51885421e+01] [ 8.74797879e-02 9.96165443e-01 -1.30285160e-03 4.42674271e-01] [ 1.50113538e-02 -1.05256099e-05 9.99887323e-01 1.75206284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.22, Y:0.45, Z:0.17 [[ 9.95931779e-01 -8.88568394e-02 -1.49784601e-02 1.52177754e+01] [ 8.88510993e-02 9.96044367e-01 -1.04957192e-03 4.45226670e-01] [ 1.50124725e-02 -2.85550621e-04 9.99887266e-01 1.73257112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.25, Y:0.45, Z:0.17 [[ 9.95905452e-01 -8.91513622e-02 -1.49788147e-02 1.52457927e+01] [ 8.91457121e-02 9.96018046e-01 -1.04580231e-03 4.45785383e-01] [ 1.50124044e-02 -2.93776879e-04 9.99887264e-01 1.72103667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.27, Y:0.46, Z:0.17 [[ 9.95246889e-01 -9.62255034e-02 -1.49760767e-02 1.52653155e+01] [ 9.62202204e-02 9.95359490e-01 -1.07458419e-03 4.55038377e-01] [ 1.50099825e-02 -3.71524824e-04 9.99887275e-01 1.72606371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.30, Y:0.45, Z:0.18 [[ 9.95618981e-01 -9.23016919e-02 -1.49412936e-02 1.53031088e+01] [ 9.22905287e-02 9.95731086e-01 -1.43640389e-03 4.51969554e-01] [ 1.50100930e-02 5.11710923e-05 9.99887341e-01 1.75362541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.32, Y:0.46, Z:0.17 [[ 9.95120499e-01 -9.75243633e-02 -1.49729864e-02 1.53221061e+01] [ 9.75187676e-02 9.95233073e-01 -1.10512361e-03 4.60787171e-01] [ 1.50093877e-02 -3.60416021e-04 9.99887288e-01 1.74594189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.36, Y:0.46, Z:0.18 [[ 9.95330700e-01 -9.53602899e-02 -1.49403335e-02 1.53562258e+01] [ 9.53493696e-02 9.95442824e-01 -1.44316950e-03 4.60350338e-01] [ 1.50098688e-02 1.18795257e-05 9.99887346e-01 1.75112413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.39, Y:0.46, Z:0.18 [[ 9.95521108e-01 -9.33485114e-02 -1.49592384e-02 1.53891720e+01] [ 9.33402892e-02 9.95633483e-01 -1.24841832e-03 4.60506824e-01] [ 1.50104566e-02 -1.53472854e-04 9.99887325e-01 1.77706792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.41, Y:0.46, Z:0.18 [[ 9.95363170e-01 -9.50158332e-02 -1.49716735e-02 1.54145193e+01] [ 9.50097270e-02 9.95475714e-01 -1.12020551e-03 4.64046216e-01] [ 1.50103746e-02 -3.07443303e-04 9.99887291e-01 1.76351722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.44, Y:0.47, Z:0.18 [[ 9.95033843e-01 -9.84065105e-02 -1.49602938e-02 1.54362251e+01] [ 9.83990342e-02 9.95146271e-01 -1.23679505e-03 4.70126969e-01] [ 1.50093893e-02 -2.41425533e-04 9.99887324e-01 1.76279364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.578040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.46, Y:0.47, Z:0.18 [[ 9.94984036e-01 -9.89122738e-02 -1.49375727e-02 1.54647015e+01] [ 9.89013811e-02 9.95096157e-01 -1.46799712e-03 4.72869374e-01] [ 1.50095241e-02 -1.67128765e-05 9.99887351e-01 1.75756961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.608040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.49, Y:0.48, Z:0.18 [[ 9.94961580e-01 -9.91377904e-02 -1.49382681e-02 1.54921247e+01] [ 9.91270292e-02 9.95073715e-01 -1.46092882e-03 4.75928393e-01] [ 1.50095112e-02 -2.72180947e-05 9.99887351e-01 1.75175460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.638040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.51, Y:0.48, Z:0.17 [[ 9.94483850e-01 -1.03820899e-01 -1.49363111e-02 1.55146708e+01] [ 1.03810368e-01 9.94596006e-01 -1.48079690e-03 4.83364647e-01] [ 1.50093331e-02 -7.79153558e-05 9.99887351e-01 1.72203155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.55, Y:0.48, Z:0.18 [[ 9.94934681e-01 -9.94112754e-02 -1.49123793e-02 1.55501943e+01] [ 9.93965758e-02 9.95046403e-01 -1.72551221e-03 4.77063859e-01] [ 1.50100447e-02 2.34532501e-04 9.99887315e-01 1.78072918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.59, Y:0.47, Z:0.18 [[ 9.95447007e-01 -9.41386439e-02 -1.49389387e-02 1.55896039e+01] [ 9.41274488e-02 9.95559096e-01 -1.45232090e-03 4.72423762e-01] [ 1.50093158e-02 3.95443080e-05 9.99887353e-01 1.77530041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.728040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.62, Y:0.47, Z:0.18 [[ 9.95510472e-01 -9.34595358e-02 -1.49738091e-02 1.56169284e+01] [ 9.34537054e-02 9.95623029e-01 -1.09015547e-03 4.74101537e-01] [ 1.50101546e-02 -3.14096757e-04 9.99887292e-01 1.76690389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.758040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.64, Y:0.48, Z:0.18 [[ 9.95167409e-01 -9.70441935e-02 -1.49750336e-02 1.56428969e+01] [ 9.70389599e-02 9.95280000e-01 -1.07743921e-03 4.76430150e-01] [ 1.50089107e-02 -3.80929304e-04 9.99887287e-01 1.80655101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.788040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.67, Y:0.48, Z:0.18 [[ 9.94888496e-01 -9.98647547e-02 -1.49636415e-02 1.56718567e+01] [ 9.98580773e-02 9.95000974e-01 -1.19461632e-03 4.80197973e-01] [ 1.50081379e-02 -3.05730431e-04 9.99887325e-01 1.77779180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.818040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.70, Y:0.48, Z:0.18 [[ 9.94698183e-01 -1.01742891e-01 -1.49635574e-02 1.56991541e+01] [ 1.01736413e-01 9.94810672e-01 -1.19547800e-03 4.80789131e-01] [ 1.50075380e-02 -3.33198863e-04 9.99887325e-01 1.76168955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.73, Y:0.48, Z:0.18 [[ 9.94541636e-01 -1.03262096e-01 -1.49624081e-02 1.57257532e+01] [ 1.03255613e-01 9.94654121e-01 -1.20720597e-03 4.83229241e-01] [ 1.50070795e-02 -3.44336011e-04 9.99887328e-01 1.79819652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.76, Y:0.48, Z:0.18 [[ 9.94426320e-01 -1.04367953e-01 -1.49540657e-02 1.57567467e+01] [ 1.04360322e-01 9.94538714e-01 -1.29189087e-03 4.84254270e-01] [ 1.50072293e-02 -2.75920830e-04 9.99887347e-01 1.79030328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.908040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.78, Y:0.49, Z:0.18 [[ 9.93664354e-01 -1.11388088e-01 -1.49614854e-02 1.57783007e+01] [ 1.11382383e-01 9.93776879e-01 -1.21661801e-03 4.91054386e-01] [ 1.50038950e-02 -4.57535952e-04 9.99887331e-01 1.80690562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.81, Y:0.49, Z:0.18 [[ 9.93972681e-01 -1.08605976e-01 -1.49349175e-02 1.58141780e+01] [ 1.08595936e-01 9.94084866e-01 -1.48400173e-03 4.87234532e-01] [ 1.50077469e-02 -1.46814155e-04 9.99887367e-01 1.80235048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.84, Y:0.49, Z:0.18 [[ 9.93887008e-01 -1.09384081e-01 -1.49579081e-02 1.58421955e+01] [ 1.09377626e-01 9.93999481e-01 -1.25144242e-03 4.87765811e-01] [ 1.50050408e-02 -3.92268113e-04 9.99887341e-01 1.80998515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.87, Y:0.49, Z:0.18 [[ 9.93564274e-01 -1.12277522e-01 -1.49596896e-02 1.58679804e+01] [ 1.12271664e-01 9.93676784e-01 -1.23345888e-03 4.88911899e-01] [ 1.50035860e-02 -4.54028579e-04 9.99887337e-01 1.82274567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.90, Y:0.49, Z:0.18 [[ 9.93708469e-01 -1.10995205e-01 -1.49513547e-02 1.58991554e+01] [ 1.10987943e-01 9.93820880e-01 -1.31722343e-03 4.89482250e-01] [ 1.50051740e-02 -3.50484018e-04 9.99887355e-01 1.82684007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.058040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.92, Y:0.49, Z:0.18 [[ 9.93844384e-01 -1.09770650e-01 -1.49580746e-02 1.59248297e+01] [ 1.09764262e-01 9.93956863e-01 -1.24981402e-03 4.90610873e-01] [ 1.50048738e-02 -3.99741378e-04 9.99887341e-01 1.80267760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.95, Y:0.50, Z:0.18 [[ 9.93401764e-01 -1.13707536e-01 -1.49509962e-02 1.59462401e+01] [ 1.13700525e-01 9.93514190e-01 -1.32092238e-03 4.98547313e-01] [ 1.50042257e-02 -3.87729486e-04 9.99887355e-01 1.80468992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.98, Y:0.50, Z:0.18 [[ 9.93933764e-01 -1.08962848e-01 -1.49255252e-02 1.59848022e+01] [ 1.08951448e-01 9.94045821e-01 -1.57720465e-03 4.95718278e-01] [ 1.50085127e-02 -5.85206382e-05 9.99887364e-01 1.83353678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.01, Y:0.50, Z:0.19 [[ 9.94180564e-01 -1.06682318e-01 -1.49629434e-02 1.60105570e+01] [ 1.06676294e-01 9.94293077e-01 -1.20248937e-03 4.96977224e-01] [ 1.50058354e-02 -4.00699790e-04 9.99887326e-01 1.85739801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.04, Y:0.50, Z:0.19 [[ 9.94209802e-01 -1.06410952e-01 -1.49525621e-02 1.60401082e+01] [ 1.06403348e-01 9.94322193e-01 -1.30546188e-03 5.00326092e-01] [ 1.50065798e-02 -2.93099672e-04 9.99887352e-01 1.87808772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.07, Y:0.50, Z:0.19 [[ 9.94513789e-01 -1.03531314e-01 -1.49529333e-02 1.60658680e+01] [ 1.03523440e-01 9.94626162e-01 -1.30178585e-03 5.01772814e-01] [ 1.50073543e-02 -2.53335107e-04 9.99887351e-01 1.88552205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.09, Y:0.51, Z:0.19 [[ 9.94414093e-01 -1.04484995e-01 -1.49498392e-02 1.60928690e+01] [ 1.04476764e-01 9.94526435e-01 -1.33264629e-03 5.06794363e-01] [ 1.50072519e-02 -2.36708574e-04 9.99887357e-01 1.86998990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.12, Y:0.51, Z:0.19 [[ 9.94651420e-01 -1.02202398e-01 -1.49406442e-02 1.61229631e+01] [ 1.02192547e-01 9.94763619e-01 -1.42328794e-03 5.07350552e-01] [ 1.50078727e-02 -1.11147117e-04 9.99887369e-01 1.88204272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.15, Y:0.51, Z:0.18 [[ 9.95185335e-01 -9.68645024e-02 -1.49471379e-02 1.61476628e+01] [ 9.68550102e-02 9.95297573e-01 -1.35934671e-03 5.06419817e-01] [ 1.50085225e-02 -9.49032771e-05 9.99887361e-01 1.83643111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.18, Y:0.51, Z:0.18 [[ 9.95168245e-01 -9.70413488e-02 -1.49379238e-02 1.61750424e+01] [ 9.70305131e-02 9.95280351e-01 -1.45015079e-03 5.09405497e-01] [ 1.50081466e-02 -6.29039018e-06 9.99887371e-01 1.84030349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.358040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.20, Y:0.51, Z:0.19 [[ 9.95373769e-01 -9.49100790e-02 -1.49377536e-02 1.62046086e+01] [ 9.48989781e-02 9.95485849e-01 -1.45182544e-03 5.10961558e-01] [ 1.50081152e-02 2.75314101e-05 9.99887372e-01 1.86591809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.388040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:16.23, Y:0.52, Z:0.19 [[ 9.95147035e-01 -9.72581444e-02 -1.49409330e-02 1.62299178e+01] [ 9.72477771e-02 9.95259188e-01 -1.42057771e-03 5.17355471e-01] [ 1.50082636e-02 -3.92888197e-05 9.99887369e-01 1.85060524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.418040942 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:16.27, Y:0.51, Z:0.19 [[ 9.95663549e-01 -9.18216487e-02 -1.49292181e-02 1.62670933e+01] [ 9.18089475e-02 9.95775457e-01 -1.53535680e-03 5.14395711e-01] [ 1.50071279e-02 1.58063001e-04 9.99887374e-01 1.89343900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.30, Y:0.51, Z:0.19 [[ 9.95827936e-01 -9.00153056e-02 -1.49654920e-02 1.62958443e+01] [ 9.00077681e-02 9.95940367e-01 -1.17781187e-03 5.14145034e-01] [ 1.50107587e-02 -1.74112564e-04 9.99887317e-01 1.91576143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.478040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.31, Y:0.52, Z:0.19 [[ 9.95422540e-01 -9.43922108e-02 -1.49691933e-02 1.63103984e+01] [ 9.43857154e-02 9.95535049e-01 -1.14138180e-03 5.21710482e-01] [ 1.50100941e-02 -2.76720849e-04 9.99887304e-01 1.94124970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.508040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.34, Y:0.52, Z:0.19 [[ 9.95311655e-01 -9.55633848e-02 -1.49113389e-02 1.63390199e+01] [ 9.55486852e-02 9.95423312e-01 -1.69675674e-03 5.22774898e-01] [ 1.50052422e-02 2.64042931e-04 9.99887380e-01 1.90878518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.538040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:16.38, Y:0.52, Z:0.19 [[ 9.95777497e-01 -9.05791838e-02 -1.49193626e-02 1.63791378e+01] [ 9.05650904e-02 9.95889222e-01 -1.61895761e-03 5.18281245e-01] [ 1.50046762e-02 2.60948143e-04 9.99887389e-01 1.89986968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.568040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.40, Y:0.52, Z:0.19 [[ 9.95874797e-01 -8.94947905e-02 -1.49689907e-02 1.64011528e+01] [ 8.94878544e-02 9.95987268e-01 -1.13388643e-03 5.19604655e-01] [ 1.50104011e-02 -2.10333940e-04 9.99887315e-01 1.86968955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.42, Y:0.53, Z:0.19 [[ 9.95364515e-01 -9.50042783e-02 -1.49555985e-02 1.64199548e+01] [ 9.49959479e-02 9.95476852e-01 -1.26804210e-03 5.26891753e-01] [ 1.50084216e-02 -1.58557150e-04 9.99887355e-01 1.91123861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.46, Y:0.52, Z:0.19 [[ 9.95762941e-01 -9.07374717e-02 -1.49290421e-02 1.64590291e+01] [ 9.07246683e-02 9.95874832e-01 -1.53405252e-03 5.24095553e-01] [ 1.50066533e-02 1.73120262e-04 9.99887379e-01 1.92702347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.658040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:16.49, Y:0.53, Z:0.19 [[ 9.95628652e-01 -9.21924932e-02 -1.49710277e-02 1.64874518e+01] [ 9.21861180e-02 9.95741167e-01 -1.11685249e-03 5.26151101e-01] [ 1.50102340e-02 -2.68150581e-04 9.99887304e-01 1.93471482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.51, Y:0.53, Z:0.20 [[ 9.94841089e-01 -1.00335230e-01 -1.49682421e-02 1.65057764e+01] [ 1.00329362e-01 9.94953622e-01 -1.14436849e-03 5.33161190e-01] [ 1.50075272e-02 -3.63289377e-04 9.99887315e-01 1.96065961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.53, Y:0.54, Z:0.20 [[ 9.94460908e-01 -1.04041458e-01 -1.49290831e-02 1.65341852e+01] [ 1.04030254e-01 9.94572961e-01 -1.52718132e-03 5.35994681e-01] [ 1.50069526e-02 -3.43541862e-05 9.99887389e-01 1.96547975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.56, Y:0.54, Z:0.20 [[ 9.94213443e-01 -1.06380284e-01 -1.49286703e-02 1.65625422e+01] [ 1.06369284e-01 9.94325516e-01 -1.53120581e-03 5.39084543e-01] [ 1.50068479e-02 -6.56065643e-05 9.99887389e-01 1.97106854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.59, Y:0.54, Z:0.20 [[ 9.93949668e-01 -1.08817302e-01 -1.49282343e-02 1.65906095e+01] [ 1.08806513e-01 9.94061761e-01 -1.53544546e-03 5.41631704e-01] [ 1.50066699e-02 -9.81336180e-05 9.99887389e-01 1.97178915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.808040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.62, Y:0.54, Z:0.20 [[ 9.94008673e-01 -1.08277048e-01 -1.49277923e-02 1.66240079e+01] [ 1.08266133e-01 9.94120754e-01 -1.53972990e-03 5.39605604e-01] [ 1.50067456e-02 -8.56694798e-05 9.99887389e-01 1.97307943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.65, Y:0.54, Z:0.20 [[ 9.93504709e-01 -1.12805068e-01 -1.49469297e-02 1.66523040e+01] [ 1.12797461e-01 9.93617079e-01 -1.35369444e-03 5.38945094e-01] [ 1.50042283e-02 -3.41073925e-04 9.99887372e-01 1.97872521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.67, Y:0.54, Z:0.20 [[ 9.92835993e-01 -1.18546502e-01 -1.49471554e-02 1.66744077e+01] [ 1.18539578e-01 9.92948408e-01 -1.35150281e-03 5.44978890e-01] [ 1.50019701e-02 -4.30008859e-04 9.99887372e-01 1.97984133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.71, Y:0.54, Z:0.20 [[ 9.92781185e-01 -1.19007150e-01 -1.49270269e-02 1.67091564e+01] [ 1.18997354e-01 9.92893368e-01 -1.54586805e-03 5.43290303e-01] [ 1.50049154e-02 -2.41567997e-04 9.99887391e-01 1.96178116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.74, Y:0.55, Z:0.20 [[ 9.92587163e-01 -1.20611735e-01 -1.49510457e-02 1.67371058e+01] [ 1.20605624e-01 9.92699632e-01 -1.31302063e-03 5.45832677e-01] [ 1.50002633e-02 -4.99892775e-04 9.99887365e-01 1.96686038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.76, Y:0.55, Z:0.20 [[ 9.92278321e-01 -1.23126722e-01 -1.49514236e-02 1.67622653e+01] [ 1.23120950e-01 9.92390809e-01 -1.30936512e-03 5.49726739e-01] [ 1.49988732e-02 -5.41578861e-04 9.99887364e-01 1.97704082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.79, Y:0.55, Z:0.20 [[ 9.92344408e-01 -1.22593988e-01 -1.49429243e-02 1.67931279e+01] [ 1.22586925e-01 9.92456805e-01 -1.39114868e-03 5.49886852e-01] [ 1.50007534e-02 -4.51308533e-04 9.99887381e-01 1.98429266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.82, Y:0.55, Z:0.20 [[ 9.92294497e-01 -1.22996461e-01 -1.49499834e-02 1.68195980e+01] [ 1.22990465e-01 9.92406970e-01 -1.32330592e-03 5.52917692e-01] [ 1.49992297e-02 -5.25596232e-04 9.99887367e-01 1.99597106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.85, Y:0.56, Z:0.20 [[ 9.92259789e-01 -1.23276644e-01 -1.49458790e-02 1.68487693e+01] [ 1.23270090e-01 9.92372223e-01 -1.36252261e-03 5.56376979e-01] [ 1.49998424e-02 -4.90403452e-04 9.99887376e-01 2.00149426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.87, Y:0.56, Z:0.20 [[ 9.92053527e-01 -1.24925579e-01 -1.49465529e-02 1.68704212e+01] [ 1.24919308e-01 9.92165978e-01 -1.35610010e-03 5.64504409e-01] [ 1.49988729e-02 -5.21789162e-04 9.99887374e-01 2.03033372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.90, Y:0.57, Z:0.20 [[ 9.92189343e-01 -1.23845079e-01 -1.49232859e-02 1.68974377e+01] [ 1.23835372e-01 9.92301525e-01 -1.57636940e-03 5.67842444e-01] [ 1.50036249e-02 -2.83973744e-04 9.99887399e-01 2.03158403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.93, Y:0.57, Z:0.20 [[ 9.92472257e-01 -1.21557081e-01 -1.49229835e-02 1.69255789e+01] [ 1.21547072e-01 9.92584412e-01 -1.57922704e-03 5.69703818e-01] [ 1.50042870e-02 -2.46505926e-04 9.99887399e-01 2.03682210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.95, Y:0.57, Z:0.20 [[ 9.92608692e-01 -1.20437963e-01 -1.49225421e-02 1.69531510e+01] [ 1.20427765e-01 9.92720830e-01 -1.58338713e-03 5.71964580e-01] [ 1.50046183e-02 -2.25404570e-04 9.99887399e-01 2.04981020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.98, Y:0.57, Z:0.21 [[ 9.92752299e-01 -1.19248499e-01 -1.49220994e-02 1.69808013e+01] [ 1.19238105e-01 9.92864419e-01 -1.58754811e-03 5.74989197e-01] [ 1.50049343e-02 -2.03240814e-04 9.99887399e-01 2.06490065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.228040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.01, Y:0.58, Z:0.21 [[ 9.93092440e-01 -1.16381910e-01 -1.49216493e-02 1.70074871e+01] [ 1.16371129e-01 9.93204524e-01 -1.59176719e-03 5.78897132e-01] [ 1.50055025e-02 -1.55677208e-04 9.99887399e-01 2.07383572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.258040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.04, Y:0.58, Z:0.21 [[ 9.93453735e-01 -1.13256461e-01 -1.49214542e-02 1.70404625e+01] [ 1.13245299e-01 9.93565782e-01 -1.59359428e-03 5.79753416e-01] [ 1.50059311e-02 -1.06622356e-04 9.99887399e-01 2.06217757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.07, Y:0.58, Z:0.21 [[ 9.93420040e-01 -1.13549300e-01 -1.49392456e-02 1.70681659e+01] [ 1.13540675e-01 9.93532324e-01 -1.42693085e-03 5.83649482e-01] [ 1.50046504e-02 -2.78670333e-04 9.99887385e-01 2.06135941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.318040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.09, Y:0.59, Z:0.21 [[ 9.93214428e-01 -1.15334368e-01 -1.49359970e-02 1.70923442e+01] [ 1.15325490e-01 9.93326687e-01 -1.45724415e-03 5.88628580e-01] [ 1.50043948e-02 -2.75145259e-04 9.99887390e-01 2.06249821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.348040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:17.12, Y:0.59, Z:0.21 [[ 9.93153391e-01 -1.15860063e-01 -1.49260873e-02 1.71187986e+01] [ 1.15849860e-01 9.93265528e-01 -1.54935367e-03 5.91026223e-01] [ 1.50050762e-02 -1.90439273e-04 9.99887399e-01 2.07184938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.14, Y:0.59, Z:0.21 [[ 9.92867110e-01 -1.18288384e-01 -1.49251494e-02 1.71446950e+01] [ 1.18278324e-01 9.92979260e-01 -1.55805488e-03 5.93507479e-01] [ 1.50046636e-02 -2.18380208e-04 9.99887400e-01 2.08082093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.408040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.17, Y:0.60, Z:0.21 [[ 9.92775237e-01 -1.19057758e-01 -1.49190934e-02 1.71747385e+01] [ 1.19046943e-01 9.92887315e-01 -1.61403324e-03 5.95801126e-01] [ 1.50051417e-02 -1.73700234e-04 9.99887401e-01 2.08058157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.20, Y:0.60, Z:0.21 [[ 9.92561447e-01 -1.20826069e-01 -1.49276834e-02 1.72020245e+01] [ 1.20816648e-01 9.92673654e-01 -1.53464747e-03 6.00135454e-01] [ 1.50037434e-02 -2.80280748e-04 9.99887398e-01 2.07658147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.23, Y:0.61, Z:0.21 [[ 9.92016428e-01 -1.25222165e-01 -1.49270297e-02 1.72272375e+01] [ 1.25213151e-01 9.92128668e-01 -1.54067152e-03 6.06942576e-01] [ 1.50024603e-02 -3.40688956e-04 9.99887399e-01 2.07701737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.26, Y:0.61, Z:0.21 [[ 9.91806870e-01 -1.26872340e-01 -1.49178481e-02 1.72553209e+01] [ 1.26862244e-01 9.91919014e-01 -1.62496314e-03 6.09825218e-01] [ 1.50034600e-02 -2.80862070e-04 9.99887402e-01 2.06847823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.28, Y:0.61, Z:0.21 [[ 9.91534399e-01 -1.28984125e-01 -1.49208049e-02 1.72830898e+01] [ 1.28974676e-01 9.91646600e-01 -1.59784533e-03 6.13490157e-01] [ 1.50022622e-02 -3.40087382e-04 9.99887402e-01 2.06085199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.558040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.31, Y:0.62, Z:0.21 [[ 9.91235478e-01 -1.31261992e-01 -1.49170224e-02 1.73117892e+01] [ 1.31252280e-01 9.91347656e-01 -1.63245036e-03 6.16257378e-01] [ 1.50022339e-02 -3.39750498e-04 9.99887402e-01 2.10190301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.34, Y:0.62, Z:0.21 [[ 9.91054435e-01 -1.32621969e-01 -1.49171019e-02 1.73388364e+01] [ 1.32612422e-01 9.91166627e-01 -1.63172387e-03 6.20298612e-01] [ 1.50017360e-02 -3.61065831e-04 9.99887402e-01 2.10576527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.37, Y:0.63, Z:0.21 [[ 9.90838124e-01 -1.34228530e-01 -1.49169085e-02 1.73650817e+01] [ 1.34219139e-01 9.90950329e-01 -1.63348978e-03 6.26355533e-01] [ 1.50011763e-02 -3.83610666e-04 9.99887402e-01 2.10413584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.39, Y:0.63, Z:0.21 [[ 9.90805848e-01 -1.34466588e-01 -1.49167169e-02 1.73914229e+01] [ 1.34457197e-01 9.90918053e-01 -1.63523777e-03 6.30969316e-01] [ 1.50011289e-02 -3.85456804e-04 9.99887402e-01 2.10615352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.42, Y:0.64, Z:0.21 [[ 9.90761937e-01 -1.34789767e-01 -1.49165262e-02 1.74190562e+01] [ 1.34780387e-01 9.90874143e-01 -1.63697599e-03 6.35622149e-01] [ 1.50010477e-02 -3.88601667e-04 9.99887402e-01 2.10603057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.45, Y:0.64, Z:0.21 [[ 9.90868338e-01 -1.34005402e-01 -1.49160906e-02 1.74457385e+01] [ 1.33995873e-01 9.90980531e-01 -1.64093500e-03 6.41022902e-01] [ 1.50014496e-02 -3.72744051e-04 9.99887402e-01 2.09938371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.47, Y:0.65, Z:0.21 [[ 9.90838101e-01 -1.34228810e-01 -1.49159017e-02 1.74731798e+01] [ 1.34219280e-01 9.90950295e-01 -1.64264999e-03 6.45434460e-01] [ 1.50014082e-02 -3.74401400e-04 9.99887402e-01 2.10341181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.50, Y:0.65, Z:0.21 [[ 9.90852233e-01 -1.34124499e-01 -1.49154723e-02 1.75007034e+01] [ 1.34114900e-01 9.90964420e-01 -1.64653983e-03 6.51301666e-01] [ 1.50015437e-02 -3.68909408e-04 9.99887402e-01 2.10352580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.798040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:17.54, Y:0.65, Z:0.21 [[ 9.91595887e-01 -1.28511240e-01 -1.49150448e-02 1.75358981e+01] [ 1.28500947e-01 9.91708013e-01 -1.65040374e-03 6.50457493e-01] [ 1.50034649e-02 -2.80063813e-04 9.99887402e-01 2.08468517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.828040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:17.56, Y:0.66, Z:0.21 [[ 9.91500642e-01 -1.29240582e-01 -1.49448727e-02 1.75615533e+01] [ 1.29234448e-01 9.91613107e-01 -1.37948327e-03 6.56125137e-01] [ 1.49978169e-02 -5.63633839e-04 9.99887368e-01 2.09606149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.858040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:17.58, Y:0.67, Z:0.21 [[ 9.91148363e-01 -1.31915986e-01 -1.49363467e-02 1.75841100e+01] [ 1.31908993e-01 9.91260761e-01 -1.45672737e-03 6.65545325e-01] [ 1.49979800e-02 -5.26405502e-04 9.99887385e-01 2.11050914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.61, Y:0.67, Z:0.21 [[ 9.91225328e-01 -1.31338354e-01 -1.49192859e-02 1.76103882e+01] [ 1.31328984e-01 9.91337533e-01 -1.61035753e-03 6.69533743e-01] [ 1.50015498e-02 -3.63107480e-04 9.99887404e-01 2.13951650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.64, Y:0.67, Z:0.21 [[ 9.91352327e-01 -1.30376957e-01 -1.49135039e-02 1.76381119e+01] [ 1.30366697e-01 9.91464453e-01 -1.66223367e-03 6.73621384e-01] [ 1.50029259e-02 -2.96365028e-04 9.99887406e-01 2.13882605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.66, Y:0.68, Z:0.21 [[ 9.91586864e-01 -1.28581068e-01 -1.49130854e-02 1.76645616e+01] [ 1.28570549e-01 9.91698966e-01 -1.66597917e-03 6.79423605e-01] [ 1.50035048e-02 -2.65420523e-04 9.99887406e-01 2.13019501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.978040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.69, Y:0.68, Z:0.21 [[ 9.91661203e-01 -1.28006501e-01 -1.49129039e-02 1.76927260e+01] [ 1.27995893e-01 9.91773296e-01 -1.66760277e-03 6.84250695e-01] [ 1.50036838e-02 -2.55093476e-04 9.99887406e-01 2.13822112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.008040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.72, Y:0.69, Z:0.22 [[ 9.91752473e-01 -1.27297468e-01 -1.49126322e-02 1.77206705e+01] [ 1.27286743e-01 9.91864555e-01 -1.67002884e-03 6.88151878e-01] [ 1.50039018e-02 -2.41925151e-04 9.99887406e-01 2.15579220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.038040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.75, Y:0.69, Z:0.22 [[ 9.91664107e-01 -1.27984085e-01 -1.49121672e-02 1.77489057e+01] [ 1.27973376e-01 9.91776191e-01 -1.67417051e-03 6.91378323e-01] [ 1.50037996e-02 -2.48145576e-04 9.99887406e-01 2.16098580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.068040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.78, Y:0.69, Z:0.22 [[ 9.91565833e-01 -1.28743308e-01 -1.49117022e-02 1.77753691e+01] [ 1.28732621e-01 9.91677919e-01 -1.67830209e-03 6.94254287e-01] [ 1.50036760e-02 -2.55475502e-04 9.99887406e-01 2.16316894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.80, Y:0.70, Z:0.22 [[ 9.91443822e-01 -1.29679596e-01 -1.49113857e-02 1.78030342e+01] [ 1.29668973e-01 9.91555914e-01 -1.68110999e-03 6.97197888e-01] [ 1.50034783e-02 -2.66817954e-04 9.99887406e-01 2.16975240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.83, Y:0.70, Z:0.22 [[ 9.91270085e-01 -1.31001079e-01 -1.49109276e-02 1.78313642e+01] [ 1.30990545e-01 9.91382185e-01 -1.68516335e-03 6.99860884e-01] [ 1.50031862e-02 -2.82738520e-04 9.99887406e-01 2.17745857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.158040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.86, Y:0.70, Z:0.22 [[ 9.91779297e-01 -1.27088568e-01 -1.49104716e-02 1.78645349e+01] [ 1.27077531e-01 9.91891349e-01 -1.68918811e-03 6.98998374e-01] [ 1.50042443e-02 -2.19484120e-04 9.99887406e-01 2.18840981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.89, Y:0.70, Z:0.22 [[ 9.91762727e-01 -1.27214815e-01 -1.49359778e-02 1.78919115e+01] [ 1.27207195e-01 9.91875087e-01 -1.46303549e-03 7.03378827e-01] [ 1.50007441e-02 -4.48979771e-04 9.99887382e-01 2.18033681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.92, Y:0.71, Z:0.22 [[ 9.91722655e-01 -1.27527135e-01 -1.49333634e-02 1.79192869e+01] [ 1.27519202e-01 9.91834989e-01 -1.48612494e-03 7.06744304e-01] [ 1.50009536e-02 -4.30466821e-04 9.99887387e-01 2.18440948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.94, Y:0.71, Z:0.22 [[ 9.91482872e-01 -1.29378185e-01 -1.49332058e-02 1.79412753e+01] [ 1.29370441e-01 9.91595218e-01 -1.48751408e-03 7.14966282e-01] [ 1.50001473e-02 -4.57070693e-04 9.99887387e-01 2.19957947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.98, Y:0.71, Z:0.22 [[ 9.92001701e-01 -1.25340963e-01 -1.49086924e-02 1.79775401e+01] [ 1.25329533e-01 9.92113709e-01 -1.70221531e-03 7.12284618e-01] [ 1.50044754e-02 -1.79898967e-04 9.99887410e-01 2.19544980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.308040941999998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:18.00, Y:0.72, Z:0.22 [[ 9.92371600e-01 -1.22373924e-01 -1.49409019e-02 1.79981878e+01] [ 1.22366419e-01 9.92483978e-01 -1.41890031e-03 7.15238336e-01] [ 1.50022422e-02 -4.20188305e-04 9.99887372e-01 2.21214949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.02, Y:0.72, Z:0.22 [[ 9.91428763e-01 -1.29795403e-01 -1.49050863e-02 1.80249388e+01] [ 1.29784035e-01 9.91540774e-01 -1.73157063e-03 7.24722930e-01] [ 1.50037507e-02 -2.17713316e-04 9.99887414e-01 2.21671195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.368040942 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:18.06, Y:0.72, Z:0.22 [[ 9.91888250e-01 -1.26235728e-01 -1.49077136e-02 1.80596929e+01] [ 1.26224302e-01 9.92000255e-01 -1.70864773e-03 7.24825882e-01] [ 1.50041481e-02 -1.86928144e-04 9.99887414e-01 2.21980613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.08, Y:0.73, Z:0.22 [[ 9.91397493e-01 -1.30030435e-01 -1.49364416e-02 1.80804397e+01] [ 1.30023221e-01 9.91509878e-01 -1.45716302e-03 7.32073039e-01] [ 1.49991050e-02 -4.97456492e-04 9.99887383e-01 2.22061757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.11, Y:0.73, Z:0.22 [[ 9.91518713e-01 -1.29106270e-01 -1.49068175e-02 1.81115035e+01] [ 1.29095078e-01 9.91630738e-01 -1.71470521e-03 7.33990262e-01] [ 1.50034377e-02 -2.24234465e-04 9.99887417e-01 2.17965258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.14, Y:0.74, Z:0.22 [[ 9.91534860e-01 -1.28980691e-01 -1.49198556e-02 1.81354735e+01] [ 1.28971190e-01 9.91647048e-01 -1.60130626e-03 7.39203490e-01] [ 1.50017684e-02 -3.36480552e-04 9.99887411e-01 2.19735791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.488040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:18.17, Y:0.74, Z:0.22 [[ 9.91595048e-01 -1.28518756e-01 -1.49060652e-02 1.81653282e+01] [ 1.28507406e-01 9.91707056e-01 -1.72076612e-03 7.43102561e-01] [ 1.50036008e-02 -2.09236609e-04 9.99887418e-01 2.16596025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.19, Y:0.75, Z:0.21 [[ 9.91324737e-01 -1.30586445e-01 -1.49146392e-02 1.81894805e+01] [ 1.30576445e-01 9.91436877e-01 -1.64652953e-03 7.49369340e-01] [ 1.50019377e-02 -3.15255107e-04 9.99887415e-01 2.12600943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.22, Y:0.75, Z:0.22 [[ 9.91650692e-01 -1.28089031e-01 -1.49032020e-02 1.82183912e+01] [ 1.28077266e-01 9.91762657e-01 -1.74511487e-03 7.51333066e-01] [ 1.50039693e-02 -1.78217001e-04 9.99887418e-01 2.22062981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.578040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.25, Y:0.75, Z:0.22 [[ 9.91600638e-01 -1.28475769e-01 -1.49047511e-02 1.82467264e+01] [ 1.28464249e-01 9.91712629e-01 -1.73178286e-03 7.54428738e-01] [ 1.50037220e-02 -1.97490660e-04 9.99887418e-01 2.22416922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.608040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.27, Y:0.76, Z:0.22 [[ 9.91334329e-01 -1.30514797e-01 -1.49042559e-02 1.82744711e+01] [ 1.30503443e-01 9.91446336e-01 -1.73603404e-03 7.57064232e-01] [ 1.50033480e-02 -2.24066568e-04 9.99887418e-01 2.22429506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.638040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.30, Y:0.76, Z:0.22 [[ 9.91124542e-01 -1.32098525e-01 -1.49037626e-02 1.83026082e+01] [ 1.32087287e-01 9.91236561e-01 -1.74025843e-03 7.60331101e-01] [ 1.50030400e-02 -2.43784731e-04 9.99887418e-01 2.22985190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.33, Y:0.76, Z:0.22 [[ 9.90893821e-01 -1.33818266e-01 -1.49032695e-02 1.83307354e+01] [ 1.33807159e-01 9.91005853e-01 -1.74447127e-03 7.64149305e-01] [ 1.50026694e-02 -2.65578347e-04 9.99887418e-01 2.23417284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.698040942 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:18.36, Y:0.77, Z:0.22 [[ 9.90589689e-01 -1.36051371e-01 -1.49027792e-02 1.83584953e+01] [ 1.36040454e-01 9.90701740e-01 -1.74865014e-03 7.68081934e-01] [ 1.50021155e-02 -2.95186042e-04 9.99887418e-01 2.22297049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.728040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.39, Y:0.77, Z:0.22 [[ 9.90427349e-01 -1.37228195e-01 -1.49026274e-02 1.83859148e+01] [ 1.37217390e-01 9.90539411e-01 -1.74994261e-03 7.71655252e-01] [ 1.50017812e-02 -3.11708624e-04 9.99887418e-01 2.24346315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.758040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.41, Y:0.77, Z:0.23 [[ 9.90270676e-01 -1.38354309e-01 -1.49021434e-02 1.84124971e+01] [ 1.38343571e-01 9.90382744e-01 -1.75405423e-03 7.74488929e-01] [ 1.50015067e-02 -3.24627262e-04 9.99887418e-01 2.25433427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.788040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.44, Y:0.78, Z:0.23 [[ 9.90144399e-01 -1.39255183e-01 -1.49018138e-02 1.84395831e+01] [ 1.39244504e-01 9.90256473e-01 -1.75685036e-03 7.76909563e-01] [ 1.50012681e-02 -3.35460134e-04 9.99887418e-01 2.27318760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.818040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.47, Y:0.78, Z:0.23 [[ 9.89978280e-01 -1.40431305e-01 -1.49014863e-02 1.84669051e+01] [ 1.40420718e-01 9.90090362e-01 -1.75962343e-03 7.80665840e-01] [ 1.50009242e-02 -3.50488442e-04 9.99887418e-01 2.28079829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.49, Y:0.78, Z:0.23 [[ 9.89967984e-01 -1.40503919e-01 -1.49010104e-02 1.84944937e+01] [ 1.40493280e-01 9.90080061e-01 -1.76364468e-03 7.83918872e-01] [ 1.50009923e-02 -3.47540052e-04 9.99887418e-01 2.27781805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.878040942 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:18.52, Y:0.79, Z:0.23 [[ 9.89985345e-01 -1.40381590e-01 -1.49005353e-02 1.85227106e+01] [ 1.40370876e-01 9.90097416e-01 -1.76764939e-03 7.86914193e-01] [ 1.50011269e-02 -3.41654209e-04 9.99887418e-01 2.26185386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.908040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.55, Y:0.79, Z:0.23 [[ 9.90063986e-01 -1.39825933e-01 -1.49000374e-02 1.85501594e+01] [ 1.39815094e-01 9.90176045e-01 -1.77183664e-03 7.90593680e-01] [ 1.50014088e-02 -3.29018475e-04 9.99887418e-01 2.27612190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.58, Y:0.79, Z:0.23 [[ 9.90322850e-01 -1.37980639e-01 -1.48995404e-02 1.85780210e+01] [ 1.37969528e-01 9.90434882e-01 -1.77600595e-03 7.94017122e-01] [ 1.50020790e-02 -2.96863292e-04 9.99887418e-01 2.27402748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.60, Y:0.80, Z:0.23 [[ 9.90466293e-01 -1.36947221e-01 -1.48990404e-02 1.86046554e+01] [ 1.36935930e-01 9.90578307e-01 -1.78019039e-03 7.96777991e-01] [ 1.50024584e-02 -2.76995375e-04 9.99887418e-01 2.28049628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.63, Y:0.80, Z:0.23 [[ 9.90555496e-01 -1.36300527e-01 -1.48988234e-02 1.86328881e+01] [ 1.36289135e-01 9.90667500e-01 -1.78200501e-03 7.99756089e-01] [ 1.50026684e-02 -2.65372900e-04 9.99887418e-01 2.28345615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.66, Y:0.80, Z:0.23 [[ 9.90888222e-01 -1.33860272e-01 -1.48983241e-02 1.86599323e+01] [ 1.33848542e-01 9.91000190e-01 -1.78616944e-03 8.02005586e-01] [ 1.50033392e-02 -2.24224713e-04 9.99887418e-01 2.28006448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.058040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.71, Y:0.79, Z:0.23 [[ 9.92326419e-01 -1.22744961e-01 -1.48981074e-02 1.87071845e+01] [ 1.22731950e-01 9.92438246e-01 -1.78797528e-03 7.93506772e-01] [ 1.50049165e-02 -5.42186587e-05 9.99887418e-01 2.31157142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.74, Y:0.79, Z:0.23 [[ 9.92636231e-01 -1.20203620e-01 -1.49800720e-02 1.87364844e+01] [ 1.20200744e-01 9.92749002e-01 -1.09547753e-03 7.94432903e-01] [ 1.50031319e-02 -7.13205112e-04 9.99887192e-01 2.33306299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.75, Y:0.81, Z:0.23 [[ 9.91490291e-01 -1.29316220e-01 -1.49772240e-02 1.87451045e+01] [ 1.29314018e-01 9.91603062e-01 -1.11943101e-03 8.08405466e-01] [ 1.49962218e-02 -8.26860045e-04 9.99887208e-01 2.27949416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.148040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.77, Y:0.81, Z:0.23 [[ 9.91677191e-01 -1.27884670e-01 -1.48949704e-02 1.87718527e+01] [ 1.27872056e-01 9.91789039e-01 -1.80007827e-03 8.11021519e-01] [ 1.50028708e-02 -1.19553931e-04 9.99887443e-01 2.28736340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.82, Y:0.80, Z:0.23 [[ 9.93076710e-01 -1.16519500e-01 -1.48947491e-02 1.88158985e+01] [ 1.16505579e-01 9.93188403e-01 -1.80190792e-03 8.02643563e-01] [ 1.50032494e-02 5.41114232e-05 9.99887443e-01 2.29168480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.84, Y:0.81, Z:0.23 [[ 9.93231017e-01 -1.15187699e-01 -1.49646598e-02 1.88425828e+01] [ 1.15182429e-01 9.93343610e-01 -1.21644488e-03 8.05367633e-01] [ 1.50051687e-02 -5.15455077e-04 9.99887283e-01 2.29546799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.88, Y:0.80, Z:0.23 [[ 9.93737533e-01 -1.10734892e-01 -1.49498652e-02 1.88786391e+01] [ 1.10727288e-01 9.93849927e-01 -1.33793759e-03 8.03736579e-01] [ 1.50060788e-02 -3.25799240e-04 9.99887349e-01 2.34385203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.91, Y:0.81, Z:0.23 [[ 9.93789844e-01 -1.10260770e-01 -1.49769622e-02 1.89076613e+01] [ 1.10256472e-01 9.93902544e-01 -1.11490821e-03 8.06234118e-01] [ 1.50085714e-02 -5.43322547e-04 9.99887217e-01 2.34897506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.93, Y:0.81, Z:0.23 [[ 9.93590436e-01 -1.12043633e-01 -1.49756395e-02 1.89331509e+01] [ 1.12039374e-01 9.93703130e-01 -1.12574180e-03 8.11163048e-01] [ 1.50074720e-02 -5.59334987e-04 9.99887225e-01 2.30378427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.96, Y:0.81, Z:0.23 [[ 9.94033231e-01 -1.08046676e-01 -1.49616749e-02 1.89622738e+01] [ 1.08040250e-01 9.94145748e-01 -1.23947965e-03 8.11951833e-01] [ 1.50080071e-02 -3.84379141e-04 9.99887300e-01 2.30156201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.358040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.99, Y:0.82, Z:0.23 [[ 9.93892822e-01 -1.09329919e-01 -1.49675156e-02 1.89884606e+01] [ 1.09324351e-01 9.94005415e-01 -1.19210585e-03 8.15401966e-01] [ 1.50081244e-02 -4.51488489e-04 9.99887270e-01 2.30771639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.388040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.02, Y:0.82, Z:0.23 [[ 9.93715179e-01 -1.10933590e-01 -1.49626733e-02 1.90175248e+01] [ 1.10927615e-01 9.93827726e-01 -1.23123523e-03 8.18848620e-01] [ 1.50069049e-02 -4.36276530e-04 9.99887295e-01 2.34912896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.05, Y:0.82, Z:0.23 [[ 9.93515069e-01 -1.12711988e-01 -1.49604386e-02 1.90454036e+01] [ 1.12705945e-01 9.93627601e-01 -1.24916308e-03 8.21053573e-01] [ 1.50059003e-02 -4.45068013e-04 9.99887306e-01 2.33902584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.07, Y:0.83, Z:0.23 [[ 9.93309792e-01 -1.14508204e-01 -1.49508478e-02 1.90716892e+01] [ 1.14501218e-01 9.93422224e-01 -1.32527846e-03 8.26356370e-01] [ 1.50042598e-02 -3.95478214e-04 9.99887352e-01 2.26950267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.478040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.10, Y:0.83, Z:0.23 [[ 9.93343440e-01 -1.14218000e-01 -1.49351755e-02 1.91023153e+01] [ 1.14209125e-01 9.93455675e-01 -1.44858054e-03 8.26659552e-01] [ 1.50028888e-02 -2.66795350e-04 9.99887415e-01 2.27324434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.508040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.13, Y:0.83, Z:0.23 [[ 9.93394309e-01 -1.13773585e-01 -1.49438180e-02 1.91275700e+01] [ 1.13765679e-01 9.93506650e-01 -1.38082161e-03 8.28779669e-01] [ 1.50038836e-02 -3.28393275e-04 9.99887381e-01 2.28067155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.538040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.16, Y:0.83, Z:0.23 [[ 9.93151135e-01 -1.15878565e-01 -1.49325843e-02 1.91555133e+01] [ 1.15869576e-01 9.93263351e-01 -1.46867078e-03 8.32662407e-01] [ 1.50021762e-02 -2.71620162e-04 9.99887424e-01 2.31572019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.568040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.18, Y:0.84, Z:0.23 [[ 9.92958493e-01 -1.17517973e-01 -1.49317401e-02 1.91836156e+01] [ 1.17509070e-01 9.93070714e-01 -1.47525433e-03 8.36372407e-01] [ 1.50016427e-02 -2.89748574e-04 9.99887427e-01 2.31083491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.598040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:19.22, Y:0.84, Z:0.23 [[ 9.92419307e-01 -1.21989610e-01 -1.49149258e-02 1.92164415e+01] [ 1.21979302e-01 9.92531351e-01 -1.60228066e-03 8.41738125e-01] [ 1.49989931e-02 -2.29177983e-04 9.99887483e-01 2.31446530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.24, Y:0.84, Z:0.23 [[ 9.92630790e-01 -1.20254177e-01 -1.49347865e-02 1.92403386e+01] [ 1.20245927e-01 9.92743072e-01 -1.45243293e-03 8.43766736e-01] [ 1.50010670e-02 -3.54117598e-04 9.99887415e-01 2.28980887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.658040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.27, Y:0.85, Z:0.23 [[ 9.91849610e-01 -1.26537422e-01 -1.49208285e-02 1.92672933e+01] [ 1.26528295e-01 9.91961775e-01 -1.55797691e-03 8.47851231e-01] [ 1.49980340e-02 -3.42628200e-04 9.99887464e-01 2.29567336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.29, Y:0.85, Z:0.23 [[ 9.91643633e-01 -1.28142502e-01 -1.49132413e-02 1.92940131e+01] [ 1.28132696e-01 9.91755718e-01 -1.61511847e-03 8.49758442e-01] [ 1.49972577e-02 -3.09251871e-04 9.99887487e-01 2.29698463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.32, Y:0.85, Z:0.23 [[ 9.91639488e-01 -1.28174536e-01 -1.49135572e-02 1.93197330e+01] [ 1.28164770e-01 9.91751577e-01 -1.61274265e-03 8.52102202e-01] [ 1.49972564e-02 -3.12133327e-04 9.99887486e-01 2.29412461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.35, Y:0.85, Z:0.23 [[ 9.91463407e-01 -1.29530802e-01 -1.49024602e-02 1.93541267e+01] [ 1.29519935e-01 9.91575368e-01 -1.69615649e-03 8.53944076e-01] [ 1.49966170e-02 -2.48488587e-04 9.99887514e-01 2.27700351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.38, Y:0.86, Z:0.23 [[ 9.90551147e-01 -1.36329746e-01 -1.49206243e-02 1.93785969e+01] [ 1.36321666e-01 9.90663396e-01 -1.56206426e-03 8.62312262e-01] [ 1.49942721e-02 -4.86699808e-04 9.99887461e-01 2.27810252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.808040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.40, Y:0.87, Z:0.22 [[ 9.90596539e-01 -1.36002087e-01 -1.48972772e-02 1.94035043e+01] [ 1.35991393e-01 9.90708502e-01 -1.73327459e-03 8.66234106e-01] [ 1.49945881e-02 -3.08925661e-04 9.99887527e-01 2.23597269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.44, Y:0.86, Z:0.22 [[ 9.91375795e-01 -1.30201471e-01 -1.48865958e-02 1.94401837e+01] [ 1.30188943e-01 9.91487547e-01 -1.81169917e-03 8.63629247e-01] [ 1.49957603e-02 -1.41995482e-04 9.99887547e-01 2.15401504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.47, Y:0.87, Z:0.23 [[ 9.90103643e-01 -1.39543848e-01 -1.49094333e-02 1.94651425e+01] [ 1.39534845e-01 9.90215791e-01 -1.64753948e-03 8.71496565e-01] [ 1.49934603e-02 -4.49150625e-04 9.99887491e-01 2.26990128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.898040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.49, Y:0.87, Z:0.23 [[ 9.90010764e-01 -1.40203862e-01 -1.48850000e-02 1.94935915e+01] [ 1.40192307e-01 9.90122617e-01 -1.82210888e-03 8.71252342e-01] [ 1.49934419e-02 -2.82855083e-04 9.99887552e-01 2.29534103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.52, Y:0.87, Z:0.23 [[ 9.89888868e-01 -1.41060747e-01 -1.48961572e-02 1.95223373e+01] [ 1.41050496e-01 9.90000870e-01 -1.74180463e-03 8.74283162e-01] [ 1.49929089e-02 -3.76917360e-04 9.99887529e-01 2.32609478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.55, Y:0.88, Z:0.23 [[ 9.89891344e-01 -1.41043651e-01 -1.48934847e-02 1.95539969e+01] [ 1.41033112e-01 9.90003314e-01 -1.76081175e-03 8.77215084e-01] [ 1.49929505e-02 -3.57462176e-04 9.99887536e-01 2.31813117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.59, Y:0.88, Z:0.23 [[ 9.89938272e-01 -1.40713314e-01 -1.48990116e-02 1.95878167e+01] [ 1.40703322e-01 9.90050307e-01 -1.72201290e-03 8.81220322e-01] [ 1.49930812e-02 -3.91653958e-04 9.99887521e-01 2.29015465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.018040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:19.61, Y:0.88, Z:0.24 [[ 9.89388826e-01 -1.44523459e-01 -1.49238042e-02 1.96100350e+01] [ 1.44516519e-01 9.89501177e-01 -1.54810037e-03 8.83326703e-01] [ 1.49908587e-02 -6.25063027e-04 9.99887435e-01 2.35700312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.64, Y:0.89, Z:0.24 [[ 9.89116058e-01 -1.46382062e-01 -1.48901207e-02 1.96399387e+01] [ 1.46371785e-01 9.89228042e-01 -1.78354133e-03 8.87212855e-01] [ 1.49908034e-02 -4.15364178e-04 9.99887545e-01 2.35389549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.67, Y:0.89, Z:0.24 [[ 9.88905543e-01 -1.47796924e-01 -1.48961843e-02 1.96672182e+01] [ 1.47787444e-01 9.89017613e-01 -1.74128338e-03 8.90278986e-01] [ 1.49899450e-02 -4.79504217e-04 9.99887529e-01 2.37582478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.69, Y:0.89, Z:0.24 [[ 9.88820427e-01 -1.48366584e-01 -1.48835496e-02 1.96945427e+01] [ 1.48355851e-01 9.88932352e-01 -1.82880142e-03 8.94306240e-01] [ 1.49901568e-02 -3.99705472e-04 9.99887561e-01 2.38256799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.72, Y:0.90, Z:0.24 [[ 9.88754761e-01 -1.48804241e-01 -1.48768468e-02 1.97218564e+01] [ 1.48792862e-01 9.88866608e-01 -1.87503607e-03 8.98538011e-01] [ 1.49902303e-02 -3.59617773e-04 9.99887576e-01 2.38655689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.74, Y:0.90, Z:0.23 [[ 9.89242777e-01 -1.45524803e-01 -1.48748134e-02 1.97436964e+01] [ 1.45512843e-01 9.89354559e-01 -1.88898450e-03 9.00800477e-01] [ 1.49913586e-02 -2.95812122e-04 9.99887580e-01 2.32478628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.77, Y:0.90, Z:0.23 [[ 9.89149669e-01 -1.46160583e-01 -1.48329669e-02 1.97713760e+01] [ 1.46144409e-01 9.89260877e-01 -2.17444478e-03 9.04700777e-01] [ 1.49914920e-02 -1.69038420e-05 9.99887621e-01 2.31750608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.228040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.80, Y:0.91, Z:0.24 [[ 9.88258788e-01 -1.52067653e-01 -1.48322929e-02 1.98014964e+01] [ 1.52052074e-01 9.88370082e-01 -2.17903271e-03 9.09689345e-01] [ 1.49911549e-02 -1.01832662e-04 9.99887621e-01 2.37231086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.258040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.83, Y:0.91, Z:0.23 [[ 9.88262206e-01 -1.52043834e-01 -1.48487058e-02 1.98266529e+01] [ 1.52029931e-01 9.88373728e-01 -2.06725870e-03 9.12646377e-01] [ 1.49903847e-02 -2.14454077e-04 9.99887615e-01 2.31225878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.86, Y:0.92, Z:0.24 [[ 9.88223531e-01 -1.52296683e-01 -1.48314918e-02 1.98564190e+01] [ 1.52281053e-01 9.88334817e-01 -2.18415114e-03 9.16776120e-01] [ 1.49911187e-02 -1.00125641e-04 9.99887622e-01 2.35353565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.318040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.88, Y:0.92, Z:0.24 [[ 9.88166342e-01 -1.52666445e-01 -1.48404063e-02 1.98843036e+01] [ 1.52651765e-01 9.88277759e-01 -2.12363441e-03 9.21259737e-01] [ 1.49906512e-02 -1.66910173e-04 9.99887620e-01 2.35972209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.91, Y:0.93, Z:0.24 [[ 9.88421989e-01 -1.51001696e-01 -1.48478647e-02 1.99114151e+01] [ 1.50987591e-01 9.88533485e-01 -2.07284030e-03 9.25069871e-01] [ 1.49906139e-02 -1.93002397e-04 9.99887616e-01 2.40243263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.94, Y:0.93, Z:0.24 [[ 9.88102364e-01 -1.53079730e-01 -1.48430316e-02 1.99382507e+01] [ 1.53065368e-01 9.88213823e-01 -2.10558387e-03 9.28560385e-01] [ 1.49904112e-02 -1.91421685e-04 9.99887619e-01 2.40078319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.408040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.97, Y:0.93, Z:0.23 [[ 9.87577949e-01 -1.56428163e-01 -1.48332164e-02 1.99653783e+01] [ 1.56413182e-01 9.87689323e-01 -2.17190516e-03 9.32540588e-01] [ 1.49903566e-02 -1.75184930e-04 9.99887623e-01 2.34956156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.99, Y:0.93, Z:0.24 [[ 9.88446611e-01 -1.50842255e-01 -1.48294208e-02 1.99944370e+01] [ 1.50826261e-01 9.88557843e-01 -2.19751868e-03 9.31923727e-01] [ 1.49912189e-02 -6.45361942e-05 9.99887623e-01 2.44920567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.468040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.02, Y:0.93, Z:0.25 [[ 9.88277037e-01 -1.51948519e-01 -1.48373314e-02 2.00243153e+01] [ 1.51933451e-01 9.88388400e-01 -2.14407644e-03 9.34995342e-01] [ 1.49908355e-02 -1.35345455e-04 9.99887622e-01 2.45052554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.05, Y:0.94, Z:0.24 [[ 9.88528165e-01 -1.50305227e-01 -1.48460714e-02 2.00492699e+01] [ 1.50290861e-01 9.88639626e-01 -2.08506391e-03 9.37734055e-01] [ 1.49908104e-02 -1.70084446e-04 9.99887617e-01 2.44124684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.08, Y:0.94, Z:0.24 [[ 9.88724699e-01 -1.49008554e-01 -1.48297055e-02 2.00771743e+01] [ 1.48992388e-01 9.88835906e-01 -2.19521812e-03 9.39979774e-01] [ 1.49912516e-02 -3.90468634e-05 9.99887624e-01 2.44576968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.558040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.11, Y:0.95, Z:0.25 [[ 9.88531401e-01 -1.50285725e-01 -1.48280247e-02 2.01078724e+01] [ 1.50269533e-01 9.88642604e-01 -2.20651323e-03 9.46170505e-01] [ 1.49912244e-02 -4.69927467e-05 9.99887624e-01 2.45154643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.13, Y:0.95, Z:0.25 [[ 9.88341529e-01 -1.51528111e-01 -1.48409670e-02 2.01326000e+01] [ 1.51513364e-01 9.88452937e-01 -2.11952959e-03 9.50497414e-01] [ 1.49907657e-02 -1.53785727e-04 9.99887620e-01 2.46002802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.16, Y:0.95, Z:0.24 [[ 9.88242527e-01 -1.52173788e-01 -1.48271939e-02 2.01636715e+01] [ 1.52157729e-01 9.88353749e-01 -2.21185811e-03 9.54307049e-01] [ 1.49910995e-02 -7.02198962e-05 9.99887625e-01 2.44660973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.648040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.19, Y:0.96, Z:0.24 [[ 9.88225350e-01 -1.52283975e-01 -1.48407847e-02 2.01907729e+01] [ 1.52269295e-01 9.88336767e-01 -2.12076008e-03 9.57746180e-01] [ 1.49906510e-02 -1.64006959e-04 9.99887620e-01 2.43684924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.22, Y:0.96, Z:0.24 [[ 9.88250969e-01 -1.52118077e-01 -1.48362355e-02 2.02198930e+01] [ 1.52102921e-01 9.88362319e-01 -2.15125461e-03 9.60688694e-01] [ 1.49908208e-02 -1.30655304e-04 9.99887623e-01 2.40928251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.25, Y:0.96, Z:0.25 [[ 9.88387879e-01 -1.51225065e-01 -1.48452434e-02 2.02478033e+01] [ 1.51210714e-01 9.88499341e-01 -2.09091750e-03 9.63078252e-01] [ 1.49907125e-02 -1.78122342e-04 9.99887617e-01 2.46097716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.28, Y:0.97, Z:0.25 [[ 9.88223573e-01 -1.52295663e-01 -1.48391830e-02 2.02760164e+01] [ 1.52280826e-01 9.88334967e-01 -2.13131286e-03 9.65657870e-01] [ 1.49906732e-02 -1.53509444e-04 9.99887622e-01 2.47775130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.30, Y:0.97, Z:0.25 [[ 9.88418626e-01 -1.51025020e-01 -1.48345038e-02 2.03043934e+01] [ 1.51009573e-01 9.88529935e-01 -2.16243363e-03 9.67672388e-01] [ 1.49909326e-02 -1.02762394e-04 9.99887624e-01 2.48090975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.798040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.33, Y:0.97, Z:0.25 [[ 9.88603707e-01 -1.49808264e-01 -1.48389360e-02 2.03341619e+01] [ 1.49793122e-01 9.88715061e-01 -2.13297881e-03 9.73851781e-01] [ 1.49910173e-02 -1.14099798e-04 9.99887622e-01 2.51393140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.828040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.36, Y:0.98, Z:0.25 [[ 9.88656542e-01 -1.49458838e-01 -1.48424488e-02 2.03590937e+01] [ 1.49444005e-01 9.88767939e-01 -2.10978450e-03 9.80479887e-01] [ 1.49910635e-02 -1.32262754e-04 9.99887619e-01 2.48069704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.39, Y:0.98, Z:0.25 [[ 9.88928800e-01 -1.47648943e-01 -1.48195444e-02 2.03873767e+01] [ 1.47631645e-01 9.89039831e-01 -2.26053656e-03 9.84791334e-01] [ 1.49908855e-02 4.76759999e-05 9.99887629e-01 2.48433086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.42, Y:0.99, Z:0.25 [[ 9.89151410e-01 -1.46150080e-01 -1.48203169e-02 2.04151797e+01] [ 1.46132690e-01 9.89262427e-01 -2.25545559e-03 9.88165171e-01] [ 1.49908177e-02 6.52543081e-05 9.99887629e-01 2.48062339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.44, Y:0.99, Z:0.25 [[ 9.89608037e-01 -1.43025246e-01 -1.48226667e-02 2.04437280e+01] [ 1.43007736e-01 9.89719036e-01 -2.24002639e-03 9.91404027e-01] [ 1.49906557e-02 9.69921030e-05 9.99887629e-01 2.50172256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.47, Y:0.99, Z:0.25 [[ 9.90016170e-01 -1.40172008e-01 -1.48253364e-02 2.04729106e+01] [ 1.40154441e-01 9.90127160e-01 -2.22252538e-03 9.94738687e-01] [ 1.49905041e-02 1.22499335e-04 9.99887629e-01 2.51987718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.978040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.50, Y:1.00, Z:0.25 [[ 9.90128427e-01 -1.39376469e-01 -1.48289839e-02 2.05015237e+01] [ 1.39359170e-01 9.90239460e-01 -2.19865613e-03 9.99556568e-01] [ 1.49906860e-02 1.10397042e-04 9.99887627e-01 2.53183565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.008040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.53, Y:1.01, Z:0.25 [[ 9.90282854e-01 -1.38274163e-01 -1.48366095e-02 2.05290353e+01] [ 1.38257487e-01 9.90393987e-01 -2.14881553e-03 1.00516897e+00] [ 1.49912145e-02 7.66628327e-05 9.99887622e-01 2.52229029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.038040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.56, Y:1.01, Z:0.25 [[ 9.90843003e-01 -1.34201658e-01 -1.48343447e-02 2.05637156e+01] [ 1.34184304e-01 9.90954031e-01 -2.16358103e-03 1.00699121e+00] [ 1.49905098e-02 1.53232909e-04 9.99887624e-01 2.48171213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.068040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.59, Y:1.02, Z:0.25 [[ 9.90180104e-01 -1.39004710e-01 -1.48678108e-02 2.05865267e+01] [ 1.38991173e-01 9.90291710e-01 -1.94497346e-03 1.01588426e+00] [ 1.49938302e-02 -1.40620435e-04 9.99887576e-01 2.51634346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.098040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.61, Y:1.02, Z:0.25 [[ 9.89928247e-01 -1.40790135e-01 -1.48392503e-02 2.06125890e+01] [ 1.40773995e-01 9.90039463e-01 -2.13184224e-03 1.02075268e+00] [ 1.49915857e-02 2.13903068e-05 9.99887620e-01 2.49407560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.128040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:20.64, Y:1.02, Z:0.25 [[ 9.90153530e-01 -1.39197352e-01 -1.48352705e-02 2.06388679e+01] [ 1.39180644e-01 9.90264658e-01 -2.15781833e-03 1.02291673e+00] [ 1.49912067e-02 7.17889295e-05 9.99887623e-01 2.52700109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.158040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.67, Y:1.03, Z:0.25 [[ 9.89584651e-01 -1.43187395e-01 -1.48185170e-02 2.06710433e+01] [ 1.43169502e-01 9.89695587e-01 -2.26679885e-03 1.02811043e+00] [ 1.49903979e-02 1.21629653e-04 9.99887630e-01 2.54401768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.70, Y:1.03, Z:0.25 [[ 9.89355810e-01 -1.44757317e-01 -1.48458525e-02 2.06962566e+01] [ 1.44742268e-01 9.89467186e-01 -2.08893190e-03 1.03325468e+00] [ 1.49918720e-02 -8.21254346e-05 9.99887612e-01 2.53987598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.72, Y:1.04, Z:0.26 [[ 9.88745422e-01 -1.48869980e-01 -1.48397781e-02 2.07225715e+01] [ 1.48854799e-01 9.88856773e-01 -2.12853229e-03 1.03991989e+00] [ 1.49912897e-02 -1.04395632e-04 9.99887619e-01 2.56591472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.75, Y:1.05, Z:0.26 [[ 9.88397040e-01 -1.51166453e-01 -1.48322221e-02 2.07483361e+01] [ 1.51150795e-01 9.88508318e-01 -2.17757758e-03 1.04517928e+00] [ 1.49909516e-02 -8.95909243e-05 9.99887625e-01 2.56252946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.78, Y:1.05, Z:0.26 [[ 9.87972847e-01 -1.53916107e-01 -1.48150462e-02 2.07787450e+01] [ 1.53899090e-01 9.88083919e-01 -2.28875724e-03 1.05068375e+00] [ 1.49907855e-02 -1.87921134e-05 9.99887632e-01 2.59777210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.308040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.81, Y:1.06, Z:0.26 [[ 9.87552308e-01 -1.56590286e-01 -1.48297474e-02 2.08070620e+01] [ 1.56574993e-01 9.87663636e-01 -2.19393786e-03 1.05544835e+00] [ 1.49903516e-02 -1.55339212e-04 9.99887626e-01 2.58209890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.83, Y:1.06, Z:0.26 [[ 9.87087815e-01 -1.59492402e-01 -1.48263199e-02 2.08345118e+01] [ 1.59477105e-01 9.87199140e-01 -2.21600477e-03 1.06278095e+00] [ 1.49899662e-02 -1.77067258e-04 9.99887628e-01 2.57280278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.86, Y:1.07, Z:0.25 [[ 9.86985331e-01 -1.60125834e-01 -1.48213638e-02 2.08573714e+01] [ 1.60110130e-01 9.87096598e-01 -2.24783893e-03 1.06963484e+00] [ 1.49900548e-02 -1.54466438e-04 9.99887631e-01 2.52142531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.398040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.89, Y:1.08, Z:0.26 [[ 9.86702518e-01 -1.61861687e-01 -1.47964672e-02 2.08853210e+01] [ 1.61843790e-01 9.86813454e-01 -2.40703776e-03 1.07691343e+00] [ 1.49909601e-02 -1.96861191e-05 9.99887629e-01 2.59056217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.91, Y:1.08, Z:0.26 [[ 9.86358102e-01 -1.63946653e-01 -1.48050658e-02 2.09135563e+01] [ 1.63929815e-01 9.86469200e-01 -2.35207265e-03 1.08333473e+00] [ 1.49903558e-02 -1.07005781e-04 9.99887633e-01 2.59819272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.94, Y:1.09, Z:0.26 [[ 9.86149101e-01 -1.65199033e-01 -1.48064360e-02 2.09433753e+01] [ 1.65182468e-01 9.86260240e-01 -2.34330727e-03 1.08775578e+00] [ 1.49901112e-02 -1.34913277e-04 9.99887633e-01 2.59483613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.97, Y:1.09, Z:0.26 [[ 9.85438885e-01 -1.69383328e-01 -1.48152740e-02 2.09687121e+01] [ 1.69368084e-01 9.85550213e-01 -2.28678228e-03 1.09375401e+00] [ 1.49885392e-02 -2.55750379e-04 9.99887633e-01 2.60847438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.00, Y:1.10, Z:0.26 [[ 9.85035952e-01 -1.71712046e-01 -1.48035766e-02 2.09980063e+01] [ 1.71695944e-01 9.85147160e-01 -2.36136070e-03 1.09872454e+00] [ 1.49891755e-02 -2.15688863e-04 9.99887633e-01 2.61085563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.02, Y:1.11, Z:0.26 [[ 9.84787098e-01 -1.73133053e-01 -1.48093935e-02 2.10246486e+01] [ 1.73117669e-01 9.84898406e-01 -2.32429759e-03 1.10649444e+00] [ 1.49881608e-02 -2.74829407e-04 9.99887633e-01 2.63706857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.578040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.05, Y:1.11, Z:0.27 [[ 9.84799354e-01 -1.73063494e-01 -1.48074047e-02 2.10518565e+01] [ 1.73047912e-01 9.84910635e-01 -2.33695395e-03 1.11202675e+00] [ 1.49884118e-02 -2.60959716e-04 9.99887633e-01 2.65415117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.608040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.08, Y:1.12, Z:0.26 [[ 9.84863252e-01 -1.72699392e-01 -1.48086155e-02 2.10785972e+01] [ 1.72683884e-01 9.84974543e-01 -2.32925568e-03 1.11932123e+00] [ 1.49883704e-02 -2.63210920e-04 9.99887633e-01 2.64936269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.638040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.11, Y:1.12, Z:0.27 [[ 9.84980243e-01 -1.72031432e-01 -1.48022826e-02 2.11083074e+01] [ 1.72015245e-01 9.85091438e-01 -2.36946135e-03 1.12387669e+00] [ 1.49892237e-02 -2.12345650e-04 9.99887633e-01 2.67803874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.13, Y:1.13, Z:0.27 [[ 9.85353394e-01 -1.69879804e-01 -1.48169001e-02 2.11324343e+01] [ 1.69864769e-01 9.85464752e-01 -2.27655085e-03 1.12915459e+00] [ 1.49882728e-02 -2.73662208e-04 9.99887632e-01 2.67006513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.16, Y:1.14, Z:0.27 [[ 9.85899590e-01 -1.66681750e-01 -1.48051402e-02 2.11642415e+01] [ 1.66665232e-01 9.86010736e-01 -2.35127216e-03 1.13943140e+00] [ 1.49899413e-02 -1.49383869e-04 9.99887633e-01 2.68206294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.728040942 meters Centerline goodness : 0.995808 Centerline is valid? [True, True] Translation: X:21.19, Y:1.15, Z:0.26 [[ 9.86124607e-01 -1.65343200e-01 -1.48285521e-02 2.11869573e+01] [ 1.65328792e-01 9.86236050e-01 -2.20080448e-03 1.14732262e+00] [ 1.49883407e-02 -2.81319145e-04 9.99887629e-01 2.64052390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.758040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.22, Y:1.15, Z:0.26 [[ 9.86609744e-01 -1.62426161e-01 -1.47971559e-02 2.12220040e+01] [ 1.62408408e-01 9.86720701e-01 -2.40163909e-03 1.15236341e+00] [ 1.49907491e-02 -3.37020104e-05 9.99887632e-01 2.64499570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.788040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.24, Y:1.16, Z:0.27 [[ 9.86328671e-01 -1.64120032e-01 -1.48447822e-02 2.12429676e+01] [ 1.64107004e-01 9.86440308e-01 -2.09980750e-03 1.16413159e+00] [ 1.49881120e-02 -3.65032403e-04 9.99887605e-01 2.65549528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.818040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.27, Y:1.17, Z:0.27 [[ 9.86387450e-01 -1.63769953e-01 -1.48054140e-02 2.12702304e+01] [ 1.63753156e-01 9.86498551e-01 -2.34804410e-03 1.17020515e+00] [ 1.49900585e-02 -1.08352018e-04 9.99887637e-01 2.68717363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.848040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:21.30, Y:1.18, Z:0.27 [[ 9.86432062e-01 -1.63501088e-01 -1.48047593e-02 2.12975172e+01] [ 1.63484199e-01 9.86543149e-01 -2.35216487e-03 1.17855349e+00] [ 1.49901153e-02 -1.00093362e-04 9.99887637e-01 2.70835889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.32, Y:1.19, Z:0.27 [[ 9.86371515e-01 -1.63865981e-01 -1.48045567e-02 2.13238793e+01] [ 1.63849113e-01 9.86482605e-01 -2.35343922e-03 1.18537312e+00] [ 1.49900863e-02 -1.04348073e-04 9.99887637e-01 2.71992095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.908040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.35, Y:1.19, Z:0.27 [[ 9.86277740e-01 -1.64429477e-01 -1.48042771e-02 2.13514123e+01] [ 1.64412646e-01 9.86388836e-01 -2.35519634e-03 1.19238388e+00] [ 1.49900374e-02 -1.11132658e-04 9.99887637e-01 2.72741959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.39, Y:1.20, Z:0.27 [[ 9.86702601e-01 -1.61860524e-01 -1.48036402e-02 2.13868649e+01] [ 1.61843344e-01 9.86813643e-01 -2.35919320e-03 1.19541238e+00] [ 1.49902943e-02 -6.80485559e-05 9.99887637e-01 2.73920760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.41, Y:1.21, Z:0.27 [[ 9.85984113e-01 -1.66177298e-01 -1.48470164e-02 2.14064435e+01] [ 1.66164707e-01 9.86095805e-01 -2.08625718e-03 1.20567948e+00] [ 1.49872691e-02 -4.10033686e-04 9.99887601e-01 2.74655675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.43, Y:1.21, Z:0.27 [[ 9.85801631e-01 -1.67260364e-01 -1.48025199e-02 2.14324468e+01] [ 1.67243708e-01 9.85912750e-01 -2.36478865e-03 1.21404605e+00] [ 1.49895285e-02 -1.44415813e-04 9.99887640e-01 2.73807987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.46, Y:1.22, Z:0.27 [[ 9.85756158e-01 -1.67528191e-01 -1.48020768e-02 2.14606296e+01] [ 1.67511523e-01 9.85867275e-01 -2.36755950e-03 1.21865156e+00] [ 1.49895160e-02 -1.45682072e-04 9.99887640e-01 2.74235307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.058040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.49, Y:1.22, Z:0.27 [[ 9.86334222e-01 -1.64090584e-01 -1.48014324e-02 2.14939838e+01] [ 1.64073470e-01 9.86445271e-01 -2.37158074e-03 1.22181662e+00] [ 1.49899571e-02 -8.93511354e-05 9.99887640e-01 2.74066882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.52, Y:1.23, Z:0.27 [[ 9.86400214e-01 -1.63690459e-01 -1.48341179e-02 2.15236137e+01] [ 1.63676369e-01 9.86511708e-01 -2.16721368e-03 1.22863742e+00] [ 1.49887832e-02 -2.90254522e-04 9.99887620e-01 2.72706838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.55, Y:1.24, Z:0.27 [[ 9.85726568e-01 -1.67698994e-01 -1.48384601e-02 2.15496086e+01] [ 1.67685765e-01 9.85838173e-01 -2.14009874e-03 1.23850026e+00] [ 1.49872128e-02 -3.78646350e-04 9.99887614e-01 2.74997432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.148040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.58, Y:1.25, Z:0.27 [[ 9.86051597e-01 -1.65778995e-01 -1.48180200e-02 2.15800854e+01] [ 1.65763640e-01 9.86162906e-01 -2.26707147e-03 1.24528070e+00] [ 1.49888145e-02 -2.20839487e-04 9.99887637e-01 2.74091821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.61, Y:1.25, Z:0.28 [[ 9.86133432e-01 -1.65290519e-01 -1.48289442e-02 2.16078401e+01] [ 1.65276128e-01 9.86244881e-01 -2.19928447e-03 1.25114311e+00] [ 1.49884911e-02 -2.82082537e-04 9.99887626e-01 2.75092051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.64, Y:1.26, Z:0.28 [[ 9.86524088e-01 -1.62942669e-01 -1.48293869e-02 2.16371247e+01] [ 1.62928053e-01 9.86635507e-01 -2.19654668e-03 1.25896543e+00] [ 1.49891108e-02 -2.49176924e-04 9.99887626e-01 2.76550239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.67, Y:1.27, Z:0.28 [[ 9.86041202e-01 -1.65839391e-01 -1.48339061e-02 2.16652926e+01] [ 1.65825521e-01 9.86152723e-01 -2.16877856e-03 1.26835385e+00] [ 1.49881658e-02 -3.21335191e-04 9.99887620e-01 2.77679152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.268040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:21.69, Y:1.28, Z:0.28 [[ 9.86375911e-01 -1.63837453e-01 -1.48273766e-02 2.16915763e+01] [ 1.63822755e-01 9.86487317e-01 -2.20879903e-03 1.27653965e+00] [ 1.49889029e-02 -2.50355526e-04 9.99887629e-01 2.77565320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.72, Y:1.28, Z:0.28 [[ 9.86472950e-01 -1.63252918e-01 -1.48190214e-02 2.17200292e+01] [ 1.63237385e-01 9.86584233e-01 -2.25996241e-03 1.28217251e+00] [ 1.49891584e-02 -1.89626527e-04 9.99887638e-01 2.76847807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.75, Y:1.29, Z:0.28 [[ 9.86160148e-01 -1.65131565e-01 -1.48232681e-02 2.17465752e+01] [ 1.65116634e-01 9.86271518e-01 -2.23398946e-03 1.28969785e+00] [ 1.49886693e-02 -2.44496764e-04 9.99887634e-01 2.78904007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.358040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.78, Y:1.30, Z:0.28 [[ 9.86143178e-01 -1.65233815e-01 -1.48128236e-02 2.17754167e+01] [ 1.65217938e-01 9.86254406e-01 -2.29772156e-03 1.29538071e+00] [ 1.49888738e-02 -1.81461727e-04 9.99887644e-01 2.79177247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.388040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.80, Y:1.31, Z:0.28 [[ 9.85760041e-01 -1.67503996e-01 -1.48173081e-02 2.18015381e+01] [ 1.67488786e-01 9.85871367e-01 -2.27039320e-03 1.30521806e+00] [ 1.49882597e-02 -2.43670045e-04 9.99887640e-01 2.81387206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.83, Y:1.31, Z:0.28 [[ 9.85658607e-01 -1.68101012e-01 -1.48040876e-02 2.18286420e+01] [ 1.68084660e-01 9.85769760e-01 -2.35083731e-03 1.31156021e+00] [ 1.49886000e-02 -1.71217005e-04 9.99887650e-01 2.81680825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.448040942 meters Centerline goodness : 0.997143 Centerline is valid? [True, True] Translation: X:21.86, Y:1.32, Z:0.28 [[ 9.85503808e-01 -1.69006026e-01 -1.48056578e-02 2.18558459e+01] [ 1.68989921e-01 9.85614999e-01 -2.34123214e-03 1.31960062e+00] [ 1.49883608e-02 -1.94713749e-04 9.99887649e-01 2.80732422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.478040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:21.88, Y:1.33, Z:0.28 [[ 9.85477621e-01 -1.69158896e-01 -1.48029296e-02 2.18839195e+01] [ 1.69142558e-01 9.85588776e-01 -2.35789820e-03 1.32600120e+00] [ 1.49884607e-02 -1.80149463e-04 9.99887650e-01 2.82432714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.508040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:21.91, Y:1.33, Z:0.28 [[ 9.85303002e-01 -1.70172451e-01 -1.48098530e-02 2.19111465e+01] [ 1.70156856e-01 9.85414268e-01 -2.31603184e-03 1.33252339e+00] [ 1.49879653e-02 -2.38004909e-04 9.99887646e-01 2.83235340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.538040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.94, Y:1.34, Z:0.29 [[ 9.84910261e-01 -1.72431284e-01 -1.48064347e-02 2.19363348e+01] [ 1.72415636e-01 9.85021517e-01 -2.33658663e-03 1.34063473e+00] [ 1.49875574e-02 -2.51532712e-04 9.99887649e-01 2.88497821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.568040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.96, Y:1.35, Z:0.29 [[ 9.84703282e-01 -1.73611239e-01 -1.47846191e-02 2.19646081e+01] [ 1.73593760e-01 9.84814256e-01 -2.46731111e-03 1.34786172e+00] [ 1.49884566e-02 -1.36948261e-04 9.99887657e-01 2.86648508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.598040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:21.99, Y:1.35, Z:0.28 [[ 9.84551764e-01 -1.74468501e-01 -1.47839615e-02 2.19912860e+01] [ 1.74451060e-01 9.84662745e-01 -2.47124519e-03 1.35471661e+00] [ 1.49883705e-02 -1.46008935e-04 9.99887657e-01 2.84370270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.02, Y:1.36, Z:0.28 [[ 9.84672296e-01 -1.73786979e-01 -1.47836363e-02 2.20180092e+01] [ 1.73769431e-01 9.84783259e-01 -2.47318865e-03 1.36259884e+00] [ 1.49884856e-02 -1.33663735e-04 9.99887657e-01 2.84009643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.658040942 meters Centerline goodness : 0.997420 Centerline is valid? [True, True] Translation: X:22.04, Y:1.37, Z:0.28 [[ 9.84797327e-01 -1.73077082e-01 -1.47834095e-02 2.20437147e+01] [ 1.73059434e-01 9.84908274e-01 -2.47454385e-03 1.36898697e+00] [ 1.49885892e-02 -1.21484318e-04 9.99887657e-01 2.81662911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.07, Y:1.38, Z:0.28 [[ 9.84936774e-01 -1.72283535e-01 -1.47626473e-02 2.20722537e+01] [ 1.72263944e-01 9.85047402e-01 -2.59809599e-03 1.37670716e+00] [ 1.49895165e-02 1.58884309e-05 9.99887651e-01 2.83713032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.10, Y:1.38, Z:0.28 [[ 9.84955633e-01 -1.72174011e-01 -1.47821359e-02 2.20996387e+01] [ 1.72156149e-01 9.85066546e-01 -2.48202923e-03 1.38227492e+00] [ 1.49887285e-02 -1.00146923e-04 9.99887658e-01 2.84191687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.13, Y:1.39, Z:0.28 [[ 9.85284023e-01 -1.70284773e-01 -1.47814351e-02 2.21276922e+01] [ 1.70266635e-01 9.85394891e-01 -2.48619535e-03 1.38708284e+00] [ 1.49889119e-02 -6.71766683e-05 9.99887658e-01 2.83818514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.16, Y:1.39, Z:0.28 [[ 9.85195861e-01 -1.70794155e-01 -1.47808194e-02 2.21550769e+01] [ 1.70776020e-01 9.85306730e-01 -2.48985083e-03 1.39117538e+00] [ 1.49888928e-02 -7.12187737e-05 9.99887658e-01 2.84346884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.808040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.18, Y:1.40, Z:0.28 [[ 9.85421966e-01 -1.69484757e-01 -1.47806002e-02 2.21812966e+01] [ 1.69466456e-01 9.85532807e-01 -2.49115101e-03 1.39547649e+00] [ 1.49889786e-02 -4.99810135e-05 9.99887658e-01 2.84746569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.21, Y:1.40, Z:0.28 [[ 9.85516408e-01 -1.68934775e-01 -1.47801306e-02 2.22091959e+01] [ 1.68916370e-01 9.85627232e-01 -2.49393419e-03 1.40077916e+00] [ 1.49890114e-02 -3.87929488e-05 9.99887658e-01 2.84799429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.24, Y:1.41, Z:0.29 [[ 9.85776664e-01 -1.67409486e-01 -1.47794495e-02 2.22368049e+01] [ 1.67390848e-01 9.85887450e-01 -2.49796418e-03 1.40570203e+00] [ 1.49890567e-02 -1.15097898e-05 9.99887658e-01 2.86571636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.898040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.26, Y:1.41, Z:0.29 [[ 9.86000068e-01 -1.66088698e-01 -1.47787346e-02 2.22639611e+01] [ 1.66069849e-01 9.86110817e-01 -2.50218637e-03 1.40968926e+00] [ 1.49890550e-02 1.28536984e-05 9.99887658e-01 2.87038256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.29, Y:1.41, Z:0.29 [[ 9.86208896e-01 -1.64844204e-01 -1.47784247e-02 2.22914451e+01] [ 1.64825188e-01 9.86319617e-01 -2.50401549e-03 1.41359649e+00] [ 1.49890226e-02 3.36257299e-05 9.99887658e-01 2.88354322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.958040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:22.32, Y:1.42, Z:0.29 [[ 9.86669732e-01 -1.62063085e-01 -1.47782088e-02 2.23196688e+01] [ 1.62043738e-01 9.86780396e-01 -2.50528926e-03 1.41798216e+00] [ 1.49888616e-02 7.71768874e-05 9.99887658e-01 2.90885043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.35, Y:1.42, Z:0.29 [[ 9.86887895e-01 -1.60729290e-01 -1.47775906e-02 2.23484289e+01] [ 1.60709739e-01 9.86998523e-01 -2.50893001e-03 1.42268368e+00] [ 1.49887187e-02 1.01129924e-04 9.99887658e-01 2.92340557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.38, Y:1.43, Z:0.29 [[ 9.87327152e-01 -1.58008657e-01 -1.47769532e-02 2.23764184e+01] [ 1.57988745e-01 9.87437716e-01 -2.51267894e-03 1.42629847e+00] [ 1.49883459e-02 1.46243856e-04 9.99887658e-01 2.91710299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.40, Y:1.43, Z:0.29 [[ 9.87407669e-01 -1.57504740e-01 -1.47767274e-02 2.24046480e+01] [ 1.57484752e-01 9.87518219e-01 -2.51400622e-03 1.43036857e+00] [ 1.49882554e-02 1.55239787e-04 9.99887658e-01 2.91976210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.43, Y:1.43, Z:0.29 [[ 9.87441486e-01 -1.57292658e-01 -1.47760195e-02 2.24327932e+01] [ 1.57272584e-01 9.87552021e-01 -2.51815964e-03 1.43390274e+00] [ 1.49881760e-02 1.62672533e-04 9.99887658e-01 2.92067924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.46, Y:1.44, Z:0.29 [[ 9.87411130e-01 -1.57483172e-01 -1.47753147e-02 2.24607463e+01] [ 1.57463058e-01 9.87521657e-01 -2.52228867e-03 1.43560828e+00] [ 1.49881612e-02 1.63969683e-04 9.99887658e-01 2.92357264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.49, Y:1.44, Z:0.29 [[ 9.87376383e-01 -1.57700950e-01 -1.47746047e-02 2.24872872e+01] [ 1.57680798e-01 9.87486903e-01 -2.52644068e-03 1.43881439e+00] [ 1.49881507e-02 1.64876404e-04 9.99887658e-01 2.92172320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.52, Y:1.44, Z:0.29 [[ 9.87338335e-01 -1.57939014e-01 -1.47742969e-02 2.25160161e+01] [ 1.57918862e-01 9.87448855e-01 -2.52823939e-03 1.44104364e+00] [ 1.49881702e-02 1.63087525e-04 9.99887658e-01 2.93838125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.54, Y:1.44, Z:0.29 [[ 9.87342120e-01 -1.57915413e-01 -1.47736503e-02 2.25439402e+01] [ 1.57895202e-01 9.87452629e-01 -2.53201187e-03 1.44437242e+00] [ 1.49881235e-02 1.67273468e-04 9.99887658e-01 2.93596071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.228040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.57, Y:1.45, Z:0.29 [[ 9.87368945e-01 -1.57747624e-01 -1.47734214e-02 2.25712257e+01] [ 1.57727373e-01 9.87479447e-01 -2.53334674e-03 1.44705515e+00] [ 1.49880794e-02 1.71174949e-04 9.99887658e-01 2.93037850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.258040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.60, Y:1.45, Z:0.29 [[ 9.87322399e-01 -1.58038717e-01 -1.47731175e-02 2.25987459e+01] [ 1.58018472e-01 9.87432902e-01 -2.53511780e-03 1.45046800e+00] [ 1.49881090e-02 1.68553133e-04 9.99887658e-01 2.93919077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.288040942 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:22.63, Y:1.45, Z:0.29 [[ 9.87367612e-01 -1.57756064e-01 -1.47723801e-02 2.26256268e+01] [ 1.57735724e-01 9.87478097e-01 -2.53940731e-03 1.45290502e+00] [ 1.49880087e-02 1.77196457e-04 9.99887658e-01 2.93438454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.318040942 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:22.65, Y:1.45, Z:0.29 [[ 9.87404785e-01 -1.57523273e-01 -1.47718781e-02 2.26533586e+01] [ 1.57502863e-01 9.87515258e-01 -2.54232418e-03 1.45380524e+00] [ 1.49879302e-02 1.83689959e-04 9.99887658e-01 2.92904830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.348040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:22.68, Y:1.46, Z:0.29 [[ 9.87349529e-01 -1.57869266e-01 -1.47716516e-02 2.26811262e+01] [ 1.57848875e-01 9.87460006e-01 -2.54363961e-03 1.45735569e+00] [ 1.49879777e-02 1.79772786e-04 9.99887658e-01 2.93702183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.378040942 meters Centerline goodness : 0.996870 Centerline is valid? [True, True] Translation: X:22.71, Y:1.46, Z:0.29 [[ 9.87546943e-01 -1.56629676e-01 -1.47709243e-02 2.27085659e+01] [ 1.56609084e-01 9.87657382e-01 -2.54785592e-03 1.46058922e+00] [ 1.49876823e-02 2.02866400e-04 9.99887658e-01 2.94402875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.408040942 meters Centerline goodness : 0.995953 Centerline is valid? [True, True] Translation: X:22.74, Y:1.46, Z:0.30 [[ 9.87390859e-01 -1.57611764e-01 -1.47588699e-02 2.27364369e+01] [ 1.57590239e-01 9.87501122e-01 -2.61757816e-03 1.46234487e+00] [ 1.49869616e-02 2.58718931e-04 9.99887656e-01 2.95246621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.438040942 meters Centerline goodness : 0.996215 Centerline is valid? [True, True] Translation: X:22.77, Y:1.47, Z:0.30 [[ 9.87199569e-01 -1.58804818e-01 -1.47661771e-02 2.27653178e+01] [ 1.58784058e-01 9.87309977e-01 -2.57535167e-03 1.46611659e+00] [ 1.49877723e-02 1.97752537e-04 9.99887657e-01 2.96261619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.468040942 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:22.80, Y:1.47, Z:0.30 [[ 9.87338746e-01 -1.57936912e-01 -1.47692750e-02 2.28044028e+01] [ 1.57916322e-01 9.87449186e-01 -2.55747296e-03 1.46647281e+00] [ 1.49878280e-02 1.92782559e-04 9.99887658e-01 2.99247837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.498040942 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:22.82, Y:1.48, Z:0.30 [[ 9.85650414e-01 -1.68146046e-01 -1.48381026e-02 2.28193536e+01] [ 1.68132432e-01 9.85762030e-01 -2.16919270e-03 1.47794611e+00] [ 1.49915793e-02 -3.56700584e-04 9.99887556e-01 2.96935623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.528040942 meters Centerline goodness : 0.998100 Centerline is valid? [True, True] Translation: X:22.85, Y:1.48, Z:0.30 [[ 9.85423009e-01 -1.69480896e-01 -1.47552792e-02 2.28468894e+01] [ 1.69460464e-01 9.85533468e-01 -2.63329126e-03 1.48162013e+00] [ 1.49881140e-02 9.44693330e-05 9.99887667e-01 2.97043705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.558040941999998 meters Centerline goodness : 0.998350 Centerline is valid? [True, True] Translation: X:22.87, Y:1.49, Z:0.30 [[ 9.85172110e-01 -1.70933368e-01 -1.47545426e-02 2.28744209e+01] [ 1.70913037e-01 9.85282588e-01 -2.63741200e-03 1.48542648e+00] [ 1.49882156e-02 7.65610628e-05 9.99887667e-01 2.97853747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.588040942 meters Centerline goodness : 0.997862 Centerline is valid? [True, True] Translation: X:22.90, Y:1.49, Z:0.30 [[ 9.84673018e-01 -1.73785420e-01 -1.47538031e-02 2.29032075e+01] [ 1.73765347e-01 9.84783543e-01 -2.64154255e-03 1.48956776e+00] [ 1.49883640e-02 3.73559643e-05 9.99887667e-01 2.98533192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.618040942 meters Centerline goodness : 0.992967 Centerline is valid? [True, True] Translation: X:22.93, Y:1.49, Z:0.30 [[ 9.84649525e-01 -1.73918535e-01 -1.47531587e-02 2.29307229e+01] [ 1.73898423e-01 9.84760043e-01 -2.64513621e-03 1.49404652e+00] [ 1.49883595e-02 3.89810723e-05 9.99887667e-01 2.99642428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.648040941999998 meters Centerline goodness : 0.998303 Centerline is valid? [True, True] Translation: X:22.96, Y:1.50, Z:0.30 [[ 9.84559533e-01 -1.74428042e-01 -1.47439347e-02 2.29633417e+01] [ 1.74407218e-01 9.84669920e-01 -2.69649197e-03 1.49693061e+00] [ 1.49882528e-02 8.34082404e-05 9.99887666e-01 3.00429027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.678040942 meters Centerline goodness : 0.997907 Centerline is valid? [True, True] Translation: X:22.99, Y:1.50, Z:0.30 [[ 9.83644244e-01 -1.79514741e-01 -1.47803437e-02 2.29860910e+01] [ 1.79497488e-01 9.83755264e-01 -2.49658788e-03 1.50443361e+00] [ 1.49884153e-02 -1.97280271e-04 9.99887648e-01 2.98405700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.708040942 meters Centerline goodness : 0.997606 Centerline is valid? [True, True] Translation: X:23.01, Y:1.51, Z:0.30 [[ 9.83564989e-01 -1.79951430e-01 -1.47443159e-02 2.30147538e+01] [ 1.79931266e-01 9.83675497e-01 -2.69378614e-03 1.50626602e+00] [ 1.49883730e-02 -3.44969836e-06 9.99887668e-01 2.99204450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.738040941999998 meters Centerline goodness : 0.998150 Centerline is valid? [True, True] Translation: X:23.05, Y:1.51, Z:0.30 [[ 9.84520324e-01 -1.74649238e-01 -1.47436470e-02 2.30523909e+01] [ 1.74628425e-01 9.84630711e-01 -2.69744229e-03 1.50524980e+00] [ 1.49881539e-02 8.10268973e-05 9.99887668e-01 2.95757541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.768040942 meters Centerline goodness : 0.997959 Centerline is valid? [True, True] Translation: X:23.08, Y:1.51, Z:0.30 [[ 9.84497859e-01 -1.74771958e-01 -1.47894335e-02 2.30822032e+01] [ 1.74754923e-01 9.84608923e-01 -2.44649262e-03 1.50901971e+00] [ 1.49893865e-02 -1.75959564e-04 9.99887637e-01 2.97914874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.798040942 meters Centerline goodness : 0.997935 Centerline is valid? [True, True] Translation: X:23.11, Y:1.51, Z:0.30 [[ 9.83837186e-01 -1.78453139e-01 -1.47942331e-02 2.31082227e+01] [ 1.78436914e-01 9.83948378e-01 -2.42024868e-03 1.51450078e+00] [ 1.49886626e-02 -2.58706633e-04 9.99887630e-01 3.01284604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.828040942 meters Centerline goodness : 0.998343 Centerline is valid? [True, True] Translation: X:23.14, Y:1.52, Z:0.30 [[ 9.83498223e-01 -1.80314279e-01 -1.47650191e-02 2.31365627e+01] [ 1.80295879e-01 9.83609041e-01 -2.57897382e-03 1.51785937e+00] [ 1.49880321e-02 -1.25655942e-04 9.99887665e-01 3.01071594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.858040942 meters Centerline goodness : 0.998322 Centerline is valid? [True, True] Translation: X:23.17, Y:1.52, Z:0.30 [[ 9.84299523e-01 -1.75887847e-01 -1.47619226e-02 2.31677298e+01] [ 1.75868696e-01 9.84410211e-01 -2.59577428e-03 1.51781700e+00] [ 1.49883525e-02 -4.11406927e-05 9.99887667e-01 3.03666354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.888040942 meters Centerline goodness : 0.997938 Centerline is valid? [True, True] Translation: X:23.19, Y:1.53, Z:0.31 [[ 9.82940691e-01 -1.83327424e-01 -1.47869465e-02 2.31898578e+01] [ 1.83311149e-01 9.83051865e-01 -2.46015218e-03 1.52707257e+00] [ 1.49873487e-02 -2.92428470e-04 9.99887641e-01 3.06459614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.918040942 meters Centerline goodness : 0.998089 Centerline is valid? [True, True] Translation: X:23.23, Y:1.53, Z:0.31 [[ 9.84057448e-01 -1.77239292e-01 -1.47367565e-02 2.32290352e+01] [ 1.77218267e-01 9.84167784e-01 -2.73098686e-03 1.52681296e+00] [ 1.49874792e-02 7.58255205e-05 9.99887679e-01 3.06228342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.948040942 meters Centerline goodness : 0.998089 Centerline is valid? [True, True] Translation: X:23.26, Y:1.53, Z:0.31 [[ 9.83968653e-01 -1.77725944e-01 -1.48046884e-02 2.32570133e+01] [ 1.77710493e-01 9.84079974e-01 -2.36326108e-03 1.53208385e+00] [ 1.49890102e-02 -3.05573661e-04 9.99887612e-01 3.06765478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.978040942 meters Centerline goodness : 0.997604 Centerline is valid? [True, True] Translation: X:23.27, Y:1.54, Z:0.31 [[ 9.82485795e-01 -1.85748589e-01 -1.48028402e-02 2.32746133e+01] [ 1.85733897e-01 9.82597215e-01 -2.37324534e-03 1.54304731e+00] [ 1.49860566e-02 -4.17709370e-04 9.99887615e-01 3.08120328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.008040942 meters Centerline goodness : 0.997897 Centerline is valid? [True, True] Translation: X:23.30, Y:1.55, Z:0.31 [[ 9.82171618e-01 -1.87408170e-01 -1.47339798e-02 2.33021932e+01] [ 1.87388105e-01 9.82282125e-01 -2.74311798e-03 1.54654601e+00] [ 1.49870077e-02 -6.67599315e-05 9.99887686e-01 3.07905476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.038040942 meters Centerline goodness : 0.998091 Centerline is valid? [True, True] Translation: X:23.33, Y:1.55, Z:0.31 [[ 9.81982305e-01 -1.88397637e-01 -1.47337385e-02 2.33300568e+01] [ 1.88377664e-01 9.82092829e-01 -2.74441350e-03 1.55057832e+00] [ 1.49869399e-02 -8.05417389e-05 9.99887686e-01 3.09926106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.068040942 meters Centerline goodness : 0.998289 Centerline is valid? [True, True] Translation: X:23.36, Y:1.55, Z:0.31 [[ 9.81841546e-01 -1.89129896e-01 -1.47329683e-02 2.33575738e+01] [ 1.89109943e-01 9.81952074e-01 -2.74854171e-03 1.55373704e+00] [ 1.49869002e-02 -8.75183625e-05 9.99887686e-01 3.11039056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.098040942 meters Centerline goodness : 0.998394 Centerline is valid? [True, True] Translation: X:23.40, Y:1.55, Z:0.31 [[ 9.82709013e-01 -1.84569611e-01 -1.47327302e-02 2.33966233e+01] [ 1.84549127e-01 9.82819443e-01 -2.74981776e-03 1.55284244e+00] [ 1.49871464e-02 -1.66417916e-05 9.99887686e-01 3.12885824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.128040942 meters Centerline goodness : 0.998374 Centerline is valid? [True, True] Translation: X:23.41, Y:1.56, Z:0.31 [[ 9.81778702e-01 -1.89450614e-01 -1.48001562e-02 2.34135624e+01] [ 1.89436135e-01 9.81890143e-01 -2.38696217e-03 1.56350092e+00] [ 1.49843389e-02 -4.60215766e-04 9.99887623e-01 3.12476132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.158040942 meters Centerline goodness : 0.998253 Centerline is valid? [True, True] Translation: X:23.45, Y:1.57, Z:0.31 [[ 9.82450100e-01 -1.85942939e-01 -1.47317507e-02 2.34468874e+01] [ 1.85922561e-01 9.82560544e-01 -2.75301498e-03 1.56574709e+00] [ 1.49867407e-02 -3.42649666e-05 9.99887692e-01 3.12204784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.188040942 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:23.47, Y:1.57, Z:0.31 [[ 9.81722289e-01 -1.89745490e-01 -1.47646655e-02 2.34682211e+01] [ 1.89728190e-01 9.81833273e-01 -2.57659015e-03 1.57385250e+00] [ 1.49853362e-02 -2.71777283e-04 9.99887677e-01 3.12250792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.218040942 meters Centerline goodness : 0.998397 Centerline is valid? [True, True] Translation: X:23.50, Y:1.57, Z:0.31 [[ 9.82430336e-01 -1.86047414e-01 -1.47307171e-02 2.35025353e+01] [ 1.86026974e-01 9.82540767e-01 -2.75791843e-03 1.57456618e+00] [ 1.49866337e-02 -3.08480031e-05 9.99887694e-01 3.12515885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.248040942 meters Centerline goodness : 0.998539 Centerline is valid? [True, True] Translation: X:23.52, Y:1.58, Z:0.31 [[ 9.81363696e-01 -1.91591041e-01 -1.47705742e-02 2.35237701e+01] [ 1.91574430e-01 9.81474790e-01 -2.54466351e-03 1.58185269e+00] [ 1.49844809e-02 -3.32423942e-04 9.99887671e-01 3.13758773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.278040942 meters Centerline goodness : 0.998413 Centerline is valid? [True, True] Translation: X:23.56, Y:1.58, Z:0.31 [[ 9.81788958e-01 -1.89402968e-01 -1.47295122e-02 2.35578527e+01] [ 1.89382821e-01 9.81899440e-01 -2.76352483e-03 1.58337603e+00] [ 1.49863196e-02 -7.63184140e-05 9.99887696e-01 3.11192817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.308040941999998 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:23.59, Y:1.59, Z:0.31 [[ 9.81828001e-01 -1.89197392e-01 -1.47689940e-02 2.35893524e+01] [ 1.89180400e-01 9.81939033e-01 -2.55193005e-03 1.58603638e+00] [ 1.49850702e-02 -2.88447823e-04 9.99887676e-01 3.11894691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.338040942 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:23.62, Y:1.59, Z:0.31 [[ 9.81723217e-01 -1.89738206e-01 -1.47965919e-02 2.36193864e+01] [ 1.89723499e-01 9.81834616e-01 -2.40426292e-03 1.59144955e+00] [ 1.49839866e-02 -4.46940458e-04 9.99887634e-01 3.12144129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.368040942 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:23.64, Y:1.60, Z:0.31 [[ 9.81380184e-01 -1.91503858e-01 -1.48056157e-02 2.36447964e+01] [ 1.91490078e-01 9.81491721e-01 -2.35605318e-03 1.59691169e+00] [ 1.49827825e-02 -5.22944598e-04 9.99887615e-01 3.13336001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.398040941999998 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:23.67, Y:1.60, Z:0.32 [[ 9.81233884e-01 -1.92252896e-01 -1.47949089e-02 2.36699469e+01] [ 1.92238341e-01 9.81345300e-01 -2.41312484e-03 1.60149655e+00] [ 1.49828445e-02 -4.76308867e-04 9.99887637e-01 3.15454069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.428040942 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:23.69, Y:1.61, Z:0.32 [[ 9.80369910e-01 -1.96613387e-01 -1.47653466e-02 2.36913171e+01] [ 1.96596973e-01 9.80481019e-01 -2.56937392e-03 1.61081302e+00] [ 1.49823154e-02 -3.83885576e-04 9.99887685e-01 3.19817329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.458040942 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:23.72, Y:1.62, Z:0.32 [[ 9.80700616e-01 -1.94960411e-01 -1.47221110e-02 2.37190720e+01] [ 1.94940389e-01 9.80811104e-01 -2.79695240e-03 1.61568911e+00] [ 1.49849049e-02 -1.26961098e-04 9.99887712e-01 3.21124115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.488040941999998 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:23.75, Y:1.62, Z:0.32 [[ 9.80838306e-01 -1.94266529e-01 -1.47218647e-02 2.37466121e+01] [ 1.94246409e-01 9.80948777e-01 -2.79824807e-03 1.62169672e+00] [ 1.49850011e-02 -1.15040448e-04 9.99887712e-01 3.21259249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.518040942 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:23.78, Y:1.63, Z:0.32 [[ 9.81192348e-01 -1.92470427e-01 -1.47210782e-02 2.37793862e+01] [ 1.92450043e-01 9.81302771e-01 -2.80237949e-03 1.62540895e+00] [ 1.49852100e-02 -8.33988224e-05 9.99887712e-01 3.17032303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.548040942 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:23.81, Y:1.63, Z:0.32 [[ 9.81966960e-01 -1.88475888e-01 -1.47556352e-02 2.38116062e+01] [ 1.88457784e-01 9.82077795e-01 -2.62051417e-03 1.62784199e+00] [ 1.49850854e-02 -2.07555987e-04 9.99887696e-01 3.22065293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.578040942 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:23.83, Y:1.64, Z:0.33 [[ 9.81107425e-01 -1.92897906e-01 -1.47857446e-02 2.38316162e+01] [ 1.92882683e-01 9.81218736e-01 -2.46229112e-03 1.63759143e+00] [ 1.49830205e-02 -4.36141997e-04 9.99887653e-01 3.25161375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.608040942 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:23.86, Y:1.64, Z:0.33 [[ 9.81305371e-01 -1.91892462e-01 -1.47326579e-02 2.38601733e+01] [ 1.91872942e-01 9.81415949e-01 -2.74041529e-03 1.64111238e+00] [ 1.49847305e-02 -1.37614172e-04 9.99887713e-01 3.25742046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.638040942 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:23.89, Y:1.65, Z:0.33 [[ 9.81465141e-01 -1.91073669e-01 -1.47319676e-02 2.38877977e+01] [ 1.91054003e-01 9.81575692e-01 -2.74402722e-03 1.64613934e+00] [ 1.49848526e-02 -1.21434315e-04 9.99887713e-01 3.27536166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.668040942 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:23.92, Y:1.65, Z:0.33 [[ 9.81816968e-01 -1.89257595e-01 -1.47310329e-02 2.39198718e+01] [ 1.89237651e-01 9.81927469e-01 -2.74890948e-03 1.65017646e+00] [ 1.49850579e-02 -8.87401037e-05 9.99887714e-01 3.27017950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.698040942 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:23.95, Y:1.66, Z:0.33 [[ 9.82328325e-01 -1.86583078e-01 -1.47585921e-02 2.39464524e+01] [ 1.86564997e-01 9.82439167e-01 -2.60478313e-03 1.65782740e+00] [ 1.49854274e-02 -1.94684446e-04 9.99887693e-01 3.28452852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.728040942 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:23.97, Y:1.66, Z:0.33 [[ 9.82273709e-01 -1.86871127e-01 -1.47493306e-02 2.39736220e+01] [ 1.86852355e-01 9.82384425e-01 -2.65290998e-03 1.66435741e+00] [ 1.49852649e-02 -1.50063433e-04 9.99887703e-01 3.29343443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.758040942 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:24.00, Y:1.67, Z:0.33 [[ 9.82244501e-01 -1.87024176e-01 -1.47545720e-02 2.39997982e+01] [ 1.87005830e-01 9.82355295e-01 -2.62568319e-03 1.67036283e+00] [ 1.49852982e-02 -1.80128117e-04 9.99887698e-01 3.26048791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.788040942 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:24.02, Y:1.67, Z:0.33 [[ 9.82132554e-01 -1.87611763e-01 -1.47469791e-02 2.40246327e+01] [ 1.87592890e-01 9.82243251e-01 -2.66519323e-03 1.67490312e+00] [ 1.49851422e-02 -1.48855392e-04 9.99887705e-01 3.31830995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.818040942 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:24.06, Y:1.68, Z:0.33 [[ 9.81835562e-01 -1.89161324e-01 -1.47282766e-02 2.40556195e+01] [ 1.89141174e-01 9.81946021e-01 -2.76190308e-03 1.67932579e+00] [ 1.49848179e-02 -7.39888726e-05 9.99887719e-01 3.29680480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.848040942 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:24.08, Y:1.68, Z:0.33 [[ 9.81749253e-01 -1.89607473e-01 -1.47448440e-02 2.40813185e+01] [ 1.89588653e-01 9.81859959e-01 -2.67667864e-03 1.68416459e+00] [ 1.49848902e-02 -1.67627855e-04 9.99887706e-01 3.33015653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.878040942 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:24.11, Y:1.69, Z:0.33 [[ 9.81583251e-01 -1.90465694e-01 -1.47357255e-02 2.41098997e+01] [ 1.90446266e-01 9.81693843e-01 -2.72357170e-03 1.69057397e+00] [ 1.49847180e-02 -1.32951545e-04 9.99887714e-01 3.31513923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.908040942 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:24.14, Y:1.70, Z:0.33 [[ 9.81234941e-01 -1.92251848e-01 -1.47383105e-02 2.41372848e+01] [ 1.92232821e-01 9.81345605e-01 -2.71030356e-03 1.69783380e+00] [ 1.49844371e-02 -1.73742456e-04 9.99887712e-01 3.29486986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.938040942 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:24.16, Y:1.70, Z:0.33 [[ 9.81202064e-01 -1.92420162e-01 -1.47305875e-02 2.41629185e+01] [ 1.92400559e-01 9.81312622e-01 -2.74988141e-03 1.70389015e+00] [ 1.49844440e-02 -1.35983953e-04 9.99887718e-01 3.31446435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.968040942 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:24.19, Y:1.71, Z:0.33 [[ 9.81169864e-01 -1.92585159e-01 -1.47191764e-02 2.41898599e+01] [ 1.92564699e-01 9.81280261e-01 -2.80824917e-03 1.70836580e+00] [ 1.49844644e-02 -7.90243256e-05 9.99887723e-01 3.31709940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.998040942 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:24.22, Y:1.71, Z:0.33 [[ 9.80235141e-01 -1.97288711e-01 -1.47048592e-02 2.42211984e+01] [ 1.97267685e-01 9.80345428e-01 -2.88131788e-03 1.71352963e+00] [ 1.49842929e-02 -7.64244779e-05 9.99887726e-01 3.34233791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.028040942 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:24.25, Y:1.72, Z:0.34 [[ 9.80204092e-01 -1.97441696e-01 -1.47212200e-02 2.42523915e+01] [ 1.97421936e-01 9.80314618e-01 -2.79809509e-03 1.71786960e+00] [ 1.49838878e-02 -1.63587508e-04 9.99887722e-01 3.36622534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.058040941999998 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:24.28, Y:1.73, Z:0.33 [[ 9.79448075e-01 -2.01157225e-01 -1.47390539e-02 2.42778055e+01] [ 2.01139249e-01 9.79558917e-01 -2.70732677e-03 1.72550912e+00] [ 1.49823700e-02 -3.12916249e-04 9.99887709e-01 3.32896932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.088040942 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:24.30, Y:1.73, Z:0.34 [[ 9.79274892e-01 -2.01999066e-01 -1.47330850e-02 2.43015197e+01] [ 2.01980728e-01 9.79385670e-01 -2.73770031e-03 1.73244917e+00] [ 1.49823852e-02 -2.94838065e-04 9.99887714e-01 3.35540486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.118040942 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:24.33, Y:1.74, Z:0.34 [[ 9.78797659e-01 -2.04301264e-01 -1.47015619e-02 2.43336077e+01] [ 2.04280782e-01 9.78908048e-01 -2.89763808e-03 1.73658756e+00] [ 1.49834684e-02 -1.67045201e-04 9.99887728e-01 3.35064570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.148040941999998 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:24.36, Y:1.74, Z:0.34 [[ 9.78887238e-01 -2.03868884e-01 -1.47394905e-02 2.43555181e+01] [ 2.03851253e-01 9.78998136e-01 -2.70485699e-03 1.74255656e+00] [ 1.49813699e-02 -3.56913602e-04 9.99887709e-01 3.36261163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.178040942 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:24.39, Y:1.75, Z:0.34 [[ 9.78664789e-01 -2.04936858e-01 -1.47008648e-02 2.43865205e+01] [ 2.04916403e-01 9.78775181e-01 -2.90062040e-03 1.74823342e+00] [ 1.49832856e-02 -1.73713287e-04 9.99887729e-01 3.37754424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.208040942 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:24.41, Y:1.76, Z:0.34 [[ 9.78780768e-01 -2.04380317e-01 -1.47273231e-02 2.44093308e+01] [ 2.04361817e-01 9.78891513e-01 -2.76640104e-03 1.75500805e+00] [ 1.49818495e-02 -3.02002384e-04 9.99887720e-01 3.36228642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.238040941999998 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:24.44, Y:1.76, Z:0.34 [[ 9.78978321e-01 -2.03433921e-01 -1.46998700e-02 2.44364750e+01] [ 2.03413227e-01 9.79088667e-01 -2.90530538e-03 1.76248166e+00] [ 1.49835138e-02 -1.45917009e-04 9.99887730e-01 3.35292957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.268040942 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:24.46, Y:1.77, Z:0.34 [[ 9.79083299e-01 -2.02928105e-01 -1.46996126e-02 2.44636756e+01] [ 2.02907334e-01 9.79193630e-01 -2.90660718e-03 1.76855353e+00] [ 1.49835993e-02 -1.36848652e-04 9.99887730e-01 3.35483619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.298040942 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:24.49, Y:1.77, Z:0.34 [[ 9.79247375e-01 -2.02134874e-01 -1.46993581e-02 2.44897361e+01] [ 2.02113994e-01 9.79357686e-01 -2.90789343e-03 1.77467401e+00] [ 1.49837160e-02 -1.23398976e-04 9.99887730e-01 3.35494429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.328040942 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:24.52, Y:1.78, Z:0.34 [[ 9.79609300e-01 -2.00373548e-01 -1.46990050e-02 2.45170898e+01] [ 2.00352443e-01 9.79719568e-01 -2.90967750e-03 1.78176962e+00] [ 1.49839252e-02 -9.46344237e-05 9.99887730e-01 3.35801062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.358040942 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:24.55, Y:1.79, Z:0.33 [[ 9.79590424e-01 -2.00465825e-01 -1.46987546e-02 2.45454553e+01] [ 2.00444712e-01 9.79700691e-01 -2.91094160e-03 1.78802494e+00] [ 1.49839244e-02 -9.47571188e-05 9.99887730e-01 3.33417117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.388040942 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:24.57, Y:1.79, Z:0.34 [[ 9.79687046e-01 -1.99992962e-01 -1.47005975e-02 2.45720162e+01] [ 1.99971935e-01 9.79797329e-01 -2.90164182e-03 1.79361083e+00] [ 1.49839141e-02 -9.70060237e-05 9.99887730e-01 3.36353474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.418040942 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:24.60, Y:1.80, Z:0.33 [[ 9.79449339e-01 -2.01154093e-01 -1.46977065e-02 2.45989319e+01] [ 2.01132978e-01 9.79559606e-01 -2.91621225e-03 1.80069764e+00] [ 1.49838877e-02 -9.99113252e-05 9.99887730e-01 3.34633203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.448040942 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:24.63, Y:1.81, Z:0.34 [[ 9.79371067e-01 -2.01535053e-01 -1.46947235e-02 2.46257758e+01] [ 2.01513756e-01 9.79481298e-01 -2.93122758e-03 1.80651578e+00] [ 1.49839520e-02 -9.04294439e-05 9.99887730e-01 3.37383529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.478040942 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:24.65, Y:1.81, Z:0.34 [[ 9.78685567e-01 -2.04837921e-01 -1.46964863e-02 2.46533901e+01] [ 2.04817128e-01 9.78795895e-01 -2.92236246e-03 1.81377867e+00] [ 1.49834711e-02 -1.50018168e-04 9.99887730e-01 3.35760863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.508040942 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:24.68, Y:1.82, Z:0.34 [[ 9.78741435e-01 -2.04570604e-01 -1.46993481e-02 2.46795467e+01] [ 2.04549997e-01 9.78851798e-01 -2.90798223e-03 1.81814549e+00] [ 1.49833710e-02 -1.60588915e-04 9.99887730e-01 3.38210125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.538040942 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:24.71, Y:1.82, Z:0.34 [[ 9.78464977e-01 -2.05889132e-01 -1.46954040e-02 2.47059702e+01] [ 2.05868377e-01 9.78575311e-01 -2.92777926e-03 1.82354085e+00] [ 1.49833574e-02 -1.60589497e-04 9.99887730e-01 3.37881586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.568040942 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:24.73, Y:1.83, Z:0.34 [[ 9.78217148e-01 -2.07063449e-01 -1.46948534e-02 2.47330296e+01] [ 2.07042784e-01 9.78327500e-01 -2.93053982e-03 1.82863126e+00] [ 1.49831869e-02 -1.75759065e-04 9.99887730e-01 3.37151470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.598040942 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:24.76, Y:1.83, Z:0.34 [[ 9.78126330e-01 -2.07492056e-01 -1.46945070e-02 2.47609795e+01] [ 2.07471414e-01 9.78236686e-01 -2.93227577e-03 1.83438817e+00] [ 1.49831298e-02 -1.80554018e-04 9.99887730e-01 3.37553991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.628040942 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:24.79, Y:1.84, Z:0.34 [[ 9.78184584e-01 -2.07217315e-01 -1.46936962e-02 2.47884537e+01] [ 2.07196581e-01 9.78294922e-01 -2.93633326e-03 1.84180734e+00] [ 1.49832275e-02 -1.72207674e-04 9.99887730e-01 3.38432131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.658040942 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:24.82, Y:1.85, Z:0.34 [[ 9.78268687e-01 -2.06819960e-01 -1.46928879e-02 2.48157675e+01] [ 2.06799121e-01 9.78379005e-01 -2.94037217e-03 1.84893857e+00] [ 1.49833407e-02 -1.62002287e-04 9.99887730e-01 3.38789091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.688040942 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:24.84, Y:1.86, Z:0.34 [[ 9.78437682e-01 -2.06019043e-01 -1.46920694e-02 2.48418436e+01] [ 2.05998052e-01 9.78547972e-01 -2.94445613e-03 1.85532853e+00] [ 1.49835088e-02 -1.45570846e-04 9.99887730e-01 3.39420225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.718040942 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:24.87, Y:1.86, Z:0.34 [[ 9.78711559e-01 -2.04714037e-01 -1.46917147e-02 2.48692561e+01] [ 2.04692873e-01 9.78821816e-01 -2.94622526e-03 1.86064455e+00] [ 1.49837045e-02 -1.23784559e-04 9.99887730e-01 3.39559495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.748040942 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:24.91, Y:1.86, Z:0.34 [[ 9.80389866e-01 -1.96519437e-01 -1.46908816e-02 2.49111368e+01] [ 1.96497289e-01 9.80499929e-01 -2.95037350e-03 1.85884099e+00] [ 1.49842141e-02 5.79787596e-06 9.99887730e-01 3.43567975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.778040942 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:24.94, Y:1.86, Z:0.34 [[ 9.80606413e-01 -1.95428839e-01 -1.47862159e-02 2.49372291e+01] [ 1.95413748e-01 9.80717774e-01 -2.47269400e-03 1.86373435e+00] [ 1.49843405e-02 -4.64690267e-04 9.99887620e-01 3.38697847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.808040941999998 meters Centerline goodness : 0.995698 Centerline is valid? [True, True] Translation: X:24.96, Y:1.87, Z:0.34 [[ 9.80058233e-01 -1.98159917e-01 -1.47819579e-02 2.49572314e+01] [ 1.98144803e-01 9.80169584e-01 -2.49478808e-03 1.87151827e+00] [ 1.49831925e-02 -4.83930531e-04 9.99887629e-01 3.39023991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.838040942 meters Centerline goodness : 0.995698 Centerline is valid? [True, True] Translation: X:24.99, Y:1.88, Z:0.34 [[ 9.79988138e-01 -1.98510922e-01 -1.47194723e-02 2.49852046e+01] [ 1.98490994e-01 9.80098662e-01 -2.81734674e-03 1.87741129e+00] [ 1.49858093e-02 -1.60716308e-04 9.99887694e-01 3.39358303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.868040942 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:25.01, Y:1.88, Z:0.34 [[ 9.79951081e-01 -1.98693886e-01 -1.47179886e-02 2.50124651e+01] [ 1.98673863e-01 9.80061588e-01 -2.82498675e-03 1.88273257e+00] [ 1.49858429e-02 -1.55730836e-04 9.99887694e-01 3.41230340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.898040941999998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:25.05, Y:1.88, Z:0.35 [[ 9.80913434e-01 -1.93887676e-01 -1.47106772e-02 2.50502069e+01] [ 1.93866549e-01 9.81023734e-01 -2.86256012e-03 1.88197588e+00] [ 1.49865386e-02 -4.39845452e-05 9.99887695e-01 3.46443419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.928040942 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:25.07, Y:1.89, Z:0.34 [[ 9.79761908e-01 -1.99620489e-01 -1.47737761e-02 2.50694859e+01] [ 1.99604945e-01 9.79873177e-01 -2.53429398e-03 1.89260146e+00] [ 1.49823239e-02 -4.65914057e-04 9.99887650e-01 3.42178527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.958040942 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:25.11, Y:1.89, Z:0.35 [[ 9.80395321e-01 -1.96489966e-01 -1.47209890e-02 2.51072845e+01] [ 1.96469952e-01 9.80505825e-01 -2.80785604e-03 1.89237797e+00] [ 1.49857310e-02 -1.39423074e-04 9.99887698e-01 3.48399106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.988040941999998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:25.13, Y:1.90, Z:0.35 [[ 9.79970068e-01 -1.98595046e-01 -1.47876344e-02 2.51332572e+01] [ 1.98580424e-01 9.80081495e-01 -2.46542679e-03 1.89891082e+00] [ 1.49827084e-02 -5.20490253e-04 9.99887617e-01 3.47110394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.018040942 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:25.15, Y:1.91, Z:0.35 [[ 9.78822042e-01 -2.04178836e-01 -1.47788297e-02 2.51513182e+01] [ 2.04164166e-01 9.78933445e-01 -2.51076120e-03 1.90908612e+00] [ 1.49801350e-02 -5.59719035e-04 9.99887635e-01 3.46102511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.048040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:25.19, Y:1.91, Z:0.35 [[ 9.79620092e-01 -2.00319392e-01 -1.47178931e-02 2.51922972e+01] [ 2.00299584e-01 9.79730630e-01 -2.82289911e-03 1.90991344e+00] [ 1.49850521e-02 -1.82619188e-04 9.99887701e-01 3.46121599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.078040942 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:25.22, Y:1.92, Z:0.35 [[ 9.79589641e-01 -2.00462708e-01 -1.47931709e-02 2.52209594e+01] [ 2.00448735e-01 9.79701163e-01 -2.43653406e-03 1.91521145e+00] [ 1.49813209e-02 -5.78468866e-04 9.99887606e-01 3.49362114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.108040942 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:25.24, Y:1.93, Z:0.35 [[ 9.78135253e-01 -2.07443285e-01 -1.47888328e-02 2.52373715e+01] [ 2.07429769e-01 9.78246822e-01 -2.45889752e-03 1.92771016e+00] [ 1.49772105e-02 -6.62509822e-04 9.99887616e-01 3.46123711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.138040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:25.27, Y:1.93, Z:0.35 [[ 9.79161895e-01 -2.02546672e-01 -1.47251404e-02 2.52741741e+01] [ 2.02527672e-01 9.79272577e-01 -2.78587700e-03 1.92844011e+00] [ 1.49841963e-02 -2.54423807e-04 9.99887698e-01 3.47461361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.168040942 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:25.29, Y:1.94, Z:0.35 [[ 9.78315895e-01 -2.06590242e-01 -1.47811250e-02 2.52912377e+01] [ 2.06575982e-01 9.78427363e-01 -2.50177855e-03 1.93850343e+00] [ 1.49791002e-02 -6.05895682e-04 9.99887623e-01 3.48086922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.33, Y:1.94, Z:0.35 [[ 9.80126271e-01 -1.97829470e-01 -1.46967507e-02 2.53332524e+01] [ 1.97807814e-01 9.80236451e-01 -2.92733963e-03 1.93696870e+00] [ 1.49854047e-02 -3.79696544e-05 9.99887712e-01 3.48731253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.228040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.36, Y:1.94, Z:0.35 [[ 9.80408684e-01 -1.96417926e-01 -1.47922618e-02 2.53594180e+01] [ 1.96403403e-01 9.80520136e-01 -2.44248072e-03 1.94140292e+00] [ 1.49838575e-02 -5.10621242e-04 9.99887605e-01 3.49005292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.258040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.39, Y:1.95, Z:0.35 [[ 9.80460948e-01 -1.96156770e-01 -1.47936360e-02 2.53902519e+01] [ 1.96142323e-01 9.80572413e-01 -2.43546905e-03 1.94679862e+00] [ 1.49839651e-02 -5.13775829e-04 9.99887602e-01 3.48701546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.40, Y:1.96, Z:0.35 [[ 9.79016232e-01 -2.03242399e-01 -1.48237690e-02 2.54022886e+01] [ 2.03231089e-01 9.79128143e-01 -2.28128921e-03 1.96110125e+00] [ 1.49780241e-02 -7.79231549e-04 9.99887519e-01 3.49080221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.318040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.43, Y:1.96, Z:0.35 [[ 9.79558068e-01 -2.00621328e-01 -1.47334453e-02 2.54257085e+01] [ 2.00602806e-01 9.79668826e-01 -2.73959156e-03 1.96470410e+00] [ 1.49835175e-02 -2.71981445e-04 9.99887704e-01 3.51353929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.47, Y:1.96, Z:0.35 [[ 9.80734177e-01 -1.94793133e-01 -1.47006372e-02 2.54674902e+01] [ 1.94771462e-01 9.80844348e-01 -2.90558323e-03 1.96057089e+00] [ 1.49850246e-02 -1.36598257e-05 9.99887718e-01 3.54033724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.378040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:25.48, Y:1.97, Z:0.35 [[ 9.79465885e-01 -2.01066993e-01 -1.47866049e-02 2.54819191e+01] [ 2.01052610e-01 9.79577335e-01 -2.46820272e-03 1.97394328e+00] [ 1.49808972e-02 -5.55365153e-04 9.99887626e-01 3.52943295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.408040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.52, Y:1.97, Z:0.36 [[ 9.80532774e-01 -1.95804481e-01 -1.46997868e-02 2.55230367e+01] [ 1.95782899e-01 9.80642955e-01 -2.90719326e-03 1.97110870e+00] [ 1.49844839e-02 -2.73686097e-05 9.99887726e-01 3.55084325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.55, Y:1.98, Z:0.36 [[ 9.80227848e-01 -1.97319030e-01 -1.47840118e-02 2.55529387e+01] [ 1.97304055e-01 9.80339208e-01 -2.47919903e-03 1.97518162e+00] [ 1.49825396e-02 -4.86765552e-04 9.99887637e-01 3.55761488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.58, Y:1.98, Z:0.36 [[ 9.79994905e-01 -1.98472458e-01 -1.47874876e-02 2.55819262e+01] [ 1.98457880e-01 9.80106326e-01 -2.46156427e-03 1.97984733e+00] [ 1.49818629e-02 -5.22373011e-04 9.99887629e-01 3.56502935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.61, Y:1.99, Z:0.36 [[ 9.79366315e-01 -2.01551070e-01 -1.47914384e-02 2.56061261e+01] [ 2.01537144e-01 9.79477829e-01 -2.44157039e-03 1.98648489e+00] [ 1.49799871e-02 -5.89832445e-04 9.99887620e-01 3.55566068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.63, Y:1.99, Z:0.36 [[ 9.79189584e-01 -2.02409531e-01 -1.47695499e-02 2.56343044e+01] [ 2.02394037e-01 9.79300843e-01 -2.55197552e-03 1.99173123e+00] [ 1.49803768e-02 -4.90400961e-04 9.99887668e-01 3.56250614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.558040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.66, Y:2.00, Z:0.36 [[ 9.78948106e-01 -2.03573768e-01 -1.47758862e-02 2.56600753e+01] [ 2.03558888e-01 9.79059461e-01 -2.52005042e-03 1.99779998e+00] [ 1.49794874e-02 -5.40764380e-04 9.99887655e-01 3.56741205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.588040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.67, Y:2.01, Z:0.36 [[ 9.77651530e-01 -2.09712597e-01 -1.47686179e-02 2.56743795e+01] [ 2.09697863e-01 9.77762890e-01 -2.55660241e-03 2.01027536e+00] [ 1.49763583e-02 -5.97481364e-04 9.99887670e-01 3.55267572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.72, Y:2.01, Z:0.36 [[ 9.78584770e-01 -2.05319226e-01 -1.46923205e-02 2.57155163e+01] [ 2.05298251e-01 9.78695047e-01 -2.93813785e-03 2.00888106e+00] [ 1.49825574e-02 -1.41090746e-04 9.99887745e-01 3.56128203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.648040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.74, Y:2.01, Z:0.36 [[ 9.78495720e-01 -2.05737702e-01 -1.47690277e-02 2.57434624e+01] [ 2.05722575e-01 9.78607023e-01 -2.55274545e-03 2.01292629e+00] [ 1.49782702e-02 -5.40471902e-04 9.99887673e-01 3.55133831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.77, Y:2.02, Z:0.35 [[ 9.78199930e-01 -2.07139335e-01 -1.47713188e-02 2.57706119e+01] [ 2.07124541e-01 9.78311283e-01 -2.54124484e-03 2.01934260e+00] [ 1.49773396e-02 -5.73657091e-04 9.99887669e-01 3.53578216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.80, Y:2.03, Z:0.35 [[ 9.77874673e-01 -2.08669980e-01 -1.47636042e-02 2.57968928e+01] [ 2.08654776e-01 9.77985955e-01 -2.57990479e-03 2.02530940e+00] [ 1.49769463e-02 -5.57672986e-04 9.99887684e-01 3.51466169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.738040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.83, Y:2.03, Z:0.35 [[ 9.77777817e-01 -2.09123608e-01 -1.47600062e-02 2.58253648e+01] [ 2.09108184e-01 9.77889062e-01 -2.59791305e-03 2.03023725e+00] [ 1.49769336e-02 -5.46256340e-04 9.99887690e-01 3.52078762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.85, Y:2.04, Z:0.35 [[ 9.77598695e-01 -2.09959083e-01 -1.47640107e-02 2.58527082e+01] [ 2.09944056e-01 9.77710002e-01 -2.57791224e-03 2.03607916e+00] [ 1.49761770e-02 -5.79452644e-04 9.99887683e-01 3.52841022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.798040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.88, Y:2.04, Z:0.35 [[ 9.77347709e-01 -2.11124563e-01 -1.47605757e-02 2.58789876e+01] [ 2.11109410e-01 9.77458993e-01 -2.59504181e-03 2.04141514e+00] [ 1.49757345e-02 -5.79838257e-04 9.99887689e-01 3.53438257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.828040941999998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:25.90, Y:2.05, Z:0.35 [[ 9.76781130e-01 -2.13730703e-01 -1.47583844e-02 2.59037070e+01] [ 2.13715683e-01 9.76892428e-01 -2.60594918e-03 2.04962620e+00] [ 1.49743253e-02 -6.08656205e-04 9.99887693e-01 3.54824965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.93, Y:2.06, Z:0.36 [[ 9.76617216e-01 -2.14479837e-01 -1.47381635e-02 2.59295489e+01] [ 2.14463386e-01 9.76728279e-01 -2.70639781e-03 2.05656159e+00] [ 1.49756488e-02 -5.17681749e-04 9.99887725e-01 3.56455600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.96, Y:2.06, Z:0.36 [[ 9.76370577e-01 -2.15600359e-01 -1.47302864e-02 2.59552998e+01] [ 2.15583446e-01 9.76481562e-01 -2.74543154e-03 2.06376748e+00] [ 1.49757691e-02 -4.95047338e-04 9.99887734e-01 3.55209542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.98, Y:2.07, Z:0.36 [[ 9.76170789e-01 -2.16503787e-01 -1.47207793e-02 2.59827617e+01] [ 2.16486269e-01 9.76281669e-01 -2.79243052e-03 2.07014483e+00] [ 1.49761988e-02 -4.60957492e-04 9.99887744e-01 3.56309638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.01, Y:2.08, Z:0.36 [[ 9.75876751e-01 -2.17825014e-01 -1.47251433e-02 2.60075709e+01] [ 2.17807971e-01 9.75987710e-01 -2.77087887e-03 2.07828250e+00] [ 1.49751256e-02 -5.03217320e-04 9.99887740e-01 3.56939025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.978040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:26.04, Y:2.09, Z:0.36 [[ 9.75890516e-01 -2.17765307e-01 -1.46959727e-02 2.60354388e+01] [ 2.17746109e-01 9.76001098e-01 -2.91346528e-03 2.08530773e+00] [ 1.49777371e-02 -3.56767726e-04 9.99887764e-01 3.56688898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.008040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.06, Y:2.09, Z:0.36 [[ 9.76031586e-01 -2.17132188e-01 -1.46954187e-02 2.60615525e+01] [ 2.17112877e-01 9.76142149e-01 -2.91616823e-03 2.09143584e+00] [ 1.49780116e-02 -3.44292331e-04 9.99887764e-01 3.56273586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.038040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.09, Y:2.10, Z:0.36 [[ 9.75875864e-01 -2.17831207e-01 -1.46923085e-02 2.60873736e+01] [ 2.17811746e-01 9.75986399e-01 -2.93139739e-03 2.10072338e+00] [ 1.49780431e-02 -3.39477418e-04 9.99887765e-01 3.57782641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.068040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.13, Y:2.10, Z:0.36 [[ 9.76896702e-01 -2.13206778e-01 -1.46868311e-02 2.61250714e+01] [ 2.13186391e-01 9.77007068e-01 -2.95818388e-03 2.10143117e+00] [ 1.49798426e-02 -2.41192433e-04 9.99887767e-01 3.59829190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.098040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:26.15, Y:2.11, Z:0.36 [[ 9.76615519e-01 -2.14489208e-01 -1.47142018e-02 2.61549123e+01] [ 2.14470944e-01 9.76726279e-01 -2.82683395e-03 2.10997336e+00] [ 1.49780730e-02 -3.95038846e-04 9.99887744e-01 3.60754578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.18, Y:2.12, Z:0.36 [[ 9.76611852e-01 -2.14505422e-01 -1.47212422e-02 2.61782525e+01] [ 2.14487667e-01 9.76722703e-01 -2.79309290e-03 2.11735229e+00] [ 1.49777051e-02 -4.29757263e-04 9.99887736e-01 3.64458403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.158040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.20, Y:2.13, Z:0.36 [[ 9.75733668e-01 -2.18467158e-01 -1.46938612e-02 2.62034990e+01] [ 2.18447881e-01 9.75844236e-01 -2.92399324e-03 2.12928776e+00] [ 1.49777163e-02 -3.56804202e-04 9.99887764e-01 3.62063385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.24, Y:2.13, Z:0.36 [[ 9.76466049e-01 -2.15172186e-01 -1.46623570e-02 2.62407826e+01] [ 2.15150277e-01 9.76576114e-01 -3.07425072e-03 2.13121842e+00] [ 1.49804009e-02 -1.52708716e-04 9.99887776e-01 3.61127821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.27, Y:2.14, Z:0.36 [[ 9.76227910e-01 -2.16245881e-01 -1.47236521e-02 2.62677927e+01] [ 2.16228492e-01 9.76338824e-01 -2.78198929e-03 2.13806502e+00] [ 1.49768669e-02 -4.67817500e-04 9.99887731e-01 3.62475166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.29, Y:2.15, Z:0.36 [[ 9.75852769e-01 -2.17933266e-01 -1.47127488e-02 2.62934937e+01] [ 2.17915286e-01 9.75963574e-01 -2.83389991e-03 2.14516491e+00] [ 1.49767080e-02 -4.40663779e-04 9.99887746e-01 3.62364618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.278040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:26.32, Y:2.15, Z:0.36 [[ 9.75744757e-01 -2.18416903e-01 -1.47046123e-02 2.63187567e+01] [ 2.18398395e-01 9.75855465e-01 -2.87257682e-03 2.15080224e+00] [ 1.49769957e-02 -4.08561965e-04 9.99887755e-01 3.62108652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.308040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.35, Y:2.16, Z:0.36 [[ 9.75244186e-01 -2.20642461e-01 -1.46861394e-02 2.63489593e+01] [ 2.20622893e-01 9.75354694e-01 -2.95973462e-03 2.15872272e+00] [ 1.49772381e-02 -3.53634576e-04 9.99887772e-01 3.62873516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.37, Y:2.16, Z:0.36 [[ 9.75195692e-01 -2.20855494e-01 -1.47041950e-02 2.63734989e+01] [ 2.20837233e-01 9.75306441e-01 -2.87451570e-03 2.16494821e+00] [ 1.49759487e-02 -4.44018414e-04 9.99887756e-01 3.62402668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.40, Y:2.17, Z:0.36 [[ 9.74970975e-01 -2.21846684e-01 -1.46849005e-02 2.64012091e+01] [ 2.21827163e-01 9.75081491e-01 -2.96567269e-03 2.17278859e+00] [ 1.49768994e-02 -3.66065023e-04 9.99887773e-01 3.62197786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.398040941999998 meters Centerline goodness : 0.996363 Centerline is valid? [True, True] Translation: X:26.43, Y:2.18, Z:0.36 [[ 9.74740014e-01 -2.22858817e-01 -1.46919379e-02 2.64255662e+01] [ 2.22839915e-01 9.74850642e-01 -2.93216795e-03 2.18164861e+00] [ 1.49759046e-02 -4.15848775e-04 9.99887768e-01 3.63735733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.46, Y:2.19, Z:0.36 [[ 9.75100274e-01 -2.21279044e-01 -1.46642700e-02 2.64589099e+01] [ 2.21257987e-01 9.75210499e-01 -3.06344671e-03 2.18785949e+00] [ 1.49786266e-02 -2.57419131e-04 9.99887781e-01 3.63305708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.458040942 meters Centerline goodness : 0.997483 Centerline is valid? [True, True] Translation: X:26.48, Y:2.19, Z:0.36 [[ 9.74699811e-01 -2.23033891e-01 -1.47024377e-02 2.64821617e+01] [ 2.23015755e-01 9.74810578e-01 -2.88267282e-03 2.19481573e+00] [ 1.49750256e-02 -4.69134596e-04 9.99887758e-01 3.63727763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.488040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.51, Y:2.20, Z:0.36 [[ 9.74906200e-01 -2.22132188e-01 -1.46694404e-02 2.65088754e+01] [ 2.22111601e-01 9.75016514e-01 -3.03860053e-03 2.20072366e+00] [ 1.49779176e-02 -2.95902390e-04 9.99887781e-01 3.64384361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.53, Y:2.21, Z:0.36 [[ 9.74993255e-01 -2.21750740e-01 -1.46547812e-02 2.65349890e+01] [ 2.21729071e-01 9.75103359e-01 -3.10772739e-03 2.20722831e+00] [ 1.49790672e-02 -2.19377776e-04 9.99887783e-01 3.63971968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.56, Y:2.21, Z:0.36 [[ 9.74969930e-01 -2.21853292e-01 -1.46544002e-02 2.65618374e+01] [ 2.21831608e-01 9.75080032e-01 -3.10952270e-03 2.21354342e+00] [ 1.49790709e-02 -2.19118038e-04 9.99887783e-01 3.64189677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.578040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.60, Y:2.22, Z:0.36 [[ 9.75581776e-01 -2.19147146e-01 -1.46535419e-02 2.65973543e+01] [ 2.19125095e-01 9.75691805e-01 -3.11356236e-03 2.21683608e+00] [ 1.49796691e-02 -1.73424064e-04 9.99887783e-01 3.64694799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.608040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.63, Y:2.22, Z:0.37 [[ 9.76103348e-01 -2.16807912e-01 -1.47167699e-02 2.66286261e+01] [ 2.16790082e-01 9.76214184e-01 -2.81546007e-03 2.22124567e+00] [ 1.49771335e-02 -4.42269742e-04 9.99887739e-01 3.65101491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.638040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.66, Y:2.23, Z:0.36 [[ 9.76155219e-01 -2.16573184e-01 -1.47324491e-02 2.66571770e+01] [ 2.16556441e-01 9.76266250e-01 -2.74158948e-03 2.22808970e+00] [ 1.49765476e-02 -5.14189880e-04 9.99887713e-01 3.63719813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.68, Y:2.24, Z:0.37 [[ 9.75365791e-01 -2.20101505e-01 -1.47275827e-02 2.66756493e+01] [ 2.20084820e-01 9.75476822e-01 -2.76436658e-03 2.24020705e+00] [ 1.49748568e-02 -5.45048786e-04 9.99887722e-01 3.66991258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.70, Y:2.25, Z:0.37 [[ 9.75819411e-01 -2.18085950e-01 -1.46627309e-02 2.66999054e+01] [ 2.18064486e-01 9.75929545e-01 -3.06654073e-03 2.24631758e+00] [ 1.49785617e-02 -2.05030899e-04 9.99887794e-01 3.66578120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.728040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.74, Y:2.25, Z:0.37 [[ 9.77011842e-01 -2.12681423e-01 -1.46448666e-02 2.67383667e+01] [ 2.12658104e-01 9.77121595e-01 -3.14960526e-03 2.24945793e+00] [ 1.49796780e-02 -3.71479278e-05 9.99887798e-01 3.66156110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.758040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.77, Y:2.26, Z:0.37 [[ 9.76875819e-01 -2.13299821e-01 -1.47248355e-02 2.67663450e+01] [ 2.13282185e-01 9.76986695e-01 -2.77614989e-03 2.25565773e+00] [ 1.49781207e-02 -4.28591396e-04 9.99887730e-01 3.66693407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.788040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.79, Y:2.26, Z:0.37 [[ 9.76686323e-01 -2.14166105e-01 -1.47209559e-02 2.67943476e+01] [ 2.14148294e-01 9.76797164e-01 -2.79421310e-03 2.26419050e+00] [ 1.49778137e-02 -4.23397868e-04 9.99887737e-01 3.69225660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.818040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.82, Y:2.27, Z:0.37 [[ 9.76774401e-01 -2.13764810e-01 -1.47096740e-02 2.68215761e+01] [ 2.13746172e-01 9.76885087e-01 -2.84615415e-03 2.27024303e+00] [ 1.49780688e-02 -3.64086000e-04 9.99887756e-01 3.66929537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.85, Y:2.27, Z:0.37 [[ 9.76665360e-01 -2.14263213e-01 -1.46986128e-02 2.68467691e+01] [ 2.14243860e-01 9.76775908e-01 -2.89737598e-03 2.27426036e+00] [ 1.49780519e-02 -3.19320783e-04 9.99887772e-01 3.67272839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.87, Y:2.28, Z:0.37 [[ 9.75831434e-01 -2.18030984e-01 -1.46800197e-02 2.68700407e+01] [ 2.18010766e-01 9.75941805e-01 -2.98324227e-03 2.28317210e+00] [ 1.49772842e-02 -2.89260761e-04 9.99887792e-01 3.68701134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.908040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:26.90, Y:2.29, Z:0.37 [[ 9.76263868e-01 -2.16088925e-01 -1.46436842e-02 2.69037638e+01] [ 2.16065979e-01 9.76373683e-01 -3.15021046e-03 2.28747755e+00] [ 1.49784335e-02 -8.85653316e-05 9.99887813e-01 3.67951131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.93, Y:2.29, Z:0.37 [[ 9.76117264e-01 -2.16747150e-01 -1.46887487e-02 2.69269614e+01] [ 2.16727377e-01 9.76227728e-01 -2.94397066e-03 2.29475760e+00] [ 1.49776610e-02 -3.09793380e-04 9.99887781e-01 3.69691450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.96, Y:2.30, Z:0.37 [[ 9.75837793e-01 -2.18003945e-01 -1.46588475e-02 2.69586835e+01] [ 2.17982263e-01 9.75947870e-01 -3.08041770e-03 2.30101093e+00] [ 1.49778142e-02 -1.89380720e-04 9.99887808e-01 3.69844362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.98, Y:2.31, Z:0.37 [[ 9.75527962e-01 -2.19384477e-01 -1.46849227e-02 2.69844750e+01] [ 2.19364740e-01 9.75638427e-01 -2.96144545e-03 2.30508155e+00] [ 1.49768701e-02 -3.32381414e-04 9.99887785e-01 3.69779397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.01, Y:2.31, Z:0.37 [[ 9.74906872e-01 -2.22129135e-01 -1.46709975e-02 2.70149166e+01] [ 2.22108755e-01 9.75017206e-01 -3.02481580e-03 2.31157062e+00] [ 1.49763747e-02 -3.09643276e-04 9.99887800e-01 3.68237566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.058040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.03, Y:2.32, Z:0.37 [[ 9.74315869e-01 -2.24705675e-01 -1.46951188e-02 2.70334699e+01] [ 2.24687241e-01 9.74426573e-01 -2.91502608e-03 2.31836912e+00] [ 1.49743372e-02 -4.61649541e-04 9.99887772e-01 3.68732551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.06, Y:2.33, Z:0.37 [[ 9.73055162e-01 -2.30108099e-01 -1.46258251e-02 2.70605285e+01] [ 2.30085552e-01 9.73165049e-01 -3.22890603e-03 2.32563938e+00] [ 1.49763393e-02 -2.23287376e-04 9.99887823e-01 3.66180792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.09, Y:2.33, Z:0.37 [[ 9.72274834e-01 -2.33383290e-01 -1.46248910e-02 2.70869143e+01] [ 2.33361049e-01 9.72384784e-01 -3.23313143e-03 2.33492234e+00] [ 1.49755804e-02 -2.69387597e-04 9.99887823e-01 3.69596945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.148040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.12, Y:2.34, Z:0.37 [[ 9.73779758e-01 -2.27022922e-01 -1.46142486e-02 2.71171592e+01] [ 2.26999241e-01 9.73889407e-01 -3.28123007e-03 2.33611759e+00] [ 1.49775763e-02 -1.22227920e-04 9.99887822e-01 3.69015952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.15, Y:2.34, Z:0.37 [[ 9.73620244e-01 -2.27705518e-01 -1.46224873e-02 2.71473739e+01] [ 2.27682473e-01 9.73730028e-01 -3.24399199e-03 2.34210449e+00] [ 1.49770298e-02 -1.70867793e-04 9.99887823e-01 3.69236632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.18, Y:2.34, Z:0.37 [[ 9.74658764e-01 -2.23217177e-01 -1.46419009e-02 2.71836879e+01] [ 2.23194944e-01 9.74768719e-01 -3.15625241e-03 2.34256534e+00] [ 1.49769967e-02 -1.91729177e-04 9.99887820e-01 3.73663578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.238040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.21, Y:2.35, Z:0.37 [[ 9.74529369e-01 -2.23777405e-01 -1.47031181e-02 2.72143774e+01] [ 2.23759410e-01 9.74640158e-01 -2.87885962e-03 2.34763119e+00] [ 1.49744731e-02 -4.84427777e-04 9.99887759e-01 3.73524464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.23, Y:2.36, Z:0.37 [[ 9.72865768e-01 -2.30901707e-01 -1.47172772e-02 2.72256850e+01] [ 2.30885491e-01 9.72976858e-01 -2.81488468e-03 2.36126548e+00] [ 1.49695318e-02 -6.59500822e-04 9.99887733e-01 3.73223332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.25, Y:2.37, Z:0.37 [[ 9.72901285e-01 -2.30759794e-01 -1.45947923e-02 2.72526098e+01] [ 2.30735288e-01 9.73010744e-01 -3.36428957e-03 2.36797254e+00] [ 1.49772325e-02 -9.44119665e-05 9.99887831e-01 3.73763375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.328040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.28, Y:2.37, Z:0.37 [[ 9.73569228e-01 -2.27925160e-01 -1.45972404e-02 2.72802975e+01] [ 2.27900499e-01 9.73678652e-01 -3.35331879e-03 2.37483342e+00] [ 1.49773271e-02 -6.20303843e-05 9.99887832e-01 3.74467425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.358040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.31, Y:2.38, Z:0.37 [[ 9.74005937e-01 -2.26051471e-01 -1.46002397e-02 2.73068861e+01] [ 2.26026801e-01 9.74115358e-01 -3.33988845e-03 2.38077824e+00] [ 1.49773044e-02 -4.69742991e-05 9.99887833e-01 3.74428859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.388040942 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:27.34, Y:2.39, Z:0.37 [[ 9.75194978e-01 -2.20865427e-01 -1.46019718e-02 2.73392582e+01] [ 2.20840292e-01 9.75304292e-01 -3.33210605e-03 2.38512975e+00] [ 1.49773128e-02 2.47493676e-05 9.99887833e-01 3.71856383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.36, Y:2.39, Z:0.38 [[ 9.75095973e-01 -2.21299363e-01 -1.46436441e-02 2.73621107e+01] [ 2.21277087e-01 9.75205907e-01 -3.14468882e-03 2.39130395e+00] [ 1.49764859e-02 -1.73929517e-04 9.99887831e-01 3.75888491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.39, Y:2.40, Z:0.37 [[ 9.75669923e-01 -2.18757559e-01 -1.46058954e-02 2.73949247e+01] [ 2.18732461e-01 9.75779242e-01 -3.31387637e-03 2.39612981e+00] [ 1.49770651e-02 3.84660564e-05 9.99887837e-01 3.73843251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.478040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:27.42, Y:2.40, Z:0.37 [[ 9.76134453e-01 -2.16672028e-01 -1.46547781e-02 2.74196408e+01] [ 2.16649972e-01 9.76244441e-01 -3.09528865e-03 2.40278171e+00] [ 1.49773081e-02 -1.53539373e-04 9.99887822e-01 3.73409007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.508040942 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:27.45, Y:2.41, Z:0.37 [[ 9.76929717e-01 -2.13058513e-01 -1.46423464e-02 2.74516517e+01] [ 2.13035218e-01 9.77039440e-01 -3.15081782e-03 2.40669248e+00] [ 1.49774585e-02 -4.12078922e-05 9.99887831e-01 3.72812806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.538040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.48, Y:2.42, Z:0.37 [[ 9.76368740e-01 -2.15612656e-01 -1.46719173e-02 2.74753386e+01] [ 2.15591625e-01 9.76478948e-01 -3.01912977e-03 2.41572857e+00] [ 1.49777809e-02 -2.15358558e-04 9.99887804e-01 3.73945464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.568040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.50, Y:2.42, Z:0.38 [[ 9.77675482e-01 -2.09610422e-01 -1.46329611e-02 2.75026446e+01] [ 2.09586122e-01 9.77784981e-01 -3.19203096e-03 2.41610042e+00] [ 1.49769725e-02 5.39048337e-05 9.99887837e-01 3.77136116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.53, Y:2.42, Z:0.38 [[ 9.76714814e-01 -2.14042395e-01 -1.46296245e-02 2.75276398e+01] [ 2.14018371e-01 9.76824372e-01 -3.20685818e-03 2.42452064e+00] [ 1.49769773e-02 1.17749421e-06 9.99887839e-01 3.79634960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.56, Y:2.43, Z:0.38 [[ 9.77753499e-01 -2.09247799e-01 -1.46100400e-02 2.75568538e+01] [ 2.09221938e-01 9.77862634e-01 -3.29372967e-03 2.42590310e+00] [ 1.49758179e-02 1.63714830e-04 9.99887843e-01 3.79693041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.658040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.58, Y:2.44, Z:0.38 [[ 9.76757683e-01 -2.13847007e-01 -1.46248702e-02 2.75826201e+01] [ 2.13822647e-01 9.76867164e-01 -3.22781984e-03 2.43510651e+00] [ 1.49768150e-02 2.56693717e-05 9.99887841e-01 3.79597215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.62, Y:2.44, Z:0.38 [[ 9.77512244e-01 -2.10371947e-01 -1.46101723e-02 2.76151732e+01] [ 2.10346222e-01 9.77621411e-01 -3.29303002e-03 2.43730631e+00] [ 1.49759784e-02 1.45782618e-04 9.99887843e-01 3.80696171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.65, Y:2.44, Z:0.38 [[ 9.77040270e-01 -2.12551193e-01 -1.46390033e-02 2.76475654e+01] [ 2.12527602e-01 9.77149932e-01 -3.16671962e-03 2.44304339e+00] [ 1.49775911e-02 -1.71796675e-05 9.99887829e-01 3.80548630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.67, Y:2.45, Z:0.38 [[ 9.75648658e-01 -2.18847884e-01 -1.46731002e-02 2.76661479e+01] [ 2.18827245e-01 9.75758952e-01 -3.01737431e-03 2.45030006e+00] [ 1.49777548e-02 -2.66976884e-04 9.99887791e-01 3.80397418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.69, Y:2.46, Z:0.38 [[ 9.75433683e-01 -2.19809133e-01 -1.45970549e-02 2.76940899e+01] [ 2.19783629e-01 9.75542896e-01 -3.34884676e-03 2.45515226e+00] [ 1.49761603e-02 5.83842366e-05 9.99887849e-01 3.81592050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.808040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.72, Y:2.46, Z:0.38 [[ 9.75159068e-01 -2.21024314e-01 -1.45960717e-02 2.77210865e+01] [ 2.20998882e-01 9.75268297e-01 -3.35312660e-03 2.45810626e+00] [ 1.49762084e-02 4.41162914e-05 9.99887849e-01 3.81431972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.76, Y:2.46, Z:0.38 [[ 9.76244591e-01 -2.16179243e-01 -1.45956456e-02 2.77605482e+01] [ 2.16153241e-01 9.76353686e-01 -3.35497990e-03 2.45761582e+00] [ 1.49757894e-02 1.20384869e-04 9.99887849e-01 3.80307230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.79, Y:2.46, Z:0.38 [[ 9.75878291e-01 -2.17820972e-01 -1.46828376e-02 2.77909295e+01] [ 2.17800861e-01 9.75988697e-01 -2.97448357e-03 2.46051085e+00] [ 1.49781884e-02 -2.95200738e-04 9.99887777e-01 3.80602090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.898040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.81, Y:2.47, Z:0.38 [[ 9.74014080e-01 -2.26010264e-01 -1.46946290e-02 2.78052867e+01] [ 2.25991857e-01 9.74124805e-01 -2.92310714e-03 2.47171936e+00] [ 1.49750548e-02 -4.73718976e-04 9.99887755e-01 3.83335096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.83, Y:2.48, Z:0.38 [[ 9.73704319e-01 -2.27347703e-01 -1.45918489e-02 2.78326521e+01] [ 2.27322752e-01 9.73813648e-01 -3.36836056e-03 2.47640562e+00] [ 1.49755307e-02 -3.72720285e-05 9.99887860e-01 3.84742504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.958040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:27.86, Y:2.48, Z:0.39 [[ 9.73411332e-01 -2.28598961e-01 -1.45908616e-02 2.78606927e+01] [ 2.28574087e-01 9.73520679e-01 -3.37263180e-03 2.48055356e+00] [ 1.49754857e-02 -5.21348615e-05 9.99887860e-01 3.86002018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.988040941999998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:27.89, Y:2.48, Z:0.39 [[ 9.72850012e-01 -2.30976166e-01 -1.45898767e-02 2.78875344e+01] [ 2.30951495e-01 9.72959405e-01 -3.37688709e-03 2.48280132e+00] [ 1.49753382e-02 -8.43491919e-05 9.99887860e-01 3.85453636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.92, Y:2.48, Z:0.39 [[ 9.73740541e-01 -2.27192666e-01 -1.45894497e-02 2.79200078e+01] [ 2.27167542e-01 9.73849830e-01 -3.37873096e-03 2.48299761e+00] [ 1.49755560e-02 -2.42421258e-05 9.99887860e-01 3.86761508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.95, Y:2.49, Z:0.39 [[ 9.72582401e-01 -2.32098906e-01 -1.46140612e-02 2.79524187e+01] [ 2.32075927e-01 9.72692168e-01 -3.27258562e-03 2.48834549e+00] [ 1.49745464e-02 -2.08712629e-04 9.99887853e-01 3.86480344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.078040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.98, Y:2.49, Z:0.39 [[ 9.72294273e-01 -2.33300586e-01 -1.46520473e-02 2.79799695e+01] [ 2.33280207e-01 9.72404587e-01 -3.10883080e-03 2.49302212e+00] [ 1.49730100e-02 -3.95334234e-04 9.99887820e-01 3.86980129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.01, Y:2.50, Z:0.39 [[ 9.71953887e-01 -2.34714751e-01 -1.46501739e-02 2.80050309e+01] [ 2.34694411e-01 9.72064205e-01 -3.11689237e-03 2.49820663e+00] [ 1.49724903e-02 -4.08838278e-04 9.99887822e-01 3.86945443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.03, Y:2.50, Z:0.39 [[ 9.71610687e-01 -2.36132068e-01 -1.46396331e-02 2.80318592e+01] [ 2.36111205e-01 9.71720896e-01 -3.16227091e-03 2.50157246e+00] [ 1.49723510e-02 -3.84085210e-04 9.99887834e-01 3.87174476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.168040942 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:28.06, Y:2.51, Z:0.39 [[ 9.72067919e-01 -2.34242887e-01 -1.46366453e-02 2.80584780e+01] [ 2.34221617e-01 9.72178046e-01 -3.17509401e-03 2.50596593e+00] [ 1.49731684e-02 -3.41811709e-04 9.99887837e-01 3.86474843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.198040942 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:28.08, Y:2.52, Z:0.39 [[ 9.70558426e-01 -2.40422057e-01 -1.46142515e-02 2.80825861e+01] [ 2.40400046e-01 9.70668388e-01 -3.27082198e-03 2.51677790e+00] [ 1.49719697e-02 -3.38742888e-04 9.99887856e-01 3.89467497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.228040942 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:28.12, Y:2.52, Z:0.39 [[ 9.71173209e-01 -2.37928643e-01 -1.45794056e-02 2.81171711e+01] [ 2.37904117e-01 9.71282626e-01 -3.41939653e-03 2.51728898e+00] [ 1.49742957e-02 -1.47674303e-04 9.99887868e-01 3.90207488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.258040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.14, Y:2.53, Z:0.39 [[ 9.70166520e-01 -2.41997470e-01 -1.46338238e-02 2.81380046e+01] [ 2.41976898e-01 9.70276776e-01 -3.18711162e-03 2.52568092e+00] [ 1.49701323e-02 -4.49018296e-04 9.99887840e-01 3.90481583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.16, Y:2.53, Z:0.39 [[ 9.69027400e-01 -2.46522587e-01 -1.45777785e-02 2.81610987e+01] [ 2.46498937e-01 9.69137007e-01 -3.42561529e-03 2.53375746e+00] [ 1.49723562e-02 -2.73891831e-04 9.99887870e-01 3.85767512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.318040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.20, Y:2.53, Z:0.39 [[ 9.71113940e-01 -2.38172880e-01 -1.45394213e-02 2.82001975e+01] [ 2.38145834e-01 9.71222775e-01 -3.58926894e-03 2.53314538e+00] [ 1.49758837e-02 2.30864840e-05 9.99887855e-01 3.92717844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.22, Y:2.54, Z:0.39 [[ 9.69694298e-01 -2.43883080e-01 -1.46291492e-02 2.82194704e+01] [ 2.43862449e-01 9.69804533e-01 -3.20529837e-03 2.54329426e+00] [ 1.49691333e-02 -4.59340595e-04 9.99887851e-01 3.85310705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.378040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:28.26, Y:2.54, Z:0.39 [[ 9.71706886e-01 -2.35741025e-01 -1.45566554e-02 2.82550613e+01] [ 2.35714839e-01 9.71815913e-01 -3.51366720e-03 2.54165113e+00] [ 1.49747048e-02 -1.69650575e-05 9.99887873e-01 3.90655198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.408040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:28.28, Y:2.55, Z:0.39 [[ 9.70964964e-01 -2.38775868e-01 -1.45987580e-02 2.82846373e+01] [ 2.38752708e-01 9.71074674e-01 -3.33478882e-03 2.54916712e+00] [ 1.49727513e-02 -2.47529915e-04 9.99887871e-01 3.93179029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.31, Y:2.55, Z:0.39 [[ 9.71491742e-01 -2.36622644e-01 -1.46123068e-02 2.83096417e+01] [ 2.36600106e-01 9.71601590e-01 -3.27724811e-03 2.55447524e+00] [ 1.49728117e-02 -2.73453867e-04 9.99887864e-01 3.94618465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.468040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:28.34, Y:2.56, Z:0.39 [[ 9.71618096e-01 -2.36104091e-01 -1.45990875e-02 2.83357020e+01] [ 2.36080650e-01 9.71727747e-01 -3.33341638e-03 2.55920053e+00] [ 1.49733717e-02 -2.07754404e-04 9.99887871e-01 3.94846953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.498040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:28.36, Y:2.56, Z:0.39 [[ 9.71500394e-01 -2.36588126e-01 -1.45959603e-02 2.83628374e+01] [ 2.36564540e-01 9.71610013e-01 -3.34669521e-03 2.56458724e+00] [ 1.49733695e-02 -2.01570919e-04 9.99887873e-01 3.94779223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.39, Y:2.57, Z:0.39 [[ 9.71755428e-01 -2.35537936e-01 -1.46037537e-02 2.83899043e+01] [ 2.35514728e-01 9.71865131e-01 -3.31362599e-03 2.56779187e+00] [ 1.49733636e-02 -2.19365044e-04 9.99887869e-01 3.94910267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.558040941999998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:28.42, Y:2.57, Z:0.40 [[ 9.71772811e-01 -2.35467164e-01 -1.45883154e-02 2.84165945e+01] [ 2.35442966e-01 9.71882293e-01 -3.37904653e-03 2.57284386e+00] [ 1.49737799e-02 -1.51050701e-04 9.99887875e-01 3.95698165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.588040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:28.45, Y:2.58, Z:0.39 [[ 9.72038901e-01 -2.34366421e-01 -1.45861196e-02 2.84463189e+01] [ 2.34341959e-01 9.72148325e-01 -3.38833835e-03 2.57764489e+00] [ 1.49739845e-02 -1.24543164e-04 9.99887876e-01 3.94500433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.47, Y:2.58, Z:0.39 [[ 9.72029262e-01 -2.34405897e-01 -1.45941286e-02 2.84744654e+01] [ 2.34381948e-01 9.72138802e-01 -3.35446430e-03 2.58310817e+00] [ 1.49738249e-02 -1.59962826e-04 9.99887873e-01 3.91986652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.648040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.50, Y:2.59, Z:0.39 [[ 9.71950287e-01 -2.34732245e-01 -1.46086172e-02 2.85012832e+01] [ 2.34709253e-01 9.72060040e-01 -3.29321610e-03 2.58964875e+00] [ 1.49734771e-02 -2.27935315e-04 9.99887865e-01 3.92422117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.678040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:28.53, Y:2.60, Z:0.40 [[ 9.71437723e-01 -2.36845262e-01 -1.45969571e-02 2.85302407e+01] [ 2.36821774e-01 9.71547363e-01 -3.34209781e-03 2.59821740e+00] [ 1.49731952e-02 -2.10237398e-04 9.99887873e-01 3.95674192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.708040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.55, Y:2.61, Z:0.40 [[ 9.70397647e-01 -2.41070274e-01 -1.46126305e-02 2.85508922e+01] [ 2.41048252e-01 9.70507602e-01 -3.27641828e-03 2.60600754e+00] [ 1.49715161e-02 -3.42920457e-04 9.99887862e-01 3.96064654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.738040941999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.58, Y:2.61, Z:0.40 [[ 9.70222307e-01 -2.41778382e-01 -1.45564284e-02 2.85786166e+01] [ 2.41752914e-01 9.70331491e-01 -3.51096530e-03 2.61175768e+00] [ 1.49734364e-02 -1.12642140e-04 9.99887885e-01 3.98201616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.768040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.61, Y:2.61, Z:0.40 [[ 9.70911786e-01 -2.38994781e-01 -1.45532827e-02 2.86117482e+01] [ 2.38968804e-01 9.71020850e-01 -3.52407977e-03 2.61393595e+00] [ 1.49737776e-02 -5.62099827e-05 9.99887885e-01 3.98556142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.798040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:28.64, Y:2.62, Z:0.40 [[ 9.70279399e-01 -2.41546374e-01 -1.46026490e-02 2.86399050e+01] [ 2.41523777e-01 9.70389229e-01 -3.31820307e-03 2.61962371e+00] [ 1.49717532e-02 -3.07302860e-04 9.99887870e-01 3.99838106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.828040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.67, Y:2.63, Z:0.40 [[ 9.69890850e-01 -2.43101987e-01 -1.46001369e-02 2.86673837e+01] [ 2.43079408e-01 9.70000681e-01 -3.32865983e-03 2.62699099e+00] [ 1.49713465e-02 -3.20555916e-04 9.99887872e-01 3.99725494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.70, Y:2.63, Z:0.40 [[ 9.70413954e-01 -2.41005901e-01 -1.45915361e-02 2.87020604e+01] [ 2.40982547e-01 9.70523618e-01 -3.36441241e-03 2.63057110e+00] [ 1.49722736e-02 -2.51432782e-04 9.99887878e-01 3.96297042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.73, Y:2.64, Z:0.40 [[ 9.69913055e-01 -2.43010072e-01 -1.46550505e-02 2.87276701e+01] [ 2.42990928e-01 9.70023607e-01 -3.10021293e-03 2.63719990e+00] [ 1.49691279e-02 -5.54107318e-04 9.99887803e-01 3.98434734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.918040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:28.76, Y:2.64, Z:0.40 [[ 9.69708527e-01 -2.43826544e-01 -1.46283339e-02 2.87562993e+01] [ 2.43805822e-01 9.69818752e-01 -3.21088565e-03 2.64450840e+00] [ 1.49697317e-02 -4.52849782e-04 9.99887845e-01 3.98912572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.948040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.77, Y:2.65, Z:0.40 [[ 9.68238997e-01 -2.49598223e-01 -1.46277693e-02 2.87743878e+01] [ 2.49578123e-01 9.68349336e-01 -3.21322692e-03 2.65494662e+00] [ 1.49668064e-02 -5.39599597e-04 9.99887845e-01 4.01265064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.978040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.81, Y:2.66, Z:0.40 [[ 9.69883813e-01 -2.43133455e-01 -1.45434658e-02 2.88134667e+01] [ 2.43107380e-01 9.69992843e-01 -3.56164131e-03 2.65727045e+00] [ 1.49730119e-02 -8.12456176e-05 9.99887895e-01 4.03299469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.008040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.84, Y:2.66, Z:0.40 [[ 9.69871711e-01 -2.43175800e-01 -1.46422474e-02 2.88389549e+01] [ 2.43155851e-01 9.69982103e-01 -3.15475502e-03 2.66347646e+00] [ 1.49698780e-02 -5.00640472e-04 9.99887820e-01 4.00160163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.038040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.86, Y:2.67, Z:0.40 [[ 9.69577879e-01 -2.44345356e-01 -1.46315734e-02 2.88640380e+01] [ 2.44324875e-01 9.69688158e-01 -3.19885010e-03 2.67069164e+00] [ 1.49696876e-02 -4.73323044e-04 9.99887836e-01 4.00677735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.068040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.90, Y:2.68, Z:0.40 [[ 9.68344907e-01 -2.49187316e-01 -1.46226927e-02 2.88965230e+01] [ 2.49166832e-01 9.68455173e-01 -3.23555774e-03 2.68084956e+00] [ 1.49676823e-02 -5.10354147e-04 9.99887848e-01 4.00253388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.098040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:28.91, Y:2.69, Z:0.40 [[ 9.68002737e-01 -2.50510615e-01 -1.46674195e-02 2.89110522e+01] [ 2.50493088e-01 9.68113584e-01 -3.04989759e-03 2.68873894e+00] [ 1.49637598e-02 -7.21777998e-04 9.99887776e-01 4.03520244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.128040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:28.94, Y:2.70, Z:0.40 [[ 9.68011515e-01 -2.50484482e-01 -1.45337944e-02 2.89394720e+01] [ 2.50458642e-01 9.68120602e-01 -3.60113408e-03 2.69522081e+00] [ 1.49724940e-02 -1.54175147e-04 9.99887894e-01 4.03513789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.98, Y:2.70, Z:0.40 [[ 9.69513261e-01 -2.44607307e-01 -1.45362304e-02 2.89805035e+01] [ 2.44580956e-01 9.69622225e-01 -3.59108627e-03 2.69700188e+00] [ 1.49730580e-02 -7.36793772e-05 9.99887895e-01 4.01703319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.18804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.00, Y:2.70, Z:0.41 [[ 9.69800566e-01 -2.43458400e-01 -1.46584200e-02 2.90036715e+01] [ 2.43439490e-01 9.69911170e-01 -3.08810196e-03 2.70306765e+00] [ 1.49691897e-02 -5.73595262e-04 9.99887791e-01 4.05591185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.218040941999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:29.02, Y:2.71, Z:0.40 [[ 9.68534060e-01 -2.48451452e-01 -1.46168114e-02 2.90200213e+01] [ 2.48430521e-01 9.68644234e-01 -3.25959732e-03 2.71481885e+00] [ 1.49683417e-02 -4.74231039e-04 9.99887856e-01 4.03892995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.248040941999996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:29.06, Y:2.72, Z:0.40 [[ 9.69936539e-01 -2.42924342e-01 -1.45214982e-02 2.90589206e+01] [ 2.42896907e-01 9.70045238e-01 -3.65080691e-03 2.71682646e+00] [ 1.49733801e-02 1.38240062e-05 9.99887893e-01 4.04337169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.278040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:29.08, Y:2.72, Z:0.41 [[ 9.70060486e-01 -2.42423410e-01 -1.46131623e-02 2.90835829e+01] [ 2.42401548e-01 9.70170479e-01 -3.27595777e-03 2.72465130e+00] [ 1.49714275e-02 -3.64375990e-04 9.99887856e-01 4.05301110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.11, Y:2.73, Z:0.41 [[ 9.70815780e-01 -2.39382679e-01 -1.45826714e-02 2.91126874e+01] [ 2.39358603e-01 9.70925279e-01 -3.40032989e-03 2.73100636e+00] [ 1.49726644e-02 -1.89393954e-04 9.99887885e-01 4.06019275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.14, Y:2.74, Z:0.40 [[ 9.70866550e-01 -2.39175702e-01 -1.45988577e-02 2.91398264e+01] [ 2.39152594e-01 9.70976271e-01 -3.33435846e-03 2.73979033e+00] [ 1.49726419e-02 -2.54137583e-04 9.99887871e-01 4.01999880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.36804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.16, Y:2.74, Z:0.40 [[ 9.71645050e-01 -2.35992995e-01 -1.46014655e-02 2.91624912e+01] [ 2.35969686e-01 9.71754732e-01 -3.32375397e-03 2.74047067e+00] [ 1.49734258e-02 -2.15994125e-04 9.99887869e-01 3.98862546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.398040941999994 meters Centerline goodness : 0.996156 Centerline is valid? [True, True] Translation: X:29.19, Y:2.76, Z:0.40 [[ 9.69775474e-01 -2.43565927e-01 -1.45316987e-02 2.91865565e+01] [ 2.43539233e-01 9.69884342e-01 -3.60618084e-03 2.75609838e+00] [ 1.49724098e-02 -4.18530267e-05 9.99887906e-01 4.04562774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.428040941999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:29.22, Y:2.76, Z:0.41 [[ 9.70655584e-01 -2.40036193e-01 -1.45039190e-02 2.92200343e+01] [ 2.40007423e-01 9.70763931e-01 -3.71844635e-03 2.76000602e+00] [ 1.49724431e-02 1.28282483e-04 9.99887898e-01 4.06030594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.458040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:29.25, Y:2.77, Z:0.41 [[ 9.70155382e-01 -2.42045898e-01 -1.45711369e-02 2.92480196e+01] [ 2.42021393e-01 9.70264784e-01 -3.44885204e-03 2.76745990e+00] [ 1.49726415e-02 -1.80604490e-04 9.99887887e-01 4.06013727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.488040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.27, Y:2.77, Z:0.41 [[ 9.69705341e-01 -2.43842759e-01 -1.45691393e-02 2.92726118e+01] [ 2.43818337e-01 9.69814760e-01 -3.45685263e-03 2.77410933e+00] [ 1.49722948e-02 -2.00094853e-04 9.99887889e-01 4.07055732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.30, Y:2.78, Z:0.41 [[ 9.68840652e-01 -2.47256952e-01 -1.45530477e-02 2.92990114e+01] [ 2.47231949e-01 9.68949929e-01 -3.52121306e-03 2.78094698e+00] [ 1.49718190e-02 -1.86483989e-04 9.99887899e-01 4.05994245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.54804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.33, Y:2.78, Z:0.41 [[ 9.68376693e-01 -2.49068113e-01 -1.45483695e-02 2.93294509e+01] [ 2.49043033e-01 9.68485951e-01 -3.53990264e-03 2.78395922e+00] [ 1.49715683e-02 -1.95210855e-04 9.99887901e-01 4.08472261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.578040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.36, Y:2.79, Z:0.41 [[ 9.67566422e-01 -2.52196823e-01 -1.45595557e-02 2.93577649e+01] [ 2.52172767e-01 9.67675916e-01 -3.49527257e-03 2.79013293e+00] [ 1.49704280e-02 -2.89615055e-04 9.99887895e-01 4.09290527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.608040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.38, Y:2.80, Z:0.41 [[ 9.66656992e-01 -2.55660526e-01 -1.45586759e-02 2.93846452e+01] [ 2.55636810e-01 9.66766559e-01 -3.49877769e-03 2.79581011e+00] [ 1.49693403e-02 -3.39615532e-04 9.99887895e-01 4.08959200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.638040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.41, Y:2.80, Z:0.41 [[ 9.66329412e-01 -2.56896622e-01 -1.45462691e-02 2.94125408e+01] [ 2.56872303e-01 9.66438840e-01 -3.54810176e-03 2.80256092e+00] [ 1.49695748e-02 -3.07898563e-04 9.99887902e-01 4.08847482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.44, Y:2.81, Z:0.41 [[ 9.65955616e-01 -2.58298381e-01 -1.45496925e-02 2.94430667e+01] [ 2.58274425e-01 9.66065126e-01 -3.53453369e-03 2.80953732e+00] [ 1.49689148e-02 -3.43610790e-04 9.99887900e-01 4.07818471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.47, Y:2.82, Z:0.40 [[ 9.64658145e-01 -2.63101391e-01 -1.45712629e-02 2.94697360e+01] [ 2.63079269e-01 9.64768056e-01 -3.44906720e-03 2.81698541e+00] [ 1.49653434e-02 -5.06226424e-04 9.99887885e-01 4.02728153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.72804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.50, Y:2.82, Z:0.41 [[ 9.65541614e-01 -2.59840763e-01 -1.45660247e-02 2.94975460e+01] [ 2.59817958e-01 9.65651381e-01 -3.46979846e-03 2.82109259e+00] [ 1.49672970e-02 -4.34279994e-04 9.99887889e-01 4.08400874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.758040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.53, Y:2.83, Z:0.41 [[ 9.65406829e-01 -2.60340620e-01 -1.45745105e-02 2.95257271e+01] [ 2.60318377e-01 9.65516719e-01 -3.43626692e-03 2.82771526e+00] [ 1.49665334e-02 -4.76617369e-04 9.99887882e-01 4.08550981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.788040941999995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:29.55, Y:2.83, Z:0.41 [[ 9.65392995e-01 -2.60392027e-01 -1.45724642e-02 2.95530086e+01] [ 2.60369668e-01 9.65502860e-01 -3.44433329e-03 2.83444037e+00] [ 1.49666328e-02 -4.69092440e-04 9.99887884e-01 4.09020251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.818040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.58, Y:2.84, Z:0.41 [[ 9.64956851e-01 -2.62003777e-01 -1.45704223e-02 2.95806061e+01] [ 2.61981480e-01 9.65066726e-01 -3.45236690e-03 2.84270721e+00] [ 1.49659629e-02 -4.85795702e-04 9.99887886e-01 4.09226059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.61, Y:2.85, Z:0.41 [[ 9.64798926e-01 -2.62584790e-01 -1.45691973e-02 2.96085019e+01] [ 2.62562487e-01 9.64908798e-01 -3.45717884e-03 2.84941553e+00] [ 1.49657492e-02 -4.89842246e-04 9.99887887e-01 4.09465355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.64, Y:2.86, Z:0.41 [[ 9.64464996e-01 -2.63808528e-01 -1.45716487e-02 2.96359280e+01] [ 2.63786510e-01 9.64574928e-01 -3.44755899e-03 2.85561069e+00] [ 1.49649425e-02 -5.18754383e-04 9.99887884e-01 4.10899255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.66, Y:2.86, Z:0.41 [[ 9.64133646e-01 -2.65016539e-01 -1.45789678e-02 2.96625533e+01] [ 2.64995093e-01 9.64243700e-01 -3.41884786e-03 2.86260561e+00] [ 1.49637291e-02 -5.67128664e-04 9.99887876e-01 4.11129744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.93804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.69, Y:2.87, Z:0.41 [[ 9.64101072e-01 -2.65135072e-01 -1.45779203e-02 2.96936236e+01] [ 2.65113578e-01 9.64211115e-01 -3.42294069e-03 2.86897263e+00] [ 1.49637345e-02 -5.64743826e-04 9.99887878e-01 4.13844410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.968040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.72, Y:2.88, Z:0.41 [[ 9.64237207e-01 -2.64638305e-01 -1.46005370e-02 2.97178987e+01] [ 2.64618089e-01 9.64347524e-01 -3.33460278e-03 2.87666240e+00] [ 1.49624553e-02 -6.48218126e-04 9.99887846e-01 4.14939110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.998040941999996 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:29.75, Y:2.88, Z:0.41 [[ 9.64252023e-01 -2.64585849e-01 -1.45727300e-02 2.97481087e+01] [ 2.64563990e-01 9.64361987e-01 -3.44284761e-03 2.88373313e+00] [ 1.49643156e-02 -5.35646823e-04 9.99887885e-01 4.13494105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.77, Y:2.89, Z:0.42 [[ 9.64663689e-01 -2.63079786e-01 -1.45942943e-02 2.97738438e+01] [ 2.63059024e-01 9.64773895e-01 -3.35890936e-03 2.89207014e+00] [ 1.49638553e-02 -5.98942928e-04 9.99887856e-01 4.17072250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.80, Y:2.90, Z:0.42 [[ 9.65917105e-01 -2.58439725e-01 -1.45964157e-02 2.98013459e+01] [ 2.58418559e-01 9.66027236e-01 -3.35063145e-03 2.89944372e+00] [ 1.49664714e-02 -5.35552501e-04 9.99887853e-01 4.19466987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.088040942 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:29.83, Y:2.90, Z:0.42 [[ 9.67094503e-01 -2.53997861e-01 -1.46050817e-02 2.98329815e+01] [ 2.53976701e-01 9.67204650e-01 -3.31672496e-03 2.90404594e+00] [ 1.49685440e-02 -5.01763990e-04 9.99887839e-01 4.17993790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.11804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.87, Y:2.92, Z:0.42 [[ 9.65989544e-01 -2.58168147e-01 -1.46084904e-02 2.98654541e+01] [ 2.58147661e-01 9.66099825e-01 -3.30353556e-03 2.91897867e+00] [ 1.49661277e-02 -5.79966832e-04 9.99887833e-01 4.19186493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.148040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.89, Y:2.93, Z:0.42 [[ 9.67489474e-01 -2.52486452e-01 -1.46529422e-02 2.98937563e+01] [ 2.52467927e-01 9.67600198e-01 -3.13104849e-03 2.92510780e+00] [ 1.49687371e-02 -6.70141489e-04 9.99887738e-01 4.17986673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.178040941999996 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:29.92, Y:2.93, Z:0.42 [[ 9.67342818e-01 -2.53046481e-01 -1.46748183e-02 2.99190498e+01] [ 2.53029309e-01 9.67453818e-01 -3.04600646e-03 2.93473252e+00] [ 1.49679902e-02 -7.66626649e-04 9.99887679e-01 4.20314874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.94, Y:2.95, Z:0.42 [[ 9.67418072e-01 -2.52760268e-01 -1.46465212e-02 2.99421290e+01] [ 2.52741421e-01 9.67528720e-01 -3.15434049e-03 2.94609800e+00] [ 1.49682218e-02 -6.50216583e-04 9.99887758e-01 4.21310862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.238040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.98, Y:2.95, Z:0.42 [[ 9.67811566e-01 -2.51251833e-01 -1.46043921e-02 2.99750211e+01] [ 2.51230367e-01 9.67921642e-01 -3.31624470e-03 2.95229019e+00] [ 1.49691198e-02 -4.59566813e-04 9.99887851e-01 4.17315130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.268040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:30.00, Y:2.97, Z:0.42 [[ 9.66967698e-01 -2.54477077e-01 -1.46591057e-02 3.00000347e+01] [ 2.54459162e-01 9.67078533e-01 -3.10581478e-03 2.96521715e+00] [ 1.49668651e-02 -7.26921183e-04 9.99887726e-01 4.20574463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.29804094199999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:30.03, Y:2.97, Z:0.42 [[ 9.67446474e-01 -2.52653015e-01 -1.46209855e-02 3.00258924e+01] [ 2.52632709e-01 9.67556795e-01 -3.24995928e-03 2.97215925e+00] [ 1.49677459e-02 -5.49577525e-04 9.99887826e-01 4.19605936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.328040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.05, Y:2.98, Z:0.42 [[ 9.67017226e-01 -2.54292151e-01 -1.46009062e-02 3.00511355e+01] [ 2.54270888e-01 9.67127321e-01 -3.32567350e-03 2.98363184e+00] [ 1.49666279e-02 -4.96601818e-04 9.99887870e-01 4.20789571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.358040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.08, Y:2.99, Z:0.42 [[ 9.67125720e-01 -2.53880947e-01 -1.45707272e-02 3.00797795e+01] [ 2.53857935e-01 9.67235403e-01 -3.43850649e-03 2.99011627e+00] [ 1.49662945e-02 -3.73426668e-04 9.99887929e-01 4.19729375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.388040941999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:30.11, Y:3.00, Z:0.42 [[ 9.66394198e-01 -2.56651285e-01 -1.45729822e-02 3.01054687e+01] [ 2.56628715e-01 9.66503977e-01 -3.43008831e-03 2.99721852e+00] [ 1.49651819e-02 -4.25028265e-04 9.99887925e-01 4.18007946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.13, Y:3.01, Z:0.42 [[ 9.66302615e-01 -2.56995893e-01 -1.45728185e-02 3.01337727e+01] [ 2.56973353e-01 9.66412400e-01 -3.43070102e-03 3.00564293e+00] [ 1.49650285e-02 -4.29730654e-04 9.99887925e-01 4.18638880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.16, Y:3.01, Z:0.42 [[ 9.65659136e-01 -2.59404092e-01 -1.45584779e-02 3.01640355e+01] [ 2.59381031e-01 9.65768785e-01 -3.48337152e-03 3.01377494e+00] [ 1.49637244e-02 -4.12443478e-04 9.99887952e-01 4.19937004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.47804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.19, Y:3.02, Z:0.42 [[ 9.65509705e-01 -2.59959325e-01 -1.45657001e-02 3.01894730e+01] [ 2.59936726e-01 9.65619463e-01 -3.45689625e-03 3.02232053e+00] [ 1.49635760e-02 -4.48493529e-04 9.99887939e-01 4.21975837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.508040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.22, Y:3.03, Z:0.42 [[ 9.65092627e-01 -2.61501972e-01 -1.45924844e-02 3.02170391e+01] [ 2.61481051e-01 9.65202770e-01 -3.35741826e-03 3.03050145e+00] [ 1.49626779e-02 -5.75438548e-04 9.99887887e-01 4.21623594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.538040941999995 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:30.24, Y:3.04, Z:0.42 [[ 9.64834103e-01 -2.62454649e-01 -1.45845872e-02 3.02427371e+01] [ 2.62433394e-01 9.64944166e-01 -3.38668774e-03 3.03760722e+00] [ 1.49621643e-02 -5.59890897e-04 9.99887904e-01 4.22912404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.568040941999996 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:30.27, Y:3.05, Z:0.42 [[ 9.64674545e-01 -2.63041167e-01 -1.45727848e-02 3.02701748e+01] [ 2.63019320e-01 9.64784468e-01 -3.43030489e-03 3.04550807e+00] [ 1.49619078e-02 -5.23796129e-04 9.99887927e-01 4.23323014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.30, Y:3.05, Z:0.42 [[ 9.64104996e-01 -2.65122970e-01 -1.45384630e-02 3.03003433e+01] [ 2.65099481e-01 9.64214514e-01 -3.55477350e-03 3.05388506e+00] [ 1.49606491e-02 -4.26964103e-04 9.99887992e-01 4.20897005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.628040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.33, Y:3.06, Z:0.42 [[ 9.64065901e-01 -2.65264848e-01 -1.45430288e-02 3.03277380e+01] [ 2.65241625e-01 9.64175483e-01 -3.53824303e-03 3.05952316e+00] [ 1.49606033e-02 -4.46317151e-04 9.99887984e-01 4.21537454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.36, Y:3.07, Z:0.43 [[ 9.63047394e-01 -2.68939075e-01 -1.45427310e-02 3.03573097e+01] [ 2.68916254e-01 9.63157060e-01 -3.53932182e-03 3.06813023e+00] [ 1.49587960e-02 -5.02242079e-04 9.99887985e-01 4.25235125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.68804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.38, Y:3.08, Z:0.42 [[ 9.62872692e-01 -2.69563275e-01 -1.45540091e-02 3.03844500e+01] [ 2.69541141e-01 9.62982520e-01 -3.49856865e-03 3.07615230e+00] [ 1.49583420e-02 -5.54228006e-04 9.99887964e-01 4.21369231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.718040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.41, Y:3.08, Z:0.42 [[ 9.62523638e-01 -2.70807630e-01 -1.45421254e-02 3.04107771e+01] [ 2.70784989e-01 9.62633340e-01 -3.54142662e-03 3.08424407e+00] [ 1.49577801e-02 -5.29082443e-04 9.99887986e-01 4.22416164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.748040941999996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:30.44, Y:3.09, Z:0.42 [[ 9.61843942e-01 -2.73212194e-01 -1.45371664e-02 3.04380848e+01] [ 2.73189559e-01 9.61953635e-01 -3.55920822e-03 3.09278032e+00] [ 1.49564992e-02 -5.47999234e-04 9.99887995e-01 4.18818092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.778040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.46, Y:3.10, Z:0.42 [[ 9.61756092e-01 -2.73522086e-01 -1.45219829e-02 3.04629713e+01] [ 2.73498667e-01 9.61865594e-01 -3.61349142e-03 3.10047832e+00] [ 1.49565654e-02 -4.96445577e-04 9.99888021e-01 4.19865803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.49, Y:3.11, Z:0.42 [[ 9.62183455e-01 -2.72014840e-01 -1.45232563e-02 3.04898326e+01] [ 2.71991318e-01 9.62292938e-01 -3.60892126e-03 3.10705263e+00] [ 1.49573072e-02 -4.77755305e-04 9.99888019e-01 4.20649520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.838040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:30.52, Y:3.12, Z:0.42 [[ 9.61981066e-01 -2.72730412e-01 -1.45104037e-02 3.05179256e+01] [ 2.72706277e-01 9.62090395e-01 -3.65495737e-03 3.11535529e+00] [ 1.49571381e-02 -4.41078378e-04 9.99888038e-01 4.21677453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.86804094199999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:30.54, Y:3.12, Z:0.42 [[ 9.62083497e-01 -2.72369105e-01 -1.45057267e-02 3.05418595e+01] [ 2.72344676e-01 9.62192754e-01 -3.67168808e-03 3.12398375e+00] [ 1.49573595e-02 -4.18086939e-04 9.99888045e-01 4.22359884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.898040941999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:30.57, Y:3.13, Z:0.42 [[ 9.61956324e-01 -2.72819531e-01 -1.44752649e-02 3.05739112e+01] [ 2.72793516e-01 9.62065178e-01 -3.78040427e-03 3.13290296e+00] [ 1.49575164e-02 -3.12174625e-04 9.99888081e-01 4.22020015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.928040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.60, Y:3.14, Z:0.42 [[ 9.62763525e-01 -2.69954960e-01 -1.45160080e-02 3.06007172e+01] [ 2.69930810e-01 9.62872860e-01 -3.63504868e-03 3.13940622e+00] [ 1.49583696e-02 -4.18625528e-04 9.99888030e-01 4.23886122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.63, Y:3.15, Z:0.43 [[ 9.62975445e-01 -2.69199115e-01 -1.44957967e-02 3.06299927e+01] [ 2.69173797e-01 9.63084485e-01 -3.70687741e-03 3.14745747e+00] [ 1.49585650e-02 -3.32256717e-04 9.99888059e-01 4.26378642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.988040942 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:30.65, Y:3.16, Z:0.42 [[ 9.61646003e-01 -2.73909969e-01 -1.45014972e-02 3.06480109e+01] [ 2.73885492e-01 9.61755243e-01 -3.68650140e-03 3.15932987e+00] [ 1.49566604e-02 -4.26640347e-04 9.99888052e-01 4.22156788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.018040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:30.67, Y:3.17, Z:0.42 [[ 9.62303387e-01 -2.71595732e-01 -1.44204447e-02 3.06726650e+01] [ 2.71566651e-01 9.62411425e-01 -3.97536918e-03 3.16584565e+00] [ 1.49580940e-02 -9.06006553e-05 9.99888117e-01 4.23331298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.04804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.71, Y:3.17, Z:0.43 [[ 9.63932812e-01 -2.65755796e-01 -1.44010869e-02 3.07107048e+01] [ 2.65725031e-01 9.64040379e-01 -4.04427069e-03 3.16769099e+00] [ 1.49580177e-02 7.16759420e-05 9.99888120e-01 4.29195786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.078040941999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:30.73, Y:3.18, Z:0.42 [[ 9.62400233e-01 -2.71248977e-01 -1.44839576e-02 3.07289067e+01] [ 2.71223265e-01 9.62509163e-01 -3.74843745e-03 3.17941482e+00] [ 1.49577017e-02 -3.20889189e-04 9.99888076e-01 4.24304788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.108040941999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.76, Y:3.18, Z:0.43 [[ 9.63030432e-01 -2.69007248e-01 -1.44044251e-02 3.07633093e+01] [ 2.68977038e-01 9.63138152e-01 -4.03141629e-03 3.18496950e+00] [ 1.49579315e-02 7.91698595e-06 9.99888124e-01 4.26844470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.138040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.79, Y:3.20, Z:0.42 [[ 9.62376141e-01 -2.71335430e-01 -1.44653966e-02 3.07861069e+01] [ 2.71308731e-01 9.62484815e-01 -3.81478759e-03 3.19557636e+00] [ 1.49578116e-02 -2.53327820e-04 9.99888094e-01 4.24771746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.81, Y:3.20, Z:0.42 [[ 9.62729423e-01 -2.70081266e-01 -1.44280324e-02 3.08125452e+01] [ 2.70052444e-01 9.62837525e-01 -3.94681582e-03 3.20259115e+00] [ 1.49578120e-02 -9.66096920e-05 9.99888121e-01 4.23812759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.84, Y:3.21, Z:0.42 [[ 9.63075714e-01 -2.68844592e-01 -1.44136903e-02 3.08408531e+01] [ 2.68814873e-01 9.63183567e-01 -3.99740207e-03 3.20908789e+00] [ 1.49577096e-02 -2.48134794e-05 9.99888127e-01 4.24800097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.22804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.87, Y:3.22, Z:0.42 [[ 9.63231565e-01 -2.68284752e-01 -1.44306370e-02 3.08667815e+01] [ 2.68255867e-01 9.63339652e-01 -3.93750363e-03 3.21715002e+00] [ 1.49579770e-02 -7.83752477e-05 9.99888120e-01 4.24257402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.258040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.89, Y:3.23, Z:0.42 [[ 9.62857407e-01 -2.69624754e-01 -1.44258820e-02 3.08931534e+01] [ 2.69595768e-01 9.62965464e-01 -3.95427943e-03 3.22686004e+00] [ 1.49577978e-02 -8.17495111e-05 9.99888123e-01 4.22819916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.288040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.92, Y:3.24, Z:0.42 [[ 9.62628760e-01 -2.70440309e-01 -1.44190549e-02 3.09166567e+01] [ 2.70411054e-01 9.62736742e-01 -3.97838509e-03 3.23567285e+00] [ 1.49576697e-02 -6.93639360e-05 9.99888125e-01 4.22525808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.318040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.95, Y:3.24, Z:0.43 [[ 9.63075902e-01 -2.68845978e-01 -1.43752221e-02 3.09510590e+01] [ 2.68814237e-01 9.63183174e-01 -4.13276621e-03 3.24014546e+00] [ 1.49570497e-02 1.15903175e-04 9.99888130e-01 4.25042141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.98, Y:3.25, Z:0.42 [[ 9.62762804e-01 -2.69960817e-01 -1.44548083e-02 3.09756330e+01] [ 2.69933384e-01 9.62871290e-01 -3.85324967e-03 3.24675056e+00] [ 1.49583464e-02 -1.92069883e-04 9.99888099e-01 4.24658327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.378040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:31.00, Y:3.26, Z:0.42 [[ 9.61438926e-01 -2.74639483e-01 -1.44342051e-02 3.10001151e+01] [ 2.74611493e-01 9.61547252e-01 -3.92550549e-03 3.25611266e+00] [ 1.49572690e-02 -1.89664831e-04 9.99888116e-01 4.21672216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.40804094199999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:31.03, Y:3.26, Z:0.42 [[ 9.61267377e-01 -2.75240774e-01 -1.44064892e-02 3.10287130e+01] [ 2.75211397e-01 9.61375320e-01 -4.02246375e-03 3.26332487e+00] [ 1.49571892e-02 -9.81668455e-05 9.99888130e-01 4.20809298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.43804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.05, Y:3.27, Z:0.42 [[ 9.60661774e-01 -2.77346973e-01 -1.44087753e-02 3.10530872e+01] [ 2.77317952e-01 9.60769815e-01 -4.01447760e-03 3.27295714e+00] [ 1.49569196e-02 -1.39256889e-04 9.99888129e-01 4.20902624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.468040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.08, Y:3.28, Z:0.42 [[ 9.59386149e-01 -2.81729510e-01 -1.43770915e-02 3.10820532e+01] [ 2.81699325e-01 9.59493864e-01 -4.12499470e-03 3.28179308e+00] [ 1.49568638e-02 -9.25542033e-05 9.99888136e-01 4.21297391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.498040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.11, Y:3.29, Z:0.42 [[ 9.58824403e-01 -2.83634240e-01 -1.44007939e-02 3.11080751e+01] [ 2.83605510e-01 9.58932518e-01 -4.04229613e-03 3.29008740e+00] [ 1.49559232e-02 -2.08292329e-04 9.99888132e-01 4.22298051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.14, Y:3.30, Z:0.42 [[ 9.57321890e-01 -2.88665590e-01 -1.43866701e-02 3.11400265e+01] [ 2.88636690e-01 9.57429956e-01 -4.09145954e-03 3.29769517e+00] [ 1.49552925e-02 -2.35677050e-04 9.99888136e-01 4.23244978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.17, Y:3.30, Z:0.42 [[ 9.57340270e-01 -2.88601940e-01 -1.44405033e-02 3.11650728e+01] [ 2.88575855e-01 9.57449077e-01 -3.90392327e-03 3.30336304e+00] [ 1.49527264e-02 -4.29797622e-04 9.99888109e-01 4.22115561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.19, Y:3.31, Z:0.42 [[ 9.56659616e-01 -2.90850813e-01 -1.44285831e-02 3.11886281e+01] [ 2.90824355e-01 9.56768324e-01 -3.94561156e-03 3.31233325e+00] [ 1.49523956e-02 -4.21576122e-04 9.99888118e-01 4.22540795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.61804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.22, Y:3.32, Z:0.42 [[ 9.56008868e-01 -2.92984183e-01 -1.43983850e-02 3.12206745e+01] [ 2.92956383e-01 9.56117226e-01 -4.05069345e-03 3.32102562e+00] [ 1.49533330e-02 -3.45599935e-04 9.99888133e-01 4.24324216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.648040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.25, Y:3.33, Z:0.42 [[ 9.55554086e-01 -2.94461752e-01 -1.44452913e-02 3.12502477e+01] [ 2.94436576e-01 9.55663114e-01 -3.88783637e-03 3.32991756e+00] [ 1.49496512e-02 -5.38184197e-04 9.99888103e-01 4.24158843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.678040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.27, Y:3.34, Z:0.42 [[ 9.55713596e-01 -2.93942353e-01 -1.44711898e-02 3.12733041e+01] [ 2.93918477e-01 9.55822946e-01 -3.79796920e-03 3.33760700e+00] [ 1.49482793e-02 -6.23579270e-04 9.99888074e-01 4.24092192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.30, Y:3.35, Z:0.42 [[ 9.55116801e-01 -2.95877687e-01 -1.44322652e-02 3.13043793e+01] [ 2.95851993e-01 9.55225696e-01 -3.93285881e-03 3.34597454e+00] [ 1.49497157e-02 -5.13474885e-04 9.99888115e-01 4.24684943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.33, Y:3.35, Z:0.43 [[ 9.55098614e-01 -2.95934797e-01 -1.44649437e-02 3.13322743e+01] [ 2.95910818e-01 9.55207934e-01 -3.81981332e-03 3.35391941e+00] [ 1.49474447e-02 -6.32034938e-04 9.99888081e-01 4.25701191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.36, Y:3.36, Z:0.43 [[ 9.55432890e-01 -2.94853613e-01 -1.44685801e-02 3.13569412e+01] [ 2.94829701e-01 9.55542229e-01 -3.80724957e-03 3.36158750e+00] [ 1.49479205e-02 -6.28195674e-04 9.99888076e-01 4.26521344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.79804094199999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:31.38, Y:3.37, Z:0.43 [[ 9.56516280e-01 -2.91319578e-01 -1.44744427e-02 3.13797496e+01] [ 2.91295570e-01 9.56625606e-01 -3.78687265e-03 3.36992061e+00] [ 1.49498127e-02 -5.94135702e-04 9.99888069e-01 4.26219618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.828040941999994 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:31.41, Y:3.38, Z:0.42 [[ 9.56320414e-01 -2.91964407e-01 -1.44239799e-02 3.14120531e+01] [ 2.91937848e-01 9.56429091e-01 -3.96065687e-03 3.38045966e+00] [ 1.49518848e-02 -4.23248645e-04 9.99888125e-01 4.23324091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.858040941999995 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:31.44, Y:3.39, Z:0.42 [[ 9.56661293e-01 -2.90843365e-01 -1.44674700e-02 3.14359321e+01] [ 2.90818940e-01 9.56770517e-01 -3.81087404e-03 3.38929186e+00] [ 1.49504162e-02 -5.61698595e-04 9.99888079e-01 4.23819177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.888040941999996 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:31.46, Y:3.40, Z:0.42 [[ 9.57666680e-01 -2.87516386e-01 -1.44518956e-02 3.14569432e+01] [ 2.87490770e-01 9.57775611e-01 -3.86464650e-03 3.39841336e+00] [ 1.49528224e-02 -4.53743420e-04 9.99888097e-01 4.22714825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.918040942 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:31.49, Y:3.41, Z:0.42 [[ 9.57878339e-01 -2.86813243e-01 -1.43961863e-02 3.14862640e+01] [ 2.86784666e-01 9.57986484e-01 -4.05599433e-03 3.40761705e+00] [ 1.49546648e-02 -2.43456372e-04 9.99888143e-01 4.23616421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.948040942 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:31.51, Y:3.42, Z:0.42 [[ 9.56744766e-01 -2.90571480e-01 -1.44106993e-02 3.15076475e+01] [ 2.90544077e-01 9.56853223e-01 -4.00619685e-03 3.42031837e+00] [ 1.49530106e-02 -3.54035450e-04 9.99888135e-01 4.18465510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.97804094199999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:31.54, Y:3.43, Z:0.42 [[ 9.57607989e-01 -2.87716601e-01 -1.43560513e-02 3.15408283e+01] [ 2.87686065e-01 9.57715586e-01 -4.19328952e-03 3.42585331e+00] [ 1.49554931e-02 -1.14508348e-04 9.99888154e-01 4.22198265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.008040941999994 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:31.56, Y:3.44, Z:0.42 [[ 9.56703274e-01 -2.90708245e-01 -1.44070041e-02 3.15624509e+01] [ 2.90680671e-01 9.56811684e-01 -4.01862753e-03 3.43628361e+00] [ 1.49530380e-02 -3.43203501e-04 9.99888138e-01 4.20472480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.038040941999995 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:31.59, Y:3.44, Z:0.43 [[ 9.57699689e-01 -2.87411263e-01 -1.43552111e-02 3.15938476e+01] [ 2.87380655e-01 9.57807264e-01 -4.19582825e-03 3.43959384e+00] [ 1.49554537e-02 -1.07066549e-04 9.99888155e-01 4.25655203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.068040941999996 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:31.62, Y:3.45, Z:0.42 [[ 9.56504051e-01 -2.91364684e-01 -1.43743541e-02 3.16200724e+01] [ 2.91335503e-01 9.56612024e-01 -4.13032097e-03 3.45073878e+00] [ 1.49541097e-02 -2.37090963e-04 9.99888153e-01 4.22336394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.098040942 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:31.65, Y:3.46, Z:0.43 [[ 9.57286197e-01 -2.88785534e-01 -1.43544964e-02 3.16483221e+01] [ 2.88755045e-01 9.57393806e-01 -4.19821841e-03 3.45652627e+00] [ 1.49552907e-02 -1.26036718e-04 9.99888155e-01 4.25601490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.128040942 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:31.68, Y:3.47, Z:0.42 [[ 9.57077333e-01 -2.89476864e-01 -1.43569998e-02 3.16780133e+01] [ 2.89446580e-01 9.57185000e-01 -4.18966699e-03 3.46599882e+00] [ 1.49551165e-02 -1.45749190e-04 9.99888155e-01 4.22258267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.15804094199999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:31.70, Y:3.47, Z:0.42 [[ 9.57083331e-01 -2.89455716e-01 -1.43835689e-02 3.17040542e+01] [ 2.89426792e-01 9.57191376e-01 -4.09891539e-03 3.47309053e+00] [ 1.49542826e-02 -2.39986598e-04 9.99888150e-01 4.23725584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.18804094199999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:31.73, Y:3.48, Z:0.42 [[ 9.56263056e-01 -2.92154321e-01 -1.43812166e-02 3.17299828e+01] [ 2.92125582e-01 9.56371150e-01 -4.10695796e-03 3.48129782e+00] [ 1.49536462e-02 -2.73789109e-04 9.99888150e-01 4.21879921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.218040941999995 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:31.76, Y:3.49, Z:0.42 [[ 9.55979379e-01 -2.93082042e-01 -1.43646470e-02 3.17567311e+01] [ 2.93052556e-01 9.56087268e-01 -4.16353647e-03 3.48874137e+00] [ 1.49541139e-02 -2.29341510e-04 9.99888155e-01 4.22223971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.248040941999996 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:31.78, Y:3.50, Z:0.42 [[ 9.55033261e-01 -2.96150960e-01 -1.43554777e-02 3.17833871e+01] [ 2.96121352e-01 9.55141115e-01 -4.19480168e-03 3.49796479e+00] [ 1.49538016e-02 -2.44788351e-04 9.99888156e-01 4.19517444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.278040942 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:31.81, Y:3.50, Z:0.42 [[ 9.54479695e-01 -2.97930815e-01 -1.43437006e-02 3.18115782e+01] [ 2.97900805e-01 9.54587438e-01 -4.23493226e-03 3.50405090e+00] [ 1.49540332e-02 -2.30843101e-04 9.99888156e-01 4.20707276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.308040942 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:31.84, Y:3.51, Z:0.42 [[ 9.53883238e-01 -2.99834715e-01 -1.43496447e-02 3.18417941e+01] [ 2.99805223e-01 9.53991124e-01 -4.21469430e-03 3.51232238e+00] [ 1.49531453e-02 -2.81772194e-04 9.99888156e-01 4.20560548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.33804094199999 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:31.86, Y:3.52, Z:0.42 [[ 9.53980860e-01 -2.99522091e-01 -1.43887189e-02 3.18643554e+01] [ 2.99494566e-01 9.54089275e-01 -4.08170765e-03 3.52008439e+00] [ 1.49506840e-02 -4.15472163e-04 9.99888146e-01 4.17783185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.36804094199999 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:31.89, Y:3.53, Z:0.42 [[ 9.54636622e-01 -2.97428305e-01 -1.43291103e-02 3.18927197e+01] [ 2.97397500e-01 9.54744140e-01 -4.28405718e-03 3.52793486e+00] [ 1.49548339e-02 -1.71723699e-04 9.99888155e-01 4.17969653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.398040941999994 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:31.92, Y:3.54, Z:0.42 [[ 9.55029136e-01 -2.96164720e-01 -1.43460154e-02 3.19196188e+01] [ 2.96134634e-01 9.55136856e-01 -4.22667849e-03 3.53678649e+00] [ 1.49542011e-02 -2.11750928e-04 9.99888157e-01 4.17306203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.428040941999996 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:31.95, Y:3.55, Z:0.42 [[ 9.55914924e-01 -2.93293169e-01 -1.43448291e-02 3.19463578e+01] [ 2.93262699e-01 9.56022537e-01 -4.23070090e-03 3.54640017e+00] [ 1.49548156e-02 -1.62613170e-04 9.99888157e-01 4.17023032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.458040942 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:31.97, Y:3.55, Z:0.42 [[ 9.55832119e-01 -2.93562974e-01 -1.43436353e-02 3.19737428e+01] [ 2.93532474e-01 9.55939723e-01 -4.23474463e-03 3.55457404e+00] [ 1.49548149e-02 -1.62617803e-04 9.99888157e-01 4.17449010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.488040942 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:32.00, Y:3.56, Z:0.42 [[ 9.56187433e-01 -2.92403638e-01 -1.43424390e-02 3.20004813e+01] [ 2.92372947e-01 9.56294982e-01 -4.23879247e-03 3.56308246e+00] [ 1.49550407e-02 -1.40261045e-04 9.99888157e-01 4.18592750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.518040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:32.03, Y:3.57, Z:0.42 [[ 9.56016742e-01 -2.92961250e-01 -1.43420688e-02 3.20258226e+01] [ 2.92930602e-01 9.56124304e-01 -4.24004462e-03 3.57299467e+00] [ 1.49549693e-02 -1.47677200e-04 9.99888157e-01 4.17574101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.54804094199999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:32.05, Y:3.58, Z:0.42 [[ 9.56139627e-01 -2.92560909e-01 -1.43222690e-02 3.20548580e+01] [ 2.92529213e-01 9.56246887e-01 -4.30698753e-03 3.58109718e+00] [ 1.49556813e-02 -7.16006193e-05 9.99888155e-01 4.18347924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.578040941999994 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:32.08, Y:3.59, Z:0.42 [[ 9.56139793e-01 -2.92559438e-01 -1.43412607e-02 3.20815010e+01] [ 2.92528704e-01 9.56247330e-01 -4.24279281e-03 3.58768765e+00] [ 1.49550614e-02 -1.38527369e-04 9.99888157e-01 4.18638313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.608040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.11, Y:3.60, Z:0.42 [[ 9.55006473e-01 -2.96238182e-01 -1.43379423e-02 3.21080999e+01] [ 2.96207694e-01 9.55114080e-01 -4.25399844e-03 3.59628839e+00] [ 1.49545674e-02 -1.84412784e-04 9.99888157e-01 4.19088044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.638040941999996 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:32.14, Y:3.60, Z:0.42 [[ 9.55552459e-01 -2.94472731e-01 -1.43285986e-02 3.21420903e+01] [ 2.94441571e-01 9.55659874e-01 -4.28551748e-03 3.60192433e+00] [ 1.49552348e-02 -1.23898328e-04 9.99888157e-01 4.23079056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.668040942 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:32.16, Y:3.61, Z:0.42 [[ 9.53804020e-01 -3.00084747e-01 -1.43887517e-02 3.21639250e+01] [ 3.00057276e-01 9.53912451e-01 -4.08237003e-03 3.61296103e+00] [ 1.49506664e-02 -4.23668701e-04 9.99888143e-01 4.21098173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.698040942 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:32.19, Y:3.62, Z:0.42 [[ 9.52270597e-01 -3.04918241e-01 -1.43379191e-02 3.21904713e+01] [ 3.04888738e-01 9.52378477e-01 -4.25371143e-03 3.62108875e+00] [ 1.49521598e-02 -3.20785742e-04 9.99888159e-01 4.20803121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.72804094199999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:32.23, Y:3.63, Z:0.42 [[ 9.53098258e-01 -3.02321301e-01 -1.43367136e-02 3.22257653e+01] [ 3.02291443e-01 9.53206040e-01 -4.25777060e-03 3.62571624e+00] [ 1.49530568e-02 -2.75792096e-04 9.99888159e-01 4.23821108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.758040941999994 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:32.25, Y:3.64, Z:0.42 [[ 9.50583822e-01 -3.10133625e-01 -1.44059899e-02 3.22450154e+01] [ 3.10108180e-01 9.50692759e-01 -4.02422010e-03 3.63754707e+00] [ 1.49437162e-02 -6.42056786e-04 9.99888130e-01 4.19795612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.788040941999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.27, Y:3.65, Z:0.42 [[ 9.50267902e-01 -3.11103572e-01 -1.43346552e-02 3.22716647e+01] [ 3.11074616e-01 9.50375926e-01 -4.26403199e-03 3.64659769e+00] [ 1.49498668e-02 -4.07174623e-04 9.99888162e-01 4.19494205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.818040941999996 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:32.29, Y:3.66, Z:0.42 [[ 9.49069277e-01 -3.14741258e-01 -1.43334519e-02 3.22932621e+01] [ 3.14712654e-01 9.49177396e-01 -4.26807285e-03 3.65812307e+00] [ 1.49483272e-02 -4.60221891e-04 9.99888162e-01 4.20633103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.848040942 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:32.33, Y:3.66, Z:0.42 [[ 9.50595228e-01 -3.10104814e-01 -1.42729529e-02 3.23301091e+01] [ 3.10072634e-01 9.50702358e-01 -4.47085011e-03 3.66237224e+00] [ 1.49557621e-02 -1.75683303e-04 9.99888141e-01 4.22197071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.878040942 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:32.35, Y:3.67, Z:0.42 [[ 9.50124391e-01 -3.11540412e-01 -1.43601472e-02 3.23536211e+01] [ 3.11512803e-01 9.50232770e-01 -4.17800074e-03 3.67148411e+00] [ 1.49470985e-02 -5.03749295e-04 9.99888159e-01 4.20826253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.90804094199999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:32.39, Y:3.68, Z:0.42 [[ 9.50889392e-01 -3.09198911e-01 -1.43316974e-02 3.23851848e+01] [ 3.09169597e-01 9.50997318e-01 -4.27341282e-03 3.67762634e+00] [ 1.49507403e-02 -3.67382176e-04 9.99888164e-01 4.23828724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.93804094199999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:32.41, Y:3.69, Z:0.42 [[ 9.51397417e-01 -3.07630452e-01 -1.43686966e-02 3.24103194e+01] [ 3.07602830e-01 9.51505797e-01 -4.14930146e-03 3.68708119e+00] [ 1.49483496e-02 -4.72217056e-04 9.99888156e-01 4.22849529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.968040941999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:32.43, Y:3.70, Z:0.42 [[ 9.51885145e-01 -3.06118737e-01 -1.43523120e-02 3.24345059e+01] [ 3.06090116e-01 9.51993259e-01 -4.20417305e-03 3.69651975e+00] [ 1.49502804e-02 -3.91210972e-04 9.99888162e-01 4.21780692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.998040941999996 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:32.46, Y:3.71, Z:0.42 [[ 9.53819861e-01 -3.00037293e-01 -1.43281232e-02 3.24599076e+01] [ 3.00006767e-01 9.53927449e-01 -4.28505448e-03 3.70522912e+00] [ 1.49536661e-02 -2.11363836e-04 9.99888165e-01 4.21712018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.028040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:32.49, Y:3.71, Z:0.42 [[ 9.54628880e-01 -2.97453226e-01 -1.43276029e-02 3.24865158e+01] [ 2.97422382e-01 9.54736377e-01 -4.28679347e-03 3.71419549e+00] [ 1.49542042e-02 -1.69052927e-04 9.99888165e-01 4.21711835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.058040942 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:32.52, Y:3.72, Z:0.42 [[ 9.55676010e-01 -2.94071621e-01 -1.43264086e-02 3.25160782e+01] [ 2.94040337e-01 9.55783380e-01 -4.29078109e-03 3.72159100e+00] [ 1.49547402e-02 -1.11945458e-04 9.99888165e-01 4.20393476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.08804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.54, Y:3.73, Z:0.42 [[ 9.56864670e-01 -2.90179545e-01 -1.43469667e-02 3.25415324e+01] [ 2.90148852e-01 9.56972213e-01 -4.22217095e-03 3.73131435e+00] [ 1.49548361e-02 -1.22709697e-04 9.99888163e-01 4.19821351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.11804094199999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:32.57, Y:3.74, Z:0.42 [[ 9.57621198e-01 -2.87673627e-01 -1.43361437e-02 3.25670059e+01] [ 2.87642113e-01 9.57728501e-01 -4.25825130e-03 3.73926868e+00] [ 1.49551201e-02 -4.58869563e-05 9.99888165e-01 4.19331409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.148040941999994 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:32.59, Y:3.75, Z:0.42 [[ 9.58728041e-01 -2.83963690e-01 -1.43236592e-02 3.25948184e+01] [ 2.83931139e-01 9.58835033e-01 -4.29983998e-03 3.74562500e+00] [ 1.49550246e-02 5.54442968e-05 9.99888166e-01 4.22409729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.178040941999996 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:32.62, Y:3.75, Z:0.42 [[ 9.59246587e-01 -2.82207111e-01 -1.43224302e-02 3.26220826e+01] [ 2.82174303e-01 9.59353501e-01 -4.30392975e-03 3.75327211e+00] [ 1.49548731e-02 8.71081742e-05 9.99888166e-01 4.23334298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.208040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:32.65, Y:3.76, Z:0.42 [[ 9.59684063e-01 -2.80715874e-01 -1.43212075e-02 3.26492519e+01] [ 2.80682839e-01 9.59790907e-01 -4.30799452e-03 3.76161719e+00] [ 1.49546871e-02 1.14596514e-04 9.99888166e-01 4.23869761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.238040942 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:32.68, Y:3.77, Z:0.42 [[ 9.60496468e-01 -2.77923502e-01 -1.43199915e-02 3.26766366e+01] [ 2.77890096e-01 9.60603196e-01 -4.31203257e-03 3.76971116e+00] [ 1.49542448e-02 1.62308239e-04 9.99888166e-01 4.24174432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.70, Y:3.78, Z:0.42 [[ 9.60843657e-01 -2.76720862e-01 -1.43189342e-02 3.27037442e+01] [ 2.76687270e-01 9.60950327e-01 -4.31554068e-03 3.77734452e+00] [ 1.49539847e-02 1.84693064e-04 9.99888166e-01 4.22712457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.29804094199999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:32.73, Y:3.78, Z:0.42 [[ 9.61146320e-01 -2.75667789e-01 -1.43185600e-02 3.27323420e+01] [ 2.75634062e-01 9.61252948e-01 -4.31678199e-03 3.78290205e+00] [ 1.49537557e-02 2.02376272e-04 9.99888166e-01 4.24924208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.328040941999994 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:32.76, Y:3.79, Z:0.43 [[ 9.61076596e-01 -2.75910830e-01 -1.43175190e-02 3.27591691e+01] [ 2.75877079e-01 9.61183215e-01 -4.32023208e-03 3.78971618e+00] [ 1.49537577e-02 2.02198637e-04 9.99888166e-01 4.25528619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.358040941999995 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:32.79, Y:3.80, Z:0.43 [[ 9.61113226e-01 -2.75783266e-01 -1.43163311e-02 3.27866234e+01] [ 2.75749442e-01 9.61219822e-01 -4.32416463e-03 3.79675737e+00] [ 1.49536735e-02 2.08291498e-04 9.99888166e-01 4.26004449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.388040941999996 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:32.81, Y:3.80, Z:0.43 [[ 9.60970441e-01 -2.76280411e-01 -1.43159632e-02 3.28139644e+01] [ 2.76246624e-01 9.61077049e-01 -4.32538251e-03 3.80331815e+00] [ 1.49537621e-02 2.01828249e-04 9.99888166e-01 4.26879949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.418040942 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:32.84, Y:3.81, Z:0.43 [[ 9.60860111e-01 -2.76663894e-01 -1.43155987e-02 3.28411987e+01] [ 2.76630131e-01 9.60966727e-01 -4.32658843e-03 3.81064871e+00] [ 1.49538249e-02 1.97120286e-04 9.99888166e-01 4.28754311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.448040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:32.87, Y:3.82, Z:0.43 [[ 9.60622476e-01 -2.77487941e-01 -1.43143965e-02 3.28691775e+01] [ 2.77454211e-01 9.60729102e-01 -4.33056214e-03 3.81776548e+00] [ 1.49539361e-02 1.88445729e-04 9.99888166e-01 4.29777882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.47804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.90, Y:3.82, Z:0.43 [[ 9.61717220e-01 -2.73669722e-01 -1.43133520e-02 3.29046907e+01] [ 2.73635517e-01 9.61823695e-01 -4.33401198e-03 3.82258865e+00] [ 1.49530089e-02 2.51452484e-04 9.99888166e-01 4.28115980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.508040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.93, Y:3.83, Z:0.43 [[ 9.60421861e-01 -2.78178069e-01 -1.43809180e-02 3.29251860e+01] [ 2.78147702e-01 9.60529520e-01 -4.11053789e-03 3.83436446e+00] [ 1.49567578e-02 -5.21688419e-05 9.99888140e-01 4.30915659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.538040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.96, Y:3.84, Z:0.43 [[ 9.61130310e-01 -2.75723930e-01 -1.43122790e-02 3.29604630e+01] [ 2.75689908e-01 9.61236841e-01 -4.33704831e-03 3.83948732e+00] [ 1.49533179e-02 2.22717702e-04 9.99888168e-01 4.29783068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.568040941999996 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:32.98, Y:3.85, Z:0.43 [[ 9.60034976e-01 -2.79510555e-01 -1.43769084e-02 3.29807461e+01] [ 2.79480142e-01 9.60142618e-01 -4.12355940e-03 3.84979819e+00] [ 1.49564609e-02 -5.92991600e-05 9.99888144e-01 4.29039199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.598040942 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:33.02, Y:3.85, Z:0.43 [[ 9.61068435e-01 -2.75939620e-01 -1.43104743e-02 3.30179254e+01] [ 2.75905541e-01 9.61174945e-01 -4.34249124e-03 3.85440732e+00] [ 1.49531347e-02 2.25092110e-04 9.99888170e-01 4.30290239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.04, Y:3.87, Z:0.43 [[ 9.59166146e-01 -2.82476451e-01 -1.43999756e-02 3.30362211e+01] [ 2.82447522e-01 9.59274215e-01 -4.04687479e-03 3.86669325e+00] [ 1.49566722e-02 -1.85612138e-04 9.99888125e-01 4.31179004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.65804094199999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:33.07, Y:3.88, Z:0.43 [[ 9.58882320e-01 -2.83443012e-01 -1.43092827e-02 3.30663282e+01] [ 2.83409721e-01 9.58989075e-01 -4.34551851e-03 3.87596069e+00] [ 1.49541526e-02 1.11451059e-04 9.99888174e-01 4.32577428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.68804094199999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:33.09, Y:3.89, Z:0.44 [[ 9.57589280e-01 -2.87780201e-01 -1.43292234e-02 3.30914283e+01] [ 2.87748374e-01 9.57696484e-01 -4.27990796e-03 3.88744334e+00] [ 1.49547196e-02 -2.48167390e-05 9.99888172e-01 4.35182231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.718040941999995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:33.12, Y:3.89, Z:0.43 [[ 9.57532997e-01 -2.87968546e-01 -1.43064875e-02 3.31239944e+01] [ 2.87935624e-01 9.57639866e-01 -4.35460397e-03 3.89489552e+00] [ 1.49544517e-02 5.03295944e-05 9.99888175e-01 4.33588118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.748040941999996 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:33.15, Y:3.91, Z:0.43 [[ 9.56166147e-01 -2.92472522e-01 -1.43570240e-02 3.31459422e+01] [ 2.92442594e-01 9.56273908e-01 -4.18839017e-03 3.90505995e+00] [ 1.49542365e-02 -1.93808465e-04 9.99888160e-01 4.32842027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.18, Y:3.91, Z:0.44 [[ 9.55603173e-01 -2.94309242e-01 -1.43054249e-02 3.31798459e+01] [ 2.94276981e-01 9.55710243e-01 -4.35777708e-03 3.90991651e+00] [ 1.49543752e-02 -4.54516551e-05 9.99888176e-01 4.36425049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.808040942 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:33.21, Y:3.92, Z:0.44 [[ 9.54755583e-01 -2.97044396e-01 -1.43667553e-02 3.32069734e+01] [ 2.97015468e-01 9.54863623e-01 -4.15622529e-03 3.91796427e+00] [ 1.49528755e-02 -2.98969255e-04 9.99888155e-01 4.42111374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.83804094199999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:33.23, Y:3.93, Z:0.44 [[ 9.53698957e-01 -3.00419689e-01 -1.43634819e-02 3.32331110e+01] [ 3.00390982e-01 9.53807053e-01 -4.16696967e-03 3.92823203e+00] [ 1.49518300e-02 -3.40625788e-04 9.99888157e-01 4.40262968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.86804094199999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:33.25, Y:3.94, Z:0.44 [[ 9.52425198e-01 -3.04433644e-01 -1.43665584e-02 3.32528661e+01] [ 3.04405544e-01 9.52533456e-01 -4.15687523e-03 3.94064872e+00] [ 1.49501202e-02 -4.14147309e-04 9.99888155e-01 4.42918441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.898040941999994 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:33.28, Y:3.95, Z:0.44 [[ 9.52869446e-01 -3.03043356e-01 -1.43018714e-02 3.32844717e+01] [ 3.03011914e-01 9.52976755e-01 -4.36864571e-03 3.94902581e+00] [ 1.49532401e-02 -1.70888409e-04 9.99888179e-01 4.41367768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.928040941999996 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:33.31, Y:3.96, Z:0.44 [[ 9.52460745e-01 -3.04323131e-01 -1.43513387e-02 3.33061608e+01] [ 3.04294271e-01 9.52568791e-01 -4.20655515e-03 3.96060023e+00] [ 1.49507894e-02 -3.60451490e-04 9.99888166e-01 4.44121875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.958040942 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:33.33, Y:3.97, Z:0.45 [[ 9.52606138e-01 -3.03870114e-01 -1.43003489e-02 3.33334425e+01] [ 3.03838695e-01 9.52713452e-01 -4.37328883e-03 3.96879572e+00] [ 1.49530466e-02 -1.78977585e-04 9.99888181e-01 4.45322390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.988040942 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:33.36, Y:3.98, Z:0.45 [[ 9.52842576e-01 -3.03127952e-01 -1.42992901e-02 3.33596771e+01] [ 3.03096397e-01 9.52949851e-01 -4.37674817e-03 3.97683526e+00] [ 1.49532211e-02 -1.63711313e-04 9.99888181e-01 4.46905081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.018040942 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:33.39, Y:3.99, Z:0.45 [[ 9.53590151e-01 -3.00767958e-01 -1.42989146e-02 3.33862436e+01] [ 3.00736120e-01 9.53697342e-01 -4.37797466e-03 3.98793391e+00] [ 1.49535913e-02 -1.25406568e-04 9.99888181e-01 4.48327950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.04804094199999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:33.41, Y:4.00, Z:0.45 [[ 9.54070944e-01 -2.99239378e-01 -1.42978732e-02 3.34128865e+01] [ 2.99207317e-01 9.54178068e-01 -4.38137311e-03 3.99810056e+00] [ 1.49537964e-02 -9.78874898e-05 9.99888181e-01 4.48730635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.078040941999994 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:33.44, Y:4.01, Z:0.45 [[ 9.54830776e-01 -2.96805987e-01 -1.42966667e-02 3.34399888e+01] [ 2.96773594e-01 9.54937801e-01 -4.38530637e-03 4.00826791e+00] [ 1.49540126e-02 -5.56476722e-05 9.99888181e-01 4.49133561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.108040941999995 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:33.47, Y:4.02, Z:0.45 [[ 9.55086979e-01 -2.95980570e-01 -1.42956186e-02 3.34662898e+01] [ 2.95948033e-01 9.55193960e-01 -4.38872050e-03 4.01602989e+00] [ 1.49540645e-02 -3.91503980e-05 9.99888181e-01 4.49924670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.138040941999996 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:33.49, Y:4.02, Z:0.45 [[ 9.55160152e-01 -2.95744366e-01 -1.42952472e-02 3.34935529e+01] [ 2.95711785e-01 9.55267119e-01 -4.38992985e-03 4.02417005e+00] [ 1.49540766e-02 -3.41870084e-05 9.99888181e-01 4.52397284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.168040942 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:33.52, Y:4.03, Z:0.45 [[ 9.55199127e-01 -2.95618519e-01 -1.42940187e-02 3.35203287e+01] [ 2.95585864e-01 9.55306072e-01 -4.39392633e-03 4.03304050e+00] [ 1.49540888e-02 -2.80352732e-05 9.99888181e-01 4.53449477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.198040942 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:33.55, Y:4.04, Z:0.45 [[ 9.55352441e-01 -2.95122704e-01 -1.42934488e-02 3.35461774e+01] [ 2.95089966e-01 9.55459360e-01 -4.39577937e-03 4.04186211e+00] [ 1.49541038e-02 -1.83347675e-05 9.99888181e-01 4.54204235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.22804094199999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.57, Y:4.05, Z:0.46 [[ 9.55115617e-01 -2.95889140e-01 -1.42749564e-02 3.35738851e+01] [ 2.95855589e-01 9.55222286e-01 -4.45584614e-03 4.05363685e+00] [ 1.49541930e-02 3.25225949e-05 9.99888179e-01 4.56183881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.258040941999994 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:33.60, Y:4.06, Z:0.46 [[ 9.55150860e-01 -2.95774526e-01 -1.42921001e-02 3.36000086e+01] [ 2.95741795e-01 9.55257782e-01 -4.40016226e-03 4.06319679e+00] [ 1.49540957e-02 -2.39525652e-05 9.99888181e-01 4.55705451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.288040941999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:33.63, Y:4.07, Z:0.46 [[ 9.55095834e-01 -2.95952183e-01 -1.42917172e-02 3.36270302e+01] [ 2.95919454e-01 9.55202756e-01 -4.40140555e-03 4.07247171e+00] [ 1.49540932e-02 -2.54330358e-05 9.99888181e-01 4.56251650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.318040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.65, Y:4.08, Z:0.46 [[ 9.54909548e-01 -2.96552755e-01 -1.42904882e-02 3.36539260e+01] [ 2.96520033e-01 9.55016472e-01 -4.40539235e-03 4.08141779e+00] [ 1.49540828e-02 -3.06648001e-05 9.99888181e-01 4.56727721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.348040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.68, Y:4.09, Z:0.45 [[ 9.54780655e-01 -2.96967538e-01 -1.42892423e-02 3.36803155e+01] [ 2.96934802e-01 9.54887575e-01 -4.40942962e-03 4.09092841e+00] [ 1.49540774e-02 -3.29352382e-05 9.99888181e-01 4.51770742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.378040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.71, Y:4.10, Z:0.45 [[ 9.54715460e-01 -2.97178119e-01 -1.42672768e-02 3.37075664e+01] [ 2.97144343e-01 9.54822059e-01 -4.48055214e-03 4.09946170e+00] [ 1.49542327e-02 3.82117937e-05 9.99888178e-01 4.52172781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.40804094199999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.73, Y:4.11, Z:0.45 [[ 9.54499701e-01 -2.97870455e-01 -1.42657719e-02 3.37328804e+01] [ 2.97836683e-01 9.54606302e-01 -4.48541928e-03 4.10856585e+00] [ 1.49542696e-02 3.24611815e-05 9.99888178e-01 4.51770877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.43804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.76, Y:4.12, Z:0.45 [[ 9.54155224e-01 -2.98972576e-01 -1.42550649e-02 3.37555845e+01] [ 2.98938411e-01 9.54261702e-01 -4.51999116e-03 4.12042141e+00] [ 1.49544159e-02 5.13867196e-05 9.99888175e-01 4.50840592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.468040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.79, Y:4.13, Z:0.46 [[ 9.54947064e-01 -2.96435166e-01 -1.42231323e-02 3.37884981e+01] [ 2.96399175e-01 9.55052958e-01 -4.62345633e-03 4.12744201e+00] [ 1.49543996e-02 1.99431368e-04 9.99888157e-01 4.58078106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.498040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.81, Y:4.14, Z:0.45 [[ 9.54069299e-01 -2.99244947e-01 -1.42910582e-02 3.38119135e+01] [ 2.99212562e-01 9.54176323e-01 -4.40298624e-03 4.14028269e+00] [ 1.49537608e-02 -7.53101464e-05 9.99888183e-01 4.50814147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.84, Y:4.15, Z:0.46 [[ 9.55116223e-01 -2.95888409e-01 -1.42495717e-02 3.38421978e+01] [ 2.95853641e-01 9.55222506e-01 -4.53736841e-03 4.14820139e+00] [ 1.49540663e-02 1.17926517e-04 9.99888175e-01 4.59721806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.87, Y:4.16, Z:0.46 [[ 9.55051100e-01 -2.96096618e-01 -1.42895101e-02 3.38689524e+01] [ 2.96063807e-01 9.55157993e-01 -4.40789656e-03 4.15769633e+00] [ 1.49539031e-02 -2.08403165e-05 9.99888184e-01 4.60909068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.58804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.90, Y:4.17, Z:0.46 [[ 9.54767623e-01 -2.97009480e-01 -1.42882677e-02 3.38952721e+01] [ 2.96976711e-01 9.54874530e-01 -4.41192025e-03 4.16812656e+00] [ 1.49538850e-02 -3.09241259e-05 9.99888184e-01 4.61563285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.61804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.92, Y:4.18, Z:0.46 [[ 9.54621745e-01 -2.97478076e-01 -1.42870106e-02 3.39218986e+01] [ 2.97445299e-01 9.54728649e-01 -4.41598734e-03 4.17728646e+00] [ 1.49538777e-02 -3.40065882e-05 9.99888184e-01 4.61772342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.648040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.95, Y:4.19, Z:0.46 [[ 9.54498170e-01 -2.97874372e-01 -1.42864203e-02 3.39487574e+01] [ 2.97841611e-01 9.54605079e-01 -4.41789628e-03 4.18706484e+00] [ 1.49538674e-02 -3.82165084e-05 9.99888184e-01 4.62424654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.678040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.97, Y:4.20, Z:0.46 [[ 9.54490677e-01 -2.97898441e-01 -1.42851661e-02 3.39742535e+01] [ 2.97865622e-01 9.54597568e-01 -4.42194779e-03 4.19877218e+00] [ 1.49538762e-02 -3.43519463e-05 9.99888184e-01 4.62440835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.00, Y:4.21, Z:0.46 [[ 9.54302733e-01 -2.98499981e-01 -1.42847781e-02 3.40007684e+01] [ 2.98467211e-01 9.54409639e-01 -4.42320099e-03 4.20875122e+00] [ 1.49538553e-02 -4.24650744e-05 9.99888184e-01 4.63252629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.02, Y:4.22, Z:0.46 [[ 9.54451906e-01 -2.98022717e-01 -1.42835406e-02 3.40220727e+01] [ 2.97989833e-01 9.54558777e-01 -4.42719356e-03 4.21883774e+00] [ 1.49538833e-02 -3.08065398e-05 9.99888184e-01 4.63093472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.05, Y:4.23, Z:0.46 [[ 9.53180231e-01 -3.02068492e-01 -1.42152302e-02 3.40531032e+01] [ 3.02032776e-01 9.53286215e-01 -4.64704259e-03 4.22963997e+00] [ 1.49549081e-02 1.36003707e-04 9.99888160e-01 4.64302643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.79804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.08, Y:4.24, Z:0.46 [[ 9.52844365e-01 -3.03123159e-01 -1.42816954e-02 3.40786145e+01] [ 3.03090762e-01 9.52951384e-01 -4.43290989e-03 4.23961042e+00] [ 1.49534791e-02 -1.04776731e-04 9.99888185e-01 4.63621539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.828040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.10, Y:4.25, Z:0.46 [[ 9.51923668e-01 -3.06002268e-01 -1.42808552e-02 3.41043457e+01] [ 3.05970154e-01 9.52030772e-01 -4.43561514e-03 4.25100546e+00] [ 1.49531219e-02 -1.47148411e-04 9.99888185e-01 4.64152984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.858040941999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.13, Y:4.26, Z:0.46 [[ 9.51568868e-01 -3.07103862e-01 -1.42795965e-02 3.41294899e+01] [ 3.07071811e-01 9.51675991e-01 -4.43966361e-03 4.26106159e+00] [ 1.49529870e-02 -1.60215864e-04 9.99888185e-01 4.63814334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.888040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.15, Y:4.27, Z:0.46 [[ 9.50528421e-01 -3.10309248e-01 -1.42790517e-02 3.41545623e+01] [ 3.10277532e-01 9.50635644e-01 -4.44141510e-03 4.27351906e+00] [ 1.49523877e-02 -2.08777627e-04 9.99888185e-01 4.63176957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.18, Y:4.28, Z:0.46 [[ 9.49764030e-01 -3.12641058e-01 -1.42778124e-02 3.41799587e+01] [ 3.12609546e-01 9.49871313e-01 -4.44539545e-03 4.28302379e+00] [ 1.49518975e-02 -2.41303743e-04 9.99888185e-01 4.63229738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.21, Y:4.29, Z:0.46 [[ 9.48895932e-01 -3.15266031e-01 -1.42772755e-02 3.42066388e+01] [ 3.15234789e-01 9.49003293e-01 -4.44711904e-03 4.29233020e+00] [ 1.49512071e-02 -2.80840774e-04 9.99888185e-01 4.64139779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.97804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.23, Y:4.30, Z:0.46 [[ 9.48131015e-01 -3.17559086e-01 -1.42760439e-02 3.42323082e+01] [ 3.17528045e-01 9.48238435e-01 -4.45106927e-03 4.30162295e+00] [ 1.49505710e-02 -3.12847478e-04 9.99888185e-01 4.64891255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.008040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.26, Y:4.31, Z:0.47 [[ 9.46444995e-01 -3.22549346e-01 -1.42755105e-02 3.42581059e+01] [ 3.22518845e-01 9.46552570e-01 -4.45277929e-03 4.31402982e+00] [ 1.49487622e-02 -3.89810480e-04 9.99888185e-01 4.65657857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.038040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.28, Y:4.33, Z:0.47 [[ 9.45579139e-01 -3.25078970e-01 -1.42743060e-02 3.42844038e+01] [ 3.25048698e-01 9.45686778e-01 -4.45663731e-03 4.32540476e+00] [ 1.49477815e-02 -4.25741316e-04 9.99888185e-01 4.65979188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.068040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.31, Y:4.34, Z:0.47 [[ 9.44500599e-01 -3.28199477e-01 -1.42731069e-02 3.43095437e+01] [ 3.28169503e-01 9.44608322e-01 -4.46047428e-03 4.33781379e+00] [ 1.49464209e-02 -4.71077763e-04 9.99888185e-01 4.65544195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.33, Y:4.35, Z:0.47 [[ 9.44140991e-01 -3.29232599e-01 -1.42718308e-02 3.43348806e+01] [ 3.29202682e-01 9.44248729e-01 -4.46455368e-03 4.34682924e+00] [ 1.49460347e-02 -4.83156824e-04 9.99888185e-01 4.66149114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.36, Y:4.36, Z:0.47 [[ 9.43801785e-01 -3.30203756e-01 -1.42712782e-02 3.43612268e+01] [ 3.30173923e-01 9.43909547e-01 -4.46631930e-03 4.35583277e+00] [ 1.49455911e-02 -4.96683773e-04 9.99888185e-01 4.66551800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.40, Y:4.36, Z:0.47 [[ 9.46789674e-01 -3.21536436e-01 -1.42700172e-02 3.44007480e+01] [ 3.21505555e-01 9.46897140e-01 -4.47034472e-03 4.36069086e+00] [ 1.49496171e-02 -3.55413570e-04 9.99888185e-01 4.66631788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.18804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.41, Y:4.38, Z:0.47 [[ 9.43562363e-01 -3.30882146e-01 -1.43900189e-02 3.44142461e+01] [ 3.30858152e-01 9.43671651e-01 -4.08627555e-03 4.37862755e+00] [ 1.49315286e-02 -9.05399262e-04 9.99888109e-01 4.67583359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.218040941999995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:34.44, Y:4.39, Z:0.46 [[ 9.44365853e-01 -3.28587224e-01 -1.42678941e-02 3.44406114e+01] [ 3.28557065e-01 9.44473517e-01 -4.47560465e-03 4.39193409e+00] [ 1.49462746e-02 -4.61209201e-04 9.99888192e-01 4.63546639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.248040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.47, Y:4.40, Z:0.47 [[ 9.44841860e-01 -3.27216012e-01 -1.42667841e-02 3.44653882e+01] [ 3.27185644e-01 9.44949465e-01 -4.47914014e-03 4.40176666e+00] [ 1.49470364e-02 -4.35807832e-04 9.99888192e-01 4.65596893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.278040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:34.51, Y:4.40, Z:0.47 [[ 9.48743448e-01 -3.15725108e-01 -1.42662332e-02 3.45089727e+01] [ 3.15693410e-01 9.48850669e-01 -4.48089403e-03 4.40415651e+00] [ 1.49512557e-02 -2.52536949e-04 9.99888192e-01 4.70958351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.308040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:34.54, Y:4.41, Z:0.47 [[ 9.48966520e-01 -3.15046693e-01 -1.44265211e-02 3.45355184e+01] [ 3.15022657e-01 9.49075853e-01 -3.96869026e-03 4.41424553e+00] [ 1.49421856e-02 -7.78526831e-04 9.99888056e-01 4.72253884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.33804094199999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:34.56, Y:4.43, Z:0.47 [[ 9.49052799e-01 -3.14788239e-01 -1.43927158e-02 3.45636470e+01] [ 3.14762548e-01 9.49161697e-01 -4.07580646e-03 4.42589236e+00] [ 1.49440305e-02 -6.62132356e-04 9.99888113e-01 4.71180157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.36804094199999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:34.57, Y:4.44, Z:0.47 [[ 9.46846361e-01 -3.21363419e-01 -1.44055859e-02 3.45741216e+01] [ 3.21339102e-01 9.46955595e-01 -4.03509829e-03 4.44355229e+00] [ 1.49381832e-02 -8.08459911e-04 9.99888092e-01 4.66484379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.398040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.62, Y:4.45, Z:0.47 [[ 9.51374067e-01 -3.07708224e-01 -1.42489798e-02 3.46179672e+01] [ 3.07674918e-01 9.51480763e-01 -4.52793000e-03 4.45012820e+00] [ 1.49509114e-02 -7.62985002e-05 9.99888226e-01 4.65328334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.428040941999996 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:34.64, Y:4.46, Z:0.46 [[ 9.50844711e-01 -3.09332035e-01 -1.44231524e-02 3.46375164e+01] [ 3.09307210e-01 9.50953853e-01 -3.97739526e-03 4.46102551e+00] [ 1.49460881e-02 -6.79299762e-04 9.99888070e-01 4.61905828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.67, Y:4.47, Z:0.47 [[ 9.52775977e-01 -3.03336255e-01 -1.43196918e-02 3.46745177e+01] [ 3.03305834e-01 9.52883548e-01 -4.30279695e-03 4.46718388e+00] [ 1.49501930e-02 -2.43644493e-04 9.99888210e-01 4.68177155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.488040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:34.70, Y:4.48, Z:0.47 [[ 9.52506748e-01 -3.04176257e-01 -1.44117716e-02 3.47003841e+01] [ 3.04150304e-01 9.52615604e-01 -4.01281633e-03 4.47705628e+00] [ 1.49494820e-02 -5.61110090e-04 9.99888093e-01 4.69610178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.73, Y:4.49, Z:0.48 [[ 9.52319674e-01 -3.04763559e-01 -1.43670145e-02 3.47298423e+01] [ 3.04735562e-01 9.52427947e-01 -4.15258655e-03 4.48807898e+00] [ 1.49491032e-02 -4.23550367e-04 9.99888166e-01 4.76920141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.54804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.74, Y:4.50, Z:0.47 [[ 9.50845313e-01 -3.09332041e-01 -1.43832731e-02 3.47445560e+01] [ 3.09305339e-01 9.50953935e-01 -4.10125798e-03 4.50322242e+00] [ 1.49464806e-02 -5.49161229e-04 9.99888144e-01 4.71531383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.578040941999994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:34.78, Y:4.51, Z:0.47 [[ 9.52321327e-01 -3.04763546e-01 -1.42573494e-02 3.47825273e+01] [ 3.04730367e-01 9.52428043e-01 -4.49731877e-03 4.50988511e+00] [ 1.49497182e-02 -6.17547280e-05 9.99888245e-01 4.71440258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.608040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.81, Y:4.52, Z:0.48 [[ 9.51744671e-01 -3.06555836e-01 -1.43387627e-02 3.48140035e+01] [ 3.06526634e-01 9.51852612e-01 -4.24599424e-03 4.52042259e+00] [ 1.49500230e-02 -3.54110268e-04 9.99888179e-01 4.77793476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.638040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.84, Y:4.53, Z:0.48 [[ 9.50780636e-01 -3.09531319e-01 -1.43716950e-02 3.48384409e+01] [ 3.09503989e-01 9.50889113e-01 -4.14441464e-03 4.52776207e+00] [ 1.49487145e-02 -5.07667745e-04 9.99888133e-01 4.75646212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.86, Y:4.54, Z:0.48 [[ 9.49789767e-01 -3.12559150e-01 -1.43588232e-02 3.48614748e+01] [ 3.12531561e-01 9.49898160e-01 -4.18440288e-03 4.53726918e+00] [ 1.49472932e-02 -5.13282388e-04 9.99888151e-01 4.76211762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.89, Y:4.55, Z:0.48 [[ 9.48518858e-01 -3.16397317e-01 -1.43078406e-02 3.48876158e+01] [ 3.16367785e-01 9.48626676e-01 -4.34204501e-03 4.54854803e+00] [ 1.49466107e-02 -4.08028275e-04 9.99888210e-01 4.76188535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.72804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.92, Y:4.56, Z:0.47 [[ 9.48837092e-01 -3.15442173e-01 -1.42971243e-02 3.49155468e+01] [ 3.15412033e-01 9.48944734e-01 -4.37513703e-03 4.55577595e+00] [ 1.49472835e-02 -3.58192747e-04 9.99888219e-01 4.73440700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.758040941999994 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:34.94, Y:4.57, Z:0.47 [[ 9.47422012e-01 -3.19667049e-01 -1.43006520e-02 3.49407670e+01] [ 3.19637553e-01 9.47529835e-01 -4.36429289e-03 4.56650749e+00] [ 1.49454151e-02 -4.36198264e-04 9.99888216e-01 4.73205034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.788040941999995 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:34.96, Y:4.58, Z:0.47 [[ 9.46168818e-01 -3.23358639e-01 -1.42744263e-02 3.49618932e+01] [ 3.23328350e-01 9.46276399e-01 -4.44474222e-03 4.57695310e+00] [ 1.49447985e-02 -4.09850221e-04 9.99888236e-01 4.72363300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.818040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.00, Y:4.58, Z:0.47 [[ 9.46677148e-01 -3.21870266e-01 -1.42094892e-02 3.49970978e+01] [ 3.21836819e-01 9.46783767e-01 -4.64345809e-03 4.58045228e+00] [ 1.49479048e-02 -1.77281124e-04 9.99888258e-01 4.74893227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.848040942 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:35.02, Y:4.59, Z:0.48 [[ 9.46527479e-01 -3.22307289e-01 -1.42738487e-02 3.50240198e+01] [ 3.22276845e-01 9.46635019e-01 -4.44712410e-03 4.58761373e+00] [ 1.49454656e-02 -3.90805765e-04 9.99888234e-01 4.78232866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.878040942 meters Centerline goodness : 0.996273 Centerline is valid? [True, True] Translation: X:35.05, Y:4.60, Z:0.48 [[ 9.45799686e-01 -3.24437003e-01 -1.42683105e-02 3.50468385e+01] [ 3.24406543e-01 9.45907219e-01 -4.46414717e-03 4.59562879e+00] [ 1.49448325e-02 -4.06544309e-04 9.99888237e-01 4.77869046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.90804094199999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:35.08, Y:4.60, Z:0.48 [[ 9.45866369e-01 -3.24244202e-01 -1.42305744e-02 3.50770521e+01] [ 3.24211976e-01 9.45973371e-01 -4.57998086e-03 4.60370407e+00] [ 1.49467767e-02 -2.81672782e-04 9.99888251e-01 4.76097828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.93804094199999 meters Centerline goodness : 0.996307 Centerline is valid? [True, True] Translation: X:35.10, Y:4.61, Z:0.48 [[ 9.45482393e-01 -3.25360652e-01 -1.42649897e-02 3.51020832e+01] [ 3.25330142e-01 9.45589910e-01 -4.47444748e-03 4.61247972e+00] [ 1.49446395e-02 -4.10319812e-04 9.99888238e-01 4.75338075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.968040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.13, Y:4.62, Z:0.48 [[ 9.46307886e-01 -3.22953154e-01 -1.42353596e-02 3.51275334e+01] [ 3.22921005e-01 9.46414911e-01 -4.56520256e-03 4.61651486e+00] [ 1.49469031e-02 -2.76809436e-04 9.99888250e-01 4.77998415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.998040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.16, Y:4.62, Z:0.48 [[ 9.47060180e-01 -3.20741504e-01 -1.42092932e-02 3.51589984e+01] [ 3.20707907e-01 9.47166756e-01 -4.64494228e-03 4.62158801e+00] [ 1.49483959e-02 -1.57992801e-04 9.99888254e-01 4.79202922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.18, Y:4.63, Z:0.48 [[ 9.47266121e-01 -3.20131021e-01 -1.42486881e-02 3.51818741e+01] [ 3.20099165e-01 9.47373239e-01 -4.52443881e-03 4.62785089e+00] [ 1.49472391e-02 -2.75145579e-04 9.99888246e-01 4.80475060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.21, Y:4.64, Z:0.48 [[ 9.47682989e-01 -3.18896721e-01 -1.42068190e-02 3.52085453e+01] [ 3.18862807e-01 9.47789463e-01 -4.65229602e-03 4.63545470e+00] [ 1.49486753e-02 -1.21124378e-04 9.99888255e-01 4.80828221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.08804094199999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:35.24, Y:4.64, Z:0.48 [[ 9.48336850e-01 -3.16947032e-01 -1.42055753e-02 3.52386883e+01] [ 3.16912842e-01 9.48443236e-01 -4.65609049e-03 4.64304054e+00] [ 1.49489159e-02 -8.63870467e-05 9.99888255e-01 4.79774000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.11804094199999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.26, Y:4.65, Z:0.48 [[ 9.48692950e-01 -3.15878538e-01 -1.42279743e-02 3.52645735e+01] [ 3.15845251e-01 9.48799625e-01 -4.58784552e-03 4.65052514e+00] [ 1.49486987e-02 -1.41381433e-04 9.99888252e-01 4.79586356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.148040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.29, Y:4.66, Z:0.48 [[ 9.49153400e-01 -3.14493253e-01 -1.42062120e-02 3.52908409e+01] [ 3.14458818e-01 9.49259707e-01 -4.65406956e-03 4.65582398e+00] [ 1.49490581e-02 -4.98426723e-05 9.99888255e-01 4.82502686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.178040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.32, Y:4.66, Z:0.48 [[ 9.49437259e-01 -3.13635503e-01 -1.42008087e-02 3.53211685e+01] [ 3.13600726e-01 9.49543454e-01 -4.67049843e-03 4.65969289e+00] [ 1.49491190e-02 -1.90386854e-05 9.99888255e-01 4.81077521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.35, Y:4.67, Z:0.48 [[ 9.49408838e-01 -3.13720894e-01 -1.42147715e-02 3.53465204e+01] [ 3.13686762e-01 9.49515243e-01 -4.62806429e-03 4.66659839e+00] [ 1.49490627e-02 -6.50604989e-05 9.99888254e-01 4.82537558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.238040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.37, Y:4.67, Z:0.48 [[ 9.49288675e-01 -3.14085028e-01 -1.41988614e-02 3.53735031e+01] [ 3.14050213e-01 9.49394857e-01 -4.67637226e-03 4.67421291e+00] [ 1.49491045e-02 -1.99282126e-05 9.99888256e-01 4.83061126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.268040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.40, Y:4.68, Z:0.48 [[ 9.49198936e-01 -3.14356182e-01 -1.41975245e-02 3.54006061e+01] [ 3.14321338e-01 9.49305109e-01 -4.68042738e-03 4.68323337e+00] [ 1.49491038e-02 -1.99282118e-05 9.99888256e-01 4.83486928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.29804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.43, Y:4.69, Z:0.48 [[ 9.48945927e-01 -3.15119177e-01 -1.41961865e-02 3.54269725e+01] [ 3.15084357e-01 9.49052108e-01 -4.68448211e-03 4.68895635e+00] [ 1.49490909e-02 -2.76760822e-05 9.99888256e-01 4.84130627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.328040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.45, Y:4.70, Z:0.48 [[ 9.48015312e-01 -3.17907930e-01 -1.41956070e-02 3.54532164e+01] [ 3.17873396e-01 9.48121587e-01 -4.68623764e-03 4.69800153e+00] [ 1.49489535e-02 -6.97807679e-05 9.99888256e-01 4.80859600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.358040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.48, Y:4.70, Z:0.48 [[ 9.47084290e-01 -3.20671547e-01 -1.41811703e-02 3.54805347e+01] [ 3.20636669e-01 9.47190453e-01 -4.72993968e-03 4.70246926e+00] [ 1.49490262e-02 -6.73516300e-05 9.99888255e-01 4.83128999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.388040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.51, Y:4.71, Z:0.48 [[ 9.46599569e-01 -3.22099796e-01 -1.41766516e-02 3.55079596e+01] [ 3.22064873e-01 9.46705718e-01 -4.74361324e-03 4.70911541e+00] [ 1.49490340e-02 -7.54992425e-05 9.99888254e-01 4.84237173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.54, Y:4.71, Z:0.49 [[ 9.46720583e-01 -3.21743979e-01 -1.41757140e-02 3.55371786e+01] [ 3.21708973e-01 9.46826704e-01 -4.74644782e-03 4.71462726e+00] [ 1.49490856e-02 -6.68945586e-05 9.99888254e-01 4.88193181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.448040942 meters Centerline goodness : 0.997271 Centerline is valid? [True, True] Translation: X:35.57, Y:4.73, Z:0.49 [[ 9.45108324e-01 -3.26448797e-01 -1.41929123e-02 3.55685410e+01] [ 3.26415100e-01 9.45214867e-01 -4.69445166e-03 4.72525130e+00] [ 1.49478498e-02 -1.96015542e-04 9.99888255e-01 4.88008193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.47804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.59, Y:4.73, Z:0.48 [[ 9.44669126e-01 -3.27713997e-01 -1.42750835e-02 3.55910626e+01] [ 3.27684191e-01 9.44776856e-01 -4.44562862e-03 4.73213327e+00] [ 1.49436632e-02 -4.78071076e-04 9.99888223e-01 4.83783225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.508040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.62, Y:4.74, Z:0.49 [[ 9.45897774e-01 -3.24154026e-01 -1.41974996e-02 3.56195086e+01] [ 3.24120292e-01 9.46004301e-01 -4.67973821e-03 4.73851057e+00] [ 1.49478516e-02 -1.75143755e-04 9.99888259e-01 4.87396505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.538040941999995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.65, Y:4.75, Z:0.48 [[ 9.45488310e-01 -3.25346768e-01 -1.41893331e-02 3.56456119e+01] [ 3.25312798e-01 9.45594761e-01 -4.70437010e-03 4.74801641e+00] [ 1.49479106e-02 -1.68044703e-04 9.99888260e-01 4.83684123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.568040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.67, Y:4.75, Z:0.49 [[ 9.46202898e-01 -3.23263657e-01 -1.41662817e-02 3.56747857e+01] [ 3.23228412e-01 9.46308937e-01 -4.77381559e-03 4.75427083e+00] [ 1.49488800e-02 -6.19465803e-05 9.99888257e-01 4.88140286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.598040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.70, Y:4.76, Z:0.49 [[ 9.45885292e-01 -3.24190878e-01 -1.41876205e-02 3.57001607e+01] [ 3.24156700e-01 9.45991677e-01 -4.70953175e-03 4.76396171e+00] [ 1.49481582e-02 -1.44335442e-04 9.99888260e-01 4.85103513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.73, Y:4.77, Z:0.48 [[ 9.46830142e-01 -3.21422251e-01 -1.41569353e-02 3.57286943e+01] [ 3.21386380e-01 9.46935973e-01 -4.80187812e-03 4.76986701e+00] [ 1.49491418e-02 -3.28324394e-06 9.99888255e-01 4.84997691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.76, Y:4.78, Z:0.49 [[ 9.47621675e-01 -3.19080987e-01 -1.41592618e-02 3.57587797e+01] [ 3.19044960e-01 9.47727452e-01 -4.79487368e-03 4.77682300e+00] [ 1.49490741e-02 2.62851298e-05 9.99888256e-01 4.87574374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.68804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.78, Y:4.79, Z:0.49 [[ 9.47806835e-01 -3.18528838e-01 -1.41979907e-02 3.57840488e+01] [ 3.18494494e-01 9.47913167e-01 -4.67823768e-03 4.78644463e+00] [ 1.49486160e-02 -8.79162208e-05 9.99888259e-01 4.86519246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.718040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.81, Y:4.79, Z:0.49 [[ 9.49123163e-01 -3.14586227e-01 -1.41678332e-02 3.58119224e+01] [ 3.14550086e-01 9.49228898e-01 -4.76892894e-03 4.79360348e+00] [ 1.49487561e-02 6.98077588e-05 9.99888259e-01 4.89233472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.748040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.84, Y:4.80, Z:0.49 [[ 9.48313943e-01 -3.17016475e-01 -1.41852106e-02 3.58421559e+01] [ 3.16981386e-01 9.48420030e-01 -4.71666708e-03 4.80405998e+00] [ 1.49487991e-02 -2.35665670e-05 9.99888260e-01 4.85608879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.88, Y:4.81, Z:0.49 [[ 9.49584829e-01 -3.13186446e-01 -1.42444191e-02 3.58757722e+01] [ 3.13153599e-01 9.49691648e-01 -4.53830875e-03 4.80797091e+00] [ 1.49491426e-02 -1.51181957e-04 9.99888244e-01 4.89785045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.90, Y:4.82, Z:0.49 [[ 9.49428996e-01 -3.13656362e-01 -1.42922171e-02 3.58954728e+01] [ 3.13625718e-01 9.49536514e-01 -4.39525261e-03 4.81575648e+00] [ 1.49495810e-02 -3.09426591e-04 9.99888201e-01 4.90118131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.83804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.93, Y:4.82, Z:0.49 [[ 9.48572078e-01 -3.16244158e-01 -1.41649348e-02 3.59274369e+01] [ 3.16208113e-01 9.48677833e-01 -4.77488887e-03 4.82487712e+00] [ 1.49479903e-02 5.02589638e-05 9.99888271e-01 4.89076310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.86804094199999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:35.95, Y:4.83, Z:0.49 [[ 9.50576254e-01 -3.10163427e-01 -1.42630144e-02 3.59528729e+01] [ 3.10131097e-01 9.50683240e-01 -4.48111975e-03 4.82673713e+00] [ 1.49494882e-02 -1.63758301e-04 9.99888237e-01 4.93106721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.898040941999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:35.98, Y:4.84, Z:0.50 [[ 9.49097404e-01 -3.14662198e-01 -1.42062812e-02 3.59765511e+01] [ 3.14627837e-01 9.49203718e-01 -4.65041256e-03 4.83832519e+00] [ 1.49479639e-02 -5.59970325e-05 9.99888271e-01 4.95418314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.928040941999996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:36.00, Y:4.85, Z:0.50 [[ 9.48941964e-01 -3.15132282e-01 -1.41701692e-02 3.60029781e+01] [ 3.15096366e-01 9.49047755e-01 -4.75796155e-03 4.84695511e+00] [ 1.49475546e-02 5.00605578e-05 9.99888278e-01 4.95551144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.958040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:36.03, Y:4.85, Z:0.49 [[ 9.48655690e-01 -3.15992765e-01 -1.41758215e-02 3.60311884e+01] [ 3.15957196e-01 9.48761599e-01 -4.74114562e-03 4.85312133e+00] [ 1.49476428e-02 1.87619421e-05 9.99888278e-01 4.92486010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.988040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.06, Y:4.86, Z:0.49 [[ 9.48610830e-01 -3.16127213e-01 -1.41801820e-02 3.60576296e+01] [ 3.16091852e-01 9.48716810e-01 -4.72818295e-03 4.85923701e+00] [ 1.49476843e-02 2.96555770e-06 9.99888277e-01 4.91928856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.09, Y:4.87, Z:0.49 [[ 9.48298442e-01 -3.17063329e-01 -1.41742439e-02 3.60859047e+01] [ 3.17027809e-01 9.48404368e-01 -4.74582184e-03 4.86541659e+00] [ 1.49476409e-02 6.82595732e-06 9.99888278e-01 4.93318050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.04804094199999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:36.11, Y:4.87, Z:0.49 [[ 9.47884970e-01 -3.18297096e-01 -1.41789282e-02 3.61111878e+01] [ 3.18261922e-01 9.47991012e-01 -4.73191683e-03 4.87481898e+00] [ 1.49476519e-02 -2.73000917e-05 9.99888277e-01 4.93638207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.078040941999994 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:36.14, Y:4.88, Z:0.49 [[ 9.48313303e-01 -3.17019337e-01 -1.41640102e-02 3.61420440e+01] [ 3.16983359e-01 9.48419073e-01 -4.77615736e-03 4.88322962e+00] [ 1.49475516e-02 3.95380419e-05 9.99888278e-01 4.94478272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.108040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.17, Y:4.89, Z:0.49 [[ 9.48537463e-01 -3.16345556e-01 -1.42187005e-02 3.61699117e+01] [ 3.16311932e-01 9.48644019e-01 -4.61381675e-03 4.89144534e+00] [ 1.49480456e-02 -1.21166582e-04 9.99888264e-01 4.94071580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.138040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.19, Y:4.90, Z:0.49 [[ 9.47294899e-01 -3.20046391e-01 -1.42366425e-02 3.61928190e+01] [ 3.20013983e-01 9.47401843e-01 -4.56055198e-03 4.89885759e+00] [ 1.49474096e-02 -2.35737048e-04 9.99888253e-01 4.92754998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.22, Y:4.91, Z:0.49 [[ 9.47097020e-01 -3.20634130e-01 -1.41770440e-02 3.62226709e+01] [ 3.20599141e-01 9.47203120e-01 -4.73702641e-03 4.90590755e+00] [ 1.49473926e-02 -5.87245310e-05 9.99888280e-01 4.93443270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.198040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:36.25, Y:4.91, Z:0.49 [[ 9.46255755e-01 -3.23107564e-01 -1.41967334e-02 3.62478264e+01] [ 3.23073725e-01 9.46362233e-01 -4.67884190e-03 4.91221146e+00] [ 1.49470215e-02 -1.59210455e-04 9.99888274e-01 4.94935026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.22804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.27, Y:4.92, Z:0.50 [[ 9.45729235e-01 -3.24646336e-01 -1.41763932e-02 3.62745232e+01] [ 3.24611770e-01 9.45835473e-01 -4.73884818e-03 4.92155325e+00] [ 1.49469853e-02 -1.20156844e-04 9.99888280e-01 4.95326557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.258040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.30, Y:4.93, Z:0.49 [[ 9.45431233e-01 -3.25513377e-01 -1.41712980e-02 3.62992887e+01] [ 3.25478683e-01 9.45537428e-01 -4.75386918e-03 4.93174488e+00] [ 1.49469407e-02 -1.17999018e-04 9.99888281e-01 4.93356638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.288040941999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:36.32, Y:4.94, Z:0.49 [[ 9.44880181e-01 -3.27109844e-01 -1.41630882e-02 3.63238686e+01] [ 3.27074967e-01 9.44986315e-01 -4.77805692e-03 4.94073448e+00] [ 1.49468740e-02 -1.17700319e-04 9.99888282e-01 4.91264884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.318040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.35, Y:4.95, Z:0.49 [[ 9.45183181e-01 -3.26234139e-01 -1.41436131e-02 3.63529983e+01] [ 3.26198305e-01 9.45288995e-01 -4.83539435e-03 4.94667243e+00] [ 1.49472725e-02 -4.32891993e-05 9.99888282e-01 4.94163190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.38, Y:4.95, Z:0.49 [[ 9.44780802e-01 -3.27396775e-01 -1.41628798e-02 3.63797491e+01] [ 3.27361921e-01 9.44886944e-01 -4.77866618e-03 4.95421184e+00] [ 1.49468401e-02 -1.21595470e-04 9.99888282e-01 4.93328540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.40, Y:4.96, Z:0.50 [[ 9.44158415e-01 -3.29187055e-01 -1.41693150e-02 3.64048277e+01] [ 3.29152686e-01 9.44264716e-01 -4.75973213e-03 4.96227782e+00] [ 1.49464264e-02 -1.69926962e-04 9.99888281e-01 4.96057709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.40804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.43, Y:4.97, Z:0.50 [[ 9.44467641e-01 -3.28300634e-01 -1.41268444e-02 3.64343165e+01] [ 3.28264296e-01 9.44573286e-01 -4.88455006e-03 4.96973122e+00] [ 1.49474408e-02 -2.40391745e-05 9.99888280e-01 4.96495811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.43804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.46, Y:4.97, Z:0.50 [[ 9.44817437e-01 -3.27291935e-01 -1.41421233e-02 3.64618281e+01] [ 3.27256155e-01 9.44923270e-01 -4.83966772e-03 4.97451580e+00] [ 1.49472056e-02 -5.54944375e-05 9.99888283e-01 4.99931023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.468040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.49, Y:4.98, Z:0.50 [[ 9.44699462e-01 -3.27631982e-01 -1.41496275e-02 3.64892605e+01] [ 3.27596570e-01 9.44805418e-01 -4.81762748e-03 4.98273243e+00] [ 1.49470536e-02 -8.41593538e-05 9.99888283e-01 4.97864354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.498040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.52, Y:4.99, Z:0.50 [[ 9.45144392e-01 -3.26346294e-01 -1.41483184e-02 3.65156561e+01] [ 3.26310681e-01 9.45250280e-01 -4.82146907e-03 4.98863219e+00] [ 1.49471705e-02 -5.97629503e-05 9.99888283e-01 5.03134540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.528040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:36.54, Y:5.00, Z:0.50 [[ 9.45274623e-01 -3.25969006e-01 -1.41454608e-02 3.65422118e+01] [ 3.25933226e-01 9.45380455e-01 -4.82984947e-03 4.99698396e+00] [ 1.49472234e-02 -4.49415293e-05 9.99888283e-01 5.01871831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.57, Y:5.01, Z:0.50 [[ 9.45323180e-01 -3.25828104e-01 -1.41468310e-02 3.65687566e+01] [ 3.25792367e-01 9.45429027e-01 -4.82583262e-03 5.00569915e+00] [ 1.49472166e-02 -4.69581263e-05 9.99888283e-01 5.02425050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.58804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.60, Y:5.01, Z:0.50 [[ 9.45600021e-01 -3.25023849e-01 -1.41456108e-02 3.65953563e+01] [ 3.24987969e-01 9.45705819e-01 -4.82940680e-03 5.01371236e+00] [ 1.49472588e-02 -3.04661458e-05 9.99888283e-01 5.04347857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.61804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.62, Y:5.02, Z:0.51 [[ 9.45727487e-01 -3.24653056e-01 -1.41390907e-02 3.66214116e+01] [ 3.24616850e-01 9.45833174e-01 -4.84849316e-03 5.01978763e+00] [ 1.49472992e-02 -4.43384161e-06 9.99888283e-01 5.05704990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.648040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.65, Y:5.03, Z:0.51 [[ 9.45668047e-01 -3.24826583e-01 -1.41292537e-02 3.66492215e+01] [ 3.24789966e-01 9.45773594e-01 -4.87726689e-03 5.02785286e+00] [ 1.49473410e-02 2.32356251e-05 9.99888282e-01 5.05818745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.678040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.68, Y:5.03, Z:0.51 [[ 9.46097865e-01 -3.23572422e-01 -1.41321610e-02 3.66755469e+01] [ 3.23535792e-01 9.46203406e-01 -4.86876643e-03 5.03268402e+00] [ 1.49472974e-02 3.40696143e-05 9.99888282e-01 5.08398265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.71, Y:5.04, Z:0.51 [[ 9.46568580e-01 -3.22193366e-01 -1.41194222e-02 3.67109422e+01] [ 3.22156027e-01 9.46673875e-01 -4.90597278e-03 5.03986148e+00] [ 1.49471600e-02 9.51827363e-05 9.99888280e-01 5.08993733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.738040942 meters Centerline goodness : 0.997183 Centerline is valid? [True, True] Translation: X:36.73, Y:5.05, Z:0.51 [[ 9.46526361e-01 -3.22313184e-01 -1.42147651e-02 3.67321931e+01] [ 3.22280043e-01 9.46633071e-01 -4.62637850e-03 5.04739411e+00] [ 1.49473095e-02 -2.02145896e-04 9.99888262e-01 5.08912779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.76, Y:5.05, Z:0.51 [[ 9.46799957e-01 -3.21512879e-01 -1.41177443e-02 3.67585553e+01] [ 3.21475402e-01 9.46905199e-01 -4.91012830e-03 5.05429873e+00] [ 1.49468350e-02 1.10401731e-04 9.99888284e-01 5.06919314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.79804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.79, Y:5.06, Z:0.51 [[ 9.47330055e-01 -3.19947413e-01 -1.41216066e-02 3.67942118e+01] [ 3.19909931e-01 9.47435295e-01 -4.89879545e-03 5.06056531e+00] [ 1.49466654e-02 1.23133969e-04 9.99888285e-01 5.08517065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.828040941999994 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:36.82, Y:5.07, Z:0.50 [[ 9.47352620e-01 -3.19876857e-01 -1.42059991e-02 3.68195448e+01] [ 3.19843074e-01 9.47459116e-01 -4.65088009e-03 5.06730224e+00] [ 1.49473122e-02 -1.37666978e-04 9.99888273e-01 5.04071951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.858040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.85, Y:5.07, Z:0.51 [[ 9.46099632e-01 -3.23565416e-01 -1.41742060e-02 3.68479166e+01] [ 3.23530649e-01 9.46205798e-01 -4.74413297e-03 5.07477985e+00] [ 1.49467533e-02 -9.73676191e-05 9.99888286e-01 5.05290426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.888040941999996 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:36.87, Y:5.08, Z:0.51 [[ 9.45841413e-01 -3.24319737e-01 -1.41679149e-02 3.68741274e+01] [ 3.24284778e-01 9.45947515e-01 -4.76257680e-03 5.08115340e+00] [ 1.49467015e-02 -8.97967577e-05 9.99888288e-01 5.11366842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.918040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.90, Y:5.09, Z:0.51 [[ 9.45643364e-01 -3.24897727e-01 -1.41454719e-02 3.69047834e+01] [ 3.24861849e-01 9.45749156e-01 -4.82832759e-03 5.09170175e+00] [ 1.49467808e-02 -2.94482281e-05 9.99888290e-01 5.06017145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.948040942 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:36.93, Y:5.10, Z:0.51 [[ 9.45653598e-01 -3.24866506e-01 -1.41783625e-02 3.69307027e+01] [ 3.24832068e-01 9.45759872e-01 -4.73194905e-03 5.10160249e+00] [ 1.49465781e-02 -1.30802176e-04 9.99888285e-01 5.07495289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.97804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.96, Y:5.11, Z:0.51 [[ 9.45056980e-01 -3.26598733e-01 -1.41623613e-02 3.69578240e+01] [ 3.26563788e-01 9.45163084e-01 -4.77877855e-03 5.11303085e+00] [ 1.49464841e-02 -1.08696324e-04 9.99888289e-01 5.08062335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.008040941999994 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:36.99, Y:5.12, Z:0.51 [[ 9.45050101e-01 -3.26618770e-01 -1.41593048e-02 3.69859065e+01] [ 3.26583693e-01 9.45156161e-01 -4.78771275e-03 5.12290819e+00] [ 1.49465110e-02 -9.95696249e-05 9.99888290e-01 5.08322617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.038040941999995 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:37.01, Y:5.13, Z:0.51 [[ 9.44086076e-01 -3.29394332e-01 -1.41723190e-02 3.70090383e+01] [ 3.29360137e-01 9.44192428e-01 -4.74968930e-03 5.13311914e+00] [ 1.49459170e-02 -1.83681394e-04 9.99888287e-01 5.09559661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.068040941999996 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:37.04, Y:5.14, Z:0.51 [[ 9.43130603e-01 -3.32122011e-01 -1.41292510e-02 3.70356334e+01] [ 3.32086239e-01 9.43236429e-01 -4.87533440e-03 5.14335319e+00] [ 1.49464301e-02 -9.40527607e-05 9.99888291e-01 5.11767281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.06, Y:5.15, Z:0.51 [[ 9.41291660e-01 -3.37298469e-01 -1.41333925e-02 3.70597602e+01] [ 3.37263460e-01 9.41397741e-01 -4.86325743e-03 5.15447140e+00] [ 1.49455131e-02 -1.88933196e-04 9.99888292e-01 5.13222615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.09, Y:5.16, Z:0.51 [[ 9.42512756e-01 -3.33872442e-01 -1.41031214e-02 3.70935077e+01] [ 3.33835726e-01 9.42618264e-01 -4.95145129e-03 5.16020665e+00] [ 1.49470129e-02 -4.13197803e-05 9.99888286e-01 5.09555447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.15804094199999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:37.11, Y:5.17, Z:0.51 [[ 9.40437541e-01 -3.39670930e-01 -1.41735998e-02 3.71135506e+01] [ 3.39637959e-01 9.40544276e-01 -4.74561916e-03 5.17462131e+00] [ 1.49428470e-02 -3.50934094e-04 9.99888288e-01 5.10506014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.18804094199999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:37.14, Y:5.18, Z:0.51 [[ 9.40376898e-01 -3.39841806e-01 -1.41009200e-02 3.71405046e+01] [ 3.39805671e-01 9.40482605e-01 -4.95743917e-03 5.18403279e+00] [ 1.49464150e-02 -1.29711298e-04 9.99888288e-01 5.10847446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.218040941999995 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:37.16, Y:5.20, Z:0.50 [[ 9.38694618e-01 -3.44461376e-01 -1.40987295e-02 3.71649198e+01] [ 3.44425665e-01 9.38800470e-01 -4.96381791e-03 5.19974584e+00] [ 1.49457374e-02 -1.96455116e-04 9.99888287e-01 5.04138890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.248040941999996 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:37.19, Y:5.21, Z:0.50 [[ 9.38645971e-01 -3.44594060e-01 -1.40952223e-02 3.71885217e+01] [ 3.44558210e-01 9.38751777e-01 -4.97405156e-03 5.20950439e+00] [ 1.49459436e-02 -1.87751125e-04 9.99888286e-01 5.04665558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.278040942 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:37.21, Y:5.22, Z:0.51 [[ 9.38462700e-01 -3.45094165e-01 -1.40633363e-02 3.72144931e+01] [ 3.45056978e-01 9.38568063e-01 -5.06696581e-03 5.21886430e+00] [ 1.49479786e-02 -9.74938950e-05 9.99888268e-01 5.05483816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.308040942 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:37.24, Y:5.23, Z:0.51 [[ 9.38450172e-01 -3.45128282e-01 -1.40621382e-02 3.72425587e+01] [ 3.45091047e-01 9.38555518e-01 -5.07045632e-03 5.22778365e+00] [ 1.49480553e-02 -9.43473897e-05 9.99888267e-01 5.06911686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.33804094199999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:37.28, Y:5.23, Z:0.51 [[ 9.40498271e-01 -3.39506554e-01 -1.40819966e-02 3.72769075e+01] [ 3.39469555e-01 9.40603687e-01 -5.01257556e-03 5.23164813e+00] [ 1.49473801e-02 -6.60904610e-05 9.99888279e-01 5.14608133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.36804094199999 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:37.31, Y:5.24, Z:0.51 [[ 9.40023911e-01 -3.40815392e-01 -1.41391291e-02 3.73052919e+01] [ 3.40781041e-01 9.40130203e-01 -4.84587702e-03 5.24373471e+00] [ 1.49441718e-02 -2.63106864e-04 9.99888295e-01 5.13342317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.398040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.32, Y:5.26, Z:0.52 [[ 9.39008421e-01 -3.43602183e-01 -1.41677394e-02 3.73244541e+01] [ 3.43569405e-01 9.39115213e-01 -4.76242575e-03 5.25810897e+00] [ 1.49415195e-02 -3.95643917e-04 9.99888291e-01 5.16118517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.428040941999996 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:37.35, Y:5.27, Z:0.52 [[ 9.39347888e-01 -3.42675858e-01 -1.40996843e-02 3.73503898e+01] [ 3.42639994e-01 9.39453685e-01 -4.96057108e-03 5.26854550e+00] [ 1.49458683e-02 -1.71413762e-04 9.99888290e-01 5.17354886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.458040942 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:37.38, Y:5.28, Z:0.52 [[ 9.39963844e-01 -3.40982817e-01 -1.40957569e-02 3.73777455e+01] [ 3.40946591e-01 9.40069519e-01 -4.97200063e-03 5.27991453e+00] [ 1.49463582e-02 -1.32399423e-04 9.99888288e-01 5.16897330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.488040942 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:37.41, Y:5.28, Z:0.51 [[ 9.42341473e-01 -3.34355283e-01 -1.41100537e-02 3.74146962e+01] [ 3.34318937e-01 9.42447102e-01 -4.93040677e-03 5.28443336e+00] [ 1.49464868e-02 -7.11313759e-05 9.99888292e-01 5.14394016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.518040942 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:37.44, Y:5.29, Z:0.52 [[ 9.42700498e-01 -3.33336669e-01 -1.42280411e-02 3.74409637e+01] [ 3.33305374e-01 9.42807769e-01 -4.58666193e-03 5.29355419e+00] [ 1.49432103e-02 -4.18434076e-04 9.99888256e-01 5.15492640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.54804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.47, Y:5.30, Z:0.52 [[ 9.43995578e-01 -3.29651841e-01 -1.42131368e-02 3.74692443e+01] [ 3.29619474e-01 9.44102518e-01 -4.63003643e-03 5.30022082e+00] [ 1.49449583e-02 -3.14192765e-04 9.99888269e-01 5.15807347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.578040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.49, Y:5.31, Z:0.52 [[ 9.43919043e-01 -3.29870303e-01 -1.42275578e-02 3.74908323e+01] [ 3.29838593e-01 9.44026193e-01 -4.58805993e-03 5.31103949e+00] [ 1.49446519e-02 -3.62040493e-04 9.99888257e-01 5.19159136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.608040941999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:37.52, Y:5.32, Z:0.52 [[ 9.44644197e-01 -3.27789939e-01 -1.41808530e-02 3.75241919e+01] [ 3.27755954e-01 9.44750613e-01 -4.72373020e-03 5.31911179e+00] [ 1.49457608e-02 -1.85614691e-04 9.99888289e-01 5.16020865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.638040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.55, Y:5.33, Z:0.51 [[ 9.44861907e-01 -3.27159369e-01 -1.42380895e-02 3.75456082e+01] [ 3.27127814e-01 9.44969113e-01 -4.55735650e-03 5.33027290e+00] [ 1.49455367e-02 -3.51602544e-04 9.99888247e-01 5.14656416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.57, Y:5.34, Z:0.52 [[ 9.44070570e-01 -3.29438030e-01 -1.41895310e-02 3.75731757e+01] [ 3.29404615e-01 9.44177169e-01 -4.69812901e-03 5.34259214e+00] [ 1.49451735e-02 -2.38731647e-04 9.99888286e-01 5.18231490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.60, Y:5.35, Z:0.52 [[ 9.45304560e-01 -3.25879868e-01 -1.41985768e-02 3.75986642e+01] [ 3.25846446e-01 9.45411163e-01 -4.67191285e-03 5.34684519e+00] [ 1.49459754e-02 -2.10175259e-04 9.99888281e-01 5.17935668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.72804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.63, Y:5.35, Z:0.52 [[ 9.45096339e-01 -3.26484019e-01 -1.41807905e-02 3.76281221e+01] [ 3.26449890e-01 9.45202707e-01 -4.72349028e-03 5.35462505e+00] [ 1.49458657e-02 -1.65164126e-04 9.99888291e-01 5.17262054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.758040941999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:37.66, Y:5.37, Z:0.52 [[ 9.43056354e-01 -3.32330124e-01 -1.41916411e-02 3.76607550e+01] [ 3.32297125e-01 9.43163085e-01 -4.69215182e-03 5.36788033e+00] [ 1.49443754e-02 -2.90877948e-04 9.99888284e-01 5.20408191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.788040941999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.69, Y:5.38, Z:0.52 [[ 9.41194635e-01 -3.37564850e-01 -1.42348446e-02 3.76943259e+01] [ 3.37534311e-01 9.41302139e-01 -4.56858345e-03 5.38123921e+00] [ 1.49414828e-02 -5.04822214e-04 9.99888242e-01 5.19262397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.818040941999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:37.72, Y:5.39, Z:0.52 [[ 9.41301946e-01 -3.37262328e-01 -1.43097319e-02 3.77161435e+01] [ 3.37235006e-01 9.41410427e-01 -4.35403284e-03 5.38936439e+00] [ 1.49397821e-02 -7.27282948e-04 9.99888131e-01 5.20852506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.73, Y:5.40, Z:0.52 [[ 9.41763116e-01 -3.35974701e-01 -1.42560092e-02 3.77305467e+01] [ 3.35944898e-01 9.41870853e-01 -4.50790818e-03 5.39630273e+00] [ 1.49418627e-02 -5.43851910e-04 9.99888216e-01 5.23280839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.75, Y:5.41, Z:0.52 [[ 9.37217568e-01 -3.48459952e-01 -1.41028824e-02 3.77528045e+01] [ 3.48424980e-01 9.37323628e-01 -4.94465328e-03 5.41470303e+00] [ 1.49419786e-02 -2.79580606e-04 9.99888323e-01 5.23515679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.78, Y:5.42, Z:0.52 [[ 9.36973690e-01 -3.49115210e-01 -1.41022951e-02 3.77797009e+01] [ 3.49080287e-01 9.37079765e-01 -4.94632790e-03 5.42413864e+00] [ 1.49418136e-02 -2.88254105e-04 9.99888323e-01 5.23959822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.93804094199999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:37.81, Y:5.43, Z:0.52 [[ 9.36879408e-01 -3.49368201e-01 -1.41008711e-02 3.78063186e+01] [ 3.49333246e-01 9.36985473e-01 -4.95038408e-03 5.43388357e+00] [ 1.49418181e-02 -2.87990148e-04 9.99888323e-01 5.23795085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.968040941999995 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:37.83, Y:5.44, Z:0.52 [[ 9.36739268e-01 -3.49743835e-01 -1.40994524e-02 3.78320145e+01] [ 3.49708861e-01 9.36845327e-01 -4.95442119e-03 5.44358276e+00] [ 1.49417844e-02 -2.89702577e-04 9.99888323e-01 5.22929733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.998040941999996 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:37.86, Y:5.45, Z:0.52 [[ 9.36587227e-01 -3.50150810e-01 -1.40988337e-02 3.78578333e+01] [ 3.50115856e-01 9.36693292e-01 -4.95618120e-03 5.45339961e+00] [ 1.49416939e-02 -2.94329234e-04 9.99888323e-01 5.23162111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.028040942 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:37.88, Y:5.46, Z:0.52 [[ 9.36491722e-01 -3.50406217e-01 -1.40974500e-02 3.78838697e+01] [ 3.50371233e-01 9.36597777e-01 -4.96011415e-03 5.46338540e+00] [ 1.49416951e-02 -2.94235082e-04 9.99888323e-01 5.22685840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.058040942 meters Centerline goodness : 0.997431 Centerline is valid? [True, True] Translation: X:37.91, Y:5.48, Z:0.52 [[ 9.35389779e-01 -3.53337320e-01 -1.40960673e-02 3.79113239e+01] [ 3.53302609e-01 9.35495924e-01 -4.96404052e-03 5.47550656e+00] [ 1.49407942e-02 -3.36864577e-04 9.99888323e-01 5.19559363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.08804094199999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:37.94, Y:5.48, Z:0.52 [[ 9.36233880e-01 -3.51093490e-01 -1.41238294e-02 3.79361217e+01] [ 3.51059712e-01 9.36340330e-01 -4.88519568e-03 5.48217137e+00] [ 1.49398714e-02 -3.84621758e-04 9.99888320e-01 5.22761013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.11804094199999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:37.96, Y:5.49, Z:0.52 [[ 9.35913264e-01 -3.51948448e-01 -1.40943917e-02 3.79627827e+01] [ 3.51913509e-01 9.36019334e-01 -4.96869976e-03 5.49192739e+00] [ 1.49413493e-02 -3.09734834e-04 9.99888324e-01 5.23871266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.148040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.99, Y:5.50, Z:0.52 [[ 9.35594021e-01 -3.52796280e-01 -1.40930029e-02 3.79895282e+01] [ 3.52761378e-01 9.35700103e-01 -4.97263574e-03 5.50182656e+00] [ 1.49411517e-02 -3.19098853e-04 9.99888324e-01 5.24670935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.178040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.02, Y:5.51, Z:0.52 [[ 9.35232441e-01 -3.53753741e-01 -1.40915804e-02 3.80150759e+01] [ 3.53718887e-01 9.35338539e-01 -4.97666362e-03 5.51127920e+00] [ 1.49409116e-02 -3.30120869e-04 9.99888324e-01 5.24860692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.04, Y:5.52, Z:0.53 [[ 9.34522949e-01 -3.55623823e-01 -1.40909642e-02 3.80412567e+01] [ 3.55589155e-01 9.34629107e-01 -4.97840766e-03 5.52109077e+00] [ 1.49402657e-02 -3.58157853e-04 9.99888324e-01 5.25221631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.238040942 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:38.07, Y:5.53, Z:0.53 [[ 9.34295516e-01 -3.56220961e-01 -1.40895555e-02 3.80666520e+01] [ 3.56186301e-01 9.34401677e-01 -4.98239147e-03 5.52989344e+00] [ 1.49401365e-02 -3.63480641e-04 9.99888324e-01 5.25789269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.26804094199999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:38.09, Y:5.54, Z:0.53 [[ 9.34127032e-01 -3.56662571e-01 -1.40889457e-02 3.80936911e+01] [ 3.56627935e-01 9.34233201e-01 -4.98411502e-03 5.53901904e+00] [ 1.49400082e-02 -3.68715051e-04 9.99888324e-01 5.26754223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.29804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.12, Y:5.55, Z:0.53 [[ 9.33944902e-01 -3.57139274e-01 -1.40875552e-02 3.81200077e+01] [ 3.57104634e-01 9.34051069e-01 -4.98804233e-03 5.54795596e+00] [ 1.49399218e-02 -3.72174525e-04 9.99888324e-01 5.28922083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.328040941999994 meters Centerline goodness : 0.995739 Centerline is valid? [True, True] Translation: X:38.15, Y:5.56, Z:0.53 [[ 9.32939285e-01 -3.59758073e-01 -1.40861639e-02 3.81508223e+01] [ 3.59723671e-01 9.33045530e-01 -4.99196829e-03 5.56027731e+00] [ 1.49389331e-02 -4.09923242e-04 9.99888324e-01 5.28190845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.358040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.18, Y:5.57, Z:0.53 [[ 9.33284569e-01 -3.58858772e-01 -1.41526034e-02 3.81840587e+01] [ 3.58827103e-01 9.33391680e-01 -4.80431297e-03 5.57303131e+00] [ 1.49339921e-02 -5.94546509e-04 9.99888305e-01 5.27975997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.388040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.21, Y:5.58, Z:0.53 [[ 9.33210924e-01 -3.59047654e-01 -1.42180528e-02 3.82103358e+01] [ 3.59018761e-01 9.33318894e-01 -4.62297115e-03 5.58288429e+00] [ 1.49298443e-02 -7.90340535e-04 9.99888231e-01 5.28097305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.418040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:38.23, Y:5.59, Z:0.53 [[ 9.32501033e-01 -3.60887453e-01 -1.42151350e-02 3.82347386e+01] [ 3.60858650e-01 9.32609022e-01 -4.63104860e-03 5.59398542e+00] [ 1.49284505e-02 -8.11196821e-04 9.99888235e-01 5.27566375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.26, Y:5.60, Z:0.53 [[ 9.32673743e-01 -3.60441978e-01 -1.41869511e-02 3.82643664e+01] [ 3.60411940e-01 9.32781357e-01 -4.70882307e-03 5.60160934e+00] [ 1.49305810e-02 -7.21350950e-04 9.99888272e-01 5.29480679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.47804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.29, Y:5.62, Z:0.53 [[ 9.31676397e-01 -3.63012305e-01 -1.41829893e-02 3.82947436e+01] [ 3.62982399e-01 9.31784043e-01 -4.71966323e-03 5.61617052e+00] [ 1.49287789e-02 -7.50976632e-04 9.99888278e-01 5.25128644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.508040941999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:38.32, Y:5.63, Z:0.52 [[ 9.31252550e-01 -3.64096602e-01 -1.42250563e-02 3.83181886e+01] [ 3.64068572e-01 9.31360763e-01 -4.60472503e-03 5.62623867e+00] [ 1.49252241e-02 -8.90734013e-04 9.99888216e-01 5.22478006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.538040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.34, Y:5.63, Z:0.53 [[ 9.31485715e-01 -3.63500496e-01 -1.42039657e-02 3.83441979e+01] [ 3.63471516e-01 9.31593644e-01 -4.66255596e-03 5.63486644e+00] [ 1.49271656e-02 -8.19632699e-04 9.99888248e-01 5.30000498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.568040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.36, Y:5.65, Z:0.53 [[ 9.29951801e-01 -3.67407245e-01 -1.41973208e-02 3.83647117e+01] [ 3.67378440e-01 9.30059768e-01 -4.68076660e-03 5.64902124e+00] [ 1.49241044e-02 -8.62902235e-04 9.99888257e-01 5.26976690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.39, Y:5.66, Z:0.53 [[ 9.30276678e-01 -3.66585823e-01 -1.41469310e-02 3.83886375e+01] [ 3.66554835e-01 9.30383974e-01 -4.81805635e-03 5.65944408e+00] [ 1.49283090e-02 -7.03500502e-04 9.99888319e-01 5.26439614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.628040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:38.42, Y:5.67, Z:0.53 [[ 9.30411038e-01 -3.66245127e-01 -1.41353108e-02 3.84153683e+01] [ 3.66213620e-01 9.30518171e-01 -4.84965791e-03 5.66988703e+00] [ 1.49293271e-02 -6.64368087e-04 9.99888331e-01 5.26881078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.65804094199999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:38.44, Y:5.68, Z:0.53 [[ 9.29941147e-01 -3.67437030e-01 -1.41241576e-02 3.84395532e+01] [ 3.67405201e-01 9.30048173e-01 -4.87994234e-03 5.68112775e+00] [ 1.49292185e-02 -6.51229760e-04 9.99888341e-01 5.28126037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.68804094199999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:38.47, Y:5.69, Z:0.53 [[ 9.29845328e-01 -3.67680410e-01 -1.40990378e-02 3.84670194e+01] [ 3.67647576e-01 9.29952029e-01 -4.94801713e-03 5.69164587e+00] [ 1.49307178e-02 -5.82586470e-04 9.99888361e-01 5.27896705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.718040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.49, Y:5.70, Z:0.53 [[ 9.29199749e-01 -3.69308901e-01 -1.40983201e-02 3.84938074e+01] [ 3.69276225e-01 9.29306498e-01 -4.94996028e-03 5.70254924e+00] [ 1.49297248e-02 -6.06672573e-04 9.99888361e-01 5.30110773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.748040941999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:38.52, Y:5.71, Z:0.53 [[ 9.29154122e-01 -3.69423389e-01 -1.41059655e-02 3.85204851e+01] [ 3.69391039e-01 9.29260976e-01 -4.92930675e-03 5.71291007e+00] [ 1.49291245e-02 -6.30531568e-04 9.99888356e-01 5.28727416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.55, Y:5.72, Z:0.53 [[ 9.28136567e-01 -3.71973086e-01 -1.40902939e-02 3.85492700e+01] [ 3.71940388e-01 9.28243304e-01 -4.97159250e-03 5.72413806e+00] [ 1.49285196e-02 -6.26432593e-04 9.99888367e-01 5.31669103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.808040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:38.57, Y:5.74, Z:0.53 [[ 9.28577026e-01 -3.70871069e-01 -1.41193956e-02 3.85737738e+01] [ 3.70839434e-01 9.28684107e-01 -4.89316168e-03 5.73522965e+00] [ 1.49271904e-02 -6.92351151e-04 9.99888344e-01 5.30926498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.83804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:38.60, Y:5.75, Z:0.53 [[ 9.28620337e-01 -3.70763978e-01 -1.40833697e-02 3.85986995e+01] [ 3.70730862e-01 9.28726939e-01 -4.99001868e-03 5.74659662e+00] [ 1.49297240e-02 -5.87306970e-04 9.99888373e-01 5.32437626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.86804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.63, Y:5.76, Z:0.53 [[ 9.28489189e-01 -3.71093096e-01 -1.40620347e-02 3.86283285e+01] [ 3.71059150e-01 9.28595516e-01 -5.04731201e-03 5.75879442e+00] [ 1.49309650e-02 -5.31472027e-04 9.99888386e-01 5.33960546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.898040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.65, Y:5.77, Z:0.54 [[ 9.28462280e-01 -3.71158350e-01 -1.41164461e-02 3.86488165e+01] [ 3.71126625e-01 9.28569333e-01 -4.90129508e-03 5.77073143e+00] [ 1.49272556e-02 -6.88321409e-04 9.99888345e-01 5.35326001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.928040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.68, Y:5.78, Z:0.54 [[ 9.29174695e-01 -3.69374589e-01 -1.40285274e-02 3.86825845e+01] [ 3.69339104e-01 9.29280499e-01 -5.13618591e-03 5.78103056e+00] [ 1.49336135e-02 -4.08869758e-04 9.99888404e-01 5.37329494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.71, Y:5.79, Z:0.54 [[ 9.28411016e-01 -3.71286368e-01 -1.41215170e-02 3.87063516e+01] [ 3.71254867e-01 9.28518140e-01 -4.88755254e-03 5.79276199e+00] [ 1.49267663e-02 -7.05024276e-04 9.99888341e-01 5.36729051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.988040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:38.74, Y:5.80, Z:0.54 [[ 9.27815031e-01 -3.72774796e-01 -1.40790863e-02 3.87369219e+01] [ 3.72741755e-01 9.27921646e-01 -5.00027709e-03 5.80495168e+00] [ 1.49282662e-02 -6.08531084e-04 9.99888382e-01 5.37895568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.01804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.76, Y:5.82, Z:0.54 [[ 9.27695373e-01 -3.73070348e-01 -1.41354489e-02 3.87583809e+01] [ 3.73039615e-01 9.27802736e-01 -4.85056866e-03 5.81595537e+00] [ 1.49245115e-02 -7.73232320e-04 9.99888324e-01 5.36603235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.04804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.79, Y:5.83, Z:0.54 [[ 9.27646717e-01 -3.73193487e-01 -1.40779694e-02 3.87869473e+01] [ 3.73160451e-01 9.27753333e-01 -5.00313325e-03 5.82818177e+00] [ 1.49280198e-02 -6.12201271e-04 9.99888383e-01 5.39587198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.078040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.81, Y:5.84, Z:0.54 [[ 9.27359760e-01 -3.73903914e-01 -1.41328966e-02 3.88137610e+01] [ 3.73873179e-01 9.27467118e-01 -4.85708411e-03 5.83854628e+00] [ 1.49238796e-02 -7.79646607e-04 9.99888329e-01 5.40070600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.108040941999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:38.84, Y:5.85, Z:0.54 [[ 9.27434982e-01 -3.73717608e-01 -1.41245792e-02 3.88376231e+01] [ 3.73686515e-01 9.27542227e-01 -4.87912878e-03 5.84957020e+00] [ 1.49245600e-02 -7.53090083e-04 9.99888339e-01 5.38417830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.138040941999996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:38.86, Y:5.86, Z:0.54 [[ 9.26865337e-01 -3.75129979e-01 -1.40764571e-02 3.88619297e+01] [ 3.75097117e-01 9.26972000e-01 -5.00630313e-03 5.86149258e+00] [ 1.49264960e-02 -6.39869660e-04 9.99888389e-01 5.38080226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.168040942 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:38.89, Y:5.87, Z:0.54 [[ 9.26621009e-01 -3.75733846e-01 -1.40564024e-02 3.88871306e+01] [ 3.75700251e-01 9.26727428e-01 -5.05921615e-03 5.87287249e+00] [ 1.49273724e-02 -5.93017949e-04 9.99888405e-01 5.37867700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.198040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:38.91, Y:5.88, Z:0.54 [[ 9.26596314e-01 -3.75794466e-01 -1.40637518e-02 3.89105996e+01] [ 3.75761173e-01 9.26702833e-01 -5.03984562e-03 5.88450202e+00] [ 1.49268647e-02 -6.14709494e-04 9.99888399e-01 5.37207739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.22804094199999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:38.94, Y:5.90, Z:0.54 [[ 9.26676780e-01 -3.75597546e-01 -1.40224412e-02 3.89374160e+01] [ 3.75562587e-01 9.26782735e-01 -5.14835530e-03 5.89677928e+00] [ 1.49294660e-02 -4.95442964e-04 9.99888427e-01 5.37409633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.258040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.96, Y:5.91, Z:0.54 [[ 9.26813012e-01 -3.75261216e-01 -1.40235790e-02 3.89643359e+01] [ 3.75226264e-01 9.26918970e-01 -5.14536815e-03 5.91092923e+00] [ 1.49295785e-02 -4.93220999e-04 9.99888426e-01 5.36818280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.288040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.99, Y:5.92, Z:0.54 [[ 9.28406456e-01 -3.71299537e-01 -1.40750543e-02 3.89895835e+01] [ 3.71266182e-01 9.28512964e-01 -5.00979702e-03 5.92045133e+00] [ 1.49290057e-02 -5.74463762e-04 9.99888391e-01 5.40904492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.318040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.02, Y:5.93, Z:0.54 [[ 9.28347528e-01 -3.71448010e-01 -1.40443049e-02 3.90169415e+01] [ 3.71413448e-01 9.28453626e-01 -5.09066020e-03 5.93163127e+00] [ 1.49304014e-02 -4.90341909e-04 9.99888415e-01 5.42209927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.04, Y:5.94, Z:0.54 [[ 9.28311699e-01 -3.71536558e-01 -1.40703631e-02 3.90418475e+01] [ 3.71503041e-01 9.28418153e-01 -5.02233195e-03 5.94441223e+00] [ 1.49291604e-02 -5.64893159e-04 9.99888394e-01 5.42759005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.07, Y:5.96, Z:0.54 [[ 9.27877122e-01 -3.72621783e-01 -1.40375618e-02 3.90658092e+01] [ 3.72587095e-01 9.27983171e-01 -5.10789956e-03 5.95675995e+00] [ 1.49299358e-02 -4.90711226e-04 9.99888422e-01 5.42435105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.40804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.09, Y:5.97, Z:0.54 [[ 9.27910146e-01 -3.72540856e-01 -1.40025483e-02 3.90887423e+01] [ 3.72504782e-01 9.28015709e-01 -5.19910028e-03 5.96937848e+00] [ 1.49314621e-02 -3.91718304e-04 9.99888443e-01 5.42734043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.43804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.12, Y:5.98, Z:0.54 [[ 9.27766294e-01 -3.72899554e-01 -1.39866208e-02 3.91150922e+01] [ 3.72862895e-01 9.27871649e-01 -5.24056457e-03 5.98190260e+00] [ 1.49319931e-02 -3.53072744e-04 9.99888449e-01 5.42931922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.468040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.15, Y:6.00, Z:0.54 [[ 9.26683202e-01 -3.75582932e-01 -1.39894471e-02 3.91464717e+01] [ 3.75546689e-01 9.26788702e-01 -5.23321078e-03 5.99653203e+00] [ 1.49307662e-02 -4.04162041e-04 9.99888448e-01 5.41526285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.498040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.17, Y:6.01, Z:0.54 [[ 9.27943085e-01 -3.72454803e-01 -1.41085154e-02 3.91659236e+01] [ 3.72422918e-01 9.28050078e-01 -4.92165544e-03 6.00826071e+00] [ 1.49265031e-02 -6.87318361e-04 9.99888357e-01 5.42824505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.19, Y:6.02, Z:0.54 [[ 9.28159214e-01 -3.71919853e-01 -1.40034587e-02 3.91946484e+01] [ 3.71883763e-01 9.28264765e-01 -5.19541178e-03 6.02017398e+00] [ 1.49311941e-02 -3.85489617e-04 9.99888449e-01 5.40753233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.22, Y:6.03, Z:0.54 [[ 9.26800817e-01 -3.75290787e-01 -1.40381613e-02 3.92215665e+01] [ 3.75256448e-01 9.26906973e-01 -5.10500510e-03 6.03376439e+00] [ 1.49279310e-02 -5.36587649e-04 9.99888428e-01 5.38739668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.25, Y:6.04, Z:0.54 [[ 9.27656718e-01 -3.73168818e-01 -1.40729470e-02 3.92457390e+01] [ 3.73135609e-01 9.27763264e-01 -5.01428141e-03 6.04325515e+00] [ 1.49275367e-02 -5.99585823e-04 9.99888398e-01 5.40748873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.61804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.27, Y:6.06, Z:0.54 [[ 9.27252151e-01 -3.74174673e-01 -1.40271752e-02 3.92669478e+01] [ 3.74139781e-01 9.27358116e-01 -5.13312876e-03 6.05555050e+00] [ 1.49289015e-02 -4.88419577e-04 9.99888438e-01 5.40771055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.648040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.29, Y:6.07, Z:0.54 [[ 9.25804668e-01 -3.77744792e-01 -1.39495365e-02 3.92929005e+01] [ 3.77707275e-01 9.25909695e-01 -5.33402217e-03 6.06868603e+00] [ 1.49309102e-02 -3.30578802e-04 9.99888473e-01 5.37507024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.678040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.32, Y:6.08, Z:0.54 [[ 9.26396347e-01 -3.76291298e-01 -1.39523042e-02 3.93191926e+01] [ 3.76253724e-01 9.26501354e-01 -5.32686404e-03 6.07965645e+00] [ 1.49312813e-02 -3.14819019e-04 9.99888473e-01 5.40445235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.34, Y:6.09, Z:0.54 [[ 9.25773709e-01 -3.77819629e-01 -1.39774132e-02 3.93429546e+01] [ 3.77783209e-01 9.25879128e-01 -5.26180299e-03 6.09318763e+00] [ 1.49294076e-02 -4.09193141e-04 9.99888466e-01 5.40144291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.738040942 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:39.37, Y:6.11, Z:0.54 [[ 9.25448498e-01 -3.78615646e-01 -1.39738794e-02 3.93659845e+01] [ 3.78579178e-01 9.25553900e-01 -5.27096514e-03 6.10517198e+00] [ 1.49292484e-02 -4.12213001e-04 9.99888468e-01 5.44334507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.76804094199999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:39.39, Y:6.12, Z:0.55 [[ 9.24706126e-01 -3.80426510e-01 -1.39374184e-02 3.93912415e+01] [ 3.80388824e-01 9.24811092e-01 -5.36539643e-03 6.11837431e+00] [ 1.49306182e-02 -3.40223243e-04 9.99888474e-01 5.45535276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.79804094199999 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:39.42, Y:6.13, Z:0.55 [[ 9.24629858e-01 -3.80611487e-01 -1.39471156e-02 3.94156117e+01] [ 3.80574201e-01 9.24734967e-01 -5.34028613e-03 6.12941038e+00] [ 1.49299597e-02 -3.70124371e-04 9.99888473e-01 5.46126335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.828040941999994 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:39.44, Y:6.14, Z:0.55 [[ 9.24418902e-01 -3.81124180e-01 -1.39302845e-02 3.94430170e+01] [ 3.81086296e-01 9.24523796e-01 -5.38383539e-03 6.14253229e+00] [ 1.49307894e-02 -3.31721324e-04 9.99888475e-01 5.45453217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.858040941999995 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:39.47, Y:6.16, Z:0.54 [[ 9.25139081e-01 -3.79372089e-01 -1.39462992e-02 3.94687747e+01] [ 3.79334630e-01 9.25244128e-01 -5.34242317e-03 6.15587802e+00] [ 1.49304977e-02 -3.47829802e-04 9.99888473e-01 5.44275506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.888040941999996 meters Centerline goodness : 0.995889 Centerline is valid? [True, True] Translation: X:39.49, Y:6.17, Z:0.55 [[ 9.25031085e-01 -3.79634398e-01 -1.39719956e-02 3.94907433e+01] [ 3.79597973e-01 9.25136501e-01 -5.27578161e-03 6.16868694e+00] [ 1.49288713e-02 -4.23479231e-04 9.99888469e-01 5.46891140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.918040942 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:39.51, Y:6.18, Z:0.54 [[ 9.25231593e-01 -3.79146754e-01 -1.39369131e-02 3.95119037e+01] [ 3.79108905e-01 9.25336500e-01 -5.36663667e-03 6.18302764e+00] [ 1.49310772e-02 -3.18226050e-04 9.99888475e-01 5.41546310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.948040942 meters Centerline goodness : 0.996948 Centerline is valid? [True, True] Translation: X:39.54, Y:6.19, Z:0.55 [[ 9.26968702e-01 -3.74881391e-01 -1.38912759e-02 3.95412218e+01] [ 3.74841285e-01 9.27072773e-01 -5.48487361e-03 6.19397423e+00] [ 1.49344007e-02 -1.22717530e-04 9.99888468e-01 5.47332386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.97804094199999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:39.57, Y:6.21, Z:0.55 [[ 9.27178577e-01 -3.74360893e-01 -1.39215018e-02 3.95668864e+01] [ 3.74321902e-01 9.27283065e-01 -5.40655121e-03 6.20615195e+00] [ 1.49331742e-02 -1.98284585e-04 9.99888474e-01 5.47533723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.008040941999994 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:39.58, Y:6.22, Z:0.55 [[ 9.26776836e-01 -3.75353949e-01 -1.39323168e-02 3.95833796e+01] [ 3.75315491e-01 9.26881521e-01 -5.37853642e-03 6.22417069e+00] [ 1.49324619e-02 -2.44311369e-04 9.99888475e-01 5.45275704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.038040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.61, Y:6.24, Z:0.55 [[ 9.27771935e-01 -3.72891087e-01 -1.38374113e-02 3.96104680e+01] [ 3.72848675e-01 9.27875118e-01 -5.62417809e-03 6.23675051e+00] [ 1.49365955e-02 5.86941125e-05 9.99888441e-01 5.46287229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.068040941999996 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:39.63, Y:6.25, Z:0.54 [[ 9.27390433e-01 -3.73838116e-01 -1.38581522e-02 3.96334385e+01] [ 3.73796611e-01 9.27493969e-01 -5.57048834e-03 6.25124371e+00] [ 1.49358134e-02 -1.41127255e-05 9.99888454e-01 5.41994949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.098040942 meters Centerline goodness : 0.996001 Centerline is valid? [True, True] Translation: X:39.67, Y:6.27, Z:0.55 [[ 9.29455595e-01 -3.68674510e-01 -1.38348219e-02 3.96650849e+01] [ 3.68631540e-01 9.29558545e-01 -5.63024377e-03 6.26501479e+00] [ 1.49360043e-02 1.33109888e-04 9.99888443e-01 5.47450197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.128040942 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:39.68, Y:6.28, Z:0.55 [[ 9.29655409e-01 -3.68165739e-01 -1.39574399e-02 3.96829166e+01] [ 3.68127420e-01 9.29760157e-01 -5.31529890e-03 6.27717502e+00] [ 1.49339825e-02 -1.96719972e-04 9.99888463e-01 5.48744971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.15804094199999 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:39.71, Y:6.29, Z:0.55 [[ 9.30655952e-01 -3.65633855e-01 -1.38341633e-02 3.97075652e+01] [ 3.65590486e-01 9.30758750e-01 -5.63444810e-03 6.28819790e+00] [ 1.49364135e-02 1.86094185e-04 9.99888428e-01 5.49724438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.18804094199999 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:39.74, Y:6.30, Z:0.55 [[ 9.33340952e-01 -3.58725250e-01 -1.38152773e-02 3.97427580e+01] [ 3.58680398e-01 9.33443128e-01 -5.68324085e-03 6.29848986e+00] [ 1.49344977e-02 3.49132266e-04 9.99888413e-01 5.49264823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.218040941999995 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:39.77, Y:6.31, Z:0.55 [[ 9.33910335e-01 -3.57235871e-01 -1.39290519e-02 3.97680025e+01] [ 3.57195231e-01 9.34014202e-01 -5.38868514e-03 6.31043397e+00] [ 1.49349639e-02 5.71578390e-05 9.99888466e-01 5.48912570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.248040941999996 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:39.79, Y:6.32, Z:0.55 [[ 9.34450171e-01 -3.55821803e-01 -1.39183992e-02 3.97925276e+01] [ 3.55780595e-01 9.34553815e-01 -5.41624441e-03 6.32421277e+00] [ 1.49347109e-02 1.09314174e-04 9.99888465e-01 5.48722772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.278040942 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:39.82, Y:6.33, Z:0.55 [[ 9.34860698e-01 -3.54742029e-01 -1.39128710e-02 3.98198717e+01] [ 3.54700489e-01 9.34964209e-01 -5.43054318e-03 6.33435967e+00] [ 1.49344783e-02 1.41899251e-04 9.99888464e-01 5.48161404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.308040942 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:39.85, Y:6.34, Z:0.55 [[ 9.35383092e-01 -3.53361789e-01 -1.39253885e-02 3.98461066e+01] [ 3.53320578e-01 9.35486734e-01 -5.39817655e-03 6.34403581e+00] [ 1.49345256e-02 1.29236757e-04 9.99888465e-01 5.47634694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.33804094199999 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:39.87, Y:6.35, Z:0.55 [[ 9.35842315e-01 -3.52143705e-01 -1.39274255e-02 3.98742015e+01] [ 3.52102436e-01 9.35945934e-01 -5.39291083e-03 6.35408379e+00] [ 1.49343969e-02 1.43033699e-04 9.99888465e-01 5.50832208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.36804094199999 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:39.90, Y:6.36, Z:0.55 [[ 9.35717161e-01 -3.52475107e-01 -1.39532330e-02 3.98976605e+01] [ 3.52434869e-01 9.35821187e-01 -5.32622021e-03 6.36444890e+00] [ 1.49350911e-02 6.62298015e-05 9.99888463e-01 5.50247811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.398040941999994 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:39.92, Y:6.37, Z:0.55 [[ 9.35695910e-01 -3.52532567e-01 -1.39267082e-02 3.99224038e+01] [ 3.52491316e-01 9.35799535e-01 -5.39469550e-03 6.37496648e+00] [ 1.49344130e-02 1.38750802e-04 9.99888466e-01 5.49055351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.428040941999996 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:39.95, Y:6.39, Z:0.55 [[ 9.36215399e-01 -3.51150667e-01 -1.39260596e-02 3.99479567e+01] [ 3.51109238e-01 9.36318953e-01 -5.39636939e-03 6.38554109e+00] [ 1.49341723e-02 1.62595948e-04 9.99888466e-01 5.48742743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.458040942 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:39.97, Y:6.40, Z:0.55 [[ 9.36372110e-01 -3.50732630e-01 -1.39245840e-02 3.99742117e+01] [ 3.50691097e-01 9.36475623e-01 -5.40017437e-03 6.39585418e+00] [ 1.49340508e-02 1.73345029e-04 9.99888466e-01 5.48477150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.488040942 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:40.00, Y:6.40, Z:0.55 [[ 9.36889777e-01 -3.49347525e-01 -1.39231070e-02 4.00013342e+01] [ 3.49305783e-01 9.36993206e-01 -5.40397985e-03 6.40436445e+00] [ 1.49337236e-02 1.99511707e-04 9.99888466e-01 5.48378085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.51804094199999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:40.03, Y:6.41, Z:0.55 [[ 9.36959981e-01 -3.49159253e-01 -1.39215794e-02 4.00283082e+01] [ 3.49117432e-01 9.37063378e-01 -5.40791227e-03 6.41409680e+00] [ 1.49336248e-02 2.06731340e-04 9.99888466e-01 5.50133916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.54804094199999 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:40.06, Y:6.42, Z:0.55 [[ 9.37453155e-01 -3.47832971e-01 -1.39214703e-02 4.00552102e+01] [ 3.47790999e-01 9.37556490e-01 -5.40819287e-03 6.42305663e+00] [ 1.49333127e-02 2.28165392e-04 9.99888466e-01 5.49572494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.578040941999994 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:40.08, Y:6.43, Z:0.55 [[ 9.37634545e-01 -3.47343766e-01 -1.39200355e-02 4.00806192e+01] [ 3.47301686e-01 9.37737837e-01 -5.41188334e-03 6.43280599e+00] [ 1.49331280e-02 2.39916967e-04 9.99888466e-01 5.50241073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.608040941999995 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:40.11, Y:6.44, Z:0.55 [[ 9.37617480e-01 -3.47389869e-01 -1.39190511e-02 4.01064572e+01] [ 3.47347756e-01 9.37720758e-01 -5.41441411e-03 6.44327231e+00] [ 1.49330958e-02 2.41898151e-04 9.99888466e-01 5.50172265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.638040941999996 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:40.13, Y:6.45, Z:0.55 [[ 9.37565340e-01 -3.47530624e-01 -1.39175820e-02 4.01313714e+01] [ 3.47488471e-01 9.37668601e-01 -5.41818764e-03 6.45275364e+00] [ 1.49330658e-02 2.43705639e-04 9.99888466e-01 5.50521666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.668040942 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:40.16, Y:6.46, Z:0.55 [[ 9.37335385e-01 -3.48150392e-01 -1.39169454e-02 4.01581384e+01] [ 3.48108283e-01 9.37438664e-01 -5.41982250e-03 6.46235682e+00] [ 1.49331960e-02 2.35587452e-04 9.99888466e-01 5.49881795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.698040942 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:40.18, Y:6.47, Z:0.55 [[ 9.37132328e-01 -3.48696660e-01 -1.39154067e-02 4.01843894e+01] [ 3.48654552e-01 9.37235609e-01 -5.42377012e-03 6.46888220e+00] [ 1.49332652e-02 2.31120428e-04 9.99888466e-01 5.49571810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.72804094199999 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:40.21, Y:6.48, Z:0.55 [[ 9.36702877e-01 -3.49848681e-01 -1.39147391e-02 4.02111631e+01] [ 3.49806675e-01 9.36806199e-01 -5.42548238e-03 6.47801133e+00] [ 1.49335117e-02 2.14596352e-04 9.99888466e-01 5.50406742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.758040941999994 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:40.24, Y:6.49, Z:0.55 [[ 9.35808796e-01 -3.52233334e-01 -1.39131462e-02 4.02368216e+01] [ 3.52191531e-01 9.35912200e-01 -5.42956407e-03 6.48675417e+00] [ 1.49339567e-02 1.80941548e-04 9.99888466e-01 5.50016151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.788040941999995 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:40.26, Y:6.50, Z:0.55 [[ 9.35103528e-01 -3.54101463e-01 -1.39120655e-02 4.02633545e+01] [ 3.54059825e-01 9.35206999e-01 -5.43233186e-03 6.49707159e+00] [ 1.49342576e-02 1.54089225e-04 9.99888466e-01 5.49628139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.818040941999996 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:40.29, Y:6.51, Z:0.55 [[ 9.34287848e-01 -3.56248108e-01 -1.39104978e-02 4.02893030e+01] [ 3.56206648e-01 9.34391390e-01 -5.43634329e-03 6.50652119e+00] [ 1.49345364e-02 1.24097689e-04 9.99888466e-01 5.49550150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.848040942 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:40.32, Y:6.51, Z:0.55 [[ 9.32551012e-01 -3.60770221e-01 -1.39089315e-02 4.03165901e+01] [ 3.60729203e-01 9.32654729e-01 -5.44034774e-03 6.51232185e+00] [ 1.49349462e-02 5.60440209e-05 9.99888466e-01 5.49254963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.878040942 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:40.34, Y:6.52, Z:0.55 [[ 9.31519574e-01 -3.63425170e-01 -1.39078686e-02 4.03437673e+01] [ 3.63384407e-01 9.31623393e-01 -5.44306353e-03 6.52008103e+00] [ 1.49350420e-02 1.64176392e-05 9.99888466e-01 5.49844098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.90804094199999 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:40.37, Y:6.53, Z:0.55 [[ 9.30657804e-01 -3.65626401e-01 -1.39063288e-02 4.03709641e+01] [ 3.65585825e-01 9.30761696e-01 -5.44699455e-03 6.52817198e+00] [ 1.49350432e-02 -1.46687093e-05 9.99888466e-01 5.48942282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.93804094199999 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:40.40, Y:6.54, Z:0.55 [[ 9.28942191e-01 -3.69963596e-01 -1.39047938e-02 4.03969698e+01] [ 3.69923447e-01 9.29046248e-01 -5.45091026e-03 6.53608615e+00] [ 1.49348349e-02 -8.01287382e-05 9.99888466e-01 5.51303242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.968040941999995 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:40.42, Y:6.55, Z:0.55 [[ 9.28369235e-01 -3.71399028e-01 -1.39041294e-02 4.04234569e+01] [ 3.71359014e-01 9.28473345e-01 -5.45260459e-03 6.54605571e+00] [ 1.49347055e-02 -1.01393424e-04 9.99888466e-01 5.52080549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.998040941999996 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:40.45, Y:6.56, Z:0.55 [[ 9.28266493e-01 -3.71655801e-01 -1.39026207e-02 4.04500040e+01] [ 3.71615759e-01 9.28370591e-01 -5.45644870e-03 6.55657433e+00] [ 1.49347050e-02 -1.01394419e-04 9.99888466e-01 5.52505948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.028040942 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:40.48, Y:6.57, Z:0.55 [[ 9.27926855e-01 -3.72503034e-01 -1.39011105e-02 4.04767577e+01] [ 3.72463029e-01 9.28030968e-01 -5.46029333e-03 6.56536755e+00] [ 1.49346369e-02 -1.10896903e-04 9.99888466e-01 5.54279659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.058040942 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:40.50, Y:6.57, Z:0.55 [[ 9.28000142e-01 -3.72320439e-01 -1.39006432e-02 4.05031552e+01] [ 3.72280395e-01 9.28104240e-01 -5.46148265e-03 6.57406318e+00] [ 1.49346675e-02 -1.06680274e-04 9.99888466e-01 5.54766378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.08804094199999 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:40.53, Y:6.58, Z:0.56 [[ 9.28361601e-01 -3.71418301e-01 -1.38990697e-02 4.05285869e+01] [ 3.71378096e-01 9.28465636e-01 -5.46548427e-03 6.58194581e+00] [ 1.49347895e-02 -8.78643144e-05 9.99888466e-01 5.56023960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.11804094199999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:40.56, Y:6.59, Z:0.56 [[ 9.28882578e-01 -3.70113499e-01 -1.38980006e-02 4.05551806e+01] [ 3.70073107e-01 9.28986541e-01 -5.46820148e-03 6.59050545e+00] [ 1.49349107e-02 -6.39591742e-05 9.99888466e-01 5.57235720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.148040941999994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:40.58, Y:6.60, Z:0.56 [[ 9.30257968e-01 -3.66642880e-01 -1.38964710e-02 4.05818720e+01] [ 3.66602043e-01 9.30361757e-01 -5.47208586e-03 6.59893834e+00] [ 1.49350465e-02 -4.02319650e-06 9.99888466e-01 5.58449964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.178040941999996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:40.61, Y:6.61, Z:0.56 [[ 9.31125767e-01 -3.64433445e-01 -1.38949522e-02 4.06082310e+01] [ 3.64392304e-01 9.31229436e-01 -5.47593989e-03 6.60908074e+00] [ 1.49350041e-02 3.55751028e-05 9.99888466e-01 5.58817809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.208040942 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:40.63, Y:6.62, Z:0.56 [[ 9.33183470e-01 -3.59131708e-01 -1.38934390e-02 4.06333940e+01] [ 3.59089921e-01 9.33286880e-01 -5.47977640e-03 6.61925008e+00] [ 1.49345258e-02 1.24642858e-04 9.99888466e-01 5.58315781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.238040942 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:40.66, Y:6.63, Z:0.56 [[ 9.34233453e-01 -3.56391422e-01 -1.38927832e-02 4.06585133e+01] [ 3.56349307e-01 9.34336730e-01 -5.48143840e-03 6.62805220e+00] [ 1.49340753e-02 1.70259456e-04 9.99888466e-01 5.57555829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.26804094199999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:40.68, Y:6.63, Z:0.56 [[ 9.35725111e-01 -3.52456431e-01 -1.38917651e-02 4.06849905e+01] [ 3.52413844e-01 9.35828194e-01 -5.48401751e-03 6.63356217e+00] [ 1.49331827e-02 2.35882558e-04 9.99888466e-01 5.60843448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.29804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.71, Y:6.64, Z:0.56 [[ 9.36186625e-01 -3.51228758e-01 -1.38911215e-02 4.07118593e+01] [ 3.51186011e-01 9.36289642e-01 -5.48564724e-03 6.64255015e+00] [ 1.49328302e-02 2.57222021e-04 9.99888466e-01 5.61545490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.328040941999994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:40.74, Y:6.65, Z:0.56 [[ 9.36537231e-01 -3.50292865e-01 -1.38897038e-02 4.07384157e+01] [ 3.50249962e-01 9.36640183e-01 -5.48923465e-03 6.65240202e+00] [ 1.49324944e-02 2.76004410e-04 9.99888466e-01 5.60300306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.358040941999995 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:40.76, Y:6.66, Z:0.56 [[ 9.36655953e-01 -3.49975348e-01 -1.38881527e-02 4.07646261e+01] [ 3.49932352e-01 9.36758867e-01 -5.49315621e-03 6.66125827e+00] [ 1.49323194e-02 2.85283546e-04 9.99888466e-01 5.59303671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.388040941999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:40.79, Y:6.67, Z:0.56 [[ 9.36434559e-01 -3.50567367e-01 -1.38865999e-02 4.07910626e+01] [ 3.50524378e-01 9.36537475e-01 -5.49707875e-03 6.66948468e+00] [ 1.49324176e-02 2.80062718e-04 9.99888466e-01 5.59540444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.82, Y:6.68, Z:0.56 [[ 9.36010165e-01 -3.51698986e-01 -1.38850453e-02 4.08179792e+01] [ 3.51656063e-01 9.36113109e-01 -5.50100279e-03 6.67749885e+00] [ 1.49326700e-02 2.66234166e-04 9.99888466e-01 5.60530729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.85, Y:6.68, Z:0.56 [[ 9.34769515e-01 -3.54983382e-01 -1.38834945e-02 4.08464675e+01] [ 3.54940763e-01 9.34872585e-01 -5.50491390e-03 6.68260572e+00] [ 1.49334513e-02 2.18007577e-04 9.99888466e-01 5.61593540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.47804094199999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:40.87, Y:6.69, Z:0.56 [[ 9.33901058e-01 -3.57261957e-01 -1.38819112e-02 4.08728671e+01] [ 3.57219529e-01 9.34004208e-01 -5.50890363e-03 6.69029049e+00] [ 1.49338852e-02 1.85881140e-04 9.99888466e-01 5.62377109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.508040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.90, Y:6.70, Z:0.56 [[ 9.32217668e-01 -3.61631776e-01 -1.38808363e-02 4.08999251e+01] [ 3.61589792e-01 9.32320999e-01 -5.51161080e-03 6.69688029e+00] [ 1.49345687e-02 1.18852267e-04 9.99888466e-01 5.63657975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.538040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.93, Y:6.71, Z:0.56 [[ 9.31437095e-01 -3.63637600e-01 -1.38792750e-02 4.09255364e+01] [ 3.63595780e-01 9.31540491e-01 -5.51553948e-03 6.70502966e+00] [ 1.49347642e-02 9.09322270e-05 9.99888466e-01 5.63946682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.568040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.96, Y:6.71, Z:0.57 [[ 9.32367108e-01 -3.61246398e-01 -1.38785983e-02 4.09618284e+01] [ 3.61204287e-01 9.32470387e-01 -5.51724185e-03 6.70998016e+00] [ 1.49344657e-02 1.31085628e-04 9.99888466e-01 5.66350063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.98, Y:6.72, Z:0.56 [[ 9.30322315e-01 -3.66476087e-01 -1.39881226e-02 4.09809346e+01] [ 3.66438706e-01 9.30427436e-01 -5.24023988e-03 6.71970671e+00] [ 1.49353556e-02 -2.50677439e-04 9.99888430e-01 5.64712123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.01, Y:6.73, Z:0.56 [[ 9.28962111e-01 -3.69914355e-01 -1.38840041e-02 4.10096108e+01] [ 3.69873421e-01 9.29065858e-01 -5.50297464e-03 6.72623294e+00] [ 1.49347835e-02 -2.32691639e-05 9.99888470e-01 5.64565457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.65804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:41.04, Y:6.73, Z:0.56 [[ 9.28467131e-01 -3.71155028e-01 -1.38827940e-02 4.10353250e+01] [ 3.71114188e-01 9.28570915e-01 -5.50602585e-03 6.73450083e+00] [ 1.49347479e-02 -3.99377946e-05 9.99888470e-01 5.64199440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.68804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:41.06, Y:6.74, Z:0.56 [[ 9.27889630e-01 -3.72596459e-01 -1.38821201e-02 4.10625162e+01] [ 3.72555754e-01 9.27993467e-01 -5.50772427e-03 6.74344019e+00] [ 1.49346754e-02 -6.13035078e-05 9.99888470e-01 5.64191478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.718040941999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:41.10, Y:6.75, Z:0.56 [[ 9.29097993e-01 -3.69573064e-01 -1.38805459e-02 4.10998254e+01] [ 3.69531962e-01 9.29201674e-01 -5.51168885e-03 6.74724223e+00] [ 1.49347982e-02 -8.40630959e-06 9.99888470e-01 5.62973269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.748040941999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:41.12, Y:6.76, Z:0.56 [[ 9.27260184e-01 -3.74155872e-01 -1.39976693e-02 4.11179121e+01] [ 3.74119722e-01 9.27365744e-01 -5.21631549e-03 6.75852967e+00] [ 1.49326741e-02 -3.99922483e-04 9.99888421e-01 5.63009326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.16, Y:6.76, Z:0.56 [[ 9.29568727e-01 -3.68387553e-01 -1.38777895e-02 4.11583492e+01] [ 3.68346228e-01 9.29672313e-01 -5.51782526e-03 6.76130248e+00] [ 1.49344948e-02 1.73663835e-05 9.99888474e-01 5.60961896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.18, Y:6.77, Z:0.56 [[ 9.30410446e-01 -3.66250512e-01 -1.40344188e-02 4.11806990e+01] [ 3.66214874e-01 9.30516213e-01 -5.12280957e-03 6.76786292e+00] [ 1.49354859e-02 -3.73297384e-04 9.99888390e-01 5.59781835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.83804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.21, Y:6.77, Z:0.56 [[ 9.32661315e-01 -3.60482008e-01 -1.39854860e-02 4.12060801e+01] [ 3.60443854e-01 9.32766155e-01 -5.24673423e-03 6.77311167e+00] [ 1.49365413e-02 -1.47556429e-04 9.99888433e-01 5.58117828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.86804094199999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:41.24, Y:6.79, Z:0.56 [[ 9.30768599e-01 -3.65343477e-01 -1.39268757e-02 4.12393360e+01] [ 3.65303656e-01 9.30872784e-01 -5.39441579e-03 6.78634729e+00] [ 1.49349641e-02 -6.65857674e-05 9.99888465e-01 5.60236304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.898040941999994 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:41.27, Y:6.80, Z:0.56 [[ 9.32008543e-01 -3.62165360e-01 -1.40117269e-02 4.12703742e+01] [ 3.62128386e-01 9.32113830e-01 -5.18077799e-03 6.79561405e+00] [ 1.49368228e-02 -2.45514695e-04 9.99888409e-01 5.64841486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.928040941999996 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:41.30, Y:6.80, Z:0.57 [[ 9.33067582e-01 -3.59426605e-01 -1.40499861e-02 4.12964301e+01] [ 3.59390769e-01 9.33173308e-01 -5.08458471e-03 6.80436447e+00] [ 1.49386070e-02 -3.05174143e-04 9.99888366e-01 5.65704759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.958040942 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:41.33, Y:6.81, Z:0.57 [[ 9.32467877e-01 -3.60981397e-01 -1.40031866e-02 4.13269441e+01] [ 3.60943973e-01 9.32572994e-01 -5.20181897e-03 6.81365651e+00] [ 1.49367535e-02 -2.03836711e-04 9.99888420e-01 5.69907157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.988040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:41.35, Y:6.82, Z:0.57 [[ 9.33158473e-01 -3.59190697e-01 -1.40466403e-02 4.13494397e+01] [ 3.59154708e-01 9.33264141e-01 -5.09294479e-03 6.82188102e+00] [ 1.49385641e-02 -2.92392413e-04 9.99888371e-01 5.69989630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.01804094199999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:41.38, Y:6.84, Z:0.57 [[ 9.32777315e-01 -3.60181738e-01 -1.39855946e-02 4.13777040e+01] [ 3.60143567e-01 9.32882144e-01 -5.24557433e-03 6.83564088e+00] [ 1.49362715e-02 -1.43869178e-04 9.99888437e-01 5.70102242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.04804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.40, Y:6.84, Z:0.57 [[ 9.33721201e-01 -3.57726263e-01 -1.40227983e-02 4.14006882e+01] [ 3.57689211e-01 9.33826472e-01 -5.15260380e-03 6.84479537e+00] [ 1.49380820e-02 -2.04708253e-04 9.99888400e-01 5.67253348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.078040941999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:41.43, Y:6.86, Z:0.57 [[ 9.32762012e-01 -3.60222532e-01 -1.39554743e-02 4.14321344e+01] [ 3.60183254e-01 9.32866401e-01 -5.31985207e-03 6.85745846e+00] [ 1.49349237e-02 -6.43722166e-05 9.99888466e-01 5.72134538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.108040941999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:41.45, Y:6.87, Z:0.57 [[ 9.33541742e-01 -3.58194238e-01 -1.40250953e-02 4.14539488e+01] [ 3.58157325e-01 9.33647064e-01 -5.14691213e-03 6.86661869e+00] [ 1.49380833e-02 -2.18333289e-04 9.99888397e-01 5.68410004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.138040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.48, Y:6.88, Z:0.57 [[ 9.31935630e-01 -3.62354150e-01 -1.39803847e-02 4.14812820e+01] [ 3.62316034e-01 9.32040473e-01 -5.25821846e-03 6.87952842e+00] [ 1.49356217e-02 -1.64996408e-04 9.99888444e-01 5.71255004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.49, Y:6.90, Z:0.57 [[ 9.28835828e-01 -3.70226726e-01 -1.40062894e-02 4.14940285e+01] [ 3.70190469e-01 9.28941355e-01 -5.19381805e-03 6.89510676e+00] [ 1.49339117e-02 -3.60790540e-04 9.99888418e-01 5.73738817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.198040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:41.54, Y:6.90, Z:0.57 [[ 9.31129352e-01 -3.64426139e-01 -1.38462423e-02 4.15375955e+01] [ 3.64383295e-01 9.31232282e-01 -5.59023601e-03 6.90057963e+00] [ 1.49312960e-02 1.59893432e-04 9.99888509e-01 5.70812412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.22804094199999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:41.56, Y:6.91, Z:0.57 [[ 9.29284865e-01 -3.69096893e-01 -1.40400855e-02 4.15642839e+01] [ 3.69061770e-01 9.29390820e-01 -5.11015855e-03 6.91451777e+00] [ 1.49348702e-02 -4.32865811e-04 9.99888375e-01 5.73532359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.258040941999994 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:41.59, Y:6.93, Z:0.57 [[ 9.28200352e-01 -3.71816065e-01 -1.40327943e-02 4.15877797e+01] [ 3.71780980e-01 9.28306310e-01 -5.12818469e-03 6.92685216e+00] [ 1.49334730e-02 -4.57143201e-04 9.99888385e-01 5.72776910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.288040941999995 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:41.61, Y:6.94, Z:0.57 [[ 9.25186736e-01 -3.79253041e-01 -1.40226047e-02 4.16118417e+01] [ 3.79218425e-01 9.25292834e-01 -5.15337899e-03 6.94068544e+00] [ 1.49294503e-02 -5.49792199e-04 9.99888398e-01 5.73855367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.318040941999996 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:41.64, Y:6.95, Z:0.57 [[ 9.22420180e-01 -3.85934311e-01 -1.39899661e-02 4.16381200e+01] [ 3.85899242e-01 9.22526087e-01 -5.23384285e-03 6.95336400e+00] [ 1.49260282e-02 -5.70915041e-04 9.99888438e-01 5.66700872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.348040942 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:41.66, Y:6.96, Z:0.57 [[ 9.21556251e-01 -3.87992468e-01 -1.39971875e-02 4.16643696e+01] [ 3.87957906e-01 9.21662333e-01 -5.21607498e-03 6.96389566e+00] [ 1.49244783e-02 -6.23413030e-04 9.99888429e-01 5.73968017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.69, Y:6.98, Z:0.57 [[ 9.17967043e-01 -3.96410433e-01 -1.39741159e-02 4.16877512e+01] [ 3.96375981e-01 9.18073134e-01 -5.27274380e-03 6.97592016e+00] [ 1.49194310e-02 -6.98798841e-04 9.99888455e-01 5.73033813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.40804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.71, Y:6.99, Z:0.57 [[ 9.17220483e-01 -3.98136073e-01 -1.39374556e-02 4.17091741e+01] [ 3.98100453e-01 9.17326153e-01 -5.36272746e-03 6.98538156e+00] [ 1.49202878e-02 -6.29703910e-04 9.99888488e-01 5.73202714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.43804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:41.73, Y:7.00, Z:0.57 [[ 9.16271758e-01 -4.00316614e-01 -1.38807148e-02 4.17338133e+01] [ 4.00279134e-01 9.16376748e-01 -5.50193822e-03 6.99665617e+00] [ 1.49224816e-02 -5.14889908e-04 9.99888521e-01 5.67644236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.468040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.76, Y:7.01, Z:0.57 [[ 9.14145942e-01 -4.05147771e-01 -1.38737084e-02 4.17610426e+01] [ 4.05110585e-01 9.14251034e-01 -5.51911549e-03 7.00997413e+00] [ 1.49201095e-02 -5.75109077e-04 9.99888524e-01 5.71958639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.498040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.79, Y:7.02, Z:0.57 [[ 9.13030551e-01 -4.07655276e-01 -1.38704179e-02 4.17924944e+01] [ 4.07618258e-01 9.13135700e-01 -5.52714337e-03 7.02418732e+00] [ 1.49187429e-02 -6.07384816e-04 9.99888525e-01 5.74616977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.81, Y:7.04, Z:0.57 [[ 9.11367101e-01 -4.11358003e-01 -1.39499506e-02 4.18115654e+01] [ 4.11324368e-01 9.11473435e-01 -5.33305111e-03 7.03660627e+00] [ 1.49088027e-02 -8.77587296e-04 9.99888473e-01 5.67369786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.558040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:41.84, Y:7.04, Z:0.58 [[ 9.15419105e-01 -4.02262718e-01 -1.38768952e-02 4.18392510e+01] [ 4.02225314e-01 9.15524122e-01 -5.51169440e-03 7.04097673e+00] [ 1.49217815e-02 -5.36128185e-04 9.99888520e-01 5.76915392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.58804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.87, Y:7.06, Z:0.58 [[ 9.14644734e-01 -4.04020409e-01 -1.38751728e-02 4.18717244e+01] [ 4.03983143e-01 9.14749799e-01 -5.51589510e-03 7.05543277e+00] [ 1.49208457e-02 -5.60251496e-04 9.99888521e-01 5.79264059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.61804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.90, Y:7.07, Z:0.57 [[ 9.17060347e-01 -3.98503962e-01 -1.39611115e-02 4.19013706e+01] [ 3.98469245e-01 9.17166346e-01 -5.30609634e-03 7.06855609e+00] [ 1.49191620e-02 -6.97062999e-04 9.99888460e-01 5.74575578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.648040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.93, Y:7.08, Z:0.57 [[ 9.19152682e-01 -3.93652695e-01 -1.39965131e-02 4.19294264e+01] [ 3.93618726e-01 9.19258968e-01 -5.22005650e-03 7.07898359e+00] [ 1.49213095e-02 -7.11260729e-04 9.99888418e-01 5.70846906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.678040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.95, Y:7.09, Z:0.58 [[ 9.18370500e-01 -3.95474136e-01 -1.39939863e-02 4.19494676e+01] [ 3.95440284e-01 9.18476820e-01 -5.22618881e-03 7.09067146e+00] [ 1.49199746e-02 -7.34208306e-04 9.99888421e-01 5.81157028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.97, Y:7.10, Z:0.58 [[ 9.18854523e-01 -3.94350033e-01 -1.39433506e-02 4.19735023e+01] [ 3.94314182e-01 9.18960125e-01 -5.34920777e-03 7.10205984e+00] [ 1.49228434e-02 -5.82917120e-04 9.99888478e-01 5.80892503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.00, Y:7.11, Z:0.58 [[ 9.20865596e-01 -3.89632129e-01 -1.39053249e-02 4.20047663e+01] [ 3.89594350e-01 9.20970487e-01 -5.44096236e-03 7.11211355e+00] [ 1.49263676e-02 -4.07040978e-04 9.99888513e-01 5.83944494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.03, Y:7.12, Z:0.59 [[ 9.21564559e-01 -3.87973981e-01 -1.39625412e-02 4.20284409e+01] [ 3.87938100e-01 9.21670174e-01 -5.30294431e-03 7.12342382e+00] [ 1.49262622e-02 -5.29596189e-04 9.99888457e-01 5.86204778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.79804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.06, Y:7.13, Z:0.59 [[ 9.23820158e-01 -3.82573923e-01 -1.39107983e-02 4.20588166e+01] [ 3.82535544e-01 9.23924834e-01 -5.42751425e-03 7.13305333e+00] [ 1.49289574e-02 -3.07327717e-04 9.99888510e-01 5.85165161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.828040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.09, Y:7.15, Z:0.58 [[ 9.23830462e-01 -3.82547067e-01 -1.39649426e-02 4.20870110e+01] [ 3.82510652e-01 9.23935896e-01 -5.29722861e-03 7.14530419e+00] [ 1.49291510e-02 -4.47998149e-04 9.99888454e-01 5.84193902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.858040941999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:42.11, Y:7.16, Z:0.59 [[ 9.22634936e-01 -3.85420869e-01 -1.39831377e-02 4.21087121e+01] [ 3.85385443e-01 9.22740733e-01 -5.25353993e-03 7.15962672e+00] [ 1.49276347e-02 -5.41798253e-04 9.99888430e-01 5.86308609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.888040941999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:42.14, Y:7.17, Z:0.59 [[ 9.22408521e-01 -3.85964908e-01 -1.39144297e-02 4.21350165e+01] [ 3.85927057e-01 9.22513388e-01 -5.41804509e-03 7.17108335e+00] [ 1.49274230e-02 -3.72303952e-04 9.99888511e-01 5.86676195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.16, Y:7.18, Z:0.59 [[ 9.22958313e-01 -3.84648418e-01 -1.39120819e-02 4.21612884e+01] [ 3.84610334e-01 9.23063094e-01 -5.42365625e-03 7.18209728e+00] [ 1.49279301e-02 -3.44921822e-04 9.99888513e-01 5.87259238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.948040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:42.19, Y:7.19, Z:0.59 [[ 9.23441882e-01 -3.83486317e-01 -1.39045286e-02 4.21857394e+01] [ 3.83447828e-01 9.23546507e-01 -5.44169157e-03 7.19133581e+00] [ 1.49282931e-02 -3.06575407e-04 9.99888520e-01 5.85503222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.97804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.21, Y:7.21, Z:0.59 [[ 9.21863109e-01 -3.87266417e-01 -1.38971662e-02 4.22098294e+01] [ 3.87228093e-01 9.21967787e-01 -5.45924397e-03 7.20604255e+00] [ 1.49269214e-02 -3.48697555e-04 9.99888526e-01 5.85726727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.008040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.24, Y:7.22, Z:0.59 [[ 9.21817799e-01 -3.87375637e-01 -1.38586054e-02 4.22390072e+01] [ 3.87335945e-01 9.21921934e-01 -5.55091125e-03 7.21570792e+00] [ 1.49268401e-02 -2.51007246e-04 9.99888557e-01 5.88455025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.038040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.26, Y:7.23, Z:0.58 [[ 9.19439666e-01 -3.92985889e-01 -1.38849124e-02 4.22586833e+01] [ 3.92947776e-01 9.19544411e-01 -5.48842630e-03 7.22951660e+00] [ 1.49246677e-02 -4.09768587e-04 9.99888537e-01 5.84080339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.068040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.28, Y:7.24, Z:0.58 [[ 9.17270461e-01 -3.98024898e-01 -1.38232020e-02 4.22840798e+01] [ 3.97985151e-01 9.17374553e-01 -5.63474686e-03 7.23959717e+00] [ 1.49238232e-02 -3.32842259e-04 9.99888578e-01 5.81992006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.31, Y:7.25, Z:0.58 [[ 9.16837655e-01 -3.99021708e-01 -1.37982036e-02 4.23132216e+01] [ 3.98981182e-01 9.16941435e-01 -5.69393466e-03 7.24911399e+00] [ 1.49241482e-02 -2.84809890e-04 9.99888588e-01 5.82918394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.34, Y:7.26, Z:0.59 [[ 9.16266569e-01 -4.00330168e-01 -1.38322310e-02 4.23357802e+01] [ 4.00291004e-01 9.16370887e-01 -5.61338856e-03 7.26137655e+00] [ 1.49226626e-02 -3.93557360e-04 9.99888573e-01 5.85059669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.36, Y:7.27, Z:0.58 [[ 9.15120334e-01 -4.02944359e-01 -1.38064658e-02 4.23614510e+01] [ 4.02904573e-01 9.15224403e-01 -5.67430562e-03 7.27254101e+00] [ 1.49224438e-02 -3.70015747e-04 9.99888586e-01 5.83906040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.18804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.39, Y:7.28, Z:0.59 [[ 9.15015266e-01 -4.03183037e-01 -1.38022444e-02 4.23885428e+01] [ 4.03143128e-01 9.15119286e-01 -5.68427657e-03 7.28362265e+00] [ 1.49225039e-02 -3.63080154e-04 9.99888587e-01 5.85103652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.218040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.41, Y:7.30, Z:0.59 [[ 9.14736612e-01 -4.03814486e-01 -1.38127465e-02 4.24146129e+01] [ 4.03775023e-01 9.14840806e-01 -5.65948516e-03 7.29546682e+00] [ 1.49218463e-02 -4.00303769e-04 9.99888583e-01 5.85635883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.248040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.44, Y:7.31, Z:0.58 [[ 9.14282748e-01 -4.04841006e-01 -1.38135986e-02 4.24401183e+01] [ 4.04801691e-01 9.14386999e-01 -5.65747539e-03 7.30689784e+00] [ 1.49213530e-02 -4.19235907e-04 9.99888583e-01 5.84087871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.46, Y:7.32, Z:0.59 [[ 9.13840493e-01 -4.05838569e-01 -1.38061446e-02 4.24620014e+01] [ 4.05799102e-01 9.13944682e-01 -5.67506886e-03 7.31983456e+00] [ 1.49212142e-02 -4.16413343e-04 9.99888586e-01 5.88303260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.49, Y:7.33, Z:0.59 [[ 9.13798604e-01 -4.05934606e-01 -1.37552460e-02 4.24887007e+01] [ 4.05893341e-01 9.13902081e-01 -5.79506437e-03 7.33110905e+00] [ 1.49233651e-02 -2.87641043e-04 9.99888599e-01 5.88603769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.33804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.50, Y:7.34, Z:0.58 [[ 9.13758103e-01 -4.06025350e-01 -1.37675387e-02 4.24951034e+01] [ 4.05984531e-01 9.13861758e-01 -5.76609016e-03 7.33838780e+00] [ 1.49228059e-02 -3.20596149e-04 9.99888597e-01 5.75541789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.36804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.54, Y:7.35, Z:0.59 [[ 9.16181464e-01 -4.00537278e-01 -1.34690222e-02 4.25442169e+01] [ 4.00485328e-01 9.16280307e-01 -6.47306831e-03 7.35004253e+00] [ 1.49341050e-02 5.36359415e-04 9.99888336e-01 5.88207531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.398040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.58, Y:7.36, Z:0.59 [[ 9.18213924e-01 -3.95844758e-01 -1.37883134e-02 4.25777141e+01] [ 3.95803592e-01 9.18317420e-01 -5.71255937e-03 7.35944395e+00] [ 1.49233351e-02 -2.12112425e-04 9.99888618e-01 5.86941670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.428040941999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:42.60, Y:7.37, Z:0.59 [[ 9.17039268e-01 -3.98555519e-01 -1.38737029e-02 4.25966247e+01] [ 3.98517735e-01 9.17144084e-01 -5.50862040e-03 7.37291709e+00] [ 1.49196756e-02 -4.77295447e-04 9.99888582e-01 5.87719648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.63, Y:7.38, Z:0.59 [[ 9.17779918e-01 -3.96850520e-01 -1.37727130e-02 4.26286495e+01] [ 3.96808917e-01 9.17883233e-01 -5.74924798e-03 7.38398055e+00] [ 1.49233344e-02 -1.88590996e-04 9.99888623e-01 5.86672948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.65, Y:7.40, Z:0.58 [[ 9.16644363e-01 -3.99463767e-01 -1.38495271e-02 4.26515842e+01] [ 3.99425205e-01 9.16748883e-01 -5.56693227e-03 7.39565795e+00] [ 1.49203263e-02 -4.28953134e-04 9.99888594e-01 5.82164368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.51804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.67, Y:7.41, Z:0.59 [[ 9.16202498e-01 -4.00476902e-01 -1.38287406e-02 4.26726841e+01] [ 4.00437709e-01 9.16306771e-01 -5.61634540e-03 7.40848088e+00] [ 1.49205853e-02 -3.91839530e-04 9.99888605e-01 5.89002726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.54804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.70, Y:7.42, Z:0.59 [[ 9.16913508e-01 -3.98848482e-01 -1.37661469e-02 4.27040018e+01] [ 3.98806870e-01 9.17016819e-01 -5.76488500e-03 7.41873875e+00] [ 1.49231039e-02 -2.04133038e-04 9.99888623e-01 5.90027078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.578040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.73, Y:7.43, Z:0.59 [[ 9.17657399e-01 -3.97131758e-01 -1.38298170e-02 4.27298797e+01] [ 3.97092219e-01 9.17761544e-01 -5.61416203e-03 7.42873388e+00] [ 1.49220363e-02 -3.39835399e-04 9.99888602e-01 5.89189152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.608040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.76, Y:7.44, Z:0.59 [[ 9.16542443e-01 -3.99698526e-01 -1.38216853e-02 4.27552158e+01] [ 3.99658988e-01 9.16646583e-01 -5.63339606e-03 7.44205125e+00] [ 1.49212607e-02 -3.60714150e-04 9.99888607e-01 5.93270769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.638040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.78, Y:7.45, Z:0.59 [[ 9.17066753e-01 -3.98493845e-01 -1.38284419e-02 4.27788249e+01] [ 3.98454411e-01 9.17170937e-01 -5.61742546e-03 7.45200209e+00] [ 1.49215545e-02 -3.58449559e-04 9.99888603e-01 5.93395134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.668040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:42.81, Y:7.46, Z:0.59 [[ 9.17160678e-01 -3.98278423e-01 -1.38053856e-02 4.28061394e+01] [ 3.98238144e-01 9.17264526e-01 -5.67187581e-03 7.46439461e+00] [ 1.49221763e-02 -2.95809686e-04 9.99888614e-01 5.92487588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.83, Y:7.48, Z:0.60 [[ 9.17086035e-01 -3.98449349e-01 -1.38318674e-02 4.28325630e+01] [ 3.98410031e-01 9.17190265e-01 -5.60940781e-03 7.47636719e+00] [ 1.49215190e-02 -3.66445132e-04 9.99888601e-01 5.95812103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.72804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.86, Y:7.49, Z:0.59 [[ 9.15486802e-01 -4.02110216e-01 -1.38307796e-02 4.28624602e+01] [ 4.02071276e-01 9.15591172e-01 -5.61196592e-03 7.49072306e+00] [ 1.49199685e-02 -4.23278473e-04 9.99888601e-01 5.92459821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.758040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.89, Y:7.50, Z:0.60 [[ 9.16523860e-01 -3.99738989e-01 -1.38836535e-02 4.28861408e+01] [ 3.99701658e-01 9.16628862e-01 -5.48760420e-03 7.49993383e+00] [ 1.49197668e-02 -5.19799126e-04 9.99888559e-01 5.96289824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.788040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.90, Y:7.51, Z:0.60 [[ 9.14088246e-01 -4.05278841e-01 -1.38470177e-02 4.29019621e+01] [ 4.05240837e-01 9.14192974e-01 -5.57404718e-03 7.51413697e+00] [ 1.49178897e-02 -5.16206026e-04 9.99888589e-01 5.95969484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.818040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.93, Y:7.53, Z:0.60 [[ 9.13667513e-01 -4.06230361e-01 -1.37320393e-02 4.29270089e+01] [ 4.06188383e-01 9.13770670e-01 -5.84470316e-03 7.52612560e+00] [ 1.49222306e-02 -2.37679420e-04 9.99888629e-01 5.96511764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.96, Y:7.54, Z:0.60 [[ 9.14372410e-01 -4.04641412e-01 -1.37267636e-02 4.29641135e+01] [ 4.04599068e-01 9.14475417e-01 -5.85711401e-03 7.53854193e+00] [ 1.49228188e-02 -1.98252323e-04 9.99888629e-01 5.95693871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.878040942 meters Centerline goodness : 0.995313 Centerline is valid? [True, True] Translation: X:42.99, Y:7.55, Z:0.60 [[ 9.13780000e-01 -4.05972979e-01 -1.38582853e-02 4.29851411e+01] [ 4.05935477e-01 9.13884910e-01 -5.54612131e-03 7.55046981e+00] [ 1.49164532e-02 -5.57634930e-04 9.99888588e-01 5.96347345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.90804094199999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:43.01, Y:7.56, Z:0.60 [[ 9.12941973e-01 -4.07856828e-01 -1.37754111e-02 4.30087491e+01] [ 4.07816585e-01 9.13045818e-01 -5.74167647e-03 7.56369900e+00] [ 1.49193635e-02 -3.76023669e-04 9.99888629e-01 5.96356606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.93804094199999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:43.04, Y:7.57, Z:0.60 [[ 9.14762030e-01 -4.03759463e-01 -1.37376915e-02 4.30440015e+01] [ 4.03717419e-01 9.14865154e-01 -5.83054988e-03 7.57367467e+00] [ 1.49222750e-02 -2.12579719e-04 9.99888634e-01 5.95172123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.968040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.07, Y:7.59, Z:0.60 [[ 9.14385746e-01 -4.04607214e-01 -1.38459302e-02 4.30674475e+01] [ 4.04569094e-01 9.14490432e-01 -5.57658427e-03 7.58604732e+00] [ 1.49182969e-02 -5.02486284e-04 9.99888590e-01 6.00365741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.998040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.09, Y:7.60, Z:0.60 [[ 9.13551655e-01 -4.06488948e-01 -1.37880167e-02 4.30946379e+01] [ 4.06448993e-01 9.13655617e-01 -5.71221727e-03 7.60135819e+00] [ 1.49194521e-02 -3.85719972e-04 9.99888624e-01 5.98415197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.12, Y:7.61, Z:0.60 [[ 9.13769275e-01 -4.05997460e-01 -1.38483002e-02 4.31173463e+01] [ 4.05959592e-01 9.13874050e-01 -5.57039625e-03 7.61310154e+00] [ 1.49171689e-02 -5.31793354e-04 9.99888591e-01 5.97523173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.058040942 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:43.13, Y:7.63, Z:0.60 [[ 9.11698791e-01 -4.10627313e-01 -1.38030547e-02 4.31348053e+01] [ 4.10588374e-01 9.11803141e-01 -5.67621483e-03 7.62950025e+00] [ 1.49164775e-02 -4.92375600e-04 9.99888622e-01 5.99988785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.08804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.16, Y:7.64, Z:0.60 [[ 9.13108124e-01 -4.07487728e-01 -1.36859415e-02 4.31630403e+01] [ 4.07444320e-01 9.13210671e-01 -5.94940544e-03 7.64231874e+00] [ 1.49224575e-02 -1.43808672e-04 9.99888644e-01 5.98493222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.11804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.19, Y:7.65, Z:0.60 [[ 9.14160513e-01 -4.05119387e-01 -1.37418846e-02 4.31904931e+01] [ 4.05077671e-01 9.14263759e-01 -5.81886717e-03 7.65254708e+00] [ 1.49210429e-02 -2.47152005e-04 9.99888644e-01 5.97112321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.148040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.22, Y:7.67, Z:0.60 [[ 9.14236901e-01 -4.04945835e-01 -1.37753022e-02 4.32169500e+01] [ 4.04905271e-01 9.14340616e-01 -5.74096311e-03 7.66515065e+00] [ 1.49200974e-02 -3.29092151e-04 9.99888635e-01 5.98700590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.178040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.24, Y:7.68, Z:0.60 [[ 9.14755939e-01 -4.03771741e-01 -1.37823607e-02 4.32438927e+01] [ 4.03731292e-01 9.14859702e-01 -5.72452046e-03 7.67850966e+00] [ 1.49203260e-02 -3.27831207e-04 9.99888632e-01 5.95371675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.26, Y:7.69, Z:0.60 [[ 9.14124472e-01 -4.05197905e-01 -1.38241937e-02 4.32612529e+01] [ 4.05159089e-01 9.14228882e-01 -5.62703200e-03 7.69247568e+00] [ 1.49185387e-02 -4.57190066e-04 9.99888608e-01 5.96473359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.238040942 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:43.29, Y:7.70, Z:0.60 [[ 9.14566567e-01 -4.04202380e-01 -1.37270265e-02 4.32909751e+01] [ 4.04160046e-01 9.14669557e-01 -5.85307837e-03 7.70474898e+00] [ 1.49215215e-02 -1.94885883e-04 9.99888649e-01 5.96521793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.26804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.32, Y:7.72, Z:0.60 [[ 9.17213197e-01 -3.98158658e-01 -1.37707822e-02 4.33216993e+01] [ 3.98117171e-01 9.17316543e-01 -5.75131534e-03 7.71731076e+00] [ 1.49221023e-02 -2.07202505e-04 9.99888638e-01 6.02070475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.29804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.35, Y:7.73, Z:0.60 [[ 9.17075330e-01 -3.98474490e-01 -1.38173612e-02 4.33490672e+01] [ 3.98434661e-01 9.17179356e-01 -5.64348500e-03 7.73089292e+00] [ 1.49217833e-02 -3.29814782e-04 9.99888610e-01 6.02100484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.328040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.37, Y:7.75, Z:0.60 [[ 9.16055876e-01 -4.00811815e-01 -1.38391352e-02 4.33692860e+01] [ 4.00773011e-01 9.16160308e-01 -5.59314133e-03 7.74585329e+00] [ 1.49206635e-02 -4.22721892e-04 9.99888591e-01 5.99361818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.358040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.39, Y:7.76, Z:0.60 [[ 9.15471613e-01 -4.02147603e-01 -1.37488827e-02 4.33880392e+01] [ 4.02105816e-01 9.15574824e-01 -5.80130228e-03 7.76199410e+00] [ 1.49211106e-02 -2.17578125e-04 9.99888650e-01 6.00875333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.388040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.41, Y:7.77, Z:0.60 [[ 9.15783335e-01 -4.01439340e-01 -1.36871814e-02 4.34130114e+01] [ 4.01395344e-01 9.15885612e-01 -5.94339606e-03 7.77478792e+00] [ 1.49218055e-02 -5.11078145e-05 9.99888662e-01 6.01000181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.45, Y:7.79, Z:0.60 [[ 9.17859973e-01 -3.96668346e-01 -1.36854892e-02 4.34452318e+01] [ 3.96623761e-01 9.17961994e-01 -5.94728997e-03 7.78656814e+00] [ 1.49218606e-02 3.07892178e-05 9.99888662e-01 6.01297935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.47, Y:7.80, Z:0.60 [[ 9.18115725e-01 -3.96073260e-01 -1.37654523e-02 4.34724844e+01] [ 3.96031359e-01 9.18218899e-01 -5.76331131e-03 7.79863572e+00] [ 1.49223920e-02 -1.60164035e-04 9.99888642e-01 6.02051417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.47804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.50, Y:7.81, Z:0.60 [[ 9.17986183e-01 -3.96372634e-01 -1.37877332e-02 4.34981397e+01] [ 3.96331536e-01 9.18089694e-01 -5.71209705e-03 7.81077630e+00] [ 1.49224947e-02 -2.20887295e-04 9.99888629e-01 6.02004776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.508040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.52, Y:7.82, Z:0.60 [[ 9.18302372e-01 -3.95639621e-01 -1.37856423e-02 4.35191192e+01] [ 3.95598368e-01 9.18405819e-01 -5.71689756e-03 7.82133672e+00] [ 1.49226453e-02 -2.03737009e-04 9.99888630e-01 6.03614799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.538040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.54, Y:7.84, Z:0.60 [[ 9.15958635e-01 -4.01038029e-01 -1.37214787e-02 4.35408451e+01] [ 4.00995174e-01 9.16061397e-01 -5.86411518e-03 7.83687381e+00] [ 1.49214501e-02 -1.30959809e-04 9.99888660e-01 6.01661294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.568040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.57, Y:7.85, Z:0.60 [[ 9.17325549e-01 -3.97902993e-01 -1.36764731e-02 4.35746543e+01] [ 3.97858247e-01 9.17427494e-01 -5.96726458e-03 7.84633961e+00] [ 1.49215648e-02 3.26266607e-05 9.99888667e-01 6.00255891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.60, Y:7.86, Z:0.60 [[ 9.16992330e-01 -3.98666611e-01 -1.37840517e-02 4.35981507e+01] [ 3.98625646e-01 9.17095890e-01 -5.72041576e-03 7.85778859e+00] [ 1.49218359e-02 -2.49099124e-04 9.99888632e-01 6.01892024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.62, Y:7.87, Z:0.60 [[ 9.15449778e-01 -4.02197345e-01 -1.37476797e-02 4.36237793e+01] [ 4.02155526e-01 9.15552974e-01 -5.80377203e-03 7.87050175e+00] [ 1.49209908e-02 -2.15643559e-04 9.99888653e-01 6.00604829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.65, Y:7.88, Z:0.60 [[ 9.15248080e-01 -4.02656319e-01 -1.37419130e-02 4.36461636e+01] [ 4.02614353e-01 9.15351214e-01 -5.81697686e-03 7.88140877e+00] [ 1.49209192e-02 -2.08714501e-04 9.99888655e-01 6.01798683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.68804094199999 meters Centerline goodness : 0.997482 Centerline is valid? [True, True] Translation: X:43.67, Y:7.89, Z:0.60 [[ 9.13927077e-01 -4.05647264e-01 -1.36965534e-02 4.36689735e+01] [ 4.05604076e-01 9.14029691e-01 -5.92091749e-03 7.89277351e+00] [ 1.49208605e-02 -1.44091078e-04 9.99888667e-01 6.03091726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.718040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.70, Y:7.90, Z:0.60 [[ 9.14269916e-01 -4.04875398e-01 -1.36540781e-02 4.36971807e+01] [ 4.04830669e-01 9.14371867e-01 -6.01812633e-03 7.90254451e+00] [ 1.49214962e-02 -2.53977220e-05 9.99888668e-01 6.02980626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.748040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.72, Y:7.92, Z:0.60 [[ 9.12192842e-01 -4.09532050e-01 -1.37010420e-02 4.37201395e+01] [ 4.09489450e-01 9.12295704e-01 -5.91089974e-03 7.91567652e+00] [ 1.49201047e-02 -2.18551737e-04 9.99888665e-01 6.03410946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.75, Y:7.92, Z:0.60 [[ 9.13441894e-01 -4.06739665e-01 -1.36656829e-02 4.37524727e+01] [ 4.06695542e-01 9.13544108e-01 -5.99154788e-03 7.92237304e+00] [ 1.49212043e-02 -8.48414930e-05 9.99888669e-01 5.99833678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.78, Y:7.93, Z:0.60 [[ 9.13291435e-01 -4.07074909e-01 -1.37394596e-02 4.37776925e+01] [ 4.07033349e-01 9.13394736e-01 -5.82322294e-03 7.93356208e+00] [ 1.49200380e-02 -2.74118607e-04 9.99888652e-01 6.00297483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.83804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.80, Y:7.95, Z:0.60 [[ 9.11400948e-01 -4.11290175e-01 -1.37369158e-02 4.38000682e+01] [ 4.11249005e-01 9.11504404e-01 -5.82902140e-03 7.94608566e+00] [ 1.49186785e-02 -3.36717343e-04 9.99888654e-01 5.99394444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.86804094199999 meters Centerline goodness : 0.996572 Centerline is valid? [True, True] Translation: X:43.83, Y:7.96, Z:0.60 [[ 9.08766431e-01 -4.17080351e-01 -1.36950920e-02 4.38332949e+01] [ 4.17038400e-01 9.08869558e-01 -5.92446160e-03 7.96405121e+00] [ 1.49180287e-02 -3.27427411e-04 9.99888666e-01 6.00650797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.898040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.86, Y:7.97, Z:0.60 [[ 9.09885304e-01 -4.14629218e-01 -1.38327436e-02 4.38575267e+01] [ 4.14591722e-01 9.09990228e-01 -5.61149311e-03 7.96930823e+00] [ 1.49143505e-02 -6.29125864e-04 9.99888577e-01 6.03272985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.928040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.88, Y:7.98, Z:0.60 [[ 9.09177592e-01 -4.16182913e-01 -1.37072245e-02 4.38849297e+01] [ 4.16141313e-01 9.09280850e-01 -5.89437783e-03 7.98121417e+00] [ 1.49168561e-02 -3.45106179e-04 9.99888678e-01 6.03444147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.91, Y:7.99, Z:0.60 [[ 9.09138519e-01 -4.16267660e-01 -1.37254488e-02 4.39062242e+01] [ 4.16226689e-01 9.09242037e-01 -5.85332754e-03 7.99136185e+00] [ 1.49163060e-02 -3.91412576e-04 9.99888669e-01 6.04973394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.93, Y:8.00, Z:0.61 [[ 9.08708234e-01 -4.17208039e-01 -1.36674056e-02 4.39309090e+01] [ 4.17165207e-01 9.08810972e-01 -5.98392834e-03 8.00167945e+00] [ 1.49176312e-02 -2.63921136e-04 9.99888691e-01 6.05125136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.01804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.96, Y:8.01, Z:0.60 [[ 9.08377882e-01 -4.17927132e-01 -1.36578491e-02 4.39586507e+01] [ 4.17884058e-01 9.08480517e-01 -6.00540709e-03 8.01383549e+00] [ 1.49177124e-02 -2.52218447e-04 9.99888693e-01 6.04175964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.04804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.98, Y:8.03, Z:0.60 [[ 9.08267961e-01 -4.18165052e-01 -1.36857665e-02 4.39818830e+01] [ 4.18122949e-01 9.08371006e-01 -5.94268540e-03 8.02599185e+00] [ 1.49167768e-02 -3.24782295e-04 9.99888686e-01 6.03177689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.078040941999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:44.01, Y:8.04, Z:0.60 [[ 9.07643049e-01 -4.19520773e-01 -1.36534261e-02 4.40072368e+01] [ 4.19477732e-01 9.07745696e-01 -6.01524480e-03 8.03835399e+00] [ 1.49173589e-02 -2.67613081e-04 9.99888694e-01 6.01733645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.108040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.03, Y:8.05, Z:0.61 [[ 9.07685879e-01 -4.19428396e-01 -1.36442500e-02 4.40306392e+01] [ 4.19385035e-01 9.07788390e-01 -6.03582112e-03 8.04855315e+00] [ 1.49176865e-02 -2.43564649e-04 9.99888695e-01 6.05960531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.138040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.06, Y:8.06, Z:0.60 [[ 9.07601492e-01 -4.19611613e-01 -1.36244666e-02 4.40577437e+01] [ 4.19567607e-01 9.07703726e-01 -6.08015193e-03 8.05921706e+00] [ 1.49182815e-02 -1.98029890e-04 9.99888697e-01 6.02650845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.168040942 meters Centerline goodness : 0.996073 Centerline is valid? [True, True] Translation: X:44.08, Y:8.07, Z:0.61 [[ 9.08318558e-01 -4.18056892e-01 -1.36320171e-02 4.40828251e+01] [ 4.18012965e-01 9.08420827e-01 -6.06322942e-03 8.06896644e+00] [ 1.49183831e-02 -1.91016086e-04 9.99888696e-01 6.07619316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.198040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:44.11, Y:8.08, Z:0.61 [[ 9.08866369e-01 -4.16864955e-01 -1.36210138e-02 4.41079280e+01] [ 4.16820524e-01 9.08968420e-01 -6.08787547e-03 8.07922586e+00] [ 1.49188933e-02 -1.44452829e-04 9.99888697e-01 6.08927446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.22804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.13, Y:8.09, Z:0.61 [[ 9.08880424e-01 -4.16834631e-01 -1.36112447e-02 4.41341054e+01] [ 4.16789869e-01 9.08982330e-01 -6.10975916e-03 8.09038598e+00] [ 1.49191401e-02 -1.19988380e-04 9.99888696e-01 6.08870812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.258040941999994 meters Centerline goodness : 0.996699 Centerline is valid? [True, True] Translation: X:44.16, Y:8.10, Z:0.61 [[ 9.08377979e-01 -4.17928052e-01 -1.36231790e-02 4.41617552e+01] [ 4.17883814e-01 9.08480113e-01 -6.08303184e-03 8.10237607e+00] [ 1.49186568e-02 -1.67213816e-04 9.99888697e-01 6.10192864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.288040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.19, Y:8.11, Z:0.61 [[ 9.08702301e-01 -4.17221458e-01 -1.36521926e-02 4.41860091e+01] [ 4.17178115e-01 9.08804821e-01 -6.01805641e-03 8.11114436e+00] [ 1.49180407e-02 -2.26774265e-04 9.99888694e-01 6.10905867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.318040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.21, Y:8.12, Z:0.61 [[ 9.08355488e-01 -4.17977016e-01 -1.36205943e-02 4.42126256e+01] [ 4.17932697e-01 9.08457587e-01 -6.08874236e-03 8.12218236e+00] [ 1.49186866e-02 -1.61749169e-04 9.99888697e-01 6.10788327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.348040942 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:44.24, Y:8.13, Z:0.61 [[ 9.08100502e-01 -4.18530272e-01 -1.36341097e-02 4.42383879e+01] [ 4.18486469e-01 9.08202824e-01 -6.05852363e-03 8.13317797e+00] [ 1.49182124e-02 -2.03942063e-04 9.99888696e-01 6.10813522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.26, Y:8.14, Z:0.61 [[ 9.08169373e-01 -4.18381346e-01 -1.36176250e-02 4.42634645e+01] [ 4.18336974e-01 9.08271448e-01 -6.09535207e-03 8.14357969e+00] [ 1.49186816e-02 -1.61143964e-04 9.99888697e-01 6.12772189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.40804094199999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:44.29, Y:8.15, Z:0.61 [[ 9.08195728e-01 -4.18324158e-01 -1.36168794e-02 4.42888586e+01] [ 4.18279754e-01 9.08297789e-01 -6.09701719e-03 8.15365142e+00] [ 1.49187111e-02 -1.58380013e-04 9.99888697e-01 6.13062851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.43804094199999 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:44.31, Y:8.16, Z:0.61 [[ 9.07891258e-01 -4.18984564e-01 -1.36161428e-02 4.43135910e+01] [ 4.18940210e-01 9.07993341e-01 -6.09866179e-03 8.16423913e+00] [ 1.49186122e-02 -1.67428001e-04 9.99888697e-01 6.10973907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.468040941999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.34, Y:8.17, Z:0.61 [[ 9.08342159e-01 -4.18006166e-01 -1.36149966e-02 4.43402712e+01] [ 4.17961663e-01 9.08444177e-01 -6.10121949e-03 8.17337686e+00] [ 1.49188118e-02 -1.48551756e-04 9.99888697e-01 6.13405465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.498040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.37, Y:8.18, Z:0.61 [[ 9.09368871e-01 -4.15767886e-01 -1.36132980e-02 4.43705478e+01] [ 4.15723076e-01 9.09470754e-01 -6.10500727e-03 8.18263813e+00] [ 1.49191623e-02 -1.07658540e-04 9.99888697e-01 6.13549046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.39, Y:8.20, Z:0.61 [[ 9.08994446e-01 -4.16584216e-01 -1.36633852e-02 4.43948573e+01] [ 4.16541172e-01 9.09097097e-01 -5.99333428e-03 8.19506940e+00] [ 1.49180723e-02 -2.43454915e-04 9.99888690e-01 6.13039986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.42, Y:8.21, Z:0.61 [[ 9.08726876e-01 -4.17168559e-01 -1.36329628e-02 4.44183086e+01] [ 4.17124564e-01 9.08829115e-01 -6.06110659e-03 8.20690380e+00] [ 1.49185366e-02 -1.78753187e-04 9.99888696e-01 6.12898662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.58804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.44, Y:8.22, Z:0.61 [[ 9.08950298e-01 -4.16682323e-01 -1.36086974e-02 4.44447230e+01] [ 4.16637464e-01 9.09052160e-01 -6.11510740e-03 8.21714873e+00] [ 1.49190729e-02 -1.11564474e-04 9.99888698e-01 6.11725466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.61804094199999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:44.47, Y:8.23, Z:0.61 [[ 9.08899304e-01 -4.16793602e-01 -1.36069540e-02 4.44706579e+01] [ 4.16748697e-01 9.09001145e-01 -6.11898423e-03 8.22751917e+00] [ 1.49190902e-02 -1.09139840e-04 9.99888698e-01 6.11634745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.648040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.50, Y:8.24, Z:0.61 [[ 9.09280599e-01 -4.15961165e-01 -1.36052008e-02 4.44961852e+01] [ 4.15916109e-01 9.09382373e-01 -6.12287982e-03 8.23597291e+00] [ 1.49192100e-02 -9.12063599e-05 9.99888698e-01 6.11679917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.678040941999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.52, Y:8.25, Z:0.61 [[ 9.09562321e-01 -4.15344800e-01 -1.36044414e-02 4.45214981e+01] [ 4.15299650e-01 9.09664054e-01 -6.12456662e-03 8.24592739e+00] [ 1.49192782e-02 -7.92447323e-05 9.99888698e-01 6.11898074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.708040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.55, Y:8.26, Z:0.61 [[ 9.09635582e-01 -4.15184353e-01 -1.36036926e-02 4.45472183e+01] [ 4.15139160e-01 9.09737296e-01 -6.12622944e-03 8.25650242e+00] [ 1.49193011e-02 -7.47892331e-05 9.99888698e-01 6.12536480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.738040942 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:44.58, Y:8.26, Z:0.61 [[ 9.10331990e-01 -4.13655236e-01 -1.36019791e-02 4.45760290e+01] [ 4.13609815e-01 9.10433602e-01 -6.13003150e-03 8.26487390e+00] [ 1.49194185e-02 -4.55483014e-05 9.99888698e-01 6.13226067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.76804094199999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:44.60, Y:8.28, Z:0.61 [[ 9.10006772e-01 -4.14369308e-01 -1.36290730e-02 4.45997691e+01] [ 4.14324866e-01 9.10108818e-01 -6.06992972e-03 8.27547121e+00] [ 1.49191321e-02 -1.23186677e-04 9.99888696e-01 6.12467858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.79804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.63, Y:8.29, Z:0.61 [[ 9.10296237e-01 -4.13733994e-01 -1.35993912e-02 4.46267230e+01] [ 4.13688497e-01 9.10397815e-01 -6.13571740e-03 8.28526965e+00] [ 1.49194109e-02 -4.05912395e-05 9.99888699e-01 6.12830816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.828040941999994 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:44.66, Y:8.29, Z:0.61 [[ 9.11229241e-01 -4.11674622e-01 -1.36115764e-02 4.46572863e+01] [ 4.11629299e-01 9.11330897e-01 -6.10871759e-03 8.29301824e+00] [ 1.49194541e-02 -3.64815538e-05 9.99888698e-01 6.10710924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.858040941999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:44.68, Y:8.30, Z:0.61 [[ 9.10975062e-01 -4.12235590e-01 -1.36474806e-02 4.46798301e+01] [ 4.12191519e-01 9.11077275e-01 -6.02916615e-03 8.30427834e+00] [ 1.49193463e-02 -1.32955750e-04 9.99888692e-01 6.12148309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.888040941999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.71, Y:8.31, Z:0.61 [[ 9.11222290e-01 -4.11690519e-01 -1.35961123e-02 4.47062306e+01] [ 4.11644687e-01 9.11323717e-01 -6.14286077e-03 8.31471772e+00] [ 1.49194172e-02 7.44246092e-07 9.99888699e-01 6.12776113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.74, Y:8.32, Z:0.61 [[ 9.13125715e-01 -4.07451371e-01 -1.35944629e-02 4.47404486e+01] [ 4.07405015e-01 9.13226902e-01 -6.14650891e-03 8.32242659e+00] [ 1.49192327e-02 7.40829774e-05 9.99888699e-01 6.13157170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.948040942 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:44.76, Y:8.34, Z:0.61 [[ 9.11725181e-01 -4.10572815e-01 -1.36805823e-02 4.47597011e+01] [ 4.10529656e-01 9.11827796e-01 -5.95590811e-03 8.33500662e+00] [ 1.49196692e-02 -1.86133345e-04 9.99888678e-01 6.12388205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.97804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.79, Y:8.34, Z:0.61 [[ 9.13209127e-01 -4.07264456e-01 -1.35923976e-02 4.47931552e+01] [ 4.07218014e-01 9.13310274e-01 -6.15078510e-03 8.34316041e+00] [ 1.49190725e-02 8.18839314e-05 9.99888701e-01 6.13230282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.008040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.82, Y:8.35, Z:0.61 [[ 9.13445541e-01 -4.06731159e-01 -1.36750569e-02 4.48215780e+01] [ 4.06687388e-01 9.13547893e-01 -5.96796540e-03 8.35304939e+00] [ 1.49201769e-02 -1.10061800e-04 9.99888682e-01 6.12984406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.038040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.85, Y:8.36, Z:0.61 [[ 9.12702341e-01 -4.08394933e-01 -1.37118386e-02 4.48466700e+01] [ 4.08352569e-01 9.12805306e-01 -5.88659320e-03 8.36110193e+00] [ 1.49202938e-02 -2.26557112e-04 9.99888661e-01 6.14162396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.068040941999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.88, Y:8.37, Z:0.62 [[ 9.12991657e-01 -4.07749677e-01 -1.36541462e-02 4.48800690e+01] [ 4.07705337e-01 9.13093749e-01 -6.01360409e-03 8.37139622e+00] [ 1.49195607e-02 -7.64979132e-05 9.99888694e-01 6.16172178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.90, Y:8.38, Z:0.61 [[ 9.12746830e-01 -4.08294555e-01 -1.37397642e-02 4.49030677e+01] [ 4.08253105e-01 9.12850191e-01 -5.82503862e-03 8.38007897e+00] [ 1.49206779e-02 -2.92515860e-04 9.99888638e-01 6.13013416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.92, Y:8.39, Z:0.61 [[ 9.09891613e-01 -4.14619801e-01 -1.36993698e-02 4.49209360e+01] [ 4.14577726e-01 9.09994688e-01 -5.91417356e-03 8.39335649e+00] [ 1.49184872e-02 -2.98196654e-04 9.99888669e-01 6.14780998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.96, Y:8.40, Z:0.62 [[ 9.12004108e-01 -4.09956084e-01 -1.35836615e-02 4.49590559e+01] [ 4.09909670e-01 9.12105260e-01 -6.16895744e-03 8.39999562e+00] [ 1.49187307e-02 5.80403271e-05 9.99888708e-01 6.16370486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.18804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.98, Y:8.40, Z:0.62 [[ 9.13577660e-01 -4.06432329e-01 -1.37339268e-02 4.49826570e+01] [ 4.06390482e-01 9.13680852e-01 -5.83746451e-03 8.40439780e+00] [ 1.49209603e-02 -2.48359976e-04 9.99888645e-01 6.17069651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.218040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.00, Y:8.42, Z:0.61 [[ 9.09029966e-01 -4.16506936e-01 -1.36562363e-02 4.50017792e+01] [ 4.16463653e-01 9.09132510e-01 -6.00866113e-03 8.42229234e+00] [ 1.49179774e-02 -2.25273034e-04 9.99888695e-01 6.14791338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.248040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.05, Y:8.43, Z:0.62 [[ 9.12036140e-01 -4.09884868e-01 -1.35820905e-02 4.50452764e+01] [ 4.09838404e-01 9.12137265e-01 -6.17183119e-03 8.43044895e+00] [ 1.49184711e-02 6.24707809e-05 9.99888711e-01 6.15238128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.278040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.07, Y:8.44, Z:0.62 [[ 9.12100567e-01 -4.09733630e-01 -1.38169352e-02 4.50694842e+01] [ 4.09694935e-01 9.12205074e-01 -5.65354987e-03 8.44371917e+00] [ 1.49203279e-02 -5.04122322e-04 9.99888559e-01 6.17262881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.08, Y:8.46, Z:0.62 [[ 9.09524828e-01 -4.15421519e-01 -1.37676894e-02 4.50798570e+01] [ 4.15381832e-01 9.09628899e-01 -5.76196423e-03 8.45909651e+00] [ 1.49171321e-02 -4.78198539e-04 9.99888619e-01 6.15587616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.33804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.12, Y:8.47, Z:0.62 [[ 9.11942465e-01 -4.10093520e-01 -1.35736798e-02 4.51173192e+01] [ 4.10046845e-01 9.12043474e-01 -6.18756758e-03 8.46821386e+00] [ 1.49172674e-02 7.68610757e-05 9.99888728e-01 6.15614255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.36804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.13, Y:8.48, Z:0.62 [[ 9.09874793e-01 -4.14655862e-01 -1.37250479e-02 4.51311793e+01] [ 4.14614684e-01 9.09978233e-01 -5.85489967e-03 8.48277469e+00] [ 1.49172633e-02 -3.63380767e-04 9.99888665e-01 6.15984720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.398040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.16, Y:8.50, Z:0.62 [[ 9.09397235e-01 -4.15707220e-01 -1.35711222e-02 4.51560268e+01] [ 4.15661099e-01 9.09498492e-01 -6.19225035e-03 8.49554493e+00] [ 1.49170783e-02 -9.77220434e-06 9.99888734e-01 6.16626887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.428040941999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.19, Y:8.50, Z:0.62 [[ 9.10787786e-01 -4.12651765e-01 -1.35694444e-02 4.51922521e+01] [ 4.12605250e-01 9.10888862e-01 -6.19592473e-03 8.50481356e+00] [ 1.49170151e-02 4.43485643e-05 9.99888734e-01 6.16437461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.21, Y:8.52, Z:0.62 [[ 9.08266208e-01 -4.18168077e-01 -1.37096250e-02 4.52071614e+01] [ 4.18126818e-01 9.08369589e-01 -5.88675589e-03 8.51790748e+00] [ 1.49150599e-02 -3.85620441e-04 9.99888690e-01 6.17998942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.23, Y:8.53, Z:0.62 [[ 9.06619138e-01 -4.21732353e-01 -1.35484606e-02 4.52325858e+01] [ 4.21686177e-01 9.06720365e-01 -6.24088748e-03 8.53140688e+00] [ 1.49166493e-02 -5.50905411e-05 9.99888739e-01 6.18198909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.51804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.26, Y:8.54, Z:0.62 [[ 9.04408557e-01 -4.26451465e-01 -1.35760728e-02 4.52579935e+01] [ 4.26406726e-01 9.04510425e-01 -6.18023212e-03 8.54385899e+00] [ 1.49152684e-02 -1.99473952e-04 9.99888741e-01 6.18744307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.54804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.28, Y:8.56, Z:0.62 [[ 9.03191173e-01 -4.29023823e-01 -1.35743733e-02 4.52838877e+01] [ 4.28979319e-01 9.03293143e-01 -6.18396265e-03 8.55534676e+00] [ 1.49147056e-02 -2.37824942e-04 9.99888741e-01 6.19711952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.578040941999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:45.33, Y:8.56, Z:0.62 [[ 9.05783324e-01 -4.23523733e-01 -1.35726529e-02 4.53260434e+01] [ 4.23478553e-01 9.05884996e-01 -6.18773637e-03 8.56281436e+00] [ 1.49159158e-02 -1.42978998e-04 9.99888741e-01 6.23193462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.608040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.35, Y:8.58, Z:0.62 [[ 9.04494802e-01 -4.26262500e-01 -1.37634947e-02 4.53521504e+01] [ 4.26223944e-01 9.04599282e-01 -5.76958538e-03 8.57691409e+00] [ 1.49098053e-02 -6.47771004e-04 9.99888633e-01 6.22795962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.638040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.37, Y:8.59, Z:0.62 [[ 9.04339665e-01 -4.26591543e-01 -1.37632148e-02 4.53709817e+01] [ 4.26553015e-01 9.04444155e-01 -5.77019806e-03 8.58799471e+00] [ 1.49095769e-02 -6.52521787e-04 9.99888633e-01 6.20105007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.41, Y:8.60, Z:0.62 [[ 9.04135735e-01 -4.27026984e-01 -1.36574818e-02 4.54058717e+01] [ 4.26985008e-01 9.04238790e-01 -6.00108722e-03 8.60222344e+00] [ 1.49122510e-02 -4.05742559e-04 9.99888724e-01 6.23664860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.69804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.43, Y:8.61, Z:0.62 [[ 9.03831610e-01 -4.27665991e-01 -1.37920923e-02 4.54317628e+01] [ 4.27628553e-01 9.03936532e-01 -5.70683472e-03 8.61431677e+00] [ 1.49077952e-02 -7.39874851e-04 9.99888599e-01 6.24203919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.72804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.44, Y:8.63, Z:0.62 [[ 9.00036530e-01 -4.35596333e-01 -1.37869574e-02 4.54396680e+01] [ 4.35559647e-01 9.00141710e-01 -5.71804248e-03 8.63154626e+00] [ 1.49009738e-02 -8.58595201e-04 9.99888606e-01 6.22311052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.758040941999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.46, Y:8.64, Z:0.62 [[ 9.00388672e-01 -4.34875431e-01 -1.35498649e-02 4.54640720e+01] [ 4.34830844e-01 9.00490578e-01 -6.23342635e-03 8.64344889e+00] [ 1.49122896e-02 -2.79392715e-04 9.99888767e-01 6.22965337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.788040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.51, Y:8.65, Z:0.62 [[ 9.05217343e-01 -4.24732837e-01 -1.35491052e-02 4.55101587e+01] [ 4.24687083e-01 9.05318731e-01 -6.23507726e-03 8.64988811e+00] [ 1.49145008e-02 -1.10029889e-04 9.99888767e-01 6.24033598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.818040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.53, Y:8.67, Z:0.62 [[ 9.03024693e-01 -4.29368806e-01 -1.37416299e-02 4.55346122e+01] [ 4.29329854e-01 9.03129012e-01 -5.81926276e-03 8.66713811e+00] [ 1.49090746e-02 -6.44754004e-04 9.99888646e-01 6.24837500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.56, Y:8.68, Z:0.63 [[ 9.04113295e-01 -4.27072925e-01 -1.37064210e-02 4.55575703e+01] [ 4.27032556e-01 9.04217033e-01 -5.89514890e-03 8.67858867e+00] [ 1.49112378e-02 -5.23205475e-04 9.99888684e-01 6.27112107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.59, Y:8.69, Z:0.63 [[ 9.04710485e-01 -4.25807244e-01 -1.36795265e-02 4.55856028e+01] [ 4.25765854e-01 9.04813792e-01 -5.95307230e-03 8.69090977e+00] [ 1.49122856e-02 -4.38468373e-04 9.99888710e-01 6.26059632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.61, Y:8.71, Z:0.63 [[ 9.04507243e-01 -4.26237302e-01 -1.37262298e-02 4.56116522e+01] [ 4.26197482e-01 9.04611216e-01 -5.85263682e-03 8.70500516e+00] [ 1.49115135e-02 -5.56332184e-04 9.99888662e-01 6.26383209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.93804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.63, Y:8.72, Z:0.63 [[ 9.04933743e-01 -4.25331352e-01 -1.37171853e-02 4.56344252e+01] [ 4.25291134e-01 9.05037552e-01 -5.87206454e-03 8.71737596e+00] [ 1.49121410e-02 -5.19967955e-04 9.99888673e-01 6.27688654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.968040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.66, Y:8.73, Z:0.63 [[ 9.05109107e-01 -4.24958870e-01 -1.36917050e-02 4.56601608e+01] [ 4.24917780e-01 9.05212546e-01 -5.92676713e-03 8.72950833e+00] [ 1.49125354e-02 -4.53477976e-04 9.99888699e-01 6.29007042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.998040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.69, Y:8.74, Z:0.63 [[ 9.06081551e-01 -4.22881436e-01 -1.36935716e-02 4.56886534e+01] [ 4.22840170e-01 9.06184921e-01 -5.92276299e-03 8.73977057e+00] [ 1.49135346e-02 -4.23685854e-04 9.99888697e-01 6.32515799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.028040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.72, Y:8.75, Z:0.63 [[ 9.05790636e-01 -4.23503513e-01 -1.37148816e-02 4.57163788e+01] [ 4.23463010e-01 9.05894331e-01 -5.87707591e-03 8.75224609e+00] [ 1.49131958e-02 -4.84344704e-04 9.99888675e-01 6.31247476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.74, Y:8.76, Z:0.63 [[ 9.04533308e-01 -4.26181918e-01 -1.37283703e-02 4.57380297e+01] [ 4.26142160e-01 9.04637308e-01 -5.84816834e-03 8.76493067e+00] [ 1.49115795e-02 -5.60374303e-04 9.99888659e-01 6.28454697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.08804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.77, Y:8.78, Z:0.63 [[ 9.03541481e-01 -4.28283377e-01 -1.36433499e-02 4.57690332e+01] [ 4.28241122e-01 9.03644395e-01 -6.02895291e-03 8.77876290e+00] [ 1.49108369e-02 -3.95234412e-04 9.99888749e-01 6.34234017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.11804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.79, Y:8.79, Z:0.63 [[ 9.01679276e-01 -4.32187853e-01 -1.37165593e-02 4.57884244e+01] [ 4.32148405e-01 9.01783378e-01 -5.87328278e-03 8.79297543e+00] [ 1.49077267e-02 -6.31771862e-04 9.99888674e-01 6.33542493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.148040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.81, Y:8.80, Z:0.63 [[ 9.01402845e-01 -4.32767082e-01 -1.36221673e-02 4.58101329e+01] [ 4.32724665e-01 9.01505672e-01 -6.07353523e-03 8.80494766e+00] [ 1.49088872e-02 -4.19945855e-04 9.99888768e-01 6.34579709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.178040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.84, Y:8.82, Z:0.63 [[ 9.01308564e-01 -4.32964441e-01 -1.35891470e-02 4.58364765e+01] [ 4.32920988e-01 9.01410935e-01 -6.14369061e-03 8.81676861e+00] [ 1.49094052e-02 -3.45665957e-04 9.99888789e-01 6.33344996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.86, Y:8.83, Z:0.63 [[ 8.99661999e-01 -4.36375853e-01 -1.35794948e-02 4.58631669e+01] [ 4.36332480e-01 8.99764397e-01 -6.16410037e-03 8.83213524e+00] [ 1.49082105e-02 -3.79567775e-04 9.99888794e-01 6.34358714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.89, Y:8.85, Z:0.63 [[ 8.97801049e-01 -4.40191736e-01 -1.35834820e-02 4.58881503e+01] [ 4.40148925e-01 8.97903687e-01 -6.15568393e-03 8.84570562e+00] [ 1.49063398e-02 -4.52175530e-04 9.99888792e-01 6.27287835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.26804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.91, Y:8.86, Z:0.63 [[ 8.98886039e-01 -4.37972035e-01 -1.35788495e-02 4.59137352e+01] [ 4.37928824e-01 8.98988505e-01 -6.16545314e-03 8.85571049e+00] [ 1.49075257e-02 -4.04529846e-04 9.99888795e-01 6.34078224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.29804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.94, Y:8.87, Z:0.63 [[ 8.97919497e-01 -4.39950078e-01 -1.35833040e-02 4.59404343e+01] [ 4.39907233e-01 8.98022120e-01 -6.15606566e-03 8.86814135e+00] [ 1.49064690e-02 -4.47742292e-04 9.99888792e-01 6.34466748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.328040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.97, Y:8.88, Z:0.63 [[ 8.97468882e-01 -4.40868331e-01 -1.35912028e-02 4.59710657e+01] [ 4.40825843e-01 8.97571659e-01 -6.13944175e-03 8.88010370e+00] [ 1.49057639e-02 -4.81395491e-04 9.99888787e-01 6.28458102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.358040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.99, Y:8.89, Z:0.63 [[ 8.95084608e-01 -4.45687158e-01 -1.36565212e-02 4.59890801e+01] [ 4.45647315e-01 8.95188498e-01 -6.00191801e-03 8.89476241e+00] [ 1.49001385e-02 -7.13767566e-04 9.99888732e-01 6.32761070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.388040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.01, Y:8.91, Z:0.64 [[ 8.94532705e-01 -4.46797226e-01 -1.35454037e-02 4.60143528e+01] [ 4.46753970e-01 8.94635129e-01 -6.23504137e-03 8.90748649e+00] [ 1.49039931e-02 -4.74014437e-04 9.99888817e-01 6.36621964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.04, Y:8.92, Z:0.64 [[ 8.94736649e-01 -4.46389065e-01 -1.35325852e-02 4.60388152e+01] [ 4.46345356e-01 8.94838874e-01 -6.26190743e-03 8.91939003e+00] [ 1.49047303e-02 -4.37448493e-04 9.99888823e-01 6.35858987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.44804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.06, Y:8.93, Z:0.64 [[ 8.94739685e-01 -4.46382971e-01 -1.35329085e-02 4.60640467e+01] [ 4.46339272e-01 8.94841914e-01 -6.26122973e-03 8.93238634e+00] [ 1.49047201e-02 -4.38097831e-04 9.99888823e-01 6.37391745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.47804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.09, Y:8.95, Z:0.64 [[ 8.94509541e-01 -4.46844287e-01 -1.35227772e-02 4.60911489e+01] [ 4.46800321e-01 8.94611651e-01 -6.28238692e-03 8.94669193e+00] [ 1.49048828e-02 -4.22326166e-04 9.99888827e-01 6.37710140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.508040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.12, Y:8.96, Z:0.64 [[ 8.95568099e-01 -4.44718260e-01 -1.35443325e-02 4.61179706e+01] [ 4.44674731e-01 8.95670407e-01 -6.23740148e-03 8.95763335e+00] [ 1.49051442e-02 -4.36804637e-04 9.99888817e-01 6.37511340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.538040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.14, Y:8.97, Z:0.64 [[ 8.95762325e-01 -4.44325916e-01 -1.35770985e-02 4.61420763e+01] [ 4.44283378e-01 8.95865070e-01 -6.16894297e-03 8.97009509e+00] [ 1.49042695e-02 -5.06172495e-04 9.99888797e-01 6.37722071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.568040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.17, Y:8.98, Z:0.64 [[ 8.95979896e-01 -4.43887124e-01 -1.35737426e-02 4.61692595e+01] [ 4.43844429e-01 8.96082574e-01 -6.17596133e-03 8.98308875e+00] [ 1.49046239e-02 -4.91092834e-04 9.99888799e-01 6.35539839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.19, Y:9.00, Z:0.64 [[ 8.96331214e-01 -4.43176845e-01 -1.35881818e-02 4.61934934e+01] [ 4.43134526e-01 8.96434059e-01 -6.14577970e-03 8.99517742e+00] [ 1.49045762e-02 -5.12738297e-04 9.99888789e-01 6.37935411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.22, Y:9.01, Z:0.64 [[ 8.97159699e-01 -4.41497529e-01 -1.35796295e-02 4.62193173e+01] [ 4.41454747e-01 8.97262345e-01 -6.16364184e-03 9.00734477e+00] [ 1.49057229e-02 -4.65020851e-04 9.99888795e-01 6.36497081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.24, Y:9.02, Z:0.64 [[ 8.96980209e-01 -4.41862044e-01 -1.35808059e-02 4.62449302e+01] [ 4.41819341e-01 8.97082889e-01 -6.16118667e-03 9.02053478e+00] [ 1.49055032e-02 -4.73800218e-04 9.99888795e-01 6.36305666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.68804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.27, Y:9.03, Z:0.64 [[ 8.96736304e-01 -4.42356907e-01 -1.35782073e-02 4.62677255e+01] [ 4.42314179e-01 8.96838971e-01 -6.16660480e-03 9.03313806e+00] [ 1.49053057e-02 -4.76015214e-04 9.99888796e-01 6.36633957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.718040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.29, Y:9.05, Z:0.64 [[ 8.96582449e-01 -4.42669447e-01 -1.35526272e-02 4.62936853e+01] [ 4.42625949e-01 8.96684773e-01 -6.21984002e-03 9.04567491e+00] [ 1.49057676e-02 -4.22145061e-04 9.99888814e-01 6.37658611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.748040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.32, Y:9.06, Z:0.64 [[ 8.95646784e-01 -4.44559898e-01 -1.35401546e-02 4.63185283e+01] [ 4.44516226e-01 8.95749025e-01 -6.24568777e-03 9.05924323e+00] [ 1.49051626e-02 -4.24888232e-04 9.99888822e-01 6.40557865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.34, Y:9.07, Z:0.64 [[ 8.95080183e-01 -4.45699979e-01 -1.35275382e-02 4.63425491e+01] [ 4.45656042e-01 8.95182304e-01 -6.27180309e-03 9.07175626e+00] [ 1.49049553e-02 -4.14862469e-04 9.99888829e-01 6.41482314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.36, Y:9.08, Z:0.64 [[ 8.95606408e-01 -4.44642134e-01 -1.35105083e-02 4.63616247e+01] [ 4.44597545e-01 8.95708236e-01 -6.30703527e-03 9.08236559e+00] [ 1.49058472e-02 -3.58117617e-04 9.99888838e-01 6.41146941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.83804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.39, Y:9.10, Z:0.64 [[ 8.94489592e-01 -4.46887654e-01 -1.34087433e-02 4.63921932e+01] [ 4.46840159e-01 8.94590073e-01 -6.51719197e-03 9.09802576e+00] [ 1.49077813e-02 -1.62004591e-04 9.99888860e-01 6.41766601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.86804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.42, Y:9.11, Z:0.64 [[ 8.95031778e-01 -4.45798037e-01 -1.34991247e-02 4.64173797e+01] [ 4.45753227e-01 8.95133502e-01 -6.33041329e-03 9.10950739e+00] [ 1.49056046e-02 -3.51357350e-04 9.99888844e-01 6.43099139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.898040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.44, Y:9.12, Z:0.65 [[ 8.94646330e-01 -4.46571255e-01 -1.34929098e-02 4.64431046e+01] [ 4.46526339e-01 8.94748005e-01 -6.34322604e-03 9.12274522e+00] [ 1.49054566e-02 -3.49995730e-04 9.99888846e-01 6.45149374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.928040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.47, Y:9.13, Z:0.65 [[ 8.95400476e-01 -4.45056914e-01 -1.35029882e-02 4.64673214e+01] [ 4.45012139e-01 8.95502218e-01 -6.32246436e-03 9.13377777e+00] [ 1.49058123e-02 -3.47856045e-04 9.99888842e-01 6.46594230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.49, Y:9.15, Z:0.64 [[ 8.93838298e-01 -4.48186389e-01 -1.34928540e-02 4.64914375e+01] [ 4.48141655e-01 8.93940053e-01 -6.34334948e-03 9.14846151e+00] [ 1.49048055e-02 -3.76781206e-04 9.99888846e-01 6.44636252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.51, Y:9.16, Z:0.64 [[ 8.93030546e-01 -4.49794066e-01 -1.34811474e-02 4.65140929e+01] [ 4.49749152e-01 8.93132216e-01 -6.36745011e-03 9.16203837e+00] [ 1.49044883e-02 -3.76807143e-04 9.99888851e-01 6.41766689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.01804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.54, Y:9.17, Z:0.65 [[ 8.93168223e-01 -4.49521465e-01 -1.34527800e-02 4.65431360e+01] [ 4.49475640e-01 8.93269477e-01 -6.42577844e-03 9.17436259e+00] [ 1.49054831e-02 -3.07395813e-04 9.99888860e-01 6.45079723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.04804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.56, Y:9.19, Z:0.64 [[ 8.91828998e-01 -4.52171416e-01 -1.34925491e-02 4.65644868e+01] [ 4.52127127e-01 8.91930947e-01 -6.34402329e-03 9.18851214e+00] [ 1.49030081e-02 -4.42563524e-04 9.99888846e-01 6.42509385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.078040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.59, Y:9.20, Z:0.64 [[ 8.91777895e-01 -4.52273488e-01 -1.34490882e-02 4.65904068e+01] [ 4.52227863e-01 8.91879237e-01 -6.43325377e-03 9.20121197e+00] [ 1.49045527e-02 -3.45018922e-04 9.99888861e-01 6.43710592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.108040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.61, Y:9.21, Z:0.65 [[ 8.91739557e-01 -4.52348640e-01 -1.34636612e-02 4.66138997e+01] [ 4.52303475e-01 8.91841109e-01 -6.40334535e-03 9.21397632e+00] [ 1.49039911e-02 -3.79544419e-04 9.99888857e-01 6.45113696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.138040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.64, Y:9.23, Z:0.65 [[ 8.91848986e-01 -4.52133073e-01 -1.34562443e-02 4.66389239e+01] [ 4.52087654e-01 8.91950422e-01 -6.41856622e-03 9.22670627e+00] [ 1.49043488e-02 -3.59010132e-04 9.99888860e-01 6.47460843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.66, Y:9.24, Z:0.65 [[ 8.91708542e-01 -4.52410003e-01 -1.34560786e-02 4.66632029e+01] [ 4.52364610e-01 8.91809989e-01 -6.41890577e-03 9.24039345e+00] [ 1.49042425e-02 -3.63260648e-04 9.99888860e-01 6.48000956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.19804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.69, Y:9.25, Z:0.65 [[ 8.92424562e-01 -4.50996048e-01 -1.34523684e-02 4.66903789e+01] [ 4.50950380e-01 8.92525885e-01 -6.42650337e-03 9.25306131e+00] [ 1.49049146e-02 -3.31181174e-04 9.99888861e-01 6.48045048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.22804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.71, Y:9.27, Z:0.65 [[ 8.91948472e-01 -4.51936219e-01 -1.34750431e-02 4.67122153e+01] [ 4.51891358e-01 8.92050164e-01 -6.38008046e-03 9.26797689e+00] [ 1.49038038e-02 -3.98552492e-04 9.99888853e-01 6.49690870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.258040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.74, Y:9.28, Z:0.65 [[ 8.92254525e-01 -4.51332503e-01 -1.34475121e-02 4.67377040e+01] [ 4.51286723e-01 8.92355796e-01 -6.43639755e-03 9.28049313e+00] [ 1.49049207e-02 -3.25778814e-04 9.99888862e-01 6.50974844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.288040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.76, Y:9.29, Z:0.65 [[ 8.93101275e-01 -4.49654767e-01 -1.34425851e-02 4.67648241e+01] [ 4.49608646e-01 8.93202390e-01 -6.44646853e-03 9.29203408e+00] [ 1.49056344e-02 -2.86553223e-04 9.99888864e-01 6.50868918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.318040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.79, Y:9.31, Z:0.65 [[ 8.94361505e-01 -4.47142803e-01 -1.34466196e-02 4.67894694e+01] [ 4.47096522e-01 8.94462548e-01 -6.43823661e-03 9.30592191e+00] [ 1.49063088e-02 -2.53825884e-04 9.99888863e-01 6.48986792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.81, Y:9.32, Z:0.65 [[ 8.94282893e-01 -4.47300543e-01 -1.34287816e-02 4.68132743e+01] [ 4.47253733e-01 8.94383686e-01 -6.47460797e-03 9.32084487e+00] [ 1.49065789e-02 -2.15941564e-04 9.99888867e-01 6.53533845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.84, Y:9.33, Z:0.65 [[ 8.96924274e-01 -4.41980076e-01 -1.34335147e-02 4.68379195e+01] [ 4.41932813e-01 8.97024857e-01 -6.46496775e-03 9.33450157e+00] [ 1.49075835e-02 -1.38124404e-04 9.99888866e-01 6.50484278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.40804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.86, Y:9.35, Z:0.65 [[ 8.97338794e-01 -4.41138171e-01 -1.34239501e-02 4.68618163e+01] [ 4.41090522e-01 8.97439192e-01 -6.48443932e-03 9.34918333e+00] [ 1.49077126e-02 -1.02438197e-04 9.99888869e-01 6.54433514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.43804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.89, Y:9.36, Z:0.65 [[ 8.98750828e-01 -4.38254352e-01 -1.34190728e-02 4.68871631e+01] [ 4.38206233e-01 8.98851000e-01 -6.49435425e-03 9.36206095e+00] [ 1.49079260e-02 -4.35150848e-05 9.99888870e-01 6.51576025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.468040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.91, Y:9.38, Z:0.65 [[ 8.99193561e-01 -4.37345546e-01 -1.34094675e-02 4.69095768e+01] [ 4.37297034e-01 8.99293541e-01 -6.51387041e-03 9.37533673e+00] [ 1.49078598e-02 -6.69006142e-06 9.99888872e-01 6.54298751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.498040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.94, Y:9.39, Z:0.65 [[ 8.99445332e-01 -4.36828226e-01 -1.33863719e-02 4.69376836e+01] [ 4.36778958e-01 8.99544939e-01 -6.56077413e-03 9.38924527e+00] [ 1.49075745e-02 5.41720701e-05 9.99888874e-01 6.54681266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.97, Y:9.40, Z:0.66 [[ 8.99688610e-01 -4.36325866e-01 -1.34217311e-02 4.69655553e+01] [ 4.36277611e-01 8.99788719e-01 -6.48906013e-03 9.40228511e+00] [ 1.49080670e-02 -1.74673052e-05 9.99888868e-01 6.57400274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.99, Y:9.42, Z:0.65 [[ 8.99910002e-01 -4.35867958e-01 -1.34577779e-02 4.69906370e+01] [ 4.35820743e-01 9.00010619e-01 -6.41600457e-03 9.41503741e+00] [ 1.49086738e-02 -9.13520908e-05 9.99888855e-01 6.54294335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.58804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.02, Y:9.43, Z:0.66 [[ 9.00312758e-01 -4.35035922e-01 -1.34418987e-02 4.70168161e+01] [ 4.34988134e-01 9.00413097e-01 -6.44817241e-03 9.42868943e+00] [ 1.49084482e-02 -4.16945191e-05 9.99888862e-01 6.56476512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.61804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.04, Y:9.44, Z:0.66 [[ 9.00140239e-01 -4.35391358e-01 -1.34876131e-02 4.70414608e+01] [ 4.35344995e-01 9.00241269e-01 -6.35554101e-03 9.44115130e+00] [ 1.49092536e-02 -1.50886661e-04 9.99888840e-01 6.56920455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.648040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.06, Y:9.46, Z:0.66 [[ 8.99237885e-01 -4.37252046e-01 -1.34861052e-02 4.70625613e+01] [ 4.37205846e-01 8.99338989e-01 -6.35859441e-03 9.45534310e+00] [ 1.49088887e-02 -1.78315067e-04 9.99888840e-01 6.57793599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.678040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.08, Y:9.47, Z:0.66 [[ 8.96781973e-01 -4.42268724e-01 -1.34338878e-02 4.70779176e+01] [ 4.42221509e-01 8.96882576e-01 -6.46389658e-03 9.47075483e+00] [ 1.49073992e-02 -1.44048223e-04 9.99888868e-01 6.55229923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.12, Y:9.48, Z:0.66 [[ 8.99151798e-01 -4.37434999e-01 -1.32915427e-02 4.71188692e+01] [ 4.37382991e-01 8.99249996e-01 -6.75006575e-03 9.48246500e+00] [ 1.49051348e-02 2.55839036e-04 9.99888880e-01 6.58513059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.15, Y:9.50, Z:0.66 [[ 8.98966040e-01 -4.37809350e-01 -1.35289225e-02 4.71450857e+01] [ 4.37764524e-01 8.99067791e-01 -6.27134770e-03 9.49554930e+00] [ 1.49090731e-02 -2.84753695e-04 9.99888813e-01 6.58707309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.76804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.16, Y:9.51, Z:0.66 [[ 8.95199296e-01 -4.45460971e-01 -1.35182743e-02 4.71575701e+01] [ 4.45416690e-01 8.95301275e-01 -6.29278582e-03 9.51441339e+00] [ 1.49061187e-02 -3.87967567e-04 9.99888822e-01 6.61256395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.79804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.18, Y:9.53, Z:0.66 [[ 8.94510428e-01 -4.46847384e-01 -1.33607846e-02 4.71825992e+01] [ 4.46798510e-01 8.94610201e-01 -6.60904179e-03 9.52866105e+00] [ 1.49059273e-02 -5.77218658e-05 9.99888899e-01 6.61712885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.828040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.21, Y:9.54, Z:0.66 [[ 8.94541453e-01 -4.46784807e-01 -1.33763086e-02 4.72062210e+01] [ 4.46736391e-01 8.94641452e-01 -6.57787552e-03 9.54158509e+00] [ 1.49058950e-02 -9.15015016e-05 9.99888897e-01 6.62274108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.858040941999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:47.24, Y:9.55, Z:0.66 [[ 8.95618216e-01 -4.44623066e-01 -1.33544194e-02 4.72392141e+01] [ 4.44573754e-01 8.95717773e-01 -6.62178723e-03 9.55438768e+00] [ 1.49059902e-02 -6.43111782e-06 9.99888900e-01 6.62219083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.888040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.26, Y:9.57, Z:0.66 [[ 8.93974282e-01 -4.47915994e-01 -1.34627079e-02 4.72570618e+01] [ 4.47870312e-01 8.94075595e-01 -6.40426018e-03 9.57006530e+00] [ 1.49052492e-02 -3.04303297e-04 9.99888864e-01 6.60992466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.28, Y:9.58, Z:0.66 [[ 8.94450320e-01 -4.46967197e-01 -1.33772027e-02 4.72831536e+01] [ 4.46918834e-01 8.94550342e-01 -6.57574455e-03 9.58359722e+00] [ 1.49057233e-02 -9.68469939e-05 9.99888899e-01 6.62831815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.31, Y:9.60, Z:0.66 [[ 8.94523916e-01 -4.46820199e-01 -1.33669180e-02 4.73087184e+01] [ 4.46771511e-01 8.94623778e-01 -6.59635672e-03 9.59721006e+00] [ 1.49057481e-02 -7.13593180e-05 9.99888901e-01 6.63246779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.97804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.34, Y:9.61, Z:0.67 [[ 8.94765606e-01 -4.46335926e-01 -1.33698072e-02 4.73405221e+01] [ 4.46287271e-01 8.94865485e-01 -6.59056894e-03 9.61077598e+00] [ 1.49057867e-02 -6.97603554e-05 9.99888900e-01 6.65036850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.008040941999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.36, Y:9.63, Z:0.67 [[ 8.94040553e-01 -4.47783077e-01 -1.34835053e-02 4.73591402e+01] [ 4.47737990e-01 8.94142156e-01 -6.36377724e-03 9.62620142e+00] [ 1.49057622e-02 -3.47602618e-04 9.99888843e-01 6.65285659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.038040941999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.38, Y:9.64, Z:0.67 [[ 8.94186362e-01 -4.47495097e-01 -1.33748890e-02 4.73848369e+01] [ 4.47446730e-01 8.94286379e-01 -6.57994463e-03 9.63901264e+00] [ 1.49054740e-02 -1.00853588e-04 9.99888902e-01 6.67917296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.068040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.41, Y:9.65, Z:0.67 [[ 8.94934743e-01 -4.45996135e-01 -1.33885448e-02 4.74073809e+01] [ 4.45948007e-01 8.95034880e-01 -6.55277617e-03 9.65061674e+00] [ 1.49057274e-02 -1.06287804e-04 9.99888898e-01 6.67984679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.43, Y:9.66, Z:0.67 [[ 8.94811906e-01 -4.46243813e-01 -1.33458517e-02 4.74325933e+01] [ 4.46194447e-01 8.94911425e-01 -6.63750566e-03 9.66348147e+00] [ 1.49053010e-02 -1.55258089e-05 9.99888910e-01 6.71663505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.46, Y:9.68, Z:0.67 [[ 8.94948238e-01 -4.45970674e-01 -1.33345097e-02 4.74595975e+01] [ 4.45920943e-01 8.95047573e-01 -6.65999623e-03 9.67667642e+00] [ 1.49051836e-02 1.42147299e-05 9.99888911e-01 6.73440026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.48, Y:9.69, Z:0.67 [[ 8.93682118e-01 -4.48501900e-01 -1.33535554e-02 4.74844541e+01] [ 4.48453013e-01 8.93781875e-01 -6.62224187e-03 9.69120329e+00] [ 1.49052538e-02 -7.02630088e-05 9.99888908e-01 6.71213701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.18804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.51, Y:9.70, Z:0.67 [[ 8.93199809e-01 -4.49460861e-01 -1.33804342e-02 4.75086063e+01] [ 4.49412880e-01 8.93300013e-01 -6.56887729e-03 9.70450456e+00] [ 1.49051953e-02 -1.46019523e-04 9.99888901e-01 6.72868552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.218040941999995 meters Centerline goodness : 0.996509 Centerline is valid? [True, True] Translation: X:47.53, Y:9.72, Z:0.67 [[ 8.92454160e-01 -4.50940158e-01 -1.33621019e-02 4.75343817e+01] [ 4.50891796e-01 8.92554176e-01 -6.60536929e-03 9.71826058e+00] [ 1.49050261e-02 -1.29872829e-04 9.99888905e-01 6.70408307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.248040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.56, Y:9.73, Z:0.68 [[ 8.92413705e-01 -4.51019322e-01 -1.33921764e-02 4.75590888e+01] [ 4.50971863e-01 8.92514164e-01 -6.54575632e-03 9.72898289e+00] [ 1.49049697e-02 -1.97972081e-04 9.99888895e-01 6.77210674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.59, Y:9.74, Z:0.68 [[ 8.91909135e-01 -4.52018425e-01 -1.33206023e-02 4.75851560e+01] [ 4.51968960e-01 8.92008599e-01 -6.68718097e-03 9.74197982e+00] [ 1.49048208e-02 -5.61409720e-05 9.99888915e-01 6.78015572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.61, Y:9.76, Z:0.68 [[ 8.91013299e-01 -4.53781793e-01 -1.33186178e-02 4.76089993e+01] [ 4.53732467e-01 8.91112831e-01 -6.69109946e-03 9.75545601e+00] [ 1.49046903e-02 -8.12306941e-05 9.99888916e-01 6.76296287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.33804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.63, Y:9.77, Z:0.68 [[ 8.90478375e-01 -4.54831178e-01 -1.32989941e-02 4.76314258e+01] [ 4.54781390e-01 8.90577676e-01 -6.72981801e-03 9.76953015e+00] [ 1.49047183e-02 -5.53776380e-05 9.99888917e-01 6.77743456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.36804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.66, Y:9.78, Z:0.68 [[ 8.91311273e-01 -4.53197884e-01 -1.32624321e-02 4.76579162e+01] [ 4.53146840e-01 8.91409937e-01 -6.80191033e-03 9.78128719e+00] [ 1.49048751e-02 5.27901808e-05 9.99888915e-01 6.75241350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.398040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.68, Y:9.80, Z:0.68 [[ 8.90862032e-01 -4.54079456e-01 -1.32924308e-02 4.76802135e+01] [ 4.54029391e-01 8.90961193e-01 -6.74277211e-03 9.79523588e+00] [ 1.49047943e-02 -2.82745935e-05 9.99888917e-01 6.77061727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.428040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.71, Y:9.81, Z:0.68 [[ 8.91970296e-01 -4.51900108e-01 -1.32394511e-02 4.77093563e+01] [ 4.51848249e-01 8.92068538e-01 -6.84711542e-03 9.80574123e+00] [ 1.49047100e-02 1.25200772e-04 9.99888911e-01 6.75310872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.73, Y:9.82, Z:0.68 [[ 8.92288216e-01 -4.51270547e-01 -1.32903132e-02 4.77346834e+01] [ 4.51220108e-01 8.92387188e-01 -6.74692576e-03 9.81773770e+00] [ 1.49047941e-02 2.33457783e-05 9.99888917e-01 6.76106653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.76, Y:9.83, Z:0.68 [[ 8.92831748e-01 -4.50194346e-01 -1.32861372e-02 4.77597975e+01] [ 4.50143666e-01 8.92930596e-01 -6.75514680e-03 9.83091057e+00] [ 1.49047273e-02 5.05390348e-05 9.99888917e-01 6.76385453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.51804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.78, Y:9.84, Z:0.68 [[ 8.93068591e-01 -4.49724278e-01 -1.32878154e-02 4.77848411e+01] [ 4.49673594e-01 8.93167437e-01 -6.75184400e-03 9.84418989e+00] [ 1.49047122e-02 5.46800926e-05 9.99888917e-01 6.77658516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.54804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.81, Y:9.86, Z:0.68 [[ 8.93084917e-01 -4.49691912e-01 -1.32859118e-02 4.78104718e+01] [ 4.49641170e-01 8.93183733e-01 -6.75558769e-03 9.85711598e+00] [ 1.49046935e-02 5.94205369e-05 9.99888917e-01 6.78030338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.578040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.84, Y:9.87, Z:0.68 [[ 8.93134080e-01 -4.49594112e-01 -1.32909494e-02 4.78356777e+01] [ 4.49543506e-01 8.93232966e-01 -6.74568432e-03 9.86768800e+00] [ 1.49047341e-02 4.99405935e-05 9.99888917e-01 6.76857359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.608040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.86, Y:9.88, Z:0.68 [[ 8.92296435e-01 -4.51254501e-01 -1.32833660e-02 4.78597614e+01] [ 4.51203857e-01 8.92395301e-01 -6.76058420e-03 9.88048666e+00] [ 1.49047575e-02 3.89391818e-05 9.99888917e-01 6.79859306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.638040941999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.89, Y:9.89, Z:0.68 [[ 8.92890865e-01 -4.50078060e-01 -1.32530778e-02 4.78876921e+01] [ 4.50026402e-01 8.92989207e-01 -6.82006682e-03 9.89034094e+00] [ 1.49044179e-02 1.25340420e-04 9.99888915e-01 6.79081879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.91, Y:9.90, Z:0.68 [[ 8.92725577e-01 -4.50404973e-01 -1.32817260e-02 4.79132057e+01] [ 4.50354187e-01 8.92824371e-01 -6.76381202e-03 9.90272379e+00] [ 1.49047033e-02 5.67470617e-05 9.99888917e-01 6.80530980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.69804094199999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:47.94, Y:9.92, Z:0.68 [[ 8.91417488e-01 -4.52988390e-01 -1.32808573e-02 4.79418648e+01] [ 4.52937865e-01 8.91516415e-01 -6.76551727e-03 9.91731392e+00] [ 1.49048031e-02 1.54972360e-05 9.99888917e-01 6.79952000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.72804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.97, Y:9.93, Z:0.68 [[ 8.92229130e-01 -4.51386140e-01 -1.33316319e-02 4.79650173e+01] [ 4.51336923e-01 8.92328722e-01 -6.66588026e-03 9.92963377e+00] [ 1.49050840e-02 -6.95651762e-05 9.99888911e-01 6.81460162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.758040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.99, Y:9.94, Z:0.68 [[ 8.92002017e-01 -4.51836378e-01 -1.32773488e-02 4.79901155e+01] [ 4.51785625e-01 8.92100827e-01 -6.77230442e-03 9.94163318e+00] [ 1.49047074e-02 4.23938712e-05 9.99888918e-01 6.82560199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.788040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.02, Y:9.95, Z:0.68 [[ 8.90974857e-01 -4.53858533e-01 -1.32754045e-02 4.80196375e+01] [ 4.53807947e-01 8.91073752e-01 -6.77611365e-03 9.95401121e+00] [ 1.49047615e-02 1.28628246e-05 9.99888918e-01 6.79853968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.818040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.04, Y:9.96, Z:0.68 [[ 8.91597128e-01 -4.52632468e-01 -1.33570093e-02 4.80415701e+01] [ 4.52584134e-01 8.91697161e-01 -6.61621379e-03 9.96378752e+00] [ 1.49051204e-02 -1.46173253e-04 9.99888902e-01 6.83310407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.07, Y:9.97, Z:0.68 [[ 8.91086721e-01 -4.53638984e-01 -1.32713093e-02 4.80669322e+01] [ 4.53588258e-01 8.91185543e-01 -6.78386949e-03 9.97482843e+00] [ 1.49046267e-02 2.53059391e-05 9.99888920e-01 6.84283343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.878040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.09, Y:9.99, Z:0.68 [[ 8.90689392e-01 -4.54418675e-01 -1.32693497e-02 4.80924846e+01] [ 4.54367978e-01 8.90788228e-01 -6.78770033e-03 9.98730703e+00] [ 1.49046383e-02 1.65650716e-05 9.99888920e-01 6.83951704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.90804094199999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:48.12, Y:10.00, Z:0.68 [[ 8.90369747e-01 -4.55044712e-01 -1.32673944e-02 4.81172259e+01] [ 4.54994027e-01 8.90468590e-01 -6.79152008e-03 9.99949563e+00] [ 1.49046433e-02 1.03788010e-05 9.99888920e-01 6.83076454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.93804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.14, Y:10.01, Z:0.68 [[ 8.89740974e-01 -4.56272934e-01 -1.32667893e-02 4.81424997e+01] [ 4.56222369e-01 8.89839878e-01 -6.79270200e-03 1.00111762e+01] [ 1.49046442e-02 -8.86072705e-06 9.99888920e-01 6.83142225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.968040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.17, Y:10.02, Z:0.68 [[ 8.89403191e-01 -4.56931074e-01 -1.32648711e-02 4.81684715e+01] [ 4.56880526e-01 8.89502104e-01 -6.79644572e-03 1.00230075e+01] [ 1.49046380e-02 -1.56807753e-05 9.99888920e-01 6.84165070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.998040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.19, Y:10.03, Z:0.69 [[ 8.89017822e-01 -4.57680464e-01 -1.32629415e-02 4.81945385e+01] [ 4.57629943e-01 8.89116749e-01 -6.80020918e-03 1.00343481e+01] [ 1.49046263e-02 -2.40120087e-05 9.99888920e-01 6.85450984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.22, Y:10.04, Z:0.69 [[ 8.88758603e-01 -4.58183687e-01 -1.32609950e-02 4.82191482e+01] [ 4.58133165e-01 8.88857530e-01 -6.80400292e-03 1.00449429e+01] [ 1.49046184e-02 -2.81854765e-05 9.99888920e-01 6.85746215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.058040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:48.24, Y:10.05, Z:0.69 [[ 8.88619695e-01 -4.58453058e-01 -1.32601519e-02 4.82445276e+01] [ 4.58402542e-01 8.88718624e-01 -6.80564567e-03 1.00547797e+01] [ 1.49046130e-02 -3.08565493e-05 9.99888920e-01 6.85113549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.27, Y:10.07, Z:0.69 [[ 8.88520696e-01 -4.58644921e-01 -1.32593257e-02 4.82699718e+01] [ 4.58594402e-01 8.88619624e-01 -6.80725500e-03 1.00674831e+01] [ 1.49046099e-02 -3.22655763e-05 9.99888920e-01 6.86669980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.11804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.30, Y:10.08, Z:0.69 [[ 8.88656673e-01 -4.58381456e-01 -1.32573992e-02 4.82956326e+01] [ 4.58330852e-01 8.88755557e-01 -6.81100486e-03 1.00797240e+01] [ 1.49046255e-02 -2.36301331e-05 9.99888920e-01 6.86536893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.148040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.33, Y:10.09, Z:0.69 [[ 8.90180337e-01 -4.55415481e-01 -1.32554836e-02 4.83296132e+01] [ 4.55364492e-01 8.90279023e-01 -6.81473087e-03 1.00896457e+01] [ 1.49046129e-02 3.02628651e-05 9.99888920e-01 6.88479566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.178040941999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:48.35, Y:10.10, Z:0.69 [[ 8.89157450e-01 -4.57405980e-01 -1.33715720e-02 4.83486023e+01] [ 4.57358596e-01 8.89257951e-01 -6.58870768e-03 1.01012387e+01] [ 1.49044910e-02 -2.57204890e-04 9.99888889e-01 6.87278771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.39, Y:10.11, Z:0.69 [[ 8.91518486e-01 -4.52790393e-01 -1.32532435e-02 4.83854874e+01] [ 4.52739055e-01 8.91616988e-01 -6.81869938e-03 1.01112541e+01] [ 1.49042586e-02 7.87356328e-05 9.99888922e-01 6.88554419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.238040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:48.41, Y:10.12, Z:0.69 [[ 8.92370130e-01 -4.51104900e-01 -1.34134169e-02 4.84112166e+01] [ 4.51058035e-01 8.92470901e-01 -6.50682017e-03 1.01205068e+01] [ 1.49063427e-02 -2.43737503e-04 9.99888865e-01 6.88472485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.43, Y:10.13, Z:0.69 [[ 8.91068273e-01 -4.53671229e-01 -1.34070652e-02 4.84259949e+01] [ 4.53624469e-01 8.91169087e-01 -6.51918093e-03 1.01346810e+01] [ 1.49055269e-02 -2.72737549e-04 9.99888869e-01 6.90828217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.29804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.45, Y:10.15, Z:0.69 [[ 8.91485162e-01 -4.52856132e-01 -1.32488011e-02 4.84511369e+01] [ 4.52804687e-01 8.91583600e-01 -6.82634707e-03 1.01468086e+01] [ 1.49037669e-02 8.64678755e-05 9.99888929e-01 6.91255134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.328040941999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:48.49, Y:10.15, Z:0.69 [[ 8.95486070e-01 -4.44892367e-01 -1.32468673e-02 4.84900360e+01] [ 4.44839992e-01 8.95584017e-01 -6.83009766e-03 1.01539817e+01] [ 1.49023410e-02 2.23520975e-04 9.99888929e-01 6.88665534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.358040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.52, Y:10.17, Z:0.69 [[ 8.96139776e-01 -4.43568514e-01 -1.34340955e-02 4.85168417e+01] [ 4.43521411e-01 8.96240451e-01 -6.46616204e-03 1.01661402e+01] [ 1.49083657e-02 -1.63723983e-04 9.99888851e-01 6.90121888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.388040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.54, Y:10.18, Z:0.69 [[ 8.96032793e-01 -4.43785685e-01 -1.33977608e-02 4.85442373e+01] [ 4.43737555e-01 8.96132947e-01 -6.53632990e-03 1.01792663e+01] [ 1.49069045e-02 -8.83236795e-05 9.99888882e-01 6.92565193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.418040942 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:48.57, Y:10.19, Z:0.69 [[ 8.96844865e-01 -4.42141771e-01 -1.34142617e-02 4.85725036e+01] [ 4.42093934e-01 8.96945174e-01 -6.50455705e-03 1.01913401e+01] [ 1.49077937e-02 -9.67851199e-05 9.99888868e-01 6.92717632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44804094199999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:48.59, Y:10.20, Z:0.69 [[ 8.96031929e-01 -4.43786096e-01 -1.34418643e-02 4.85910598e+01] [ 4.43739238e-01 8.96132729e-01 -6.45144440e-03 1.02034663e+01] [ 1.49087558e-02 -1.83982435e-04 9.99888841e-01 6.94796501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.47804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.63, Y:10.21, Z:0.69 [[ 8.97913994e-01 -4.39968897e-01 -1.33352364e-02 4.86264777e+01] [ 4.39918556e-01 8.98013005e-01 -6.65630068e-03 1.02146799e+01] [ 1.49037810e-02 1.10367576e-04 9.99888926e-01 6.92263728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.508040941999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.65, Y:10.23, Z:0.69 [[ 8.97613515e-01 -4.40577982e-01 -1.34543544e-02 4.86517016e+01] [ 4.40531124e-01 8.97714329e-01 -6.42743700e-03 1.02280840e+01] [ 1.49099539e-02 -1.57707528e-04 9.99888828e-01 6.92779656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.538040941999995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:48.67, Y:10.24, Z:0.70 [[ 8.95905980e-01 -4.44040058e-01 -1.34499518e-02 4.86716214e+01] [ 4.43993463e-01 8.96006911e-01 -6.43588670e-03 1.02395531e+01] [ 1.49090413e-02 -2.05741295e-04 9.99888833e-01 6.97238423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.568040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.71, Y:10.25, Z:0.70 [[ 8.96983307e-01 -4.41863258e-01 -1.33344488e-02 4.87058152e+01] [ 4.41813121e-01 8.97082412e-01 -6.65666679e-03 1.02507229e+01] [ 1.49034360e-02 7.95845613e-05 9.99888934e-01 6.96521039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.598040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:48.73, Y:10.26, Z:0.70 [[ 8.95809561e-01 -4.44234810e-01 -1.34411154e-02 4.87265610e+01] [ 4.44187985e-01 8.95910374e-01 -6.45262045e-03 1.02617594e+01] [ 1.49085133e-02 -1.90062854e-04 9.99888844e-01 6.98657997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.628040942 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:48.76, Y:10.27, Z:0.70 [[ 8.95069344e-01 -4.45726663e-01 -1.33645468e-02 4.87555397e+01] [ 4.45677814e-01 8.95169112e-01 -6.59894462e-03 1.02715600e+01] [ 1.49048551e-02 -4.97689926e-05 9.99888915e-01 6.99164711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.65804094199999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:48.79, Y:10.28, Z:0.70 [[ 8.95409574e-01 -4.45041800e-01 -1.33974585e-02 4.87862310e+01] [ 4.44993815e-01 8.95509790e-01 -6.53608780e-03 1.02831074e+01] [ 1.49063875e-02 -1.09310568e-04 9.99888888e-01 6.96968312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.68804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.81, Y:10.29, Z:0.70 [[ 8.92924144e-01 -4.50005947e-01 -1.34581027e-02 4.88093066e+01] [ 4.49960266e-01 8.93025500e-01 -6.41996651e-03 1.02931637e+01] [ 1.49074520e-02 -3.23068352e-04 9.99888826e-01 6.98985761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.718040941999995 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:48.84, Y:10.30, Z:0.70 [[ 8.92392562e-01 -4.51061393e-01 -1.33841160e-02 4.88402177e+01] [ 4.51013704e-01 8.92492906e-01 -6.56139538e-03 1.03046704e+01] [ 1.49048208e-02 -1.81079309e-04 9.99888901e-01 6.95666499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.748040941999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.86, Y:10.32, Z:0.70 [[ 8.91338445e-01 -4.53139039e-01 -1.34457418e-02 4.88648019e+01] [ 4.53093356e-01 8.91439785e-01 -6.44368449e-03 1.03159872e+01] [ 1.49059542e-02 -3.48672567e-04 9.99888839e-01 6.98822513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.778040942 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:48.88, Y:10.33, Z:0.70 [[ 8.88097866e-01 -4.59458704e-01 -1.34119168e-02 4.88758701e+01] [ 4.59412766e-01 8.88199051e-01 -6.50819452e-03 1.03294660e+01] [ 1.49026984e-02 -3.81692124e-04 9.99888876e-01 7.00443492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.808040942 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:48.91, Y:10.34, Z:0.70 [[ 8.89813869e-01 -4.56133089e-01 -1.31865255e-02 4.89131258e+01] [ 4.56080368e-01 8.89911558e-01 -6.93666469e-03 1.03396994e+01] [ 1.48988837e-02 1.58225044e-04 9.99888993e-01 7.01532375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.83804094199999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:48.93, Y:10.35, Z:0.70 [[ 8.87333087e-01 -4.60935100e-01 -1.33726071e-02 4.89252378e+01] [ 4.60888212e-01 8.87433789e-01 -6.58229806e-03 1.03547101e+01] [ 1.49013156e-02 -3.22586105e-04 9.99888917e-01 7.00406647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.86804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.96, Y:10.37, Z:0.70 [[ 8.89644997e-01 -4.56462448e-01 -1.31837688e-02 4.89638721e+01] [ 4.56409700e-01 8.89742664e-01 -6.94098185e-03 1.03662997e+01] [ 1.48984592e-02 1.57809792e-04 9.99888999e-01 7.02011722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.898040941999994 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:48.99, Y:10.38, Z:0.70 [[ 8.89859967e-01 -4.56037494e-01 -1.33807024e-02 4.89909604e+01] [ 4.55990320e-01 8.89960525e-01 -6.56437429e-03 1.03781625e+01] [ 1.49018977e-02 -2.60096874e-04 9.99888927e-01 6.98568989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.928040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.00, Y:10.39, Z:0.71 [[ 8.88331275e-01 -4.59007964e-01 -1.33878734e-02 4.90047742e+01] [ 4.58961333e-01 8.88432093e-01 -6.55068218e-03 1.03931885e+01] [ 1.49010317e-02 -3.25340382e-04 9.99888921e-01 7.06389976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.958040942 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:49.03, Y:10.41, Z:0.70 [[ 8.87816608e-01 -4.60008365e-01 -1.31899170e-02 4.90289333e+01] [ 4.59956206e-01 8.87914577e-01 -6.92758801e-03 1.04070874e+01] [ 1.48982680e-02 8.36434923e-05 9.99889011e-01 7.03090648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.988040942 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:49.06, Y:10.42, Z:0.70 [[ 8.89016898e-01 -4.57684394e-01 -1.31890076e-02 4.90648293e+01] [ 4.57631953e-01 8.89114717e-01 -6.92931908e-03 1.04199237e+01] [ 1.48979819e-02 1.24570459e-04 9.99889011e-01 7.02241060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.01804094199999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:49.09, Y:10.43, Z:0.70 [[ 8.88836106e-01 -4.58030848e-01 -1.33461276e-02 4.90905268e+01] [ 4.57982922e-01 8.88936271e-01 -6.62938655e-03 1.04337389e+01] [ 1.49003205e-02 -2.19860408e-04 9.99888960e-01 7.01698003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.04804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.10, Y:10.45, Z:0.71 [[ 8.87333910e-01 -4.60934293e-01 -1.33458123e-02 4.91044936e+01] [ 4.60886686e-01 8.87434226e-01 -6.62998811e-03 1.04490226e+01] [ 1.48995195e-02 -2.67893950e-04 9.99888960e-01 7.07626127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.078040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.14, Y:10.46, Z:0.71 [[ 8.86417403e-01 -4.62698869e-01 -1.31888264e-02 4.91363626e+01] [ 4.62646989e-01 8.86515513e-01 -6.92880898e-03 1.04615368e+01] [ 1.48980513e-02 4.00460387e-05 9.99889017e-01 7.07486093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.108040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.16, Y:10.47, Z:0.71 [[ 8.86066496e-01 -4.63367207e-01 -1.33039827e-02 4.91589650e+01] [ 4.63318683e-01 8.86166341e-01 -6.70930595e-03 1.04733079e+01] [ 1.48984141e-02 -2.19092545e-04 9.99888988e-01 7.09096016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.138040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.18, Y:10.49, Z:0.71 [[ 8.84510902e-01 -4.66331082e-01 -1.32584717e-02 4.91843120e+01] [ 4.66281591e-01 8.84610249e-01 -6.79596216e-03 1.04868273e+01] [ 1.48977483e-02 -1.71078637e-04 9.99889008e-01 7.12215641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.21, Y:10.50, Z:0.71 [[ 8.82830491e-01 -4.69504695e-01 -1.32538927e-02 4.92085257e+01] [ 4.69455430e-01 8.82929949e-01 -6.80467543e-03 1.05014604e+01] [ 1.48970858e-02 -2.14736936e-04 9.99889009e-01 7.12514266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.19804094199999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:49.23, Y:10.51, Z:0.71 [[ 8.83960779e-01 -4.67372820e-01 -1.32660454e-02 4.92317714e+01] [ 4.67323662e-01 8.84060295e-01 -6.78156075e-03 1.05124580e+01] [ 1.48975012e-02 -2.04903200e-04 9.99889005e-01 7.10153493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.22804094199999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:49.26, Y:10.53, Z:0.72 [[ 8.83073396e-01 -4.69048969e-01 -1.32076768e-02 4.92618672e+01] [ 4.68998341e-01 8.83172154e-01 -6.89222297e-03 1.05283279e+01] [ 1.48974424e-02 -1.08039768e-04 9.99889021e-01 7.16131921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.258040941999994 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:49.28, Y:10.54, Z:0.71 [[ 8.82650166e-01 -4.69841816e-01 -1.33174057e-02 4.92845655e+01] [ 4.69794405e-01 8.82750554e-01 -6.68405186e-03 1.05432252e+01] [ 1.48963943e-02 -3.56763211e-04 9.99888979e-01 7.14751809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.288040941999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.31, Y:10.56, Z:0.71 [[ 8.84093760e-01 -4.67120179e-01 -1.33027241e-02 4.93141994e+01] [ 4.67072040e-01 8.84193791e-01 -6.71187798e-03 1.05556635e+01] [ 1.48974397e-02 -2.79401045e-04 9.99888988e-01 7.14892901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.318040941999996 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:49.34, Y:10.57, Z:0.72 [[ 8.82889204e-01 -4.69391486e-01 -1.33523816e-02 4.93379789e+01] [ 4.69345024e-01 8.82990064e-01 -6.61782048e-03 1.05706723e+01] [ 1.48963688e-02 -4.24071587e-04 9.99888953e-01 7.15373837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.348040942 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:49.35, Y:10.59, Z:0.72 [[ 8.81255384e-01 -4.72452899e-01 -1.33118974e-02 4.93533131e+01] [ 4.72405629e-01 8.81355835e-01 -6.69438561e-03 1.05857740e+01] [ 1.48953004e-02 -3.89151919e-04 9.99888983e-01 7.17151287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.378040942 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:49.39, Y:10.60, Z:0.72 [[ 8.83893236e-01 -4.67503456e-01 -1.31630555e-02 4.93895869e+01] [ 4.67451417e-01 8.83991244e-01 -6.97526743e-03 1.05965824e+01] [ 1.48969874e-02 1.23027562e-05 9.99889034e-01 7.17836621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.40804094199999 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:49.42, Y:10.61, Z:0.72 [[ 8.84441188e-01 -4.66461591e-01 -1.33179934e-02 4.94168786e+01] [ 4.66413821e-01 8.84541403e-01 -6.68241158e-03 1.06091153e+01] [ 1.48974049e-02 -3.01496135e-04 9.99888982e-01 7.16854024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.43804094199999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:49.42, Y:10.62, Z:0.73 [[ 8.81053785e-01 -4.72828143e-01 -1.33332288e-02 4.94235476e+01] [ 4.72781532e-01 8.81154556e-01 -6.65364260e-03 1.06232269e+01] [ 1.48946648e-02 -4.41487364e-04 9.99888971e-01 7.27408933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.468040941999995 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:49.46, Y:10.64, Z:0.72 [[ 8.83772384e-01 -4.67735558e-01 -1.30315428e-02 4.94616943e+01] [ 4.67679897e-01 8.83868410e-01 -7.22140272e-03 1.06364769e+01] [ 1.48958758e-02 2.87485726e-04 9.99889009e-01 7.19490230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.498040941999996 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:49.49, Y:10.65, Z:0.72 [[ 8.84716186e-01 -4.65942166e-01 -1.32351431e-02 4.94921209e+01] [ 4.65892012e-01 8.84815170e-01 -6.83729622e-03 1.06496368e+01] [ 1.48964400e-02 -1.17080836e-04 9.99889035e-01 7.20384778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.528040942 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:49.52, Y:10.66, Z:0.72 [[ 8.84662222e-01 -4.66043135e-01 -1.32871722e-02 4.95153095e+01] [ 4.65994465e-01 8.84761970e-01 -6.73910775e-03 1.06625581e+01] [ 1.48966996e-02 -2.29914661e-04 9.99889012e-01 7.18106743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.558040942 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:49.54, Y:10.68, Z:0.72 [[ 8.84717552e-01 -4.65938514e-01 -1.32723102e-02 4.95406811e+01] [ 4.65889411e-01 8.84817079e-01 -6.76712739e-03 1.06756777e+01] [ 1.48966320e-02 -1.96432401e-04 9.99889020e-01 7.23411097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.58804094199999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:49.56, Y:10.69, Z:0.73 [[ 8.83587844e-01 -4.68077841e-01 -1.32535781e-02 4.95629202e+01] [ 4.68028450e-01 8.83687217e-01 -6.80240649e-03 1.06890731e+01] [ 1.48960733e-02 -1.92527922e-04 9.99889029e-01 7.27398594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.61804094199999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:49.59, Y:10.70, Z:0.73 [[ 8.83595591e-01 -4.68064951e-01 -1.31921583e-02 4.95853674e+01] [ 4.68013829e-01 8.83694064e-01 -6.91792506e-03 1.07016427e+01] [ 1.48958702e-02 -6.14644390e-05 9.99889048e-01 7.27097124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.648040941999994 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:49.61, Y:10.72, Z:0.73 [[ 8.82037382e-01 -4.70996429e-01 -1.31309171e-02 4.96083255e+01] [ 4.70943918e-01 8.82135116e-01 -7.03298442e-03 1.07167060e+01] [ 1.48957536e-02 1.94296224e-05 9.99889052e-01 7.29255600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.678040941999996 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:49.63, Y:10.73, Z:0.73 [[ 8.81824273e-01 -4.71395835e-01 -1.31117513e-02 4.96349963e+01] [ 4.71342833e-01 8.81921745e-01 -7.06898359e-03 1.07311566e+01] [ 1.48958280e-02 5.34712951e-05 9.99889050e-01 7.29576003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.708040942 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:49.66, Y:10.74, Z:0.73 [[ 8.81408897e-01 -4.72171637e-01 -1.31263872e-02 4.96597442e+01] [ 4.72119130e-01 8.81506634e-01 -7.04149384e-03 1.07449869e+01] [ 1.48957911e-02 9.21681010e-06 9.99889052e-01 7.31907445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.738040942 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:49.68, Y:10.76, Z:0.73 [[ 8.81952790e-01 -4.71154720e-01 -1.31341483e-02 4.96823678e+01] [ 4.71102317e-01 8.82050582e-01 -7.02692373e-03 1.07566274e+01] [ 1.48957514e-02 9.88731062e-06 9.99889052e-01 7.31555504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.76804094199999 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:49.71, Y:10.77, Z:0.73 [[ 8.82084074e-01 -4.70910160e-01 -1.30884170e-02 4.97134689e+01] [ 4.70856455e-01 8.82181165e-01 -7.11270688e-03 1.07681711e+01] [ 1.48958009e-02 1.11239864e-04 9.99889045e-01 7.29753081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.79804094199999 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:49.74, Y:10.78, Z:0.73 [[ 8.82872524e-01 -4.69428428e-01 -1.31551016e-02 4.97435428e+01] [ 4.69376419e-01 8.82970526e-01 -6.98760829e-03 1.07795415e+01] [ 1.48957490e-02 -5.52711986e-06 9.99889052e-01 7.32852488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.828040941999994 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:49.77, Y:10.79, Z:0.73 [[ 8.81858752e-01 -4.71328895e-01 -1.31990157e-02 4.97661260e+01] [ 4.71278328e-01 8.81957513e-01 -6.90522805e-03 1.07921359e+01] [ 1.48956046e-02 -1.30974249e-04 9.99889046e-01 7.30115388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.858040941999995 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:49.79, Y:10.81, Z:0.73 [[ 8.81335286e-01 -4.72308146e-01 -1.31578407e-02 4.97948073e+01] [ 4.72256535e-01 8.81433498e-01 -6.98240900e-03 1.08056792e+01] [ 1.48956102e-02 -6.00328064e-05 9.99889052e-01 7.34792835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.888040941999996 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:49.82, Y:10.82, Z:0.73 [[ 8.81349628e-01 -4.72280327e-01 -1.31956646e-02 4.98182633e+01] [ 4.72229773e-01 8.81448395e-01 -6.91149760e-03 1.08174782e+01] [ 1.48954617e-02 -1.39939861e-04 9.99889047e-01 7.30031340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.918040942 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:49.85, Y:10.83, Z:0.74 [[ 8.80832224e-01 -4.73245257e-01 -1.31726972e-02 4.98483070e+01] [ 4.73194167e-01 8.80930710e-01 -6.95451574e-03 1.08316965e+01] [ 1.48954251e-02 -1.07481913e-04 9.99889051e-01 7.36061286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94804094199999 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:49.87, Y:10.84, Z:0.73 [[ 8.80193561e-01 -4.74430266e-01 -1.32370344e-02 4.98727587e+01] [ 4.74381116e-01 8.80293050e-01 -6.83398126e-03 1.08441778e+01] [ 1.48947169e-02 -2.64172847e-04 9.99889033e-01 7.33673728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.97804094199999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:49.89, Y:10.85, Z:0.73 [[ 8.79697749e-01 -4.75349098e-01 -1.32327154e-02 4.98931342e+01] [ 4.75299931e-01 8.79797228e-01 -6.84208249e-03 1.08546352e+01] [ 1.48944841e-02 -2.70544165e-04 9.99889034e-01 7.31846984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.008040941999994 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:49.92, Y:10.87, Z:0.74 [[ 8.78355965e-01 -4.77826405e-01 -1.31424811e-02 4.99236959e+01] [ 4.77774981e-01 8.78454274e-01 -7.01110926e-03 1.08698832e+01] [ 1.48951618e-02 -1.20899002e-04 9.99889054e-01 7.40537748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.038040941999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.95, Y:10.88, Z:0.75 [[ 8.76071876e-01 -4.81999006e-01 -1.32297663e-02 4.99488042e+01] [ 4.81950510e-01 8.76171682e-01 -6.84761939e-03 1.08845457e+01] [ 1.48920923e-02 -3.77085847e-04 9.99889036e-01 7.45076829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.068040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.97, Y:10.90, Z:0.74 [[ 8.76108054e-01 -4.81933460e-01 -1.32219005e-02 4.99720345e+01] [ 4.81884734e-01 8.76207744e-01 -6.86234311e-03 1.08966109e+01] [ 1.48923244e-02 -3.59277955e-04 9.99889039e-01 7.42572526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.098040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:50.00, Y:10.91, Z:0.74 [[ 8.75899767e-01 -4.82312422e-01 -1.32032419e-02 4.99972791e+01] [ 4.82263213e-01 8.75999213e-01 -6.89728191e-03 1.09098778e+01] [ 1.48926742e-02 -3.26110230e-04 9.99889045e-01 7.41933302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.128040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:50.02, Y:10.93, Z:0.75 [[ 8.73778653e-01 -4.86144650e-01 -1.32001879e-02 5.00201616e+01] [ 4.86095791e-01 8.73878270e-01 -6.90299688e-03 1.09262686e+01] [ 1.48912124e-02 -3.84864476e-04 9.99889046e-01 7.46631616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.04, Y:10.94, Z:0.75 [[ 8.73058671e-01 -4.87436725e-01 -1.31907551e-02 5.00436470e+01] [ 4.87387746e-01 8.73158227e-01 -6.92064214e-03 1.09412830e+01] [ 1.48909915e-02 -3.86885761e-04 9.99889048e-01 7.47823034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.18804094199999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:50.07, Y:10.96, Z:0.75 [[ 8.72649629e-01 -4.88169434e-01 -1.31616671e-02 5.00672052e+01] [ 4.88119719e-01 8.72748813e-01 -6.97498417e-03 1.09555497e+01] [ 1.48918034e-02 -3.37751910e-04 9.99889054e-01 7.50185500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.218040941999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:50.08, Y:10.97, Z:0.74 [[ 8.69187570e-01 -4.94307878e-01 -1.31411552e-02 5.00845403e+01] [ 4.94258284e-01 8.69286813e-01 -7.01326989e-03 1.09736301e+01] [ 1.48901475e-02 -3.99277814e-04 9.99889056e-01 7.39468239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.248040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.11, Y:10.99, Z:0.74 [[ 8.69085997e-01 -4.94489298e-01 -1.30331996e-02 5.01096314e+01] [ 4.94436698e-01 8.69183700e-01 -7.21441833e-03 1.09877758e+01] [ 1.48956973e-02 -1.74142211e-04 9.99889038e-01 7.39797587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.278040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:50.13, Y:11.00, Z:0.74 [[ 8.69495272e-01 -4.93769272e-01 -1.30337160e-02 5.01334623e+01] [ 4.93716606e-01 8.69592939e-01 -7.21345634e-03 1.10011546e+01] [ 1.48958105e-02 -1.62895839e-04 9.99889038e-01 7.39169926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.308040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:50.16, Y:11.02, Z:0.74 [[ 8.68863459e-01 -4.94880852e-01 -1.30089558e-02 5.01593378e+01] [ 4.94827619e-01 8.68960831e-01 -7.25958883e-03 1.10168747e+01] [ 1.48969046e-02 -1.29599182e-04 9.99889027e-01 7.40026593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.33804094199999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:50.19, Y:11.03, Z:0.75 [[ 8.71715231e-01 -4.89839288e-01 -1.30394993e-02 5.01883551e+01] [ 4.89786343e-01 8.71812744e-01 -7.20262855e-03 1.10274422e+01] [ 1.48961321e-02 -1.07927689e-04 9.99889041e-01 7.51759070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.36804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.21, Y:11.05, Z:0.74 [[ 8.70244593e-01 -4.92446148e-01 -1.30820045e-02 5.02143625e+01] [ 4.92394685e-01 8.70342882e-01 -7.12334225e-03 1.10462792e+01] [ 1.48936919e-02 -2.42459390e-04 9.99889053e-01 7.42570527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.398040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.23, Y:11.06, Z:0.74 [[ 8.68336026e-01 -4.95802729e-01 -1.31225069e-02 5.02270258e+01] [ 4.95752784e-01 8.68435090e-01 -7.04777655e-03 1.10617666e+01] [ 1.48903523e-02 -3.85681077e-04 9.99889058e-01 7.37859997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.428040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.25, Y:11.07, Z:0.74 [[ 8.68476823e-01 -4.95560805e-01 -1.29420213e-02 5.02511393e+01] [ 4.95505793e-01 8.68573249e-01 -7.38378042e-03 1.10747632e+01] [ 1.49002056e-02 -2.04365623e-07 9.99888986e-01 7.38133737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.29, Y:11.09, Z:0.75 [[ 8.71089094e-01 -4.90954522e-01 -1.29401354e-02 5.02891540e+01] [ 4.90898949e-01 8.71185199e-01 -7.38729413e-03 1.10857878e+01] [ 1.49000799e-02 8.26924735e-05 9.99888984e-01 7.53843583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.31, Y:11.10, Z:0.76 [[ 8.71208941e-01 -4.90736783e-01 -1.31297525e-02 5.03133068e+01] [ 4.90686481e-01 8.71307816e-01 -7.03332091e-03 1.10994656e+01] [ 1.48915653e-02 -3.15099988e-04 9.99889065e-01 7.55543086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.51804094199999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:50.33, Y:11.11, Z:0.76 [[ 8.72393922e-01 -4.88627128e-01 -1.31291392e-02 5.03341609e+01] [ 4.88576569e-01 8.72492666e-01 -7.03446563e-03 1.11123071e+01] [ 1.48923084e-02 -2.77764703e-04 9.99889065e-01 7.56950506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.54804094199999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:50.37, Y:11.13, Z:0.76 [[ 8.73376507e-01 -4.86870544e-01 -1.30595178e-02 5.03735989e+01] [ 4.86817840e-01 8.73474134e-01 -7.16427486e-03 1.11275680e+01] [ 1.48952254e-02 -1.00496912e-04 9.99889055e-01 7.55094926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.578040941999994 meters Centerline goodness : 0.996136 Centerline is valid? [True, True] Translation: X:50.39, Y:11.14, Z:0.75 [[ 8.73517506e-01 -4.86611379e-01 -1.32865746e-02 5.03931508e+01] [ 4.86565104e-01 8.73618354e-01 -6.73582283e-03 1.11431290e+01] [ 1.48851235e-02 -5.80924414e-04 9.99889042e-01 7.51368919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.608040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.42, Y:11.16, Z:0.76 [[ 8.73762762e-01 -4.86172779e-01 -1.32160918e-02 5.04228037e+01] [ 4.86124445e-01 8.73862603e-01 -6.86834327e-03 1.11591215e+01] [ 1.48882499e-02 -4.23362710e-04 9.99889074e-01 7.58739830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.638040941999996 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:50.44, Y:11.18, Z:0.76 [[ 8.71871360e-01 -4.89554742e-01 -1.32847876e-02 5.04353524e+01] [ 4.89508734e-01 8.71972341e-01 -6.74066331e-03 1.11752197e+01] [ 1.48838910e-02 -6.26028264e-04 9.99889033e-01 7.57393063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.46, Y:11.19, Z:0.76 [[ 8.71928159e-01 -4.89458364e-01 -1.31070577e-02 5.04602954e+01] [ 4.89407361e-01 8.72026632e-01 -7.07015155e-03 1.11906928e+01] [ 1.48902482e-02 -2.50026293e-04 9.99889103e-01 7.58748673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.69804094199999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:50.50, Y:11.20, Z:0.76 [[ 8.75550511e-01 -4.82948808e-01 -1.31053622e-02 5.04958693e+01] [ 4.82897027e-01 8.75648577e-01 -7.07329302e-03 1.12002411e+01] [ 1.48917302e-02 -1.35515096e-04 9.99889103e-01 7.58987832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.72804094199999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:50.53, Y:11.22, Z:0.76 [[ 8.74963071e-01 -4.84008775e-01 -1.32336735e-02 5.05266522e+01] [ 4.83960690e-01 8.75063041e-01 -6.83552753e-03 1.12172148e+01] [ 1.48887539e-02 -4.23743593e-04 9.99889067e-01 7.58947806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.758040941999994 meters Centerline goodness : 0.995605 Centerline is valid? [True, True] Translation: X:50.54, Y:11.23, Z:0.76 [[ 8.75266987e-01 -4.83455775e-01 -1.33497212e-02 5.05379440e+01] [ 4.83410945e-01 8.75368537e-01 -6.61683526e-03 1.12290366e+01] [ 1.48848732e-02 -6.61903892e-04 9.99888995e-01 7.57913157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.788040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.57, Y:11.25, Z:0.76 [[ 8.75521073e-01 -4.83001716e-01 -1.31222658e-02 5.05732088e+01] [ 4.82950380e-01 8.75619389e-01 -7.04389350e-03 1.12470605e+01] [ 1.48923230e-02 -1.70326052e-04 9.99889089e-01 7.59579169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.818040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.60, Y:11.26, Z:0.76 [[ 8.74697529e-01 -4.84486910e-01 -1.32916126e-02 5.06035560e+01] [ 4.84440461e-01 8.74798337e-01 -6.73122534e-03 1.12635982e+01] [ 1.48886711e-02 -5.51208737e-04 9.99889006e-01 7.59911075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.848040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.62, Y:11.27, Z:0.76 [[ 8.76165311e-01 -4.81825011e-01 -1.33793128e-02 5.06201986e+01] [ 4.81780719e-01 8.76267187e-01 -6.56936956e-03 1.12733074e+01] [ 1.48891394e-02 -6.90041227e-04 9.99888913e-01 7.59435410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.63, Y:11.30, Z:0.76 [[ 8.70682941e-01 -4.91666685e-01 -1.32320422e-02 5.06315558e+01] [ 4.91619395e-01 8.70783308e-01 -6.84109540e-03 1.12967669e+01] [ 1.48857802e-02 -5.48703520e-04 9.99889050e-01 7.62692384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.67, Y:11.31, Z:0.76 [[ 8.74061755e-01 -4.85638520e-01 -1.30872535e-02 5.06744085e+01] [ 4.85586525e-01 8.74159715e-01 -7.10769341e-03 1.13075178e+01] [ 1.48921195e-02 -1.42430956e-04 9.99889096e-01 7.61750770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.93804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.69, Y:11.32, Z:0.76 [[ 8.74547674e-01 -4.84754988e-01 -1.33778579e-02 5.06944767e+01] [ 4.84711016e-01 8.74649677e-01 -6.57074168e-03 1.13203708e+01] [ 1.48861389e-02 -7.37968216e-04 9.99888923e-01 7.61678055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.968040941999995 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:50.70, Y:11.34, Z:0.76 [[ 8.70319254e-01 -4.92308576e-01 -1.32914463e-02 5.07019691e+01] [ 4.92263044e-01 8.70420471e-01 -6.73042071e-03 1.13395378e+01] [ 1.48825908e-02 -6.85273104e-04 9.99889013e-01 7.63088970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.998040941999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.74, Y:11.35, Z:0.76 [[ 8.74443231e-01 -4.84952443e-01 -1.30447075e-02 5.07426881e+01] [ 4.84899215e-01 8.74540523e-01 -7.18503836e-03 1.13487930e+01] [ 1.48925272e-02 -4.24602641e-05 9.99889099e-01 7.61094868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.75, Y:11.37, Z:0.76 [[ 8.69299792e-01 -4.94107112e-01 -1.32677979e-02 5.07518719e+01] [ 4.94061139e-01 8.69400780e-01 -6.77303966e-03 1.13701074e+01] [ 1.48816409e-02 -6.67301390e-04 9.99889040e-01 7.63617804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.77, Y:11.38, Z:0.76 [[ 8.69874381e-01 -4.93099976e-01 -1.30757558e-02 5.07736984e+01] [ 4.93048532e-01 8.69972616e-01 -7.12688211e-03 1.13837184e+01] [ 1.48898149e-02 -2.47490054e-04 9.99889110e-01 7.62747847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.08804094199999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:50.80, Y:11.40, Z:0.76 [[ 8.69763021e-01 -4.93297685e-01 -1.30261616e-02 5.08011143e+01] [ 4.93244894e-01 8.69860548e-01 -7.21816228e-03 1.13990902e+01] [ 1.48916468e-02 -1.46997056e-04 9.99889102e-01 7.61095648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.11804094199999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:50.82, Y:11.41, Z:0.76 [[ 8.68525305e-01 -4.95472040e-01 -1.30863434e-02 5.08248583e+01] [ 4.95421159e-01 8.68623832e-01 -7.10735328e-03 1.14139859e+01] [ 1.48886046e-02 -3.10335244e-04 9.99889110e-01 7.63013297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.148040941999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:50.85, Y:11.43, Z:0.76 [[ 8.68152556e-01 -4.96124924e-01 -1.30843392e-02 5.08484648e+01] [ 4.96074061e-01 8.68251092e-01 -7.11104108e-03 1.14286942e+01] [ 1.48884565e-02 -3.17332788e-04 9.99889110e-01 7.63211393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.178040941999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.87, Y:11.45, Z:0.76 [[ 8.67914529e-01 -4.96541260e-01 -1.30823447e-02 5.08705764e+01] [ 4.96490389e-01 8.68013062e-01 -7.11470857e-03 1.14452098e+01] [ 1.48883924e-02 -3.20299439e-04 9.99889110e-01 7.62341494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.208040942 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:50.90, Y:11.46, Z:0.76 [[ 8.70985345e-01 -4.91134812e-01 -1.30814802e-02 5.09035993e+01] [ 4.91083306e-01 8.71083547e-01 -7.11629762e-03 1.14553509e+01] [ 1.48901237e-02 -2.25905614e-04 9.99889110e-01 7.62335899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.93, Y:11.47, Z:0.76 [[ 8.69989340e-01 -4.92894105e-01 -1.31890214e-02 5.09283364e+01] [ 4.92845782e-01 8.70089174e-01 -6.91847702e-03 1.14716677e+01] [ 1.48857013e-02 -4.81152333e-04 9.99889086e-01 7.61297700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.26804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.95, Y:11.49, Z:0.76 [[ 8.69858455e-01 -4.93124864e-01 -1.31961020e-02 5.09519324e+01] [ 4.93076765e-01 8.69958400e-01 -6.90546177e-03 1.14865231e+01] [ 1.48853147e-02 -4.99916971e-04 9.99889083e-01 7.63318350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.29804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.97, Y:11.50, Z:0.76 [[ 8.69124444e-01 -4.94417164e-01 -1.32049058e-02 5.09738098e+01] [ 4.94369458e-01 8.69224583e-01 -6.88929617e-03 1.15025352e+01] [ 1.48842150e-02 -5.40446428e-04 9.99889078e-01 7.63356913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.328040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.00, Y:11.51, Z:0.76 [[ 8.70662843e-01 -4.91703775e-01 -1.31762108e-02 5.09980804e+01] [ 4.91654960e-01 8.70762430e-01 -6.94192860e-03 1.15147788e+01] [ 1.48867219e-02 -4.34070126e-04 9.99889092e-01 7.62838020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.358040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.03, Y:11.53, Z:0.77 [[ 8.71088216e-01 -4.90950089e-01 -1.31655085e-02 5.10257876e+01] [ 4.90900892e-01 8.71187610e-01 -6.96155330e-03 1.15334064e+01] [ 1.48874030e-02 -3.98832799e-04 9.99889097e-01 7.66049830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.388040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.05, Y:11.55, Z:0.76 [[ 8.69146942e-01 -4.94377522e-01 -1.32082742e-02 5.10502817e+01] [ 4.94329900e-01 8.69247127e-01 -6.88352386e-03 1.15523939e+01] [ 1.48843139e-02 -5.46451146e-04 9.99889073e-01 7.63994648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.07, Y:11.57, Z:0.76 [[ 8.69535774e-01 -4.93692734e-01 -1.32296007e-02 5.10730002e+01] [ 4.93645624e-01 8.69636216e-01 -6.84463650e-03 1.15674011e+01] [ 1.48840872e-02 -5.79078194e-04 9.99889058e-01 7.64753180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.44804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.10, Y:11.58, Z:0.77 [[ 8.71586380e-01 -4.90064210e-01 -1.32004744e-02 5.11032284e+01] [ 4.90015880e-01 8.71686217e-01 -6.89753950e-03 1.15842969e+01] [ 1.48869088e-02 -4.56640597e-04 9.99889080e-01 7.66136437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.47804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.12, Y:11.60, Z:0.77 [[ 8.71401037e-01 -4.90390937e-01 -1.33026980e-02 5.11229848e+01] [ 4.90345468e-01 8.71502309e-01 -6.71180036e-03 1.15997540e+01] [ 1.48847381e-02 -6.74247903e-04 9.99888989e-01 7.67938659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.508040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.13, Y:11.62, Z:0.77 [[ 8.68420320e-01 -4.95651928e-01 -1.32406388e-02 5.11332268e+01] [ 4.95605353e-01 8.68521020e-01 -6.82441176e-03 1.16174849e+01] [ 1.48823059e-02 -6.35673610e-04 9.99889050e-01 7.66808346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.538040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.16, Y:11.63, Z:0.77 [[ 8.69799387e-01 -4.93233115e-01 -1.30430317e-02 5.11565192e+01] [ 4.93180859e-01 8.69897154e-01 -7.18196930e-03 1.16338589e+01] [ 1.48884813e-02 -1.85701095e-04 9.99889143e-01 7.66419650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.568040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.18, Y:11.65, Z:0.77 [[ 8.70490590e-01 -4.92012565e-01 -1.30294944e-02 5.11797678e+01] [ 4.91959806e-01 8.70588087e-01 -7.20644524e-03 1.16483963e+01] [ 1.48889842e-02 -1.36844753e-04 9.99889144e-01 7.66332307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.20, Y:11.66, Z:0.77 [[ 8.71714458e-01 -4.89840952e-01 -1.30286026e-02 5.12029834e+01] [ 4.89787926e-01 8.71811810e-01 -7.20805712e-03 1.16641498e+01] [ 1.48892912e-02 -9.78846437e-05 9.99889144e-01 7.65780287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.24, Y:11.67, Z:0.77 [[ 8.76413670e-01 -4.81382787e-01 -1.30265700e-02 5.12443054e+01] [ 4.81328766e-01 8.76510473e-01 -7.21172863e-03 1.16748076e+01] [ 1.48895271e-02 5.03946890e-05 9.99889144e-01 7.69555031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.25, Y:11.69, Z:0.77 [[ 8.72741148e-01 -4.88002521e-01 -1.32826240e-02 5.12520804e+01] [ 4.87956226e-01 8.72842018e-01 -6.74784909e-03 1.16917242e+01] [ 1.48865997e-02 -5.92213530e-04 9.99889013e-01 7.67416247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.68804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.28, Y:11.71, Z:0.77 [[ 8.73259062e-01 -4.87082103e-01 -1.30244067e-02 5.12764915e+01] [ 4.87028679e-01 8.73356183e-01 -7.21404514e-03 1.17060467e+01] [ 1.48887784e-02 -4.35292897e-05 9.99889155e-01 7.68574443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.718040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.30, Y:11.72, Z:0.77 [[ 8.73817134e-01 -4.86080276e-01 -1.30223535e-02 5.12995343e+01] [ 4.86026686e-01 8.73914163e-01 -7.21774945e-03 1.17210449e+01] [ 1.48888248e-02 -2.22181928e-05 9.99889155e-01 7.68852013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.748040941999996 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:51.30, Y:11.74, Z:0.77 [[ 8.68226520e-01 -4.95997129e-01 -1.30214643e-02 5.13013716e+01] [ 4.95944623e-01 8.68324140e-01 -7.21935328e-03 1.17377666e+01] [ 1.48876303e-02 -1.89891259e-04 9.99889155e-01 7.66050059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.35, Y:11.75, Z:0.77 [[ 8.74507956e-01 -4.84845905e-01 -1.26603248e-02 5.13487515e+01] [ 4.84782619e-01 8.74599277e-01 -7.86875289e-03 1.17494901e+01] [ 1.48878436e-02 7.43781577e-04 9.99888893e-01 7.68712542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.37, Y:11.76, Z:0.77 [[ 8.74734463e-01 -4.84427488e-01 -1.30240996e-02 5.13726011e+01] [ 4.84373803e-01 8.74831417e-01 -7.21180565e-03 1.17633164e+01] [ 1.48874884e-02 -1.17691190e-07 9.99889175e-01 7.69037563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.83804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.40, Y:11.78, Z:0.77 [[ 8.74822148e-01 -4.84269176e-01 -1.30221192e-02 5.13972002e+01] [ 4.84215420e-01 8.74919062e-01 -7.21537972e-03 1.17769398e+01] [ 1.48874863e-02 6.66305882e-06 9.99889175e-01 7.69688412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.86804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.42, Y:11.79, Z:0.77 [[ 8.74724644e-01 -4.84445325e-01 -1.30201440e-02 5.14211868e+01] [ 4.84391536e-01 8.74821540e-01 -7.21894220e-03 1.17896344e+01] [ 1.48874852e-02 7.73908574e-06 9.99889175e-01 7.69933580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.898040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.45, Y:11.80, Z:0.77 [[ 8.74475642e-01 -4.84894679e-01 -1.30192870e-02 5.14459726e+01] [ 4.84840917e-01 8.74572553e-01 -7.22048745e-03 1.18027263e+01] [ 1.48874870e-02 1.85734509e-06 9.99889175e-01 7.70015011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.928040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.47, Y:11.82, Z:0.77 [[ 8.74195247e-01 -4.85400065e-01 -1.30171993e-02 5.14694458e+01] [ 4.85346303e-01 8.74292157e-01 -7.22424930e-03 1.18151362e+01] [ 1.48874863e-02 -2.44514636e-06 9.99889175e-01 7.70574151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.49, Y:11.83, Z:0.77 [[ 8.74022132e-01 -4.85711748e-01 -1.30157811e-02 5.14947177e+01] [ 4.85657982e-01 8.74119041e-01 -7.22680348e-03 1.18282023e+01] [ 1.48874855e-02 -4.83179876e-06 9.99889175e-01 7.70458072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.52, Y:11.84, Z:0.77 [[ 8.73537044e-01 -4.86583678e-01 -1.30137064e-02 5.15183429e+01] [ 4.86529954e-01 8.73633976e-01 -7.23053761e-03 1.18405329e+01] [ 1.48874776e-02 -1.54155131e-05 9.99889175e-01 7.69728264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.01804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.56, Y:11.85, Z:0.78 [[ 8.78515457e-01 -4.77536670e-01 -1.30122992e-02 5.15633213e+01] [ 4.77481910e-01 8.78611808e-01 -7.23306915e-03 1.18498096e+01] [ 1.48868155e-02 1.41225581e-04 9.99889175e-01 7.76489936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.04804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.59, Y:11.86, Z:0.78 [[ 8.77719733e-01 -4.78989827e-01 -1.32971982e-02 5.15885601e+01] [ 4.78942933e-01 8.77820325e-01 -6.71892438e-03 1.18616225e+01] [ 1.48908473e-02 -4.71266594e-04 9.99889014e-01 7.76311672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.078040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.60, Y:11.88, Z:0.77 [[ 8.72523112e-01 -4.88392376e-01 -1.32780478e-02 5.15954316e+01] [ 4.88346039e-01 8.72623938e-01 -6.75347183e-03 1.18788017e+01] [ 1.48850865e-02 -5.91721782e-04 9.99889036e-01 7.70195984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.108040941999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.62, Y:11.89, Z:0.77 [[ 8.71683864e-01 -4.89895915e-01 -1.30090056e-02 5.16206774e+01] [ 4.89842460e-01 8.71780929e-01 -7.23709216e-03 1.18904109e+01] [ 1.48864249e-02 -6.39068642e-05 9.99889189e-01 7.70221713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.138040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.64, Y:11.90, Z:0.77 [[ 8.71499828e-01 -4.90223285e-01 -1.30069598e-02 5.16443798e+01] [ 4.90169812e-01 8.71596883e-01 -7.24076713e-03 1.19026542e+01] [ 1.48864183e-02 -6.52917398e-05 9.99889189e-01 7.70736905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.67, Y:11.91, Z:0.77 [[ 8.72801726e-01 -4.87901619e-01 -1.30060742e-02 5.16741475e+01] [ 4.87847864e-01 8.72898625e-01 -7.24235756e-03 1.19130293e+01] [ 1.48865423e-02 -2.38433461e-05 9.99889189e-01 7.74498122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.19804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.71, Y:11.92, Z:0.78 [[ 8.76230390e-01 -4.81715531e-01 -1.30556423e-02 5.17146922e+01] [ 4.81662416e-01 8.76327648e-01 -7.15333378e-03 1.19231211e+01] [ 1.48868923e-02 -2.04437550e-05 9.99889184e-01 7.77644126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.22804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.74, Y:11.94, Z:0.78 [[ 8.76200681e-01 -4.81764801e-01 -1.32303660e-02 5.17436689e+01] [ 4.81716379e-01 8.76300481e-01 -6.84084929e-03 1.19375926e+01] [ 1.48894565e-02 -3.79327219e-04 9.99889074e-01 7.78019988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.258040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.77, Y:11.95, Z:0.78 [[ 8.75948349e-01 -4.82223003e-01 -1.32463210e-02 5.17701453e+01] [ 4.82175063e-01 8.76048400e-01 -6.81242392e-03 1.19525371e+01] [ 1.48895258e-02 -4.19714167e-04 9.99889057e-01 7.78612762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.288040941999995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:51.79, Y:11.97, Z:0.78 [[ 8.76360262e-01 -4.81474206e-01 -1.32393185e-02 5.17939450e+01] [ 4.81425993e-01 8.76460173e-01 -6.82487824e-03 1.19659929e+01] [ 1.48897382e-02 -3.92699949e-04 9.99889065e-01 7.78024574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.318040941999996 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:51.82, Y:11.98, Z:0.78 [[ 8.76042237e-01 -4.82053389e-01 -1.32109758e-02 5.18186320e+01] [ 4.82004481e-01 8.76141776e-01 -6.87527150e-03 1.19803160e+01] [ 1.48889357e-02 -3.44721289e-04 9.99889094e-01 7.78430841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.348040942 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:51.84, Y:11.99, Z:0.78 [[ 8.76578403e-01 -4.81077797e-01 -1.32082468e-02 5.18445055e+01] [ 4.81028704e-01 8.76677848e-01 -6.88011689e-03 1.19942057e+01] [ 1.48892489e-02 -3.22583985e-04 9.99889097e-01 7.78810445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.37804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.87, Y:12.01, Z:0.78 [[ 8.77872759e-01 -4.78712035e-01 -1.31986955e-02 5.18665175e+01] [ 4.78662420e-01 8.77971935e-01 -6.89705777e-03 1.20060940e+01] [ 1.48897888e-02 -2.62980381e-04 9.99889106e-01 7.80357648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.40804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.89, Y:12.02, Z:0.78 [[ 8.77551797e-01 -4.79302225e-01 -1.31232842e-02 5.18917338e+01] [ 4.79250676e-01 8.77649909e-01 -7.03043482e-03 1.20202206e+01] [ 1.48873522e-02 -1.19772113e-04 9.99889170e-01 7.78074311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.43804094199999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:51.92, Y:12.03, Z:0.78 [[ 8.77550539e-01 -4.79304898e-01 -1.31098135e-02 5.19163605e+01] [ 4.79252993e-01 8.77648453e-01 -7.05422593e-03 1.20328828e+01] [ 1.48869326e-02 -9.24776087e-05 9.99889179e-01 7.78085454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.468040941999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:51.94, Y:12.05, Z:0.78 [[ 8.76218821e-01 -4.81735319e-01 -1.31019453e-02 5.19383372e+01] [ 4.81683478e-01 8.76316763e-01 -7.06810612e-03 1.20458479e+01] [ 1.48864107e-02 -1.17782980e-04 9.99889184e-01 7.77762131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.498040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.96, Y:12.06, Z:0.78 [[ 8.76095540e-01 -4.81962040e-01 -1.30075458e-02 5.19621992e+01] [ 4.81907748e-01 8.76192095e-01 -7.23434913e-03 1.20582409e+01] [ 1.48837905e-02 6.95439062e-05 9.99889228e-01 7.78147473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.528040942 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:51.99, Y:12.07, Z:0.78 [[ 8.75943120e-01 -4.82239568e-01 -1.29865004e-02 5.19891514e+01] [ 4.82184757e-01 8.76039376e-01 -7.27134658e-03 1.20695581e+01] [ 1.48832168e-02 1.07393459e-04 9.99889233e-01 7.78428872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.558040942 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:52.01, Y:12.08, Z:0.78 [[ 8.75600195e-01 -4.82861619e-01 -1.29982928e-02 5.20136216e+01] [ 4.82807183e-01 8.75696667e-01 -7.25063014e-03 1.20810896e+01] [ 1.48836127e-02 7.29840465e-05 9.99889230e-01 7.78935581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.58804094199999 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:52.04, Y:12.09, Z:0.78 [[ 8.75384820e-01 -4.83252102e-01 -1.29932052e-02 5.20389550e+01] [ 4.83197577e-01 8.75481239e-01 -7.25956313e-03 1.20924860e+01] [ 1.48835065e-02 7.66261222e-05 9.99889232e-01 7.77140584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.61804094199999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:52.06, Y:12.10, Z:0.78 [[ 8.74645707e-01 -4.84589116e-01 -1.29721471e-02 5.20633442e+01] [ 4.84534190e-01 8.74741893e-01 -7.29651086e-03 1.21029907e+01] [ 1.48830903e-02 9.64130984e-05 9.99889236e-01 7.77684706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.648040941999994 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:52.09, Y:12.12, Z:0.78 [[ 8.73904778e-01 -4.85924753e-01 -1.29449925e-02 5.20886274e+01] [ 4.85869268e-01 8.74000640e-01 -7.34412400e-03 1.21159535e+01] [ 1.48826234e-02 1.28491012e-04 9.99889239e-01 7.76580886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.678040941999996 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:52.12, Y:12.13, Z:0.78 [[ 8.73457350e-01 -4.86728868e-01 -1.29331459e-02 5.21151055e+01] [ 4.86673164e-01 8.73553083e-01 -7.36488721e-03 1.21258189e+01] [ 1.48824927e-02 1.38699843e-04 9.99889240e-01 7.75119669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.708040942 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:52.14, Y:12.14, Z:0.78 [[ 8.73322513e-01 -4.86970524e-01 -1.29420374e-02 5.21405704e+01] [ 4.86915077e-01 8.73418396e-01 -7.34931165e-03 1.21380833e+01] [ 1.48827117e-02 1.16646169e-04 9.99889240e-01 7.75442344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.738040942 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:52.17, Y:12.15, Z:0.78 [[ 8.72561305e-01 -4.88333333e-01 -1.29354089e-02 5.21672602e+01] [ 4.88277864e-01 8.72657175e-01 -7.36091721e-03 1.21503443e+01] [ 1.48827586e-02 1.06777722e-04 9.99889240e-01 7.76683738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.76804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.19, Y:12.16, Z:0.77 [[ 8.71312018e-01 -4.90558105e-01 -1.29658085e-02 5.21940869e+01] [ 4.90503672e-01 8.71408484e-01 -7.30771408e-03 1.21603183e+01] [ 1.48833739e-02 7.52241908e-06 9.99889236e-01 7.74213477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.79804094199999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:52.22, Y:12.17, Z:0.77 [[ 8.70924824e-01 -4.91245681e-01 -1.29472482e-02 5.22180723e+01] [ 4.91190841e-01 8.71021056e-01 -7.34017289e-03 1.21708288e+01] [ 1.48831541e-02 3.31690280e-05 9.99889239e-01 7.74516450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.828040941999994 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:52.24, Y:12.18, Z:0.77 [[ 8.70534980e-01 -4.91936984e-01 -1.29171154e-02 5.22405341e+01] [ 4.91881438e-01 8.70630804e-01 -7.39282257e-03 1.21822538e+01] [ 1.48828414e-02 8.20213571e-05 9.99889241e-01 7.73660317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.858040941999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:52.27, Y:12.19, Z:0.77 [[ 8.69807077e-01 -4.93223892e-01 -1.28779238e-02 5.22662862e+01] [ 4.93167472e-01 8.69902393e-01 -7.46133321e-03 1.21947565e+01] [ 1.48826445e-02 1.38947313e-04 9.99889238e-01 7.73126924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.888040941999996 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:52.30, Y:12.21, Z:0.77 [[ 8.69715809e-01 -4.93384340e-01 -1.28958899e-02 5.22971549e+01] [ 4.93328402e-01 8.69811407e-01 -7.42995970e-03 1.22058101e+01] [ 1.48828179e-02 1.00044633e-04 9.99889240e-01 7.72893578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.918040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:52.32, Y:12.22, Z:0.77 [[ 8.69569825e-01 -4.93639869e-01 -1.29614299e-02 5.23224078e+01] [ 4.93585662e-01 8.69666418e-01 -7.31546286e-03 1.22179621e+01] [ 1.48833244e-02 -3.62701875e-05 9.99889237e-01 7.73363331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94804094199999 meters Centerline goodness : 0.997987 Centerline is valid? [True, True] Translation: X:52.35, Y:12.23, Z:0.77 [[ 8.68854659e-01 -4.94897547e-01 -1.29614568e-02 5.23473851e+01] [ 4.94843480e-01 8.68951330e-01 -7.31541585e-03 1.22282633e+01] [ 1.48832565e-02 -5.78592531e-05 9.99889237e-01 7.73185251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.97804094199999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:52.37, Y:12.24, Z:0.77 [[ 8.69079921e-01 -4.94503015e-01 -1.29173831e-02 5.23747069e+01] [ 4.94447760e-01 8.69175912e-01 -7.39231269e-03 1.22402236e+01] [ 1.48829992e-02 3.75393764e-05 9.99889241e-01 7.73287010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.008040941999994 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:52.40, Y:12.25, Z:0.78 [[ 8.68894923e-01 -4.94827168e-01 -1.29493610e-02 5.24010638e+01] [ 4.94772777e-01 8.68991411e-01 -7.33662260e-03 1.22519942e+01] [ 1.48832437e-02 -3.22371746e-05 9.99889238e-01 7.75734449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.038040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.42, Y:12.26, Z:0.78 [[ 8.67985728e-01 -4.96419844e-01 -1.29658674e-02 5.24242991e+01] [ 4.96366059e-01 8.68082559e-01 -7.30789704e-03 1.22614939e+01] [ 1.48832285e-02 -9.26661791e-05 9.99889234e-01 7.77863462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.068040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.45, Y:12.27, Z:0.78 [[ 8.67923290e-01 -4.96530694e-01 -1.29008796e-02 5.24499379e+01] [ 4.96475238e-01 8.68019164e-01 -7.42087582e-03 1.22736990e+01] [ 1.48829034e-02 3.57836736e-05 9.99889243e-01 7.78128032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.47, Y:12.29, Z:0.78 [[ 8.68509787e-01 -4.95504121e-01 -1.29002608e-02 5.24748591e+01] [ 4.95448535e-01 8.68605586e-01 -7.42195143e-03 1.22878962e+01] [ 1.48828461e-02 5.46221381e-05 9.99889243e-01 7.79746579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.50, Y:12.30, Z:0.78 [[ 8.68946285e-01 -4.94738297e-01 -1.28985001e-02 5.24985025e+01] [ 4.94682581e-01 8.69042009e-01 -7.42500998e-03 1.23023458e+01] [ 1.48827753e-02 7.12715007e-05 9.99889243e-01 7.80246948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.52, Y:12.32, Z:0.78 [[ 8.69573861e-01 -4.93634461e-01 -1.28964683e-02 5.25223146e+01] [ 4.93578572e-01 8.69669483e-01 -7.42853740e-03 1.23166474e+01] [ 1.48826470e-02 9.42415394e-05 9.99889243e-01 7.80447176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.18804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.55, Y:12.33, Z:0.78 [[ 8.70321110e-01 -4.92315852e-01 -1.28944444e-02 5.25455585e+01] [ 4.92259766e-01 8.70416617e-01 -7.43204882e-03 1.23316429e+01] [ 1.48824541e-02 1.20852787e-04 9.99889243e-01 7.80558954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.218040941999995 meters Centerline goodness : 0.998494 Centerline is valid? [True, True] Translation: X:52.57, Y:12.35, Z:0.78 [[ 8.72422329e-01 -4.88582711e-01 -1.28923755e-02 5.25673739e+01] [ 4.88526164e-01 8.72517563e-01 -7.43563601e-03 1.23459564e+01] [ 1.48817473e-02 1.88752139e-04 9.99889243e-01 7.78300521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.248040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.59, Y:12.36, Z:0.78 [[ 8.71803609e-01 -4.89687611e-01 -1.28262072e-02 5.25925611e+01] [ 4.89629494e-01 8.71897903e-01 -7.55023999e-03 1.23617660e+01] [ 1.48804021e-02 3.02237151e-04 9.99889235e-01 7.79405433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.278040942 meters Centerline goodness : 0.998048 Centerline is valid? [True, True] Translation: X:52.62, Y:12.37, Z:0.78 [[ 8.73193446e-01 -4.87203319e-01 -1.28892154e-02 5.26152839e+01] [ 4.87146540e-01 8.73288542e-01 -7.44109950e-03 1.23745445e+01] [ 1.48813325e-02 2.18582623e-04 9.99889243e-01 7.79078887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.64, Y:12.39, Z:0.78 [[ 8.71895659e-01 -4.89523793e-01 -1.28224488e-02 5.26409220e+01] [ 4.89465564e-01 8.71989884e-01 -7.55665280e-03 1.23921406e+01] [ 1.48802070e-02 3.12465638e-04 9.99889235e-01 7.79783367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.33804094199999 meters Centerline goodness : 0.997850 Centerline is valid? [True, True] Translation: X:52.66, Y:12.41, Z:0.78 [[ 8.71628313e-01 -4.89997967e-01 -1.28870844e-02 5.26635719e+01] [ 4.89941439e-01 8.71723558e-01 -7.44476713e-03 1.24065195e+01] [ 1.48818958e-02 1.75153137e-04 9.99889243e-01 7.77659953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.36804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.69, Y:12.42, Z:0.78 [[ 8.69503043e-01 -4.93760135e-01 -1.28602921e-02 5.26873444e+01] [ 4.93703333e-01 8.69598127e-01 -7.49108859e-03 1.24221388e+01] [ 1.48820868e-02 1.64355262e-04 9.99889242e-01 7.79246614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.398040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.71, Y:12.44, Z:0.78 [[ 8.68323544e-01 -4.95830900e-01 -1.28818198e-02 5.27113274e+01] [ 4.95774877e-01 8.68419087e-01 -7.45388430e-03 1.24364053e+01] [ 1.48826844e-02 8.59005944e-05 9.99889243e-01 7.80521200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.428040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.75, Y:12.45, Z:0.78 [[ 8.70545593e-01 -4.91919184e-01 -1.28797084e-02 5.27508122e+01] [ 4.91862678e-01 8.70640851e-01 -7.45753094e-03 1.24493031e+01] [ 1.48821028e-02 1.57072843e-04 9.99889243e-01 7.79724944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.76, Y:12.46, Z:0.78 [[ 8.65616159e-01 -5.00535919e-01 -1.31323292e-02 5.27600675e+01] [ 5.00486932e-01 8.65715628e-01 -7.02015837e-03 1.24643495e+01] [ 1.48827041e-02 -4.95796639e-04 9.99889124e-01 7.83029722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.78, Y:12.48, Z:0.78 [[ 8.63013602e-01 -5.05016554e-01 -1.28764430e-02 5.27834431e+01] [ 5.04961430e-01 8.63109655e-01 -7.46173568e-03 1.24787738e+01] [ 1.48820823e-02 -6.25276832e-05 9.99889254e-01 7.84792593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.51804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.81, Y:12.49, Z:0.79 [[ 8.61606402e-01 -5.07413660e-01 -1.28757960e-02 5.28075889e+01] [ 5.07358787e-01 8.61702598e-01 -7.46285191e-03 1.24937731e+01] [ 1.48818599e-02 -1.02607271e-04 9.99889254e-01 7.85687288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.54804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.84, Y:12.51, Z:0.78 [[ 8.62059602e-01 -5.06643376e-01 -1.28737404e-02 5.28438826e+01] [ 5.06588364e-01 8.62155718e-01 -7.46639625e-03 1.25073351e+01] [ 1.48819691e-02 -8.52085161e-05 9.99889254e-01 7.83939929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.578040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.87, Y:12.52, Z:0.79 [[ 8.60454338e-01 -5.09360165e-01 -1.30596766e-02 5.28680981e+01] [ 5.09310286e-01 8.60553293e-01 -7.14584674e-03 1.25220660e+01] [ 1.48783574e-02 -5.02752808e-04 9.99889185e-01 7.85802949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.608040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.89, Y:12.53, Z:0.79 [[ 8.60129161e-01 -5.09909647e-01 -1.30375961e-02 5.28925441e+01] [ 5.09859254e-01 8.60227838e-01 -7.18387215e-03 1.25348716e+01] [ 1.48784288e-02 -4.68281112e-04 9.99889200e-01 7.85830221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.638040941999996 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:52.92, Y:12.55, Z:0.79 [[ 8.58508790e-01 -5.12633019e-01 -1.30401368e-02 5.29170115e+01] [ 5.12583006e-01 8.58607662e-01 -7.17950209e-03 1.25494877e+01] [ 1.48768112e-02 -5.20486882e-04 9.99889199e-01 7.87199547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.94, Y:12.56, Z:0.79 [[ 8.58401927e-01 -5.12812439e-01 -1.30205389e-02 5.29400876e+01] [ 5.12761936e-01 8.58500534e-01 -7.21317611e-03 1.25625379e+01] [ 1.48771461e-02 -4.84632488e-04 9.99889212e-01 7.87149398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.69804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.96, Y:12.58, Z:0.79 [[ 8.58462267e-01 -5.12711346e-01 -1.30235023e-02 5.29634441e+01] [ 5.12660908e-01 8.58560910e-01 -7.20808211e-03 1.25760226e+01] [ 1.48771354e-02 -4.88773991e-04 9.99889210e-01 7.87198727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.72804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.99, Y:12.59, Z:0.79 [[ 8.58324636e-01 -5.12941858e-01 -1.30180302e-02 5.29878262e+01] [ 5.12891304e-01 8.58423216e-01 -7.21747853e-03 1.25905492e+01] [ 1.48771262e-02 -4.81894825e-04 9.99889213e-01 7.87107029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.758040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.01, Y:12.60, Z:0.79 [[ 8.58802861e-01 -5.12141016e-01 -1.30086896e-02 5.30139373e+01] [ 5.12090128e-01 8.58901262e-01 -7.23348927e-03 1.26047607e+01] [ 1.48777464e-02 -4.49480232e-04 9.99889219e-01 7.87551035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.788040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.04, Y:12.62, Z:0.79 [[ 8.59545041e-01 -5.10893998e-01 -1.30248412e-02 5.30375670e+01] [ 5.10843386e-01 8.59643596e-01 -7.20581555e-03 1.26164257e+01] [ 1.48781293e-02 -4.59930964e-04 9.99889209e-01 7.88666233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.818040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.06, Y:12.63, Z:0.79 [[ 8.59124629e-01 -5.11601034e-01 -1.30098059e-02 5.30605549e+01] [ 5.11550112e-01 8.59223013e-01 -7.23158479e-03 1.26295107e+01] [ 1.48780108e-02 -4.42335052e-04 9.99889218e-01 7.90105193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.09, Y:12.64, Z:0.79 [[ 8.60131078e-01 -5.09907638e-01 -1.29895796e-02 5.30869964e+01] [ 5.09856000e-01 8.60229075e-01 -7.26619446e-03 1.26426325e+01] [ 1.48791021e-02 -3.72935400e-04 9.99889230e-01 7.92863045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.87804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.11, Y:12.66, Z:0.79 [[ 8.61199031e-01 -5.08101581e-01 -1.30004975e-02 5.31104948e+01] [ 5.08050019e-01 8.61297075e-01 -7.24752673e-03 1.26560410e+01] [ 1.48797703e-02 -3.63340034e-04 9.99889224e-01 7.92786112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.90804094199999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:53.13, Y:12.67, Z:0.79 [[ 8.62048370e-01 -5.06659708e-01 -1.29826313e-02 5.31331828e+01] [ 5.06607523e-01 8.62146071e-01 -7.27802412e-03 1.26697492e+01] [ 1.48804062e-02 -3.03089860e-04 9.99889235e-01 7.94677748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.93804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.16, Y:12.69, Z:0.79 [[ 8.62954296e-01 -5.05116661e-01 -1.29244272e-02 5.31598746e+01] [ 5.05062812e-01 8.63051060e-01 -7.37722985e-03 1.26855847e+01] [ 1.48808023e-02 -1.61435352e-04 9.99889262e-01 7.89236633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.968040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.18, Y:12.70, Z:0.80 [[ 8.62575019e-01 -5.05762950e-01 -1.29682449e-02 5.31819409e+01] [ 5.05710293e-01 8.62672459e-01 -7.30256645e-03 1.26994299e+01] [ 1.48807153e-02 -2.59163555e-04 9.99889242e-01 7.98845482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.998040941999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.21, Y:12.72, Z:0.80 [[ 8.61911138e-01 -5.06895257e-01 -1.28992031e-02 5.32105982e+01] [ 5.06840967e-01 8.62007644e-01 -7.41992429e-03 1.27152143e+01] [ 1.48803361e-02 -1.42529202e-04 9.99889272e-01 8.00185161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.23, Y:12.73, Z:0.80 [[ 8.63139917e-01 -5.04798154e-01 -1.29733357e-02 5.32323791e+01] [ 5.04745519e-01 8.63237372e-01 -7.29390642e-03 1.27265674e+01] [ 1.48810187e-02 -2.52571282e-04 9.99889240e-01 8.00186585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.26, Y:12.74, Z:0.80 [[ 8.64379071e-01 -5.02674532e-01 -1.29281136e-02 5.32642293e+01] [ 5.02620506e-01 8.64475736e-01 -7.37077872e-03 1.27397065e+01] [ 1.48811433e-02 -1.26788149e-04 9.99889262e-01 7.98148140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.08804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.29, Y:12.76, Z:0.80 [[ 8.62453752e-01 -5.05968863e-01 -1.30013417e-02 5.32900325e+01] [ 5.05917070e-01 8.62551681e-01 -7.24681827e-03 1.27562586e+01] [ 1.48809935e-02 -3.27555071e-04 9.99889218e-01 8.01535667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.11804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.32, Y:12.77, Z:0.80 [[ 8.62449759e-01 -5.05975740e-01 -1.29986281e-02 5.33168108e+01] [ 5.05923878e-01 8.62547649e-01 -7.25140633e-03 1.27698262e+01] [ 1.48809718e-02 -3.22342690e-04 9.99889220e-01 8.00664378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.148040941999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.35, Y:12.78, Z:0.80 [[ 8.63782206e-01 -5.03697039e-01 -1.30228045e-02 5.33462509e+01] [ 5.03645534e-01 8.63880306e-01 -7.21057589e-03 1.27833836e+01] [ 1.48820901e-02 -3.30510166e-04 9.99889201e-01 8.00890455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.178040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.37, Y:12.80, Z:0.80 [[ 8.62584898e-01 -5.05743311e-01 -1.30765644e-02 5.33683376e+01] [ 5.05693411e-01 8.62683882e-01 -7.11990567e-03 1.27995763e+01] [ 1.48817861e-02 -4.71209369e-04 9.99889149e-01 8.00353076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.208040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.40, Y:12.81, Z:0.80 [[ 8.62994329e-01 -5.05045837e-01 -1.30188943e-02 5.33956081e+01] [ 5.04994388e-01 8.63092453e-01 -7.21701091e-03 1.28141311e+01] [ 1.48814308e-02 -3.46229104e-04 9.99889205e-01 7.98014199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.238040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.42, Y:12.83, Z:0.80 [[ 8.62648471e-01 -5.05635516e-01 -1.30514894e-02 5.34200036e+01] [ 5.05584962e-01 8.62747094e-01 -7.16220339e-03 1.28290574e+01] [ 1.48815990e-02 -4.20172985e-04 9.99889175e-01 7.98464902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.26804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.45, Y:12.84, Z:0.80 [[ 8.63295602e-01 -5.04529999e-01 -1.30454851e-02 5.34454050e+01] [ 5.04479166e-01 8.63394075e-01 -7.17228416e-03 1.28431530e+01] [ 1.48820270e-02 -3.89374067e-04 9.99889181e-01 7.99645704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.29804094199999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:53.47, Y:12.86, Z:0.80 [[ 8.63658610e-01 -5.03908588e-01 -1.30361287e-02 5.34704988e+01] [ 5.03857448e-01 8.63756913e-01 -7.18796447e-03 1.28575277e+01] [ 1.48821233e-02 -3.60403128e-04 9.99889190e-01 7.99849630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.328040941999994 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:53.49, Y:12.87, Z:0.80 [[ 8.64415857e-01 -5.02608328e-01 -1.30420136e-02 5.34938837e+01] [ 5.02557189e-01 8.64514168e-01 -7.17811224e-03 1.28705993e+01] [ 1.48827845e-02 -3.49483673e-04 9.99889184e-01 8.00934940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.358040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.52, Y:12.89, Z:0.80 [[ 8.63733708e-01 -5.03780303e-01 -1.30187269e-02 5.35185559e+01] [ 5.03728711e-01 8.63831755e-01 -7.21700301e-03 1.28871969e+01] [ 1.48817737e-02 -3.24337753e-04 9.99889208e-01 8.02916527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.388040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.53, Y:12.90, Z:0.81 [[ 8.66531136e-01 -4.98953346e-01 -1.30134169e-02 5.35340036e+01] [ 4.98901074e-01 8.66628816e-01 -7.22586250e-03 1.28976019e+01] [ 1.48831703e-02 -2.30972828e-04 9.99889213e-01 8.05777650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.56, Y:12.91, Z:0.80 [[ 8.65957822e-01 -4.99951621e-01 -1.28618549e-02 5.35593737e+01] [ 4.99895682e-01 8.66053332e-01 -7.47880000e-03 1.29137321e+01] [ 1.48780905e-02 4.67396178e-05 9.99889314e-01 8.03401379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.44804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.59, Y:12.93, Z:0.81 [[ 8.63774366e-01 -5.03714645e-01 -1.28608520e-02 5.35890640e+01] [ 5.03659097e-01 8.63870104e-01 -7.48046673e-03 1.29326900e+01] [ 1.48781262e-02 -1.60497204e-05 9.99889314e-01 8.05135443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.47804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.61, Y:12.95, Z:0.80 [[ 8.64519784e-01 -5.02431020e-01 -1.29851356e-02 5.36074501e+01] [ 5.02378419e-01 8.64617265e-01 -7.27382961e-03 1.29457085e+01] [ 1.48817700e-02 -2.35082274e-04 9.99889233e-01 8.03174684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.508040941999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:53.64, Y:12.97, Z:0.81 [[ 8.61947191e-01 -5.06835038e-01 -1.28563145e-02 5.36364990e+01] [ 5.06779739e-01 8.62043062e-01 -7.48703739e-03 1.29655161e+01] [ 1.48773896e-02 -6.18888575e-05 9.99889324e-01 8.08376102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.538040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.66, Y:12.98, Z:0.80 [[ 8.62264270e-01 -5.06292660e-01 -1.29642061e-02 5.36555422e+01] [ 5.06239975e-01 8.62361684e-01 -7.30846109e-03 1.29783942e+01] [ 1.48800549e-02 -2.61174524e-04 9.99889252e-01 8.03962579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.568040941999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:53.68, Y:12.99, Z:0.81 [[ 8.62172242e-01 -5.06451168e-01 -1.28933770e-02 5.36792924e+01] [ 5.06396738e-01 8.62268635e-01 -7.42600016e-03 1.29926865e+01] [ 1.48784610e-02 -1.26672822e-04 9.99889302e-01 8.06301892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.598040942 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:53.70, Y:13.01, Z:0.80 [[ 8.59051623e-01 -5.11727793e-01 -1.28442511e-02 5.37017712e+01] [ 5.11672736e-01 8.59147630e-01 -7.50738680e-03 1.30081280e+01] [ 1.48768464e-02 -1.22820300e-04 9.99889326e-01 8.02046209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62804094199999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:53.73, Y:13.02, Z:0.80 [[ 8.57720905e-01 -5.13955989e-01 -1.28097706e-02 5.37266486e+01] [ 5.13900327e-01 8.57816549e-01 -7.56445672e-03 1.30236683e+01] [ 1.48762310e-02 -9.47526137e-05 9.99889338e-01 8.03701097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.65804094199999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:53.75, Y:13.04, Z:0.81 [[ 8.55677250e-01 -5.17351292e-01 -1.28095088e-02 5.37510320e+01] [ 5.17296004e-01 8.55773111e-01 -7.56488953e-03 1.30398136e+01] [ 1.48757385e-02 -1.53203818e-04 9.99889338e-01 8.11623278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.68804094199999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:53.78, Y:13.06, Z:0.81 [[ 8.53783106e-01 -5.20471512e-01 -1.27989752e-02 5.37751432e+01] [ 5.20416313e-01 8.53879014e-01 -7.58228590e-03 1.30564297e+01] [ 1.48751401e-02 -1.87167866e-04 9.99889341e-01 8.12553288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.718040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.80, Y:13.07, Z:0.81 [[ 8.52300375e-01 -5.22896180e-01 -1.27927857e-02 5.37973028e+01] [ 5.22841100e-01 8.52396350e-01 -7.59250173e-03 1.30714807e+01] [ 1.48746140e-02 -2.17502097e-04 9.99889343e-01 8.12634331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.748040941999996 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:53.82, Y:13.09, Z:0.82 [[ 8.48126542e-01 -5.29639685e-01 -1.27738968e-02 5.38199971e+01] [ 5.29584899e-01 8.48222680e-01 -7.62365300e-03 1.30884106e+01] [ 1.48728981e-02 -2.99040363e-04 9.99889348e-01 8.17019504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.778040942 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:53.85, Y:13.10, Z:0.82 [[ 8.46809769e-01 -5.31743107e-01 -1.27469320e-02 5.38452047e+01] [ 5.31687890e-01 8.46905655e-01 -7.66807709e-03 1.31037390e+01] [ 1.48728959e-02 -2.83986791e-04 9.99889352e-01 8.17816656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.808040942 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:53.87, Y:13.12, Z:0.82 [[ 8.45437556e-01 -5.33921711e-01 -1.27650191e-02 5.38686672e+01] [ 5.33867191e-01 8.45533843e-01 -7.63828646e-03 1.31176889e+01] [ 1.48715026e-02 -3.57130642e-04 9.99889349e-01 8.18203732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.83804094199999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:53.89, Y:13.13, Z:0.82 [[ 8.43722334e-01 -5.36628458e-01 -1.27483750e-02 5.38922033e+01] [ 5.36573833e-01 8.43818558e-01 -7.66568512e-03 1.31319699e+01] [ 1.48709402e-02 -3.72734714e-04 9.99889352e-01 8.19595772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.86804094199999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:53.92, Y:13.15, Z:0.82 [[ 8.42020312e-01 -5.39295247e-01 -1.27448249e-02 5.39164815e+01] [ 5.39240838e-01 8.42116658e-01 -7.67152633e-03 1.31484510e+01] [ 1.48698470e-02 -4.12949052e-04 9.99889352e-01 8.20268571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.898040941999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:53.94, Y:13.16, Z:0.82 [[ 8.41283178e-01 -5.40444490e-01 -1.27423580e-02 5.39393182e+01] [ 5.40390152e-01 8.41379563e-01 -7.67558274e-03 1.31636457e+01] [ 1.48693860e-02 -4.28506139e-04 9.99889353e-01 8.20162216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.928040941999996 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:53.97, Y:13.18, Z:0.82 [[ 8.41271804e-01 -5.40462467e-01 -1.27308100e-02 5.39665848e+01] [ 5.40407844e-01 8.41368027e-01 -7.69454306e-03 1.31794365e+01] [ 1.48699082e-02 -4.06627447e-04 9.99889354e-01 8.22908619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.958040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:53.99, Y:13.19, Z:0.82 [[ 8.40254850e-01 -5.42040893e-01 -1.27850554e-02 5.39870796e+01] [ 5.41987801e-01 8.40351938e-01 -7.60550471e-03 1.31945341e+01] [ 1.48664407e-02 -5.38781847e-04 9.99889343e-01 8.20251559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.988040942 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:54.01, Y:13.21, Z:0.82 [[ 8.41640857e-01 -5.39887197e-01 -1.27468383e-02 5.40147103e+01] [ 5.39832906e-01 8.41737270e-01 -7.66824278e-03 1.32079494e+01] [ 1.48694749e-02 -4.27256306e-04 9.99889352e-01 8.18893164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.01804094199999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:54.03, Y:13.22, Z:0.82 [[ 8.42352117e-01 -5.38775614e-01 -1.27964620e-02 5.40338459e+01] [ 5.38722430e-01 8.42449159e-01 -7.58672891e-03 1.32235709e+01] [ 1.48679132e-02 -5.03043954e-04 9.99889340e-01 8.21645225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.04804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.06, Y:13.24, Z:0.82 [[ 8.43128416e-01 -5.37562219e-01 -1.27017382e-02 5.40576065e+01] [ 5.37506548e-01 8.43224034e-01 -7.74213313e-03 1.32389364e+01] [ 1.48722892e-02 -2.99655017e-04 9.99889356e-01 8.22484417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.078040941999994 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:54.08, Y:13.26, Z:0.82 [[ 8.45320600e-01 -5.34108417e-01 -1.26996490e-02 5.40788571e+01] [ 5.34052303e-01 8.45415959e-01 -7.74555870e-03 1.32551496e+01] [ 1.48734540e-02 -2.34796457e-04 9.99889356e-01 8.23159040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.108040941999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:54.10, Y:13.27, Z:0.82 [[ 8.45856353e-01 -5.33259572e-01 -1.26987381e-02 5.41035093e+01] [ 5.33203340e-01 8.45951642e-01 -7.74705177e-03 1.32718476e+01] [ 1.48737079e-02 -2.18116614e-04 9.99889356e-01 8.22449017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.138040941999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:54.13, Y:13.29, Z:0.82 [[ 8.46712150e-01 -5.31899168e-01 -1.27204862e-02 5.41288150e+01] [ 5.31843318e-01 8.46807664e-01 -7.71141761e-03 1.32882422e+01] [ 1.48735018e-02 -2.35954584e-04 9.99889356e-01 8.22774518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.168040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:54.15, Y:13.30, Z:0.83 [[ 8.49875733e-01 -5.26829215e-01 -1.27364246e-02 5.41508568e+01] [ 5.26773186e-01 8.49971144e-01 -7.68533660e-03 1.33037918e+01] [ 1.48744533e-02 -1.77625904e-04 9.99889353e-01 8.27875495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.19804094199999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:54.17, Y:13.32, Z:0.83 [[ 8.50962139e-01 -5.25073716e-01 -1.26897964e-02 5.41733503e+01] [ 5.25016350e-01 8.51056749e-01 -7.76157161e-03 1.33191714e+01] [ 1.48751341e-02 -5.75470132e-05 9.99889357e-01 8.26560667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.22804094199999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:54.20, Y:13.34, Z:0.83 [[ 8.52781538e-01 -5.22113629e-01 -1.26888629e-02 5.41960468e+01] [ 5.22055913e-01 8.52875934e-01 -7.76309749e-03 1.33365276e+01] [ 1.48752448e-02 -4.06967837e-06 9.99889357e-01 8.28685944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.258040941999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:54.22, Y:13.35, Z:0.83 [[ 8.53242551e-01 -5.21359943e-01 -1.26869741e-02 5.42188514e+01] [ 5.21302097e-01 8.53336868e-01 -7.76618306e-03 1.33525984e+01] [ 1.48752395e-02 1.26916526e-05 9.99889357e-01 8.29868124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.288040941999995 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:54.24, Y:13.37, Z:0.83 [[ 8.53764468e-01 -5.20504880e-01 -1.26847682e-02 5.42420626e+01] [ 5.20446886e-01 8.53858694e-01 -7.76978425e-03 1.33693710e+01] [ 1.48752103e-02 3.18175839e-05 9.99889357e-01 8.30477112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.318040941999996 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:54.27, Y:13.38, Z:0.83 [[ 8.53684792e-01 -5.20635593e-01 -1.26828429e-02 5.42659920e+01] [ 5.20577567e-01 8.53778998e-01 -7.77292581e-03 1.33847104e+01] [ 1.48752067e-02 3.32250593e-05 9.99889357e-01 8.31437623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.348040942 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:54.29, Y:13.40, Z:0.83 [[ 8.53720041e-01 -5.20577915e-01 -1.26777772e-02 5.42901270e+01] [ 5.20519760e-01 8.53814167e-01 -7.78118749e-03 1.34002186e+01] [ 1.48751801e-02 4.39221588e-05 9.99889357e-01 8.30767773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.37804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.31, Y:13.42, Z:0.83 [[ 8.52948380e-01 -5.21841226e-01 -1.26804897e-02 5.43124138e+01] [ 5.21783277e-01 8.53042633e-01 -7.77676457e-03 1.34164787e+01] [ 1.48752347e-02 1.67112798e-05 9.99889357e-01 8.31928457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.40804094199999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:54.34, Y:13.43, Z:0.83 [[ 8.52332984e-01 -5.22846187e-01 -1.26628962e-02 5.43373616e+01] [ 5.22787922e-01 8.52427043e-01 -7.80543725e-03 1.34336730e+01] [ 1.48752382e-02 3.28224639e-05 9.99889357e-01 8.31947597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.43804094199999 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:54.36, Y:13.45, Z:0.83 [[ 8.51401615e-01 -5.24361086e-01 -1.26783903e-02 5.43596523e+01] [ 5.24303364e-01 8.51496008e-01 -7.78018848e-03 1.34515536e+01] [ 1.48752268e-02 -2.32576291e-05 9.99889357e-01 8.32887250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.468040941999995 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:54.38, Y:13.47, Z:0.83 [[ 8.50870956e-01 -5.25221756e-01 -1.26777103e-02 5.43837645e+01] [ 5.25164113e-01 8.50965397e-01 -7.78129623e-03 1.34681245e+01] [ 1.48751989e-02 -3.69995490e-05 9.99889357e-01 8.33868208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.498040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.41, Y:13.48, Z:0.84 [[ 8.50179953e-01 -5.26339597e-01 -1.26758049e-02 5.44072123e+01] [ 5.26282032e-01 8.50274442e-01 -7.78439899e-03 1.34842150e+01] [ 1.48751504e-02 -5.29083802e-05 9.99889357e-01 8.35174702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.528040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.43, Y:13.50, Z:0.84 [[ 8.49227257e-01 -5.27875326e-01 -1.26769869e-02 5.44302247e+01] [ 5.27817961e-01 8.49321867e-01 -7.78247471e-03 1.34999304e+01] [ 1.48750185e-02 -8.20517145e-05 9.99889357e-01 8.36114515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.558040942 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:54.45, Y:13.52, Z:0.84 [[ 8.47761409e-01 -5.30226310e-01 -1.26748939e-02 5.44531342e+01] [ 5.30169156e-01 8.47856147e-01 -7.78587990e-03 1.35164878e+01] [ 1.48747651e-02 -1.19269307e-04 9.99889357e-01 8.37222988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.58804094199999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:54.48, Y:13.53, Z:0.84 [[ 8.46777270e-01 -5.31796673e-01 -1.26709994e-02 5.44767808e+01] [ 5.31739600e-01 8.46872056e-01 -7.79221274e-03 1.35324746e+01] [ 1.48745881e-02 -1.39403497e-04 9.99889357e-01 8.38649353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.61804094199999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:54.50, Y:13.55, Z:0.84 [[ 8.45092604e-01 -5.34469825e-01 -1.26687308e-02 5.44990532e+01] [ 5.34412997e-01 8.45187537e-01 -7.79589961e-03 1.35496524e+01] [ 1.48741265e-02 -1.82077279e-04 9.99889357e-01 8.37688958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.648040941999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.52, Y:13.57, Z:0.83 [[ 8.43032545e-01 -5.37713345e-01 -1.26682974e-02 5.45206327e+01] [ 5.37656871e-01 8.43127690e-01 -7.79660382e-03 1.35683458e+01] [ 1.48733302e-02 -2.38406373e-04 9.99889357e-01 8.31046780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.678040941999996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:54.55, Y:13.58, Z:0.84 [[ 8.43464756e-01 -5.37035828e-01 -1.26381912e-02 5.45458821e+01] [ 5.36978545e-01 8.43559417e-01 -7.84548763e-03 1.35828907e+01] [ 1.48743732e-02 -1.69045222e-04 9.99889356e-01 8.38415720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.708040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:54.57, Y:13.60, Z:0.84 [[ 8.42204401e-01 -5.39009579e-01 -1.26657577e-02 5.45681465e+01] [ 5.38953190e-01 8.42299595e-01 -7.80072895e-03 1.36009032e+01] [ 1.48730302e-02 -2.56442279e-04 9.99889357e-01 8.38392736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.59, Y:13.62, Z:0.84 [[ 8.41744361e-01 -5.39727768e-01 -1.26636237e-02 5.45914329e+01] [ 5.39671408e-01 8.41839573e-01 -7.80419185e-03 1.36171703e+01] [ 1.48728786e-02 -2.65061132e-04 9.99889357e-01 8.38327860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.76804094199999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:54.61, Y:13.63, Z:0.84 [[ 8.41319598e-01 -5.40389693e-01 -1.26614957e-02 5.46135267e+01] [ 5.40333356e-01 8.41414824e-01 -7.80764267e-03 1.36345320e+01] [ 1.48727398e-02 -2.72705676e-04 9.99889357e-01 8.38087554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.79804094199999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:54.64, Y:13.65, Z:0.84 [[ 8.41094583e-01 -5.40739904e-01 -1.26593286e-02 5.46364808e+01] [ 5.40683554e-01 8.41189801e-01 -7.81115483e-03 1.36512125e+01] [ 1.48727012e-02 -2.74770776e-04 9.99889358e-01 8.38384125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.828040941999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:54.66, Y:13.67, Z:0.84 [[ 8.40878965e-01 -5.41075192e-01 -1.26571261e-02 5.46596913e+01] [ 5.41018826e-01 8.40974173e-01 -7.81472222e-03 1.36683583e+01] [ 1.48726685e-02 -2.76507946e-04 9.99889358e-01 8.38746058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.858040941999995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:54.68, Y:13.69, Z:0.84 [[ 8.40984807e-01 -5.40910714e-01 -1.26552013e-02 5.46817406e+01] [ 5.40854282e-01 8.41079977e-01 -7.81783797e-03 1.36859850e+01] [ 1.48727887e-02 -2.69936855e-04 9.99889358e-01 8.38752471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.888040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.71, Y:13.70, Z:0.84 [[ 8.40921357e-01 -5.41009366e-01 -1.26545199e-02 5.47051952e+01] [ 5.40952929e-01 8.41016524e-01 -7.81894075e-03 1.37020764e+01] [ 1.48727805e-02 -2.70385339e-04 9.99889358e-01 8.39279790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.73, Y:13.72, Z:0.84 [[ 8.41247684e-01 -5.40501853e-01 -1.26523559e-02 5.47271638e+01] [ 5.40445306e-01 8.41342785e-01 -7.82244085e-03 1.37188575e+01] [ 1.48730121e-02 -2.57296121e-04 9.99889358e-01 8.40231362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.94804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.75, Y:13.74, Z:0.84 [[ 8.41314496e-01 -5.40397865e-01 -1.26516863e-02 5.47498600e+01] [ 5.40341290e-01 8.41409581e-01 -7.82352375e-03 1.37351592e+01] [ 1.48730656e-02 -2.54184547e-04 9.99889358e-01 8.41047440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.97804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.77, Y:13.75, Z:0.84 [[ 8.42213617e-01 -5.38995561e-01 -1.26494891e-02 5.47721855e+01] [ 5.38938774e-01 8.42308575e-01 -7.82707465e-03 1.37531755e+01] [ 1.48735316e-02 -2.25231301e-04 9.99889358e-01 8.41420346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.008040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.79, Y:13.77, Z:0.84 [[ 8.42583182e-01 -5.38417710e-01 -1.26472216e-02 5.47944284e+01] [ 5.38360803e-01 8.42678068e-01 -7.83073691e-03 1.37694948e+01] [ 1.48737437e-02 -2.10721136e-04 9.99889358e-01 8.41619735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.038040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.82, Y:13.79, Z:0.84 [[ 8.43147304e-01 -5.37533902e-01 -1.26462385e-02 5.48169250e+01] [ 5.37476872e-01 8.43242116e-01 -7.83232424e-03 1.37852098e+01] [ 1.48739807e-02 -1.93257636e-04 9.99889358e-01 8.41821235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.068040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.84, Y:13.80, Z:0.84 [[ 8.43433991e-01 -5.37083979e-01 -1.26452732e-02 5.48402416e+01] [ 5.37026875e-01 8.43528758e-01 -7.83388238e-03 1.38011529e+01] [ 1.48741043e-02 -1.83488865e-04 9.99889358e-01 8.42124722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.86, Y:13.82, Z:0.84 [[ 8.44659982e-01 -5.35153873e-01 -1.26430553e-02 5.48636629e+01] [ 5.35096498e-01 8.44754587e-01 -7.83746024e-03 1.38174949e+01] [ 1.48745261e-02 -1.45265569e-04 9.99889358e-01 8.41626058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.12804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.89, Y:13.83, Z:0.84 [[ 8.44507037e-01 -5.35395251e-01 -1.26408151e-02 5.48878993e+01] [ 5.35337850e-01 8.44601624e-01 -7.84107163e-03 1.38326228e+01] [ 1.48745255e-02 -1.45266626e-04 9.99889358e-01 8.42049760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.91, Y:13.85, Z:0.84 [[ 8.46110459e-01 -5.32857728e-01 -1.26385734e-02 5.49104340e+01] [ 5.32799989e-01 8.46204841e-01 -7.84468328e-03 1.38479955e+01] [ 1.48749221e-02 -9.63631959e-05 9.99889358e-01 8.42622040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.18804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.93, Y:13.86, Z:0.84 [[ 8.46655697e-01 -5.31990998e-01 -1.26376023e-02 5.49338708e+01] [ 5.31933139e-01 8.46750005e-01 -7.84624744e-03 1.38638963e+01] [ 1.48750228e-02 -7.92893577e-05 9.99889358e-01 8.43124605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.218040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.96, Y:13.88, Z:0.84 [[ 8.47341537e-01 -5.30897981e-01 -1.26353998e-02 5.49572835e+01] [ 5.30839948e-01 8.47435738e-01 -7.84979264e-03 1.38799774e+01] [ 1.48751284e-02 -5.59196096e-05 9.99889358e-01 8.43627026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.248040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.98, Y:13.90, Z:0.84 [[ 8.47919040e-01 -5.29975191e-01 -1.26332089e-02 5.49792957e+01] [ 5.29917003e-01 8.48013146e-01 -7.85331708e-03 1.38952501e+01] [ 1.48751904e-02 -3.55750884e-05 9.99889358e-01 8.44069135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.00, Y:13.91, Z:0.84 [[ 8.49179161e-01 -5.27953766e-01 -1.26322593e-02 5.50020649e+01] [ 5.27895331e-01 8.49273113e-01 -7.85484424e-03 1.39106122e+01] [ 1.48752327e-02 1.65935238e-06 9.99889358e-01 8.44816064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.03, Y:13.93, Z:0.85 [[ 8.49673322e-01 -5.27158131e-01 -1.26313195e-02 5.50260345e+01] [ 5.27099586e-01 8.49767206e-01 -7.85635518e-03 1.39252440e+01] [ 1.48752226e-02 1.73721313e-05 9.99889358e-01 8.45034699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.33804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.05, Y:13.94, Z:0.84 [[ 8.50100264e-01 -5.26469415e-01 -1.26291669e-02 5.50492463e+01] [ 5.26410742e-01 8.50194068e-01 -7.85981400e-03 1.39387293e+01] [ 1.48751945e-02 3.35008467e-05 9.99889358e-01 8.44718116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.36804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.07, Y:13.95, Z:0.85 [[ 8.49990480e-01 -5.26646666e-01 -1.26282567e-02 5.50734233e+01] [ 5.26587991e-01 8.50084283e-01 -7.86127612e-03 1.39538375e+01] [ 1.48751974e-02 3.21215507e-05 9.99889358e-01 8.45123282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.398040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.10, Y:13.97, Z:0.84 [[ 8.49657509e-01 -5.27183742e-01 -1.26261316e-02 5.50971679e+01] [ 5.27125075e-01 8.49751318e-01 -7.86468786e-03 1.39692458e+01] [ 1.48752075e-02 2.67405534e-05 9.99889358e-01 8.44692238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.428040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.12, Y:13.98, Z:0.85 [[ 8.48978535e-01 -5.28276523e-01 -1.26238817e-02 5.51206549e+01] [ 5.28217923e-01 8.49072385e-01 -7.86829753e-03 1.39836153e+01] [ 1.48752262e-02 1.18551367e-05 9.99889358e-01 8.45204202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.14, Y:14.00, Z:0.85 [[ 8.48647058e-01 -5.28808883e-01 -1.26228281e-02 5.51441238e+01] [ 5.28750317e-01 8.48740929e-01 -7.86998738e-03 1.39967870e+01] [ 1.48752301e-02 4.51726612e-06 9.99889358e-01 8.47017773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.17, Y:14.01, Z:0.85 [[ 8.48176886e-01 -5.29562706e-01 -1.26218660e-02 5.51692912e+01] [ 5.29504201e-01 8.48270794e-01 -7.87153019e-03 1.40085713e+01] [ 1.48752291e-02 -6.88108389e-06 9.99889358e-01 8.48858553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.51804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.19, Y:14.02, Z:0.85 [[ 8.48020072e-01 -5.29813800e-01 -1.26212194e-02 5.51933218e+01] [ 5.29755307e-01 8.48113988e-01 -7.87256669e-03 1.40220429e+01] [ 1.48752272e-02 -1.00634139e-05 9.99889358e-01 8.48844478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.54804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.22, Y:14.03, Z:0.85 [[ 8.48040753e-01 -5.29780717e-01 -1.26203216e-02 5.52188953e+01] [ 5.29722199e-01 8.48134654e-01 -7.87400566e-03 1.40344104e+01] [ 1.48752285e-02 -7.78684585e-06 9.99889358e-01 8.49807967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.578040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.24, Y:14.05, Z:0.85 [[ 8.47496522e-01 -5.30650622e-01 -1.26318132e-02 5.52428643e+01] [ 5.30592475e-01 8.47590653e-01 -7.85559700e-03 1.40489960e+01] [ 1.48751842e-02 -4.47538962e-05 9.99889357e-01 8.46549185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.608040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.27, Y:14.06, Z:0.85 [[ 8.47430689e-01 -5.30756123e-01 -1.26160922e-02 5.52664887e+01] [ 5.30697612e-01 8.47524594e-01 -7.88076441e-03 1.40619414e+01] [ 1.48752123e-02 -1.69283689e-05 9.99889358e-01 8.46542441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.638040941999996 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:55.29, Y:14.07, Z:0.85 [[ 8.47561144e-01 -5.30547797e-01 -1.26151500e-02 5.52923577e+01] [ 5.30489241e-01 8.47655021e-01 -7.88227226e-03 1.40730594e+01] [ 1.48752174e-02 -1.14936492e-05 9.99889358e-01 8.46847223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.668040942 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:55.32, Y:14.09, Z:0.85 [[ 8.47683491e-01 -5.30352347e-01 -1.26129753e-02 5.53162729e+01] [ 5.30293718e-01 8.47777322e-01 -7.88575060e-03 1.40861116e+01] [ 1.48752208e-02 -3.96097499e-06 9.99889358e-01 8.48069524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.69804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.34, Y:14.10, Z:0.85 [[ 8.49043814e-01 -5.28171883e-01 -1.26120326e-02 5.53427280e+01] [ 5.28112990e-01 8.49137480e-01 -7.88725803e-03 1.40976015e+01] [ 1.48751775e-02 3.60493777e-05 9.99889358e-01 8.47846939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.72804094199999 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:55.37, Y:14.11, Z:0.85 [[ 8.47977503e-01 -5.29881809e-01 -1.26262875e-02 5.53665505e+01] [ 5.29823445e-01 8.48071499e-01 -7.86446969e-03 1.41108983e+01] [ 1.48752340e-02 -2.08097813e-05 9.99889357e-01 8.49078902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.758040941999994 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:55.39, Y:14.12, Z:0.85 [[ 8.48383547e-01 -5.29231858e-01 -1.26093943e-02 5.53922846e+01] [ 5.29173020e-01 8.48477248e-01 -7.89146260e-03 1.41221492e+01] [ 1.48751976e-02 2.24357756e-05 9.99889358e-01 8.48877678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.788040941999995 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:55.42, Y:14.13, Z:0.85 [[ 8.48474342e-01 -5.29086335e-01 -1.26071864e-02 5.54162164e+01] [ 5.29027428e-01 8.48568000e-01 -7.89498832e-03 1.41344490e+01] [ 1.48751854e-02 2.91476276e-05 9.99889358e-01 8.50185215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.818040941999996 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:55.44, Y:14.15, Z:0.85 [[ 8.48468585e-01 -5.29095602e-01 -1.26056850e-02 5.54416425e+01] [ 5.29036661e-01 8.48562221e-01 -7.89738483e-03 1.41475937e+01] [ 1.48751796e-02 3.18134342e-05 9.99889358e-01 8.49920433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.848040942 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:55.47, Y:14.16, Z:0.85 [[ 8.48839872e-01 -5.28499786e-01 -1.26034975e-02 5.54681545e+01] [ 5.28440727e-01 8.48933433e-01 -7.90087433e-03 1.41580526e+01] [ 1.48751408e-02 4.63757799e-05 9.99889358e-01 8.50835750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.87804094199999 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:55.49, Y:14.17, Z:0.85 [[ 8.48980428e-01 -5.28274020e-01 -1.26012707e-02 5.54920920e+01] [ 5.28214884e-01 8.49073940e-01 -7.90442423e-03 1.41704359e+01] [ 1.48751126e-02 5.45226994e-05 9.99889358e-01 8.53131248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.90804094199999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:55.52, Y:14.18, Z:0.85 [[ 8.49596807e-01 -5.27282181e-01 -1.26003066e-02 5.55181771e+01] [ 5.27222913e-01 8.49690235e-01 -7.90596093e-03 1.41822674e+01] [ 1.48750298e-02 7.37088427e-05 9.99889358e-01 8.51423453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.93804094199999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:55.55, Y:14.20, Z:0.85 [[ 8.51866267e-01 -5.23607821e-01 -1.25980962e-02 5.55523845e+01] [ 5.23548098e-01 8.51959406e-01 -7.90948152e-03 1.41955970e+01] [ 1.48745330e-02 1.42111194e-04 9.99889358e-01 8.52436762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.968040941999995 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:55.57, Y:14.21, Z:0.85 [[ 8.49912322e-01 -5.26769513e-01 -1.27641954e-02 5.55683800e+01] [ 5.26714087e-01 8.50008135e-01 -7.64467438e-03 1.42092535e+01] [ 1.48766513e-02 -2.25778550e-04 9.99889311e-01 8.52344425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.998040941999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:55.60, Y:14.22, Z:0.85 [[ 8.49841738e-01 -5.26887460e-01 -1.25946828e-02 5.55952125e+01] [ 5.26828022e-01 8.49935054e-01 -7.91443069e-03 1.42191201e+01] [ 1.48746767e-02 9.07816758e-05 9.99889362e-01 8.51805167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.028040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:55.62, Y:14.23, Z:0.85 [[ 8.49338523e-01 -5.27698306e-01 -1.25925148e-02 5.56208362e+01] [ 5.27638906e-01 8.49431864e-01 -7.91787864e-03 1.42319606e+01] [ 1.48747345e-02 8.06585856e-05 9.99889362e-01 8.52058141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.058040942 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:55.65, Y:14.24, Z:0.85 [[ 8.48802159e-01 -5.28560667e-01 -1.25902917e-02 5.56458180e+01] [ 5.28501311e-01 8.48895527e-01 -7.92141205e-03 1.42446059e+01] [ 1.48747892e-02 6.97259732e-05 9.99889362e-01 8.52483504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.08804094199999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:55.67, Y:14.26, Z:0.85 [[ 8.47520817e-01 -5.30612858e-01 -1.25880706e-02 5.56720895e+01] [ 5.30553674e-01 8.47614295e-01 -7.92494012e-03 1.42557341e+01] [ 1.48749037e-02 3.79046095e-05 9.99889362e-01 8.53726176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.11804094199999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:55.70, Y:14.27, Z:0.85 [[ 8.47247463e-01 -5.31049005e-01 -1.25972375e-02 5.56972532e+01] [ 5.30990086e-01 8.47341108e-01 -7.91038535e-03 1.42689636e+01] [ 1.48749595e-02 1.30456710e-05 9.99889362e-01 8.52720006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.148040941999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:55.73, Y:14.28, Z:0.85 [[ 8.46957878e-01 -5.31511129e-01 -1.25806825e-02 5.57303794e+01] [ 5.31451871e-01 8.47051308e-01 -7.93665635e-03 1.42803700e+01] [ 1.48749048e-02 3.59863493e-05 9.99889362e-01 8.52406212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.178040941999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:55.76, Y:14.29, Z:0.85 [[ 8.45935602e-01 -5.33133523e-01 -1.27123358e-02 5.57550854e+01] [ 5.33077558e-01 8.46031081e-01 -7.72831767e-03 1.42932764e+01] [ 1.48752564e-02 -2.39001886e-04 9.99889329e-01 8.52372829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.78, Y:14.31, Z:0.85 [[ 8.44639235e-01 -5.35185210e-01 -1.27025180e-02 5.57794212e+01] [ 5.35129245e-01 8.44734707e-01 -7.74383653e-03 1.43067559e+01] [ 1.48746446e-02 -2.56740702e-04 9.99889333e-01 8.52150039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.80, Y:14.32, Z:0.85 [[ 8.42354122e-01 -5.38775139e-01 -1.26839305e-02 5.58046614e+01] [ 5.38719138e-01 8.42449564e-01 -7.77318767e-03 1.43174838e+01] [ 1.48735720e-02 -2.85299435e-04 9.99889342e-01 8.53407426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.26804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.83, Y:14.33, Z:0.85 [[ 8.41185502e-01 -5.40598392e-01 -1.26621397e-02 5.58300271e+01] [ 5.40542080e-01 8.41280751e-01 -7.80755116e-03 1.43308973e+01] [ 1.48731640e-02 -2.76820488e-04 9.99889350e-01 8.53718953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.29804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.85, Y:14.34, Z:0.85 [[ 8.39806127e-01 -5.42738887e-01 -1.26558197e-02 5.58533032e+01] [ 5.42682668e-01 8.39901428e-01 -7.81750960e-03 1.43436163e+01] [ 1.48725075e-02 -3.02901527e-04 9.99889352e-01 8.53715678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.328040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.88, Y:14.36, Z:0.85 [[ 8.37631756e-01 -5.46089207e-01 -1.26340482e-02 5.58777040e+01] [ 5.46032852e-01 8.37726969e-01 -7.85177268e-03 1.43552249e+01] [ 1.48716513e-02 -3.21711259e-04 9.99889359e-01 8.54132636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.358040941999995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:55.90, Y:14.37, Z:0.85 [[ 8.36288254e-01 -5.48145227e-01 -1.26002720e-02 5.59026622e+01] [ 5.48088305e-01 8.36383120e-01 -7.90487755e-03 1.43694190e+01] [ 1.48716757e-02 -2.95305496e-04 9.99889367e-01 8.51576834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.388040941999996 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:55.93, Y:14.38, Z:0.85 [[ 8.36636958e-01 -5.47612369e-01 -1.26211176e-02 5.59271037e+01] [ 5.47555880e-01 8.36732088e-01 -7.87214352e-03 1.43823734e+01] [ 1.48713773e-02 -3.24640962e-04 9.99889362e-01 8.54388391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.95, Y:14.39, Z:0.85 [[ 8.36045872e-01 -5.48515265e-01 -1.25819051e-02 5.59522392e+01] [ 5.48457951e-01 8.36140498e-01 -7.93366846e-03 1.43939341e+01] [ 1.48719787e-02 -2.67735126e-04 9.99889370e-01 8.52929119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.44804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.98, Y:14.41, Z:0.85 [[ 8.36162391e-01 -5.48337923e-01 -1.25689456e-02 5.59769600e+01] [ 5.48280284e-01 8.36256817e-01 -7.95399477e-03 1.44080008e+01] [ 1.48723434e-02 -2.40473768e-04 9.99889372e-01 8.54247478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.47804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:56.00, Y:14.42, Z:0.85 [[ 8.37056106e-01 -5.46972730e-01 -1.25661473e-02 5.60011448e+01] [ 5.46914871e-01 8.37150398e-01 -7.95838029e-03 1.44228353e+01] [ 1.48727722e-02 -2.11001984e-04 9.99889372e-01 8.54711890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.508040941999994 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:56.03, Y:14.44, Z:0.86 [[ 8.37595345e-01 -5.46146721e-01 -1.25617398e-02 5.60265366e+01] [ 5.46088666e-01 8.37689515e-01 -7.96528267e-03 1.44374092e+01] [ 1.48730508e-02 -1.88140063e-04 9.99889372e-01 8.55579921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.538040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.05, Y:14.45, Z:0.86 [[ 8.38246199e-01 -5.45147107e-01 -1.25674558e-02 5.60492653e+01] [ 5.45089073e-01 8.38340384e-01 -7.95633395e-03 1.44503518e+01] [ 1.48731782e-02 -1.81016162e-04 9.99889372e-01 8.60232948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.568040941999996 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:56.08, Y:14.46, Z:0.86 [[ 8.39058535e-01 -5.43896791e-01 -1.25321891e-02 5.60750872e+01] [ 5.43837791e-01 8.39152115e-01 -8.01150083e-03 1.44648993e+01] [ 1.48738426e-02 -9.33599137e-05 9.99889374e-01 8.56794793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.598040942 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:56.10, Y:14.48, Z:0.86 [[ 8.40730097e-01 -5.41308802e-01 -1.25572251e-02 5.61029941e+01] [ 5.41250100e-01 8.40823865e-01 -7.97231292e-03 1.44780133e+01] [ 1.48738977e-02 -9.40359103e-05 9.99889373e-01 8.58508102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.12, Y:14.49, Z:0.86 [[ 8.39754537e-01 -5.42818956e-01 -1.26450889e-02 5.61233822e+01] [ 5.42762486e-01 8.39849689e-01 -7.83471386e-03 1.44947217e+01] [ 1.48728052e-02 -2.84043375e-04 9.99889353e-01 8.58913301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.15, Y:14.51, Z:0.86 [[ 8.40229192e-01 -5.42085266e-01 -1.25884431e-02 5.61485544e+01] [ 5.42027386e-01 8.40323472e-01 -7.92315280e-03 1.45098337e+01] [ 1.48733886e-02 -1.66016650e-04 9.99889371e-01 8.59556408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.68804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.17, Y:14.53, Z:0.86 [[ 8.39976225e-01 -5.42476620e-01 -1.26118520e-02 5.61725310e+01] [ 5.42419332e-01 8.40070872e-01 -7.88658230e-03 1.45252994e+01] [ 1.48731360e-02 -2.16370695e-04 9.99889365e-01 8.59347682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.718040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.19, Y:14.54, Z:0.86 [[ 8.38390153e-01 -5.44924509e-01 -1.26187213e-02 5.61918804e+01] [ 5.44867658e-01 8.38485066e-01 -7.87585422e-03 1.45387993e+01] [ 1.48723553e-02 -2.72494495e-04 9.99889363e-01 8.63700391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.748040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.22, Y:14.55, Z:0.86 [[ 8.37905548e-01 -5.45671612e-01 -1.25213435e-02 5.62156879e+01] [ 5.45612569e-01 8.37999093e-01 -8.02774054e-03 1.45532950e+01] [ 1.48733846e-02 -1.05314067e-04 9.99889380e-01 8.64713813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.24, Y:14.57, Z:0.86 [[ 8.37285921e-01 -5.46621951e-01 -1.25191445e-02 5.62380480e+01] [ 5.46562962e-01 8.37379501e-01 -8.03116840e-03 1.45684360e+01] [ 1.48732879e-02 -1.18116480e-04 9.99889380e-01 8.64678905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.808040942 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:56.26, Y:14.58, Z:0.86 [[ 8.37040400e-01 -5.46997864e-01 -1.25181915e-02 5.62613523e+01] [ 5.46938895e-01 8.37133992e-01 -8.03265358e-03 1.45841900e+01] [ 1.48732480e-02 -1.23030265e-04 9.99889380e-01 8.64724858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.83804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.28, Y:14.60, Z:0.86 [[ 8.36826507e-01 -5.47325084e-01 -1.25159708e-02 5.62833935e+01] [ 5.47266100e-01 8.36920090e-01 -8.03611223e-03 1.46018192e+01] [ 1.48732332e-02 -1.24734815e-04 9.99889380e-01 8.63523213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.86804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.31, Y:14.62, Z:0.86 [[ 8.36857429e-01 -5.47277854e-01 -1.25137532e-02 5.63054993e+01] [ 5.47218813e-01 8.36950976e-01 -8.03956403e-03 1.46182431e+01] [ 1.48732733e-02 -1.19792264e-04 9.99889380e-01 8.63033108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.898040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.33, Y:14.64, Z:0.86 [[ 8.36646749e-01 -5.47599898e-01 -1.25127925e-02 5.63285738e+01] [ 5.47540871e-01 8.36740304e-01 -8.04105900e-03 1.46351667e+01] [ 1.48732409e-02 -1.23739422e-04 9.99889380e-01 8.62889859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.928040941999996 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:56.35, Y:14.65, Z:0.86 [[ 8.36521852e-01 -5.47790722e-01 -1.25106098e-02 5.63503617e+01] [ 5.47731665e-01 8.36615389e-01 -8.04445346e-03 1.46504427e+01] [ 1.48732457e-02 -1.23096035e-04 9.99889380e-01 8.63231260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.958040942 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:56.37, Y:14.67, Z:0.86 [[ 8.35347182e-01 -5.49580380e-01 -1.25096634e-02 5.63720341e+01] [ 5.49521502e-01 8.35440831e-01 -8.04592488e-03 1.46666327e+01] [ 1.48729661e-02 -1.53188350e-04 9.99889380e-01 8.63101583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.988040942 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:56.40, Y:14.68, Z:0.86 [[ 8.34447378e-01 -5.50945658e-01 -1.25081899e-02 5.63958382e+01] [ 5.50886899e-01 8.34541102e-01 -8.04821490e-03 1.46823710e+01] [ 1.48727277e-02 -1.74786137e-04 9.99889380e-01 8.64489843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.018040942 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:56.42, Y:14.70, Z:0.87 [[ 8.32602508e-01 -5.53729776e-01 -1.25059724e-02 5.64192052e+01] [ 5.53671278e-01 8.32696396e-01 -8.05165919e-03 1.46972186e+01] [ 1.48721216e-02 -2.20366084e-04 9.99889380e-01 8.66354911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.048040942 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:56.44, Y:14.71, Z:0.87 [[ 8.32450552e-01 -5.53958243e-01 -1.25037558e-02 5.64431909e+01] [ 5.53899719e-01 8.32544423e-01 -8.05510001e-03 1.47127812e+01] [ 1.48721212e-02 -2.20354371e-04 9.99889380e-01 8.66778555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.078040942 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:56.47, Y:14.73, Z:0.87 [[ 8.31569793e-01 -5.55279561e-01 -1.25015446e-02 5.64665399e+01] [ 5.55221135e-01 8.31663725e-01 -8.05853038e-03 1.47281444e+01] [ 1.48718183e-02 -2.39891322e-04 9.99889380e-01 8.67903956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.108040942 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:56.49, Y:14.74, Z:0.87 [[ 8.30644946e-01 -5.56662143e-01 -1.24993308e-02 5.64898275e+01] [ 5.56603821e-01 8.30738943e-01 -8.06196261e-03 1.47444835e+01] [ 1.48714702e-02 -2.60546789e-04 9.99889380e-01 8.68417341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.138040942 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:56.51, Y:14.76, Z:0.87 [[ 8.29834744e-01 -5.57869268e-01 -1.24971316e-02 5.65124714e+01] [ 5.57811032e-01 8.29928794e-01 -8.06537027e-03 1.47618820e+01] [ 1.48711515e-02 -2.78113391e-04 9.99889380e-01 8.67777734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.168040942 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:56.53, Y:14.78, Z:0.87 [[ 8.29743988e-01 -5.58004293e-01 -1.24949395e-02 5.65344491e+01] [ 5.57946021e-01 8.29838016e-01 -8.06876488e-03 1.47770498e+01] [ 1.48711812e-02 -2.76492616e-04 9.99889380e-01 8.66974485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.198040942 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:56.56, Y:14.79, Z:0.87 [[ 8.30104321e-01 -5.57468131e-01 -1.24939841e-02 5.65581377e+01] [ 5.57409776e-01 8.30198297e-01 -8.07024395e-03 1.47928397e+01] [ 1.48713881e-02 -2.65124504e-04 9.99889380e-01 8.69096026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.228040942 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:56.58, Y:14.81, Z:0.87 [[ 8.30656615e-01 -5.56644899e-01 -1.24917907e-02 5.65804397e+01] [ 5.56586400e-01 8.30750501e-01 -8.07363770e-03 1.48081779e+01] [ 1.48717106e-02 -2.46340233e-04 9.99889380e-01 8.70856217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.25804094200001 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:56.60, Y:14.82, Z:0.87 [[ 8.30423055e-01 -5.56993986e-01 -1.24598900e-02 5.66046114e+01] [ 5.56934786e-01 8.30516503e-01 -8.12296141e-03 1.48248194e+01] [ 1.48725849e-02 -1.93851732e-04 9.99889378e-01 8.70996063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.288040942 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:56.63, Y:14.84, Z:0.87 [[ 8.30816291e-01 -5.56406611e-01 -1.24889736e-02 5.66275885e+01] [ 5.56348020e-01 8.30910120e-01 -8.07799682e-03 1.48415099e+01] [ 1.48718654e-02 -2.36884370e-04 9.99889380e-01 8.72566850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.318040942 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:56.65, Y:14.86, Z:0.87 [[ 8.30919224e-01 -5.56252929e-01 -1.24868439e-02 5.66504226e+01] [ 5.56194271e-01 8.31013012e-01 -8.08128757e-03 1.48572697e+01] [ 1.48719696e-02 -2.30213825e-04 9.99889380e-01 8.73288545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.348040942 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:56.67, Y:14.87, Z:0.87 [[ 8.31969328e-01 -5.54681145e-01 -1.24845554e-02 5.66702514e+01] [ 5.54622257e-01 8.32062971e-01 -8.08482145e-03 1.48719624e+01] [ 1.48724343e-02 -1.97888800e-04 9.99889380e-01 8.72587777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.378040942 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:56.70, Y:14.89, Z:0.88 [[ 8.30796918e-01 -5.56437150e-01 -1.24168718e-02 5.66967108e+01] [ 5.56376896e-01 8.30889696e-01 -8.18922200e-03 1.48901209e+01] [ 1.48738382e-02 -1.04880173e-04 9.99889373e-01 8.75437039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.408040942 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:56.72, Y:14.90, Z:0.88 [[ 8.30933688e-01 -5.56231187e-01 -1.24928583e-02 5.67194439e+01] [ 5.56172667e-01 8.31027562e-01 -8.07197078e-03 1.49046258e+01] [ 1.48717914e-02 -2.40913846e-04 9.99889380e-01 8.75998333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.438040942 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:56.74, Y:14.92, Z:0.88 [[ 8.30133838e-01 -5.57424836e-01 -1.24644508e-02 5.67420526e+01] [ 5.57365792e-01 8.30227383e-01 -8.11577487e-03 1.49205598e+01] [ 1.48722628e-02 -2.10079133e-04 9.99889380e-01 8.75692207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.468040942 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:56.78, Y:14.93, Z:0.87 [[ 8.33210570e-01 -5.52815013e-01 -1.24782746e-02 5.67766501e+01] [ 5.52755770e-01 8.33303989e-01 -8.09446437e-03 1.49349383e+01] [ 1.48729374e-02 -1.53044997e-04 9.99889380e-01 8.74647601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.498040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:56.80, Y:14.95, Z:0.88 [[ 8.32094873e-01 -5.54488001e-01 -1.26956515e-02 5.67983962e+01] [ 5.54434025e-01 8.32191514e-01 -7.75857338e-03 1.49497412e+01] [ 1.48672493e-02 -5.83032042e-04 9.99889306e-01 8.75643981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.81, Y:14.97, Z:0.88 [[ 8.28181061e-01 -5.60317390e-01 -1.26709376e-02 5.68116397e+01] [ 5.60263509e-01 8.28277738e-01 -7.79675860e-03 1.49666384e+01] [ 1.48637149e-02 -6.41936143e-04 9.99889323e-01 8.78017211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.84, Y:14.98, Z:0.88 [[ 8.27694237e-01 -5.61040617e-01 -1.24770308e-02 5.68350544e+01] [ 5.60982285e-01 8.27788220e-01 -8.09561126e-03 1.49830092e+01] [ 1.48703058e-02 -2.98702454e-04 9.99889386e-01 8.77676217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.588040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:56.86, Y:15.00, Z:0.88 [[ 8.27390477e-01 -5.61488536e-01 -1.24748446e-02 5.68582083e+01] [ 5.61430204e-01 8.27484460e-01 -8.09897857e-03 1.49984449e+01] [ 1.48702237e-02 -3.02736834e-04 9.99889386e-01 8.77728744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.61804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.88, Y:15.01, Z:0.88 [[ 8.27015221e-01 -5.62041155e-01 -1.24725665e-02 5.68809859e+01] [ 5.61982833e-01 8.27109210e-01 -8.10248537e-03 1.50131585e+01] [ 1.48701049e-02 -3.08489552e-04 9.99889386e-01 8.77353895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64804094200001 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:56.90, Y:15.03, Z:0.88 [[ 8.26847273e-01 -5.62288236e-01 -1.24710183e-02 5.69035357e+01] [ 5.62229907e-01 8.26941257e-01 -8.10486771e-03 1.50286895e+01] [ 1.48700713e-02 -3.10091670e-04 9.99889386e-01 8.76843555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.93, Y:15.04, Z:0.88 [[ 8.26633952e-01 -5.62602379e-01 -1.24447743e-02 5.69286607e+01] [ 5.62543477e-01 8.26727580e-01 -8.14523165e-03 1.50448974e+01] [ 1.48709648e-02 -2.67601568e-04 9.99889385e-01 8.78010689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.95, Y:15.06, Z:0.88 [[ 8.27126059e-01 -5.61878119e-01 -1.24684776e-02 5.69525966e+01] [ 5.61819683e-01 8.27219977e-01 -8.10878425e-03 1.50603469e+01] [ 1.48703222e-02 -2.98049372e-04 9.99889386e-01 8.78633151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.98, Y:15.08, Z:0.88 [[ 8.28150347e-01 -5.60367375e-01 -1.24662453e-02 5.69762937e+01] [ 5.60308717e-01 8.28244127e-01 -8.11221475e-03 1.50756402e+01] [ 1.48709149e-02 -2.66812420e-04 9.99889386e-01 8.79215869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.00, Y:15.09, Z:0.88 [[ 8.28569070e-01 -5.59748108e-01 -1.24640120e-02 5.70002367e+01] [ 5.59689329e-01 8.28662773e-01 -8.11564463e-03 1.50912196e+01] [ 1.48711795e-02 -2.51602370e-04 9.99889386e-01 8.80133840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.798040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.02, Y:15.11, Z:0.88 [[ 8.29437774e-01 -5.58460100e-01 -1.24617865e-02 5.70215459e+01] [ 5.58401124e-01 8.29531353e-01 -8.11906043e-03 1.51056353e+01] [ 1.48716139e-02 -2.24420184e-04 9.99889386e-01 8.81116616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.828040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.05, Y:15.12, Z:0.88 [[ 8.29342353e-01 -5.58602856e-01 -1.24141071e-02 5.70467039e+01] [ 5.58542799e-01 8.29435247e-01 -8.19218177e-03 1.51218281e+01] [ 1.48728741e-02 -1.39686806e-04 9.99889383e-01 8.81833615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.07, Y:15.14, Z:0.88 [[ 8.29576682e-01 -5.58253786e-01 -1.24595124e-02 5.70706347e+01] [ 5.58194734e-01 8.29670214e-01 -8.12253268e-03 1.51372919e+01] [ 1.48717209e-02 -2.16570472e-04 9.99889386e-01 8.83353279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.888040942 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:57.09, Y:15.15, Z:0.88 [[ 8.29455764e-01 -5.58433480e-01 -1.24573143e-02 5.70944908e+01] [ 5.58374398e-01 8.29549276e-01 -8.12590235e-03 1.51521406e+01] [ 1.48717320e-02 -2.15768841e-04 9.99889386e-01 8.84505748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.918040942 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:57.12, Y:15.17, Z:0.89 [[ 8.29208928e-01 -5.58799985e-01 -1.24551216e-02 5.71175129e+01] [ 5.58740894e-01 8.29302435e-01 -8.12926196e-03 1.51659665e+01] [ 1.48716941e-02 -2.18329161e-04 9.99889386e-01 8.85560426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.14, Y:15.18, Z:0.89 [[ 8.28936014e-01 -5.59204773e-01 -1.24541721e-02 5.71412957e+01] [ 5.59145705e-01 8.29029536e-01 -8.13071637e-03 1.51813677e+01] [ 1.48716119e-02 -2.23853201e-04 9.99889386e-01 8.86089242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.978040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.16, Y:15.20, Z:0.89 [[ 8.28601610e-01 -5.59700204e-01 -1.24520181e-02 5.71644574e+01] [ 5.59641143e-01 8.28695136e-01 -8.13401377e-03 1.51968847e+01] [ 1.48715360e-02 -2.28804727e-04 9.99889386e-01 8.86373308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00804094200001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:57.19, Y:15.21, Z:0.89 [[ 8.28477026e-01 -5.59884648e-01 -1.24498395e-02 5.71875963e+01] [ 5.59825557e-01 8.28570533e-01 -8.13734699e-03 1.52127743e+01] [ 1.48715458e-02 -2.28133292e-04 9.99889386e-01 8.86603689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.038040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.21, Y:15.23, Z:0.89 [[ 8.28322053e-01 -5.60113947e-01 -1.24476387e-02 5.72105363e+01] [ 5.60054831e-01 8.28415545e-01 -8.14071208e-03 1.52283605e+01] [ 1.48715438e-02 -2.28228855e-04 9.99889386e-01 8.86672302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.068040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.23, Y:15.24, Z:0.89 [[ 8.27932532e-01 -5.60689605e-01 -1.24454573e-02 5.72345260e+01] [ 5.60630505e-01 8.28026033e-01 -8.14404569e-03 1.52433995e+01] [ 1.48714444e-02 -2.34582630e-04 9.99889386e-01 8.86549969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.098040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.25, Y:15.26, Z:0.89 [[ 8.28811140e-01 -5.59390079e-01 -1.24431757e-02 5.72548115e+01] [ 5.59330780e-01 8.28904516e-01 -8.14753019e-03 1.52558815e+01] [ 1.48718521e-02 -2.07087384e-04 9.99889386e-01 8.86641347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.30, Y:15.27, Z:0.89 [[ 8.32092439e-01 -5.54499115e-01 -1.23654417e-02 5.73016716e+01] [ 5.54437499e-01 8.32184313e-01 -8.26614614e-03 1.52709936e+01] [ 1.48738973e-02 2.23331495e-05 9.99889377e-01 8.86030509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.158040942 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:57.30, Y:15.29, Z:0.89 [[ 8.27106440e-01 -5.61900502e-01 -1.27578421e-02 5.73049763e+01] [ 5.61848825e-01 8.27204413e-01 -7.66529206e-03 1.52879027e+01] [ 1.48604747e-02 -8.27966172e-04 9.99889234e-01 8.88210684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.188040942 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:57.33, Y:15.30, Z:0.89 [[ 8.26076944e-01 -5.63420943e-01 -1.23984930e-02 5.73296350e+01] [ 5.63361106e-01 8.26169959e-01 -8.21358337e-03 1.53049121e+01] [ 1.48709673e-02 -1.99776866e-04 9.99889401e-01 8.88077541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.35, Y:15.32, Z:0.89 [[ 8.25668229e-01 -5.64018838e-01 -1.24388984e-02 5.73531065e+01] [ 5.63959995e-01 8.25761872e-01 -8.15192942e-03 1.53210666e+01] [ 1.48694098e-02 -2.84251973e-04 9.99889404e-01 8.88692182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.248040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.38, Y:15.34, Z:0.89 [[ 8.25769141e-01 -5.63871133e-01 -1.24366699e-02 5.73751217e+01] [ 5.63812223e-01 8.25862742e-01 -8.15532781e-03 1.53359654e+01] [ 1.48695363e-02 -2.77528478e-04 9.99889404e-01 8.88032806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.278040942 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:57.41, Y:15.35, Z:0.89 [[ 8.27730154e-01 -5.60988543e-01 -1.24357076e-02 5.74103802e+01] [ 5.60929284e-01 8.27823535e-01 -8.15679502e-03 1.53493794e+01] [ 1.48704399e-02 -2.23927343e-04 9.99889404e-01 8.86503484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.308040942 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:57.43, Y:15.37, Z:0.88 [[ 8.26426823e-01 -5.62902426e-01 -1.26319145e-02 5.74326943e+01] [ 5.62847925e-01 8.26523126e-01 -7.85717502e-03 1.53651267e+01] [ 1.48633923e-02 -6.16466663e-04 9.99889344e-01 8.84956685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.338040942 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:57.46, Y:15.38, Z:0.88 [[ 8.24873952e-01 -5.65176925e-01 -1.25701050e-02 5.74561208e+01] [ 5.65121255e-01 8.24969543e-01 -7.95114062e-03 1.53827824e+01] [ 1.48637550e-02 -5.44944758e-04 9.99889380e-01 8.84728791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36804094200001 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:57.48, Y:15.40, Z:0.89 [[ 8.26197283e-01 -5.63240708e-01 -1.25679670e-02 5.74816155e+01] [ 5.63184765e-01 8.26292714e-01 -7.95438811e-03 1.53965104e+01] [ 1.48650548e-02 -5.06193697e-04 9.99889381e-01 8.88838531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.39804094200001 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:57.51, Y:15.41, Z:0.89 [[ 8.23693446e-01 -5.66895735e-01 -1.25830286e-02 5.75064155e+01] [ 5.66840564e-01 8.23789334e-01 -7.93152119e-03 1.54147679e+01] [ 1.48621103e-02 -5.99428992e-04 9.99889373e-01 8.86149607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.428040942 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:57.53, Y:15.43, Z:0.89 [[ 8.22605644e-01 -5.68472702e-01 -1.25992565e-02 5.75299140e+01] [ 5.68418091e-01 8.22701862e-01 -7.90688746e-03 1.54304380e+01] [ 1.48602814e-02 -6.57395064e-04 9.99889364e-01 8.85733815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.458040942 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:57.55, Y:15.45, Z:0.89 [[ 8.21514611e-01 -5.70048710e-01 -1.25782231e-02 5.75537625e+01] [ 5.69993795e-01 8.21610643e-01 -7.93878027e-03 1.54462413e+01] [ 1.48598934e-02 -6.47685130e-04 9.99889376e-01 8.86812279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.488040942 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:57.58, Y:15.46, Z:0.89 [[ 8.20343168e-01 -5.71733403e-01 -1.25699206e-02 5.75768520e+01] [ 5.71678493e-01 8.20439197e-01 -7.95135531e-03 1.54607423e+01] [ 1.48589110e-02 -6.63113272e-04 9.99889380e-01 8.87391713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.518040942 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:57.60, Y:15.48, Z:0.89 [[ 8.20485958e-01 -5.71528431e-01 -1.25715918e-02 5.75978778e+01] [ 5.71473536e-01 8.20581997e-01 -7.94882577e-03 1.54754568e+01] [ 1.48590019e-02 -6.62432106e-04 9.99889380e-01 8.86922056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.62, Y:15.49, Z:0.89 [[ 8.19183564e-01 -5.73394991e-01 -1.25089380e-02 5.76227668e+01] [ 5.73338869e-01 8.19278857e-01 -8.04339701e-03 1.54933891e+01] [ 1.48603520e-02 -5.82841729e-04 9.99889409e-01 8.87738011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.578040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.65, Y:15.51, Z:0.89 [[ 8.19762403e-01 -5.72566425e-01 -1.25415936e-02 5.76470184e+01] [ 5.72510959e-01 8.19858095e-01 -7.99412672e-03 1.55083914e+01] [ 1.48594956e-02 -6.26915275e-04 9.99889395e-01 8.89920813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.608040942 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:57.67, Y:15.52, Z:0.89 [[ 8.19607142e-01 -5.72788148e-01 -1.25646657e-02 5.76705170e+01] [ 5.72733240e-01 8.19703169e-01 -7.95934896e-03 1.55243315e+01] [ 1.48583170e-02 -6.72662417e-04 9.99889383e-01 8.90542174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.638040942 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:57.70, Y:15.54, Z:0.89 [[ 8.20353525e-01 -5.71719103e-01 -1.25443802e-02 5.76950710e+01] [ 5.71663602e-01 8.20449199e-01 -7.98988136e-03 1.55400924e+01] [ 1.48599945e-02 -6.16638225e-04 9.99889394e-01 8.90415676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.668040942 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:57.71, Y:15.55, Z:0.89 [[ 8.21225208e-01 -5.70465923e-01 -1.25613883e-02 5.77135877e+01] [ 5.70410667e-01 8.21321034e-01 -7.96429186e-03 1.55538029e+01] [ 1.48602895e-02 -6.24672632e-04 9.99889385e-01 8.90593856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.698040942 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:57.74, Y:15.57, Z:0.89 [[ 8.19969554e-01 -5.72271370e-01 -1.24663729e-02 5.77401351e+01] [ 5.72214149e-01 8.20064170e-01 -8.10704942e-03 1.55723861e+01] [ 1.48626580e-02 -4.85901255e-04 9.99889427e-01 8.91666608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.728040942 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:57.76, Y:15.59, Z:0.89 [[ 8.20095158e-01 -5.72089561e-01 -1.25485888e-02 5.77624177e+01] [ 5.72034202e-01 8.20190915e-01 -7.98347106e-03 1.55887607e+01] [ 1.48594990e-02 -6.31016011e-04 9.99889392e-01 8.90281024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.75804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.78, Y:15.61, Z:0.89 [[ 8.19430936e-01 -5.73041123e-01 -1.25225019e-02 5.77827364e+01] [ 5.72985276e-01 8.19526394e-01 -8.02266461e-03 1.56058793e+01] [ 1.48598376e-02 -6.01189659e-04 9.99889406e-01 8.89811992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.788040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.80, Y:15.62, Z:0.89 [[ 8.21108336e-01 -5.70635847e-01 -1.24832352e-02 5.78038280e+01] [ 5.70578825e-01 8.21203077e-01 -8.08157693e-03 1.56204990e+01] [ 1.48629087e-02 -4.86819503e-04 9.99889422e-01 8.89601418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.818040942 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:57.82, Y:15.64, Z:0.89 [[ 8.19901902e-01 -5.72368644e-01 -1.24501395e-02 5.78220892e+01] [ 5.72311068e-01 8.19996296e-01 -8.13120603e-03 1.56375307e+01] [ 1.48631157e-02 -4.58561366e-04 9.99889433e-01 8.94594789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.85, Y:15.65, Z:0.89 [[ 8.20573232e-01 -5.71407060e-01 -1.23912043e-02 5.78451829e+01] [ 5.71348038e-01 8.20666716e-01 -8.21950753e-03 1.56536810e+01] [ 1.48657336e-02 -3.34982423e-04 9.99889443e-01 8.93827913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.878040942 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:57.87, Y:15.67, Z:0.89 [[ 8.21257125e-01 -5.70424132e-01 -1.23711150e-02 5.78680758e+01] [ 5.70364545e-01 8.21350248e-01 -8.24959373e-03 1.56696350e+01] [ 1.48667857e-02 -2.81007740e-04 9.99889444e-01 8.93341495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.908040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:57.89, Y:15.69, Z:0.89 [[ 8.22424556e-01 -5.68739814e-01 -1.23641709e-02 5.78898977e+01] [ 5.68679880e-01 8.22517457e-01 -8.25998813e-03 1.56859808e+01] [ 1.48675305e-02 -2.38038156e-04 9.99889444e-01 8.93715146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.938040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:57.91, Y:15.70, Z:0.89 [[ 8.22297218e-01 -5.68924207e-01 -1.23503808e-02 5.79135954e+01] [ 5.68863984e-01 8.22389931e-01 -8.28062391e-03 1.57019384e+01] [ 1.48678762e-02 -2.16552832e-04 9.99889444e-01 8.94130225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.94, Y:15.72, Z:0.89 [[ 8.22239645e-01 -5.69007410e-01 -1.23504377e-02 5.79409829e+01] [ 5.68947197e-01 8.22332366e-01 -8.28053877e-03 1.57198869e+01] [ 1.48678526e-02 -2.18159666e-04 9.99889444e-01 8.88189327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.96, Y:15.73, Z:0.90 [[ 8.23335621e-01 -5.67418697e-01 -1.24289080e-02 5.79613465e+01] [ 5.67360072e-01 8.23429361e-01 -8.16311343e-03 1.57346406e+01] [ 1.48662310e-02 -3.30684088e-04 9.99889437e-01 8.95328326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.028040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.98, Y:15.75, Z:0.90 [[ 8.23934122e-01 -5.66550494e-01 -1.23734122e-02 5.79845406e+01] [ 5.66490521e-01 8.24026997e-01 -8.24609919e-03 1.57502164e+01] [ 1.48678573e-02 -2.15178223e-04 9.99889444e-01 8.95583294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.058040942 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:58.01, Y:15.77, Z:0.90 [[ 8.24119441e-01 -5.66281093e-01 -1.23641216e-02 5.80078270e+01] [ 5.66220881e-01 8.24212161e-01 -8.25998577e-03 1.57657518e+01] [ 1.48681332e-02 -1.93608986e-04 9.99889444e-01 8.96053813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.03, Y:15.78, Z:0.89 [[ 8.25494560e-01 -5.64274307e-01 -1.23789213e-02 5.80309481e+01] [ 5.64214201e-01 8.25587350e-01 -8.23787079e-03 1.57814281e+01] [ 1.48682997e-02 -1.84045651e-04 9.99889444e-01 8.94489244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.11804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.05, Y:15.80, Z:0.90 [[ 8.25773265e-01 -5.63866871e-01 -1.23558107e-02 5.80523359e+01] [ 5.63806203e-01 8.25865687e-01 -8.27238932e-03 1.57959975e+01] [ 1.48687663e-02 -1.35164753e-04 9.99889445e-01 8.95543054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.08, Y:15.81, Z:0.90 [[ 8.24660572e-01 -5.65494000e-01 -1.23075904e-02 5.80774169e+01] [ 5.65432437e-01 8.24752405e-01 -8.34440969e-03 1.58137810e+01] [ 1.48694284e-02 -7.78051959e-05 9.99889441e-01 8.95796194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.10, Y:15.83, Z:0.90 [[ 8.24247151e-01 -5.66095147e-01 -1.23660684e-02 5.80999379e+01] [ 5.66034958e-01 8.24339886e-01 -8.25704676e-03 1.58289731e+01] [ 1.48681175e-02 -1.93779753e-04 9.99889445e-01 8.96199957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.12, Y:15.84, Z:0.90 [[ 8.23559204e-01 -5.67095753e-01 -1.23549386e-02 5.81225124e+01] [ 5.67035428e-01 8.23651850e-01 -8.27366673e-03 1.58436749e+01] [ 1.48681293e-02 -1.91833511e-04 9.99889445e-01 8.96763703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.238040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.15, Y:15.86, Z:0.90 [[ 8.21155817e-01 -5.70570332e-01 -1.23539751e-02 5.81485496e+01] [ 5.70510377e-01 8.21248703e-01 -8.27510521e-03 1.58595935e+01] [ 1.48672155e-02 -2.52920200e-04 9.99889445e-01 8.97157395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.17, Y:15.87, Z:0.90 [[ 8.20411170e-01 -5.71640002e-01 -1.23781974e-02 5.81712313e+01] [ 5.71580712e-01 8.20504484e-01 -8.23897126e-03 1.58748581e+01] [ 1.48660920e-02 -3.15794803e-04 9.99889444e-01 8.97937421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.298040942 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:58.19, Y:15.89, Z:0.90 [[ 8.18439921e-01 -5.74459427e-01 -1.23475577e-02 5.81926903e+01] [ 5.74399770e-01 8.18532998e-01 -8.28463707e-03 1.58907046e+01] [ 1.48660713e-02 -3.11956620e-04 9.99889445e-01 8.97185441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.22, Y:15.91, Z:0.89 [[ 8.18688713e-01 -5.74104828e-01 -1.23465345e-02 5.82208456e+01] [ 5.74045108e-01 8.18781750e-01 -8.28616172e-03 1.59073656e+01] [ 1.48662426e-02 -3.03680657e-04 9.99889445e-01 8.93710343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.358040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.24, Y:15.92, Z:0.89 [[ 8.18139163e-01 -5.74885289e-01 -1.24585433e-02 5.82436975e+01] [ 5.74828186e-01 8.18233851e-01 -8.11916331e-03 1.59231174e+01] [ 1.48615894e-02 -5.18916401e-04 9.99889426e-01 8.94053340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.388040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.26, Y:15.94, Z:0.90 [[ 8.16437076e-01 -5.77299957e-01 -1.24603613e-02 5.82603443e+01] [ 5.77243176e-01 8.16531958e-01 -8.11645416e-03 1.59387662e+01] [ 1.48599118e-02 -5.66084412e-04 9.99889425e-01 8.97798182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.418040942 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:58.28, Y:15.96, Z:0.90 [[ 8.15796266e-01 -5.78207696e-01 -1.23415114e-02 5.82831014e+01] [ 5.78148335e-01 8.15889529e-01 -8.29331849e-03 1.59555006e+01] [ 1.48645705e-02 -3.69566002e-04 9.99889448e-01 8.98392740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.448040942 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:58.30, Y:15.97, Z:0.90 [[ 8.15463578e-01 -5.78676850e-01 -1.23391936e-02 5.83046885e+01] [ 5.78617490e-01 8.15556843e-01 -8.29676549e-03 1.59715291e+01] [ 1.48644599e-02 -3.73963175e-04 9.99889448e-01 8.98550135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.478040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.33, Y:15.99, Z:0.90 [[ 8.15701404e-01 -5.78341585e-01 -1.23381892e-02 5.83254834e+01] [ 5.78282164e-01 8.15794630e-01 -8.29825892e-03 1.59891454e+01] [ 1.48646567e-02 -3.66053300e-04 9.99889448e-01 8.99263714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.35, Y:16.01, Z:0.90 [[ 8.16140503e-01 -5.77721796e-01 -1.23371994e-02 5.83481760e+01] [ 5.77662282e-01 8.16233669e-01 -8.29973025e-03 1.60058531e+01] [ 1.48649726e-02 -3.52988728e-04 9.99889448e-01 8.99384338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.538040942 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:58.37, Y:16.02, Z:0.90 [[ 8.16562710e-01 -5.77124935e-01 -1.23349044e-02 5.83711507e+01] [ 5.77065302e-01 8.16655799e-01 -8.30313968e-03 1.60228361e+01] [ 1.48653201e-02 -3.38011068e-04 9.99889448e-01 8.99441554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.568040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.39, Y:16.04, Z:0.90 [[ 8.17790547e-01 -5.75383811e-01 -1.23325606e-02 5.83932744e+01] [ 5.75323927e-01 8.17883475e-01 -8.30661942e-03 1.60406319e+01] [ 1.48660918e-02 -3.02142342e-04 9.99889448e-01 8.99969341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.598040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:58.42, Y:16.06, Z:0.90 [[ 8.18422080e-01 -5.74485218e-01 -1.23301852e-02 5.84161795e+01] [ 5.74425179e-01 8.18514908e-01 -8.31014382e-03 1.60577715e+01] [ 1.48664952e-02 -2.81563668e-04 9.99889448e-01 9.00566512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.44, Y:16.08, Z:0.90 [[ 8.19476123e-01 -5.72980723e-01 -1.23278062e-02 5.84380203e+01] [ 5.72920461e-01 8.19568807e-01 -8.31367148e-03 1.60758376e+01] [ 1.48670589e-02 -2.49997161e-04 9.99889448e-01 9.01744050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.658040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.46, Y:16.09, Z:0.90 [[ 8.19670727e-01 -5.72702316e-01 -1.23270689e-02 5.84605488e+01] [ 5.72642005e-01 8.19763380e-01 -8.31476464e-03 1.60929441e+01] [ 1.48671646e-02 -2.43628264e-04 9.99889448e-01 9.01669371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.49, Y:16.11, Z:0.90 [[ 8.21131601e-01 -5.70605815e-01 -1.23246847e-02 5.84876100e+01] [ 5.70545215e-01 8.21224064e-01 -8.31829712e-03 1.61091437e+01] [ 1.48677964e-02 -2.01373257e-04 9.99889448e-01 9.01568552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.718040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:58.51, Y:16.13, Z:0.90 [[ 8.19637754e-01 -5.72747880e-01 -1.24023583e-02 5.85052509e+01] [ 5.72689257e-01 8.19731494e-01 -8.20321743e-03 1.61268995e+01] [ 1.48649791e-02 -3.79030675e-04 9.99889438e-01 9.02451820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.53, Y:16.14, Z:0.90 [[ 8.19190764e-01 -5.73388787e-01 -1.23203523e-02 5.85268233e+01] [ 5.73328406e-01 8.19283370e-01 -8.32458626e-03 1.61432450e+01] [ 1.48670842e-02 -2.44183789e-04 9.99889449e-01 9.02561922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.55, Y:16.16, Z:0.90 [[ 8.18614076e-01 -5.74211833e-01 -1.23193222e-02 5.85498203e+01] [ 5.74151523e-01 8.18706727e-01 -8.32611038e-03 1.61599591e+01] [ 1.48668631e-02 -2.57286474e-04 9.99889449e-01 9.02766636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.58, Y:16.18, Z:0.90 [[ 8.19364088e-01 -5.73141156e-01 -1.23169726e-02 5.85796385e+01] [ 5.73080672e-01 8.19456626e-01 -8.32958486e-03 1.61762119e+01] [ 1.48672527e-02 -2.33656215e-04 9.99889449e-01 9.00251821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.838040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:58.61, Y:16.19, Z:0.90 [[ 8.19779623e-01 -5.72543754e-01 -1.24507030e-02 5.86057598e+01] [ 5.72486198e-01 8.19874037e-01 -8.13122197e-03 1.61918027e+01] [ 1.48634884e-02 -4.62045517e-04 9.99889425e-01 9.02763078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.62, Y:16.21, Z:0.90 [[ 8.15736868e-01 -5.78288283e-01 -1.24909626e-02 5.86195070e+01] [ 5.78232303e-01 8.15832246e-01 -8.07154543e-03 1.62103103e+01] [ 1.48582102e-02 -6.38420900e-04 9.99889407e-01 9.02604013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.89804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.64, Y:16.23, Z:0.90 [[ 8.14657754e-01 -5.79811169e-01 -1.23187707e-02 5.86418995e+01] [ 5.79751493e-01 8.14750808e-01 -8.32630461e-03 1.62272626e+01] [ 1.48644128e-02 -3.58737123e-04 9.99889454e-01 9.02630075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.928040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.66, Y:16.24, Z:0.90 [[ 8.13670689e-01 -5.81195591e-01 -1.23164645e-02 5.86645593e+01] [ 5.81136021e-01 8.13763811e-01 -8.32971465e-03 1.62445978e+01] [ 1.48638865e-02 -3.79896530e-04 9.99889454e-01 9.02589750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.958040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.68, Y:16.26, Z:0.90 [[ 8.11705951e-01 -5.83936479e-01 -1.23141678e-02 5.86845381e+01] [ 5.83877172e-01 8.11799241e-01 -8.33310857e-03 1.62624915e+01] [ 1.48626382e-02 -4.25927670e-04 9.99889454e-01 9.01280817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.988040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.71, Y:16.28, Z:0.90 [[ 8.10643568e-01 -5.85410446e-01 -1.23131751e-02 5.87072787e+01] [ 5.85351287e-01 8.10736952e-01 -8.33457512e-03 1.62795810e+01] [ 1.48618934e-02 -4.51163193e-04 9.99889454e-01 9.01123831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.73, Y:16.30, Z:0.90 [[ 8.09663556e-01 -5.86765173e-01 -1.23109027e-02 5.87293949e+01] [ 5.86706119e-01 8.09757006e-01 -8.33793040e-03 1.62963511e+01] [ 1.48612469e-02 -4.71963558e-04 9.99889454e-01 9.01224402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.75, Y:16.31, Z:0.90 [[ 8.08010226e-01 -5.89039874e-01 -1.23085932e-02 5.87511746e+01] [ 5.88981031e-01 8.08103810e-01 -8.34133825e-03 1.63146465e+01] [ 1.48600019e-02 -5.09641322e-04 9.99889454e-01 9.00920305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.77, Y:16.33, Z:0.90 [[ 8.07369033e-01 -5.89918469e-01 -1.23062550e-02 5.87728899e+01] [ 5.89859676e-01 8.07462648e-01 -8.34478648e-03 1.63313702e+01] [ 1.48595849e-02 -5.21641391e-04 9.99889454e-01 9.01513864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.79, Y:16.35, Z:0.90 [[ 8.06533246e-01 -5.91060672e-01 -1.23046681e-02 5.87935199e+01] [ 5.91001976e-01 8.06626921e-01 -8.34712577e-03 1.63509724e+01] [ 1.48589343e-02 -5.39848715e-04 9.99889454e-01 9.01540526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.138040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.82, Y:16.37, Z:0.90 [[ 8.06209354e-01 -5.91502434e-01 -1.23023726e-02 5.88151543e+01] [ 5.91443738e-01 8.06303029e-01 -8.35050754e-03 1.63689326e+01] [ 1.48587859e-02 -5.43903974e-04 9.99889454e-01 9.01481209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.84, Y:16.39, Z:0.90 [[ 8.06011699e-01 -5.91771788e-01 -1.23000779e-02 5.88369779e+01] [ 5.91713071e-01 8.06105361e-01 -8.35388624e-03 1.63868303e+01] [ 1.48587530e-02 -5.44786846e-04 9.99889454e-01 9.01499151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.86, Y:16.41, Z:0.90 [[ 8.06184235e-01 -5.91536766e-01 -1.22977685e-02 5.88576902e+01] [ 5.91477970e-01 8.06277848e-01 -8.35728459e-03 1.64057641e+01] [ 1.48590594e-02 -5.36348056e-04 9.99889454e-01 9.01165761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.228040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.88, Y:16.42, Z:0.90 [[ 8.06196755e-01 -5.91519750e-01 -1.22954606e-02 5.88798045e+01] [ 5.91460900e-01 8.06290334e-01 -8.36067864e-03 1.64232149e+01] [ 1.48592176e-02 -5.31932202e-04 9.99889454e-01 9.01137196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.25804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.90, Y:16.44, Z:0.90 [[ 8.06522009e-01 -5.91076246e-01 -1.22931334e-02 5.89011110e+01] [ 5.91017292e-01 8.06615523e-01 -8.36409909e-03 1.64403753e+01] [ 1.48596525e-02 -5.19624389e-04 9.99889454e-01 9.02072738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.92, Y:16.46, Z:0.90 [[ 8.07176096e-01 -5.90182729e-01 -1.22921358e-02 5.89213752e+01] [ 5.90123650e-01 8.07269531e-01 -8.36556492e-03 1.64610064e+01] [ 1.48602786e-02 -5.01395993e-04 9.99889454e-01 9.01430805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.318040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.94, Y:16.48, Z:0.90 [[ 8.07515274e-01 -5.89718613e-01 -1.22897796e-02 5.89429328e+01] [ 5.89659428e-01 8.07608642e-01 -8.36902497e-03 1.64798407e+01] [ 1.48607020e-02 -4.88668897e-04 9.99889454e-01 9.00942843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.96, Y:16.50, Z:0.90 [[ 8.08332467e-01 -5.88598032e-01 -1.22873921e-02 5.89621686e+01] [ 5.88538664e-01 8.08425718e-01 -8.37252885e-03 1.64994889e+01] [ 1.48614977e-02 -4.63818393e-04 9.99889454e-01 9.00885461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.98, Y:16.52, Z:0.90 [[ 8.08477451e-01 -5.88398891e-01 -1.22864055e-02 5.89834826e+01] [ 5.88339478e-01 8.08570674e-01 -8.37397627e-03 1.65163915e+01] [ 1.48616656e-02 -4.58406436e-04 9.99889454e-01 9.01531089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.408040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.01, Y:16.53, Z:0.90 [[ 8.08453336e-01 -5.88432046e-01 -1.22853849e-02 5.90054058e+01] [ 5.88372615e-01 8.08546546e-01 -8.37547334e-03 1.65338690e+01] [ 1.48617025e-02 -4.57204690e-04 9.99889454e-01 9.01806409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.03, Y:16.55, Z:0.90 [[ 8.08584193e-01 -5.88252266e-01 -1.22830589e-02 5.90268084e+01] [ 5.88192762e-01 8.08677358e-01 -8.37888314e-03 1.65508743e+01] [ 1.48619286e-02 -4.49773894e-04 9.99889454e-01 9.02454814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.05, Y:16.57, Z:0.90 [[ 8.08896960e-01 -5.87822133e-01 -1.22820499e-02 5.90474439e+01] [ 5.87762557e-01 8.08990078e-01 -8.38036196e-03 1.65709262e+01] [ 1.48622187e-02 -4.40079738e-04 9.99889454e-01 9.02358050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.07, Y:16.59, Z:0.90 [[ 8.08965843e-01 -5.87727379e-01 -1.22797530e-02 5.90682033e+01] [ 5.87667741e-01 8.09058922e-01 -8.38372626e-03 1.65904802e+01] [ 1.48623892e-02 -4.34266521e-04 9.99889454e-01 9.02489005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.10, Y:16.61, Z:0.90 [[ 8.10340540e-01 -5.85830584e-01 -1.22774168e-02 5.90957029e+01] [ 5.85770677e-01 8.10433446e-01 -8.38714605e-03 1.66077614e+01] [ 1.48634759e-02 -3.95306293e-04 9.99889454e-01 9.01903820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.12, Y:16.63, Z:0.90 [[ 8.09816512e-01 -5.86552763e-01 -1.23722749e-02 5.91152979e+01] [ 5.86495050e-01 8.09910812e-01 -8.24823515e-03 1.66252318e+01] [ 1.48584643e-02 -5.76720985e-04 9.99889441e-01 9.02645787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.13, Y:16.64, Z:0.90 [[ 8.09488356e-01 -5.87006266e-01 -1.23387314e-02 5.91336991e+01] [ 5.86947858e-01 8.09582218e-01 -8.29731197e-03 1.66423977e+01] [ 1.48597916e-02 -5.25614512e-04 9.99889449e-01 9.03397533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.61804094200001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:59.15, Y:16.66, Z:0.90 [[ 8.09738742e-01 -5.86662233e-01 -1.22716912e-02 5.91545092e+01] [ 5.86602297e-01 8.09831627e-01 -8.39530685e-03 1.66611327e+01] [ 1.48632132e-02 -4.00597070e-04 9.99889456e-01 9.03408963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.18, Y:16.68, Z:0.90 [[ 8.09598880e-01 -5.86855278e-01 -1.22693293e-02 5.91767704e+01] [ 5.86795312e-01 8.09691746e-01 -8.39875736e-03 1.66790785e+01] [ 1.48632297e-02 -3.99960336e-04 9.99889456e-01 9.03618256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.20, Y:16.70, Z:0.90 [[ 8.10115036e-01 -5.86142603e-01 -1.22669483e-02 5.91970525e+01] [ 5.86082503e-01 8.10207814e-01 -8.40223348e-03 1.66980485e+01] [ 1.48636844e-02 -3.82668078e-04 9.99889456e-01 9.03148858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.708040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:59.22, Y:16.72, Z:0.90 [[ 8.10279422e-01 -5.85915357e-01 -1.22659197e-02 5.92188260e+01] [ 5.85855208e-01 8.10372169e-01 -8.40373479e-03 1.67151585e+01] [ 1.48638372e-02 -3.76679569e-04 9.99889456e-01 9.03252478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.24, Y:16.73, Z:0.90 [[ 8.10884258e-01 -5.85078051e-01 -1.22635890e-02 5.92403218e+01] [ 5.85017754e-01 8.10976909e-01 -8.40713468e-03 1.67334013e+01] [ 1.48643174e-02 -3.57204112e-04 9.99889456e-01 9.03627071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.26, Y:16.75, Z:0.90 [[ 8.11754004e-01 -5.83870790e-01 -1.22612734e-02 5.92610774e+01] [ 5.83810305e-01 8.11846532e-01 -8.41051039e-03 1.67498673e+01] [ 1.48649236e-02 -3.30992283e-04 9.99889456e-01 9.04672086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.798040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.29, Y:16.77, Z:0.90 [[ 8.12754330e-01 -5.82478325e-01 -1.22229570e-02 5.92886487e+01] [ 5.82416841e-01 8.12846200e-01 -8.46633527e-03 1.67673689e+01] [ 1.48668410e-02 -2.37805371e-04 9.99889454e-01 9.02222838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.828040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.31, Y:16.78, Z:0.90 [[ 8.13366454e-01 -5.81620773e-01 -1.23405232e-02 5.93120122e+01] [ 5.81561778e-01 8.13459951e-01 -8.29495168e-03 1.67849119e+01] [ 1.48630376e-02 -4.29941208e-04 9.99889447e-01 9.02198264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.34, Y:16.80, Z:0.90 [[ 8.13114964e-01 -5.81972047e-01 -1.23528345e-02 5.93354838e+01] [ 5.81913365e-01 8.13208661e-01 -8.27701302e-03 1.68012612e+01] [ 1.48624222e-02 -4.58116361e-04 9.99889443e-01 9.02629785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.35, Y:16.82, Z:0.90 [[ 8.12684470e-01 -5.82573197e-01 -1.23459938e-02 5.93528180e+01] [ 5.82514433e-01 8.12778113e-01 -8.28696708e-03 1.68194413e+01] [ 1.48623184e-02 -4.57030131e-04 9.99889445e-01 9.02645719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.38, Y:16.84, Z:0.91 [[ 8.14818712e-01 -5.79586222e-01 -1.22588233e-02 5.93839624e+01] [ 5.79525203e-01 8.14910885e-01 -8.41365439e-03 1.68351117e+01] [ 1.48662867e-02 -2.48694032e-04 9.99889460e-01 9.06688739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.40, Y:16.85, Z:0.91 [[ 8.12834943e-01 -5.82362452e-01 -1.23825958e-02 5.94012479e+01] [ 5.82304472e-01 8.12929090e-01 -8.23380221e-03 1.68537352e+01] [ 1.48612296e-02 -5.17718784e-04 9.99889432e-01 9.05729222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.978040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.42, Y:16.87, Z:0.91 [[ 8.10243681e-01 -5.85964253e-01 -1.22911170e-02 5.94161891e+01] [ 5.85904673e-01 8.10336791e-01 -8.36655055e-03 1.68718805e+01] [ 1.48624439e-02 -4.22478187e-04 9.99889459e-01 9.05373283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.44, Y:16.89, Z:0.91 [[ 8.10092003e-01 -5.86175988e-01 -1.21925302e-02 5.94395662e+01] [ 5.86114273e-01 8.10183712e-01 -8.50951242e-03 1.68888098e+01] [ 1.48662612e-02 -2.52728036e-04 9.99889459e-01 9.06922549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.038040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.47, Y:16.91, Z:0.90 [[ 8.11093945e-01 -5.84788622e-01 -1.22016364e-02 5.94690719e+01] [ 5.84726949e-01 8.11185681e-01 -8.49631271e-03 1.69050888e+01] [ 1.48663397e-02 -2.43317820e-04 9.99889460e-01 9.03713190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.068040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.49, Y:16.92, Z:0.90 [[ 8.09871570e-01 -5.86477661e-01 -1.23285238e-02 5.94905714e+01] [ 5.86418964e-01 8.09965249e-01 -8.31227171e-03 1.69220356e+01] [ 1.48606375e-02 -4.97807577e-04 9.99889451e-01 9.04737202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.51, Y:16.94, Z:0.90 [[ 8.07607529e-01 -5.89592289e-01 -1.22886868e-02 5.95091001e+01] [ 5.89533074e-01 8.07700871e-01 -8.37000995e-03 1.69388645e+01] [ 1.48604763e-02 -4.84904217e-04 9.99889459e-01 9.04883531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.53, Y:16.95, Z:0.90 [[ 8.07038011e-01 -5.90372672e-01 -1.22374991e-02 5.95317928e+01] [ 5.90312423e-01 8.07130684e-01 -8.44413495e-03 1.69547023e+01] [ 1.48624475e-02 -4.09209871e-04 9.99889464e-01 9.03832800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.158040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.56, Y:16.97, Z:0.90 [[ 8.07016168e-01 -5.90402847e-01 -1.22222469e-02 5.95566009e+01] [ 5.90342267e-01 8.07108624e-01 -8.46621164e-03 1.69707069e+01] [ 1.48631563e-02 -3.82939264e-04 9.99889464e-01 9.04270876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.58, Y:16.99, Z:0.91 [[ 8.06272867e-01 -5.91416827e-01 -1.22556754e-02 5.95776721e+01] [ 5.91357096e-01 8.06365876e-01 -8.41782898e-03 1.69860422e+01] [ 1.48610041e-02 -4.60413511e-04 9.99889463e-01 9.05027574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.60, Y:17.00, Z:0.91 [[ 8.06526993e-01 -5.91070914e-01 -1.22222816e-02 5.96012048e+01] [ 5.91010412e-01 8.06619500e-01 -8.46611686e-03 1.70005121e+01] [ 1.48628061e-02 -3.95343900e-04 9.99889464e-01 9.05477961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.62, Y:17.02, Z:0.91 [[ 8.07089919e-01 -5.90302242e-01 -1.22117193e-02 5.96233766e+01] [ 5.90241420e-01 8.07182217e-01 -8.48138554e-03 1.70158416e+01] [ 1.48636636e-02 -3.62621774e-04 9.99889464e-01 9.05675542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.65, Y:17.04, Z:0.91 [[ 8.02666098e-01 -5.96304411e-01 -1.21731523e-02 5.96469718e+01] [ 5.96243434e-01 8.02758298e-01 -8.53711172e-03 1.70371982e+01] [ 1.48628164e-02 -4.05711980e-04 9.99889460e-01 9.08848606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.67, Y:17.05, Z:0.90 [[ 8.04697111e-01 -5.93559271e-01 -1.22454123e-02 5.96655678e+01] [ 5.93499562e-01 8.04790134e-01 -8.43270695e-03 1.70520992e+01] [ 1.48602984e-02 -4.81871919e-04 9.99889464e-01 9.04473075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.69, Y:17.07, Z:0.90 [[ 8.05341602e-01 -5.92687027e-01 -1.21240060e-02 5.96901489e+01] [ 5.92624569e-01 8.05432818e-01 -8.60792889e-03 1.70685734e+01] [ 1.48668801e-02 -2.52660602e-04 9.99889450e-01 9.04324837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.72, Y:17.08, Z:0.91 [[ 8.07108359e-01 -5.90278278e-01 -1.21511906e-02 5.97181962e+01] [ 5.90216138e-01 8.07199782e-01 -8.56865674e-03 1.70839392e+01] [ 1.48663304e-02 -2.55994325e-04 9.99889457e-01 9.05165328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.39804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.74, Y:17.10, Z:0.91 [[ 8.09206458e-01 -5.87397157e-01 -1.22265294e-02 5.97409960e+01] [ 5.87336330e-01 8.09298750e-01 -8.45977329e-03 1.70992243e+01] [ 1.48641617e-02 -3.35381699e-04 9.99889466e-01 9.06263336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.76, Y:17.12, Z:0.91 [[ 8.09842347e-01 -5.86520173e-01 -1.22253615e-02 5.97631688e+01] [ 5.86459221e-01 8.09934556e-01 -8.46146071e-03 1.71164068e+01] [ 1.48645601e-02 -3.17226749e-04 9.99889466e-01 9.06731734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.79, Y:17.13, Z:0.91 [[ 8.11332303e-01 -5.84457912e-01 -1.22001149e-02 5.97868327e+01] [ 5.84396177e-01 8.11423992e-01 -8.49792321e-03 1.71329737e+01] [ 1.48661444e-02 -2.35060893e-04 9.99889465e-01 9.05707984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.80, Y:17.15, Z:0.91 [[ 8.13050479e-01 -5.82065349e-01 -1.22003315e-02 5.98039975e+01] [ 5.82003348e-01 8.13141988e-01 -8.49761050e-03 1.71466032e+01] [ 1.48667664e-02 -1.91647467e-04 9.99889465e-01 9.05049615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.83, Y:17.17, Z:0.90 [[ 8.13581082e-01 -5.81325622e-01 -1.20972969e-02 5.98296920e+01] [ 5.81261313e-01 8.13671015e-01 -8.64669679e-03 1.71667688e+01] [ 1.48697662e-02 3.09827438e-06 9.99889439e-01 9.04475154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.85, Y:17.18, Z:0.90 [[ 8.14746693e-01 -5.79688948e-01 -1.21881236e-02 5.98546292e+01] [ 5.79626417e-01 8.14837841e-01 -8.51519160e-03 1.71825011e+01] [ 1.48675068e-02 -1.26834235e-04 9.99889464e-01 9.04252170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.578040942 meters Centerline goodness : 0.998517 Centerline is valid? [True, True] Translation: X:59.88, Y:17.20, Z:0.91 [[ 8.15726335e-01 -5.78309440e-01 -1.21958120e-02 5.98794423e+01] [ 5.78246922e-01 8.15817491e-01 -8.50407988e-03 1.71980373e+01] [ 1.48675464e-02 -1.15188827e-04 9.99889465e-01 9.11590104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.608040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.90, Y:17.21, Z:0.91 [[ 8.16170162e-01 -5.77682288e-01 -1.22245856e-02 5.99033612e+01] [ 5.77620321e-01 8.16261692e-01 -8.46250682e-03 1.72123432e+01] [ 1.48671013e-02 -1.54323509e-04 9.99889467e-01 9.08314303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.638040942 meters Centerline goodness : 0.996756 Centerline is valid? [True, True] Translation: X:59.93, Y:17.23, Z:0.91 [[ 8.16075394e-01 -5.77816161e-01 -1.22243721e-02 5.99267900e+01] [ 5.77754205e-01 8.16166931e-01 -8.46281530e-03 1.72277604e+01] [ 1.48670797e-02 -1.56387023e-04 9.99889467e-01 9.12158347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.668040942 meters Centerline goodness : 0.995653 Centerline is valid? [True, True] Translation: X:59.95, Y:17.24, Z:0.91 [[ 8.14076443e-01 -5.80629563e-01 -1.22006466e-02 5.99511585e+01] [ 5.80567409e-01 8.14167847e-01 -8.49706810e-03 1.72432554e+01] [ 1.48670231e-02 -1.66034799e-04 9.99889466e-01 9.12847503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.97, Y:17.26, Z:0.91 [[ 8.13824541e-01 -5.80981468e-01 -1.22535767e-02 5.99745814e+01] [ 5.80920501e-01 8.13916742e-01 -8.42067457e-03 1.72575996e+01] [ 1.48656471e-02 -2.65402295e-04 9.99889465e-01 9.10696568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.728040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.00, Y:17.27, Z:0.91 [[ 8.12685174e-01 -5.82574834e-01 -1.22217151e-02 5.99987272e+01] [ 5.82513357e-01 8.12777033e-01 -8.46662441e-03 1.72730945e+01] [ 1.48659716e-02 -2.38612144e-04 9.99889467e-01 9.06504839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.75804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.03, Y:17.29, Z:0.91 [[ 8.10530119e-01 -5.85569094e-01 -1.22377451e-02 6.00279786e+01] [ 5.85508305e-01 8.10622435e-01 -8.44351639e-03 1.72882468e+01] [ 1.48644530e-02 -3.21577057e-04 9.99889466e-01 9.07332971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.788040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.05, Y:17.30, Z:0.91 [[ 8.11524770e-01 -5.84187461e-01 -1.23514845e-02 6.00484205e+01] [ 5.84128997e-01 8.11618608e-01 -8.27949214e-03 1.73005568e+01] [ 1.48614701e-02 -4.95847274e-04 9.99889439e-01 9.07816232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.818040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.07, Y:17.32, Z:0.91 [[ 8.10485195e-01 -5.85631475e-01 -1.22280385e-02 6.00710445e+01] [ 5.85570485e-01 8.10577376e-01 -8.45727490e-03 1.73169434e+01] [ 1.48646177e-02 -3.05882328e-04 9.99889469e-01 9.10099461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.09, Y:17.33, Z:0.91 [[ 8.10767294e-01 -5.85241316e-01 -1.22064276e-02 6.00916857e+01] [ 5.85179813e-01 8.10859133e-01 -8.48837959e-03 1.73321771e+01] [ 1.48654438e-02 -2.60854476e-04 9.99889469e-01 9.08230729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.12, Y:17.35, Z:0.90 [[ 8.10752394e-01 -5.85262842e-01 -1.21639024e-02 6.01166104e+01] [ 5.85200421e-01 8.10843617e-01 -8.54965410e-03 1.73484871e+01] [ 1.48668175e-02 -1.86668295e-04 9.99889465e-01 9.04534403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.908040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.14, Y:17.36, Z:0.91 [[ 8.12289291e-01 -5.83127242e-01 -1.21953930e-02 6.01448741e+01] [ 5.83065261e-01 8.12380809e-01 -8.50426472e-03 1.73630998e+01] [ 1.48663716e-02 -2.02786827e-04 9.99889469e-01 9.05147266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.17, Y:17.38, Z:0.91 [[ 8.12801257e-01 -5.82412169e-01 -1.22548931e-02 6.01679635e+01] [ 5.82351397e-01 8.12893584e-01 -8.41850525e-03 1.73759579e+01] [ 1.48649639e-02 -2.94082474e-04 9.99889467e-01 9.06134935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.19, Y:17.39, Z:0.91 [[ 8.13236749e-01 -5.81804814e-01 -1.22126673e-02 6.01916332e+01] [ 5.81743059e-01 8.13328418e-01 -8.47932265e-03 1.73898577e+01] [ 1.48662201e-02 -2.08937649e-04 9.99889470e-01 9.10501552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.22, Y:17.40, Z:0.90 [[ 8.15127790e-01 -5.79152574e-01 -1.22058042e-02 6.02191042e+01] [ 5.79090373e-01 8.15219157e-01 -8.48920353e-03 1.74048004e+01] [ 1.48669495e-02 -1.48478024e-04 9.99889470e-01 9.04786388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.24, Y:17.42, Z:0.91 [[ 8.13860968e-01 -5.80930224e-01 -1.22637762e-02 6.02374772e+01] [ 5.80869474e-01 8.13953313e-01 -8.40588968e-03 1.74211901e+01] [ 1.48653767e-02 -2.82427749e-04 9.99889464e-01 9.07742194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.26, Y:17.44, Z:0.91 [[ 8.15678230e-01 -5.78378057e-01 -1.21592441e-02 6.02638194e+01] [ 5.78314772e-01 8.15768852e-01 -8.55596381e-03 1.74360710e+01] [ 1.48677143e-02 -5.29570719e-05 9.99889468e-01 9.06206507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.29, Y:17.45, Z:0.91 [[ 8.16494977e-01 -5.77223637e-01 -1.21994138e-02 6.02869330e+01] [ 5.77161084e-01 8.16586102e-01 -8.49829978e-03 1.74499127e+01] [ 1.48672913e-02 -1.02207829e-04 9.99889470e-01 9.06762282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.11804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.31, Y:17.46, Z:0.91 [[ 8.17484324e-01 -5.75821657e-01 -1.21983522e-02 6.03139540e+01] [ 5.75758925e-01 8.17575326e-01 -8.49982334e-03 1.74635389e+01] [ 1.48674541e-02 -7.48378198e-05 9.99889470e-01 9.06570697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.34, Y:17.48, Z:0.91 [[ 8.17472231e-01 -5.75838337e-01 -1.22213358e-02 6.03376684e+01] [ 5.75776099e-01 8.17563573e-01 -8.46685412e-03 1.74784008e+01] [ 1.48672582e-02 -1.15334951e-04 9.99889470e-01 9.06636792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.36, Y:17.49, Z:0.91 [[ 8.17177562e-01 -5.76256592e-01 -1.22136158e-02 6.03609093e+01] [ 5.76194235e-01 8.17268822e-01 -8.47792208e-03 1.74914622e+01] [ 1.48672659e-02 -1.09447346e-04 9.99889470e-01 9.06774512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.38, Y:17.51, Z:0.91 [[ 8.15521094e-01 -5.78598917e-01 -1.21917489e-02 6.03836499e+01] [ 5.78536354e-01 8.15612212e-01 -8.50925231e-03 1.75071257e+01] [ 1.48671834e-02 -1.13895183e-04 9.99889471e-01 9.05955323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.41, Y:17.52, Z:0.91 [[ 8.13541306e-01 -5.81379982e-01 -1.21597689e-02 6.04088296e+01] [ 5.81317045e-01 8.13632168e-01 -8.55503750e-03 1.75191952e+01] [ 1.48673066e-02 -1.08804518e-04 9.99889470e-01 9.06233420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.43, Y:17.53, Z:0.91 [[ 8.13335226e-01 -5.81668628e-01 -1.21415504e-02 6.04331228e+01] [ 5.81605334e-01 8.13425842e-01 -8.58110453e-03 1.75324866e+01] [ 1.48676102e-02 -8.22758942e-05 9.99889468e-01 9.07069596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.46, Y:17.55, Z:0.91 [[ 8.11841687e-01 -5.83751794e-01 -1.21209782e-02 6.04570370e+01] [ 5.83688293e-01 8.11932162e-01 -8.61053215e-03 1.75478312e+01] [ 1.48678257e-02 -8.44841561e-05 9.99889464e-01 9.07562406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.328040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.48, Y:17.56, Z:0.91 [[ 8.11350064e-01 -5.84434561e-01 -1.21374655e-02 6.04799615e+01] [ 5.84371488e-01 8.11440835e-01 -8.58694801e-03 1.75618807e+01] [ 1.48673443e-02 -1.25767946e-04 9.99889467e-01 9.05978442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.358040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.51, Y:17.58, Z:0.91 [[ 8.11196205e-01 -5.84648488e-01 -1.21186925e-02 6.05056512e+01] [ 5.84585038e-01 8.11286716e-01 -8.61379098e-03 1.75764624e+01] [ 1.48677741e-02 -9.69317369e-05 9.99889464e-01 9.06759623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.388040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.53, Y:17.59, Z:0.91 [[ 8.10673324e-01 -5.85372412e-01 -1.21614891e-02 6.05328283e+01] [ 5.85309958e-01 8.10764519e-01 -8.55260918e-03 1.75897537e+01] [ 1.48665653e-02 -1.84868548e-04 9.99889469e-01 9.06240113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.56, Y:17.60, Z:0.91 [[ 8.11315912e-01 -5.84481100e-01 -1.21792716e-02 6.05598722e+01] [ 5.84418928e-01 8.11407298e-01 -8.52718922e-03 1.76036407e+01] [ 1.48663308e-02 -1.99552531e-04 9.99889470e-01 9.06154329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.59, Y:17.62, Z:0.91 [[ 8.10867086e-01 -5.85102732e-01 -1.22213420e-02 6.05862889e+01] [ 5.85041535e-01 8.10959131e-01 -8.46704347e-03 1.76167627e+01] [ 1.48650992e-02 -2.84345830e-04 9.99889468e-01 9.07044883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.478040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.61, Y:17.63, Z:0.91 [[ 8.11653021e-01 -5.84011868e-01 -1.22274490e-02 6.06139234e+01] [ 5.83950678e-01 8.11745072e-01 -8.45832292e-03 1.76312643e+01] [ 1.48653324e-02 -2.75003765e-04 9.99889467e-01 9.08286621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50804094200001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.63, Y:17.65, Z:0.91 [[ 8.09870538e-01 -5.86479833e-01 -1.22929854e-02 6.06335485e+01] [ 5.86420342e-01 8.09963713e-01 -8.36454850e-03 1.76450796e+01] [ 1.48625111e-02 -4.34655289e-04 9.99889452e-01 9.08465434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.538040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.66, Y:17.66, Z:0.91 [[ 8.09900532e-01 -5.86440630e-01 -1.21866844e-02 6.06571693e+01] [ 5.86378840e-01 8.09992176e-01 -8.51645801e-03 1.76594663e+01] [ 1.48655160e-02 -2.48529994e-04 9.99889471e-01 9.08384813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.568040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.68, Y:17.67, Z:0.91 [[ 8.09551421e-01 -5.86922622e-01 -1.21791523e-02 6.06816405e+01] [ 5.86860725e-01 8.09642993e-01 -8.52721586e-03 1.76741156e+01] [ 1.48655812e-02 -2.44246443e-04 9.99889471e-01 9.09041595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.72, Y:17.69, Z:0.91 [[ 8.11110121e-01 -5.84766705e-01 -1.21767006e-02 6.07166700e+01] [ 5.84704512e-01 8.11201492e-01 -8.53071550e-03 1.76871561e+01] [ 1.48662361e-02 -2.00422076e-04 9.99889471e-01 9.08522211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.628040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:60.74, Y:17.70, Z:0.90 [[ 8.11495814e-01 -5.84227760e-01 -1.23478127e-02 6.07446033e+01] [ 5.84169210e-01 8.11589603e-01 -8.28552004e-03 1.77022581e+01] [ 1.48619872e-02 -4.89547153e-04 9.99889435e-01 9.04849483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.658040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.77, Y:17.72, Z:0.91 [[ 8.09497752e-01 -5.86991563e-01 -1.24215180e-02 6.07660832e+01] [ 5.86934947e-01 8.09592772e-01 -8.17989853e-03 1.77190436e+01] [ 1.48579026e-02 -6.69013519e-04 9.99889391e-01 9.07965531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.80, Y:17.73, Z:0.91 [[ 8.10253846e-01 -5.85948831e-01 -1.23560875e-02 6.07955690e+01] [ 5.85890663e-01 8.10347876e-01 -8.27349862e-03 1.77331281e+01] [ 1.48605761e-02 -5.35682197e-04 9.99889432e-01 9.05846173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.82, Y:17.75, Z:0.91 [[ 8.06556305e-01 -5.91026313e-01 -1.24428676e-02 6.08160296e+01] [ 5.90970641e-01 8.06651900e-01 -8.14944759e-03 1.77484330e+01] [ 1.48536008e-02 -7.80381118e-04 9.99889375e-01 9.10176897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.84, Y:17.76, Z:0.91 [[ 8.06221614e-01 -5.91484995e-01 -1.23373097e-02 6.08384697e+01] [ 5.91427075e-01 8.06315778e-01 -8.29943139e-03 1.77646560e+01] [ 1.48567566e-02 -6.05438018e-04 9.99889449e-01 9.10522870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.86, Y:17.78, Z:0.91 [[ 8.06316375e-01 -5.91355795e-01 -1.23380223e-02 6.08640278e+01] [ 5.91297876e-01 8.06410540e-01 -8.29841937e-03 1.77791194e+01] [ 1.48568296e-02 -6.04294922e-04 9.99889449e-01 9.09754391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.808040942 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:60.89, Y:17.79, Z:0.91 [[ 8.05471152e-01 -5.92505906e-01 -1.23683433e-02 6.08861814e+01] [ 5.92448781e-01 8.05565821e-01 -8.25532648e-03 1.77945182e+01] [ 1.48548443e-02 -6.78182591e-04 9.99889431e-01 9.09831948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.838040942 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:60.91, Y:17.81, Z:0.91 [[ 8.05708522e-01 -5.92183537e-01 -1.23464553e-02 6.09115512e+01] [ 5.92125899e-01 8.05802864e-01 -8.28639002e-03 1.78089483e+01] [ 1.48558728e-02 -6.34240907e-04 9.99889444e-01 9.08023414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.94, Y:17.83, Z:0.91 [[ 8.05609378e-01 -5.92317714e-01 -1.23796913e-02 6.09357665e+01] [ 5.92260814e-01 8.05704191e-01 -8.23920370e-03 1.78253397e+01] [ 1.48545955e-02 -6.94426310e-04 9.99889423e-01 9.11582235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.96, Y:17.84, Z:0.91 [[ 8.05433006e-01 -5.92557844e-01 -1.23642251e-02 6.09565464e+01] [ 5.92500637e-01 8.05527622e-01 -8.26113182e-03 1.78422451e+01] [ 1.48549233e-02 -6.72023007e-04 9.99889434e-01 9.14228894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.928040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:60.98, Y:17.86, Z:0.91 [[ 8.07782669e-01 -5.89351853e-01 -1.23107178e-02 6.09849399e+01] [ 5.89293113e-01 8.07876304e-01 -8.33692254e-03 1.78573794e+01] [ 1.48589180e-02 -5.20199690e-04 9.99889465e-01 9.12941265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.958040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:61.01, Y:17.87, Z:0.91 [[ 8.08453156e-01 -5.88429870e-01 -1.24008901e-02 6.10062690e+01] [ 5.88372975e-01 8.08547991e-01 -8.20909063e-03 1.78734229e+01] [ 1.48571889e-02 -6.59683375e-04 9.99889408e-01 9.13137701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.988040942 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:61.02, Y:17.89, Z:0.92 [[ 8.06233814e-01 -5.91467623e-01 -1.23728498e-02 6.10153552e+01] [ 5.91410476e-01 8.06328473e-01 -8.24881233e-03 1.78915709e+01] [ 1.48554865e-02 -6.66961551e-04 9.99889429e-01 9.15991002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.018040942 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:61.04, Y:17.91, Z:0.92 [[ 8.07499234e-01 -5.89743819e-01 -1.21332139e-02 6.10371244e+01] [ 5.89681335e-01 8.07590354e-01 -8.58739831e-03 1.79087466e+01] [ 1.48630315e-02 -2.20412187e-04 9.99889515e-01 9.16112109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.06, Y:17.92, Z:0.92 [[ 8.07717544e-01 -5.89444835e-01 -1.21308082e-02 6.10587261e+01] [ 5.89382266e-01 8.07808605e-01 -8.59079534e-03 1.79242963e+01] [ 1.48631712e-02 -2.10747100e-04 9.99889515e-01 9.16064454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.078040942 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:61.08, Y:17.94, Z:0.92 [[ 8.07168773e-01 -5.90196104e-01 -1.21297668e-02 6.10817215e+01] [ 5.90133598e-01 8.07259877e-01 -8.59226548e-03 1.79409190e+01] [ 1.48629956e-02 -2.22774523e-04 9.99889515e-01 9.16571719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.108040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:61.11, Y:17.96, Z:0.92 [[ 8.08891761e-01 -5.87832498e-01 -1.21274020e-02 6.11139845e+01] [ 5.87769676e-01 8.08982648e-01 -8.59560192e-03 1.79573953e+01] [ 1.48636319e-02 -1.75207546e-04 9.99889515e-01 9.19074582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.138040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:61.13, Y:17.97, Z:0.92 [[ 8.07180686e-01 -5.90176048e-01 -1.23114882e-02 6.11341131e+01] [ 5.90117425e-01 8.07274392e-01 -8.33550995e-03 1.79744438e+01] [ 1.48581675e-02 -5.36961082e-04 9.99889467e-01 9.15311811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.168040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:61.15, Y:17.99, Z:0.91 [[ 8.06447101e-01 -5.91179042e-01 -1.22643459e-02 6.11528492e+01] [ 5.91119522e-01 8.06540213e-01 -8.40210147e-03 1.79916554e+01] [ 1.48588344e-02 -4.73843908e-04 9.99889489e-01 9.12759586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.198040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:61.18, Y:18.01, Z:0.92 [[ 8.06680584e-01 -5.90861233e-01 -1.22245379e-02 6.11795952e+01] [ 5.90800824e-01 8.06773106e-01 -8.45826661e-03 1.80097858e+01] [ 1.48600902e-02 -3.99147614e-04 9.99889503e-01 9.16912016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.228040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.20, Y:18.03, Z:0.91 [[ 8.04521015e-01 -5.93796858e-01 -1.22975140e-02 6.11985592e+01] [ 5.93738352e-01 8.04614787e-01 -8.35540159e-03 1.80282202e+01] [ 1.48561728e-02 -5.79409532e-04 9.99889473e-01 9.14154894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.25804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.22, Y:18.05, Z:0.91 [[ 8.03307752e-01 -5.95438390e-01 -1.22384302e-02 6.12205792e+01] [ 5.95378808e-01 8.03400812e-01 -8.43855095e-03 1.80455406e+01] [ 1.48570020e-02 -5.07748589e-04 9.99889500e-01 9.14146862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.288040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:61.24, Y:18.06, Z:0.91 [[ 8.03305390e-01 -5.95441878e-01 -1.22237927e-02 6.12414793e+01] [ 5.95381983e-01 8.03398243e-01 -8.45913065e-03 1.80607403e+01] [ 1.48574942e-02 -4.82560670e-04 9.99889505e-01 9.14534337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.318040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:61.27, Y:18.08, Z:0.92 [[ 8.02879006e-01 -5.96017294e-01 -1.21937501e-02 6.12665090e+01] [ 5.95956825e-01 8.02971476e-01 -8.50133305e-03 1.80783598e+01] [ 1.48581750e-02 -4.41406779e-04 9.99889514e-01 9.16311573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.29, Y:18.09, Z:0.92 [[ 8.03169103e-01 -5.95625503e-01 -1.22332785e-02 6.12875626e+01] [ 5.95565832e-01 8.03262104e-01 -8.44582501e-03 1.80944563e+01] [ 1.48570778e-02 -5.02296979e-04 9.99889501e-01 9.16985699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.32, Y:18.11, Z:0.92 [[ 8.06181565e-01 -5.91542084e-01 -1.22166864e-02 6.13196936e+01] [ 5.91481589e-01 8.06274026e-01 -8.46907851e-03 1.81117502e+01] [ 1.48598133e-02 -3.98330113e-04 9.99889508e-01 9.20850647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.408040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:61.34, Y:18.13, Z:0.92 [[ 8.06378420e-01 -5.91270294e-01 -1.23807834e-02 6.13381462e+01] [ 5.91213279e-01 8.06473175e-01 -8.23871275e-03 1.81282754e+01] [ 1.48560758e-02 -6.76163394e-04 9.99889414e-01 9.19556228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.35, Y:18.15, Z:0.92 [[ 8.03056004e-01 -5.95775735e-01 -1.23421270e-02 6.13485346e+01] [ 5.95718415e-01 8.03150543e-01 -8.29313183e-03 1.81505555e+01] [ 1.48534327e-02 -6.92583051e-04 9.99889442e-01 9.22114594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.37, Y:18.17, Z:0.92 [[ 8.03988947e-01 -5.94519446e-01 -1.21820113e-02 6.13702930e+01] [ 5.94458553e-01 8.04081136e-01 -8.51795548e-03 1.81669151e+01] [ 1.48594156e-02 -3.93358740e-04 9.99889515e-01 9.21808376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.39, Y:18.18, Z:0.92 [[ 8.05169070e-01 -5.92920928e-01 -1.21466650e-02 6.13909076e+01] [ 5.92859103e-01 8.05260629e-01 -8.56754596e-03 1.81812607e+01] [ 1.48611084e-02 -3.02937905e-04 9.99889522e-01 9.20500187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.41, Y:18.20, Z:0.92 [[ 8.05062063e-01 -5.93067531e-01 -1.20821757e-02 6.14147366e+01] [ 5.93004363e-01 8.05152697e-01 -8.65794085e-03 1.81977634e+01] [ 1.48627399e-02 -1.94603161e-04 9.99889524e-01 9.22456079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.558040942 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:61.44, Y:18.21, Z:0.92 [[ 8.04930470e-01 -5.93245766e-01 -1.20995713e-02 6.14381279e+01] [ 5.93182984e-01 8.05021372e-01 -8.63356166e-03 1.82139922e+01] [ 1.48622374e-02 -2.27842946e-04 9.99889525e-01 9.22831607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.588040942 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:61.46, Y:18.23, Z:0.92 [[ 8.03806103e-01 -5.94768364e-01 -1.20971945e-02 6.14626017e+01] [ 5.94705704e-01 8.03897089e-01 -8.63689059e-03 1.82320483e+01] [ 1.48618488e-02 -2.51885227e-04 9.99889525e-01 9.24477347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.61804094200001 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:61.48, Y:18.25, Z:0.92 [[ 8.04648207e-01 -5.93627765e-01 -1.21383545e-02 6.14840758e+01] [ 5.93565843e-01 8.04739701e-01 -8.57924218e-03 1.82465646e+01] [ 1.48610921e-02 -3.01640765e-04 9.99889522e-01 9.22963574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.648040942 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:61.51, Y:18.26, Z:0.93 [[ 8.04437032e-01 -5.93914792e-01 -1.20946719e-02 6.15079771e+01] [ 5.93851983e-01 8.04527915e-01 -8.64038837e-03 1.82621868e+01] [ 1.48621556e-02 -2.31796527e-04 9.99889525e-01 9.25159337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.678040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:61.55, Y:18.28, Z:0.92 [[ 8.08925654e-01 -5.87786581e-01 -1.20922031e-02 6.15488078e+01] [ 5.87723031e-01 8.09016021e-01 -8.64384216e-03 1.82760920e+01] [ 1.48635204e-02 -1.14640561e-04 9.99889525e-01 9.23155930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.708040942 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:61.57, Y:18.29, Z:0.92 [[ 8.07889703e-01 -5.89204072e-01 -1.23607978e-02 6.15736656e+01] [ 5.89146376e-01 8.07984033e-01 -8.26737260e-03 1.82931026e+01] [ 1.48584968e-02 -6.03194004e-04 9.99889425e-01 9.23442729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.738040942 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:61.58, Y:18.31, Z:0.93 [[ 8.05212825e-01 -5.92856686e-01 -1.23796474e-02 6.15820557e+01] [ 5.92799825e-01 8.05307678e-01 -8.24083673e-03 1.83083553e+01] [ 1.48550602e-02 -7.03025384e-04 9.99889410e-01 9.26479778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.768040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:61.61, Y:18.32, Z:0.93 [[ 8.05694720e-01 -5.92206991e-01 -1.21201397e-02 6.16050956e+01] [ 5.92144519e-01 8.05785840e-01 -8.60513490e-03 1.83227533e+01] [ 1.48622580e-02 -2.43762540e-04 9.99889521e-01 9.27414730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.798040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:61.64, Y:18.34, Z:0.92 [[ 8.07175590e-01 -5.90187690e-01 -1.20854299e-02 6.16423477e+01] [ 5.90124260e-01 8.07266046e-01 -8.65382332e-03 1.83392138e+01] [ 1.48635372e-02 -1.46750460e-04 9.99889521e-01 9.24532709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.828040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:61.66, Y:18.35, Z:0.93 [[ 8.06302132e-01 -5.91375060e-01 -1.23454567e-02 6.16633796e+01] [ 5.91317271e-01 8.06396403e-01 -8.29013626e-03 1.83543573e+01] [ 1.48579117e-02 -6.15727223e-04 9.99889426e-01 9.26408062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.858040942 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:61.69, Y:18.37, Z:0.93 [[ 8.04333428e-01 -5.94052025e-01 -1.22445240e-02 6.16882463e+01] [ 5.93992405e-01 8.04426472e-01 -8.43055162e-03 1.83722840e+01] [ 1.48580055e-02 -4.92179787e-04 9.99889493e-01 9.29347980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.888040942 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:61.71, Y:18.39, Z:0.93 [[ 8.04230670e-01 -5.94190651e-01 -1.22678463e-02 6.17075731e+01] [ 5.94131540e-01 8.04324054e-01 -8.39812578e-03 1.83880947e+01] [ 1.48574117e-02 -5.34684074e-04 9.99889480e-01 9.31299749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.918040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:61.73, Y:18.41, Z:0.93 [[ 8.04003119e-01 -5.94499451e-01 -1.22224128e-02 6.17298537e+01] [ 5.94439413e-01 8.04095883e-01 -8.46138673e-03 1.84055926e+01] [ 1.48582816e-02 -4.62502593e-04 9.99889503e-01 9.31787781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.75, Y:18.42, Z:0.93 [[ 8.04676491e-01 -5.93588098e-01 -1.22031115e-02 6.17500528e+01] [ 5.93527547e-01 8.04768911e-01 -8.48823759e-03 1.84206427e+01] [ 1.48592016e-02 -4.12597625e-04 9.99889511e-01 9.28206381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.978040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.77, Y:18.44, Z:0.93 [[ 8.03662570e-01 -5.94961653e-01 -1.21286635e-02 6.17718029e+01] [ 5.94899696e-01 8.03754026e-01 -8.59167702e-03 1.84374293e+01] [ 1.48601805e-02 -3.10528998e-04 9.99889533e-01 9.28801769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.80, Y:18.45, Z:0.93 [[ 8.03176563e-01 -5.95618241e-01 -1.20962618e-02 6.17964463e+01] [ 5.95555680e-01 8.03267602e-01 -8.63665994e-03 1.84540735e+01] [ 1.48606874e-02 -2.67234592e-04 9.99889538e-01 9.28637840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.038040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:61.82, Y:18.48, Z:0.93 [[ 8.00787941e-01 -5.98825240e-01 -1.21245659e-02 6.18213085e+01] [ 5.98763637e-01 8.00879636e-01 -8.59745874e-03 1.84751771e+01] [ 1.48586933e-02 -3.75007917e-04 9.99889533e-01 9.29737126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.068040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:61.84, Y:18.49, Z:0.93 [[ 7.99832054e-01 -6.00100094e-01 -1.21885706e-02 6.18430151e+01] [ 6.00039983e-01 7.99924758e-01 -8.50881432e-03 1.84934093e+01] [ 1.48560797e-02 -5.08007259e-04 9.99889513e-01 9.29944985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.098040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:61.86, Y:18.51, Z:0.93 [[ 7.98514061e-01 -6.01853044e-01 -1.21740363e-02 6.18618670e+01] [ 6.01792830e-01 7.98606691e-01 -8.52893125e-03 1.85112047e+01] [ 1.48554301e-02 -5.15776222e-04 9.99889519e-01 9.29929281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.128040942 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:61.88, Y:18.53, Z:0.93 [[ 7.97649433e-01 -6.02999242e-01 -1.21365767e-02 6.18837000e+01] [ 6.02938372e-01 7.97741619e-01 -8.58072175e-03 1.85289584e+01] [ 1.48560210e-02 -4.73199954e-04 9.99889531e-01 9.29887104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.158040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:61.91, Y:18.55, Z:0.93 [[ 7.96774816e-01 -6.04154811e-01 -1.21184435e-02 6.19060875e+01] [ 6.04093695e-01 7.96866833e-01 -8.60576853e-03 1.85463728e+01] [ 1.48560021e-02 -4.63815659e-04 9.99889536e-01 9.29667458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.188040942 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:61.93, Y:18.56, Z:0.93 [[ 7.96471228e-01 -6.04555294e-01 -1.21028408e-02 6.19276292e+01] [ 6.04493897e-01 7.96563054e-01 -8.62730181e-03 1.85624300e+01] [ 1.48563568e-02 -4.44695703e-04 9.99889539e-01 9.30303938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.218040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:61.95, Y:18.58, Z:0.93 [[ 7.95946150e-01 -6.05246593e-01 -1.20949566e-02 6.19471302e+01] [ 6.05185110e-01 7.96037916e-01 -8.63817651e-03 1.85798892e+01] [ 1.48562709e-02 -4.44164291e-04 9.99889541e-01 9.30210417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.97, Y:18.60, Z:0.93 [[ 7.96624341e-01 -6.04354206e-01 -1.20686972e-02 6.19703365e+01] [ 6.04292072e-01 7.96715663e-01 -8.67437516e-03 1.85972435e+01] [ 1.48577152e-02 -3.82799618e-04 9.99889545e-01 9.31845184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.99, Y:18.62, Z:0.93 [[ 7.96382199e-01 -6.04672997e-01 -1.20813950e-02 6.19907599e+01] [ 6.04611165e-01 7.96473727e-01 -8.65688246e-03 1.86157406e+01] [ 1.48570968e-02 -4.10359207e-04 9.99889543e-01 9.32030978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.308040942 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:62.01, Y:18.63, Z:0.93 [[ 7.97614853e-01 -6.03046838e-01 -1.20439785e-02 6.20106662e+01] [ 6.02984040e-01 7.97705717e-01 -8.70839273e-03 1.86337948e+01] [ 1.48591192e-02 -3.16383431e-04 9.99889547e-01 9.32422426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.04, Y:18.65, Z:0.93 [[ 8.00503195e-01 -5.99207785e-01 -1.20276686e-02 6.20404320e+01] [ 5.99144214e-01 8.00593519e-01 -8.73083569e-03 1.86510916e+01] [ 1.48608582e-02 -2.17246169e-04 9.99889548e-01 9.33144767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.06, Y:18.67, Z:0.93 [[ 8.00476580e-01 -5.99241100e-01 -1.21387162e-02 6.20556364e+01] [ 5.99179839e-01 8.00568509e-01 -8.57797264e-03 1.86685284e+01] [ 1.48581477e-02 -4.06807805e-04 9.99889529e-01 9.34419141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.398040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:62.08, Y:18.69, Z:0.94 [[ 8.00787727e-01 -5.98827664e-01 -1.20185056e-02 6.20781954e+01] [ 5.98763865e-01 8.00877887e-01 -8.74321573e-03 1.86858848e+01] [ 1.48610348e-02 -1.94787009e-04 9.99889550e-01 9.35508783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.10, Y:18.70, Z:0.94 [[ 8.01147501e-01 -5.98346300e-01 -1.20161101e-02 6.21003000e+01] [ 5.98282397e-01 8.01237588e-01 -8.74650665e-03 1.87025913e+01] [ 1.48611990e-02 -1.81785246e-04 9.99889550e-01 9.36242856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.12, Y:18.72, Z:0.94 [[ 8.01759780e-01 -5.97525670e-01 -1.20137316e-02 6.21225642e+01] [ 5.97461625e-01 8.01849766e-01 -8.74977243e-03 1.87192055e+01] [ 1.48614215e-02 -1.62528012e-04 9.99889550e-01 9.36436457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.14, Y:18.74, Z:0.94 [[ 8.02655051e-01 -5.96322562e-01 -1.20112882e-02 6.21444750e+01] [ 5.96258333e-01 8.02744906e-01 -8.75312538e-03 1.87355156e+01] [ 1.48616866e-02 -1.36090380e-04 9.99889550e-01 9.37037092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.518040942 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:62.17, Y:18.75, Z:0.94 [[ 8.03074678e-01 -5.95757358e-01 -1.20096277e-02 6.21663850e+01] [ 5.95693031e-01 8.03164463e-01 -8.75540310e-03 1.87519677e+01] [ 1.48618020e-02 -1.22808980e-04 9.99889550e-01 9.38369130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.548040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.19, Y:18.77, Z:0.94 [[ 8.02976638e-01 -5.95890142e-01 -1.19773872e-02 6.21891157e+01] [ 5.95825170e-01 8.03065958e-01 -8.79959723e-03 1.87712010e+01] [ 1.48622252e-02 -7.05578017e-05 9.99889549e-01 9.36762937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.578040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.21, Y:18.79, Z:0.93 [[ 8.02962530e-01 -5.95908589e-01 -1.20053661e-02 6.22104704e+01] [ 5.95844192e-01 8.03052264e-01 -8.76125522e-03 1.87873513e+01] [ 1.48618437e-02 -1.18367999e-04 9.99889550e-01 9.34626103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.608040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:62.23, Y:18.80, Z:0.94 [[ 8.02423126e-01 -5.96634946e-01 -1.19944818e-02 6.22334042e+01] [ 5.96570407e-01 8.02512759e-01 -8.77616461e-03 1.88045486e+01] [ 1.48618911e-02 -1.13355424e-04 9.99889550e-01 9.35492369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.638040942 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:62.25, Y:18.82, Z:0.93 [[ 8.01036154e-01 -5.98495631e-01 -1.20024628e-02 6.22546334e+01] [ 5.98431464e-01 8.01126053e-01 -8.76523602e-03 1.88211006e+01] [ 1.48614411e-02 -1.61380408e-04 9.99889550e-01 9.33711268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.668040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.28, Y:18.84, Z:0.93 [[ 8.01612585e-01 -5.97723385e-01 -1.20007757e-02 6.22819061e+01] [ 5.97659097e-01 8.01702397e-01 -8.76754525e-03 1.88380772e+01] [ 1.48616175e-02 -1.44198145e-04 9.99889550e-01 9.34409139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.698040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.30, Y:18.86, Z:0.93 [[ 8.01355956e-01 -5.98065953e-01 -1.20726369e-02 6.23049824e+01] [ 5.98003180e-01 8.01446843e-01 -8.66919997e-03 1.88550115e+01] [ 1.48603300e-02 -2.72360200e-04 9.99889542e-01 9.34875243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.728040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.33, Y:18.87, Z:0.94 [[ 8.00788340e-01 -5.98825817e-01 -1.20695835e-02 6.23278305e+01] [ 5.98763067e-01 8.00879243e-01 -8.67337564e-03 1.88712902e+01] [ 1.48601201e-02 -2.81282750e-04 9.99889543e-01 9.35764992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.75804094200001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:62.35, Y:18.89, Z:0.94 [[ 7.99200131e-01 -6.00943434e-01 -1.20888001e-02 6.23507416e+01] [ 6.00881322e-01 7.99291477e-01 -8.64709132e-03 1.88871876e+01] [ 1.48588876e-02 -3.53177651e-04 9.99889538e-01 9.37459544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.788040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:62.37, Y:18.91, Z:0.94 [[ 7.97644130e-01 -6.03007391e-01 -1.20800556e-02 6.23741588e+01] [ 6.02945335e-01 7.97735510e-01 -8.65903281e-03 1.89050219e+01] [ 1.48581501e-02 -3.76786503e-04 9.99889541e-01 9.37058987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.818040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.40, Y:18.92, Z:0.94 [[ 7.95924118e-01 -6.05275629e-01 -1.20918118e-02 6.23952832e+01] [ 6.05214076e-01 7.96015842e-01 -8.64298882e-03 1.89220139e+01] [ 1.48566642e-02 -4.38971459e-04 9.99889537e-01 9.37478551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.42, Y:18.94, Z:0.94 [[ 7.94581266e-01 -6.07037303e-01 -1.20964785e-02 6.24182273e+01] [ 6.06976051e-01 7.94673192e-01 -8.63662018e-03 1.89397289e+01] [ 1.48554978e-02 -4.79776166e-04 9.99889536e-01 9.37346499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.43, Y:18.96, Z:0.94 [[ 7.91883353e-01 -6.10552610e-01 -1.20940429e-02 6.24337520e+01] [ 6.10491715e-01 7.91975515e-01 -8.63994135e-03 1.89578219e+01] [ 1.48533246e-02 -5.41487258e-04 9.99889537e-01 9.38220566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.908040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.46, Y:18.98, Z:0.93 [[ 7.92923016e-01 -6.09204070e-01 -1.19788288e-02 6.24619299e+01] [ 6.09140639e-01 7.93013428e-01 -8.79683127e-03 1.89753034e+01] [ 1.48584375e-02 -3.21581441e-04 9.99889556e-01 9.34929918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.48, Y:18.99, Z:0.94 [[ 7.92254736e-01 -6.10070946e-01 -1.20778244e-02 6.24819873e+01] [ 6.10009659e-01 7.92346632e-01 -8.66198015e-03 1.89937306e+01] [ 1.48542459e-02 -5.05094754e-04 9.99889542e-01 9.35168680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.50, Y:19.01, Z:0.94 [[ 7.92027900e-01 -6.10365888e-01 -1.20536023e-02 6.25029903e+01] [ 6.10304134e-01 7.92119475e-01 -8.69494860e-03 1.90120946e+01] [ 1.48549931e-02 -4.69721430e-04 9.99889548e-01 9.35718979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.53, Y:19.03, Z:0.94 [[ 7.92723639e-01 -6.09462461e-01 -1.20307729e-02 6.25252030e+01] [ 6.09400132e-01 7.92814819e-01 -8.72599586e-03 1.90300378e+01] [ 1.48563420e-02 -4.14251401e-04 9.99889553e-01 9.35410426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.54, Y:19.05, Z:0.94 [[ 7.94251930e-01 -6.07469319e-01 -1.20373622e-02 6.25435403e+01] [ 6.07406897e-01 7.94343046e-01 -8.71703823e-03 1.90486284e+01] [ 1.48571282e-02 -3.88052364e-04 9.99889551e-01 9.35528990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.56, Y:19.07, Z:0.94 [[ 7.95792908e-01 -6.05449978e-01 -1.19988288e-02 6.25639490e+01] [ 6.05386533e-01 7.95883310e-01 -8.76938862e-03 1.90665527e+01] [ 1.48590937e-02 -2.85312100e-04 9.99889557e-01 9.38240220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.59, Y:19.09, Z:0.93 [[ 7.97945121e-01 -6.02611323e-01 -1.19656985e-02 6.25853001e+01] [ 6.02546882e-01 7.98034813e-01 -8.81436380e-03 1.90871976e+01] [ 1.48606794e-02 -1.76515722e-04 9.99889558e-01 9.34927079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.11804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.61, Y:19.11, Z:0.94 [[ 7.99503476e-01 -6.00541835e-01 -1.19873086e-02 6.26058594e+01] [ 6.00477601e-01 7.99593318e-01 -8.78502912e-03 1.91053469e+01] [ 1.48607494e-02 -1.74449012e-04 9.99889558e-01 9.37041134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.63, Y:19.12, Z:0.94 [[ 8.00763578e-01 -5.98860984e-01 -1.19672193e-02 6.26278969e+01] [ 5.98796153e-01 8.00852989e-01 -8.81228518e-03 1.91244344e+01] [ 1.48613171e-02 -1.09367888e-04 9.99889559e-01 9.35411446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.65, Y:19.14, Z:0.94 [[ 8.02749499e-01 -5.96196136e-01 -1.19753815e-02 6.26509907e+01] [ 5.96131174e-01 8.02838814e-01 -8.80121559e-03 1.91427463e+01] [ 1.48615518e-02 -7.37268511e-05 9.99889558e-01 9.35342637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.67, Y:19.16, Z:0.94 [[ 8.05800590e-01 -5.92065424e-01 -1.19976180e-02 6.26728028e+01] [ 5.92000453e-01 8.05889901e-01 -8.77106671e-03 1.91623722e+01] [ 1.48618045e-02 -3.48645481e-05 9.99889557e-01 9.37040213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.69, Y:19.18, Z:0.94 [[ 8.08077371e-01 -5.88954085e-01 -1.20020316e-02 6.26948267e+01] [ 5.88888858e-01 8.08166496e-01 -8.76508465e-03 1.91787867e+01] [ 1.48618723e-02 1.50038520e-05 9.99889556e-01 9.39696925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.72, Y:19.20, Z:0.94 [[ 8.10479820e-01 -5.85643369e-01 -1.20127193e-02 6.27156967e+01] [ 5.85577993e-01 8.10568838e-01 -8.75058683e-03 1.91975071e+01] [ 1.48618590e-02 5.77900077e-05 9.99889555e-01 9.43114630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.73, Y:19.22, Z:0.94 [[ 8.09148148e-01 -5.87481935e-01 -1.20104519e-02 6.27341485e+01] [ 5.87416716e-01 8.09237280e-01 -8.75365885e-03 1.92180123e+01] [ 1.48619219e-02 2.78666339e-05 9.99889555e-01 9.41858148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.76, Y:19.24, Z:0.94 [[ 8.11571000e-01 -5.84131491e-01 -1.19546334e-02 6.27628663e+01] [ 5.84064788e-01 8.11659022e-01 -8.82923629e-03 1.92355669e+01] [ 1.48605210e-02 1.83271720e-04 9.99889560e-01 9.44046844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.358040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:62.78, Y:19.25, Z:0.94 [[ 8.09281810e-01 -5.87296531e-01 -1.20721212e-02 6.27768901e+01] [ 5.87232536e-01 8.09371842e-01 -8.67007951e-03 1.92543419e+01] [ 1.48627426e-02 -7.26047203e-05 9.99889541e-01 9.44196166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.388040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.80, Y:19.27, Z:0.94 [[ 8.08559151e-01 -5.88293526e-01 -1.19510319e-02 6.27985885e+01] [ 5.88227207e-01 8.08647460e-01 -8.83389701e-03 1.92721631e+01] [ 1.48610960e-02 1.12806144e-04 9.99889561e-01 9.42940901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.82, Y:19.29, Z:0.94 [[ 8.07770249e-01 -5.89376329e-01 -1.19485332e-02 6.28199124e+01] [ 5.89310079e-01 8.07858610e-01 -8.83727544e-03 1.92895704e+01] [ 1.48612064e-02 9.70971601e-05 9.99889561e-01 9.43246574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.85, Y:19.31, Z:0.95 [[ 8.08248530e-01 -5.88720285e-01 -1.19473606e-02 6.28502819e+01] [ 5.88653940e-01 8.08336819e-01 -8.83886040e-03 1.93082477e+01] [ 1.48611079e-02 1.11135038e-04 9.99889561e-01 9.46487181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.478040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.87, Y:19.33, Z:0.95 [[ 8.06650234e-01 -5.90905319e-01 -1.20956319e-02 6.28736858e+01] [ 5.90842197e-01 8.06740895e-01 -8.63863574e-03 1.93269132e+01] [ 1.48626567e-02 -1.78252200e-04 9.99889529e-01 9.45781102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.89, Y:19.34, Z:0.95 [[ 8.04766374e-01 -5.93467864e-01 -1.21234159e-02 6.28942562e+01] [ 5.93405595e-01 8.04857640e-01 -8.60113868e-03 1.93439770e+01] [ 1.48621233e-02 -2.72195613e-04 9.99889515e-01 9.45502406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.538040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.92, Y:19.36, Z:0.94 [[ 8.00313129e-01 -5.99459788e-01 -1.21184974e-02 6.29173609e+01] [ 5.99398101e-01 8.00404787e-01 -8.60776978e-03 1.93624305e+01] [ 1.48597151e-02 -3.74893139e-04 9.99889518e-01 9.44787307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.568040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.94, Y:19.38, Z:0.94 [[ 7.96720798e-01 -6.04225874e-01 -1.21270180e-02 6.29365591e+01] [ 6.04164910e-01 7.96812943e-01 -8.59629087e-03 1.93794266e+01] [ 1.48570662e-02 -4.77874995e-04 9.99889514e-01 9.43622493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.96, Y:19.40, Z:0.94 [[ 7.93669353e-01 -6.08229780e-01 -1.20620590e-02 6.29594664e+01] [ 6.08167952e-01 7.93760882e-01 -8.68357126e-03 1.93974957e+01] [ 1.48559973e-02 -4.43873366e-04 9.99889545e-01 9.43574374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.97, Y:19.42, Z:0.94 [[ 7.86149329e-01 -6.17918646e-01 -1.20739175e-02 6.29711611e+01] [ 6.17858190e-01 7.86241775e-01 -8.66765124e-03 1.94176954e+01] [ 1.48489216e-02 -6.45900581e-04 9.99889540e-01 9.42109117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.658040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.99, Y:19.44, Z:0.94 [[ 7.84132015e-01 -6.20479748e-01 -1.19107132e-02 6.29918991e+01] [ 6.20416253e-01 7.84222357e-01 -8.88639978e-03 1.94360874e+01] [ 1.48544787e-02 -4.21489507e-04 9.99889577e-01 9.41832575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.01, Y:19.46, Z:0.94 [[ 7.81159683e-01 -6.24217705e-01 -1.19082508e-02 6.30117065e+01] [ 6.24154592e-01 7.81250292e-01 -8.88969839e-03 1.94559834e+01] [ 1.48524315e-02 -4.88315418e-04 9.99889577e-01 9.40739266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.03, Y:19.47, Z:0.94 [[ 7.79929236e-01 -6.25754455e-01 -1.19057847e-02 6.30331424e+01] [ 6.25691471e-01 7.80019934e-01 -8.89299989e-03 1.94743324e+01] [ 1.48515837e-02 -5.13437335e-04 9.99889577e-01 9.41184092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.05, Y:19.49, Z:0.94 [[ 7.79148632e-01 -6.26726193e-01 -1.19033275e-02 6.30547290e+01] [ 6.26663271e-01 7.79239373e-01 -8.89628764e-03 1.94921741e+01] [ 1.48510780e-02 -5.27847817e-04 9.99889577e-01 9.41769235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.08, Y:19.51, Z:0.94 [[ 7.78878917e-01 -6.27061403e-01 -1.19008338e-02 6.30755984e+01] [ 6.26998469e-01 7.78969650e-01 -8.89962227e-03 1.95091234e+01] [ 1.48509980e-02 -5.30076431e-04 9.99889577e-01 9.42625498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.10, Y:19.53, Z:0.94 [[ 7.78565051e-01 -6.27451080e-01 -1.18997535e-02 6.30970907e+01] [ 6.27388170e-01 7.78655800e-01 -8.90106659e-03 1.95272776e+01] [ 1.48507959e-02 -5.35705192e-04 9.99889577e-01 9.43618005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.12, Y:19.55, Z:0.94 [[ 7.79052628e-01 -6.26845641e-01 -1.18973139e-02 6.31169188e+01] [ 6.26782610e-01 7.79143294e-01 -8.90432611e-03 1.95473412e+01] [ 1.48513504e-02 -5.20090841e-04 9.99889577e-01 9.43609775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.14, Y:19.57, Z:0.94 [[ 7.79578045e-01 -6.26192130e-01 -1.18948793e-02 6.31376813e+01] [ 6.26128974e-01 7.79668624e-01 -8.90757723e-03 1.95662718e+01] [ 1.48519189e-02 -5.03576946e-04 9.99889577e-01 9.43478145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.16, Y:19.59, Z:0.94 [[ 7.80611688e-01 -6.24903162e-01 -1.18924553e-02 6.31588008e+01] [ 6.24839807e-01 7.80702128e-01 -8.91081235e-03 1.95851270e+01] [ 1.48528600e-02 -4.74995195e-04 9.99889577e-01 9.43689915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.18, Y:19.60, Z:0.94 [[ 7.83508310e-01 -6.21267539e-01 -1.18900410e-02 6.31780952e+01] [ 6.21203716e-01 7.83598420e-01 -8.91403274e-03 1.96043104e+01] [ 1.48550165e-02 -4.01918897e-04 9.99889577e-01 9.43937960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.20, Y:19.62, Z:0.94 [[ 7.85241195e-01 -6.19075857e-01 -1.18889936e-02 6.31992834e+01] [ 6.19011761e-01 7.85331111e-01 -8.91542936e-03 1.96214067e+01] [ 1.48561237e-02 -3.58664488e-04 9.99889577e-01 9.44278798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.22, Y:19.64, Z:0.94 [[ 7.86800981e-01 -6.17092289e-01 -1.18879585e-02 6.32204301e+01] [ 6.17027946e-01 7.86890720e-01 -8.91680940e-03 1.96386981e+01] [ 1.48570186e-02 -3.19448250e-04 9.99889577e-01 9.44601758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.24, Y:19.66, Z:0.94 [[ 7.89985987e-01 -6.13009658e-01 -1.18869332e-02 6.32412271e+01] [ 6.12944830e-01 7.90075377e-01 -8.91817600e-03 1.96579084e+01] [ 1.48585013e-02 -2.40800202e-04 9.99889577e-01 9.44478503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.26, Y:19.67, Z:0.94 [[ 7.91641921e-01 -6.10869728e-01 -1.18845944e-02 6.32618442e+01] [ 6.10804612e-01 7.91731101e-01 -8.92129163e-03 1.96748033e+01] [ 1.48591500e-02 -1.96696649e-04 9.99889577e-01 9.44267018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.29, Y:19.69, Z:0.95 [[ 7.96559352e-01 -6.04443528e-01 -1.18835805e-02 6.32923310e+01] [ 6.04377672e-01 7.96647987e-01 -8.92264207e-03 1.96923438e+01] [ 1.48602637e-02 -7.47567178e-05 9.99889577e-01 9.45541906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.31, Y:19.71, Z:0.94 [[ 7.94784080e-01 -6.06772961e-01 -1.20349224e-02 6.33079678e+01] [ 6.06710398e-01 7.94875108e-01 -8.72102419e-03 1.97105955e+01] [ 1.48579419e-02 -3.70381343e-04 9.99889546e-01 9.43939580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.33, Y:19.73, Z:0.95 [[ 7.95901230e-01 -6.05309509e-01 -1.19008838e-02 6.33298619e+01] [ 6.05244098e-01 7.95990191e-01 -8.89933314e-03 1.97269846e+01] [ 1.48598377e-02 -1.19949460e-04 9.99889579e-01 9.45048776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.36, Y:19.74, Z:0.94 [[ 7.97548758e-01 -6.03137576e-01 -1.18761616e-02 6.33557751e+01] [ 6.03071432e-01 7.97637175e-01 -8.93220343e-03 1.97442614e+01] [ 1.48602155e-02 -3.83060581e-05 9.99889580e-01 9.43407129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.38, Y:19.76, Z:0.94 [[ 7.98532625e-01 -6.01833469e-01 -1.19215243e-02 6.33785624e+01] [ 6.01768080e-01 7.98621605e-01 -8.87189532e-03 1.97606272e+01] [ 1.48601904e-02 -8.94949295e-05 9.99889577e-01 9.44098278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.228040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.41, Y:19.78, Z:0.94 [[ 8.00236315e-01 -5.99566057e-01 -1.19324128e-02 6.34054661e+01] [ 5.99500632e-01 8.00325271e-01 -8.85740990e-03 1.97769796e+01] [ 1.48604139e-02 -6.54679730e-05 9.99889576e-01 9.41911138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.25804094200001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:63.43, Y:19.79, Z:0.94 [[ 7.99448217e-01 -6.00614632e-01 -1.20254415e-02 6.34251291e+01] [ 6.00551178e-01 7.99538621e-01 -8.73361098e-03 1.97945929e+01] [ 1.48603395e-02 -2.39823327e-04 9.99889550e-01 9.44363631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.44, Y:19.81, Z:0.95 [[ 7.99836103e-01 -6.00099543e-01 -1.19476650e-02 6.34446323e+01] [ 6.00034482e-01 7.99925326e-01 -8.83698039e-03 1.98103922e+01] [ 1.48603077e-02 -1.00875004e-04 9.99889574e-01 9.45074866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.318040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.47, Y:19.83, Z:0.95 [[ 8.00325376e-01 -5.99448414e-01 -1.18697756e-02 6.34672451e+01] [ 5.99381742e-01 8.00413391e-01 -8.94039102e-03 1.98261044e+01] [ 1.48600305e-02 4.06950416e-05 9.99889583e-01 9.45262506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.49, Y:19.84, Z:0.95 [[ 8.01218468e-01 -5.98254211e-01 -1.18687031e-02 6.34915130e+01] [ 5.98187386e-01 8.01306368e-01 -8.94181459e-03 1.98411305e+01] [ 1.48599456e-02 6.46385250e-05 9.99889583e-01 9.45696897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.51, Y:19.86, Z:0.95 [[ 8.01579364e-01 -5.97770621e-01 -1.18662614e-02 6.35133441e+01] [ 5.97703695e-01 8.01667187e-01 -8.94505367e-03 1.98565956e+01] [ 1.48598827e-02 7.76621586e-05 9.99889583e-01 9.45922924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.408040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.54, Y:19.87, Z:0.94 [[ 8.03006675e-01 -5.95851909e-01 -1.18652040e-02 6.35426424e+01] [ 5.95784753e-01 8.03094322e-01 -8.94645593e-03 1.98715374e+01] [ 1.48596408e-02 1.14956170e-04 9.99889583e-01 9.43584129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.57, Y:19.89, Z:0.95 [[ 8.03570748e-01 -5.95089386e-01 -1.19447005e-02 6.35705692e+01] [ 5.95023705e-01 8.03659519e-01 -8.84122074e-03 1.98882712e+01] [ 1.48607889e-02 -2.83358269e-06 9.99889572e-01 9.45256015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.59, Y:19.90, Z:0.95 [[ 8.01109098e-01 -5.98397595e-01 -1.20221441e-02 6.35852283e+01] [ 5.98333814e-01 8.01199277e-01 -8.73872913e-03 1.99035192e+01] [ 1.48613676e-02 -1.92579917e-04 9.99889545e-01 9.45526517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.61, Y:19.92, Z:0.94 [[ 8.02322820e-01 -5.96772733e-01 -1.18488979e-02 6.36128618e+01] [ 5.96705365e-01 8.02410300e-01 -8.96763947e-03 1.99187728e+01] [ 1.48593204e-02 1.24640847e-04 9.99889586e-01 9.43219697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.64, Y:19.93, Z:0.95 [[ 8.01995359e-01 -5.97211697e-01 -1.19009604e-02 6.36429215e+01] [ 5.97145395e-01 8.02083654e-01 -8.89886069e-03 1.99334739e+01] [ 1.48600695e-02 3.02412706e-05 9.99889583e-01 9.46139963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.67, Y:19.95, Z:0.95 [[ 8.00423693e-01 -5.99315027e-01 -1.19753705e-02 6.36680234e+01] [ 5.99250419e-01 8.00513261e-01 -8.80086581e-03 1.99499413e+01] [ 1.48609340e-02 -1.31824256e-04 9.99889562e-01 9.46004690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.69, Y:19.97, Z:0.95 [[ 8.00151150e-01 -5.99678357e-01 -1.20002289e-02 6.36898777e+01] [ 5.99614278e-01 8.00241111e-01 -8.76816482e-03 1.99668279e+01] [ 1.48611552e-02 -1.79651439e-04 9.99889551e-01 9.46426412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.61804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.72, Y:19.98, Z:0.95 [[ 8.00108067e-01 -5.99735868e-01 -1.19987622e-02 6.37150404e+01] [ 5.99671767e-01 8.00198011e-01 -8.77009310e-03 1.99816376e+01] [ 1.48611251e-02 -1.78296728e-04 9.99889551e-01 9.46785844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.74, Y:19.99, Z:0.95 [[ 7.98004276e-01 -6.02531648e-01 -1.20328032e-02 6.37388630e+01] [ 6.02468537e-01 7.98094938e-01 -8.72529725e-03 1.99947687e+01] [ 1.48605871e-02 -2.86560838e-04 9.99889534e-01 9.46020409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.76, Y:20.01, Z:0.94 [[ 7.95862321e-01 -6.05359010e-01 -1.19847644e-02 6.37616333e+01] [ 6.05295270e-01 7.95952512e-01 -8.78835009e-03 2.00114410e+01] [ 1.48594103e-02 -2.60004509e-04 9.99889559e-01 9.44888669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.78, Y:20.02, Z:0.95 [[ 7.90941454e-01 -6.11774562e-01 -1.19792337e-02 6.37780203e+01] [ 6.11711443e-01 7.91032077e-01 -8.79560239e-03 2.00249481e+01] [ 1.48568839e-02 -3.71027791e-04 9.99889562e-01 9.49698588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.81, Y:20.04, Z:0.95 [[ 7.93203433e-01 -6.08842265e-01 -1.18071919e-02 6.38118044e+01] [ 6.08775435e-01 7.93291306e-01 -9.02078664e-03 2.00391383e+01] [ 1.48587789e-02 -3.26094563e-05 9.99889602e-01 9.49920018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.82, Y:20.06, Z:0.95 [[ 7.88903795e-01 -6.14399970e-01 -1.19783147e-02 6.38248258e+01] [ 6.14337138e-01 7.88994614e-01 -8.79655077e-03 2.00558188e+01] [ 1.48554263e-02 -4.19091300e-04 9.99889564e-01 9.51006306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.798040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.86, Y:20.07, Z:0.95 [[ 7.90941192e-01 -6.11778287e-01 -1.18049945e-02 6.38590015e+01] [ 6.11711746e-01 7.91029279e-01 -9.02330290e-03 2.00711980e+01] [ 1.48583571e-02 -8.43518485e-05 9.99889605e-01 9.52329814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.828040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.88, Y:20.08, Z:0.95 [[ 7.90547690e-01 -6.12282777e-01 -1.20062596e-02 6.38820917e+01] [ 6.12220262e-01 7.90638741e-01 -8.75964454e-03 2.00833128e+01] [ 1.48559935e-02 -4.25558649e-04 9.99889553e-01 9.51611240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.90, Y:20.10, Z:0.95 [[ 7.88971532e-01 -6.14313124e-01 -1.19711067e-02 6.39029179e+01] [ 6.14250144e-01 7.89062241e-01 -8.80568453e-03 2.00994817e+01] [ 1.48553958e-02 -4.05819580e-04 9.99889570e-01 9.51037384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.93, Y:20.12, Z:0.95 [[ 7.87624175e-01 -6.16041260e-01 -1.18880254e-02 6.39292897e+01] [ 6.15976835e-01 7.87713828e-01 -8.91427615e-03 2.01150943e+01] [ 1.48559239e-02 -3.01648877e-04 9.99889599e-01 9.50763491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.918040942 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:63.95, Y:20.13, Z:0.95 [[ 7.90172587e-01 -6.12768443e-01 -1.19213254e-02 6.39545893e+01] [ 6.12704302e-01 7.90262455e-01 -8.87076303e-03 2.01288703e+01] [ 1.48566995e-02 -2.94813560e-04 9.99889590e-01 9.53744116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.98, Y:20.15, Z:0.95 [[ 7.88691474e-01 -6.14673957e-01 -1.19031929e-02 6.39763726e+01] [ 6.14609675e-01 7.88781235e-01 -8.89442940e-03 2.01473052e+01] [ 1.48561893e-02 -3.00856874e-04 9.99889595e-01 9.50676143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.978040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.00, Y:20.16, Z:0.96 [[ 7.90656679e-01 -6.12144428e-01 -1.18834264e-02 6.40032160e+01] [ 6.12079471e-01 7.90745946e-01 -8.92020627e-03 2.01622452e+01] [ 1.48572258e-02 -2.20780687e-04 9.99889601e-01 9.56694510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.02, Y:20.18, Z:0.95 [[ 7.91013173e-01 -6.11682496e-01 -1.19450677e-02 6.40248614e+01] [ 6.11618698e-01 7.91103297e-01 -8.83981188e-03 2.01772595e+01] [ 1.48569406e-02 -3.13419096e-04 9.99889580e-01 9.54242873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.038040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.05, Y:20.19, Z:0.95 [[ 7.90553459e-01 -6.12277456e-01 -1.18973285e-02 6.40492642e+01] [ 6.12212788e-01 7.90642939e-01 -8.90200326e-03 2.01930525e+01] [ 1.48570346e-02 -2.46187162e-04 9.99889598e-01 9.53467842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.068040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.07, Y:20.21, Z:0.96 [[ 7.91013728e-01 -6.11682976e-01 -1.18835679e-02 6.40733760e+01] [ 6.11617972e-01 7.91102959e-01 -8.91985925e-03 2.02085707e+01] [ 1.48572518e-02 -2.12472590e-04 9.99889602e-01 9.55611584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.098040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:64.10, Y:20.22, Z:0.96 [[ 7.91465197e-01 -6.11098804e-01 -1.18782879e-02 6.40964540e+01] [ 6.11033632e-01 7.91554303e-01 -8.92670529e-03 2.02200260e+01] [ 1.48574088e-02 -1.92856850e-04 9.99889604e-01 9.55737655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.12, Y:20.24, Z:0.96 [[ 7.90797738e-01 -6.11963046e-01 -1.18392232e-02 6.41209425e+01] [ 6.11897212e-01 7.90886344e-01 -8.97736093e-03 2.02369777e+01] [ 1.48572931e-02 -1.45110949e-04 9.99889614e-01 9.57900065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.158040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.14, Y:20.25, Z:0.96 [[ 7.91434466e-01 -6.11138782e-01 -1.18690622e-02 6.41413229e+01] [ 6.11073435e-01 7.91523441e-01 -8.93868675e-03 2.02514334e+01] [ 1.48574191e-02 -1.78483859e-04 9.99889607e-01 9.58010753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.16, Y:20.26, Z:0.96 [[ 7.90821935e-01 -6.11932340e-01 -1.18101104e-02 6.41640474e+01] [ 6.11865938e-01 7.90910110e-01 -9.01507939e-03 2.02645337e+01] [ 1.48573543e-02 -9.68817326e-05 9.99889619e-01 9.57755544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.19, Y:20.28, Z:0.96 [[ 7.90434329e-01 -6.12433564e-01 -1.17771123e-02 6.41919506e+01] [ 6.12366581e-01 7.90522059e-01 -9.05780235e-03 2.02813767e+01] [ 1.48573693e-02 -5.23121047e-05 9.99889622e-01 9.61099452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.22, Y:20.30, Z:0.96 [[ 7.89157577e-01 -6.14076598e-01 -1.18427240e-02 6.42176228e+01] [ 6.14011068e-01 7.89246410e-01 -8.97289363e-03 2.02971949e+01] [ 1.48568714e-02 -1.90536623e-04 9.99889612e-01 9.61173221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.278040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:64.25, Y:20.31, Z:0.96 [[ 7.88354188e-01 -6.15107406e-01 -1.18555188e-02 6.42485826e+01] [ 6.15042240e-01 7.88443292e-01 -8.95639694e-03 2.03122253e+01] [ 1.48565504e-02 -2.30831812e-04 9.99889609e-01 9.60594991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.27, Y:20.33, Z:0.96 [[ 7.86111326e-01 -6.17969404e-01 -1.19498730e-02 6.42691423e+01] [ 6.17906403e-01 7.86202025e-01 -8.83477968e-03 2.03284361e+01] [ 1.48546379e-02 -4.38782661e-04 9.99889568e-01 9.62200530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.29, Y:20.34, Z:0.96 [[ 7.85468836e-01 -6.18787433e-01 -1.18667534e-02 6.42934840e+01] [ 6.18722907e-01 7.85558407e-01 -8.94169222e-03 2.03446404e+01] [ 1.48550347e-02 -3.18811566e-04 9.99889607e-01 9.62759944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36804094200001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:64.31, Y:20.36, Z:0.96 [[ 7.85786738e-01 -6.18383278e-01 -1.18879600e-02 6.43120758e+01] [ 6.18319118e-01 7.85876582e-01 -8.91442694e-03 2.03634106e+01] [ 1.48550019e-02 -3.45714483e-04 9.99889599e-01 9.62245634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.398040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:64.33, Y:20.38, Z:0.96 [[ 7.85364732e-01 -6.18919838e-01 -1.18520937e-02 6.43333404e+01] [ 6.18855043e-01 7.85454101e-01 -8.96049606e-03 2.03820395e+01] [ 1.48551044e-02 -2.97470384e-04 9.99889613e-01 9.63215182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.428040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:64.36, Y:20.40, Z:0.96 [[ 7.86001161e-01 -6.18111977e-01 -1.18219650e-02 6.43583481e+01] [ 6.18046508e-01 7.86090026e-01 -8.99916386e-03 2.04003613e+01] [ 1.48556197e-02 -2.33170916e-04 9.99889622e-01 9.62917607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.38, Y:20.42, Z:0.96 [[ 7.84730117e-01 -6.19723826e-01 -1.18753017e-02 6.43759213e+01] [ 6.19659572e-01 7.84819888e-01 -8.93070244e-03 2.04165783e+01] [ 1.48545420e-02 -3.50453166e-04 9.99889604e-01 9.64036323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.488040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:64.40, Y:20.43, Z:0.96 [[ 7.84049950e-01 -6.20585713e-01 -1.17918869e-02 6.43992051e+01] [ 6.20519943e-01 7.84138585e-01 -9.03772461e-03 2.04342453e+01] [ 1.48551563e-02 -2.31073454e-04 9.99889629e-01 9.63195717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.42, Y:20.45, Z:0.96 [[ 7.83420305e-01 -6.21380283e-01 -1.17970302e-02 6.44202753e+01] [ 6.21314703e-01 7.83509080e-01 -9.03113546e-03 2.04530689e+01] [ 1.48548498e-02 -2.54493445e-04 9.99889628e-01 9.64820450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.45, Y:20.47, Z:0.97 [[ 7.83657582e-01 -6.21081663e-01 -1.17627285e-02 6.44450285e+01] [ 6.21015389e-01 7.83745833e-01 -9.07501404e-03 2.04720602e+01] [ 1.48553142e-02 -1.93131824e-04 9.99889635e-01 9.65633594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.578040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.46, Y:20.49, Z:0.96 [[ 7.81462834e-01 -6.23839751e-01 -1.18238798e-02 6.44632398e+01] [ 6.23774968e-01 7.81552203e-01 -8.99680794e-03 2.04913682e+01] [ 1.48535458e-02 -3.44769237e-04 9.99889621e-01 9.64413715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.608040942 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:64.49, Y:20.51, Z:0.96 [[ 7.80519991e-01 -6.25020104e-01 -1.17649296e-02 6.44851483e+01] [ 6.24954319e-01 7.80608606e-01 -9.07213599e-03 2.05090488e+01] [ 1.48540727e-02 -2.71560080e-04 9.99889635e-01 9.62114224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.638040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:64.51, Y:20.53, Z:0.96 [[ 7.78372174e-01 -6.27692498e-01 -1.17850003e-02 6.45068425e+01] [ 6.27627405e-01 7.78461304e-01 -9.04647808e-03 2.05267304e+01] [ 1.48525732e-02 -3.55062370e-04 9.99889631e-01 9.63680878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.668040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:64.53, Y:20.54, Z:0.97 [[ 7.77628325e-01 -6.28614224e-01 -1.17620500e-02 6.45294285e+01] [ 6.28548793e-01 7.77717201e-01 -9.07578458e-03 2.05442709e+01] [ 1.48527159e-02 -3.35435172e-04 9.99889636e-01 9.65286608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.55, Y:20.56, Z:0.97 [[ 7.78057054e-01 -6.28083339e-01 -1.17703226e-02 6.45502732e+01] [ 6.28018007e-01 7.78146005e-01 -9.06522604e-03 2.05609501e+01] [ 1.48527470e-02 -3.38711481e-04 9.99889635e-01 9.67052227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.728040942 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:64.58, Y:20.58, Z:0.97 [[ 7.78389990e-01 -6.27671168e-01 -1.17442719e-02 6.45760403e+01] [ 6.27605287e-01 7.78478530e-01 -9.09845737e-03 2.05797632e+01] [ 1.48535029e-02 -2.88618986e-04 9.99889639e-01 9.66422938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.75804094200001 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:64.59, Y:20.60, Z:0.97 [[ 7.77149175e-01 -6.29205288e-01 -1.18264760e-02 6.45906362e+01] [ 6.29141172e-01 7.77239025e-01 -8.99358013e-03 2.05973046e+01] [ 1.48508069e-02 -4.51169596e-04 9.99889619e-01 9.67842613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.788040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.62, Y:20.61, Z:0.97 [[ 7.81454159e-01 -6.23853224e-01 -1.16855610e-02 6.46169300e+01] [ 6.23785792e-01 7.81541515e-01 -9.17309172e-03 2.06146143e+01] [ 1.48554139e-02 -1.20936267e-04 9.99889645e-01 9.66928500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.818040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.64, Y:20.63, Z:0.97 [[ 7.81072167e-01 -6.24329687e-01 -1.17775880e-02 6.46383826e+01] [ 6.24264070e-01 7.81160908e-01 -9.05580000e-03 2.06331976e+01] [ 1.48539961e-02 -2.79091653e-04 9.99889634e-01 9.69475615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.66, Y:20.65, Z:0.96 [[ 7.81024245e-01 -6.24389944e-01 -1.17612143e-02 6.46589518e+01] [ 6.24324020e-01 7.81112753e-01 -9.07664965e-03 2.06489624e+01] [ 1.48542032e-02 -2.53725132e-04 9.99889638e-01 9.63530188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.68, Y:20.67, Z:0.97 [[ 7.84344761e-01 -6.20215203e-01 -1.16789549e-02 6.46848110e+01] [ 6.20147244e-01 7.84431705e-01 -9.18128705e-03 2.06656265e+01] [ 1.48557163e-02 -4.13772794e-05 9.99889647e-01 9.69602390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.908040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.71, Y:20.68, Z:0.97 [[ 7.85071650e-01 -6.19293393e-01 -1.17557451e-02 6.47082220e+01] [ 6.19226790e-01 7.85159647e-01 -9.08357638e-03 2.06819190e+01] [ 1.48555356e-02 -1.48214033e-04 9.99889639e-01 9.71113057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.938040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:64.74, Y:20.70, Z:0.97 [[ 7.86199437e-01 -6.17861148e-01 -1.17493517e-02 6.47367464e+01] [ 6.17794263e-01 7.86287218e-01 -9.09170252e-03 2.06988836e+01] [ 1.48557748e-02 -1.10790680e-04 9.99889641e-01 9.69454493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.968040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.76, Y:20.72, Z:0.97 [[ 7.86067764e-01 -6.18026721e-01 -1.18508144e-02 6.47550422e+01] [ 6.17961791e-01 7.86157042e-01 -8.96271624e-03 2.07154334e+01] [ 1.48557993e-02 -2.78048159e-04 9.99889608e-01 9.73835916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.998040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:64.78, Y:20.73, Z:0.98 [[ 7.87480318e-01 -6.16227235e-01 -1.17789657e-02 6.47796689e+01] [ 6.16160731e-01 7.87568396e-01 -9.05399176e-03 2.07331956e+01] [ 1.48560575e-02 -1.27895821e-04 9.99889635e-01 9.75898860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.028040942 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:64.81, Y:20.75, Z:0.98 [[ 7.87331672e-01 -6.16416821e-01 -1.17957836e-02 6.48081873e+01] [ 6.16350658e-01 7.87420014e-01 -9.03267242e-03 2.07523190e+01] [ 1.48561273e-02 -1.58629870e-04 9.99889629e-01 9.75954549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.058040942 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:64.82, Y:20.77, Z:0.98 [[ 7.85600278e-01 -6.18619468e-01 -1.19229729e-02 6.48204276e+01] [ 6.18555987e-01 7.85690645e-01 -8.87141296e-03 2.07668718e+01] [ 1.48557970e-02 -4.05641771e-04 9.99889564e-01 9.79547413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.088040942 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:64.84, Y:20.78, Z:0.98 [[ 7.83051275e-01 -6.21847327e-01 -1.16877348e-02 6.48382906e+01] [ 6.21779731e-01 7.83138490e-01 -9.16902901e-03 2.07845994e+01] [ 1.48548512e-02 -8.73767516e-05 9.99889657e-01 9.77758796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.11804094200001 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:64.87, Y:20.80, Z:0.98 [[ 7.84309031e-01 -6.20261638e-01 -1.16122587e-02 6.48657248e+01] [ 6.20192449e-01 7.84394988e-01 -9.26442389e-03 2.08005585e+01] [ 1.48549643e-02 6.43361434e-05 9.99889657e-01 9.82599107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.88, Y:20.82, Z:0.98 [[ 7.79890497e-01 -6.25806965e-01 -1.16814200e-02 6.48821075e+01] [ 6.25739693e-01 7.79977961e-01 -9.17700165e-03 2.08179856e+01] [ 1.48542817e-02 -1.52471795e-04 9.99889657e-01 9.77252106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.178040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:64.90, Y:20.83, Z:0.98 [[ 7.78856039e-01 -6.27095591e-01 -1.15926956e-02 6.49040170e+01] [ 6.27026790e-01 7.78942307e-01 -9.28906677e-03 2.08348483e+01] [ 1.48551739e-02 -3.40849824e-05 9.99889655e-01 9.78622259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.208040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:64.93, Y:20.85, Z:0.98 [[ 7.79876630e-01 -6.25826051e-01 -1.15842975e-02 6.49312948e+01] [ 6.25756951e-01 7.79962662e-01 -9.29967007e-03 2.08494968e+01] [ 1.48552953e-02 3.64065369e-06 9.99889654e-01 9.82329994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.95, Y:20.87, Z:0.98 [[ 7.75683201e-01 -6.31014788e-01 -1.16579680e-02 6.49528525e+01] [ 6.30947658e-01 7.75770772e-01 -9.20663538e-03 2.08669982e+01] [ 1.48534339e-02 -2.14135181e-04 9.99889659e-01 9.82504654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.268040942 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:64.98, Y:20.88, Z:0.99 [[ 7.74713251e-01 -6.32205447e-01 -1.16469691e-02 6.49795806e+01] [ 6.32138242e-01 7.74800765e-01 -9.22051842e-03 2.08849093e+01] [ 1.48533425e-02 -2.19236773e-04 9.99889659e-01 9.85914198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.298040942 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:65.01, Y:20.90, Z:0.98 [[ 7.75413813e-01 -6.31344523e-01 -1.17265562e-02 6.50096194e+01] [ 6.31278734e-01 7.75502407e-01 -9.12008555e-03 2.09034280e+01] [ 1.48518886e-02 -3.30885253e-04 9.99889650e-01 9.84985897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.328040942 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:65.02, Y:20.92, Z:0.98 [[ 7.71688059e-01 -6.35890395e-01 -1.18719954e-02 6.50194880e+01] [ 6.35827940e-01 7.71779100e-01 -8.93598881e-03 2.09171852e+01] [ 1.48448673e-02 -6.52750486e-04 9.99889596e-01 9.81957782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.358040942 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:65.04, Y:20.94, Z:0.98 [[ 7.69604878e-01 -6.38416095e-01 -1.15421355e-02 6.50410432e+01] [ 6.38347626e-01 7.69691406e-01 -9.35140221e-03 2.09366430e+01] [ 1.48539682e-02 -1.71010039e-04 9.99889659e-01 9.84322453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.388040942 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:65.07, Y:20.96, Z:0.99 [[ 7.71247956e-01 -6.36429682e-01 -1.15694197e-02 6.50724948e+01] [ 6.36361505e-01 7.71334706e-01 -9.31697817e-03 2.09568707e+01] [ 1.48534964e-02 -1.76632991e-04 9.99889665e-01 9.86438372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.418040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:65.08, Y:20.98, Z:0.98 [[ 7.66978649e-01 -6.41563706e-01 -1.18221396e-02 6.50818378e+01] [ 6.41500974e-01 7.67069452e-01 -8.99757926e-03 2.09755072e+01] [ 1.48409224e-02 -6.82962861e-04 9.99889634e-01 9.82424109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.448040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:65.10, Y:20.99, Z:0.98 [[ 7.69608372e-01 -6.38411458e-01 -1.15656185e-02 6.51042559e+01] [ 6.38343448e-01 7.69695243e-01 -9.32070144e-03 2.09918773e+01] [ 1.48524441e-02 -2.09546921e-04 9.99889674e-01 9.83466540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.478040942 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:65.12, Y:21.01, Z:0.98 [[ 7.67436662e-01 -6.41020293e-01 -1.15738451e-02 6.51247050e+01] [ 6.40952735e-01 7.67523882e-01 -9.31033549e-03 2.10133655e+01] [ 1.48513165e-02 -2.73194878e-04 9.99889676e-01 9.79359048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50804094200001 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:65.15, Y:21.03, Z:0.98 [[ 7.67409442e-01 -6.41052607e-01 -1.15889053e-02 6.51462366e+01] [ 6.40985339e-01 7.67496884e-01 -9.29134690e-03 2.10304802e+01] [ 1.48506908e-02 -2.98051041e-04 9.99889678e-01 9.79775849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.538040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:65.17, Y:21.05, Z:0.98 [[ 7.68116885e-01 -6.40204719e-01 -1.15917477e-02 6.51681198e+01] [ 6.40137409e-01 7.68204293e-01 -9.28776566e-03 2.10509458e+01] [ 1.48509018e-02 -2.86221723e-04 9.99889678e-01 9.81787506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.568040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:65.19, Y:21.07, Z:0.99 [[ 7.68097548e-01 -6.40227492e-01 -1.16152728e-02 6.51888439e+01] [ 6.40160631e-01 7.68185299e-01 -9.25812766e-03 2.10691266e+01] [ 1.48499896e-02 -3.24495210e-04 9.99889680e-01 9.85232477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.21, Y:21.09, Z:0.99 [[ 7.68576513e-01 -6.39652109e-01 -1.16328523e-02 6.52096262e+01] [ 6.39585517e-01 7.68664467e-01 -9.23598609e-03 2.10878719e+01] [ 1.48495782e-02 -3.41641844e-04 9.99889681e-01 9.86362837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.628040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:65.23, Y:21.11, Z:0.99 [[ 7.69073021e-01 -6.39055071e-01 -1.16320578e-02 6.52291150e+01] [ 6.38988395e-01 7.69160912e-01 -9.23698655e-03 2.11091823e+01] [ 1.48498673e-02 -3.28832794e-04 9.99889681e-01 9.85251500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.658040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.27, Y:21.13, Z:0.99 [[ 7.73037385e-01 -6.34253842e-01 -1.16303725e-02 6.52668832e+01] [ 6.34186589e-01 7.73124834e-01 -9.23910801e-03 2.11299453e+01] [ 1.48516696e-02 -2.33650373e-04 9.99889681e-01 9.86773194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.27, Y:21.15, Z:0.99 [[ 7.66768663e-01 -6.41811471e-01 -1.19938826e-02 6.52691434e+01] [ 6.41752101e-01 7.66861858e-01 -8.78246264e-03 2.11480949e+01] [ 1.48343363e-02 -9.62982210e-04 9.99889501e-01 9.86042472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.718040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:65.31, Y:21.17, Z:0.99 [[ 7.72822265e-01 -6.34516414e-01 -1.16046220e-02 6.53094168e+01] [ 6.34448729e-01 7.72909362e-01 -9.26977382e-03 2.11689319e+01] [ 1.48511447e-02 -1.98650105e-04 9.99889696e-01 9.86533693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.33, Y:21.19, Z:0.99 [[ 7.72155875e-01 -6.35319946e-01 -1.19945970e-02 6.53308980e+01] [ 6.35259826e-01 7.72248574e-01 -8.78023157e-03 2.11880681e+01] [ 1.48410667e-02 -8.39978196e-04 9.99889512e-01 9.87654335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.34, Y:21.21, Z:0.99 [[ 7.68873034e-01 -6.39289461e-01 -1.19684082e-02 6.53434731e+01] [ 6.39229309e-01 7.68965682e-01 -8.81307005e-03 2.12060469e+01] [ 1.48373980e-02 -8.74425410e-04 9.99889537e-01 9.88392669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.35, Y:21.23, Z:0.99 [[ 7.64449048e-01 -6.44576143e-01 -1.18003439e-02 6.53534261e+01] [ 6.44513369e-01 7.64539793e-01 -9.02339863e-03 2.12250984e+01] [ 1.48380999e-02 -7.07550888e-04 9.99889659e-01 9.86763437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.37, Y:21.24, Z:0.99 [[ 7.61585750e-01 -6.47960457e-01 -1.15927203e-02 6.53708416e+01] [ 6.47894112e-01 7.61673848e-01 -9.28269128e-03 2.12444362e+01] [ 1.48446888e-02 -4.41289849e-04 9.99889714e-01 9.85519321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.39, Y:21.26, Z:0.99 [[ 7.60141245e-01 -6.49655948e-01 -1.15081028e-02 6.53914720e+01] [ 6.49588197e-01 7.60228278e-01 -9.38828154e-03 2.12632590e+01] [ 1.48479381e-02 -3.39107702e-04 9.99889706e-01 9.85230776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.43, Y:21.28, Z:0.99 [[ 7.65421669e-01 -6.43426776e-01 -1.14739781e-02 6.54314984e+01] [ 6.43357678e-01 7.65507647e-01 -9.43083439e-03 2.12796891e+01] [ 1.48514693e-02 -1.63306894e-04 9.99889698e-01 9.86985786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.928040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:65.44, Y:21.30, Z:0.99 [[ 7.61277176e-01 -6.48318943e-01 -1.18156990e-02 6.54419151e+01] [ 6.48256914e-01 7.61368439e-01 -9.00402451e-03 2.12982145e+01] [ 1.48335799e-02 -8.05050197e-04 9.99889652e-01 9.86613338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.958040942 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:65.46, Y:21.31, Z:0.99 [[ 7.61131425e-01 -6.48494239e-01 -1.15834833e-02 6.54625463e+01] [ 6.48427791e-01 7.61219437e-01 -9.29346252e-03 2.13149814e+01] [ 1.48443295e-02 -4.37506130e-04 9.99889721e-01 9.86113044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.48, Y:21.33, Z:0.99 [[ 7.61197642e-01 -6.48416532e-01 -1.15823476e-02 6.54841591e+01] [ 6.48350054e-01 7.61285631e-01 -9.29487768e-03 2.13327599e+01] [ 1.48444272e-02 -4.34176742e-04 9.99889721e-01 9.86982789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.018040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:65.51, Y:21.35, Z:0.98 [[ 7.62880144e-01 -6.46436226e-01 -1.15797714e-02 6.55144160e+01] [ 6.46369471e-01 7.62967924e-01 -9.29808608e-03 2.13499094e+01] [ 1.48456138e-02 -3.91485476e-04 9.99889721e-01 9.84209658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.54, Y:21.37, Z:0.99 [[ 7.62881806e-01 -6.46431563e-01 -1.17296043e-02 6.55372898e+01] [ 6.46367652e-01 7.62971714e-01 -9.11160888e-03 2.13685049e+01] [ 1.48393879e-02 -6.30556139e-04 9.99889691e-01 9.86126313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.56, Y:21.39, Z:0.99 [[ 7.62902583e-01 -6.46407134e-01 -1.17246388e-02 6.55612259e+01] [ 6.46343125e-01 7.62992418e-01 -9.11777655e-03 2.13873440e+01] [ 1.48396063e-02 -6.22164378e-04 9.99889693e-01 9.85358998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.58, Y:21.41, Z:0.98 [[ 7.62747166e-01 -6.46590111e-01 -1.17468542e-02 6.55842909e+01] [ 6.46526548e-01 7.62837329e-01 -9.09019750e-03 2.14053418e+01] [ 1.48385707e-02 -6.61130702e-04 9.99889684e-01 9.83549842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.61, Y:21.42, Z:0.98 [[ 7.62146118e-01 -6.47298584e-01 -1.17404116e-02 6.56059673e+01] [ 6.47234982e-01 7.62236250e-01 -9.09818451e-03 2.14236375e+01] [ 1.48382093e-02 -6.64659077e-04 9.99889687e-01 9.83072791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.62, Y:21.44, Z:0.98 [[ 7.62699500e-01 -6.46646605e-01 -1.17320533e-02 6.56241682e+01] [ 6.46582767e-01 7.62789460e-01 -9.10853812e-03 2.14391133e+01] [ 1.48390918e-02 -6.38666016e-04 9.99889691e-01 9.83043231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.65, Y:21.46, Z:0.98 [[ 7.60852385e-01 -6.48820710e-01 -1.16333161e-02 6.56487991e+01] [ 6.48755259e-01 7.60941135e-01 -9.23052614e-03 2.14597797e+01] [ 1.48412253e-02 -5.24107164e-04 9.99889726e-01 9.83956201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.228040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.67, Y:21.48, Z:0.99 [[ 7.60998433e-01 -6.48647776e-01 -1.17238081e-02 6.56681823e+01] [ 6.48584016e-01 7.61088445e-01 -9.11880455e-03 2.14773994e+01] [ 1.48377472e-02 -6.64478597e-04 9.99889694e-01 9.86714831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.25804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.69, Y:21.50, Z:0.98 [[ 7.60299128e-01 -6.49468670e-01 -1.16483195e-02 6.56901183e+01] [ 6.49403579e-01 7.60388146e-01 -9.21187917e-03 2.14959521e+01] [ 1.48400710e-02 -5.60676659e-04 9.99889723e-01 9.84725342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.71, Y:21.51, Z:0.99 [[ 7.62979343e-01 -6.46316654e-01 -1.17177132e-02 6.57064343e+01] [ 6.46252508e-01 7.63069074e-01 -9.12607650e-03 2.15085392e+01] [ 1.48397598e-02 -6.09593715e-04 9.99889699e-01 9.85847214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.318040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.73, Y:21.53, Z:0.99 [[ 7.61164050e-01 -6.48456567e-01 -1.15485733e-02 6.57322856e+01] [ 6.48389487e-01 7.61251558e-01 -9.33483413e-03 2.15296100e+01] [ 1.48446039e-02 -3.82633375e-04 9.99889740e-01 9.89695668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.75, Y:21.55, Z:0.99 [[ 7.61482972e-01 -6.48079982e-01 -1.16627704e-02 6.57542328e+01] [ 6.48015005e-01 7.61572076e-01 -9.19386268e-03 2.15476302e+01] [ 1.48403986e-02 -5.56680325e-04 9.99889720e-01 9.88863695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.78, Y:21.57, Z:0.99 [[ 7.60854847e-01 -6.48817068e-01 -1.16753343e-02 6.57775244e+01] [ 6.48752414e-01 7.60944192e-01 -9.17835934e-03 2.15678847e+01] [ 1.48393540e-02 -5.91002090e-04 9.99889716e-01 9.85821432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.408040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.79, Y:21.58, Z:0.98 [[ 7.62974256e-01 -6.46322636e-01 -1.17189983e-02 6.57915942e+01] [ 6.46258515e-01 7.63064005e-01 -9.12450352e-03 2.15786200e+01] [ 1.48397189e-02 -6.11741130e-04 9.99889698e-01 9.84968016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.82, Y:21.60, Z:0.99 [[ 7.62832501e-01 -6.46494447e-01 -1.14675603e-02 6.58204978e+01] [ 6.46425644e-01 7.62918661e-01 -9.43420685e-03 2.16031312e+01] [ 1.48479781e-02 -2.16205451e-04 9.99889739e-01 9.88904997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.84, Y:21.62, Z:0.99 [[ 7.65635486e-01 -6.43167830e-01 -1.17236897e-02 6.58447017e+01] [ 6.43103435e-01 7.65725036e-01 -9.11819007e-03 2.16183400e+01] [ 1.48416492e-02 -5.58335210e-04 9.99889701e-01 9.91046573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.86, Y:21.64, Z:0.99 [[ 7.64868884e-01 -6.44078662e-01 -1.17587441e-02 6.58647253e+01] [ 6.44015038e-01 7.64959004e-01 -9.07485113e-03 2.16363052e+01] [ 1.48398751e-02 -6.31736743e-04 9.99889683e-01 9.88470269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.89, Y:21.65, Z:0.99 [[ 7.66468903e-01 -6.42173953e-01 -1.17487864e-02 6.58875219e+01] [ 6.42109917e-01 7.66558725e-01 -9.08715571e-03 2.16532545e+01] [ 1.48416694e-02 -5.78989992e-04 9.99889689e-01 9.90051037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.91, Y:21.67, Z:0.99 [[ 7.68500814e-01 -6.39740740e-01 -1.17594537e-02 6.59107993e+01] [ 6.39676620e-01 7.68590583e-01 -9.07398581e-03 2.16699926e+01] [ 1.48432037e-02 -5.48882096e-04 9.99889683e-01 9.93274086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.93, Y:21.69, Z:0.99 [[ 7.69671465e-01 -6.38332069e-01 -1.17475800e-02 6.59328209e+01] [ 6.38267562e-01 7.69760948e-01 -9.08860159e-03 2.16899533e+01] [ 1.48443742e-02 -5.02861939e-04 9.99889690e-01 9.93607130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.61804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.94, Y:21.71, Z:0.99 [[ 7.67329394e-01 -6.41145417e-01 -1.17539982e-02 6.59422753e+01] [ 6.41081358e-01 7.67419203e-01 -9.08070843e-03 2.17074882e+01] [ 1.48422985e-02 -5.67374610e-04 9.99889686e-01 9.93549612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.648040942 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:65.98, Y:21.73, Z:1.00 [[ 7.71787735e-01 -6.35776085e-01 -1.15092172e-02 6.59781655e+01] [ 6.35706876e-01 7.71873541e-01 -9.38102260e-03 2.17257009e+01] [ 1.48478900e-02 -7.63303116e-05 9.99889761e-01 9.95480761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.00, Y:21.74, Z:1.00 [[ 7.70288686e-01 -6.37586101e-01 -1.18027367e-02 6.59984930e+01] [ 6.37522551e-01 7.70378888e-01 -9.02029152e-03 2.17427490e+01] [ 1.48437916e-02 -5.76282276e-04 9.99889659e-01 9.95527565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.02, Y:21.76, Z:1.00 [[ 7.71098017e-01 -6.36608117e-01 -1.17453787e-02 6.60198902e+01] [ 6.36543377e-01 7.71187323e-01 -9.09071465e-03 2.17587443e+01] [ 1.48451099e-02 -4.66610956e-04 9.99889696e-01 9.99305320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.04, Y:21.78, Z:1.00 [[ 7.69967238e-01 -6.37975319e-01 -1.17449681e-02 6.60427300e+01] [ 6.37910731e-01 7.70056653e-01 -9.09121825e-03 2.17774600e+01] [ 1.48442637e-02 -4.92300987e-04 9.99889697e-01 9.99483234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.06, Y:21.80, Z:1.00 [[ 7.68609531e-01 -6.39610402e-01 -1.17440630e-02 6.60647316e+01] [ 6.39545986e-01 7.68699071e-01 -9.09232726e-03 2.17962019e+01] [ 1.48431974e-02 -5.22418976e-04 9.99889697e-01 9.98012633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.798040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.09, Y:21.81, Z:1.00 [[ 7.66692195e-01 -6.41907524e-01 -1.17391520e-02 6.60856839e+01] [ 6.41843285e-01 7.66781858e-01 -9.09833627e-03 2.18145597e+01] [ 1.48416593e-02 -5.59072464e-04 9.99889700e-01 9.99266231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.828040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.11, Y:21.83, Z:1.00 [[ 7.65869566e-01 -6.42889254e-01 -1.17138406e-02 6.61051915e+01] [ 6.42824657e-01 7.65958953e-01 -9.12925225e-03 2.18317496e+01] [ 1.48414192e-02 -5.38129093e-04 9.99889715e-01 1.00032616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.13, Y:21.85, Z:1.00 [[ 7.63393723e-01 -6.45828500e-01 -1.16435145e-02 6.61250336e+01] [ 6.45762936e-01 7.63482360e-01 -9.21504033e-03 2.18501456e+01] [ 1.48409536e-02 -4.84246166e-04 9.99889750e-01 9.98971086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.15, Y:21.87, Z:1.00 [[ 7.62691482e-01 -6.46658343e-01 -1.16056124e-02 6.61462300e+01] [ 6.46592172e-01 7.62779649e-01 -9.26121907e-03 2.18689476e+01] [ 1.48413695e-02 -4.40645218e-04 9.99889764e-01 9.98030159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.17, Y:21.89, Z:0.99 [[ 7.61480683e-01 -6.48083816e-01 -1.15989669e-02 6.61725195e+01] [ 6.48017687e-01 7.61568879e-01 -9.26930933e-03 2.18898193e+01] [ 1.48407016e-02 -4.57935694e-04 9.99889766e-01 9.93788360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.20, Y:21.91, Z:0.99 [[ 7.58546361e-01 -6.51513689e-01 -1.17188488e-02 6.61950353e+01] [ 6.51450198e-01 7.58636542e-01 -9.12337462e-03 2.19133568e+01] [ 1.48343504e-02 -7.13743782e-04 9.99889710e-01 9.94675396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.978040942 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:66.21, Y:21.93, Z:1.00 [[ 7.59458444e-01 -6.50449033e-01 -1.17866931e-02 6.62103698e+01] [ 6.50386691e-01 7.59549482e-01 -9.04081056e-03 2.19264623e+01] [ 1.48331631e-02 -7.99788386e-04 9.99889663e-01 9.96897694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.23, Y:21.95, Z:1.00 [[ 7.57916671e-01 -6.52248267e-01 -1.15981968e-02 6.62312051e+01] [ 6.52182613e-01 7.58005217e-01 -9.26983637e-03 2.19462092e+01] [ 1.48377284e-02 -5.38378766e-04 9.99889770e-01 9.99574959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.038040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.26, Y:21.97, Z:1.00 [[ 7.58346020e-01 -6.51748907e-01 -1.16050477e-02 6.62557696e+01] [ 6.51683322e-01 7.58434619e-01 -9.26152510e-03 2.19652541e+01] [ 1.48378588e-02 -5.39375355e-04 9.99889767e-01 1.00249303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.068040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.28, Y:21.98, Z:1.00 [[ 7.58094504e-01 -6.52040864e-01 -1.16376318e-02 6.62797152e+01] [ 6.51975918e-01 7.58183590e-01 -9.22205564e-03 2.19837538e+01] [ 1.48366186e-02 -5.96265959e-04 9.99889754e-01 1.00206390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.30, Y:22.00, Z:1.00 [[ 7.58822573e-01 -6.51192720e-01 -1.16766280e-02 6.62996210e+01] [ 6.51128398e-01 7.58912136e-01 -9.17488840e-03 2.20010281e+01] [ 1.48361552e-02 -6.40871658e-04 9.99889733e-01 1.00137871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.32, Y:22.02, Z:1.00 [[ 7.60024470e-01 -6.49791028e-01 -1.15941758e-02 6.63225927e+01] [ 6.49725017e-01 7.60112746e-01 -9.27449560e-03 2.20199153e+01] [ 1.48393649e-02 -4.84182496e-04 9.99889773e-01 1.00073297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.158040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.35, Y:22.04, Z:1.01 [[ 7.61723499e-01 -6.47798160e-01 -1.16126820e-02 6.63502824e+01] [ 6.47732258e-01 7.61811866e-01 -9.25219285e-03 2.20388066e+01] [ 1.48402324e-02 -4.74296010e-04 9.99889765e-01 1.00549287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.188040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:66.37, Y:22.06, Z:1.00 [[ 7.60221341e-01 -6.49558394e-01 -1.17220138e-02 6.63708324e+01] [ 6.49494716e-01 7.60311404e-01 -9.12046024e-03 2.20579460e+01] [ 1.48366522e-02 -6.79817481e-04 9.99889700e-01 1.00363956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.39, Y:22.07, Z:1.00 [[ 7.60211889e-01 -6.49569847e-01 -1.17003567e-02 6.63909276e+01] [ 6.49505769e-01 7.60301649e-01 -9.14653057e-03 2.20749557e+01] [ 1.48371109e-02 -6.46147883e-04 9.99889715e-01 1.00428217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.42, Y:22.09, Z:1.01 [[ 7.60129230e-01 -6.49666887e-01 -1.16828275e-02 6.64167950e+01] [ 6.49602497e-01 7.60218752e-01 -9.16761840e-03 2.20945480e+01] [ 1.48374027e-02 -6.20619224e-04 9.99889727e-01 1.00818649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.278040942 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:66.44, Y:22.11, Z:1.01 [[ 7.59572546e-01 -6.50316330e-01 -1.17566080e-02 6.64379955e+01] [ 6.50253384e-01 7.59663156e-01 -9.07888387e-03 2.21128444e+01] [ 1.48352083e-02 -7.48703179e-04 9.99889672e-01 1.00847687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.308040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:66.46, Y:22.13, Z:1.01 [[ 7.57063502e-01 -6.53235646e-01 -1.17492348e-02 6.64551021e+01] [ 6.53172912e-01 7.57154251e-01 -9.08774193e-03 2.21334673e+01] [ 1.48324201e-02 -7.94284202e-04 9.99889678e-01 1.00788375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.338040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:66.48, Y:22.15, Z:1.01 [[ 7.56360678e-01 -6.54050741e-01 -1.16684136e-02 6.64763831e+01] [ 6.53986608e-01 7.56450368e-01 -9.18463438e-03 2.21526962e+01] [ 1.48337927e-02 -6.84089946e-04 9.99889739e-01 1.00822138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36804094200001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:66.50, Y:22.17, Z:1.01 [[ 7.55516609e-01 -6.55025587e-01 -1.16676592e-02 6.64961766e+01] [ 6.54961555e-01 7.55606371e-01 -9.18553799e-03 2.21714906e+01] [ 1.48329200e-02 -7.02041681e-04 9.99889740e-01 1.00712406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.398040942 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:66.52, Y:22.19, Z:1.01 [[ 7.55172815e-01 -6.55422408e-01 -1.16399143e-02 6.65178265e+01] [ 6.55357911e-01 7.55262222e-01 -9.21874644e-03 2.21900184e+01] [ 1.48333605e-02 -6.66563197e-04 9.99889757e-01 1.00753307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.428040942 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:66.54, Y:22.21, Z:1.01 [[ 7.53178832e-01 -6.57713350e-01 -1.16101915e-02 6.65374615e+01] [ 6.57648579e-01 7.53268018e-01 -9.25418366e-03 2.22119332e+01] [ 1.48321861e-02 -6.65370702e-04 9.99889776e-01 1.00776724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.56, Y:22.23, Z:1.01 [[ 7.52128493e-01 -6.58914689e-01 -1.15828620e-02 6.65561179e+01] [ 6.58849559e-01 7.52217399e-01 -9.28673264e-03 2.22310079e+01] [ 1.48319949e-02 -6.46547298e-04 9.99889791e-01 1.00933098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.488040942 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:66.57, Y:22.25, Z:1.01 [[ 7.48133228e-01 -6.63448049e-01 -1.15481608e-02 6.65660563e+01] [ 6.63382821e-01 7.48222040e-01 -9.32805434e-03 2.22521116e+01] [ 1.48292678e-02 -6.82224053e-04 9.99889808e-01 1.00859389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.518040942 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:66.60, Y:22.27, Z:1.01 [[ 7.50452190e-01 -6.60827139e-01 -1.13579523e-02 6.65954032e+01] [ 6.60758153e-01 7.50538061e-01 -9.55417410e-03 2.22712444e+01] [ 1.48382331e-02 -3.34908737e-04 9.99889851e-01 1.00991161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.62, Y:22.29, Z:1.01 [[ 7.50128144e-01 -6.61192403e-01 -1.15053731e-02 6.66153524e+01] [ 6.61126129e-01 7.50216155e-01 -9.37881551e-03 2.22902999e+01] [ 1.48327184e-02 -5.71189313e-04 9.99889826e-01 1.01101752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.578040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:66.64, Y:22.31, Z:1.01 [[ 7.49818371e-01 -6.61543907e-01 -1.14921313e-02 6.66365838e+01] [ 6.61477433e-01 7.49906226e-01 -9.39455706e-03 2.23092866e+01] [ 1.48329328e-02 -5.57574041e-04 9.99889831e-01 1.01186788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.608040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.66, Y:22.33, Z:1.01 [[ 7.49549910e-01 -6.61848141e-01 -1.14878490e-02 6.66572154e+01] [ 6.61781624e-01 7.49637731e-01 -9.39964257e-03 2.23290438e+01] [ 1.48328610e-02 -5.56946130e-04 9.99889832e-01 1.01195361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.638040942 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:66.68, Y:22.35, Z:1.01 [[ 7.49309952e-01 -6.62119955e-01 -1.14787146e-02 6.66777094e+01] [ 6.62053304e-01 7.49397668e-01 -9.41048195e-03 2.23484130e+01] [ 1.48329899e-02 -5.48153163e-04 9.99889835e-01 1.01163843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.668040942 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:66.70, Y:22.37, Z:1.01 [[ 7.49088408e-01 -6.62370856e-01 -1.14632972e-02 6.66982951e+01] [ 6.62303955e-01 7.49175927e-01 -9.42876429e-03 2.23682237e+01] [ 1.48333650e-02 -5.29209060e-04 9.99889840e-01 1.01168959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.698040942 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:66.71, Y:22.39, Z:1.01 [[ 7.47949480e-01 -6.63656756e-01 -1.14580089e-02 6.67109526e+01] [ 6.63589910e-01 7.48037039e-01 -9.43503030e-03 2.23899956e+01] [ 1.48326367e-02 -5.46493098e-04 9.99889841e-01 1.00967880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.728040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.73, Y:22.41, Z:1.01 [[ 7.48773307e-01 -6.62729223e-01 -1.13363194e-02 6.67319317e+01] [ 6.62660079e-01 7.48859040e-01 -9.57904420e-03 2.24097081e+01] [ 1.48376178e-02 -3.39593687e-04 9.99889859e-01 1.01138485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.75804094200001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:66.76, Y:22.43, Z:1.02 [[ 7.52583773e-01 -6.58398971e-01 -1.13340449e-02 6.67599945e+01] [ 6.58329293e-01 7.52669073e-01 -9.58173469e-03 2.24297077e+01] [ 1.48393893e-02 -2.50475686e-04 9.99889859e-01 1.01508123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.788040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.78, Y:22.45, Z:1.02 [[ 7.51423128e-01 -6.59720717e-01 -1.14829366e-02 6.67770024e+01] [ 6.59653863e-01 7.51510690e-01 -9.40552204e-03 2.24495764e+01] [ 1.48345674e-02 -5.07236687e-04 9.99889833e-01 1.01564543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.818040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.80, Y:22.47, Z:1.01 [[ 7.50707916e-01 -6.60535503e-01 -1.14225600e-02 6.67968239e+01] [ 6.60467654e-01 7.50794689e-01 -9.47698891e-03 2.24692983e+01] [ 1.48358850e-02 -4.29780810e-04 9.99889850e-01 1.01490566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.82, Y:22.49, Z:1.02 [[ 7.51270419e-01 -6.59895409e-01 -1.14370772e-02 6.68155011e+01] [ 6.59827748e-01 7.51357342e-01 -9.45980844e-03 2.24895019e+01] [ 1.48358161e-02 -4.39626642e-04 9.99889847e-01 1.01625457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.83, Y:22.51, Z:1.01 [[ 7.52760173e-01 -6.58196016e-01 -1.14072760e-02 6.68347311e+01] [ 6.58127624e-01 7.52846515e-01 -9.49505855e-03 2.25064416e+01] [ 1.48375377e-02 -3.59941546e-04 9.99889853e-01 1.01380073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.908040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.86, Y:22.53, Z:1.02 [[ 7.52976320e-01 -6.57949507e-01 -1.13625676e-02 6.68558392e+01] [ 6.57880289e-01 7.53061992e-01 -9.54787203e-03 2.25265508e+01] [ 1.48387355e-02 -2.85887737e-04 9.99889859e-01 1.01902042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.88, Y:22.55, Z:1.02 [[ 7.54645568e-01 -6.56034100e-01 -1.13721360e-02 6.68762046e+01] [ 6.55964834e-01 7.54731204e-01 -9.53657489e-03 2.25464634e+01] [ 1.48392242e-02 -2.62987310e-04 9.99889858e-01 1.02114818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.90, Y:22.57, Z:1.02 [[ 7.55666496e-01 -6.54858060e-01 -1.13608073e-02 6.68981933e+01] [ 6.54788459e-01 7.55751859e-01 -9.54994336e-03 2.25659823e+01] [ 1.48398086e-02 -2.22353267e-04 9.99889859e-01 1.02181185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.92, Y:22.59, Z:1.02 [[ 7.56216812e-01 -6.54222331e-01 -1.13698950e-02 6.69190742e+01] [ 6.54152820e-01 7.56302248e-01 -9.53923347e-03 2.25861242e+01] [ 1.48398567e-02 -2.23920161e-04 9.99889858e-01 1.02183542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.028040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:66.94, Y:22.61, Z:1.02 [[ 7.57193761e-01 -6.53091460e-01 -1.13645560e-02 6.69399366e+01] [ 6.53021727e-01 7.57279015e-01 -9.54552186e-03 2.26050475e+01] [ 1.48402386e-02 -1.93492363e-04 9.99889859e-01 1.02072017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.96, Y:22.62, Z:1.02 [[ 7.59173330e-01 -6.50789252e-01 -1.13668063e-02 6.69578919e+01] [ 6.50719300e-01 7.59258406e-01 -9.54287076e-03 2.26237420e+01] [ 1.48407409e-02 -1.51907229e-04 9.99889859e-01 1.02065566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.98, Y:22.64, Z:1.02 [[ 7.60068216e-01 -6.49744836e-01 -1.13117190e-02 6.69801722e+01] [ 6.49673800e-01 7.60152383e-01 -9.60772819e-03 2.26433901e+01] [ 1.48412019e-02 -4.63986269e-05 9.99889862e-01 1.02122305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.11804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.00, Y:22.66, Z:1.02 [[ 7.60369700e-01 -6.49391766e-01 -1.13249051e-02 6.69983193e+01] [ 6.49320921e-01 7.60454030e-01 -9.59221037e-03 2.26623379e+01] [ 1.48411721e-02 -5.98716725e-05 9.99889862e-01 1.01716228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.02, Y:22.68, Z:1.02 [[ 7.61371007e-01 -6.48218817e-01 -1.12496339e-02 6.70205885e+01] [ 6.48146530e-01 7.61454108e-01 -9.68071344e-03 2.26811052e+01] [ 1.48413005e-02 7.92033910e-05 9.99889859e-01 1.01712974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.05, Y:22.70, Z:1.02 [[ 7.62903995e-01 -6.46413881e-01 -1.12511568e-02 6.70450287e+01] [ 6.46341424e-01 7.62986948e-01 -9.67892300e-03 2.26986406e+01] [ 1.48410759e-02 1.12000349e-04 9.99889859e-01 1.02132812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.06, Y:22.72, Z:1.01 [[ 7.59449253e-01 -6.50468297e-01 -1.13060810e-02 6.70580240e+01] [ 6.50397242e-01 7.59533404e-01 -9.61433431e-03 2.27180695e+01] [ 1.48411659e-02 -5.18448893e-05 9.99889862e-01 1.01346673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.08, Y:22.74, Z:1.01 [[ 7.59773664e-01 -6.50091903e-01 -1.11578763e-02 6.70810662e+01] [ 6.50018233e-01 7.59855568e-01 -9.78838541e-03 2.27362511e+01] [ 1.48417245e-02 1.84134397e-04 9.99889839e-01 1.01446375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.11, Y:22.75, Z:1.02 [[ 7.61236342e-01 -6.48378263e-01 -1.11740525e-02 6.71092665e+01] [ 6.48304687e-01 7.61318325e-01 -9.76938771e-03 2.27538722e+01] [ 1.48412696e-02 1.92622345e-04 9.99889844e-01 1.02017950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.13, Y:22.77, Z:1.02 [[ 7.60303336e-01 -6.49469842e-01 -1.13031852e-02 6.71305517e+01] [ 6.49398627e-01 7.60387351e-01 -9.61762400e-03 2.27715915e+01] [ 1.48411558e-02 -2.79613378e-05 9.99889864e-01 1.02180438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.328040942 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:67.15, Y:22.79, Z:1.02 [[ 7.58819343e-01 -6.51203120e-01 -1.13004894e-02 6.71531308e+01] [ 6.51132051e-01 7.58903480e-01 -9.62079042e-03 2.27899045e+01] [ 1.48410695e-02 -5.76690041e-05 9.99889864e-01 1.02159970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.358040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.17, Y:22.81, Z:1.02 [[ 7.58520143e-01 -6.51551645e-01 -1.12981285e-02 6.71722859e+01] [ 6.51480572e-01 7.58604278e-01 -9.62356213e-03 2.28077181e+01] [ 1.48410564e-02 -6.08455236e-05 9.99889864e-01 1.01956401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.388040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.20, Y:22.83, Z:1.02 [[ 7.57343343e-01 -6.52920336e-01 -1.12292506e-02 6.71955055e+01] [ 6.52848215e-01 7.57426587e-01 -9.70435095e-03 2.28267155e+01] [ 1.48415011e-02 1.85293581e-05 9.99889859e-01 1.02203196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.22, Y:22.84, Z:1.02 [[ 7.56890570e-01 -6.53444028e-01 -1.12946054e-02 6.72171300e+01] [ 6.53373105e-01 7.56974830e-01 -9.62768086e-03 2.28449866e+01] [ 1.48408826e-02 -9.24905509e-05 9.99889864e-01 1.02213480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.23, Y:22.86, Z:1.01 [[ 7.54530091e-01 -6.56168297e-01 -1.12919697e-02 6.72283746e+01] [ 6.56097631e-01 7.54614568e-01 -9.63077123e-03 2.28633087e+01] [ 1.48404916e-02 -1.41927868e-04 9.99889864e-01 1.01160842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.478040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.26, Y:22.88, Z:1.02 [[ 7.56567680e-01 -6.53821370e-01 -1.10887928e-02 6.72611515e+01] [ 6.53746925e-01 7.56648907e-01 -9.86859036e-03 2.28802483e+01] [ 1.48426182e-02 2.16992347e-04 9.99889819e-01 1.02116371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.28, Y:22.90, Z:1.02 [[ 7.56655081e-01 -6.53716791e-01 -1.12891438e-02 6.72832181e+01] [ 6.53645807e-01 7.56739287e-01 -9.63381509e-03 2.28975639e+01] [ 1.48407253e-02 -8.96263929e-05 9.99889866e-01 1.02125057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.538040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.31, Y:22.91, Z:1.02 [[ 7.57539590e-01 -6.52691644e-01 -1.12865703e-02 6.73055445e+01] [ 6.52620501e-01 7.57623662e-01 -9.63682915e-03 2.29146012e+01] [ 1.48408506e-02 -6.55675758e-05 9.99889866e-01 1.02101243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.568040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.33, Y:22.93, Z:1.02 [[ 7.58001383e-01 -6.52155330e-01 -1.12839948e-02 6.73273993e+01] [ 6.52084083e-01 7.58085366e-01 -9.63984393e-03 2.29326797e+01] [ 1.48409070e-02 -5.10983815e-05 9.99889866e-01 1.02095765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.35, Y:22.95, Z:1.02 [[ 7.58781101e-01 -6.51248009e-01 -1.12814224e-02 6.73485298e+01] [ 6.51176617e-01 7.58864961e-01 -9.64285348e-03 2.29499908e+01] [ 1.48409653e-02 -2.93834773e-05 9.99889866e-01 1.02121876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.37, Y:22.97, Z:1.02 [[ 7.59529901e-01 -6.50374572e-01 -1.12803071e-02 6.73702124e+01] [ 6.50303063e-01 7.59613663e-01 -9.64415802e-03 2.29670813e+01] [ 1.48409905e-02 -1.05918530e-05 9.99889866e-01 1.02163930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.658040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.39, Y:22.98, Z:1.02 [[ 7.61259126e-01 -6.48349717e-01 -1.12777589e-02 6.73926215e+01] [ 6.48277942e-01 7.61342658e-01 -9.64713694e-03 2.29820004e+01] [ 1.48409574e-02 3.28487235e-05 9.99889866e-01 1.02205876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.41, Y:23.00, Z:1.01 [[ 7.61901322e-01 -6.47594945e-01 -1.12766542e-02 6.74063371e+01] [ 6.47523067e-01 7.61984767e-01 -9.64842801e-03 2.29966994e+01] [ 1.48409119e-02 4.92563420e-05 9.99889866e-01 1.01417774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.44, Y:23.01, Z:1.02 [[ 7.62117451e-01 -6.47344225e-01 -1.10655481e-02 6.74376253e+01] [ 6.47268711e-01 7.62197685e-01 -9.89462506e-03 2.30149570e+01] [ 1.48393636e-02 3.78483342e-04 9.99889819e-01 1.02441675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.46, Y:23.03, Z:1.02 [[ 7.62051407e-01 -6.47418407e-01 -1.12720422e-02 6.74601967e+01] [ 6.47346435e-01 7.62134766e-01 -9.65351078e-03 2.30322448e+01] [ 1.48406759e-02 5.95551083e-05 9.99889869e-01 1.02495721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.48, Y:23.05, Z:1.03 [[ 7.61616572e-01 -6.47929930e-01 -1.12695941e-02 6.74822109e+01] [ 6.47857972e-01 7.61699943e-01 -9.65636797e-03 2.30487808e+01] [ 1.48406990e-02 5.33535278e-05 9.99889869e-01 1.02570804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.50, Y:23.06, Z:1.02 [[ 7.62263895e-01 -6.47168284e-01 -1.12679279e-02 6.74986350e+01] [ 6.47096214e-01 7.62347170e-01 -9.65831184e-03 2.30608012e+01] [ 1.48406260e-02 7.07489445e-05 9.99889869e-01 1.01803158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.52, Y:23.08, Z:1.02 [[ 7.61810910e-01 -6.47705024e-01 -1.10606669e-02 6.75216049e+01] [ 6.47629476e-01 7.61891107e-01 -9.89964767e-03 2.30779301e+01] [ 1.48390753e-02 3.78445690e-04 9.99889823e-01 1.01746184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.54, Y:23.09, Z:1.02 [[ 7.61410484e-01 -6.48175661e-01 -1.10628645e-02 6.75441791e+01] [ 6.48100200e-01 7.61490761e-01 -9.89708917e-03 2.30942776e+01] [ 1.48393214e-02 3.65902776e-04 9.99889824e-01 1.01556600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.57, Y:23.11, Z:1.02 [[ 7.60563355e-01 -6.49169181e-01 -1.10796324e-02 6.75662178e+01] [ 6.49094109e-01 7.60643985e-01 -9.87754699e-03 2.31115819e+01] [ 1.48398548e-02 3.20776129e-04 9.99889832e-01 1.01768059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.59, Y:23.13, Z:1.02 [[ 7.59840637e-01 -6.50014276e-01 -1.11196341e-02 6.75906072e+01] [ 6.49939979e-01 7.59921958e-01 -9.83064268e-03 2.31254574e+01] [ 1.48401122e-02 2.42627015e-04 9.99889850e-01 1.02030636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.62, Y:23.14, Z:1.02 [[ 7.57678004e-01 -6.52534016e-01 -1.11085679e-02 6.76160905e+01] [ 6.52459799e-01 7.57759404e-01 -9.84362150e-03 2.31425507e+01] [ 1.48409196e-02 2.10401533e-04 9.99889845e-01 1.02161904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.988040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:67.64, Y:23.16, Z:1.02 [[ 7.57256071e-01 -6.53023208e-01 -1.11325647e-02 6.76378708e+01] [ 6.52949457e-01 7.57337879e-01 -9.81547820e-03 2.31572393e+01] [ 1.48408480e-02 1.63828405e-04 9.99889855e-01 1.02373788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.018040942 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:67.66, Y:23.17, Z:1.02 [[ 7.56203766e-01 -6.54241814e-01 -1.11136504e-02 6.76604480e+01] [ 6.54167868e-01 7.56285409e-01 -9.83771613e-03 2.31730947e+01] [ 1.48413369e-02 1.69124959e-04 9.99889847e-01 1.02460063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.68, Y:23.19, Z:1.02 [[ 7.55577136e-01 -6.54965547e-01 -1.11051124e-02 6.76829816e+01] [ 6.54891531e-01 7.55658722e-01 -9.84775403e-03 2.31888795e+01] [ 1.48416147e-02 1.68093717e-04 9.99889843e-01 1.02255723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.71, Y:23.21, Z:1.03 [[ 7.49330371e-01 -6.62105394e-01 -1.09746129e-02 6.77146692e+01] [ 6.62029918e-01 7.49410699e-01 -9.99959820e-03 2.32111148e+01] [ 1.48452802e-02 2.27480542e-04 9.99889777e-01 1.02828297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.74, Y:23.23, Z:1.03 [[ 7.47793765e-01 -6.63835532e-01 -1.12637494e-02 6.77365183e+01] [ 6.63765253e-01 7.47878549e-01 -9.66255066e-03 2.32268320e+01] [ 1.48382610e-02 -2.50890331e-04 9.99889875e-01 1.02827611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.138040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:67.76, Y:23.24, Z:1.03 [[ 7.46359188e-01 -6.65448060e-01 -1.12623845e-02 6.77596974e+01] [ 6.65377941e-01 7.46444104e-01 -9.66414126e-03 2.32435784e+01] [ 1.48377246e-02 -2.80821582e-04 9.99889875e-01 1.02767289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.78, Y:23.25, Z:1.02 [[ 7.47287053e-01 -6.64405950e-01 -1.12603110e-02 6.77775247e+01] [ 6.64335676e-01 7.47371840e-01 -9.66655665e-03 2.32513970e+01] [ 1.48381571e-02 -2.56933681e-04 9.99889875e-01 1.02072212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.81, Y:23.27, Z:1.03 [[ 7.47937067e-01 -6.63677140e-01 -1.10813956e-02 6.78110470e+01] [ 6.63603656e-01 7.48019152e-01 -9.87599375e-03 2.32701990e+01] [ 1.48435675e-02 3.29671497e-05 9.99889828e-01 1.02632039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.228040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.83, Y:23.28, Z:1.02 [[ 7.49142652e-01 -6.62311103e-01 -1.13705394e-02 6.78296974e+01] [ 6.62242540e-01 7.49228840e-01 -9.53754468e-03 2.32831907e+01] [ 1.48359578e-02 -3.85073372e-04 9.99889867e-01 1.02484612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.25804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.85, Y:23.30, Z:1.03 [[ 7.42637429e-01 -6.69599981e-01 -1.12033239e-02 6.78517526e+01] [ 6.69529301e-01 7.42721880e-01 -9.73263911e-03 2.33042759e+01] [ 1.48379287e-02 -2.73131527e-04 9.99889875e-01 1.02840791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.87, Y:23.32, Z:1.03 [[ 7.42477411e-01 -6.69776318e-01 -1.12684550e-02 6.78733854e+01] [ 6.69706807e-01 7.42562820e-01 -9.65663683e-03 2.33229230e+01] [ 1.48353224e-02 -3.76726330e-04 9.99889880e-01 1.02886582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.318040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.90, Y:23.34, Z:1.03 [[ 7.42216200e-01 -6.70065807e-01 -1.12661463e-02 6.78959440e+01] [ 6.69996289e-01 7.42301603e-01 -9.65932958e-03 2.33397886e+01] [ 1.48352650e-02 -3.78965351e-04 9.99889880e-01 1.02955767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.92, Y:23.36, Z:1.03 [[ 7.42633649e-01 -6.69603158e-01 -1.12638423e-02 6.79196548e+01] [ 6.69533546e-01 7.42718976e-01 -9.66201564e-03 2.33557598e+01] [ 1.48355856e-02 -3.66182317e-04 9.99889880e-01 1.02757465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.94, Y:23.37, Z:1.02 [[ 7.45224499e-01 -6.66718555e-01 -1.12611663e-02 6.79417682e+01] [ 6.66648566e-01 7.45309516e-01 -9.66513350e-03 2.33711027e+01] [ 1.48369783e-02 -3.04546094e-04 9.99889880e-01 1.02403257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.408040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.96, Y:23.39, Z:1.03 [[ 7.47466487e-01 -6.64204635e-01 -1.12273655e-02 6.79638244e+01] [ 6.64133768e-01 7.47550775e-01 -9.70449481e-03 2.33890518e+01] [ 1.48387962e-02 -2.02687930e-04 9.99889878e-01 1.02511218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.99, Y:23.41, Z:1.03 [[ 7.51771676e-01 -6.59328100e-01 -1.12162331e-02 6.79886755e+01] [ 6.59256492e-01 7.51855338e-01 -9.71745430e-03 2.34077483e+01] [ 1.48399754e-02 -8.90675552e-05 9.99889878e-01 1.02610593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.468040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:68.01, Y:23.43, Z:1.03 [[ 7.50300561e-01 -6.61000752e-01 -1.12727441e-02 6.80050436e+01] [ 6.60930316e-01 7.50385210e-01 -9.65164968e-03 2.34260595e+01] [ 1.48386482e-02 -2.08860173e-04 9.99889879e-01 1.02772935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.03, Y:23.44, Z:1.03 [[ 7.55105904e-01 -6.55508020e-01 -1.11494386e-02 6.80314560e+01] [ 6.55434840e-01 7.55188207e-01 -9.79505919e-03 2.34412672e+01] [ 1.48406644e-02 8.85765107e-05 9.99889867e-01 1.02542369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.528040942 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:68.06, Y:23.46, Z:1.03 [[ 7.54682226e-01 -6.55994938e-01 -1.11972788e-02 6.80560669e+01] [ 6.55922635e-01 7.54765289e-01 -9.73939575e-03 2.34636940e+01] [ 1.48403117e-02 5.60024753e-06 9.99889876e-01 1.02775769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.558040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.08, Y:23.48, Z:1.03 [[ 7.55361198e-01 -6.55210834e-01 -1.13235645e-02 6.80789138e+01] [ 6.55140636e-01 7.55446049e-01 -9.59238827e-03 2.34829038e+01] [ 1.48393788e-02 -1.72809329e-04 9.99889875e-01 1.02857786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.09, Y:23.50, Z:1.03 [[ 7.53045751e-01 -6.57870000e-01 -1.13648725e-02 6.80921203e+01] [ 6.57800823e-01 7.53131450e-01 -9.54446290e-03 2.35021517e+01] [ 1.48382587e-02 -2.88405238e-04 9.99889865e-01 1.03170136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.61804094200001 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:68.12, Y:23.52, Z:1.03 [[ 7.55739929e-01 -6.54775495e-01 -1.12343841e-02 6.81189053e+01] [ 6.54703707e-01 7.55823425e-01 -9.69566049e-03 2.35197443e+01] [ 1.48396916e-02 -2.77951775e-05 9.99889885e-01 1.02897975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.648040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:68.14, Y:23.54, Z:1.03 [[ 7.55073377e-01 -6.55542445e-01 -1.13268865e-02 6.81400446e+01] [ 6.55472342e-01 7.55158308e-01 -9.58849495e-03 2.35380342e+01] [ 1.48392579e-02 -1.84443567e-04 9.99889875e-01 1.02874108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.16, Y:23.56, Z:1.03 [[ 7.52205064e-01 -6.58831966e-01 -1.13128877e-02 6.81588367e+01] [ 6.58761991e-01 7.52290096e-01 -9.60470445e-03 2.35561485e+01] [ 1.48384597e-02 -2.27793122e-04 9.99889878e-01 1.02861760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.708040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:68.18, Y:23.57, Z:1.03 [[ 7.50943794e-01 -6.60269728e-01 -1.12829834e-02 6.81790091e+01] [ 6.60199395e-01 7.51028523e-01 -9.63930867e-03 2.35739684e+01] [ 1.48383861e-02 -2.10439828e-04 9.99889883e-01 1.02922645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.20, Y:23.59, Z:1.03 [[ 7.48849539e-01 -6.62644492e-01 -1.12536684e-02 6.81987334e+01] [ 6.62573918e-01 7.48934064e-01 -9.67321160e-03 2.35929927e+01] [ 1.48381560e-02 -2.12607111e-04 9.99889886e-01 1.02802266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.22, Y:23.61, Z:1.03 [[ 7.47822565e-01 -6.63803901e-01 -1.12157474e-02 6.82181350e+01] [ 6.63732800e-01 7.47906645e-01 -9.71703736e-03 2.36103330e+01] [ 1.48385393e-02 -1.77639640e-04 9.99889887e-01 1.02813664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.798040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.24, Y:23.63, Z:1.03 [[ 7.47691204e-01 -6.63952395e-01 -1.11839324e-02 6.82442050e+01] [ 6.63880761e-01 7.47774832e-01 -9.75379492e-03 2.36300371e+01] [ 1.48391187e-02 -1.31970880e-04 9.99889886e-01 1.03348743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.828040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.26, Y:23.65, Z:1.03 [[ 7.44667501e-01 -6.67339939e-01 -1.13012988e-02 6.82564065e+01] [ 6.67270734e-01 7.44753156e-01 -9.61796638e-03 2.36471823e+01] [ 1.48351310e-02 -3.78838931e-04 9.99889882e-01 1.03298922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.28, Y:23.67, Z:1.03 [[ 7.43643536e-01 -6.68483836e-01 -1.11199144e-02 6.82802262e+01] [ 6.68411606e-01 7.43726660e-01 -9.82754577e-03 2.36657131e+01] [ 1.48397323e-02 -1.24488922e-04 9.99889877e-01 1.02864558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.30, Y:23.68, Z:1.03 [[ 7.42059588e-01 -6.70240589e-01 -1.11857034e-02 6.82978889e+01] [ 6.70169698e-01 7.42143844e-01 -9.75145675e-03 2.36837525e+01] [ 1.48372230e-02 -2.60157498e-04 9.99889889e-01 1.03049141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.32, Y:23.70, Z:1.03 [[ 7.41007693e-01 -6.71404044e-01 -1.11448428e-02 6.83232086e+01] [ 6.71332573e-01 7.41091466e-01 -9.79877539e-03 2.37047130e+01] [ 1.48382853e-02 -2.20928078e-04 9.99889882e-01 1.03163705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.35, Y:23.72, Z:1.04 [[ 7.44975996e-01 -6.66996134e-01 -1.12660367e-02 6.83485078e+01] [ 6.66926278e-01 7.45061109e-01 -9.65835714e-03 2.37199043e+01] [ 1.48359726e-02 -3.18371666e-04 9.99889890e-01 1.03703031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.978040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.36, Y:23.74, Z:1.03 [[ 7.40181015e-01 -6.72312753e-01 -1.12972424e-02 6.83619907e+01] [ 6.72244058e-01 7.40267073e-01 -9.62221956e-03 2.37438995e+01] [ 1.48321175e-02 -4.72319839e-04 9.99889887e-01 1.03026351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.38, Y:23.76, Z:1.03 [[ 7.40485216e-01 -6.71978709e-01 -1.12364925e-02 6.83781244e+01] [ 6.71908908e-01 7.40570372e-01 -9.69251045e-03 2.37615985e+01] [ 1.48345741e-02 -3.72738725e-04 9.99889892e-01 1.03169513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.038040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.40, Y:23.78, Z:1.03 [[ 7.43575432e-01 -6.68559493e-01 -1.11256701e-02 6.84001239e+01] [ 6.68487376e-01 7.43658648e-01 -9.82049491e-03 2.37793712e+01] [ 1.48392859e-02 -1.35091246e-04 9.99889883e-01 1.03075486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.068040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.43, Y:23.80, Z:1.03 [[ 7.44682686e-01 -6.67325948e-01 -1.11254242e-02 6.84258948e+01] [ 6.67253689e-01 7.44765780e-01 -9.82077896e-03 2.37980207e+01] [ 1.48394959e-02 -1.10116295e-04 9.99889883e-01 1.03421792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.44, Y:23.82, Z:1.03 [[ 7.45255689e-01 -6.66684370e-01 -1.12209303e-02 6.84430917e+01] [ 6.66613693e-01 7.45340118e-01 -9.71041654e-03 2.38155296e+01] [ 1.48371925e-02 -2.43282640e-04 9.99889893e-01 1.03208125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.47, Y:23.83, Z:1.03 [[ 7.46041930e-01 -6.65806258e-01 -1.11115087e-02 6.84654132e+01] [ 6.65733595e-01 7.46124670e-01 -9.83652714e-03 2.38344400e+01] [ 1.48397921e-02 -5.88429386e-05 9.99889882e-01 1.03327633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.158040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.49, Y:23.86, Z:1.04 [[ 7.46965759e-01 -6.64769211e-01 -1.11378050e-02 6.84949856e+01] [ 6.64696885e-01 7.47048787e-01 -9.80616079e-03 2.38566606e+01] [ 1.48393175e-02 -7.83979301e-05 9.99889888e-01 1.03727957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.52, Y:23.88, Z:1.04 [[ 7.47563466e-01 -6.64093368e-01 -1.13518031e-02 6.85180655e+01] [ 6.64024687e-01 7.47649547e-01 -9.55875650e-03 2.38754824e+01] [ 1.48350772e-02 -3.92100362e-04 9.99889877e-01 1.03746648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.53, Y:23.89, Z:1.04 [[ 7.43491076e-01 -6.68648724e-01 -1.13975183e-02 6.85293584e+01] [ 6.68581378e-01 7.43578226e-01 -9.50594043e-03 2.38947933e+01] [ 1.48310814e-02 -5.52586611e-04 9.99889861e-01 1.03802700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.56, Y:23.91, Z:1.04 [[ 7.46799151e-01 -6.64955148e-01 -1.12106996e-02 6.85639729e+01] [ 6.64884111e-01 7.46883267e-01 -9.72138080e-03 2.39142971e+01] [ 1.48373661e-02 -1.93897074e-04 9.99889901e-01 1.03898836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.57, Y:23.93, Z:1.04 [[ 7.44202925e-01 -6.67854938e-01 -1.14799101e-02 6.85697740e+01] [ 6.67788966e-01 7.44291168e-01 -9.41036930e-03 2.39281884e+01] [ 1.48291573e-02 -6.62932917e-04 9.99889822e-01 1.03875840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.61, Y:23.95, Z:1.04 [[ 7.46684504e-01 -6.65085492e-01 -1.11148598e-02 6.86086982e+01] [ 6.65012833e-01 7.46767223e-01 -9.83084543e-03 2.39487258e+01] [ 1.48385656e-02 -5.09844305e-05 9.99889901e-01 1.03960889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.63, Y:23.96, Z:1.04 [[ 7.47061563e-01 -6.64655960e-01 -1.14663024e-02 6.86264658e+01] [ 6.64589378e-01 7.47149329e-01 -9.42547357e-03 2.39646767e+01] [ 1.48317374e-02 -5.78973777e-04 9.99889836e-01 1.04073838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.65, Y:23.98, Z:1.04 [[ 7.46421642e-01 -6.65376651e-01 -1.13421367e-02 6.86479076e+01] [ 6.65307970e-01 7.46507702e-01 -9.56850419e-03 2.39832219e+01] [ 1.48336517e-02 -4.03875331e-04 9.99889894e-01 1.04172275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.398040942 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:68.67, Y:24.00, Z:1.04 [[ 7.45293844e-01 -6.66639461e-01 -1.13540540e-02 6.86677421e+01] [ 6.66571134e-01 7.45380191e-01 -9.55478442e-03 2.40014684e+01] [ 1.48326832e-02 -4.47162618e-04 9.99889890e-01 1.04396372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.69, Y:24.02, Z:1.05 [[ 7.44251568e-01 -6.67803368e-01 -1.13254638e-02 6.86869509e+01] [ 6.67734675e-01 7.44337612e-01 -9.58766197e-03 2.40202334e+01] [ 1.48326416e-02 -4.26772455e-04 9.99889899e-01 1.04625930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.458040942 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:68.70, Y:24.04, Z:1.05 [[ 7.39744856e-01 -6.72792993e-01 -1.12754854e-02 6.86975966e+01] [ 6.72724004e-01 7.39830646e-01 -9.64520147e-03 2.40372379e+01] [ 1.48311737e-02 -4.50301536e-04 9.99889911e-01 1.04620305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.488040942 meters Centerline goodness : 0.997443 Centerline is valid? [True, True] Translation: X:68.72, Y:24.06, Z:1.05 [[ 7.39322864e-01 -6.73260454e-01 -1.10482781e-02 6.87182329e+01] [ 6.73187585e-01 7.39405402e-01 -9.90588416e-03 2.40554208e+01] [ 1.48383966e-02 -1.13917034e-04 9.99889898e-01 1.04693689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.518040942 meters Centerline goodness : 0.991596 Centerline is valid? [True, True] Translation: X:68.74, Y:24.07, Z:1.05 [[ 7.38387642e-01 -6.74286635e-01 -1.10101664e-02 6.87387447e+01] [ 6.74213231e-01 7.38469720e-01 -9.94942469e-03 2.40735862e+01] [ 1.48394386e-02 -7.66676493e-05 9.99889887e-01 1.04554348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.76, Y:24.09, Z:1.04 [[ 7.38941898e-01 -6.73679674e-01 -1.09803361e-02 6.87594055e+01] [ 6.73605695e-01 7.39023475e-01 -9.98351104e-03 2.40859441e+01] [ 1.48404146e-02 -1.91823264e-05 9.99889875e-01 1.04311924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.578040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.81, Y:24.11, Z:1.05 [[ 7.46871753e-01 -6.64877806e-01 -1.09584655e-02 6.88074340e+01] [ 6.64802494e-01 7.46952118e-01 -1.00088927e-02 2.41075454e+01] [ 1.48401396e-02 1.90144067e-04 9.99889861e-01 1.04562341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.608040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.81, Y:24.12, Z:1.05 [[ 7.40686739e-01 -6.71751671e-01 -1.15259518e-02 6.88052675e+01] [ 6.71687130e-01 7.40775960e-01 -9.34756141e-03 2.41193016e+01] [ 1.48173880e-02 -8.18218736e-04 9.99889882e-01 1.04681702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.638040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.82, Y:24.14, Z:1.04 [[ 7.37082440e-01 -6.75712924e-01 -1.10236385e-02 6.88156999e+01] [ 6.75639926e-01 7.37164858e-01 -9.93288026e-03 2.41405192e+01] [ 1.48380145e-02 -1.26658674e-04 9.99889903e-01 1.04421698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.668040942 meters Centerline goodness : 0.996329 Centerline is valid? [True, True] Translation: X:68.84, Y:24.17, Z:1.05 [[ 7.35484840e-01 -6.77454771e-01 -1.08205126e-02 6.88387989e+01] [ 6.77378525e-01 7.35564417e-01 -1.01647425e-02 2.41689391e+01] [ 1.48453374e-02 1.46431143e-04 9.99889791e-01 1.04946768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.698040942 meters Centerline goodness : 0.997568 Centerline is valid? [True, True] Translation: X:68.86, Y:24.19, Z:1.05 [[ 7.35857375e-01 -6.77047303e-01 -1.09942626e-02 6.88620800e+01] [ 6.76973955e-01 7.35939494e-01 -9.96627721e-03 2.41878779e+01] [ 1.48387532e-02 -1.09070875e-04 9.99889894e-01 1.05103984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.728040942 meters Centerline goodness : 0.995094 Centerline is valid? [True, True] Translation: X:68.87, Y:24.19, Z:1.04 [[ 7.36145437e-01 -6.76733144e-01 -1.10520110e-02 6.88659963e+01] [ 6.76660750e-01 7.36228372e-01 -9.90023419e-03 2.41881510e+01] [ 1.48366207e-02 -1.90449830e-04 9.99889913e-01 1.04499511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.75804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.92, Y:24.20, Z:1.05 [[ 7.48562489e-01 -6.62981210e-01 -1.04935914e-02 6.89182636e+01] [ 6.62897806e-01 7.48635437e-01 -1.05584692e-02 2.42028891e+01] [ 1.48559411e-02 9.47495291e-04 9.99889195e-01 1.05096464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.788040942 meters Centerline goodness : 0.996488 Centerline is valid? [True, True] Translation: X:68.94, Y:24.23, Z:1.05 [[ 7.44568379e-01 -6.67454541e-01 -1.10618167e-02 6.89356045e+01] [ 6.67381233e-01 7.44650546e-01 -9.89214192e-03 2.42313155e+01] [ 1.48397429e-02 -1.70728187e-05 9.99889885e-01 1.05431219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.818040942 meters Centerline goodness : 0.997543 Centerline is valid? [True, True] Translation: X:68.96, Y:24.25, Z:1.06 [[ 7.45633509e-01 -6.66263086e-01 -1.11431915e-02 6.89561876e+01] [ 6.66191070e-01 7.45716760e-01 -9.79650622e-03 2.42506743e+01] [ 1.48367152e-02 -1.18891392e-04 9.99889923e-01 1.05599717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.848040942 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:68.98, Y:24.27, Z:1.05 [[ 7.47887742e-01 -6.63731208e-01 -1.11717982e-02 6.89816076e+01] [ 6.63659412e-01 7.47971170e-01 -9.76287182e-03 2.42673855e+01] [ 1.48361056e-02 -1.12736848e-04 9.99889933e-01 1.05127162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.878040942 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:69.00, Y:24.29, Z:1.05 [[ 7.48020657e-01 -6.63579792e-01 -1.12674999e-02 6.90000162e+01] [ 6.63509669e-01 7.48105470e-01 -9.65014765e-03 2.42864671e+01] [ 1.48329213e-02 -2.57585345e-04 9.99889953e-01 1.05108789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.908040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.02, Y:24.30, Z:1.06 [[ 7.55113894e-01 -6.55497640e-01 -1.12183544e-02 6.90212670e+01] [ 6.55425748e-01 7.55197222e-01 -9.70798986e-03 2.42989867e+01] [ 1.48356345e-02 -2.21602644e-05 9.99889946e-01 1.05818709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.938040942 meters Centerline goodness : 0.995733 Centerline is valid? [True, True] Translation: X:69.03, Y:24.33, Z:1.05 [[ 7.48408864e-01 -6.63144365e-01 -1.11231314e-02 6.90345443e+01] [ 6.63071666e-01 7.48491517e-01 -9.81917006e-03 2.43315508e+01] [ 1.48370968e-02 -2.66793616e-05 9.99889924e-01 1.05206811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.968040942 meters Centerline goodness : 0.996000 Centerline is valid? [True, True] Translation: X:69.05, Y:24.35, Z:1.05 [[ 7.52213492e-01 -6.58824896e-01 -1.11633346e-02 6.90537472e+01] [ 6.58752417e-01 7.52296323e-01 -9.77222388e-03 2.43457636e+01] [ 1.48363199e-02 -3.07498672e-06 9.99889936e-01 1.05354763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.08, Y:24.37, Z:1.06 [[ 7.56949514e-01 -6.53380334e-01 -1.10259829e-02 6.90835940e+01] [ 6.53304910e-01 7.57029748e-01 -9.93252797e-03 2.43657298e+01] [ 1.48367155e-02 3.15093476e-04 9.99889880e-01 1.05838849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.028040942 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:69.10, Y:24.39, Z:1.06 [[ 7.54714461e-01 -6.55956580e-01 -1.12715112e-02 6.91006589e+01] [ 6.55885669e-01 7.54798617e-01 -9.64561420e-03 2.43901270e+01] [ 1.48348252e-02 -1.13138133e-04 9.99889952e-01 1.05908543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.058040942 meters Centerline goodness : 0.997225 Centerline is valid? [True, True] Translation: X:69.11, Y:24.41, Z:1.06 [[ 7.51976513e-01 -6.59093571e-01 -1.12689414e-02 6.91134874e+01] [ 6.59022965e-01 7.52060926e-01 -9.64861553e-03 2.44065808e+01] [ 1.48342710e-02 -1.70958910e-04 9.99889952e-01 1.05608229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.15, Y:24.43, Z:1.07 [[ 7.57899276e-01 -6.52278057e-01 -1.10464750e-02 6.91492584e+01] [ 6.52202868e-01 7.57979712e-01 -9.90836272e-03 2.44261394e+01] [ 1.48360115e-02 3.04998254e-04 9.99889894e-01 1.06627044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.11804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.17, Y:24.44, Z:1.06 [[ 7.57831092e-01 -6.52351103e-01 -1.14050304e-02 6.91664444e+01] [ 6.52282099e-01 7.57916868e-01 -9.49129607e-03 2.44395482e+01] [ 1.48357223e-02 -2.46497884e-04 9.99889914e-01 1.06392169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.19, Y:24.46, Z:1.07 [[ 7.55361725e-01 -6.55211617e-01 -1.12428162e-02 6.91900187e+01] [ 6.55140114e-01 7.55445388e-01 -9.67970583e-03 2.44637392e+01] [ 1.48355893e-02 -5.39405904e-05 9.99889945e-01 1.06844883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.21, Y:24.48, Z:1.07 [[ 7.55031832e-01 -6.55589458e-01 -1.13752027e-02 6.92116525e+01] [ 6.55520301e-01 7.55117469e-01 -9.52589516e-03 2.44825144e+01] [ 1.48346907e-02 -2.64322217e-04 9.99889925e-01 1.06894098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.23, Y:24.50, Z:1.07 [[ 7.52858479e-01 -6.58084359e-01 -1.13616914e-02 6.92329372e+01] [ 6.58015249e-01 7.52944149e-01 -9.54156570e-03 2.45016293e+01] [ 1.48338742e-02 -2.92717528e-04 9.99889929e-01 1.07048444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.25, Y:24.52, Z:1.07 [[ 7.51918371e-01 -6.59158381e-01 -1.13574588e-02 6.92549787e+01] [ 6.59089319e-01 7.52004079e-01 -9.54647022e-03 2.45207665e+01] [ 1.48334912e-02 -3.07413457e-04 9.99889930e-01 1.07170021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.28, Y:24.54, Z:1.07 [[ 7.50477064e-01 -6.60798758e-01 -1.13656443e-02 6.92783529e+01] [ 6.60730027e-01 7.50563040e-01 -9.53698907e-03 2.45395929e+01] [ 1.48326631e-02 -3.52330902e-04 9.99889928e-01 1.06946998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.30, Y:24.56, Z:1.07 [[ 7.47913129e-01 -6.63698503e-01 -1.14126565e-02 6.92983827e+01] [ 6.63630933e-01 7.48000044e-01 -9.48255980e-03 2.45568229e+01] [ 1.48302283e-02 -4.81660879e-04 9.99889910e-01 1.07218937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.32, Y:24.58, Z:1.07 [[ 7.46628070e-01 -6.65144344e-01 -1.13809864e-02 6.93225146e+01] [ 6.65076384e-01 7.46714663e-01 -9.51918809e-03 2.45775511e+01] [ 1.48299835e-02 -4.61932247e-04 9.99889923e-01 1.07002180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.358040942 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:69.34, Y:24.59, Z:1.07 [[ 7.44407350e-01 -6.67627391e-01 -1.14613657e-02 6.93422330e+01] [ 6.67561145e-01 7.44495308e-01 -9.42625374e-03 2.45941122e+01] [ 1.48261582e-02 -6.34189853e-04 9.99889885e-01 1.06813182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.388040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.37, Y:24.61, Z:1.07 [[ 7.42082864e-01 -6.70211383e-01 -1.13896996e-02 6.93653635e+01] [ 6.70144171e-01 7.42170041e-01 -9.50894005e-03 2.46143482e+01] [ 1.48260937e-02 -5.76319311e-04 9.99889921e-01 1.06989337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.39, Y:24.63, Z:1.07 [[ 7.41116660e-01 -6.71278916e-01 -1.14330018e-02 6.93857143e+01] [ 6.71212597e-01 7.41204544e-01 -9.45899986e-03 2.46314974e+01] [ 1.48238201e-02 -6.63752474e-04 9.99889901e-01 1.06921135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.448040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:69.40, Y:24.65, Z:1.07 [[ 7.38332211e-01 -6.74340371e-01 -1.14284990e-02 6.94037691e+01] [ 6.74274336e-01 7.38420306e-01 -9.46419064e-03 2.46497349e+01] [ 1.48211216e-02 -7.18226802e-04 9.99889903e-01 1.06789028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.478040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:69.43, Y:24.67, Z:1.07 [[ 7.35659179e-01 -6.77256413e-01 -1.13720072e-02 6.94256414e+01] [ 6.77189723e-01 7.35746746e-01 -9.52918433e-03 2.46717762e+01] [ 1.48206185e-02 -6.90774496e-04 9.99889930e-01 1.07178160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.44, Y:24.69, Z:1.07 [[ 7.34212076e-01 -6.78824117e-01 -1.14213281e-02 6.94425033e+01] [ 6.78758491e-01 7.34300472e-01 -9.47247290e-03 2.46899799e+01] [ 1.48168296e-02 -7.97519419e-04 9.99889907e-01 1.07327737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.538040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:69.46, Y:24.71, Z:1.07 [[ 7.30382447e-01 -6.82944243e-01 -1.13420032e-02 6.94592505e+01] [ 6.82877701e-01 7.30470111e-01 -9.56359383e-03 2.47119016e+01] [ 1.48163957e-02 -7.60120010e-04 9.99889942e-01 1.07012659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.568040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.48, Y:24.73, Z:1.07 [[ 7.30383036e-01 -6.82944188e-01 -1.13073613e-02 6.94791594e+01] [ 6.82877032e-01 7.30470215e-01 -9.60334032e-03 2.47329188e+01] [ 1.48182361e-02 -7.07420463e-04 9.99889954e-01 1.06879526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.50, Y:24.75, Z:1.07 [[ 7.28169805e-01 -6.85303455e-01 -1.13097632e-02 6.94963111e+01] [ 6.85236623e-01 7.28257234e-01 -9.60058668e-03 2.47529297e+01] [ 1.48157321e-02 -7.59006638e-04 9.99889953e-01 1.06876279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.51, Y:24.77, Z:1.07 [[ 7.28855721e-01 -6.84575115e-01 -1.12360904e-02 6.95095168e+01] [ 6.84506895e-01 7.28942050e-01 -9.68496191e-03 2.47719851e+01] [ 1.48205427e-02 -6.32241473e-04 9.99889970e-01 1.06761926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.658040942 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:69.53, Y:24.79, Z:1.06 [[ 7.27913502e-01 -6.85579270e-01 -1.10904511e-02 6.95300507e+01] [ 6.85508621e-01 7.27997856e-01 -9.85151339e-03 2.47938573e+01] [ 1.48278180e-02 -4.31550200e-04 9.99889969e-01 1.06396473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.55, Y:24.82, Z:1.07 [[ 7.29435035e-01 -6.83959414e-01 -1.11377273e-02 6.95472345e+01] [ 6.83889401e-01 7.29519909e-01 -9.79740377e-03 2.48160109e+01] [ 1.48262204e-02 -4.70404092e-04 9.99889975e-01 1.06507766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.57, Y:24.84, Z:1.06 [[ 7.30301713e-01 -6.83034566e-01 -1.10990965e-02 6.95659601e+01] [ 6.82963773e-01 7.30385945e-01 -9.84159183e-03 2.48357412e+01] [ 1.48287715e-02 -3.92949427e-04 9.99889971e-01 1.06267164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.748040942 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:69.59, Y:24.86, Z:1.06 [[ 7.32384794e-01 -6.80801332e-01 -1.10480790e-02 6.95884750e+01] [ 6.80729404e-01 7.32468070e-01 -9.89977857e-03 2.48550820e+01] [ 1.48321476e-02 -2.70304971e-04 9.99889961e-01 1.06309814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.778040942 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:69.61, Y:24.88, Z:1.06 [[ 7.33115229e-01 -6.80013664e-01 -1.11120533e-02 6.96091639e+01] [ 6.79942748e-01 7.33199354e-01 -9.82680559e-03 2.48752386e+01] [ 1.48297124e-02 -3.51379258e-04 9.99889972e-01 1.06260665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.64, Y:24.90, Z:1.07 [[ 7.37310355e-01 -6.75462416e-01 -1.11338972e-02 6.96351216e+01] [ 6.75391357e-01 7.37394357e-01 -9.80189168e-03 2.48958503e+01] [ 1.48308824e-02 -2.92701716e-04 9.99889974e-01 1.06883836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.66, Y:24.92, Z:1.07 [[ 7.39454085e-01 -6.73113024e-01 -1.12477799e-02 6.96590939e+01] [ 6.73043662e-01 7.39539506e-01 -9.67197010e-03 2.49152393e+01] [ 1.48285066e-02 -4.18269182e-04 9.99889964e-01 1.07317851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.68, Y:24.94, Z:1.08 [[ 7.39068369e-01 -6.73535545e-01 -1.13055538e-02 6.96797201e+01] [ 6.73467237e-01 7.39154655e-01 -9.60606262e-03 2.49367032e+01] [ 1.48265773e-02 -5.14383034e-04 9.99889948e-01 1.07536384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.70, Y:24.96, Z:1.08 [[ 7.41092006e-01 -6.71307606e-01 -1.13462461e-02 6.96970997e+01] [ 6.71239746e-01 7.41178667e-01 -9.55966317e-03 2.49557273e+01] [ 1.48270701e-02 -5.31461376e-04 9.99889932e-01 1.07543870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.71, Y:24.98, Z:1.08 [[ 7.39795900e-01 -6.72737000e-01 -1.12674475e-02 6.97120920e+01] [ 6.72667938e-01 7.39881568e-01 -9.64939747e-03 2.49750712e+01] [ 1.48280834e-02 -4.40665974e-04 9.99889961e-01 1.07791884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.73, Y:24.99, Z:1.08 [[ 7.40570080e-01 -6.71886511e-01 -1.11567100e-02 6.97321332e+01] [ 6.71815446e-01 7.40654069e-01 -9.77527448e-03 2.49940334e+01] [ 1.48311377e-02 -2.55974271e-04 9.99889980e-01 1.07824911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.75, Y:25.01, Z:1.08 [[ 7.40618782e-01 -6.71833201e-01 -1.11342020e-02 6.97520323e+01] [ 6.71761745e-01 7.40702438e-01 -9.80084450e-03 2.50128101e+01] [ 1.48316633e-02 -2.20841477e-04 9.99889980e-01 1.07880980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.018040942 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:69.77, Y:25.03, Z:1.08 [[ 7.39977244e-01 -6.72539764e-01 -1.11329749e-02 6.97734995e+01] [ 6.72468367e-01 7.40060951e-01 -9.80223821e-03 2.50331276e+01] [ 1.48314750e-02 -2.33140257e-04 9.99889980e-01 1.07856768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.79, Y:25.05, Z:1.08 [[ 7.41214787e-01 -6.71174906e-01 -1.11751538e-02 6.97919486e+01] [ 6.71104076e-01 7.41298976e-01 -9.75434123e-03 2.50515718e+01] [ 1.48309992e-02 -2.69629329e-04 9.99889978e-01 1.07710686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.078040942 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:69.82, Y:25.07, Z:1.07 [[ 7.42673368e-01 -6.69561355e-01 -1.11292420e-02 6.98175909e+01] [ 6.69489559e-01 7.42756732e-01 -9.80644621e-03 2.50709781e+01] [ 1.48323368e-02 -1.67924875e-04 9.99889981e-01 1.07495475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.83, Y:25.09, Z:1.08 [[ 7.41220335e-01 -6.71167911e-01 -1.12272099e-02 6.98333637e+01] [ 6.71097972e-01 7.41305277e-01 -9.69523878e-03 2.50886595e+01] [ 1.48299231e-02 -3.48249685e-04 9.99889970e-01 1.07668490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.85, Y:25.11, Z:1.08 [[ 7.40532224e-01 -6.71928758e-01 -1.11251525e-02 6.98544055e+01] [ 6.71857161e-01 7.40615758e-01 -9.81096713e-03 2.51079580e+01] [ 1.48317342e-02 -2.09176073e-04 9.99889982e-01 1.07637851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.88, Y:25.13, Z:1.08 [[ 7.39881363e-01 -6.72645421e-01 -1.11223480e-02 6.98754313e+01] [ 6.72573857e-01 7.39964925e-01 -9.81414549e-03 2.51270964e+01] [ 1.48315874e-02 -2.19297141e-04 9.99889982e-01 1.07625318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.90, Y:25.15, Z:1.08 [[ 7.38949676e-01 -6.73668860e-01 -1.11195187e-02 6.98954310e+01] [ 6.73597363e-01 7.39033296e-01 -9.81735008e-03 2.51450472e+01] [ 1.48313376e-02 -2.35550796e-04 9.99889982e-01 1.07627399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.228040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.93, Y:25.16, Z:1.07 [[ 7.41900852e-01 -6.70417426e-01 -1.11175989e-02 6.99287822e+01] [ 6.70345530e-01 7.41984128e-01 -9.81952369e-03 2.51649182e+01] [ 1.48322617e-02 -1.67519710e-04 9.99889982e-01 1.07495310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.25804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.94, Y:25.18, Z:1.07 [[ 7.39566689e-01 -6.72987293e-01 -1.13673192e-02 6.99448837e+01] [ 6.72919988e-01 7.39653802e-01 -9.53635481e-03 2.51830591e+01] [ 1.48257265e-02 -5.96525981e-04 9.99889915e-01 1.07254628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.288040942 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:69.97, Y:25.20, Z:1.07 [[ 7.39005274e-01 -6.73605439e-01 -1.12658077e-02 6.99701965e+01] [ 6.73536448e-01 7.39090999e-01 -9.65132692e-03 2.52015909e+01] [ 1.48276434e-02 -4.55550597e-04 9.99889961e-01 1.07322697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.318040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.99, Y:25.22, Z:1.07 [[ 7.37218608e-01 -6.75559586e-01 -1.13123760e-02 6.99905593e+01] [ 6.75491628e-01 7.37305179e-01 -9.59865321e-03 2.52208965e+01] [ 1.48251356e-02 -5.65109522e-04 9.99889942e-01 1.07418796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.348040942 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:70.01, Y:25.24, Z:1.07 [[ 7.36583764e-01 -6.76252286e-01 -1.12785221e-02 7.00108600e+01] [ 6.76183823e-01 7.36669917e-01 -9.63691814e-03 2.52381832e+01] [ 1.48255359e-02 -5.27956794e-04 9.99889956e-01 1.07257499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.03, Y:25.26, Z:1.07 [[ 7.36073284e-01 -6.76807994e-01 -1.12720460e-02 7.00323282e+01] [ 6.76739485e-01 7.36159398e-01 -9.64423281e-03 2.52571553e+01] [ 1.48253164e-02 -5.29376471e-04 9.99889959e-01 1.07370614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.408040942 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:70.05, Y:25.27, Z:1.08 [[ 7.33087767e-01 -6.80040606e-01 -1.12738598e-02 7.00455153e+01] [ 6.79972508e-01 7.33174206e-01 -9.64217940e-03 2.52744854e+01] [ 1.48227767e-02 -5.97350946e-04 9.99889958e-01 1.07725426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.438040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:70.07, Y:25.29, Z:1.07 [[ 7.37573850e-01 -6.75175121e-01 -1.11072731e-02 7.00746345e+01] [ 6.75103598e-01 7.37657437e-01 -9.83045495e-03 2.52909487e+01] [ 1.48306412e-02 -2.47873490e-04 9.99889989e-01 1.07365780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.09, Y:25.31, Z:1.07 [[ 7.37343707e-01 -6.75424057e-01 -1.12517336e-02 7.00907685e+01] [ 6.75355031e-01 7.37429402e-01 -9.66747444e-03 2.53071432e+01] [ 1.48270040e-02 -4.70663450e-04 9.99889963e-01 1.07431231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.11, Y:25.33, Z:1.08 [[ 7.34765536e-01 -6.78230033e-01 -1.11188866e-02 7.01133202e+01] [ 6.78159058e-01 7.34849587e-01 -9.81712406e-03 2.53286855e+01] [ 1.48289776e-02 -3.27089226e-04 9.99889991e-01 1.07679354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.14, Y:25.35, Z:1.08 [[ 7.34887519e-01 -6.78096844e-01 -1.11805440e-02 7.01384538e+01] [ 6.78026907e-01 7.34972445e-01 -9.74767717e-03 2.53470843e+01] [ 1.48272609e-02 -4.17263380e-04 9.99889983e-01 1.07742260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.16, Y:25.37, Z:1.08 [[ 7.33489010e-01 -6.79608306e-01 -1.12437726e-02 7.01564800e+01] [ 6.79539630e-01 7.33574983e-01 -9.67653652e-03 2.53660886e+01] [ 1.48244049e-02 -5.42955878e-04 9.99889965e-01 1.07797587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.588040942 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:70.17, Y:25.39, Z:1.08 [[ 7.31579866e-01 -6.81664604e-01 -1.11474995e-02 7.01741058e+01] [ 6.81594515e-01 7.31664660e-01 -9.78483404e-03 2.53854083e+01] [ 1.48262065e-02 -4.39686968e-04 9.99889989e-01 1.07836214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.61804094200001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.20, Y:25.40, Z:1.08 [[ 7.32418703e-01 -6.80764575e-01 -1.10651133e-02 7.01956393e+01] [ 6.80692979e-01 7.32502222e-01 -9.87742832e-03 2.54039895e+01] [ 1.48294234e-02 -2.97531717e-04 9.99889994e-01 1.07580324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.22, Y:25.42, Z:1.08 [[ 7.31594936e-01 -6.81649485e-01 -1.10828137e-02 7.02158333e+01] [ 6.81578290e-01 7.31678798e-01 -9.85754025e-03 2.54240070e+01] [ 1.48284471e-02 -3.42078718e-04 9.99889994e-01 1.07555379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.23, Y:25.44, Z:1.08 [[ 7.31709800e-01 -6.81526112e-01 -1.10872816e-02 7.02343679e+01] [ 6.81454979e-01 7.31793713e-01 -9.85252160e-03 2.54414107e+01] [ 1.48283537e-02 -3.46296637e-04 9.99889994e-01 1.07583832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.708040942 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:70.25, Y:25.46, Z:1.07 [[ 7.30806576e-01 -6.82495657e-01 -1.10194191e-02 7.02548228e+01] [ 6.82423485e-01 7.30889601e-01 -9.92868101e-03 2.54601325e+01] [ 1.48302605e-02 -2.63965043e-04 9.99889991e-01 1.07443124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.28, Y:25.48, Z:1.07 [[ 7.31481404e-01 -6.81772685e-01 -1.09982721e-02 7.02759393e+01] [ 6.81700074e-01 7.31564050e-01 -9.95240066e-03 2.54778906e+01] [ 1.48312154e-02 -2.17526872e-04 9.99889988e-01 1.07481172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.30, Y:25.50, Z:1.08 [[ 7.31457537e-01 -6.81798280e-01 -1.09989186e-02 7.02989788e+01] [ 6.81725683e-01 7.31540195e-01 -9.95167618e-03 2.54971784e+01] [ 1.48311867e-02 -2.19016725e-04 9.99889988e-01 1.07600132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.798040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.33, Y:25.52, Z:1.08 [[ 7.34348451e-01 -6.78683123e-01 -1.10259012e-02 7.03334886e+01] [ 6.78610629e-01 7.34431195e-01 -9.92144735e-03 2.55162697e+01] [ 1.48312847e-02 -1.96494272e-04 9.99889991e-01 1.07958197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.828040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.36, Y:25.53, Z:1.08 [[ 7.35188479e-01 -6.77769654e-01 -1.12336957e-02 7.03560730e+01] [ 6.77700562e-01 7.35274137e-01 -9.68972508e-03 2.55337726e+01] [ 1.48272475e-02 -4.89307631e-04 9.99889951e-01 1.08449558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.37, Y:25.55, Z:1.08 [[ 7.32755082e-01 -6.80400342e-01 -1.11966443e-02 7.03702878e+01] [ 6.80330926e-01 7.32840459e-01 -9.73101001e-03 2.55509430e+01] [ 1.48263365e-02 -4.86976327e-04 9.99889965e-01 1.08290690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.888040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:70.40, Y:25.57, Z:1.08 [[ 7.34074017e-01 -6.78979858e-01 -1.10313194e-02 7.03958855e+01] [ 6.78907494e-01 7.34156869e-01 -9.91495021e-03 2.55698187e+01] [ 1.48307704e-02 -2.10938102e-04 9.99889996e-01 1.08201882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.41, Y:25.59, Z:1.08 [[ 7.33621383e-01 -6.79467343e-01 -1.11263295e-02 7.04137677e+01] [ 6.79396631e-01 7.33705662e-01 -9.80920492e-03 2.55850355e+01] [ 1.48284853e-02 -3.62948284e-04 9.99889986e-01 1.08396873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.948040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.44, Y:25.60, Z:1.08 [[ 7.34884934e-01 -6.78102154e-01 -1.10273424e-02 7.04390774e+01] [ 6.78029627e-01 7.34967641e-01 -9.91925021e-03 2.56044348e+01] [ 1.48310048e-02 -1.87357317e-04 9.99889997e-01 1.08146481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.978040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.47, Y:25.62, Z:1.08 [[ 7.37022904e-01 -6.75776578e-01 -1.11020692e-02 7.04653278e+01] [ 6.75705036e-01 7.37106473e-01 -9.83623367e-03 2.56230117e+01] [ 1.48305034e-02 -2.52194584e-04 9.99889990e-01 1.08320628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00804094200001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.49, Y:25.64, Z:1.08 [[ 7.37185190e-01 -6.75598241e-01 -1.11809096e-02 7.04863194e+01] [ 6.75528002e-01 7.37269884e-01 -9.74868989e-03 2.56413089e+01] [ 1.48295457e-02 -3.66427721e-04 9.99889969e-01 1.08229791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.038040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:70.51, Y:25.66, Z:1.08 [[ 7.37610009e-01 -6.75134649e-01 -1.11660121e-02 7.05063786e+01] [ 6.75064106e-01 7.37694444e-01 -9.76522114e-03 2.56586615e+01] [ 1.48299442e-02 -3.34849120e-04 9.99889974e-01 1.08204940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.068040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.53, Y:25.68, Z:1.08 [[ 7.39063702e-01 -6.73543460e-01 -1.11378572e-02 7.05310349e+01] [ 6.73472264e-01 7.39147576e-01 -9.79643690e-03 2.56765133e+01] [ 1.48308462e-02 -2.60847007e-04 9.99889983e-01 1.08248159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.55, Y:25.70, Z:1.08 [[ 7.38743986e-01 -6.73893666e-01 -1.11646886e-02 7.05514234e+01] [ 6.73822958e-01 7.38828283e-01 -9.76671026e-03 2.56951703e+01] [ 1.48305119e-02 -3.07925029e-04 9.99889974e-01 1.08290413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.57, Y:25.71, Z:1.08 [[ 7.38865681e-01 -6.73760275e-01 -1.11623258e-02 7.05709102e+01] [ 6.73689513e-01 7.38949931e-01 -9.76932627e-03 2.57122088e+01] [ 1.48305838e-02 -3.01721890e-04 9.99889975e-01 1.08308274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.158040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.60, Y:25.73, Z:1.08 [[ 7.39772730e-01 -6.72765016e-01 -1.11149112e-02 7.05950481e+01] [ 6.72693350e-01 7.39856195e-01 -9.82178452e-03 2.57304704e+01] [ 1.48311889e-02 -2.11038498e-04 9.99889990e-01 1.08428359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.62, Y:25.75, Z:1.08 [[ 7.40712974e-01 -6.71729159e-01 -1.11457689e-02 7.06186102e+01] [ 6.71657889e-01 7.40796788e-01 -9.78766806e-03 2.57483969e+01] [ 1.48314118e-02 -2.36290867e-04 9.99889981e-01 1.08471486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.63, Y:25.77, Z:1.09 [[ 7.39251705e-01 -6.73336827e-01 -1.11550065e-02 7.06325396e+01] [ 6.73265894e-01 7.39335808e-01 -9.77746065e-03 2.57655259e+01] [ 1.48308201e-02 -2.82280960e-04 9.99889977e-01 1.08645766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.67, Y:25.78, Z:1.09 [[ 7.42917662e-01 -6.69292598e-01 -1.09893026e-02 7.06657304e+01] [ 6.69218482e-01 7.42998934e-01 -9.96028437e-03 2.57836450e+01] [ 1.48313848e-02 4.54267401e-05 9.99890008e-01 1.08590232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.278040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:70.68, Y:25.80, Z:1.08 [[ 7.40319175e-01 -6.72161656e-01 -1.12350805e-02 7.06819431e+01] [ 6.72091931e-01 7.40404325e-01 -9.68872255e-03 2.58004635e+01] [ 1.48308900e-02 -3.78259849e-04 9.99889945e-01 1.08383762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.70, Y:25.82, Z:1.09 [[ 7.39196223e-01 -6.73398610e-01 -1.11020624e-02 7.06986040e+01] [ 6.73326809e-01 7.39279561e-01 -9.83557829e-03 2.58161067e+01] [ 1.48307926e-02 -2.04893920e-04 9.99889997e-01 1.08734503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.73, Y:25.83, Z:1.08 [[ 7.38358917e-01 -6.74318710e-01 -1.09721135e-02 7.07253559e+01] [ 6.74244871e-01 7.38440435e-01 -9.97884586e-03 2.58340751e+01] [ 1.48311747e-02 -2.99214287e-05 9.99890012e-01 1.08219771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.75, Y:25.85, Z:1.08 [[ 7.37958492e-01 -6.74755550e-01 -1.10549906e-02 7.07458572e+01] [ 6.74683124e-01 7.38041274e-01 -9.88740990e-03 2.58497351e+01] [ 1.48306240e-02 -1.62117478e-04 9.99890007e-01 1.08314993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.77, Y:25.87, Z:1.08 [[ 7.37346567e-01 -6.75424833e-01 -1.10152573e-02 7.07688498e+01] [ 6.75351826e-01 7.37428832e-01 -9.93120324e-03 2.58681640e+01] [ 1.48307496e-02 -1.16435490e-04 9.99890012e-01 1.08354414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.428040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:70.79, Y:25.88, Z:1.09 [[ 7.38634956e-01 -6.74015584e-01 -1.10179167e-02 7.07943654e+01] [ 6.73942465e-01 7.38717120e-01 -9.92827468e-03 2.58842386e+01] [ 1.48309356e-02 -9.20712178e-05 9.99890011e-01 1.08535681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.81, Y:25.90, Z:1.09 [[ 7.35191182e-01 -6.77769318e-01 -1.10759462e-02 7.08119868e+01] [ 6.77697579e-01 7.35274565e-01 -9.86430838e-03 2.59011281e+01] [ 1.48295871e-02 -2.53989393e-04 9.99890003e-01 1.08603548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.488040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:70.83, Y:25.92, Z:1.09 [[ 7.35543005e-01 -6.77389433e-01 -1.09563971e-02 7.08327539e+01] [ 6.77315680e-01 7.35624599e-01 -9.99595005e-03 2.59202472e+01] [ 1.48309462e-02 -6.84884030e-05 9.99890013e-01 1.08594589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.86, Y:25.94, Z:1.09 [[ 7.37585781e-01 -6.75164687e-01 -1.09481168e-02 7.08581157e+01] [ 6.75090552e-01 7.37667029e-01 -1.00050663e-02 2.59429772e+01] [ 1.48311322e-02 -1.13755457e-05 9.99890013e-01 1.08599406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.87, Y:25.96, Z:1.09 [[ 7.36528566e-01 -6.76315214e-01 -1.11086342e-02 7.08725951e+01] [ 6.76243848e-01 7.36612284e-01 -9.82859956e-03 2.59610380e+01] [ 1.48299878e-02 -2.73101186e-04 9.99889992e-01 1.08799006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.578040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.89, Y:25.98, Z:1.09 [[ 7.38408832e-01 -6.74264186e-01 -1.09638197e-02 7.08911089e+01] [ 6.74190211e-01 7.38490222e-01 -9.98756963e-03 2.59792289e+01] [ 1.48309342e-02 -1.67903113e-05 9.99890016e-01 1.08798524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.608040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.91, Y:26.00, Z:1.09 [[ 7.40214632e-01 -6.72282615e-01 -1.08804674e-02 7.09098547e+01] [ 6.72207074e-01 7.40294579e-01 -1.00789907e-02 2.59981238e+01] [ 1.48306812e-02 1.46689268e-04 9.99890009e-01 1.08838230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.638040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.94, Y:26.02, Z:1.09 [[ 7.40436375e-01 -6.72038675e-01 -1.08625335e-02 7.09352499e+01] [ 6.71962818e-01 7.40516028e-01 -1.00986498e-02 2.60187765e+01] [ 1.48305634e-02 1.78188997e-04 9.99890005e-01 1.08674616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.96, Y:26.04, Z:1.09 [[ 7.39132590e-01 -6.73470390e-01 -1.09840235e-02 7.09552856e+01] [ 6.73396657e-01 7.39214199e-01 -9.96543884e-03 2.60374897e+01] [ 1.48309741e-02 -3.08240686e-05 9.99890015e-01 1.08833253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.98, Y:26.06, Z:1.09 [[ 7.37744492e-01 -6.74990620e-01 -1.09875735e-02 7.09798369e+01] [ 6.74917113e-01 7.37826306e-01 -9.96154711e-03 2.60591286e+01] [ 1.48308717e-02 -6.66248926e-05 9.99890014e-01 1.09076642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.728040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.00, Y:26.08, Z:1.09 [[ 7.35599369e-01 -6.77326401e-01 -1.10686448e-02 7.10025892e+01] [ 6.77254483e-01 7.35682602e-01 -9.87290389e-03 2.60793667e+01] [ 1.48301879e-02 -2.33787469e-04 9.99889999e-01 1.08995623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.75804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.02, Y:26.10, Z:1.09 [[ 7.36170193e-01 -6.76705559e-01 -1.10920295e-02 7.10237838e+01] [ 6.76633955e-01 7.36253707e-01 -9.84734777e-03 2.60961234e+01] [ 1.48303028e-02 -2.55919895e-04 9.99889992e-01 1.09069177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.788040942 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:71.04, Y:26.11, Z:1.09 [[ 7.30780371e-01 -6.82522852e-01 -1.10727889e-02 7.10366151e+01] [ 6.82451593e-01 7.30864172e-01 -9.86843488e-03 2.61133255e+01] [ 1.48281370e-02 -3.44983917e-04 9.99889998e-01 1.09291730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.818040942 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:71.06, Y:26.13, Z:1.09 [[ 7.28454807e-01 -6.85007917e-01 -1.08511680e-02 7.10574923e+01] [ 6.84933297e-01 7.28535620e-01 -1.01108501e-02 2.61332033e+01] [ 1.48314747e-02 -6.70289360e-05 9.99890005e-01 1.09319242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.08, Y:26.15, Z:1.09 [[ 7.27487634e-01 -6.86034429e-01 -1.08860066e-02 7.10801723e+01] [ 6.85960492e-01 7.27569064e-01 -1.00727435e-02 2.61492373e+01] [ 1.48305705e-02 -1.39574073e-04 9.99890011e-01 1.09133024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.10, Y:26.17, Z:1.09 [[ 7.27401926e-01 -6.86125031e-01 -1.09032376e-02 7.11049625e+01] [ 6.86051386e-01 7.27483618e-01 -1.00538894e-02 2.61671592e+01] [ 1.48301519e-02 -1.66962760e-04 9.99890013e-01 1.09375579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.908040942 meters Centerline goodness : 0.995959 Centerline is valid? [True, True] Translation: X:71.12, Y:26.19, Z:1.09 [[ 7.21909229e-01 -6.91901099e-01 -1.09514253e-02 7.11220425e+01] [ 6.91828906e-01 7.21992203e-01 -1.00011543e-02 2.61887686e+01] [ 1.48266533e-02 -3.56586998e-04 9.99890016e-01 1.09357079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.938040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:71.14, Y:26.21, Z:1.09 [[ 7.21787411e-01 -6.92028875e-01 -1.09072845e-02 7.11427252e+01] [ 6.91955967e-01 7.21869759e-01 -1.00494169e-02 2.62066792e+01] [ 1.48281255e-02 -2.93818004e-04 9.99890014e-01 1.09377977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.968040942 meters Centerline goodness : 0.995788 Centerline is valid? [True, True] Translation: X:71.16, Y:26.23, Z:1.09 [[ 7.20198696e-01 -6.93682441e-01 -1.08861751e-02 7.11637006e+01] [ 6.93609373e-01 7.20280905e-01 -1.00724815e-02 2.62287600e+01] [ 1.48282076e-02 -2.96565075e-04 9.99890012e-01 1.09393400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.18, Y:26.25, Z:1.10 [[ 7.20623748e-01 -6.93239610e-01 -1.09661950e-02 7.11843383e+01] [ 6.93167815e-01 7.20707068e-01 -9.98508170e-03 2.62480118e+01] [ 1.48254684e-02 -4.05926424e-04 9.99890014e-01 1.09585559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.21, Y:26.27, Z:1.09 [[ 7.24010932e-01 -6.89701862e-01 -1.09321690e-02 7.12105068e+01] [ 6.89629098e-01 7.24093407e-01 -1.00222274e-02 2.62675546e+01] [ 1.48282604e-02 -2.82939642e-04 9.99890015e-01 1.09385955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.058040942 meters Centerline goodness : 0.996398 Centerline is valid? [True, True] Translation: X:71.23, Y:26.28, Z:1.10 [[ 7.23776597e-01 -6.89945528e-01 -1.10727789e-02 7.12257682e+01] [ 6.89875132e-01 7.23861121e-01 -9.86814097e-03 2.62840690e+01] [ 1.48236339e-02 -4.96505322e-04 9.99890001e-01 1.09663651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.088040942 meters Centerline goodness : 0.996974 Centerline is valid? [True, True] Translation: X:71.25, Y:26.30, Z:1.10 [[ 7.24238747e-01 -6.89463091e-01 -1.09034151e-02 7.12470533e+01] [ 6.89389829e-01 7.24320779e-01 -1.00534427e-02 2.63036992e+01] [ 1.48290478e-02 -2.35610744e-04 9.99890016e-01 1.09830500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.11804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.27, Y:26.32, Z:1.10 [[ 7.25706693e-01 -6.87917746e-01 -1.09073379e-02 7.12721823e+01] [ 6.87844375e-01 7.25788627e-01 -1.00491510e-02 2.63244073e+01] [ 1.48294111e-02 -2.09814895e-04 9.99890016e-01 1.09739236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.30, Y:26.34, Z:1.10 [[ 7.27181598e-01 -6.86356764e-01 -1.10143530e-02 7.12963277e+01] [ 6.86284976e-01 7.27264931e-01 -9.93238006e-03 2.63423219e+01] [ 1.48275089e-02 -3.36341016e-04 9.99890010e-01 1.10079636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.32, Y:26.36, Z:1.10 [[ 7.24878094e-01 -6.88788517e-01 -1.10511496e-02 7.13164137e+01] [ 6.88717619e-01 7.24962196e-01 -9.89223503e-03 2.63640173e+01] [ 1.48253235e-02 -4.40456938e-04 9.99890002e-01 1.09874069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.34, Y:26.38, Z:1.10 [[ 7.25039967e-01 -6.88617859e-01 -1.10675295e-02 7.13362951e+01] [ 6.88547214e-01 7.25124287e-01 -9.87438678e-03 2.63842064e+01] [ 1.48250135e-02 -4.61191517e-04 9.99889997e-01 1.09770539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.238040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:71.36, Y:26.40, Z:1.10 [[ 7.24920150e-01 -6.88744194e-01 -1.10549287e-02 7.13561755e+01] [ 6.88673353e-01 7.25004301e-01 -9.88814244e-03 2.64031356e+01] [ 1.48252716e-02 -4.45121139e-04 9.99890001e-01 1.09824814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.38, Y:26.43, Z:1.10 [[ 7.23125411e-01 -6.90628644e-01 -1.10324726e-02 7.13775489e+01] [ 6.90557650e-01 7.23209425e-01 -9.91258443e-03 2.64261821e+01] [ 1.48247029e-02 -4.50516669e-04 9.99890007e-01 1.09805241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.40, Y:26.45, Z:1.10 [[ 7.22806778e-01 -6.90961398e-01 -1.10773658e-02 7.13978594e+01] [ 6.90891185e-01 7.22891467e-01 -9.86392665e-03 2.64458405e+01] [ 1.48233258e-02 -5.23541337e-04 9.99889991e-01 1.09743385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.42, Y:26.46, Z:1.10 [[ 7.23619849e-01 -6.90110170e-01 -1.10574448e-02 7.14197128e+01] [ 6.90039528e-01 7.23704170e-01 -9.88549758e-03 2.64640767e+01] [ 1.48244014e-02 -4.76731757e-04 9.99889999e-01 1.10032225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.358040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.43, Y:26.48, Z:1.10 [[ 7.22249568e-01 -6.91543682e-01 -1.10859111e-02 7.14320558e+01] [ 6.91473680e-01 7.22334435e-01 -9.85469277e-03 2.64815736e+01] [ 1.48226859e-02 -5.48068157e-04 9.99889988e-01 1.10235171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.388040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.46, Y:26.50, Z:1.10 [[ 7.24547233e-01 -6.89139230e-01 -1.08825040e-02 7.14572998e+01] [ 6.89065617e-01 7.24628927e-01 -1.00744166e-02 2.65010621e+01] [ 1.48284528e-02 -1.99368653e-04 9.99890033e-01 1.09914722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.418040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.47, Y:26.52, Z:1.10 [[ 7.25893026e-01 -6.87720196e-01 -1.09657060e-02 7.14745153e+01] [ 6.87647774e-01 7.25975789e-01 -9.98459150e-03 2.65194573e+01] [ 1.48274423e-02 -2.92797961e-04 9.99890025e-01 1.09630301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.50, Y:26.54, Z:1.10 [[ 7.25044362e-01 -6.88616456e-01 -1.08650713e-02 7.14963206e+01] [ 6.88542503e-01 7.25125748e-01 -1.00931382e-02 2.65392281e+01] [ 1.48288440e-02 -1.63090447e-04 9.99890033e-01 1.09602429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.478040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.52, Y:26.56, Z:1.10 [[ 7.25955337e-01 -6.87655253e-01 -1.09133893e-02 7.15212208e+01] [ 6.87581974e-01 7.26037332e-01 -1.00410312e-02 2.65563948e+01] [ 1.48282959e-02 -2.14509546e-04 9.99890032e-01 1.09864251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.508040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.56, Y:26.58, Z:1.10 [[ 7.31044615e-01 -6.82241950e-01 -1.09404256e-02 7.15587111e+01] [ 6.82168499e-01 7.31126460e-01 -1.00119132e-02 2.65770744e+01] [ 1.48293818e-02 -1.44058448e-04 9.99890028e-01 1.09868250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.538040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.58, Y:26.59, Z:1.10 [[ 7.32192447e-01 -6.81004150e-01 -1.12946025e-02 7.15788570e+01] [ 6.80936367e-01 7.32279276e-01 -9.62948788e-03 2.65931712e+01] [ 1.48285245e-02 -6.40267271e-04 9.99889846e-01 1.09724820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.568040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:71.58, Y:26.61, Z:1.10 [[ 7.26868989e-01 -6.86683386e-01 -1.12871698e-02 7.15794358e+01] [ 6.86616155e-01 7.26956239e-01 -9.63753887e-03 2.66111939e+01] [ 1.48232163e-02 -7.44724994e-04 9.99889853e-01 1.10399067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.598040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:71.62, Y:26.63, Z:1.10 [[ 7.32445382e-01 -6.80738884e-01 -1.08781632e-02 7.16159891e+01] [ 6.80664266e-01 7.32526157e-01 -1.00789804e-02 2.66320601e+01] [ 1.48296929e-02 -2.20742661e-05 9.99890034e-01 1.10116810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.628040942 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:71.62, Y:26.65, Z:1.10 [[ 7.27335192e-01 -6.86190771e-01 -1.12135720e-02 7.16202067e+01] [ 6.86122264e-01 7.27421358e-01 -9.71629232e-03 2.66516587e+01] [ 1.48242219e-02 -6.26880035e-04 9.99889919e-01 1.10438001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.658040942 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:71.65, Y:26.67, Z:1.10 [[ 7.32144923e-01 -6.81062092e-01 -1.08737557e-02 7.16547343e+01] [ 6.80987454e-01 7.32225666e-01 -1.00827696e-02 2.66727673e+01] [ 1.48290352e-02 -2.28426033e-05 9.99890044e-01 1.09993208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.688040942 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:71.68, Y:26.69, Z:1.10 [[ 7.32857203e-01 -6.80290608e-01 -1.11807206e-02 7.16764334e+01] [ 6.80220877e-01 7.32942343e-01 -9.75097698e-03 2.66908145e+01] [ 1.48283216e-02 -4.59285822e-04 9.99889949e-01 1.10094656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.718040942 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:71.69, Y:26.71, Z:1.10 [[ 7.33897183e-01 -6.79168343e-01 -1.11931036e-02 7.16928878e+01] [ 6.79098686e-01 7.33982394e-01 -9.73753437e-03 2.67054467e+01] [ 1.48289660e-02 -4.54872879e-04 9.99889941e-01 1.10001450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.748040942 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:71.72, Y:26.73, Z:1.10 [[ 7.30776391e-01 -6.82528021e-01 -1.10166802e-02 7.17156744e+01] [ 6.82455855e-01 7.30859379e-01 -9.92842496e-03 2.67301248e+01] [ 1.48280723e-02 -2.62939321e-04 9.99890024e-01 1.10052343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.778040942 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:71.74, Y:26.75, Z:1.10 [[ 7.28932840e-01 -6.84494404e-01 -1.11501222e-02 7.17378631e+01] [ 6.84424658e-01 7.29017943e-01 -9.78400544e-03 2.67519877e+01] [ 1.48257362e-02 -4.99535726e-04 9.99889968e-01 1.10111624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.808040942 meters Centerline goodness : 0.998339 Centerline is valid? [True, True] Translation: X:71.76, Y:26.77, Z:1.10 [[ 7.28071184e-01 -6.85409947e-01 -1.12051707e-02 7.17556984e+01] [ 6.85341221e-01 7.28157158e-01 -9.72443942e-03 2.67704469e+01] [ 1.48243528e-02 -5.99281253e-04 9.99889934e-01 1.09890539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.838040942 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:71.78, Y:26.79, Z:1.10 [[ 7.23289460e-01 -6.90455529e-01 -1.11139026e-02 7.17761646e+01] [ 6.90385887e-01 7.23374619e-01 -9.82278415e-03 2.67936460e+01] [ 1.48217107e-02 -5.68165262e-04 9.99889991e-01 1.10116998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86804094200001 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:71.79, Y:26.81, Z:1.10 [[ 7.22248841e-01 -6.91543115e-01 -1.11683160e-02 7.17922283e+01] [ 6.91474502e-01 7.22334874e-01 -9.76432856e-03 2.68099503e+01] [ 1.48197183e-02 -6.70330741e-04 9.99889957e-01 1.09967169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.898040942 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:71.81, Y:26.83, Z:1.10 [[ 7.17451275e-01 -6.96521239e-01 -1.10377106e-02 7.18126837e+01] [ 6.96451056e-01 7.17535940e-01 -9.90456825e-03 2.68329230e+01] [ 1.48186962e-02 -5.81180093e-04 9.99890028e-01 1.10335926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.928040942 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:71.82, Y:26.85, Z:1.10 [[ 7.12157488e-01 -7.01932541e-01 -1.10643954e-02 7.18213785e+01] [ 7.01863443e-01 7.12243057e-01 -9.87602048e-03 2.68513710e+01] [ 1.48128389e-02 -7.32412684e-04 9.99890016e-01 1.10329602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.958040942 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:71.84, Y:26.87, Z:1.10 [[ 7.11109396e-01 -7.02998099e-01 -1.08212670e-02 7.18406506e+01] [ 7.02925143e-01 7.11191615e-01 -1.01355978e-02 2.68703760e+01] [ 1.48213003e-02 -3.99021799e-04 9.99890079e-01 1.10396084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.988040942 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:71.86, Y:26.89, Z:1.10 [[ 7.10910983e-01 -7.03198775e-01 -1.08193067e-02 7.18614458e+01] [ 7.03125810e-01 7.10993195e-01 -1.01376898e-02 2.68899692e+01] [ 1.48212645e-02 -4.00338744e-04 9.99890079e-01 1.10438356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.018040942 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:71.90, Y:26.91, Z:1.10 [[ 7.15119000e-01 -6.98919037e-01 -1.08164447e-02 7.18953647e+01] [ 6.98845534e-01 7.15200731e-01 -1.01407425e-02 2.69116106e+01] [ 1.48234872e-02 -3.07186415e-04 9.99890079e-01 1.10293299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.048040942 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:71.91, Y:26.93, Z:1.11 [[ 7.13484874e-01 -7.00583251e-01 -1.10654097e-02 7.19146298e+01] [ 7.00513996e-01 7.13570326e-01 -9.87574660e-03 2.69332290e+01] [ 1.48147307e-02 -7.05278574e-04 9.99890007e-01 1.10679806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.078040942 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:71.93, Y:26.95, Z:1.10 [[ 7.11318027e-01 -7.02783721e-01 -1.10320491e-02 7.19261744e+01] [ 7.02714179e-01 7.11403225e-01 -9.91131608e-03 2.69509211e+01] [ 1.48137469e-02 -7.02279496e-04 9.99890024e-01 1.10293501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.108040942 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:71.95, Y:26.97, Z:1.11 [[ 7.14710040e-01 -6.99337282e-01 -1.08132286e-02 7.19540923e+01] [ 6.99263775e-01 7.14791767e-01 -1.01441523e-02 2.69723972e+01] [ 1.48233906e-02 -3.11171550e-04 9.99890079e-01 1.10780919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.138040942 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:71.97, Y:26.99, Z:1.11 [[ 7.17643664e-01 -6.96323849e-01 -1.09848906e-02 7.19721311e+01] [ 6.96252764e-01 7.17727558e-01 -9.96196901e-03 2.69910638e+01] [ 1.48209153e-02 -4.99116504e-04 9.99890040e-01 1.10817180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.168040942 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:71.99, Y:27.01, Z:1.11 [[ 7.17129640e-01 -6.96854345e-01 -1.09133748e-02 7.19859567e+01] [ 6.96782165e-01 7.17212561e-01 -1.00377842e-02 2.70094138e+01] [ 1.48220830e-02 -4.05852332e-04 9.99890065e-01 1.10752708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.198040942 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:72.00, Y:27.03, Z:1.11 [[ 7.21048915e-01 -6.92800326e-01 -1.07782301e-02 7.20049670e+01] [ 6.92725528e-01 7.21129456e-01 -1.01808590e-02 2.70285324e+01] [ 1.48258016e-02 -1.25457760e-04 9.99890084e-01 1.10788578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.228040942 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:72.03, Y:27.05, Z:1.11 [[ 7.22637730e-01 -6.91142949e-01 -1.07766417e-02 7.20252741e+01] [ 6.91067941e-01 7.22718075e-01 -1.01825401e-02 2.70491525e+01] [ 1.48260645e-02 -8.91039528e-05 9.99890084e-01 1.10829858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.258040942 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:72.05, Y:27.07, Z:1.11 [[ 7.25734462e-01 -6.87890551e-01 -1.07740752e-02 7.20454545e+01] [ 6.87815143e-01 7.25814432e-01 -1.01852551e-02 2.70687995e+01] [ 1.48263200e-02 -1.87814352e-05 9.99890084e-01 1.10901864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.288040942 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:72.08, Y:27.09, Z:1.11 [[ 7.30403969e-01 -6.82930431e-01 -1.07734516e-02 7.20789332e+01] [ 6.82854471e-01 7.30483415e-01 -1.01859146e-02 2.70895174e+01] [ 1.48260988e-02 8.31328611e-05 9.99890084e-01 1.11106528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.318040942 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:72.09, Y:27.11, Z:1.11 [[ 7.27213363e-01 -6.86322435e-01 -1.10562393e-02 7.20871891e+01] [ 6.86251342e-01 7.27297296e-01 -9.88631066e-03 2.71060649e+01] [ 1.48263698e-02 -3.97901860e-04 9.99890004e-01 1.11076557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.348040942 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:72.12, Y:27.13, Z:1.11 [[ 7.29380391e-01 -6.84023577e-01 -1.07699121e-02 7.21167432e+01] [ 6.83947691e-01 7.29459897e-01 -1.01889654e-02 2.71265121e+01] [ 1.48257115e-02 6.55750488e-05 9.99890091e-01 1.11169174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.378040942 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:72.13, Y:27.14, Z:1.11 [[ 7.26421185e-01 -6.87162393e-01 -1.09593840e-02 7.21301088e+01] [ 6.87089848e-01 7.26503799e-01 -9.98850385e-03 2.71440715e+01] [ 1.48257583e-02 -2.74220670e-04 9.99890055e-01 1.11428094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.408040942 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:72.16, Y:27.17, Z:1.11 [[ 7.27788968e-01 -6.85716675e-01 -1.07638201e-02 7.21588026e+01] [ 6.85640884e-01 7.27868559e-01 -1.01950478e-02 2.71651405e+01] [ 1.48255606e-02 3.97281876e-05 9.99890095e-01 1.11422939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.438040942 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:72.17, Y:27.18, Z:1.12 [[ 7.24488613e-01 -6.89199905e-01 -1.09426059e-02 7.21709696e+01] [ 6.89127327e-01 7.24571188e-01 -1.00060749e-02 2.71828038e+01] [ 1.48248828e-02 -2.91561422e-04 9.99890063e-01 1.11553095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.468040942 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:72.19, Y:27.20, Z:1.12 [[ 7.23817129e-01 -6.89907945e-01 -1.07606004e-02 7.21912479e+01] [ 6.89832569e-01 7.23897110e-01 -1.01981197e-02 2.72018241e+01] [ 1.48253313e-02 -4.14388940e-05 9.99890098e-01 1.11630214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.498040942 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:72.23, Y:27.22, Z:1.11 [[ 7.28029086e-01 -6.85461832e-01 -1.07576845e-02 7.22282693e+01] [ 6.85385921e-01 7.28108559e-01 -1.02011946e-02 2.72229595e+01] [ 1.48252917e-02 5.36008642e-05 9.99890098e-01 1.11499724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.528040942 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:72.23, Y:27.24, Z:1.12 [[ 7.22055254e-01 -6.91746190e-01 -1.11093451e-02 7.22328676e+01] [ 6.91676598e-01 7.22140474e-01 -9.82954776e-03 2.72411480e+01] [ 1.48220600e-02 -5.86597444e-04 9.99889975e-01 1.11787075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.558040942 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:72.25, Y:27.26, Z:1.12 [[ 7.21400579e-01 -6.92434525e-01 -1.07532455e-02 7.22517209e+01] [ 6.92359329e-01 7.21480714e-01 -1.02047888e-02 2.72601966e+01] [ 1.48244074e-02 -8.33692898e-05 9.99890109e-01 1.11765938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.588040942 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:72.28, Y:27.28, Z:1.12 [[ 7.23783551e-01 -6.89943306e-01 -1.07519823e-02 7.22795694e+01] [ 6.89867815e-01 7.23863408e-01 -1.02061196e-02 2.72802464e+01] [ 1.48246105e-02 -3.04250539e-05 9.99890109e-01 1.11732999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.61804094200001 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:72.31, Y:27.30, Z:1.12 [[ 7.23935916e-01 -6.89781180e-01 -1.08955030e-02 7.23097700e+01] [ 6.89707934e-01 7.24017864e-01 -1.00547946e-02 2.73025214e+01] [ 1.48241469e-02 -2.35687926e-04 9.99890089e-01 1.11560137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.648040942 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:72.31, Y:27.32, Z:1.12 [[ 7.16907612e-01 -6.97079077e-01 -1.11461264e-02 7.23109468e+01] [ 6.97010729e-01 7.16993862e-01 -9.79013976e-03 2.73207601e+01] [ 1.48162058e-02 -7.50343941e-04 9.99889952e-01 1.11691943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.678040942 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:72.34, Y:27.34, Z:1.12 [[ 7.16638161e-01 -6.97362347e-01 -1.07472352e-02 7.23424578e+01] [ 6.97287624e-01 7.16718721e-01 -1.02100226e-02 2.73430393e+01] [ 1.48228300e-02 -1.77022270e-04 9.99890120e-01 1.11580282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.708040942 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:72.37, Y:27.36, Z:1.12 [[ 7.16667682e-01 -6.97328183e-01 -1.09926959e-02 7.23689718e+01] [ 6.97257378e-01 7.16751785e-01 -9.95125201e-03 2.73635452e+01] [ 1.48183229e-02 -5.32997602e-04 9.99890061e-01 1.11866689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.738040942 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:72.37, Y:27.38, Z:1.12 [[ 7.07950115e-01 -7.06175106e-01 -1.11064734e-02 7.23685087e+01] [ 7.06107216e-01 7.08036681e-01 -9.83150383e-03 2.73820826e+01] [ 1.48065538e-02 -8.82146734e-04 9.99889988e-01 1.11938222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.768040942 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:72.39, Y:27.40, Z:1.12 [[ 7.05774693e-01 -7.08355993e-01 -1.06709841e-02 7.23893707e+01] [ 7.08281337e-01 7.05855297e-01 -1.02882798e-02 2.74030638e+01] [ 1.48199353e-02 -2.96851396e-04 9.99890135e-01 1.12060814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.798040942 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:72.43, Y:27.42, Z:1.12 [[ 7.09346774e-01 -7.04778025e-01 -1.07279807e-02 7.24266964e+01] [ 7.04703863e-01 7.09427828e-01 -1.02285000e-02 2.74238391e+01] [ 1.48195501e-02 -3.04495976e-04 9.99890138e-01 1.12349394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.828040942 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:72.43, Y:27.45, Z:1.12 [[ 7.03425160e-01 -7.10683810e-01 -1.10256977e-02 7.24296793e+01] [ 7.10615145e-01 7.03511040e-01 -9.91625646e-03 2.74453647e+01] [ 1.48040230e-02 -8.59683490e-04 9.99890045e-01 1.12219753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.858040942 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:72.45, Y:27.47, Z:1.12 [[ 7.03712848e-01 -7.10403707e-01 -1.07144921e-02 7.24477366e+01] [ 7.10329990e-01 7.03794296e-01 -1.02418265e-02 2.74651479e+01] [ 1.48166300e-02 -4.03520147e-04 9.99890146e-01 1.12252873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.888040942 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:72.47, Y:27.49, Z:1.12 [[ 7.05323831e-01 -7.08804293e-01 -1.07129705e-02 7.24660204e+01] [ 7.08730367e-01 7.05405089e-01 -1.02434179e-02 2.74871517e+01] [ 1.48175625e-02 -3.67680739e-04 9.99890146e-01 1.12299435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.918040942 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:72.48, Y:27.51, Z:1.12 [[ 7.06767022e-01 -7.07365303e-01 -1.07100464e-02 7.24846034e+01] [ 7.07291166e-01 7.06848086e-01 -1.02464743e-02 2.75067755e+01] [ 1.48183762e-02 -3.33251093e-04 9.99890146e-01 1.12384152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.948040942 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:72.50, Y:27.53, Z:1.12 [[ 7.07641321e-01 -7.06490682e-01 -1.07087791e-02 7.25039109e+01] [ 7.06416424e-01 7.07722275e-01 -1.02477986e-02 2.75276778e+01] [ 1.48188157e-02 -3.13091690e-04 9.99890146e-01 1.12418585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.978040942 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:72.54, Y:27.55, Z:1.13 [[ 7.13479150e-01 -7.00594666e-01 -1.07059030e-02 7.25381243e+01] [ 7.00519694e-01 7.13559444e-01 -1.02508024e-02 2.75490783e+01] [ 1.48209557e-02 -1.85962047e-04 9.99890146e-01 1.12696092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.008040942 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:72.56, Y:27.57, Z:1.13 [[ 7.14893277e-01 -6.99146896e-01 -1.10099801e-02 7.25552640e+01] [ 6.99076585e-01 7.14977806e-01 -9.93302412e-03 2.75720440e+01] [ 1.48165344e-02 -5.95767152e-04 9.99890052e-01 1.12516112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.038040942 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:72.57, Y:27.59, Z:1.12 [[ 7.14819540e-01 -6.99222947e-01 -1.09679564e-02 7.25731811e+01] [ 6.99151972e-01 7.14903478e-01 -9.97686533e-03 2.75940939e+01] [ 1.48170834e-02 -5.36610072e-04 9.99890077e-01 1.12443790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.068040942 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:72.59, Y:27.61, Z:1.12 [[ 7.14848174e-01 -6.99194161e-01 -1.09367777e-02 7.25893197e+01] [ 6.99122685e-01 7.14931664e-01 -1.00093672e-02 2.76143378e+01] [ 1.48175398e-02 -4.90971491e-04 9.99890094e-01 1.12372242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.098040942 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:72.61, Y:27.63, Z:1.12 [[ 7.15738212e-01 -6.98283808e-01 -1.08874026e-02 7.26050613e+01] [ 6.98211442e-01 7.15820901e-01 -1.00607804e-02 2.76338374e+01] [ 1.48187103e-02 -4.00824099e-04 9.99890117e-01 1.12377352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.128040942 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:72.62, Y:27.66, Z:1.12 [[ 7.12311506e-01 -7.01780519e-01 -1.07898663e-02 7.26207970e+01] [ 7.01707016e-01 7.12393145e-01 -1.01622172e-02 2.76581360e+01] [ 1.48182729e-02 -3.32660594e-04 9.99890148e-01 1.12398805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.158040942 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:72.64, Y:27.68, Z:1.12 [[ 7.11809578e-01 -7.02289523e-01 -1.07958773e-02 7.26397550e+01] [ 7.02216173e-01 7.11891356e-01 -1.01559692e-02 2.76786714e+01] [ 1.48179225e-02 -3.51923491e-04 9.99890147e-01 1.12483478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.188040942 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:72.65, Y:27.70, Z:1.13 [[ 7.09393182e-01 -7.04730373e-01 -1.07895029e-02 7.26518377e+01] [ 7.04657205e-01 7.09475120e-01 -1.01625904e-02 2.77002646e+01] [ 1.48167700e-02 -3.93628604e-04 9.99890148e-01 1.12591106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.218040942 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:72.69, Y:27.72, Z:1.13 [[ 7.15069310e-01 -6.98972099e-01 -1.06718125e-02 7.26897039e+01] [ 6.98896438e-01 7.15148931e-01 -1.02847107e-02 2.77229543e+01] [ 1.48206612e-02 -1.04210734e-04 9.99890163e-01 1.12965558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.248040942 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:72.69, Y:27.74, Z:1.13 [[ 7.10028926e-01 -7.04085715e-01 -1.10557631e-02 7.26907304e+01] [ 7.04016749e-01 7.10114583e-01 -9.88416137e-03 2.77402468e+01] [ 1.48101554e-02 -7.65401909e-04 9.99890031e-01 1.12681789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.278040942 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:72.72, Y:27.77, Z:1.13 [[ 7.12214210e-01 -7.01881989e-01 -1.06109355e-02 7.27237028e+01] [ 7.01805729e-01 7.12293245e-01 -1.03465595e-02 2.77665131e+01] [ 1.48201615e-02 -7.78486264e-05 9.99890172e-01 1.12968341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.308040942 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:72.74, Y:27.79, Z:1.13 [[ 7.11340627e-01 -7.02760941e-01 -1.10259912e-02 7.27423529e+01] [ 7.02691335e-01 7.11425735e-01 -9.91515717e-03 2.77868371e+01] [ 1.48121591e-02 -6.94814336e-04 9.99890053e-01 1.12819856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.338040942 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:72.77, Y:27.81, Z:1.13 [[ 7.08892291e-01 -7.05231935e-01 -1.09379076e-02 7.27651753e+01] [ 7.05161221e-01 7.08976398e-01 -1.00059489e-02 2.78110270e+01] [ 1.48112331e-02 -6.19848238e-04 9.99890116e-01 1.12812922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36804094200001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:72.78, Y:27.83, Z:1.13 [[ 7.05839317e-01 -7.08286183e-01 -1.10246031e-02 7.27804463e+01] [ 7.08217219e-01 7.05924946e-01 -9.91669042e-03 2.78335321e+01] [ 1.48063971e-02 -8.08223738e-04 9.99890053e-01 1.12687953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.398040942 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:72.79, Y:27.85, Z:1.12 [[ 7.02446690e-01 -7.11652152e-01 -1.09481903e-02 7.27908733e+01] [ 7.11582372e-01 7.02531581e-01 -9.99524047e-03 2.78539105e+01] [ 1.48045838e-02 -7.69415624e-04 9.99890110e-01 1.12471842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.428040942 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:72.82, Y:27.88, Z:1.13 [[ 7.03912254e-01 -7.10205205e-01 -1.07751812e-02 7.28155358e+01] [ 7.10132517e-01 7.03994549e-01 -1.01726668e-02 2.78765587e+01] [ 1.48103498e-02 -4.91141745e-04 9.99890200e-01 1.12809460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.458040942 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:72.83, Y:27.90, Z:1.12 [[ 7.02509105e-01 -7.11591036e-01 -1.09158320e-02 7.28300035e+01] [ 7.11520735e-01 7.02593536e-01 -1.00283106e-02 2.78973008e+01] [ 1.48054489e-02 -7.21861285e-04 9.99890133e-01 1.12263091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.488040942 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:72.84, Y:27.92, Z:1.13 [[ 6.99256509e-01 -7.14788741e-01 -1.08346915e-02 7.28372228e+01] [ 7.14717535e-01 6.99340119e-01 -1.01115222e-02 2.79177884e+01] [ 1.48047367e-02 -6.73196282e-04 9.99890177e-01 1.12691512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.518040942 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:72.87, Y:27.94, Z:1.13 [[ 7.06100961e-01 -7.08031876e-01 -1.05969828e-02 7.28700160e+01] [ 7.07956179e-01 7.06180449e-01 -1.03547920e-02 2.79418142e+01] [ 1.48149049e-02 -1.90670854e-04 9.99890235e-01 1.12794523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.548040942 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:72.89, Y:27.96, Z:1.13 [[ 7.05802075e-01 -7.08324952e-01 -1.09176072e-02 7.28881961e+01] [ 7.08254296e-01 7.05886203e-01 -1.00259480e-02 2.79637310e+01] [ 1.48082174e-02 -6.56107313e-04 9.99890137e-01 1.12762993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.578040942 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:72.91, Y:27.98, Z:1.13 [[ 7.06677740e-01 -7.07451563e-01 -1.09022067e-02 7.29054745e+01] [ 7.07380560e-01 7.06761563e-01 -1.00417212e-02 2.79849301e+01] [ 1.48092920e-02 -6.15748249e-04 9.99890147e-01 1.12987437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.608040942 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:72.92, Y:28.01, Z:1.13 [[ 7.10063468e-01 -7.04054346e-01 -1.08327759e-02 7.29248906e+01] [ 7.03981856e-01 7.10145956e-01 -1.01127397e-02 2.80080963e+01] [ 1.48127704e-02 -4.45390650e-04 9.99890186e-01 1.12885041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.638040942 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:72.93, Y:28.03, Z:1.13 [[ 7.06929871e-01 -7.07200073e-01 -1.08726492e-02 7.29301115e+01] [ 7.07128575e-01 7.07013249e-01 -1.00719839e-02 2.80275561e+01] [ 1.48100148e-02 -5.68174653e-04 9.99890164e-01 1.12975861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.668040942 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:72.96, Y:28.05, Z:1.13 [[ 7.13002295e-01 -7.01081911e-01 -1.05774188e-02 7.29614595e+01] [ 7.01005169e-01 7.13080749e-01 -1.03730333e-02 2.80497205e+01] [ 1.48148997e-02 -1.88286724e-05 9.99890253e-01 1.12979225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.698040942 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:72.98, Y:28.07, Z:1.13 [[ 7.17726283e-01 -6.96241047e-01 -1.08345863e-02 7.29813344e+01] [ 6.96167694e-01 7.17807999e-01 -1.01103590e-02 2.80708114e+01] [ 1.48163996e-02 -2.86218598e-04 9.99890190e-01 1.13270554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.728040942 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:72.99, Y:28.09, Z:1.13 [[ 7.15308393e-01 -6.98724475e-01 -1.08633036e-02 7.29862032e+01] [ 6.98651850e-01 7.15390778e-01 -1.00810334e-02 2.80901057e+01] [ 1.48153720e-02 -3.78619371e-04 9.99890175e-01 1.13283870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.758040942 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:73.01, Y:28.11, Z:1.13 [[ 7.17723981e-01 -6.96247445e-01 -1.05727252e-02 7.30080768e+01] [ 6.96170114e-01 7.17801845e-01 -1.03770917e-02 2.81115062e+01] [ 1.48141453e-02 8.74722668e-05 9.99890261e-01 1.13044015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.788040942 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:73.02, Y:28.13, Z:1.13 [[ 7.20299030e-01 -6.93582154e-01 -1.06350243e-02 7.30245756e+01] [ 6.93505469e-01 7.20377535e-01 -1.03136212e-02 2.81315439e+01] [ 1.48145762e-02 5.34438435e-05 9.99890257e-01 1.13056243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.818040942 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:73.06, Y:28.15, Z:1.13 [[ 7.26278067e-01 -6.87319337e-01 -1.05971123e-02 7.30574650e+01] [ 6.87241412e-01 7.26355335e-01 -1.03522054e-02 2.81524527e+01] [ 1.48125400e-02 2.35805283e-04 9.99890261e-01 1.13468878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.848040942 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:73.08, Y:28.17, Z:1.13 [[ 7.27365090e-01 -6.86164841e-01 -1.08552787e-02 7.30761741e+01] [ 6.86090674e-01 7.27446080e-01 -1.00890487e-02 2.81714189e+01] [ 1.48193805e-02 -1.09283643e-04 9.99890181e-01 1.13415077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.878040942 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:73.09, Y:28.19, Z:1.13 [[ 7.24935195e-01 -6.88732592e-01 -1.07879025e-02 7.30903237e+01] [ 6.88657690e-01 7.25015456e-01 -1.01574995e-02 2.81928643e+01] [ 1.48171970e-02 -6.56430856e-05 9.99890217e-01 1.13255311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.908040942 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:73.11, Y:28.21, Z:1.13 [[ 7.24617734e-01 -6.89068762e-01 -1.06480344e-02 7.31105056e+01] [ 6.88991799e-01 7.24695953e-01 -1.02993323e-02 2.82131243e+01] [ 1.48135356e-02 1.26670443e-04 9.99890266e-01 1.13292752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.938040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:73.13, Y:28.23, Z:1.13 [[ 7.27600537e-01 -6.85918442e-01 -1.06465977e-02 7.31343680e+01] [ 6.85841119e-01 7.27678400e-01 -1.03007882e-02 2.82317600e+01] [ 1.48127997e-02 1.92984551e-04 9.99890266e-01 1.13345484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.968040942 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:73.15, Y:28.25, Z:1.13 [[ 7.26757751e-01 -6.86809354e-01 -1.07741593e-02 7.31549884e+01] [ 6.86734039e-01 7.26837610e-01 -1.01709511e-02 2.82525766e+01] [ 1.48165685e-02 -7.16442987e-06 9.99890229e-01 1.13391180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.998040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:73.18, Y:28.27, Z:1.13 [[ 7.27252425e-01 -6.86286018e-01 -1.07429906e-02 7.31769654e+01] [ 6.86210178e-01 7.27331767e-01 -1.02025116e-02 2.82719360e+01] [ 1.48155594e-02 4.78518565e-05 9.99890242e-01 1.13390567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.028040942 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:73.20, Y:28.29, Z:1.13 [[ 7.27006641e-01 -6.86546430e-01 -1.07397594e-02 7.31974807e+01] [ 6.86470571e-01 7.27085963e-01 -1.02057799e-02 2.82907089e+01] [ 1.48154700e-02 4.71410059e-05 9.99890244e-01 1.13495600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.058040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:73.22, Y:28.31, Z:1.13 [[ 7.25743280e-01 -6.87882228e-01 -1.07113203e-02 7.32176612e+01] [ 6.87806091e-01 7.25822317e-01 -1.02345066e-02 2.83082138e+01] [ 1.48146505e-02 6.03130522e-05 9.99890255e-01 1.13432710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.088040942 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:73.23, Y:28.33, Z:1.14 [[ 7.24792113e-01 -6.88885115e-01 -1.06625952e-02 7.32340994e+01] [ 6.88808361e-01 7.24870530e-01 -1.02837785e-02 2.83250791e+01] [ 1.48133430e-02 1.09116784e-04 9.99890270e-01 1.13793524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.11804094200001 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:73.26, Y:28.35, Z:1.14 [[ 7.26665581e-01 -6.86910665e-01 -1.05295806e-02 7.32625586e+01] [ 6.86831739e-01 7.26741786e-01 -1.04181315e-02 2.83456891e+01] [ 1.48086118e-02 3.38447450e-04 9.99890289e-01 1.13703876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.148040942 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:73.28, Y:28.36, Z:1.14 [[ 7.26622364e-01 -6.86953548e-01 -1.07127103e-02 7.32834876e+01] [ 6.86877323e-01 7.26701325e-01 -1.02336418e-02 2.83643423e+01] [ 1.48149773e-02 7.76752467e-05 9.99890249e-01 1.13700840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.178040942 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:73.31, Y:28.38, Z:1.14 [[ 7.26090547e-01 -6.87515909e-01 -1.06954068e-02 7.33067315e+01] [ 6.87439488e-01 7.26169310e-01 -1.02510629e-02 2.83812960e+01] [ 1.48144450e-02 9.07549216e-05 9.99890256e-01 1.13596112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.208040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:73.33, Y:28.40, Z:1.14 [[ 7.25888202e-01 -6.87729132e-01 -1.07219420e-02 7.33278400e+01] [ 6.87653127e-01 7.25967382e-01 -1.02243446e-02 2.83979980e+01] [ 1.48153598e-02 4.87541874e-05 9.99890245e-01 1.13712034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.238040942 meters Centerline goodness : 0.996932 Centerline is valid? [True, True] Translation: X:73.35, Y:28.41, Z:1.14 [[ 7.22338394e-01 -6.91456914e-01 -1.07042230e-02 7.33476815e+01] [ 6.91381052e-01 7.22417702e-01 -1.02422889e-02 2.84128207e+01] [ 1.48150217e-02 -2.29839803e-06 9.99890252e-01 1.14190475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.268040942 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:73.37, Y:28.43, Z:1.14 [[ 7.22970230e-01 -6.90797599e-01 -1.06171109e-02 7.33686855e+01] [ 6.90720366e-01 7.23048172e-01 -1.03304327e-02 2.84286630e+01] [ 1.48129207e-02 1.35140545e-04 9.99890274e-01 1.14276658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.39, Y:28.45, Z:1.14 [[ 7.21896481e-01 -6.91920943e-01 -1.05299336e-02 7.33907112e+01] [ 6.91842540e-01 7.21973236e-01 -1.04185422e-02 2.84464884e+01] [ 1.48111378e-02 2.36052914e-04 9.99890281e-01 1.14372498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.328040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:73.41, Y:28.46, Z:1.14 [[ 7.19871889e-01 -6.94027121e-01 -1.05270672e-02 7.34135433e+01] [ 6.93948901e-01 7.19948829e-01 -1.04214377e-02 2.84615678e+01] [ 1.48117101e-02 1.96853291e-04 9.99890281e-01 1.14450640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.358040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:73.44, Y:28.48, Z:1.15 [[ 7.18812201e-01 -6.95124612e-01 -1.05258263e-02 7.34354835e+01] [ 6.95046491e-01 7.18889242e-01 -1.04226908e-02 2.84793633e+01] [ 1.48119722e-02 1.76018689e-04 9.99890281e-01 1.14532580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.388040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:73.47, Y:28.50, Z:1.15 [[ 7.18319685e-01 -6.95633595e-01 -1.05229167e-02 7.34665139e+01] [ 6.95555485e-01 7.18396738e-01 -1.04256276e-02 2.84964664e+01] [ 1.48120458e-02 1.69661075e-04 9.99890281e-01 1.14596960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.418040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:73.48, Y:28.51, Z:1.15 [[ 7.15878586e-01 -6.98143242e-01 -1.06706791e-02 7.34814642e+01] [ 6.98067612e-01 7.15958103e-01 -1.02764117e-02 2.85129179e+01] [ 1.48141666e-02 -9.21923991e-05 9.99890260e-01 1.14628312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.448040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:73.51, Y:28.53, Z:1.15 [[ 7.16650871e-01 -6.97352770e-01 -1.05187471e-02 7.35102068e+01] [ 6.97274786e-01 7.16728048e-01 -1.04296423e-02 2.85325185e+01] [ 1.48122210e-02 1.39955080e-04 9.99890283e-01 1.14782125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.478040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.52, Y:28.55, Z:1.15 [[ 7.13692474e-01 -7.00377856e-01 -1.06729355e-02 7.35247503e+01] [ 7.00302510e-01 7.13772260e-01 -1.02740304e-02 2.85485732e+01] [ 1.48137487e-02 -1.41785316e-04 9.99890260e-01 1.14955989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.508040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.55, Y:28.56, Z:1.15 [[ 7.11616501e-01 -7.02489428e-01 -1.05146814e-02 7.35476543e+01] [ 7.02411945e-01 7.11694177e-01 -1.04335162e-02 2.85634432e+01] [ 1.48126723e-02 3.90245106e-05 9.99890286e-01 1.14949476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.538040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.57, Y:28.58, Z:1.15 [[ 7.10402917e-01 -7.03716690e-01 -1.05126386e-02 7.35697716e+01] [ 7.03639310e-01 7.10480696e-01 -1.04355741e-02 2.85811697e+01] [ 1.48127144e-02 1.63565002e-05 9.99890286e-01 1.15067386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.568040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.59, Y:28.60, Z:1.15 [[ 7.09389718e-01 -7.04738089e-01 -1.05097523e-02 7.35945042e+01] [ 7.04660778e-01 7.09467565e-01 -1.04384800e-02 2.86008186e+01] [ 1.48127229e-02 -8.59831611e-07 9.99890286e-01 1.14598477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.61, Y:28.62, Z:1.14 [[ 7.05534370e-01 -7.08596878e-01 -1.05696192e-02 7.36136197e+01] [ 7.08520893e-01 7.05613518e-01 -1.03782002e-02 2.86157093e+01] [ 1.48120264e-02 -1.66619114e-04 9.99890282e-01 1.14390817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.64, Y:28.63, Z:1.15 [[ 7.05428651e-01 -7.08703444e-01 -1.04807839e-02 7.36385771e+01] [ 7.08626138e-01 7.05506503e-01 -1.04675826e-02 2.86346550e+01] [ 1.48126730e-02 -4.28246844e-05 9.99890285e-01 1.14637796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.658040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.66, Y:28.65, Z:1.15 [[ 7.03921194e-01 -7.10199583e-01 -1.05595793e-02 7.36628409e+01] [ 7.10123627e-01 7.04000368e-01 -1.03882955e-02 2.86494371e+01] [ 1.48117108e-02 -1.86065368e-04 9.99890283e-01 1.14610293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.68, Y:28.67, Z:1.15 [[ 7.03373027e-01 -7.10742295e-01 -1.05723373e-02 7.36816980e+01] [ 7.10666593e-01 7.03452446e-01 -1.03754632e-02 2.86652956e+01] [ 1.48114170e-02 -2.15585960e-04 9.99890282e-01 1.15077900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.70, Y:28.68, Z:1.14 [[ 6.99271381e-01 -7.14779176e-01 -1.05007329e-02 7.36963054e+01] [ 7.14702848e-01 6.99350191e-01 -1.04474330e-02 2.86829112e+01] [ 1.48112971e-02 -1.99312858e-04 9.99890287e-01 1.14228621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.73, Y:28.70, Z:1.15 [[ 7.02701586e-01 -7.11409640e-01 -1.03346399e-02 7.37259741e+01] [ 7.11330463e-01 7.02777569e-01 -1.06141949e-02 2.87013113e+01] [ 1.48139937e-02 1.07267436e-04 9.99890261e-01 1.15079359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.76, Y:28.72, Z:1.15 [[ 7.03459053e-01 -7.10658224e-01 -1.05000132e-02 7.37550456e+01] [ 7.10581426e-01 7.03537402e-01 -1.04479989e-02 2.87183230e+01] [ 1.48121083e-02 -1.11374977e-04 9.99890289e-01 1.15106193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.77, Y:28.74, Z:1.15 [[ 7.04003832e-01 -7.10116909e-01 -1.06104149e-02 7.37748991e+01] [ 7.10041714e-01 7.04083738e-01 -1.03370305e-02 2.87356241e+01] [ 1.48111207e-02 -2.56528080e-04 9.99890276e-01 1.15203844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.838040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:73.80, Y:28.75, Z:1.15 [[ 7.04127561e-01 -7.09995169e-01 -1.05469750e-02 7.37978404e+01] [ 7.09919004e-01 7.04206528e-01 -1.04007048e-02 2.87548992e+01] [ 1.48116988e-02 -1.64075073e-04 9.99890287e-01 1.15215665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86804094200001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:73.82, Y:28.77, Z:1.15 [[ 7.05636495e-01 -7.08494923e-01 -1.05868545e-02 7.38174273e+01] [ 7.08419189e-01 7.05715883e-01 -1.03606854e-02 2.87696511e+01] [ 1.48118044e-02 -1.89053197e-04 9.99890281e-01 1.15392370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.84, Y:28.79, Z:1.15 [[ 7.05902767e-01 -7.08231105e-01 -1.04874081e-02 7.38402289e+01] [ 7.08153853e-01 7.05980666e-01 -1.04603889e-02 2.87906404e+01] [ 1.48122801e-02 -4.26809960e-05 9.99890291e-01 1.15491718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.86, Y:28.80, Z:1.16 [[ 7.09961341e-01 -7.04161668e-01 -1.05470389e-02 7.38612793e+01] [ 7.04084856e-01 7.10039677e-01 -1.04006052e-02 2.88043801e+01] [ 1.48125236e-02 -4.19827224e-05 9.99890288e-01 1.15599691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.88, Y:28.82, Z:1.16 [[ 7.10092657e-01 -7.04030198e-01 -1.04832969e-02 7.38805170e+01] [ 7.03952425e-01 7.10170035e-01 -1.04644620e-02 2.88244957e+01] [ 1.48122206e-02 5.09953296e-05 9.99890292e-01 1.15596900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.988040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:73.90, Y:28.84, Z:1.16 [[ 7.09933779e-01 -7.04190548e-01 -1.04738559e-02 7.39014696e+01] [ 7.04112653e-01 7.10011034e-01 -1.04739169e-02 2.88439556e+01] [ 1.48121865e-02 6.10129894e-05 9.99890292e-01 1.16165995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.93, Y:28.86, Z:1.17 [[ 7.09062079e-01 -7.05068136e-01 -1.04829269e-02 7.39255480e+01] [ 7.04990472e-01 7.09139565e-01 -1.04648340e-02 2.88639390e+01] [ 1.48122793e-02 2.98533481e-05 9.99890292e-01 1.16513455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.94, Y:28.88, Z:1.16 [[ 7.10498097e-01 -7.03619567e-01 -1.05811000e-02 7.39444280e+01] [ 7.03543201e-01 7.10576878e-01 -1.03665155e-02 2.88794859e+01] [ 1.48127681e-02 -7.88714480e-05 9.99890282e-01 1.16416982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.97, Y:28.90, Z:1.17 [[ 7.10380742e-01 -7.03739621e-01 -1.04760114e-02 7.39658879e+01] [ 7.03661711e-01 7.10457980e-01 -1.04716480e-02 2.88982493e+01] [ 1.48120795e-02 6.72889772e-05 9.99890293e-01 1.16527402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.00, Y:28.92, Z:1.16 [[ 7.14945132e-01 -6.99102118e-01 -1.04731434e-02 7.40019330e+01] [ 6.99023665e-01 7.15021818e-01 -1.04745157e-02 2.89186464e+01] [ 1.48112821e-02 1.67728907e-04 9.99890293e-01 1.16429350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.138040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.02, Y:28.93, Z:1.16 [[ 7.15152597e-01 -6.98884631e-01 -1.08183045e-02 7.40241693e+01] [ 6.98811305e-01 7.15234348e-01 -1.01285614e-02 2.89341597e+01] [ 1.48163189e-02 -3.16486489e-04 9.99890182e-01 1.16214403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.04, Y:28.95, Z:1.16 [[ 7.14430394e-01 -6.99622666e-01 -1.08322699e-02 7.40428826e+01] [ 6.99549637e-01 7.14512422e-01 -1.01145189e-02 2.89488637e+01] [ 1.48161381e-02 -3.51590777e-04 9.99890173e-01 1.16135394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.05, Y:28.96, Z:1.16 [[ 7.10535364e-01 -7.03579749e-01 -1.07253922e-02 7.40504667e+01] [ 7.03505545e-01 7.10616252e-01 -1.02220820e-02 2.89642331e+01] [ 1.48136879e-02 -2.82222155e-04 9.99890231e-01 1.16299967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.228040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.07, Y:28.98, Z:1.16 [[ 7.09455237e-01 -7.04673627e-01 -1.04088988e-02 7.40724945e+01] [ 7.04594811e-01 7.09531577e-01 -1.05400900e-02 2.89839655e+01] [ 1.48127658e-02 1.43665986e-04 9.99890275e-01 1.16437798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.258040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.10, Y:29.00, Z:1.16 [[ 7.09399528e-01 -7.04728979e-01 -1.04582524e-02 7.41010927e+01] [ 7.04650898e-01 7.09476610e-01 -1.04905117e-02 2.90027646e+01] [ 1.48128530e-02 7.25471103e-05 9.99890281e-01 1.16260478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.12, Y:29.02, Z:1.16 [[ 7.08839661e-01 -7.05289939e-01 -1.06036435e-02 7.41221558e+01] [ 7.05214087e-01 7.08918952e-01 -1.03446065e-02 2.90215187e+01] [ 1.48130707e-02 -1.45171408e-04 9.99890270e-01 1.16325103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.318040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.14, Y:29.04, Z:1.17 [[ 7.06998296e-01 -7.07135981e-01 -1.05884320e-02 7.41382849e+01] [ 7.07060106e-01 7.07077562e-01 -1.03598827e-02 2.90383872e+01] [ 1.48126885e-02 -1.62238461e-04 9.99890273e-01 1.16571791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.348040942 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:74.17, Y:29.06, Z:1.17 [[ 7.06879789e-01 -7.07256537e-01 -1.04477622e-02 7.41678465e+01] [ 7.07178577e-01 7.06956993e-01 -1.05009606e-02 2.90597565e+01] [ 1.48129916e-02 3.44832046e-05 9.99890281e-01 1.16699451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.378040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.18, Y:29.07, Z:1.17 [[ 7.05782085e-01 -7.08348447e-01 -1.06830058e-02 7.41794098e+01] [ 7.08274141e-01 7.05862858e-01 -1.02648279e-02 2.90747763e+01] [ 1.48118119e-02 -3.21765086e-04 9.99890247e-01 1.16837100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.408040942 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:74.21, Y:29.10, Z:1.17 [[ 7.07845768e-01 -7.06289843e-01 -1.04416335e-02 7.42080470e+01] [ 7.06211693e-01 7.07922774e-01 -1.05066624e-02 2.90966427e+01] [ 1.48126191e-02 6.30928206e-05 9.99890285e-01 1.16749777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.438040942 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:74.23, Y:29.11, Z:1.17 [[ 7.09126001e-01 -7.05001542e-01 -1.06368006e-02 7.42255139e+01] [ 7.04926159e-01 7.09205747e-01 -1.03110734e-02 2.91110709e+01] [ 1.48130027e-02 -1.86308747e-04 9.99890264e-01 1.16730213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.468040942 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:74.24, Y:29.13, Z:1.17 [[ 7.05691467e-01 -7.08441789e-01 -1.04778662e-02 7.42405036e+01] [ 7.08364416e-01 7.05769248e-01 -1.04701257e-02 2.91344445e+01] [ 1.48124304e-02 -3.34691977e-05 9.99890289e-01 1.17133201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.498040942 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:74.27, Y:29.15, Z:1.17 [[ 7.08863554e-01 -7.05268211e-01 -1.04504589e-02 7.42671422e+01] [ 7.05190085e-01 7.08940580e-01 -1.04975357e-02 2.91544553e+01] [ 1.48123327e-02 7.17604852e-05 9.99890289e-01 1.16941379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.528040942 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:74.28, Y:29.17, Z:1.17 [[ 7.09766029e-01 -7.04357655e-01 -1.06055793e-02 7.42840956e+01] [ 7.04281733e-01 7.09845249e-01 -1.03423033e-02 2.91725562e+01] [ 1.48130006e-02 -1.28700238e-04 9.99890273e-01 1.16813072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.558040942 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:74.30, Y:29.19, Z:1.17 [[ 7.07887731e-01 -7.06247353e-01 -1.04707837e-02 7.42980936e+01] [ 7.06169637e-01 7.07965166e-01 -1.04770190e-02 2.91945171e+01] [ 1.48123171e-02 2.24036440e-05 9.99890291e-01 1.17205054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.588040942 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:74.32, Y:29.21, Z:1.17 [[ 7.08587293e-01 -7.05546574e-01 -1.03961618e-02 7.43165518e+01] [ 7.05467684e-01 7.08663539e-01 -1.05515257e-02 2.92147227e+01] [ 1.48119736e-02 1.42520817e-04 9.99890287e-01 1.17098081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.61804094200001 meters Centerline goodness : 0.998102 Centerline is valid? [True, True] Translation: X:74.34, Y:29.24, Z:1.17 [[ 7.09853741e-01 -7.04272368e-01 -1.03970602e-02 7.43422652e+01] [ 7.04193354e-01 7.09929858e-01 -1.05506286e-02 2.92359742e+01] [ 1.48116997e-02 1.67862471e-04 9.99890287e-01 1.16887468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.648040942 meters Centerline goodness : 0.997066 Centerline is valid? [True, True] Translation: X:74.35, Y:29.25, Z:1.17 [[ 7.08514242e-01 -7.05617328e-01 -1.05714309e-02 7.43543329e+01] [ 7.05541039e-01 7.08593095e-01 -1.03762912e-02 2.92524260e+01] [ 1.48125339e-02 -1.06828240e-04 9.99890283e-01 1.17079102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.678040942 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:74.37, Y:29.27, Z:1.17 [[ 7.08229159e-01 -7.05907272e-01 -1.03141275e-02 7.43737702e+01] [ 7.05827234e-01 7.08304214e-01 -1.06327657e-02 2.92714130e+01] [ 1.48112866e-02 2.50442600e-04 9.99890276e-01 1.17224158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.708040942 meters Centerline goodness : 0.997436 Centerline is valid? [True, True] Translation: X:74.39, Y:29.29, Z:1.17 [[ 7.05243727e-01 -7.08889601e-01 -1.03352921e-02 7.43947584e+01] [ 7.08810189e-01 7.05319437e-01 -1.06116516e-02 2.92948394e+01] [ 1.48121719e-02 1.58040362e-04 9.99890281e-01 1.17408117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.738040942 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:74.41, Y:29.31, Z:1.17 [[ 7.05323902e-01 -7.08808740e-01 -1.04097813e-02 7.44139985e+01] [ 7.08730412e-01 7.05400714e-01 -1.05373392e-02 2.93129796e+01] [ 1.48120253e-02 5.45085858e-05 9.99890294e-01 1.17385121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.768040942 meters Centerline goodness : 0.996873 Centerline is valid? [True, True] Translation: X:74.43, Y:29.33, Z:1.17 [[ 7.03469172e-01 -7.10650222e-01 -1.03626949e-02 7.44332108e+01] [ 7.10571403e-01 7.03545489e-01 -1.05842936e-02 2.93340646e+01] [ 1.48123578e-02 8.22896601e-05 9.99890288e-01 1.17397675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.798040942 meters Centerline goodness : 0.996873 Centerline is valid? [True, True] Translation: X:74.45, Y:29.35, Z:1.17 [[ 7.03375627e-01 -7.10743083e-01 -1.03439454e-02 7.44533146e+01] [ 7.10663998e-01 7.03451675e-01 -1.06029802e-02 2.93543106e+01] [ 1.48124606e-02 1.06808276e-04 9.99890284e-01 1.17438912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.828040942 meters Centerline goodness : 0.996259 Centerline is valid? [True, True] Translation: X:74.48, Y:29.38, Z:1.18 [[ 7.01428477e-01 -7.12664840e-01 -1.03400633e-02 7.44750192e+01] [ 7.12585907e-01 7.01504683e-01 -1.06068472e-02 2.93763173e+01] [ 1.48127299e-02 7.17612929e-05 9.99890283e-01 1.17592128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.858040942 meters Centerline goodness : 0.997487 Centerline is valid? [True, True] Translation: X:74.49, Y:29.39, Z:1.18 [[ 6.99383827e-01 -7.14669832e-01 -1.04543372e-02 7.44921150e+01] [ 7.14592810e-01 6.99461946e-01 -1.04929946e-02 2.93931088e+01] [ 1.48114378e-02 -1.31963476e-04 9.99890296e-01 1.17693137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.888040942 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:74.51, Y:29.41, Z:1.18 [[ 6.96454142e-01 -7.17526924e-01 -1.03315583e-02 7.45139407e+01] [ 7.17448397e-01 6.96530769e-01 -1.06152966e-02 2.94141176e+01] [ 1.48130094e-02 -1.92926416e-05 9.99890281e-01 1.17917927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.918040942 meters Centerline goodness : 0.996311 Centerline is valid? [True, True] Translation: X:74.53, Y:29.43, Z:1.18 [[ 6.95435112e-01 -7.18513721e-01 -1.03941264e-02 7.45335120e+01] [ 7.18436232e-01 6.95512772e-01 -1.05529378e-02 2.94337299e+01] [ 1.48116782e-02 -1.28633536e-04 9.99890293e-01 1.17980816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.948040942 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:74.55, Y:29.45, Z:1.18 [[ 6.93483050e-01 -7.20398134e-01 -1.03820484e-02 7.45540347e+01] [ 7.20320676e-01 6.93560744e-01 -1.05649694e-02 2.94547868e+01] [ 1.48115654e-02 -1.51776873e-04 9.99890291e-01 1.18112389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.978040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.57, Y:29.47, Z:1.18 [[ 6.92681600e-01 -7.21167752e-01 -1.04534543e-02 7.45745566e+01] [ 7.21091450e-01 6.92760421e-01 -1.04938384e-02 2.94740442e+01] [ 1.48095572e-02 -2.69007737e-04 9.99890296e-01 1.18213803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.008040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.59, Y:29.49, Z:1.18 [[ 6.92508737e-01 -7.21333789e-01 -1.04505634e-02 7.45942639e+01] [ 7.21257461e-01 6.92587535e-01 -1.04967166e-02 2.94934294e+01] [ 1.48095663e-02 -2.68478846e-04 9.99890296e-01 1.18301785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.038040942 meters Centerline goodness : 0.995746 Centerline is valid? [True, True] Translation: X:74.61, Y:29.51, Z:1.18 [[ 6.93340699e-01 -7.20534192e-01 -1.04476786e-02 7.46132743e+01] [ 7.20457731e-01 6.93419366e-01 -1.04995872e-02 2.95115693e+01] [ 1.48099342e-02 -2.47319685e-04 9.99890296e-01 1.18217346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.068040942 meters Centerline goodness : 0.995856 Centerline is valid? [True, True] Translation: X:74.63, Y:29.53, Z:1.18 [[ 6.95056740e-01 -7.18879433e-01 -1.04158417e-02 7.46307332e+01] [ 7.18802309e-01 6.95134759e-01 -1.05312395e-02 2.95275922e+01] [ 1.48111052e-02 -1.67122078e-04 9.99890296e-01 1.18033235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.098040942 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:74.65, Y:29.55, Z:1.18 [[ 6.93703914e-01 -7.20186344e-01 -1.03203566e-02 7.46521074e+01] [ 7.20107948e-01 6.93780676e-01 -1.06262055e-02 2.95512337e+01] [ 1.48129121e-02 -6.03305347e-05 9.99890281e-01 1.18288353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.128040942 meters Centerline goodness : 0.995122 Centerline is valid? [True, True] Translation: X:74.67, Y:29.57, Z:1.18 [[ 6.93865080e-01 -7.20029238e-01 -1.04473667e-02 7.46723466e+01] [ 7.19952715e-01 6.93943687e-01 -1.04998303e-02 2.95721313e+01] [ 1.48100690e-02 -2.36144411e-04 9.99890297e-01 1.18292984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.158040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.69, Y:29.59, Z:1.18 [[ 6.95508637e-01 -7.18441597e-01 -1.04598374e-02 7.46910777e+01] [ 7.18365081e-01 6.95587251e-01 -1.04874252e-02 2.95912229e+01] [ 1.48103321e-02 -2.19887099e-04 9.99890297e-01 1.17825892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.188040942 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:74.71, Y:29.61, Z:1.18 [[ 6.96010883e-01 -7.17955173e-01 -1.04508148e-02 7.47138228e+01] [ 7.17878468e-01 6.96089312e-01 -1.04963904e-02 2.96127048e+01] [ 1.48106383e-02 -1.96812941e-04 9.99890297e-01 1.18063794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.218040942 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:74.74, Y:29.63, Z:1.18 [[ 6.97823802e-01 -7.16192188e-01 -1.05209727e-02 7.47371711e+01] [ 7.16116332e-01 6.97903062e-01 -1.04267134e-02 2.96330278e+01] [ 1.48101497e-02 -2.58231606e-04 9.99890290e-01 1.17970176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.75, Y:29.65, Z:1.19 [[ 6.97003711e-01 -7.16989330e-01 -1.05890195e-02 7.47510833e+01] [ 7.16914587e-01 6.97084043e-01 -1.03591473e-02 2.96517610e+01] [ 1.48088346e-02 -3.71058432e-04 9.99890274e-01 1.18591579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.278040942 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:74.77, Y:29.67, Z:1.18 [[ 6.97292914e-01 -7.16710411e-01 -1.04297288e-02 7.47721286e+01] [ 7.16633256e-01 6.97370896e-01 -1.05171149e-02 2.96729546e+01] [ 1.48111151e-02 -1.40780846e-04 9.99890300e-01 1.18074526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.79, Y:29.69, Z:1.18 [[ 6.95965886e-01 -7.17998418e-01 -1.04765320e-02 7.47869943e+01] [ 7.17922104e-01 6.96044695e-01 -1.04707086e-02 2.96919031e+01] [ 1.48100867e-02 -2.34077867e-04 9.99890297e-01 1.17870161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.82, Y:29.71, Z:1.18 [[ 7.00924510e-01 -7.13160145e-01 -1.03653009e-02 7.48158303e+01] [ 7.13081649e-01 7.01001146e-01 -1.05808909e-02 2.97122149e+01] [ 1.48119575e-02 2.50998790e-05 9.99890297e-01 1.18432998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.83, Y:29.73, Z:1.19 [[ 7.01128388e-01 -7.12956770e-01 -1.05654111e-02 7.48347234e+01] [ 7.12881212e-01 7.01207944e-01 -1.03825509e-02 2.97313041e+01] [ 1.48108602e-02 -2.52381871e-04 9.99890281e-01 1.18516497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.398040942 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:74.85, Y:29.75, Z:1.18 [[ 6.98540453e-01 -7.15492676e-01 -1.05577642e-02 7.48501423e+01] [ 7.15417292e-01 6.98620171e-01 -1.03901242e-02 2.97527412e+01] [ 1.48099248e-02 -2.95285016e-04 9.99890283e-01 1.18259962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.428040942 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:74.87, Y:29.77, Z:1.18 [[ 6.97282559e-01 -7.16720044e-01 -1.04600296e-02 7.48688515e+01] [ 7.16643343e-01 6.97360986e-01 -1.04868126e-02 2.97722123e+01] [ 1.48105254e-02 -1.83839073e-04 9.99890301e-01 1.18256447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.89, Y:29.79, Z:1.18 [[ 6.96618591e-01 -7.17365663e-01 -1.04424162e-02 7.48898380e+01] [ 7.17288774e-01 6.96696832e-01 -1.05042309e-02 2.97925836e+01] [ 1.48105728e-02 -1.72785406e-04 9.99890303e-01 1.18338874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.91, Y:29.81, Z:1.18 [[ 6.94575900e-01 -7.19343557e-01 -1.04482487e-02 7.49071614e+01] [ 7.19266978e-01 6.94654444e-01 -1.04984649e-02 2.98118774e+01] [ 1.48099254e-02 -2.23099544e-04 9.99890302e-01 1.18203315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.518040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.93, Y:29.83, Z:1.19 [[ 6.96492491e-01 -7.17488565e-01 -1.04100478e-02 7.49319098e+01] [ 7.17411212e-01 6.96570271e-01 -1.05362060e-02 2.98267931e+01] [ 1.48109371e-02 -1.29896638e-04 9.99890304e-01 1.18948705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.548040942 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:74.95, Y:29.85, Z:1.18 [[ 6.93151954e-01 -7.20716335e-01 -1.04082759e-02 7.49497864e+01] [ 7.20639318e-01 6.93230067e-01 -1.05379561e-02 2.98544537e+01] [ 1.48102069e-02 -1.96207999e-04 9.99890304e-01 1.18066219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.578040942 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:74.97, Y:29.87, Z:1.19 [[ 6.92062137e-01 -7.21761682e-01 -1.04915678e-02 7.49685972e+01] [ 7.21686024e-01 6.92141576e-01 -1.04556900e-02 2.98701999e+01] [ 1.48081667e-02 -3.35630714e-04 9.99890297e-01 1.19052483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.608040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.00, Y:29.89, Z:1.18 [[ 6.93303658e-01 -7.20570462e-01 -1.04041819e-02 7.49989160e+01] [ 7.20493368e-01 6.93381694e-01 -1.05419342e-02 2.98907652e+01] [ 1.48102756e-02 -1.87382485e-04 9.99890304e-01 1.18471382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.638040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.01, Y:29.91, Z:1.19 [[ 6.88612621e-01 -7.25051468e-01 -1.06314147e-02 7.50085985e+01] [ 7.24978305e-01 6.88694421e-01 -1.03175592e-02 2.99101522e+01] [ 1.48025574e-02 -6.02743530e-04 9.99890254e-01 1.19149682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.668040942 meters Centerline goodness : 0.994526 Centerline is valid? [True, True] Translation: X:75.03, Y:29.93, Z:1.19 [[ 6.86226980e-01 -7.27313168e-01 -1.03965172e-02 7.50272078e+01] [ 7.27236732e-01 6.86305655e-01 -1.05490611e-02 2.99306030e+01] [ 1.48076596e-02 -3.21678863e-04 9.99890309e-01 1.18934237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.05, Y:29.95, Z:1.19 [[ 6.85887662e-01 -7.27632982e-01 -1.04095143e-02 7.50476508e+01] [ 7.27556777e-01 6.85966561e-01 -1.05362572e-02 2.99522021e+01] [ 1.48071070e-02 -3.46823808e-04 9.99890309e-01 1.19084169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.728040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.07, Y:29.97, Z:1.19 [[ 6.84836357e-01 -7.28622215e-01 -1.04322599e-02 7.50658941e+01] [ 7.28546464e-01 6.84915694e-01 -1.05139134e-02 2.99722538e+01] [ 1.48058894e-02 -4.00075925e-04 9.99890307e-01 1.19311947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.758040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.09, Y:29.99, Z:1.19 [[ 6.85443942e-01 -7.28051480e-01 -1.03751584e-02 7.50852584e+01] [ 7.27974813e-01 6.85522390e-01 -1.05699625e-02 2.99944374e+01] [ 1.48078803e-02 -3.07737228e-04 9.99890310e-01 1.19018598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.788040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.11, Y:30.01, Z:1.19 [[ 6.86095959e-01 -7.27436917e-01 -1.03859280e-02 7.51053078e+01] [ 7.27360339e-01 6.86174494e-01 -1.05593930e-02 3.00148698e+01] [ 1.48078512e-02 -3.09555247e-04 9.99890310e-01 1.19133436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.818040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.12, Y:30.04, Z:1.19 [[ 6.85500794e-01 -7.27997505e-01 -1.04064820e-02 7.51190902e+01] [ 7.27921297e-01 6.85579689e-01 -1.05392245e-02 3.00355053e+01] [ 1.48070018e-02 -3.50453061e-04 9.99890309e-01 1.18660253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.14, Y:30.06, Z:1.19 [[ 6.86231518e-01 -7.27310208e-01 -1.03036594e-02 7.51387794e+01] [ 7.27232401e-01 6.86308840e-01 -1.06400438e-02 3.00561884e+01] [ 1.48101050e-02 -1.91621559e-04 9.99890306e-01 1.18687230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.15, Y:30.08, Z:1.18 [[ 6.85223673e-01 -7.28259826e-01 -1.03026354e-02 7.51532484e+01] [ 7.28182110e-01 6.85301089e-01 -1.06410473e-02 3.00770852e+01] [ 1.48098545e-02 -2.10697241e-04 9.99890306e-01 1.18454506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.908040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.17, Y:30.10, Z:1.19 [[ 6.86488241e-01 -7.27069007e-01 -1.02251679e-02 7.51717767e+01] [ 7.26990021e-01 6.86564384e-01 -1.07170592e-02 3.00978842e+01] [ 1.48122777e-02 -7.64599263e-05 9.99890289e-01 1.18513954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.19, Y:30.12, Z:1.19 [[ 6.86485719e-01 -7.27071496e-01 -1.02174943e-02 7.51911814e+01] [ 7.26992399e-01 6.86561749e-01 -1.07245908e-02 3.01180193e+01] [ 1.48124850e-02 -6.57623027e-05 9.99890287e-01 1.18633241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.22, Y:30.14, Z:1.19 [[ 6.90368574e-01 -7.23385738e-01 -1.02130246e-02 7.52220296e+01] [ 7.23306170e-01 6.90444113e-01 -1.07289762e-02 3.01383943e+01] [ 1.48127111e-02 1.98042919e-05 9.99890286e-01 1.19425531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.24, Y:30.16, Z:1.20 [[ 6.88866093e-01 -7.24813184e-01 -1.04572951e-02 7.52411003e+01] [ 7.24737372e-01 6.88945371e-01 -1.04889405e-02 3.01603967e+01] [ 1.48070275e-02 -3.53317126e-04 9.99890308e-01 1.19611303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.26, Y:30.18, Z:1.19 [[ 6.88150075e-01 -7.25493046e-01 -1.04553947e-02 7.52579907e+01] [ 7.25417284e-01 6.88229400e-01 -1.04908073e-02 3.01806520e+01] [ 1.48067177e-02 -3.65274216e-04 9.99890308e-01 1.19490179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.29, Y:30.20, Z:1.20 [[ 6.87929075e-01 -7.25703567e-01 -1.03884584e-02 7.52876873e+01] [ 7.25626835e-01 6.88007454e-01 -1.05565089e-02 3.02040736e+01] [ 1.48082330e-02 -2.76014766e-04 9.99890314e-01 1.20046518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.29, Y:30.22, Z:1.19 [[ 6.86692886e-01 -7.26869464e-01 -1.06612403e-02 7.52927866e+01] [ 7.26796968e-01 6.86775302e-01 -1.02884308e-02 3.02206483e+01] [ 1.48002227e-02 -6.83564937e-04 9.99890237e-01 1.19447088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.11804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.32, Y:30.24, Z:1.20 [[ 6.87651031e-01 -7.25968425e-01 -1.02910145e-02 7.53177285e+01] [ 7.25890298e-01 6.87728016e-01 -1.06513476e-02 3.02438975e+01] [ 1.48099610e-02 -1.45737387e-04 9.99890316e-01 1.19936849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.34, Y:30.26, Z:1.20 [[ 6.89918812e-01 -7.23811627e-01 -1.04289257e-02 7.53379446e+01] [ 7.23735288e-01 6.89997568e-01 -1.05161385e-02 3.02614801e+01] [ 1.48076366e-02 -2.92499780e-04 9.99890318e-01 1.20072540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.36, Y:30.28, Z:1.20 [[ 6.89473834e-01 -7.24236431e-01 -1.03645642e-02 7.53562561e+01] [ 7.24159191e-01 6.89551700e-01 -1.05791943e-02 3.02834832e+01] [ 1.48087408e-02 -2.11516768e-04 9.99890322e-01 1.20220427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.38, Y:30.31, Z:1.20 [[ 6.90805217e-01 -7.22966654e-01 -1.03619053e-02 7.53812087e+01] [ 7.22889232e-01 6.90882902e-01 -1.05817979e-02 3.03082613e+01] [ 1.48091502e-02 -1.80548604e-04 9.99890322e-01 1.19950402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.40, Y:30.33, Z:1.20 [[ 6.87741427e-01 -7.25878953e-01 -1.05581530e-02 7.53999072e+01] [ 7.25804782e-01 6.87822271e-01 -1.03894848e-02 3.03305066e+01] [ 1.48036411e-02 -5.17878859e-04 9.99890286e-01 1.19930523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.41, Y:30.35, Z:1.20 [[ 6.90436058e-01 -7.23315585e-01 -1.06119724e-02 7.54116166e+01] [ 7.23241923e-01 6.90517396e-01 -1.03366403e-02 3.03487664e+01] [ 1.48044046e-02 -5.38234159e-04 9.99890264e-01 1.20006959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.43, Y:30.37, Z:1.20 [[ 6.90096859e-01 -7.23642195e-01 -1.04066458e-02 7.54294467e+01] [ 7.23565510e-01 6.90175272e-01 -1.05378589e-02 3.03687041e+01] [ 1.48080489e-02 -2.57746638e-04 9.99890322e-01 1.19867102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.45, Y:30.39, Z:1.20 [[ 6.89335446e-01 -7.24368182e-01 -1.03624400e-02 7.54463136e+01] [ 7.24290927e-01 6.89413296e-01 -1.05811510e-02 3.03901483e+01] [ 1.48086530e-02 -2.11458820e-04 9.99890324e-01 1.19708183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.358040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.47, Y:30.41, Z:1.20 [[ 6.91746531e-01 -7.22066058e-01 -1.03606923e-02 7.54670641e+01] [ 7.21988519e-01 6.91824097e-01 -1.05828620e-02 3.04123844e+01] [ 1.48093021e-02 -1.59642855e-04 9.99890324e-01 1.20302520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.388040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.48, Y:30.44, Z:1.20 [[ 6.90793448e-01 -7.22977296e-01 -1.04039475e-02 7.54836150e+01] [ 7.22900495e-01 6.90871748e-01 -1.05405208e-02 3.04356282e+01] [ 1.48083506e-02 -2.39696040e-04 9.99890322e-01 1.19830470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.418040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.51, Y:30.46, Z:1.20 [[ 6.89980799e-01 -7.23752836e-01 -1.04081676e-02 7.55071122e+01] [ 7.23676185e-01 6.90059247e-01 -1.05363927e-02 3.04591195e+01] [ 1.48079964e-02 -2.62234332e-04 9.99890321e-01 1.20129820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.52, Y:30.48, Z:1.20 [[ 6.89338749e-01 -7.24362412e-01 -1.05444843e-02 7.55206740e+01] [ 7.24287856e-01 6.89419233e-01 -1.04030073e-02 3.04757966e+01] [ 1.48051178e-02 -4.66045847e-04 9.99890290e-01 1.19793890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.478040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.54, Y:30.50, Z:1.20 [[ 6.88548379e-01 -7.25116555e-01 -1.03494636e-02 7.55417962e+01] [ 7.25039198e-01 6.88626124e-01 -1.05935356e-02 3.04950149e+01] [ 1.48084590e-02 -2.09605006e-04 9.99890327e-01 1.20250141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.508040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.56, Y:30.52, Z:1.20 [[ 6.84659468e-01 -7.28789657e-01 -1.03464013e-02 7.55587903e+01] [ 7.28712673e-01 6.84737581e-01 -1.05965256e-02 3.05180630e+01] [ 1.48072081e-02 -2.84542142e-04 9.99890327e-01 1.19966282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.538040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.58, Y:30.54, Z:1.21 [[ 6.86318077e-01 -7.27227965e-01 -1.03433481e-02 7.55830612e+01] [ 7.27150757e-01 6.86395969e-01 -1.05995050e-02 3.05396346e+01] [ 1.48078889e-02 -2.46541514e-04 9.99890327e-01 1.20613856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.568040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:75.60, Y:30.56, Z:1.21 [[ 6.84880443e-01 -7.28580686e-01 -1.04385537e-02 7.56026100e+01] [ 7.28505040e-01 6.84959866e-01 -1.05065947e-02 3.05609190e+01] [ 1.48048923e-02 -4.08777722e-04 9.99890318e-01 1.20620415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.598040942 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:75.63, Y:30.59, Z:1.21 [[ 6.81814287e-01 -7.31450877e-01 -1.04352058e-02 7.56265626e+01] [ 7.31375516e-01 6.81893978e-01 -1.05098586e-02 3.05869057e+01] [ 1.48031493e-02 -4.66282307e-04 9.99890319e-01 1.20845217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.65, Y:30.61, Z:1.21 [[ 6.82210796e-01 -7.31078348e-01 -1.06244716e-02 7.56467325e+01] [ 7.31005789e-01 6.82293139e-01 -1.03251970e-02 3.06071188e+01] [ 1.47975320e-02 -7.22589323e-04 9.99890249e-01 1.21004639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.658040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.65, Y:30.63, Z:1.21 [[ 6.76219025e-01 -7.36623377e-01 -1.06691730e-02 7.56505106e+01] [ 7.36552177e-01 6.76302580e-01 -1.02815738e-02 3.06267421e+01] [ 1.47892368e-02 -9.05806791e-04 9.99890223e-01 1.21101196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.68, Y:30.65, Z:1.20 [[ 6.78070893e-01 -7.34923937e-01 -1.03281200e-02 7.56804117e+01] [ 7.34847401e-01 6.78149432e-01 -1.06134600e-02 3.06511214e+01] [ 1.48040945e-02 -3.92913875e-04 9.99890336e-01 1.20140489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.70, Y:30.67, Z:1.20 [[ 6.77627765e-01 -7.35328709e-01 -1.05971984e-02 7.56996512e+01] [ 7.35256258e-01 6.77710178e-01 -1.03513139e-02 3.06710531e+01] [ 1.47934475e-02 -7.77318731e-04 9.99890269e-01 1.20195071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.71, Y:30.69, Z:1.21 [[ 6.80666600e-01 -7.32516798e-01 -1.05886978e-02 7.57133252e+01] [ 7.32443878e-01 6.80748592e-01 -1.03595899e-02 3.06877566e+01] [ 1.47968147e-02 -7.04199991e-04 9.99890273e-01 1.20873090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.778040942 meters Centerline goodness : 0.995803 Centerline is valid? [True, True] Translation: X:75.72, Y:30.71, Z:1.20 [[ 6.74195125e-01 -7.38479599e-01 -1.04314500e-02 7.57170659e+01] [ 7.38405019e-01 6.74275540e-01 -1.05130695e-02 3.07082019e+01] [ 1.47973589e-02 -6.14774837e-04 9.99890324e-01 1.20377840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.74, Y:30.73, Z:1.21 [[ 6.80230699e-01 -7.32929031e-01 -1.00613793e-02 7.57442845e+01] [ 7.32848375e-01 6.80305104e-01 -1.08731250e-02 3.07291945e+01] [ 1.48140367e-02 2.27679137e-05 9.99890266e-01 1.20972812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.838040942 meters Centerline goodness : 0.996459 Centerline is valid? [True, True] Translation: X:75.75, Y:30.75, Z:1.20 [[ 6.74383864e-01 -7.38309044e-01 -1.03033441e-02 7.57522031e+01] [ 7.38232536e-01 6.74462429e-01 -1.06374210e-02 3.07509467e+01] [ 1.48029226e-02 -4.32558752e-04 9.99890337e-01 1.20460896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.78, Y:30.77, Z:1.21 [[ 6.78494579e-01 -7.34536057e-01 -1.00939194e-02 7.57833483e+01] [ 7.34456053e-01 6.78569656e-01 -1.08409989e-02 3.07743858e+01] [ 1.48125320e-02 -5.79811887e-05 9.99890287e-01 1.21100361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.80, Y:30.80, Z:1.21 [[ 6.75143602e-01 -7.37612539e-01 -1.04335454e-02 7.58048884e+01] [ 7.37537866e-01 6.75223951e-01 -1.05124295e-02 3.08019453e+01] [ 1.47990796e-02 -5.97735292e-04 9.99890309e-01 1.20560867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.82, Y:30.82, Z:1.20 [[ 6.74533771e-01 -7.38168317e-01 -1.05701325e-02 7.58237236e+01] [ 7.38095763e-01 6.74616110e-01 -1.03802378e-02 3.08227646e+01] [ 1.47931444e-02 -7.99949109e-04 9.99890255e-01 1.20384013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.958040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.85, Y:30.85, Z:1.21 [[ 6.73983823e-01 -7.38671136e-01 -1.05242247e-02 7.58482232e+01] [ 7.38597953e-01 6.74065571e-01 -1.04244662e-02 3.08505291e+01] [ 1.47942698e-02 -7.47249229e-04 9.99890280e-01 1.20600315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.86, Y:30.87, Z:1.20 [[ 6.74717293e-01 -7.37998244e-01 -1.07315514e-02 7.58600595e+01] [ 7.37928117e-01 6.74801860e-01 -1.02246131e-02 3.08678723e+01] [ 1.47874174e-02 -1.02039024e-03 9.99890140e-01 1.20493074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.88, Y:30.89, Z:1.20 [[ 6.74621386e-01 -7.38088370e-01 -1.05613785e-02 7.58772933e+01] [ 7.38015674e-01 6.74703594e-01 -1.03887288e-02 3.08903316e+01] [ 1.47936000e-02 -7.86004272e-04 9.99890260e-01 1.20413822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.048040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:75.89, Y:30.91, Z:1.21 [[ 6.77252452e-01 -7.35674911e-01 -1.05613300e-02 7.58940309e+01] [ 7.35601921e-01 6.77334399e-01 -1.03887756e-02 3.09071191e+01] [ 1.47963136e-02 -7.33110893e-04 9.99890260e-01 1.21145554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.92, Y:30.93, Z:1.21 [[ 6.76710721e-01 -7.36174942e-01 -1.04429117e-02 7.59153694e+01] [ 7.36100251e-01 6.76791045e-01 -1.05025041e-02 3.09316802e+01] [ 1.47993495e-02 -5.79872792e-04 9.99890315e-01 1.20918037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.93, Y:30.95, Z:1.21 [[ 6.73684771e-01 -7.38943838e-01 -1.05277037e-02 7.59287898e+01] [ 7.38870741e-01 6.73766598e-01 -1.04210802e-02 3.09525095e+01] [ 1.47938082e-02 -7.58089198e-04 9.99890278e-01 1.21076038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.95, Y:30.97, Z:1.21 [[ 6.74227618e-01 -7.38450055e-01 -1.04228076e-02 7.59515879e+01] [ 7.38375338e-01 6.74307907e-01 -1.05216718e-02 3.09738038e+01] [ 1.47979107e-02 -6.01942396e-04 9.99890324e-01 1.21153219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.168040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.97, Y:31.00, Z:1.20 [[ 6.66806869e-01 -7.45156267e-01 -1.05231872e-02 7.59697270e+01] [ 7.45083863e-01 6.66889307e-01 -1.04254103e-02 3.10037513e+01] [ 1.47863609e-02 -8.88921766e-04 9.99890281e-01 1.20395371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.99, Y:31.02, Z:1.21 [[ 6.69715912e-01 -7.42540832e-01 -1.06634633e-02 7.59874039e+01] [ 7.42470226e-01 6.69800016e-01 -1.02909034e-02 3.10184968e+01] [ 1.47838039e-02 -1.02532227e-03 9.99890188e-01 1.21405378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.228040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.01, Y:31.04, Z:1.22 [[ 6.71489796e-01 -7.40939518e-01 -1.04920953e-02 7.60142040e+01] [ 7.40866136e-01 6.71571339e-01 -1.04548976e-02 3.10408572e+01] [ 1.47926373e-02 -7.52881008e-04 9.99890300e-01 1.21670906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.258040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.02, Y:31.06, Z:1.21 [[ 6.67927571e-01 -7.44149558e-01 -1.06862220e-02 7.60191827e+01] [ 7.44079503e-01 6.68012157e-01 -1.02689662e-02 3.10593406e+01] [ 1.47801729e-02 -1.09247306e-03 9.99890170e-01 1.21102378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.03, Y:31.08, Z:1.22 [[ 6.62289884e-01 -7.49176147e-01 -1.03542303e-02 7.60319150e+01] [ 7.49101721e-01 6.62370399e-01 -1.05861430e-02 3.10848835e+01] [ 1.47892215e-02 -7.45276354e-04 9.99890356e-01 1.21627695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.318040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.05, Y:31.11, Z:1.22 [[ 6.62255486e-01 -7.49207371e-01 -1.02949293e-02 7.60486907e+01] [ 7.49132070e-01 6.62335167e-01 -1.06427445e-02 3.11053578e+01] [ 1.47923164e-02 -6.64045821e-04 9.99890367e-01 1.21663904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.348040942 meters Centerline goodness : 0.997033 Centerline is valid? [True, True] Translation: X:76.06, Y:31.13, Z:1.21 [[ 6.58970830e-01 -7.52098444e-01 -1.02652523e-02 7.60628408e+01] [ 7.52023052e-01 6.59050421e-01 -1.06710714e-02 3.11295550e+01] [ 1.47910151e-02 -6.87781553e-04 9.99890370e-01 1.21214628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.378040942 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:76.08, Y:31.15, Z:1.21 [[ 6.60935613e-01 -7.50373025e-01 -1.02195553e-02 7.60830076e+01] [ 7.50296752e-01 6.61014357e-01 -1.07146569e-02 3.11526060e+01] [ 1.47952623e-02 -5.86000811e-04 9.99890372e-01 1.21418014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.408040942 meters Centerline goodness : 0.996627 Centerline is valid? [True, True] Translation: X:76.10, Y:31.17, Z:1.21 [[ 6.61808254e-01 -7.49602018e-01 -1.03271329e-02 7.61030201e+01] [ 7.49527240e-01 6.61888435e-01 -1.06120555e-02 3.11742601e+01] [ 1.47902280e-02 -7.17321474e-04 9.99890361e-01 1.21297763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.12, Y:31.19, Z:1.21 [[ 6.64085647e-01 -7.47584439e-01 -1.03807876e-02 7.61164849e+01] [ 7.47510212e-01 6.64166357e-01 -1.05608847e-02 3.11941421e+01] [ 1.47897229e-02 -7.46412769e-04 9.99890347e-01 1.21138973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.468040942 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:76.14, Y:31.22, Z:1.22 [[ 6.63318800e-01 -7.48266845e-01 -1.02420146e-02 7.61425474e+01] [ 7.48190655e-01 6.63397621e-01 -1.06929538e-02 3.12211524e+01] [ 1.47957110e-02 -5.70142371e-04 9.99890375e-01 1.21508347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.498040942 meters Centerline goodness : 0.996125 Centerline is valid? [True, True] Translation: X:76.15, Y:31.24, Z:1.21 [[ 6.61651859e-01 -7.49737818e-01 -1.04891003e-02 7.61507258e+01] [ 7.49665495e-01 6.61734321e-01 -1.04562876e-02 3.12401369e+01] [ 1.47804719e-02 -9.44894455e-04 9.99890316e-01 1.21030318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.528040942 meters Centerline goodness : 0.996169 Centerline is valid? [True, True] Translation: X:76.17, Y:31.26, Z:1.22 [[ 6.63306108e-01 -7.48278286e-01 -1.02281294e-02 7.61734818e+01] [ 7.48201902e-01 6.63384732e-01 -1.07056200e-02 3.12616026e+01] [ 1.47959679e-02 -5.51602718e-04 9.99890382e-01 1.21634398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.558040942 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:76.20, Y:31.29, Z:1.22 [[ 6.66417412e-01 -7.45506129e-01 -1.04136326e-02 7.61991391e+01] [ 7.45432162e-01 6.66498352e-01 -1.05279789e-02 3.12856217e+01] [ 1.47893418e-02 -7.46628186e-04 9.99890353e-01 1.21803920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.588040942 meters Centerline goodness : 0.996038 Centerline is valid? [True, True] Translation: X:76.21, Y:31.30, Z:1.21 [[ 6.66806769e-01 -7.45156003e-01 -1.05482214e-02 7.62088166e+01] [ 7.45083999e-01 6.66889554e-01 -1.03998727e-02 3.13010175e+01] [ 1.47840263e-02 -9.24605459e-04 9.99890283e-01 1.21051508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.61804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.23, Y:31.33, Z:1.21 [[ 6.63096935e-01 -7.48463277e-01 -1.02555999e-02 7.62258232e+01] [ 7.48387346e-01 6.63175971e-01 -1.06776419e-02 3.13297940e+01] [ 1.47930903e-02 -5.94849614e-04 9.99890399e-01 1.21005478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.648040942 meters Centerline goodness : 0.996751 Centerline is valid? [True, True] Translation: X:76.24, Y:31.35, Z:1.22 [[ 6.62956513e-01 -7.48585182e-01 -1.04349528e-02 7.62427880e+01] [ 7.48511919e-01 6.63038092e-01 -1.05069077e-02 3.13494387e+01] [ 1.47840866e-02 -8.45063614e-04 9.99890352e-01 1.21601130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.678040942 meters Centerline goodness : 0.996672 Centerline is valid? [True, True] Translation: X:76.25, Y:31.37, Z:1.21 [[ 6.60112241e-01 -7.51095332e-01 -1.03745265e-02 7.62537481e+01] [ 7.51021481e-01 6.60193254e-01 -1.05641966e-02 3.13701624e+01] [ 1.47839111e-02 -8.17936784e-04 9.99890377e-01 1.21078058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.708040942 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:76.28, Y:31.40, Z:1.21 [[ 6.64650859e-01 -7.47084815e-01 -1.01742306e-02 7.62814576e+01] [ 7.47007553e-01 6.64728571e-01 -1.07537001e-02 3.13993139e+01] [ 1.47970279e-02 -4.52771070e-04 9.99890415e-01 1.21318932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.738040942 meters Centerline goodness : 0.996189 Centerline is valid? [True, True] Translation: X:76.30, Y:31.42, Z:1.22 [[ 6.65083090e-01 -7.46694672e-01 -1.05617273e-02 7.62963056e+01] [ 7.46623070e-01 6.65166228e-01 -1.03865195e-02 3.14157921e+01] [ 1.47808631e-02 -9.77730785e-04 9.99890279e-01 1.21728084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.768040942 meters Centerline goodness : 0.996796 Centerline is valid? [True, True] Translation: X:76.31, Y:31.43, Z:1.22 [[ 6.66413104e-01 -7.45509901e-01 -1.04193360e-02 7.63122556e+01] [ 7.45436037e-01 6.66494124e-01 -1.05212589e-02 3.14341837e+01] [ 1.47881289e-02 -7.55443701e-04 9.99890364e-01 1.21896270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.798040942 meters Centerline goodness : 0.995131 Centerline is valid? [True, True] Translation: X:76.33, Y:31.46, Z:1.22 [[ 6.68355336e-01 -7.43770249e-01 -1.03422721e-02 7.63310596e+01] [ 7.43695045e-01 6.68435071e-01 -1.05941311e-02 3.14562485e+01] [ 1.47927369e-02 -6.10852414e-04 9.99890395e-01 1.21919045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.828040942 meters Centerline goodness : 0.996911 Centerline is valid? [True, True] Translation: X:76.35, Y:31.48, Z:1.22 [[ 6.68240330e-01 -7.43873405e-01 -1.03546519e-02 7.63488607e+01] [ 7.43798394e-01 6.68320253e-01 -1.05824272e-02 3.14779951e+01] [ 1.47922097e-02 -6.30168797e-04 9.99890391e-01 1.22113442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.858040942 meters Centerline goodness : 0.995459 Centerline is valid? [True, True] Translation: X:76.37, Y:31.50, Z:1.22 [[ 6.69809159e-01 -7.42460890e-01 -1.03690110e-02 7.63665944e+01] [ 7.42385921e-01 6.69889128e-01 -1.05688665e-02 3.14986664e+01] [ 1.47930578e-02 -6.18684190e-04 9.99890385e-01 1.22179197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.888040942 meters Centerline goodness : 0.997334 Centerline is valid? [True, True] Translation: X:76.39, Y:31.52, Z:1.22 [[ 6.68899804e-01 -7.43280360e-01 -1.03613462e-02 7.63854549e+01] [ 7.43205377e-01 6.68979756e-01 -1.05761019e-02 3.15220454e+01] [ 1.47925397e-02 -6.26255786e-04 9.99890388e-01 1.22405054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.918040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:76.40, Y:31.53, Z:1.22 [[ 6.74702242e-01 -7.38016895e-01 -1.03898109e-02 7.64007616e+01] [ 7.37941699e-01 6.74782010e-01 -1.05493054e-02 3.15346999e+01] [ 1.47964231e-02 -5.49434764e-04 9.99890376e-01 1.22221833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.948040942 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:76.42, Y:31.55, Z:1.22 [[ 6.75843717e-01 -7.36975274e-01 -1.01348669e-02 7.64193414e+01] [ 7.36896321e-01 6.75919680e-01 -1.07887980e-02 3.15546069e+01] [ 1.48014333e-02 -1.76804786e-04 9.99890437e-01 1.22264517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.978040942 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:76.45, Y:31.58, Z:1.23 [[ 6.78072655e-01 -7.34925036e-01 -1.01324102e-02 7.64493819e+01] [ 7.34845819e-01 6.78148343e-01 -1.07911048e-02 3.15779906e+01] [ 1.48019302e-02 -1.28606190e-04 9.99890437e-01 1.22550619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.008040942 meters Centerline goodness : 0.994938 Centerline is valid? [True, True] Translation: X:76.46, Y:31.60, Z:1.22 [[ 6.78368574e-01 -7.34648296e-01 -1.03903304e-02 7.64640595e+01] [ 7.34572748e-01 6.78447974e-01 -1.05463314e-02 3.15959441e+01] [ 1.47971430e-02 -4.78153791e-04 9.99890402e-01 1.22459302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.038040942 meters Centerline goodness : 0.995463 Centerline is valid? [True, True] Translation: X:76.48, Y:31.61, Z:1.22 [[ 6.82563420e-01 -7.30753160e-01 -1.03439586e-02 7.64813668e+01] [ 7.30676488e-01 6.82641715e-01 -1.05904902e-02 3.16101609e+01] [ 1.48002518e-02 -3.29406133e-04 9.99890416e-01 1.22248967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.068040942 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:76.51, Y:31.63, Z:1.22 [[ 6.81464603e-01 -7.31780149e-01 -1.01886293e-02 7.65053098e+01] [ 7.31701372e-01 6.81540750e-01 -1.07381802e-02 3.16343471e+01] [ 1.48019532e-02 -1.37344337e-04 9.99890436e-01 1.22327429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.098040942 meters Centerline goodness : 0.996902 Centerline is valid? [True, True] Translation: X:76.52, Y:31.65, Z:1.22 [[ 6.79533894e-01 -7.33572129e-01 -1.02770959e-02 7.65211139e+01] [ 7.33494812e-01 6.79611538e-01 -1.06544965e-02 3.16535264e+01] [ 1.48002746e-02 -2.98105010e-04 9.99890425e-01 1.22108365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.128040942 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:76.54, Y:31.67, Z:1.22 [[ 6.79154954e-01 -7.33924612e-01 -1.01593984e-02 7.65413833e+01] [ 7.33845663e-01 6.79230921e-01 -1.07656899e-02 3.16731026e+01] [ 1.48017823e-02 -1.43858868e-04 9.99890437e-01 1.22101411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.158040942 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:76.56, Y:31.69, Z:1.22 [[ 6.77537508e-01 -7.35417864e-01 -1.01730513e-02 7.65631732e+01] [ 7.35339275e-01 6.77613848e-01 -1.07528030e-02 3.16942669e+01] [ 1.48012038e-02 -1.95216825e-04 9.99890437e-01 1.22277837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.188040942 meters Centerline goodness : 0.995529 Centerline is valid? [True, True] Translation: X:76.58, Y:31.70, Z:1.22 [[ 6.79095578e-01 -7.33978484e-01 -1.02362718e-02 7.65780818e+01] [ 7.33900633e-01 6.79172675e-01 -1.06929708e-02 3.17049054e+01] [ 1.48006066e-02 -2.50857149e-04 9.99890434e-01 1.22272874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.218040942 meters Centerline goodness : 0.996744 Centerline is valid? [True, True] Translation: X:76.60, Y:31.73, Z:1.22 [[ 6.76352550e-01 -7.36511077e-01 -9.93284393e-03 7.65997194e+01] [ 7.36429236e-01 6.76425473e-01 -1.09799806e-02 3.17282164e+01] [ 1.48057060e-02 1.11501211e-04 9.99890383e-01 1.22222544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.248040942 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:76.62, Y:31.75, Z:1.22 [[ 6.75824455e-01 -7.36993789e-01 -1.00727710e-02 7.66239946e+01] [ 7.36913961e-01 6.75899509e-01 -1.08474776e-02 3.17506556e+01] [ 1.48027046e-02 -9.17749503e-05 9.99890430e-01 1.22455110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.278040942 meters Centerline goodness : 0.995700 Centerline is valid? [True, True] Translation: X:76.64, Y:31.77, Z:1.22 [[ 6.74565413e-01 -7.38144016e-01 -1.02427928e-02 7.66413408e+01] [ 7.38066740e-01 6.74643082e-01 -1.06863946e-02 3.17699247e+01] [ 1.47983275e-02 -3.51192472e-04 9.99890437e-01 1.22441195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.308040942 meters Centerline goodness : 0.995430 Centerline is valid? [True, True] Translation: X:76.66, Y:31.79, Z:1.23 [[ 6.74642136e-01 -7.38074836e-01 -1.01746721e-02 7.66602672e+01] [ 7.37996578e-01 6.74718808e-01 -1.07508645e-02 3.17901656e+01] [ 1.47999852e-02 -2.55887049e-04 9.99890441e-01 1.22510260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.338040942 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:76.68, Y:31.81, Z:1.22 [[ 6.72465275e-01 -7.40058783e-01 -1.01711770e-02 7.66791961e+01] [ 7.39980700e-01 6.72542126e-01 -1.07541701e-02 3.18126449e+01] [ 1.47992630e-02 -2.94668730e-04 9.99890441e-01 1.22330028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.36804094200001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:76.70, Y:31.83, Z:1.22 [[ 6.73242306e-01 -7.39351843e-01 -1.01808131e-02 7.66974868e+01] [ 7.39273817e-01 6.73319216e-01 -1.07450651e-02 3.18313148e+01] [ 1.47993208e-02 -2.92376170e-04 9.99890441e-01 1.22364562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.398040942 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:76.72, Y:31.85, Z:1.22 [[ 6.73239491e-01 -7.39354823e-01 -1.01505625e-02 7.67199146e+01] [ 7.39276366e-01 6.73315961e-01 -1.07736320e-02 3.18543859e+01] [ 1.48000725e-02 -2.50836403e-04 9.99890441e-01 1.22326833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.428040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:76.74, Y:31.88, Z:1.22 [[ 6.73645543e-01 -7.38983780e-01 -1.02301259e-02 7.67414757e+01] [ 7.38906418e-01 6.73723125e-01 -1.06984379e-02 3.18773236e+01] [ 1.47982445e-02 -3.52150659e-04 9.99890438e-01 1.22417428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.458040942 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:76.76, Y:31.90, Z:1.22 [[ 6.74954260e-01 -7.37787270e-01 -1.03290940e-02 7.67616179e+01] [ 7.37711194e-01 6.75033133e-01 -1.06049286e-02 3.18974824e+01] [ 1.47966620e-02 -4.62046498e-04 9.99890417e-01 1.22301813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.488040942 meters Centerline goodness : 0.995329 Centerline is valid? [True, True] Translation: X:76.78, Y:31.92, Z:1.22 [[ 6.76195874e-01 -7.36649909e-01 -1.02981186e-02 7.67804809e+01] [ 7.36573253e-01 6.76274172e-01 -1.06342551e-02 3.19154683e+01] [ 1.47980747e-02 -3.94479308e-04 9.99890425e-01 1.22384858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.518040942 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:76.80, Y:31.94, Z:1.22 [[ 6.74747653e-01 -7.37977055e-01 -1.02698960e-02 7.67996500e+01] [ 7.37900147e-01 6.74825694e-01 -1.06609430e-02 3.19387520e+01] [ 1.47979210e-02 -3.84711517e-04 9.99890431e-01 1.22212231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.548040942 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:76.82, Y:31.96, Z:1.22 [[ 6.75793672e-01 -7.37019545e-01 -1.02519833e-02 7.68159703e+01] [ 7.36942271e-01 6.75871345e-01 -1.06777417e-02 3.19567732e+01] [ 1.47987261e-02 -3.39169580e-04 9.99890435e-01 1.22323812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.578040942 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:76.84, Y:31.98, Z:1.22 [[ 6.76781899e-01 -7.36114090e-01 -1.01146693e-02 7.68357671e+01] [ 7.36034778e-01 6.76857466e-01 -1.08063283e-02 3.19759056e+01] [ 1.48008800e-02 -1.31220947e-04 9.99890452e-01 1.22462194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.608040942 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:76.85, Y:32.00, Z:1.23 [[ 6.76671079e-01 -7.36215728e-01 -1.01317515e-02 7.68545248e+01] [ 7.36136666e-01 6.76746908e-01 -1.07903327e-02 3.19960624e+01] [ 1.48006441e-02 -1.56847675e-04 9.99890452e-01 1.22503637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.638040942 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:76.87, Y:32.02, Z:1.23 [[ 6.77635433e-01 -7.35328234e-01 -1.01296034e-02 7.68738286e+01] [ 7.35249042e-01 6.77711126e-01 -1.07923434e-02 3.20160088e+01] [ 1.48008598e-02 -1.34506909e-04 9.99890452e-01 1.22553034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.668040942 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:76.89, Y:32.04, Z:1.22 [[ 6.78512834e-01 -7.34519041e-01 -1.01050449e-02 7.68942071e+01] [ 7.34439418e-01 6.78588072e-01 -1.08153176e-02 3.20369023e+01] [ 1.48012196e-02 -8.32114788e-05 9.99890452e-01 1.22459706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.698040942 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:76.91, Y:32.06, Z:1.23 [[ 6.80484929e-01 -7.32691780e-01 -1.01497399e-02 7.69144743e+01] [ 7.32612576e-01 6.80560610e-01 -1.07735122e-02 3.20557086e+01] [ 1.48011770e-02 -1.04614477e-04 9.99890451e-01 1.22614763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.728040942 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:76.93, Y:32.08, Z:1.23 [[ 6.80924691e-01 -7.32283294e-01 -1.01362480e-02 7.69342115e+01] [ 7.32203857e-01 6.81000126e-01 -1.07861244e-02 3.20751663e+01] [ 1.48012849e-02 -7.72614597e-05 9.99890452e-01 1.22660098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.758040942 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:76.95, Y:32.09, Z:1.23 [[ 6.81730949e-01 -7.31532791e-01 -1.01335703e-02 7.69541886e+01] [ 7.31453234e-01 6.81806257e-01 -1.07886260e-02 3.20928096e+01] [ 1.48013653e-02 -5.72925227e-05 9.99890452e-01 1.23125687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.788040942 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:76.98, Y:32.11, Z:1.23 [[ 6.82783159e-01 -7.30551243e-01 -1.01014465e-02 7.69777452e+01] [ 7.30471133e-01 6.82857878e-01 -1.08186202e-02 3.21141128e+01] [ 1.48014088e-02 7.95659355e-06 9.99890453e-01 1.23128263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.818040942 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:76.99, Y:32.13, Z:1.23 [[ 6.81947196e-01 -7.31330280e-01 -1.02002084e-02 7.69936349e+01] [ 7.31251628e-01 6.82023461e-01 -1.07263667e-02 3.21324933e+01] [ 1.48012982e-02 -1.44103316e-04 9.99890444e-01 1.23267466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.848040942 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:77.01, Y:32.15, Z:1.23 [[ 6.82138846e-01 -7.31152949e-01 -1.00974993e-02 7.70134061e+01] [ 7.31072852e-01 6.82213577e-01 -1.08221981e-02 3.21527026e+01] [ 1.48013332e-02 2.34131786e-07 9.99890454e-01 1.23284031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.878040942 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:77.03, Y:32.17, Z:1.23 [[ 6.82032452e-01 -7.31252236e-01 -1.00946092e-02 7.70330306e+01] [ 7.31172110e-01 6.82107152e-01 -1.08248932e-02 3.21723880e+01] [ 1.48013325e-02 2.03177165e-06 9.99890454e-01 1.23279702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.908040942 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:77.05, Y:32.19, Z:1.23 [[ 6.82326739e-01 -7.30977690e-01 -1.00914746e-02 7.70537366e+01] [ 7.30897491e-01 6.82401360e-01 -1.08278147e-02 3.21904609e+01] [ 1.48013270e-02 1.22740277e-05 9.99890454e-01 1.23342207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.938040942 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:77.08, Y:32.21, Z:1.23 [[ 6.84156310e-01 -7.29265613e-01 -1.00901189e-02 7.70800807e+01] [ 7.29185208e-01 6.84230709e-01 -1.08290778e-02 3.22117574e+01] [ 1.48012433e-02 5.12164678e-05 9.99890454e-01 1.23444919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.09, Y:32.23, Z:1.23 [[ 6.82165198e-01 -7.31126254e-01 -1.02490537e-02 7.70949145e+01] [ 7.31048262e-01 6.82242155e-01 -1.06808670e-02 3.22293707e+01] [ 1.48013988e-02 -2.06437124e-04 9.99890432e-01 1.23498869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.998040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:77.12, Y:32.25, Z:1.23 [[ 6.83056402e-01 -7.30295959e-01 -1.00878394e-02 7.71199190e+01] [ 7.30215638e-01 6.83130889e-01 -1.08310200e-02 3.22509760e+01] [ 1.48011648e-02 3.18994080e-05 9.99890456e-01 1.23457671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.028040942 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:77.14, Y:32.27, Z:1.23 [[ 6.81581636e-01 -7.31671072e-01 -1.01939115e-02 7.71408522e+01] [ 7.31592371e-01 6.81657848e-01 -1.07322446e-02 3.22711658e+01] [ 1.48012327e-02 -1.42887060e-04 9.99890446e-01 1.23412123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.058040942 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:77.16, Y:32.29, Z:1.23 [[ 6.81264369e-01 -7.31966285e-01 -1.02086638e-02 7.71621706e+01] [ 7.31887822e-01 6.81340832e-01 -1.07185154e-02 3.22916691e+01] [ 1.48011714e-02 -1.69454137e-04 9.99890442e-01 1.23348767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.088040942 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:77.18, Y:32.31, Z:1.23 [[ 6.80609001e-01 -7.32575087e-01 -1.02532646e-02 7.71840184e+01] [ 7.32497317e-01 6.80686185e-01 -1.06770192e-02 3.23120489e+01] [ 1.48009739e-02 -2.43613465e-04 9.99890430e-01 1.23281657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.11804094200001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:77.20, Y:32.33, Z:1.23 [[ 6.74548771e-01 -7.38158589e-01 -1.02884679e-02 7.71993833e+01] [ 7.38081957e-01 6.74627102e-01 -1.06441739e-02 3.23323612e+01] [ 1.47979677e-02 -4.13718112e-04 9.99890418e-01 1.23416268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.148040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.22, Y:32.35, Z:1.23 [[ 6.75347367e-01 -7.37428963e-01 -1.02204649e-02 7.72225793e+01] [ 7.37351285e-01 6.75424630e-01 -1.07075735e-02 3.23508163e+01] [ 1.47992285e-02 -3.04741360e-04 9.99890439e-01 1.23328596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.178040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.23, Y:32.37, Z:1.23 [[ 6.71428177e-01 -7.40998815e-01 -1.02449244e-02 7.72338960e+01] [ 7.40921893e-01 6.71506204e-01 -1.06848498e-02 3.23691800e+01] [ 1.47969914e-02 -4.16579547e-04 9.99890432e-01 1.23484801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.26, Y:32.39, Z:1.23 [[ 6.71375379e-01 -7.41049101e-01 -1.00662866e-02 7.72620690e+01] [ 7.40969680e-01 6.71450817e-01 -1.08505761e-02 3.23907066e+01] [ 1.47998261e-02 -1.74003526e-04 9.99890461e-01 1.23448118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.238040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.28, Y:32.41, Z:1.23 [[ 6.69726314e-01 -7.42537112e-01 -1.02616198e-02 7.72791630e+01] [ 7.42460609e-01 6.69804757e-01 -1.06692093e-02 3.24103590e+01] [ 1.47955656e-02 -4.73398216e-04 9.99890428e-01 1.23357112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.268040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.29, Y:32.43, Z:1.23 [[ 6.68570512e-01 -7.43578492e-01 -1.02223998e-02 7.72945520e+01] [ 7.43501553e-01 6.68648510e-01 -1.07055967e-02 3.24277109e+01] [ 1.47956439e-02 -4.42923816e-04 9.99890440e-01 1.23197292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.32, Y:32.45, Z:1.24 [[ 6.70255121e-01 -7.42062492e-01 -1.00663249e-02 7.73225116e+01] [ 7.41983189e-01 6.70330679e-01 -1.08502032e-02 3.24505016e+01] [ 1.47992952e-02 -1.96639640e-04 9.99890465e-01 1.23793045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.33, Y:32.47, Z:1.24 [[ 6.64754008e-01 -7.46991533e-01 -1.02838880e-02 7.73333970e+01] [ 7.46915866e-01 6.64833278e-01 -1.06490425e-02 3.24716447e+01] [ 1.47918156e-02 -6.02205372e-04 9.99890414e-01 1.23518385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.358040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.36, Y:32.49, Z:1.24 [[ 6.66438009e-01 -7.45492223e-01 -1.00859291e-02 7.73558682e+01] [ 7.45413588e-01 6.66514258e-01 -1.08317252e-02 3.24920914e+01] [ 1.47973825e-02 -2.99515220e-04 9.99890468e-01 1.23662604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.388040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.39, Y:32.51, Z:1.24 [[ 6.71116847e-01 -7.41282080e-01 -1.01516357e-02 7.73854467e+01] [ 7.41203881e-01 6.71193557e-01 -1.07710729e-02 3.25140741e+01] [ 1.47981158e-02 -2.95783270e-04 9.99890458e-01 1.24241608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.41, Y:32.54, Z:1.24 [[ 6.71449182e-01 -7.40978324e-01 -1.03498628e-02 7.74050545e+01] [ 7.40902876e-01 6.71528712e-01 -1.05885231e-02 3.25365150e+01] [ 1.47960961e-02 -5.58587921e-04 9.99890376e-01 1.24118323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.41, Y:32.56, Z:1.24 [[ 6.67640991e-01 -7.44411378e-01 -1.03541532e-02 7.74124070e+01] [ 7.44336400e-01 6.67720968e-01 -1.05845736e-02 3.25551605e+01] [ 1.47929622e-02 -6.40277896e-04 9.99890373e-01 1.23898604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.478040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.45, Y:32.58, Z:1.24 [[ 6.74125767e-01 -7.38547782e-01 -1.00808708e-02 7.74459619e+01] [ 7.38468302e-01 6.74201123e-01 -1.08357377e-02 3.25777501e+01] [ 1.47992445e-02 -1.39753587e-04 9.99890475e-01 1.24253317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.508040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.45, Y:32.59, Z:1.24 [[ 6.69481629e-01 -7.42755771e-01 -1.04025615e-02 7.74493187e+01] [ 7.42681292e-01 6.69562108e-01 -1.05395215e-02 3.25949006e+01] [ 1.47934514e-02 -6.69771775e-04 9.99890347e-01 1.24144920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.538040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.47, Y:32.62, Z:1.24 [[ 6.70382947e-01 -7.41947809e-01 -1.00076723e-02 7.74686581e+01] [ 7.41867718e-01 6.70457631e-01 -1.09020188e-02 3.26154818e+01] [ 1.47984492e-02 -1.15841573e-04 9.99890490e-01 1.24183664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.568040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.49, Y:32.64, Z:1.24 [[ 6.71452315e-01 -7.40980228e-01 -1.00045122e-02 7.74869068e+01] [ 7.40899986e-01 6.71526837e-01 -1.09049180e-02 3.26351268e+01] [ 1.47986271e-02 -9.02105350e-05 9.99890490e-01 1.24254805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.52, Y:32.66, Z:1.24 [[ 6.77543073e-01 -7.35415078e-01 -1.00023666e-02 7.75180884e+01] [ 7.35334195e-01 6.77616899e-01 -1.09068857e-02 3.26570000e+01] [ 1.47988608e-02 3.48026806e-05 9.99890490e-01 1.24402289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.54, Y:32.68, Z:1.24 [[ 6.78309355e-01 -7.34705095e-01 -1.02392772e-02 7.75395969e+01] [ 7.34627377e-01 6.78386578e-01 -1.06895485e-02 3.26783736e+01] [ 1.47998540e-02 -2.71232625e-04 9.99890439e-01 1.24418970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.658040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.56, Y:32.70, Z:1.24 [[ 6.78853194e-01 -7.34202095e-01 -1.02773753e-02 7.75595070e+01] [ 7.34124848e-01 6.78930914e-01 -1.06546481e-02 3.26978385e+01] [ 1.48002928e-02 -3.11934665e-04 9.99890421e-01 1.24346593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.688040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.57, Y:32.72, Z:1.24 [[ 6.73832302e-01 -7.38812956e-01 -1.02687004e-02 7.75664539e+01] [ 7.38736119e-01 6.73910421e-01 -1.06625857e-02 3.27152962e+01] [ 1.47978407e-02 -4.01065200e-04 9.99890426e-01 1.24260246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.60, Y:32.74, Z:1.24 [[ 6.77272293e-01 -7.35664808e-01 -9.97649137e-03 7.75950494e+01] [ 7.35583622e-01 6.77345765e-01 -1.09293212e-02 3.27361421e+01] [ 1.47978512e-02 6.35828013e-05 9.99890504e-01 1.24403270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.61, Y:32.75, Z:1.24 [[ 6.72114592e-01 -7.40377189e-01 -1.01780906e-02 7.76066981e+01] [ 7.40299278e-01 6.72191580e-01 -1.07451545e-02 3.27538517e+01] [ 1.47970941e-02 -3.12857981e-04 9.99890468e-01 1.24276788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.63, Y:32.77, Z:1.24 [[ 6.73838568e-01 -7.38811313e-01 -9.97133828e-03 7.76336104e+01] [ 7.38730405e-01 6.73912341e-01 -1.09337095e-02 3.27741588e+01] [ 1.47977562e-02 1.42441366e-06 9.99890507e-01 1.24350012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.65, Y:32.79, Z:1.24 [[ 6.70075541e-01 -7.42223965e-01 -1.01170528e-02 7.76475675e+01] [ 7.42145424e-01 6.70151858e-01 -1.08007800e-02 3.27928722e+01] [ 1.47965594e-02 -2.70985934e-04 9.99890488e-01 1.24311046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.67, Y:32.81, Z:1.24 [[ 6.69575109e-01 -7.42677485e-01 -9.96626973e-03 7.76673230e+01] [ 7.42596936e-01 6.69649272e-01 -1.09381658e-02 3.28128197e+01] [ 1.47974347e-02 -7.69978075e-05 9.99890509e-01 1.24333460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86804094200001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:77.69, Y:32.83, Z:1.24 [[ 6.68937666e-01 -7.43251730e-01 -9.96320331e-03 7.76870538e+01] [ 7.43171203e-01 6.69011852e-01 -1.09409582e-02 3.28325663e+01] [ 1.47973872e-02 -8.55467606e-05 9.99890509e-01 1.24373165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.71, Y:32.85, Z:1.24 [[ 6.70985358e-01 -7.41403699e-01 -9.96014687e-03 7.77119125e+01] [ 7.41322926e-01 6.71059277e-01 -1.09437399e-02 3.28524538e+01] [ 1.47975782e-02 -4.05959868e-05 9.99890509e-01 1.24342731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.73, Y:32.87, Z:1.24 [[ 6.68418290e-01 -7.43717603e-01 -1.00556830e-02 7.77324938e+01] [ 7.43638388e-01 6.68493888e-01 -1.08567598e-02 3.28712890e+01] [ 1.47965260e-02 -2.20935021e-04 9.99890501e-01 1.24251388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.958040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:77.75, Y:32.89, Z:1.24 [[ 6.67043269e-01 -7.44950890e-01 -1.00722032e-02 7.77505922e+01] [ 7.44872042e-01 6.67119253e-01 -1.08417254e-02 3.28907304e+01] [ 1.47959137e-02 -2.70602608e-04 9.99890498e-01 1.24114753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.77, Y:32.91, Z:1.24 [[ 6.64991570e-01 -7.46783553e-01 -1.00268226e-02 7.77701482e+01] [ 7.46704291e-01 6.65067111e-01 -1.08829904e-02 3.29082296e+01] [ 1.47957482e-02 -2.49974574e-04 9.99890506e-01 1.24214948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.79, Y:32.93, Z:1.24 [[ 6.62812151e-01 -7.48719256e-01 -9.97635203e-03 7.77896577e+01] [ 7.48639523e-01 6.62887189e-01 -1.09288531e-02 3.29282247e+01] [ 1.47958387e-02 -2.24914759e-04 9.99890510e-01 1.24129510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.048040942 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:77.81, Y:32.95, Z:1.24 [[ 6.61697755e-01 -7.49704697e-01 -9.94729172e-03 7.78100606e+01] [ 7.49624678e-01 6.61772487e-01 -1.09552474e-02 3.29465418e+01] [ 1.47960444e-02 -2.07672758e-04 9.99890511e-01 1.24145316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.83, Y:32.96, Z:1.24 [[ 6.60962568e-01 -7.50352962e-01 -9.94566333e-03 7.78317105e+01] [ 7.50272995e-01 6.61037354e-01 -1.09567259e-02 3.29648025e+01] [ 1.47958667e-02 -2.19976910e-04 9.99890511e-01 1.24126212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.108040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.85, Y:32.99, Z:1.25 [[ 6.61524180e-01 -7.49857871e-01 -9.94643406e-03 7.78512687e+01] [ 7.49777858e-01 6.61598918e-01 -1.09560263e-02 3.29865126e+01] [ 1.47960125e-02 -2.09939730e-04 9.99890511e-01 1.24522177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.87, Y:33.01, Z:1.24 [[ 6.63192462e-01 -7.48382847e-01 -9.94348788e-03 7.78728051e+01] [ 7.48302628e-01 6.63266978e-01 -1.09586995e-02 3.30087522e+01] [ 1.47964899e-02 -1.73011210e-04 9.99890511e-01 1.24431025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.89, Y:33.03, Z:1.24 [[ 6.63467535e-01 -7.48138198e-01 -1.00033244e-02 7.78910537e+01] [ 7.48058767e-01 6.63542896e-01 -1.09044391e-02 3.30313612e+01] [ 1.47956623e-02 -2.48333168e-04 9.99890507e-01 1.24378221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.198040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:77.91, Y:33.05, Z:1.25 [[ 6.62591206e-01 -7.48914169e-01 -1.00229830e-02 7.79061018e+01] [ 7.48835095e-01 6.62666946e-01 -1.08866163e-02 3.30514661e+01] [ 1.47950407e-02 -2.92185201e-04 9.99890505e-01 1.24532148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.228040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.93, Y:33.07, Z:1.25 [[ 6.61191800e-01 -7.50151064e-01 -9.93902522e-03 7.79250627e+01] [ 7.50070985e-01 6.61266465e-01 -1.09626686e-02 3.30720082e+01] [ 1.47960016e-02 -2.06547871e-04 9.99890512e-01 1.24553033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.258040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.95, Y:33.09, Z:1.25 [[ 6.62103721e-01 -7.49346398e-01 -9.93170186e-03 7.79494024e+01] [ 7.49266128e-01 6.62178181e-01 -1.09692992e-02 3.30931313e+01] [ 1.47963611e-02 -1.78673974e-04 9.99890512e-01 1.24735983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.97, Y:33.11, Z:1.25 [[ 6.60771380e-01 -7.50520201e-01 -1.00305290e-02 7.79695138e+01] [ 7.50441413e-01 6.60847421e-01 -1.08798563e-02 3.31149044e+01] [ 1.47942012e-02 -3.38226728e-04 9.99890503e-01 1.24659783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.318040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:77.99, Y:33.14, Z:1.25 [[ 6.59737347e-01 -7.51428952e-01 -1.00579773e-02 7.79852113e+01] [ 7.51350647e-01 6.59813893e-01 -1.08550273e-02 3.31369462e+01] [ 1.47931750e-02 -3.95600842e-04 9.99890497e-01 1.24504379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.00, Y:33.16, Z:1.24 [[ 6.60189927e-01 -7.51031446e-01 -1.00512447e-02 7.80041225e+01] [ 7.50953002e-01 6.60266328e-01 -1.08611137e-02 3.31595822e+01] [ 1.47935363e-02 -3.77614517e-04 9.99890498e-01 1.24486202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.02, Y:33.18, Z:1.24 [[ 6.59668150e-01 -7.51489627e-01 -1.00634432e-02 7.80197217e+01] [ 7.51411404e-01 6.59744782e-01 -1.08501078e-02 3.31829327e+01] [ 1.47930476e-02 -4.04315466e-04 9.99890495e-01 1.24272202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.408040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.04, Y:33.20, Z:1.24 [[ 6.59070827e-01 -7.52013941e-01 -1.00338477e-02 7.80358946e+01] [ 7.51935372e-01 6.59147094e-01 -1.08767907e-02 3.32032636e+01] [ 1.47932798e-02 -3.76229524e-04 9.99890503e-01 1.24176344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.05, Y:33.22, Z:1.24 [[ 6.59489588e-01 -7.51647109e-01 -1.00053703e-02 7.80537775e+01] [ 7.51568108e-01 6.59565399e-01 -1.09024623e-02 3.32229813e+01] [ 1.47940004e-02 -3.29656850e-04 9.99890508e-01 1.24251758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.08, Y:33.25, Z:1.25 [[ 6.62798492e-01 -7.48730966e-01 -1.00050335e-02 7.80800797e+01] [ 7.48651627e-01 6.62873949e-01 -1.09027659e-02 3.32451520e+01] [ 1.47953145e-02 -2.63947850e-04 9.99890509e-01 1.24574547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.09, Y:33.27, Z:1.24 [[ 6.60212270e-01 -7.51010452e-01 -1.01517699e-02 7.80903230e+01] [ 7.50933393e-01 6.60290116e-01 -1.07704125e-02 3.32653694e+01] [ 1.47918057e-02 -5.12544536e-04 9.99890464e-01 1.24429373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.12, Y:33.29, Z:1.25 [[ 6.63687015e-01 -7.47944101e-01 -9.95827671e-03 7.81173548e+01] [ 7.47864045e-01 6.63761695e-01 -1.09445530e-02 3.32884876e+01] [ 1.47958365e-02 -1.83679416e-04 9.99890519e-01 1.24626784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.14, Y:33.31, Z:1.25 [[ 6.63273487e-01 -7.48308282e-01 -1.01487421e-02 7.81357251e+01] [ 7.48230865e-01 6.63350974e-01 -1.07730459e-02 3.33091952e+01] [ 1.47937374e-02 -4.48126332e-04 9.99890466e-01 1.24676822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.15, Y:33.33, Z:1.25 [[ 6.62936794e-01 -7.48606669e-01 -1.01420944e-02 7.81512169e+01] [ 7.48529196e-01 6.63014220e-01 -1.07790270e-02 3.33312124e+01] [ 1.47936043e-02 -4.45840160e-04 9.99890469e-01 1.24748662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.61804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.17, Y:33.35, Z:1.25 [[ 6.64932652e-01 -7.46835324e-01 -1.00779882e-02 7.81724411e+01] [ 7.46756768e-01 6.65008944e-01 -1.08366604e-02 3.33509556e+01] [ 1.47951531e-02 -3.20156559e-04 9.99890494e-01 1.24579398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.18, Y:33.37, Z:1.25 [[ 6.59992644e-01 -7.51203728e-01 -1.01325603e-02 7.81796982e+01] [ 7.51126429e-01 6.60070237e-01 -1.07875243e-02 3.33701005e+01] [ 1.47918300e-02 -4.91147183e-04 9.99890474e-01 1.24929171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.21, Y:33.39, Z:1.25 [[ 6.65863801e-01 -7.46007758e-01 -9.89058468e-03 7.82142758e+01] [ 7.45926584e-01 6.65937251e-01 -1.10049975e-02 3.33927642e+01] [ 1.47963223e-02 -4.98205499e-05 9.99890527e-01 1.24717368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.22, Y:33.41, Z:1.25 [[ 6.59832748e-01 -7.51342413e-01 -1.02627499e-02 7.82179109e+01] [ 7.51266946e-01 6.59912214e-01 -1.06698409e-02 3.34100980e+01] [ 1.47892180e-02 -6.69754286e-04 9.99890409e-01 1.25041814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.24, Y:33.43, Z:1.25 [[ 6.59695633e-01 -7.51467867e-01 -9.88520407e-03 7.82368289e+01] [ 7.51387242e-01 6.59769670e-01 -1.10088540e-02 3.34296853e+01] [ 1.47947578e-02 -1.65123335e-04 9.99890538e-01 1.25050675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.26, Y:33.45, Z:1.25 [[ 6.59153898e-01 -7.51943131e-01 -9.88267046e-03 7.82552646e+01] [ 7.51862525e-01 6.59227956e-01 -1.10111279e-02 3.34502981e+01] [ 1.47946747e-02 -1.72381663e-04 9.99890538e-01 1.25137248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.798040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.29, Y:33.47, Z:1.25 [[ 6.65008853e-01 -7.46770122e-01 -9.87974114e-03 7.82927700e+01] [ 7.46688902e-01 6.65082237e-01 -1.10137556e-02 3.34747975e+01] [ 1.47955840e-02 -5.28480509e-05 9.99890538e-01 1.24977695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.828040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.31, Y:33.50, Z:1.25 [[ 6.64189465e-01 -7.47493157e-01 -1.03118705e-02 7.83110901e+01] [ 7.47417924e-01 6.64269190e-01 -1.06249287e-02 3.34977337e+01] [ 1.47919193e-02 -6.50311133e-04 9.99890382e-01 1.25136697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.31, Y:33.51, Z:1.25 [[ 6.57771688e-01 -7.53147052e-01 -1.02919735e-02 7.83106731e+01] [ 7.53072224e-01 6.57851774e-01 -1.06428104e-02 3.35146715e+01] [ 1.47861943e-02 -7.50059990e-04 9.99890397e-01 1.25389422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.35, Y:33.54, Z:1.25 [[ 6.64394511e-01 -7.47316864e-01 -9.87116321e-03 7.83484795e+01] [ 7.47235614e-01 6.64467834e-01 -1.10197624e-02 3.35416181e+01] [ 1.47943247e-02 -5.46150209e-05 9.99890556e-01 1.25195992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.37, Y:33.56, Z:1.25 [[ 6.62893879e-01 -7.48641988e-01 -1.03382134e-02 7.83659431e+01] [ 7.48567271e-01 6.62974108e-01 -1.06006221e-02 3.35642466e+01] [ 1.47900386e-02 -7.11760674e-04 9.99890368e-01 1.25207827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.38, Y:33.59, Z:1.25 [[ 6.61576607e-01 -7.49807146e-01 -1.02779904e-02 7.83840460e+01] [ 7.49731732e-01 6.61656113e-01 -1.06545136e-02 3.35875865e+01] [ 1.47893256e-02 -6.56958536e-04 9.99890416e-01 1.25029172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.978040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.39, Y:33.60, Z:1.25 [[ 6.61442030e-01 -7.49925585e-01 -1.02984401e-02 7.83937924e+01] [ 7.49850469e-01 6.61521840e-01 -1.06362297e-02 3.36039219e+01] [ 1.47890238e-02 -6.87040781e-04 9.99890400e-01 1.25147794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.008040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.41, Y:33.63, Z:1.25 [[ 6.60012443e-01 -7.51187234e-01 -1.00654811e-02 7.84124761e+01] [ 7.51109063e-01 6.60089067e-01 -1.08443106e-02 3.36262685e+01] [ 1.47902217e-02 -4.02894153e-04 9.99890538e-01 1.25213280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.038040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.42, Y:33.65, Z:1.25 [[ 6.49175945e-01 -7.60571473e-01 -1.00809911e-02 7.84169503e+01] [ 7.60494622e-01 6.49253903e-01 -1.08304664e-02 3.36482066e+01] [ 1.47824666e-02 -6.35661234e-04 9.99890531e-01 1.25335387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.068040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.44, Y:33.67, Z:1.25 [[ 6.52108896e-01 -7.58061447e-01 -9.84030545e-03 7.84422877e+01] [ 7.57981024e-01 6.52183086e-01 -1.10449030e-02 3.36683095e+01] [ 1.47903959e-02 -2.56285285e-04 9.99890583e-01 1.25025602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.46, Y:33.69, Z:1.25 [[ 6.50660626e-01 -7.59303386e-01 -9.95582649e-03 7.84604369e+01] [ 7.59224670e-01 6.50736640e-01 -1.09419373e-02 3.36883081e+01] [ 1.47868711e-02 -4.39221304e-04 9.99890572e-01 1.25074905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.48, Y:33.71, Z:1.25 [[ 6.48504822e-01 -7.61145798e-01 -9.92824247e-03 7.84772085e+01] [ 7.61066921e-01 6.48580664e-01 -1.09665171e-02 3.37077730e+01] [ 1.47863845e-02 -4.44217715e-04 9.99890577e-01 1.25136890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.158040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.50, Y:33.73, Z:1.25 [[ 6.46500174e-01 -7.62849716e-01 -9.89121477e-03 7.84973147e+01] [ 7.62770535e-01 6.46575690e-01 -1.09994818e-02 3.37313106e+01] [ 1.47863706e-02 -4.33560264e-04 9.99890582e-01 1.25169687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.51, Y:33.75, Z:1.25 [[ 6.44865889e-01 -7.64230892e-01 -9.95631864e-03 7.85134420e+01] [ 7.64152763e-01 6.44942508e-01 -1.09415271e-02 3.37522828e+01] [ 1.47831061e-02 -5.52330787e-04 9.99890571e-01 1.25132457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.53, Y:33.77, Z:1.25 [[ 6.44675704e-01 -7.64391925e-01 -9.91067893e-03 7.85340739e+01] [ 7.64313190e-01 6.44751689e-01 -1.09821229e-02 3.37734821e+01] [ 1.47845730e-02 -4.94954821e-04 9.99890580e-01 1.25348776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.56, Y:33.80, Z:1.26 [[ 6.46195941e-01 -7.63106545e-01 -9.96030248e-03 7.85574872e+01] [ 7.63028336e-01 6.46272480e-01 -1.09379990e-02 3.37954219e+01] [ 1.47839280e-02 -5.31902447e-04 9.99890570e-01 1.25716985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.58, Y:33.82, Z:1.26 [[ 6.48443824e-01 -7.61196251e-01 -1.00436896e-02 7.85780184e+01] [ 7.61118958e-01 6.48521324e-01 -1.08638630e-02 3.38152987e+01] [ 1.47830787e-02 -5.99837719e-04 9.99890544e-01 1.25764296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.60, Y:33.84, Z:1.26 [[ 6.47098824e-01 -7.62339934e-01 -1.00467788e-02 7.85978594e+01] [ 7.62262821e-01 6.47176505e-01 -1.08611212e-02 3.38391038e+01] [ 1.47819056e-02 -6.30067235e-04 9.99890543e-01 1.25844639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.62, Y:33.86, Z:1.26 [[ 6.47558752e-01 -7.61948719e-01 -1.00902135e-02 7.86167101e+01] [ 7.61872156e-01 6.47637004e-01 -1.08226258e-02 3.38602655e+01] [ 1.47810815e-02 -6.79166656e-04 9.99890523e-01 1.25928942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.63, Y:33.88, Z:1.26 [[ 6.47468587e-01 -7.62025474e-01 -1.00799719e-02 7.86310284e+01] [ 7.61948780e-01 6.47546702e-01 -1.08316939e-02 3.38791181e+01] [ 1.47812792e-02 -6.67240711e-04 9.99890528e-01 1.25954250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.65, Y:33.90, Z:1.26 [[ 6.47180834e-01 -7.62271073e-01 -9.98894740e-03 7.86525221e+01] [ 7.62193161e-01 6.47257683e-01 -1.09122422e-02 3.39027295e+01] [ 1.47835095e-02 -5.51313358e-04 9.99890566e-01 1.26062612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.428040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.67, Y:33.92, Z:1.26 [[ 6.46857882e-01 -7.62543846e-01 -1.00877603e-02 7.86703768e+01] [ 7.62467320e-01 6.46936169e-01 -1.08248821e-02 3.39247240e+01] [ 1.47805842e-02 -6.89427272e-04 9.99890524e-01 1.25918878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.69, Y:33.95, Z:1.26 [[ 6.43398820e-01 -7.65465329e-01 -1.00393305e-02 7.86880480e+01] [ 7.65388493e-01 6.43476768e-01 -1.08675624e-02 3.39484166e+01] [ 1.47788182e-02 -6.91811211e-04 9.99890548e-01 1.26310936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.70, Y:33.97, Z:1.26 [[ 6.42251910e-01 -7.66427770e-01 -1.00477095e-02 7.87048136e+01] [ 7.66351166e-01 6.42330092e-01 -1.08601930e-02 3.39691045e+01] [ 1.47774997e-02 -7.25094177e-04 9.99890544e-01 1.26395763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.72, Y:33.99, Z:1.26 [[ 6.41766298e-01 -7.66835142e-01 -9.99416082e-03 7.87218807e+01] [ 7.66757854e-01 6.41843770e-01 -1.09072487e-02 3.39897817e+01] [ 1.47787514e-02 -6.63196698e-04 9.99890568e-01 1.26456584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.74, Y:34.01, Z:1.26 [[ 6.40257962e-01 -7.68095047e-01 -9.98700003e-03 7.87361086e+01] [ 7.68017814e-01 6.40335484e-01 -1.09135405e-02 3.40113646e+01] [ 1.47776669e-02 -6.82712725e-04 9.99890571e-01 1.26358475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.578040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.75, Y:34.04, Z:1.26 [[ 6.39085216e-01 -7.69072296e-01 -9.89395873e-03 7.87547114e+01] [ 7.68993915e-01 6.39161534e-01 -1.09951385e-02 3.40354486e+01] [ 1.47798942e-02 -5.81563620e-04 9.99890602e-01 1.26272496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.608040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.77, Y:34.06, Z:1.26 [[ 6.37359648e-01 -7.70502383e-01 -9.93763075e-03 7.87741491e+01] [ 7.70424767e-01 6.37436762e-01 -1.09568546e-02 3.40604697e+01] [ 1.47768937e-02 -6.72739893e-04 9.99890589e-01 1.25586605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.638040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.79, Y:34.08, Z:1.26 [[ 6.39457711e-01 -7.68761098e-01 -1.00104993e-02 7.87886392e+01] [ 7.68684266e-01 6.39535646e-01 -1.08929951e-02 3.40792009e+01] [ 1.47761820e-02 -7.29303619e-04 9.99890560e-01 1.26048092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.82, Y:34.10, Z:1.26 [[ 6.41443249e-01 -7.67106961e-01 -9.87265388e-03 7.88150717e+01] [ 7.67028063e-01 6.41519020e-01 -1.10135506e-02 3.41026289e+01] [ 1.47820665e-02 -5.08034925e-04 9.99890610e-01 1.26234013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.82, Y:34.12, Z:1.26 [[ 6.38059413e-01 -7.69921569e-01 -1.00480717e-02 7.88226949e+01] [ 7.69845395e-01 6.38138017e-01 -1.08599848e-02 3.41228363e+01] [ 1.47733931e-02 -8.06146181e-04 9.99890543e-01 1.26015441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.728040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.85, Y:34.15, Z:1.26 [[ 6.38404797e-01 -7.69638115e-01 -9.82276319e-03 7.88450791e+01] [ 7.69558853e-01 6.38480165e-01 -1.10567374e-02 3.41461675e+01] [ 1.47813260e-02 -5.00520151e-04 9.99890625e-01 1.26143898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.758040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.86, Y:34.17, Z:1.26 [[ 6.37886556e-01 -7.70066627e-01 -9.90616738e-03 7.88612073e+01] [ 7.69988538e-01 6.37963169e-01 -1.09838974e-02 3.41669856e+01] [ 1.47781028e-02 -6.21154834e-04 9.99890605e-01 1.26433088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.788040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.88, Y:34.19, Z:1.26 [[ 6.37826046e-01 -7.70117354e-01 -9.85884302e-03 7.88792606e+01] [ 7.70038633e-01 6.37901990e-01 -1.10251941e-02 3.41901887e+01] [ 1.47796689e-02 -5.59534024e-04 9.99890618e-01 1.26058303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.818040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.90, Y:34.21, Z:1.26 [[ 6.37733267e-01 -7.70193546e-01 -9.90871650e-03 7.88952135e+01] [ 7.70115507e-01 6.37809931e-01 -1.09816827e-02 3.42122291e+01] [ 1.47778990e-02 -6.27471818e-04 9.99890604e-01 1.25845452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.91, Y:34.23, Z:1.26 [[ 6.39431155e-01 -7.68785309e-01 -9.84608669e-03 7.89112864e+01] [ 7.68706261e-01 6.39506752e-01 -1.10362546e-02 3.42320855e+01] [ 1.47811494e-02 -5.11823422e-04 9.99890622e-01 1.26178475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.93, Y:34.26, Z:1.26 [[ 6.40538344e-01 -7.67864251e-01 -9.75306140e-03 7.89325127e+01] [ 7.67783857e-01 6.40612486e-01 -1.11171951e-02 3.42565608e+01] [ 1.47844296e-02 -3.67253385e-04 9.99890637e-01 1.26045024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.908040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.95, Y:34.28, Z:1.26 [[ 6.41013689e-01 -7.67466189e-01 -9.85390609e-03 7.89517223e+01] [ 7.67387089e-01 6.41089235e-01 -1.10294688e-02 3.42800864e+01] [ 1.47819775e-02 -4.91719813e-04 9.99890620e-01 1.26202702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.97, Y:34.30, Z:1.26 [[ 6.44259438e-01 -7.64742979e-01 -9.89703671e-03 7.89713645e+01] [ 7.64664134e-01 6.44335269e-01 -1.09919582e-02 3.43017025e+01] [ 1.47830327e-02 -4.86236153e-04 9.99890607e-01 1.26247382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.968040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.99, Y:34.33, Z:1.26 [[ 6.43033113e-01 -7.65774483e-01 -9.89225017e-03 7.89906102e+01] [ 7.65695696e-01 6.43109001e-01 -1.09961047e-02 3.43263273e+01] [ 1.47823315e-02 -5.03593919e-04 9.99890609e-01 1.26474634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.01, Y:34.35, Z:1.26 [[ 6.42743159e-01 -7.66017056e-01 -9.95495460e-03 7.90077624e+01] [ 7.65939135e-01 6.42819974e-01 -1.09418040e-02 3.43475048e+01] [ 1.47808521e-02 -5.92119647e-04 9.99890582e-01 1.26461112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.03, Y:34.37, Z:1.26 [[ 6.45308473e-01 -7.63858119e-01 -9.88676102e-03 7.90260875e+01] [ 7.63779036e-01 6.45384048e-01 -1.10007073e-02 3.43682579e+01] [ 1.47837374e-02 -4.52451157e-04 9.99890612e-01 1.26473056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.05, Y:34.39, Z:1.26 [[ 6.46474414e-01 -7.62872275e-01 -9.83485516e-03 7.90451911e+01] [ 7.62792393e-01 6.46549118e-01 -1.10454956e-02 3.43886717e+01] [ 1.47850193e-02 -3.61322390e-04 9.99890630e-01 1.26309107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.088040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:79.06, Y:34.41, Z:1.26 [[ 6.45939397e-01 -7.63324904e-01 -9.86845499e-03 7.90626868e+01] [ 7.63245516e-01 6.46014642e-01 -1.10165220e-02 3.44113057e+01] [ 1.47843520e-02 -4.16048454e-04 9.99890619e-01 1.26439968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.11804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.08, Y:34.43, Z:1.27 [[ 6.44940380e-01 -7.64169642e-01 -9.83176336e-03 7.90763671e+01] [ 7.64089871e-01 6.45015200e-01 -1.10481340e-02 3.44322110e+01] [ 1.47842854e-02 -3.86963064e-04 9.99890632e-01 1.26526337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.10, Y:34.46, Z:1.26 [[ 6.41076102e-01 -7.67415427e-01 -9.74643087e-03 7.90976163e+01] [ 7.67334914e-01 6.41150092e-01 -1.11215819e-02 3.44606630e+01] [ 1.47837986e-02 -3.48996287e-04 9.99890653e-01 1.25960282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.11, Y:34.48, Z:1.26 [[ 6.39638286e-01 -7.68611787e-01 -9.93900418e-03 7.91134776e+01] [ 7.68533960e-01 6.39715189e-01 -1.09557399e-02 3.44798421e+01] [ 1.47788428e-02 -6.30751537e-04 9.99890588e-01 1.26291273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.13, Y:34.50, Z:1.26 [[ 6.40163121e-01 -7.68175875e-01 -9.84905567e-03 7.91343936e+01] [ 7.68096803e-01 6.40238684e-01 -1.10330791e-02 3.45000719e+01] [ 1.47810916e-02 -5.02057819e-04 9.99890628e-01 1.26448357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.15, Y:34.52, Z:1.27 [[ 6.39127295e-01 -7.69038059e-01 -9.83693789e-03 7.91509961e+01] [ 7.68958928e-01 6.39202791e-01 -1.10434915e-02 3.45186468e+01] [ 1.47806634e-02 -5.06004369e-04 9.99890632e-01 1.26541615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.17, Y:34.54, Z:1.27 [[ 6.35543167e-01 -7.72003576e-01 -9.76532455e-03 7.91659738e+01] [ 7.71923851e-01 6.35618004e-01 -1.11049872e-02 3.45372001e+01] [ 1.47801059e-02 -4.80388221e-04 9.99890653e-01 1.26547725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.19, Y:34.56, Z:1.26 [[ 6.34140757e-01 -7.73157334e-01 -9.65594551e-03 7.91861112e+01] [ 7.73076310e-01 6.34214164e-01 -1.11988198e-02 3.45595685e+01] [ 1.47823870e-02 -3.63154668e-04 9.99890669e-01 1.26489247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.20, Y:34.58, Z:1.26 [[ 6.29852571e-01 -7.76654263e-01 -9.68991049e-03 7.92005191e+01] [ 7.76574093e-01 6.29926913e-01 -1.11696927e-02 3.45796385e+01] [ 1.47789249e-02 -4.89673773e-04 9.99890666e-01 1.25925441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.358040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.22, Y:34.60, Z:1.26 [[ 6.30451266e-01 -7.76169265e-01 -9.61627807e-03 7.92194704e+01] [ 7.76088074e-01 6.30524485e-01 -1.12327966e-02 3.46028940e+01] [ 1.47818503e-02 -3.81347899e-04 9.99890670e-01 1.26464091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.388040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.24, Y:34.62, Z:1.27 [[ 6.32001236e-01 -7.74907144e-01 -9.66209146e-03 7.92413179e+01] [ 7.74826404e-01 6.32074955e-01 -1.11935394e-02 3.46248852e+01] [ 1.47811197e-02 -4.12112840e-04 9.99890668e-01 1.26626429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.418040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:79.26, Y:34.65, Z:1.26 [[ 6.31083818e-01 -7.75653246e-01 -9.75995027e-03 7.92557283e+01] [ 7.75573881e-01 6.31159038e-01 -1.11096432e-02 3.46456147e+01] [ 1.47773116e-02 -5.58446449e-04 9.99890654e-01 1.26410528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.448040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:79.27, Y:34.67, Z:1.26 [[ 6.30924261e-01 -7.75784458e-01 -9.64630017e-03 7.92734965e+01] [ 7.75703616e-01 6.30997864e-01 -1.12069500e-02 3.46666775e+01] [ 1.47809724e-02 -4.11933306e-04 9.99890671e-01 1.26446425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.478040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.29, Y:34.69, Z:1.26 [[ 6.30863124e-01 -7.75834204e-01 -9.64397790e-03 7.92935114e+01] [ 7.75753337e-01 6.30936700e-01 -1.12089374e-02 3.46908478e+01] [ 1.47810166e-02 -4.10042789e-04 9.99890671e-01 1.26446002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.508040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.31, Y:34.71, Z:1.27 [[ 6.31659405e-01 -7.75185358e-01 -9.69827229e-03 7.93120803e+01] [ 7.75105126e-01 6.31733680e-01 -1.11624953e-02 3.47130617e+01] [ 1.47797281e-02 -4.66285436e-04 9.99890665e-01 1.26908770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.538040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:79.33, Y:34.74, Z:1.27 [[ 6.31922261e-01 -7.74971190e-01 -9.69077855e-03 7.93289012e+01] [ 7.74890834e-01 6.31996401e-01 -1.11688947e-02 3.47358064e+01] [ 1.47801088e-02 -4.51422278e-04 9.99890666e-01 1.26799268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.568040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.35, Y:34.76, Z:1.27 [[ 6.32333417e-01 -7.74636101e-01 -9.66234103e-03 7.93468437e+01] [ 7.74555335e-01 6.32407105e-01 -1.11931620e-02 3.47564935e+01] [ 1.47811605e-02 -4.06207407e-04 9.99890670e-01 1.27029537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.37, Y:34.78, Z:1.27 [[ 6.33037867e-01 -7.74060485e-01 -9.66560808e-03 7.93667524e+01] [ 7.73979695e-01 6.33111529e-01 -1.11903735e-02 3.47793952e+01] [ 1.47814338e-02 -3.97054237e-04 9.99890670e-01 1.26992751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.38, Y:34.80, Z:1.27 [[ 6.34378545e-01 -7.72961298e-01 -9.73108569e-03 7.93838928e+01] [ 7.72881232e-01 6.34453011e-01 -1.11345800e-02 3.48007216e+01] [ 1.47805160e-02 -4.57434832e-04 9.99890658e-01 1.26953501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.658040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.40, Y:34.82, Z:1.27 [[ 6.35192983e-01 -7.72293019e-01 -9.66271733e-03 7.94019211e+01] [ 7.72211987e-01 6.35266377e-01 -1.11927720e-02 3.48230298e+01] [ 1.47824991e-02 -3.52095936e-04 9.99890671e-01 1.26999995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.688040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.42, Y:34.85, Z:1.27 [[ 6.37443451e-01 -7.70436558e-01 -9.66210269e-03 7.94195449e+01] [ 7.70355305e-01 6.37516600e-01 -1.11932947e-02 3.48464357e+01] [ 1.47834743e-02 -3.08159630e-04 9.99890671e-01 1.26975286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.44, Y:34.87, Z:1.27 [[ 6.40867378e-01 -7.67590639e-01 -9.67546539e-03 7.94423979e+01] [ 7.67509232e-01 6.40940359e-01 -1.11819348e-02 3.48693893e+01] [ 1.47845447e-02 -2.59871782e-04 9.99890669e-01 1.27039783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.46, Y:34.89, Z:1.27 [[ 6.39418159e-01 -7.68796648e-01 -9.80467260e-03 7.94552283e+01] [ 7.68717050e-01 6.39493163e-01 -1.10720970e-02 3.48913156e+01] [ 1.47822122e-02 -4.57319109e-04 9.99890633e-01 1.27111652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.47, Y:34.92, Z:1.27 [[ 6.41340292e-01 -7.67195441e-01 -9.68430615e-03 7.94728269e+01] [ 7.67114104e-01 6.41413351e-01 -1.11742412e-02 3.49152607e+01] [ 1.47844701e-02 -2.62476743e-04 9.99890669e-01 1.26990458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.49, Y:34.94, Z:1.27 [[ 6.43210268e-01 -7.65628125e-01 -9.70183705e-03 7.94915747e+01] [ 7.65546835e-01 6.43283384e-01 -1.11593733e-02 3.49366966e+01] [ 1.47849606e-02 -2.49387186e-04 9.99890665e-01 1.27107482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.51, Y:34.96, Z:1.28 [[ 6.44784125e-01 -7.64302830e-01 -9.72704131e-03 7.95125067e+01] [ 7.64221711e-01 6.44857442e-01 -1.11380181e-02 3.49615008e+01] [ 1.47853738e-02 -2.51998882e-04 9.99890659e-01 1.27545839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.53, Y:34.98, Z:1.27 [[ 6.44019375e-01 -7.64946190e-01 -9.81686862e-03 7.95290357e+01] [ 7.64866299e-01 6.44094075e-01 -1.10619650e-02 3.49840208e+01] [ 1.47847949e-02 -3.84472159e-04 9.99890625e-01 1.27432904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.54, Y:35.00, Z:1.27 [[ 6.40316814e-01 -7.68048495e-01 -9.79218875e-03 7.95356099e+01] [ 7.67968646e-01 6.40391544e-01 -1.10828386e-02 3.50038218e+01] [ 1.47829924e-02 -4.23566032e-04 9.99890636e-01 1.27499489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.56, Y:35.03, Z:1.28 [[ 6.43422238e-01 -7.65452062e-01 -9.53751206e-03 7.95618527e+01] [ 7.65368682e-01 6.43492921e-01 -1.12978350e-02 3.50290891e+01] [ 1.47852726e-02 -3.04347273e-05 9.99890691e-01 1.27625773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.58, Y:35.05, Z:1.27 [[ 6.42125911e-01 -7.66537069e-01 -9.75893521e-03 7.95783067e+01] [ 7.66456619e-01 6.42199971e-01 -1.11107145e-02 3.50509319e+01] [ 1.47839625e-02 -3.45322794e-04 9.99890652e-01 1.27431928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.60, Y:35.07, Z:1.28 [[ 6.40673206e-01 -7.67751917e-01 -9.73844610e-03 7.95954399e+01] [ 7.67671345e-01 6.40747121e-01 -1.11279988e-02 3.50739284e+01] [ 1.47834237e-02 -3.46515339e-04 9.99890659e-01 1.27519708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.62, Y:35.10, Z:1.28 [[ 6.39091485e-01 -7.69069343e-01 -9.71700021e-03 7.96151360e+01] [ 7.68988648e-01 6.39165256e-01 -1.11460734e-02 3.50989575e+01] [ 1.47828722e-02 -3.48902270e-04 9.99890667e-01 1.27715957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.63, Y:35.12, Z:1.27 [[ 6.37328648e-01 -7.70528619e-01 -9.89151430e-03 7.96256287e+01] [ 7.70450360e-01 6.37405109e-01 -1.09986213e-02 3.51160650e+01] [ 1.47796542e-02 -6.11184302e-04 9.99890588e-01 1.27433044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.64, Y:35.14, Z:1.28 [[ 6.33768045e-01 -7.73463233e-01 -9.62765637e-03 7.96441097e+01] [ 7.73381906e-01 6.33841080e-01 -1.12210561e-02 3.51383756e+01] [ 1.47814784e-02 -3.34308447e-04 9.99890692e-01 1.27548465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.66, Y:35.16, Z:1.27 [[ 6.28437150e-01 -7.77800149e-01 -9.67862998e-03 7.96553890e+01] [ 7.77719985e-01 6.28511476e-01 -1.11780959e-02 3.51610942e+01] [ 1.47774547e-02 -5.02533247e-04 9.99890681e-01 1.27314081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.66, Y:35.18, Z:1.28 [[ 6.19525775e-01 -7.84918141e-01 -9.55644665e-03 7.96574674e+01] [ 7.84837238e-01 6.19599266e-01 -1.12809424e-02 3.51821522e+01] [ 1.47757837e-02 -5.11420626e-04 9.99890701e-01 1.27961145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.68, Y:35.21, Z:1.27 [[ 6.21392935e-01 -7.83444555e-01 -9.24390795e-03 7.96824396e+01] [ 7.83359508e-01 6.21461684e-01 -1.15436597e-02 3.52057328e+01] [ 1.47885520e-02 -6.81545797e-05 9.99890641e-01 1.27324427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.198040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:79.70, Y:35.23, Z:1.27 [[ 6.17710498e-01 -7.86349056e-01 -9.42884228e-03 7.96981563e+01] [ 7.86266684e-01 6.17782339e-01 -1.13878686e-02 3.52298454e+01] [ 1.47798120e-02 -3.79178568e-04 9.99890701e-01 1.27180361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.228040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.71, Y:35.25, Z:1.27 [[ 6.16747865e-01 -7.87104207e-01 -9.43600071e-03 7.97113282e+01] [ 7.87022015e-01 6.16819910e-01 -1.13818376e-02 3.52519104e+01] [ 1.47790054e-02 -4.06616220e-04 9.99890702e-01 1.27196823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.258040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.72, Y:35.28, Z:1.27 [[ 6.15702774e-01 -7.87923390e-01 -9.31801882e-03 7.97227222e+01] [ 7.87839784e-01 6.15773219e-01 -1.14811700e-02 3.52755303e+01] [ 1.47840688e-02 -2.72117721e-04 9.99890673e-01 1.27220103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.74, Y:35.30, Z:1.27 [[ 6.15696705e-01 -7.87929209e-01 -9.22649782e-03 7.97383398e+01] [ 7.87844446e-01 6.15765814e-01 -1.15581653e-02 3.52986872e+01] [ 1.47883780e-02 -1.52720749e-04 9.99890634e-01 1.27320239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.318040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.77, Y:35.32, Z:1.27 [[ 6.21283967e-01 -7.83531295e-01 -9.21640952e-03 7.97658305e+01] [ 7.83445916e-01 6.21352323e-01 -1.15666374e-02 3.53247159e+01] [ 1.47894598e-02 -3.43920298e-05 9.99890629e-01 1.27154627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.77, Y:35.35, Z:1.27 [[ 6.17492892e-01 -7.86519089e-01 -9.50003497e-03 7.97718094e+01] [ 7.86437650e-01 6.17565782e-01 -1.13281544e-02 3.53468143e+01] [ 1.47767062e-02 -4.76130336e-04 9.99890705e-01 1.27078293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.79, Y:35.37, Z:1.27 [[ 6.18108646e-01 -7.86037935e-01 -9.27717191e-03 7.97869474e+01] [ 7.85953599e-01 6.18178238e-01 -1.15155060e-02 3.53691765e+01] [ 1.47865704e-02 -1.73592804e-04 9.99890658e-01 1.27190235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.408040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.81, Y:35.39, Z:1.27 [[ 6.21321556e-01 -7.83501448e-01 -9.21980588e-03 7.98052908e+01] [ 7.83416110e-01 6.21389958e-01 -1.15637280e-02 3.53924254e+01] [ 1.47892924e-02 -3.81509931e-05 9.99890632e-01 1.26720104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.82, Y:35.42, Z:1.27 [[ 6.20724128e-01 -7.83974144e-01 -9.27891319e-03 7.98211339e+01] [ 7.83889598e-01 6.20793464e-01 -1.15140202e-02 3.54150517e+01] [ 1.47869828e-02 -1.26613405e-04 9.99890659e-01 1.27326511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.468040942 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:79.84, Y:35.44, Z:1.27 [[ 6.22861682e-01 -7.82277170e-01 -9.26032777e-03 7.98419577e+01] [ 7.82192202e-01 6.22930514e-01 -1.15296714e-02 3.54375259e+01] [ 1.47879395e-02 -6.19656402e-05 9.99890651e-01 1.27164060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.86, Y:35.46, Z:1.27 [[ 6.24432558e-01 -7.81022835e-01 -9.34410057e-03 7.98589177e+01] [ 7.80938779e-01 6.24502451e-01 -1.14591088e-02 3.54614054e+01] [ 1.47852394e-02 -1.41729871e-04 9.99890682e-01 1.27214533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.88, Y:35.48, Z:1.27 [[ 6.27296326e-01 -7.78724334e-01 -9.36650137e-03 7.98783902e+01] [ 7.78640303e-01 6.27366240e-01 -1.14402786e-02 3.54823983e+01] [ 1.47850501e-02 -1.16690697e-04 9.99890688e-01 1.27255764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.558040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.89, Y:35.51, Z:1.27 [[ 6.24818575e-01 -7.80713525e-01 -9.38831342e-03 7.98917256e+01] [ 7.80629992e-01 6.24889074e-01 -1.14219193e-02 3.55095633e+01] [ 1.47839014e-02 -1.92171658e-04 9.99890694e-01 1.27009309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.588040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.91, Y:35.53, Z:1.27 [[ 6.26949312e-01 -7.79002875e-01 -9.43826456e-03 7.99102280e+01] [ 7.78919782e-01 6.27020314e-01 -1.13797815e-02 3.55307695e+01] [ 1.47828661e-02 -2.17104777e-04 9.99890704e-01 1.26699428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.61804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.93, Y:35.55, Z:1.27 [[ 6.25727364e-01 -7.79984926e-01 -9.42235189e-03 7.99277890e+01] [ 7.79901742e-01 6.25798264e-01 -1.13932048e-02 3.55544489e+01] [ 1.47830195e-02 -2.19468631e-04 9.99890701e-01 1.27043473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.94, Y:35.58, Z:1.27 [[ 6.26831138e-01 -7.79097709e-01 -9.45960121e-03 7.99426603e+01] [ 7.79014898e-01 6.26902463e-01 -1.13617904e-02 3.55752807e+01] [ 1.47821922e-02 -2.47246269e-04 9.99890707e-01 1.26695819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.96, Y:35.60, Z:1.27 [[ 6.28292054e-01 -7.77920927e-01 -9.38758025e-03 7.99629329e+01] [ 7.77837072e-01 6.28362169e-01 -1.14225009e-02 3.55977030e+01] [ 1.47846028e-02 -1.25341375e-04 9.99890694e-01 1.26591596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.98, Y:35.62, Z:1.27 [[ 6.27606979e-01 -7.78473301e-01 -9.42338269e-03 7.99767416e+01] [ 7.78389960e-01 6.27677692e-01 -1.13923253e-02 3.56197133e+01] [ 1.47834682e-02 -1.85163634e-04 9.99890701e-01 1.26683855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.99, Y:35.64, Z:1.26 [[ 6.30671851e-01 -7.75992961e-01 -9.37772753e-03 7.99948835e+01] [ 7.75908769e-01 6.30741564e-01 -1.14307737e-02 3.56393079e+01] [ 1.47851225e-02 -6.71937947e-05 9.99890692e-01 1.26085174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.01, Y:35.67, Z:1.27 [[ 6.28524534e-01 -7.77733938e-01 -9.31835905e-03 8.00129352e+01] [ 7.77649195e-01 6.28593606e-01 -1.14807624e-02 3.56651635e+01] [ 1.47864395e-02 -3.04735874e-05 9.99890674e-01 1.26774907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.798040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.03, Y:35.69, Z:1.27 [[ 6.27942397e-01 -7.78203039e-01 -9.40087795e-03 8.00293029e+01] [ 7.78119384e-01 6.28012745e-01 -1.14112599e-02 3.56890416e+01] [ 1.47841483e-02 -1.49391447e-04 9.99890697e-01 1.27139553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.828040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.05, Y:35.71, Z:1.27 [[ 6.30600721e-01 -7.76050210e-01 -9.42353945e-03 8.00516063e+01] [ 7.75966599e-01 6.30671115e-01 -1.13921731e-02 3.57112442e+01] [ 1.47840525e-02 -1.28439268e-04 9.99890702e-01 1.27345022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.07, Y:35.73, Z:1.27 [[ 6.33768421e-01 -7.73464438e-01 -9.50537455e-03 8.00713193e+01] [ 7.73381569e-01 6.33839675e-01 -1.13232327e-02 3.57343616e+01] [ 1.47830013e-02 -1.74974180e-04 9.99890710e-01 1.27199564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.09, Y:35.75, Z:1.27 [[ 6.33528663e-01 -7.73659894e-01 -9.58130025e-03 8.00871559e+01] [ 7.73578011e-01 6.33601050e-01 -1.12592618e-02 3.57544269e+01] [ 1.47815612e-02 -2.78818121e-04 9.99890708e-01 1.27463678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.11, Y:35.77, Z:1.27 [[ 6.39050060e-01 -7.69106439e-01 -9.50291196e-03 8.01087051e+01] [ 7.69023055e-01 6.39120709e-01 -1.13252447e-02 3.57733373e+01] [ 1.47838265e-02 -7.05600577e-05 9.99890711e-01 1.26739898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.14, Y:35.80, Z:1.28 [[ 6.40245973e-01 -7.68110971e-01 -9.52002457e-03 8.01360418e+01] [ 7.68027690e-01 6.40316743e-01 -1.13108415e-02 3.57984903e+01] [ 1.47838126e-02 -6.99217437e-05 9.99890711e-01 1.27579980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.978040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.16, Y:35.82, Z:1.28 [[ 6.41050054e-01 -7.67437156e-01 -9.74879597e-03 8.01585912e+01] [ 7.67356695e-01 6.41124080e-01 -1.11182735e-02 3.58199375e+01] [ 1.47827641e-02 -3.53434015e-04 9.99890667e-01 1.27949923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.008040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.18, Y:35.84, Z:1.28 [[ 6.41136377e-01 -7.67364302e-01 -9.80690010e-03 8.01788765e+01] [ 7.67284578e-01 6.41211233e-01 -1.10693842e-02 3.58402604e+01] [ 1.47825447e-02 -4.27698350e-04 9.99890641e-01 1.28064183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.038040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.20, Y:35.86, Z:1.27 [[ 6.40564910e-01 -7.67841462e-01 -9.80229636e-03 8.01957561e+01] [ 7.67761735e-01 6.40639760e-01 -1.10732510e-02 3.58573382e+01] [ 1.47822420e-02 -4.32692038e-04 9.99890643e-01 1.27425524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.068040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.22, Y:35.88, Z:1.28 [[ 6.39430814e-01 -7.68787799e-01 -9.67234234e-03 8.02179653e+01] [ 7.68706523e-01 6.39503901e-01 -1.11822554e-02 3.58819146e+01] [ 1.47822822e-02 -2.84913974e-04 9.99890696e-01 1.28130196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.24, Y:35.91, Z:1.28 [[ 6.41031256e-01 -7.67452223e-01 -9.79868365e-03 8.02443356e+01] [ 7.67372400e-01 6.41106005e-01 -1.10765030e-02 3.59059894e+01] [ 1.47826818e-02 -4.18854741e-04 9.99890642e-01 1.27795929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.128040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:80.26, Y:35.92, Z:1.28 [[ 6.39474517e-01 -7.68747326e-01 -9.99457378e-03 8.02559532e+01] [ 7.68670192e-01 6.39552229e-01 -1.09125085e-02 3.59181394e+01] [ 1.47810137e-02 -7.04259852e-04 9.99890507e-01 1.27754851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.158040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.28, Y:35.95, Z:1.28 [[ 6.40534656e-01 -7.67868392e-01 -9.66886952e-03 8.02829064e+01] [ 7.67786978e-01 6.40607575e-01 -1.11844218e-02 3.59479248e+01] [ 1.47821151e-02 -2.59622315e-04 9.99890705e-01 1.27766580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.30, Y:35.96, Z:1.28 [[ 6.40229561e-01 -7.68118555e-01 -9.99971043e-03 8.03006622e+01] [ 7.68041414e-01 6.40307270e-01 -1.09080712e-02 3.59635838e+01] [ 1.47815792e-02 -6.96522124e-04 9.99890504e-01 1.27671665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.31, Y:35.98, Z:1.28 [[ 6.36941088e-01 -7.70850233e-01 -9.79639431e-03 8.03115764e+01] [ 7.70770793e-01 6.37016227e-01 -1.10774695e-02 3.59821822e+01] [ 1.47795321e-02 -4.95079124e-04 9.99890654e-01 1.28048095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.248040942 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:80.33, Y:36.00, Z:1.28 [[ 6.36309465e-01 -7.71374506e-01 -9.57262054e-03 8.03330754e+01] [ 7.71292299e-01 6.36381430e-01 -1.12634360e-02 3.60031670e+01] [ 1.47801654e-02 -2.16257545e-04 9.99890744e-01 1.27847298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.35, Y:36.02, Z:1.28 [[ 6.35804787e-01 -7.71789802e-01 -9.63191341e-03 8.03515409e+01] [ 7.71708385e-01 6.35877669e-01 -1.12141905e-02 3.60233014e+01] [ 1.47797165e-02 -3.02992365e-04 9.99890728e-01 1.28070172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.37, Y:36.05, Z:1.28 [[ 6.33525874e-01 -7.73661690e-01 -9.62065861e-03 8.03683865e+01] [ 7.73580346e-01 6.33598832e-01 -1.12235388e-02 3.60466044e+01] [ 1.47788601e-02 -3.31950174e-04 9.99890732e-01 1.28378853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.38, Y:36.07, Z:1.28 [[ 6.30226783e-01 -7.76351216e-01 -9.64324132e-03 8.03830080e+01] [ 7.76270470e-01 6.30300412e-01 -1.12048262e-02 3.60664846e+01] [ 1.47770194e-02 -4.24181914e-04 9.99890724e-01 1.28238320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.36804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.40, Y:36.09, Z:1.28 [[ 6.29998175e-01 -7.76538459e-01 -9.50373911e-03 8.04003835e+01] [ 7.76455983e-01 6.30069805e-01 -1.13202159e-02 3.60878916e+01] [ 1.47786021e-02 -2.47519705e-04 9.99890760e-01 1.28274066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.43, Y:36.11, Z:1.28 [[ 6.32707536e-01 -7.74332531e-01 -9.50293438e-03 8.04250489e+01] [ 7.74249794e-01 6.32778866e-01 -1.13208813e-02 3.61085905e+01] [ 1.47793827e-02 -1.94838092e-04 9.99890760e-01 1.28343157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.44, Y:36.13, Z:1.28 [[ 6.30461385e-01 -7.76160841e-01 -9.63280467e-03 8.04439360e+01] [ 7.76079941e-01 6.30534839e-01 -1.12134555e-02 3.61284544e+01] [ 1.47772640e-02 -4.06175830e-04 9.99890728e-01 1.28302384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.45, Y:36.15, Z:1.28 [[ 6.28501460e-01 -7.77749483e-01 -9.57375313e-03 8.04545358e+01] [ 7.77668024e-01 6.28574265e-01 -1.12622401e-02 3.61467468e+01] [ 1.47770163e-02 -3.66867310e-04 9.99890747e-01 1.27841026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.49, Y:36.17, Z:1.28 [[ 6.33825406e-01 -7.73419868e-01 -9.33071434e-03 8.04870677e+01] [ 7.73334922e-01 6.33894081e-01 -1.14626442e-02 3.61691900e+01] [ 1.47801213e-02 4.95478599e-05 9.99890767e-01 1.27997844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.49, Y:36.19, Z:1.28 [[ 6.22418037e-01 -7.82625867e-01 -9.61968045e-03 8.04920948e+01] [ 7.82545565e-01 6.22492135e-01 -1.12240945e-02 3.61870836e+01] [ 1.47724421e-02 -5.41759417e-04 9.99890735e-01 1.27830947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.51, Y:36.21, Z:1.28 [[ 6.24606141e-01 -7.80884833e-01 -9.27604937e-03 8.05139378e+01] [ 7.80800045e-01 6.24675015e-01 -1.15072032e-02 3.62080869e+01] [ 1.47803167e-02 -5.52699760e-05 9.99890764e-01 1.28081392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.578040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.54, Y:36.23, Z:1.27 [[ 6.23872396e-01 -7.81470606e-01 -9.32331510e-03 8.05373300e+01] [ 7.81386463e-01 6.23942044e-01 -1.14682617e-02 3.62291874e+01] [ 1.47793177e-02 -1.30380317e-04 9.99890771e-01 1.27406349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.608040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.56, Y:36.25, Z:1.29 [[ 6.24747270e-01 -7.80770477e-01 -9.39738521e-03 8.05580194e+01] [ 7.80687169e-01 6.24817908e-01 -1.14072422e-02 3.62484244e+01] [ 1.47780925e-02 -2.09774662e-04 9.99890776e-01 1.28501318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.638040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:80.58, Y:36.27, Z:1.28 [[ 6.26213432e-01 -7.79594879e-01 -9.41079826e-03 8.05792781e+01] [ 7.79511604e-01 6.26284109e-01 -1.13961973e-02 3.62699565e+01] [ 1.47782505e-02 -1.99374631e-04 9.99890776e-01 1.28268239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.60, Y:36.29, Z:1.28 [[ 6.24415308e-01 -7.81035240e-01 -9.45920739e-03 8.05985157e+01] [ 7.80952731e-01 6.24486882e-01 -1.13563443e-02 3.62877232e+01] [ 1.47768560e-02 -2.96118602e-04 9.99890772e-01 1.28472878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.62, Y:36.31, Z:1.28 [[ 6.29278012e-01 -7.77123380e-01 -9.40402936e-03 8.06207210e+01] [ 7.77039745e-01 6.29348262e-01 -1.14017415e-02 3.63052987e+01] [ 1.47789694e-02 -1.32439352e-04 9.99890776e-01 1.27719792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.728040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.64, Y:36.33, Z:1.29 [[ 6.26590432e-01 -7.79292174e-01 -9.38814773e-03 8.06427246e+01] [ 7.79208587e-01 6.26660738e-01 -1.14148034e-02 3.63269434e+01] [ 1.47786505e-02 -1.62918729e-04 9.99890777e-01 1.28749156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.758040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.67, Y:36.35, Z:1.28 [[ 6.27188718e-01 -7.78809544e-01 -9.48717412e-03 8.06654523e+01] [ 7.78727126e-01 6.27260406e-01 -1.13334237e-02 3.63487748e+01] [ 1.47775072e-02 -2.79724380e-04 9.99890768e-01 1.28073481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.788040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:80.69, Y:36.37, Z:1.29 [[ 6.27581089e-01 -7.78492486e-01 -9.56166921e-03 8.06904550e+01] [ 7.78410961e-01 6.27653816e-01 -1.12722152e-02 3.63713438e+01] [ 1.47767530e-02 -3.68679033e-04 9.99890750e-01 1.28756078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.818040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.70, Y:36.39, Z:1.29 [[ 6.25398745e-01 -7.80244201e-01 -9.76711145e-03 8.07038295e+01] [ 7.80165490e-01 6.25474644e-01 -1.11030627e-02 3.63864461e+01] [ 1.47721809e-02 -6.76121797e-04 9.99890657e-01 1.29178328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.73, Y:36.41, Z:1.28 [[ 6.28297690e-01 -7.77914607e-01 -9.53293436e-03 8.07261057e+01] [ 7.77832665e-01 6.28369925e-01 -1.12952427e-02 3.64069890e+01] [ 1.47769436e-02 -3.18252812e-04 9.99890764e-01 1.28385378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.74, Y:36.43, Z:1.28 [[ 6.22090606e-01 -7.82886951e-01 -9.55511270e-03 8.07408346e+01] [ 7.82805865e-01 6.22163810e-01 -1.12770532e-02 3.64268869e+01] [ 1.47735031e-02 -4.64449387e-04 9.99890758e-01 1.28389892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.908040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.76, Y:36.44, Z:1.28 [[ 6.28645613e-01 -7.77634168e-01 -9.47594901e-03 8.07639251e+01] [ 7.77551488e-01 6.28716983e-01 -1.13419189e-02 3.64447688e+01] [ 1.47775537e-02 -2.37990726e-04 9.99890778e-01 1.28347202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.77, Y:36.47, Z:1.29 [[ 6.23189501e-01 -7.82013533e-01 -9.46995723e-03 8.07735859e+01] [ 7.81931280e-01 6.23261360e-01 -1.13468255e-02 3.64675060e+01] [ 1.47756295e-02 -3.33633248e-04 9.99890779e-01 1.28609600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.80, Y:36.49, Z:1.29 [[ 6.24682234e-01 -7.80822907e-01 -9.36456019e-03 8.07987468e+01] [ 7.80739217e-01 6.24752399e-01 -1.14330374e-02 3.64911972e+01] [ 1.47777089e-02 -1.69264048e-04 9.99890789e-01 1.28705998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.81, Y:36.51, Z:1.29 [[ 6.23642267e-01 -7.81651619e-01 -9.54303351e-03 8.08129604e+01] [ 7.81570236e-01 6.23715136e-01 -1.12869620e-02 3.65106088e+01] [ 1.47746066e-02 -4.19524367e-04 9.99890762e-01 1.28855239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.83, Y:36.53, Z:1.29 [[ 6.23820463e-01 -7.81510838e-01 -9.42554398e-03 8.08348635e+01] [ 7.81427979e-01 6.23891610e-01 -1.13830245e-02 3.65327068e+01] [ 1.47764748e-02 -2.64420181e-04 9.99890787e-01 1.29084387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.86, Y:36.56, Z:1.29 [[ 6.22790991e-01 -7.82330900e-01 -9.47335256e-03 8.08554204e+01] [ 7.82248726e-01 6.22862942e-01 -1.13440331e-02 3.65568156e+01] [ 1.47753879e-02 -3.45556328e-04 9.99890778e-01 1.29168039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.88, Y:36.58, Z:1.29 [[ 6.27585326e-01 -7.78489415e-01 -9.53358157e-03 8.08814518e+01] [ 7.78407544e-01 6.27657645e-01 -1.12949288e-02 3.65819755e+01] [ 1.47768079e-02 -3.32480243e-04 9.99890762e-01 1.28980969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.11804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.88, Y:36.60, Z:1.29 [[ 6.20828800e-01 -7.83885211e-01 -9.77639288e-03 8.08849666e+01] [ 7.83807044e-01 6.20905289e-01 -1.10968732e-02 3.65960841e+01] [ 1.47688888e-02 -7.73547149e-04 9.99890635e-01 1.28668033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.91, Y:36.62, Z:1.29 [[ 6.22679855e-01 -7.82421241e-01 -9.31665494e-03 8.09068252e+01] [ 7.82337169e-01 6.22749532e-01 -1.14705730e-02 3.66201858e+01] [ 1.47767625e-02 -1.46270706e-04 9.99890807e-01 1.29381704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.92, Y:36.64, Z:1.29 [[ 6.22761180e-01 -7.82355062e-01 -9.43771317e-03 8.09244994e+01] [ 7.82272463e-01 6.22832615e-01 -1.13722030e-02 3.66419371e+01] [ 1.47752162e-02 -3.00696553e-04 9.99890795e-01 1.29477950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.94, Y:36.67, Z:1.30 [[ 6.22576700e-01 -7.82501996e-01 -9.42756610e-03 8.09438432e+01] [ 7.82419289e-01 6.22648008e-01 -1.13804414e-02 3.66655923e+01] [ 1.47752734e-02 -2.91111884e-04 9.99890797e-01 1.29565577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.96, Y:36.69, Z:1.30 [[ 6.23435417e-01 -7.81817567e-01 -9.46428843e-03 8.09604899e+01] [ 7.81735233e-01 6.23507167e-01 -1.13506514e-02 3.66868584e+01] [ 1.47751903e-02 -3.22169639e-04 9.99890789e-01 1.29673901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.98, Y:36.71, Z:1.30 [[ 6.23304791e-01 -7.81922268e-01 -9.41830138e-03 8.09793078e+01] [ 7.81839382e-01 6.23375887e-01 -1.13879232e-02 3.67093923e+01] [ 1.47756127e-02 -2.65451825e-04 9.99890799e-01 1.29667065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.00, Y:36.73, Z:1.30 [[ 6.23107241e-01 -7.82079389e-01 -9.44435991e-03 8.09963318e+01] [ 7.81996840e-01 6.23178737e-01 -1.13668281e-02 3.67318880e+01] [ 1.47752863e-02 -3.02706695e-04 9.99890794e-01 1.29659327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.01, Y:36.75, Z:1.29 [[ 6.21025932e-01 -7.83733439e-01 -9.41742018e-03 8.10108735e+01] [ 7.83650750e-01 6.21097256e-01 -1.13886144e-02 3.67534294e+01] [ 1.47747718e-02 -3.07343523e-04 9.99890800e-01 1.29455932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.358040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:81.02, Y:36.77, Z:1.29 [[ 6.18619926e-01 -7.85634760e-01 -9.34938944e-03 8.10246126e+01] [ 7.85551457e-01 6.18690515e-01 -1.14435778e-02 3.67729230e+01] [ 1.47748511e-02 -2.65201223e-04 9.99890811e-01 1.29177624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.388040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:81.04, Y:36.80, Z:1.29 [[ 6.17124498e-01 -7.86811475e-01 -9.22260799e-03 8.10424557e+01] [ 7.86726767e-01 6.17193394e-01 -1.15459044e-02 3.67960020e+01] [ 1.47765828e-02 -1.30412099e-04 9.99890812e-01 1.29360276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.07, Y:36.82, Z:1.30 [[ 6.15935737e-01 -7.87742297e-01 -9.23262355e-03 8.10651291e+01] [ 7.87657814e-01 6.16004908e-01 -1.15378214e-02 3.68188956e+01] [ 1.47761713e-02 -1.65591588e-04 9.99890813e-01 1.29758081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.08, Y:36.84, Z:1.30 [[ 6.13597595e-01 -7.89563520e-01 -9.35089961e-03 8.10802309e+01] [ 7.89480687e-01 6.13668736e-01 -1.14423349e-02 3.68409468e+01] [ 1.47728050e-02 -3.61365471e-04 9.99890811e-01 1.29827801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.478040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.10, Y:36.86, Z:1.30 [[ 6.12646156e-01 -7.90302817e-01 -9.28147071e-03 8.10967367e+01] [ 7.90219219e-01 6.12716389e-01 -1.14983395e-02 3.68636034e+01] [ 1.47740793e-02 -2.89983033e-04 9.99890815e-01 1.30068696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.508040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.13, Y:36.89, Z:1.30 [[ 6.19987371e-01 -7.84557271e-01 -9.24923486e-03 8.11312872e+01] [ 7.84472634e-01 6.20056349e-01 -1.15243297e-02 3.68910594e+01] [ 1.47765435e-02 -1.10832758e-04 9.99890815e-01 1.30156951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.538040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.13, Y:36.91, Z:1.30 [[ 6.13608619e-01 -7.89550102e-01 -9.75189356e-03 8.11304882e+01] [ 7.89472305e-01 6.13685479e-01 -1.11180788e-02 3.69087231e+01] [ 1.47628757e-02 -8.76700896e-04 9.99890638e-01 1.30066987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.568040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.15, Y:36.93, Z:1.30 [[ 6.14064768e-01 -7.89201142e-01 -9.27459293e-03 8.11477190e+01] [ 7.89117355e-01 6.14134751e-01 -1.15025092e-02 3.69326774e+01] [ 1.47736432e-02 -2.55456594e-04 9.99890831e-01 1.29655554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.17, Y:36.96, Z:1.30 [[ 6.14803703e-01 -7.88625279e-01 -9.30462546e-03 8.11688000e+01] [ 7.88541792e-01 6.14874044e-01 -1.14783225e-02 3.69571398e+01] [ 1.47732680e-02 -2.80170840e-04 9.99890830e-01 1.29826859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.19, Y:36.98, Z:1.30 [[ 6.14388481e-01 -7.88947467e-01 -9.41747715e-03 8.11860463e+01] [ 7.88865399e-01 6.14460500e-01 -1.13875163e-02 3.69797532e+01] [ 1.47708199e-02 -4.32763021e-04 9.99890812e-01 1.29784901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.658040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.19, Y:37.00, Z:1.30 [[ 6.11916809e-01 -7.90866395e-01 -9.38957304e-03 8.11938086e+01] [ 7.90784208e-01 6.11988684e-01 -1.14099507e-02 3.69993481e+01] [ 1.47700590e-02 -4.43185461e-04 9.99890819e-01 1.30443129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.23, Y:37.02, Z:1.30 [[ 6.19536194e-01 -7.84914759e-01 -9.15018979e-03 8.12267671e+01] [ 7.84829007e-01 6.19603762e-01 -1.16020625e-02 3.70235530e+01] [ 1.47761221e-02 6.56325212e-06 9.99890827e-01 1.30414936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.24, Y:37.05, Z:1.30 [[ 6.14399040e-01 -7.88938571e-01 -9.47367146e-03 8.12382120e+01] [ 7.88857197e-01 6.14471868e-01 -1.13422551e-02 3.70482498e+01] [ 1.47696471e-02 -5.04703278e-04 9.99890795e-01 1.29999596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.26, Y:37.07, Z:1.30 [[ 6.18290779e-01 -7.85893631e-01 -9.36555066e-03 8.12632140e+01] [ 7.85810577e-01 6.18361638e-01 -1.14289705e-02 3.70708097e+01] [ 1.47732524e-02 -2.93121697e-04 9.99890827e-01 1.30321854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.27, Y:37.09, Z:1.30 [[ 6.14651023e-01 -7.88741378e-01 -9.54763708e-03 8.12741848e+01] [ 7.88660901e-01 6.14724885e-01 -1.12826986e-02 3.70931105e+01] [ 1.47683014e-02 -5.94925805e-04 9.99890766e-01 1.30137871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.30, Y:37.12, Z:1.30 [[ 6.15262565e-01 -7.88266451e-01 -9.37961981e-03 8.12959218e+01] [ 7.88183849e-01 6.15333947e-01 -1.14172863e-02 3.71165954e+01] [ 1.47714622e-02 -3.68235996e-04 9.99890828e-01 1.30280501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.31, Y:37.13, Z:1.30 [[ 6.15769500e-01 -7.87869179e-01 -9.49106020e-03 8.13078439e+01] [ 7.87787897e-01 6.15842436e-01 -1.13280319e-02 3.71325639e+01] [ 1.47700048e-02 -5.01485842e-04 9.99890792e-01 1.29673620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.33, Y:37.16, Z:1.30 [[ 6.14656482e-01 -7.88740963e-01 -9.22511539e-03 8.13303115e+01] [ 7.88656550e-01 6.14725679e-01 -1.15406187e-02 3.71605806e+01] [ 1.47734741e-02 -1.81931569e-04 9.99890850e-01 1.30174472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.35, Y:37.18, Z:1.30 [[ 6.16123756e-01 -7.87592877e-01 -9.43274935e-03 8.13516382e+01] [ 7.87510846e-01 6.16195816e-01 -1.13747048e-02 3.71846547e+01] [ 1.47710572e-02 -4.20166551e-04 9.99890814e-01 1.30430246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.36, Y:37.20, Z:1.30 [[ 6.14381691e-01 -7.88951290e-01 -9.53937582e-03 8.13600237e+01] [ 7.88870732e-01 6.14455462e-01 -1.12895170e-02 3.71995267e+01] [ 1.47684006e-02 -5.89261861e-04 9.99890768e-01 1.30279652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.38, Y:37.23, Z:1.30 [[ 6.15957876e-01 -7.87725280e-01 -9.20752815e-03 8.13837408e+01] [ 7.87640553e-01 6.16026676e-01 -1.15539729e-02 3.72271324e+01] [ 1.47734395e-02 -1.35461969e-04 9.99890858e-01 1.30259014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.40, Y:37.25, Z:1.31 [[ 6.19154718e-01 -7.85212153e-01 -9.45039403e-03 8.14043362e+01] [ 7.85130065e-01 6.19226716e-01 -1.13602362e-02 3.72478327e+01] [ 1.47721320e-02 -3.86044652e-04 9.99890812e-01 1.30674132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.42, Y:37.27, Z:1.30 [[ 6.17380717e-01 -7.86607071e-01 -9.50610285e-03 8.14178805e+01] [ 7.86525829e-01 6.17453702e-01 -1.13157444e-02 3.72702259e+01] [ 1.47706230e-02 -4.90673026e-04 9.99890788e-01 1.30303571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.44, Y:37.29, Z:1.30 [[ 6.18066837e-01 -7.86068540e-01 -9.46758242e-03 8.14407849e+01] [ 7.85986763e-01 6.18139197e-01 -1.13464863e-02 3.72947854e+01] [ 1.47713997e-02 -4.28507585e-04 9.99890805e-01 1.30348196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.46, Y:37.32, Z:1.31 [[ 6.16000258e-01 -7.87687475e-01 -9.59810903e-03 8.14574989e+01] [ 7.87607496e-01 6.16074703e-01 -1.12424655e-02 3.73157940e+01] [ 1.47687014e-02 -6.34180975e-04 9.99890736e-01 1.30557466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.48, Y:37.34, Z:1.31 [[ 6.15326561e-01 -7.88214809e-01 -9.52041898e-03 8.14762375e+01] [ 7.88133935e-01 6.15399963e-01 -1.13042095e-02 3.73409949e+01] [ 1.47690108e-02 -5.47584927e-04 9.99890782e-01 1.30509431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.49, Y:37.36, Z:1.31 [[ 6.12257195e-01 -7.90600690e-01 -9.57475628e-03 8.14935504e+01] [ 7.90520773e-01 6.12331686e-01 -1.12611584e-02 3.73636770e+01] [ 1.47660063e-02 -6.74318463e-04 9.99890749e-01 1.30571313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.51, Y:37.39, Z:1.31 [[ 6.09776041e-01 -7.92516365e-01 -9.53893500e-03 8.15081281e+01] [ 7.92436238e-01 6.09850273e-01 -1.12894945e-02 3.73852034e+01] [ 1.47644313e-02 -6.74934494e-04 9.99890772e-01 1.30577436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.53, Y:37.41, Z:1.31 [[ 6.07304676e-01 -7.94412747e-01 -9.45611628e-03 8.15266787e+01] [ 7.94331831e-01 6.07377979e-01 -1.13548893e-02 3.74102621e+01] [ 1.47639056e-02 -6.15416788e-04 9.99890818e-01 1.30677833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.228040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.54, Y:37.43, Z:1.31 [[ 6.06052496e-01 -7.95368115e-01 -9.48330519e-03 8.15434318e+01] [ 7.95287649e-01 6.06126314e-01 -1.13334879e-02 3.74339308e+01] [ 1.47623757e-02 -6.73266874e-04 9.99890804e-01 1.30656868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.258040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.56, Y:37.46, Z:1.31 [[ 6.05511883e-01 -7.95780093e-01 -9.45527203e-03 8.15602600e+01] [ 7.95699333e-01 6.05585356e-01 -1.13555183e-02 3.74559480e+01] [ 1.47624697e-02 -6.47652352e-04 9.99890819e-01 1.30696616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.58, Y:37.48, Z:1.31 [[ 6.02515078e-01 -7.98051503e-01 -9.45400975e-03 8.15783742e+01] [ 7.97971004e-01 6.02588836e-01 -1.13565095e-02 3.74812784e+01] [ 1.47599603e-02 -7.01557416e-04 9.99890820e-01 1.30739992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.318040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:81.59, Y:37.50, Z:1.31 [[ 6.02512276e-01 -7.98052578e-01 -9.54148911e-03 8.15939608e+01] [ 7.97973157e-01 6.02587273e-01 -1.12879847e-02 3.75043878e+01] [ 1.47579852e-02 -8.12702812e-04 9.99890765e-01 1.30699363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.61, Y:37.53, Z:1.31 [[ 5.99833180e-01 -8.00068884e-01 -9.48348076e-03 8.16071666e+01] [ 7.99988998e-01 5.99907625e-01 -1.13333602e-02 3.75263271e+01] [ 1.47566813e-02 -7.88554755e-04 9.99890803e-01 1.30643433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.63, Y:37.55, Z:1.31 [[ 6.01972476e-01 -7.98461988e-01 -9.35906224e-03 8.16312046e+01] [ 7.98380385e-01 6.02044936e-01 -1.14304850e-02 3.75536382e+01] [ 1.47613838e-02 -5.91254343e-04 9.99890870e-01 1.30640460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.408040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.64, Y:37.57, Z:1.31 [[ 5.97216984e-01 -8.02022466e-01 -9.58320613e-03 8.16407245e+01] [ 8.01944064e-01 5.97293091e-01 -1.12553248e-02 3.75744352e+01] [ 1.47510061e-02 -9.63324169e-04 9.99890734e-01 1.30605006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.66, Y:37.60, Z:1.30 [[ 5.99279431e-01 -8.00484841e-01 -9.39053184e-03 8.16576030e+01] [ 8.00403872e-01 5.99352613e-01 -1.14055493e-02 3.75966965e+01] [ 1.47582091e-02 -6.81106964e-04 9.99890860e-01 1.30285618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.67, Y:37.62, Z:1.30 [[ 5.98110970e-01 -8.01358323e-01 -9.38651296e-03 8.16734383e+01] [ 8.01277411e-01 5.98184213e-01 -1.14086788e-02 3.76190782e+01] [ 1.47573036e-02 -6.97544875e-04 9.99890862e-01 1.30314671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.69, Y:37.64, Z:1.31 [[ 5.97392557e-01 -8.01894755e-01 -9.32388326e-03 8.16892761e+01] [ 8.01813148e-01 5.97464981e-01 -1.14573844e-02 3.76426038e+01] [ 1.47583102e-02 -6.31456045e-04 9.99890891e-01 1.30604314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.71, Y:37.67, Z:1.30 [[ 5.99331695e-01 -8.00446316e-01 -9.33886778e-03 8.17058578e+01] [ 8.00364716e-01 5.99404135e-01 -1.14457417e-02 3.76666253e+01] [ 1.47594577e-02 -6.14704491e-04 9.99890884e-01 1.30202484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.73, Y:37.69, Z:1.31 [[ 6.00456813e-01 -7.99602583e-01 -9.34474960e-03 8.17250070e+01] [ 7.99520952e-01 6.00529223e-01 -1.14411731e-02 3.76881254e+01] [ 1.47601867e-02 -6.01392781e-04 9.99890882e-01 1.30783183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.74, Y:37.71, Z:1.31 [[ 6.00084753e-01 -7.99881340e-01 -9.38783978e-03 8.17409936e+01] [ 7.99800264e-01 6.00157815e-01 -1.14077027e-02 3.77122742e+01] [ 1.47589939e-02 -6.62808291e-04 9.99890860e-01 1.30913951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.75, Y:37.73, Z:1.31 [[ 6.02348138e-01 -7.98177863e-01 -9.42441128e-03 8.17522617e+01] [ 7.98097023e-01 6.02421491e-01 -1.13793315e-02 3.77284619e+01] [ 1.47601984e-02 -6.67275454e-04 9.99890840e-01 1.30710312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.77, Y:37.75, Z:1.30 [[ 6.05408613e-01 -7.95862125e-01 -9.15904784e-03 8.17697421e+01] [ 7.95777856e-01 6.05477829e-01 -1.15845807e-02 3.77502870e+01] [ 1.47653294e-02 -2.75162502e-04 9.99890949e-01 1.30307705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.79, Y:37.78, Z:1.30 [[ 6.03035134e-01 -7.97662407e-01 -9.12752802e-03 8.17911682e+01] [ 7.97577975e-01 6.03104142e-01 -1.16089364e-02 3.77777984e+01] [ 1.47648621e-02 -2.79318798e-04 9.99890954e-01 1.29771906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.80, Y:37.80, Z:1.30 [[ 6.00784726e-01 -7.99356578e-01 -9.31533961e-03 8.18039923e+01] [ 7.99274567e-01 6.00856680e-01 -1.14637262e-02 3.77980398e+01] [ 1.47607890e-02 -5.58282437e-04 9.99890898e-01 1.30297023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.82, Y:37.83, Z:1.31 [[ 5.94410233e-01 -8.04109586e-01 -9.17868707e-03 8.18195273e+01] [ 8.04026514e-01 5.94480883e-01 -1.15691320e-02 3.78253956e+01] [ 1.47594039e-02 -5.03097316e-04 9.99890947e-01 1.30520146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.84, Y:37.85, Z:1.30 [[ 5.96986187e-01 -8.02198627e-01 -9.21167465e-03 8.18371564e+01] [ 8.02115718e-01 5.97057045e-01 -1.15437894e-02 3.78452686e+01] [ 1.47603072e-02 -4.97346235e-04 9.99890937e-01 1.30358970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.798040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:81.85, Y:37.87, Z:1.31 [[ 5.92825245e-01 -8.05279699e-01 -9.10138369e-03 8.18500506e+01] [ 8.05195854e-01 5.92894947e-01 -1.16283972e-02 3.78695414e+01] [ 1.47602766e-02 -4.34788998e-04 9.99890967e-01 1.30639326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.828040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.87, Y:37.89, Z:1.31 [[ 5.94358700e-01 -8.04148487e-01 -9.10752587e-03 8.18674141e+01] [ 8.04064581e-01 5.94428330e-01 -1.16236836e-02 3.78897974e+01] [ 1.47609390e-02 -4.14401468e-04 9.99890966e-01 1.31021219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.88, Y:37.91, Z:1.31 [[ 5.94127897e-01 -8.04319946e-01 -9.02592722e-03 8.18794816e+01] [ 8.04235107e-01 5.94196369e-01 -1.16862288e-02 3.79068510e+01] [ 1.47626401e-02 -3.15853013e-04 9.99890976e-01 1.30570668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.90, Y:37.94, Z:1.30 [[ 5.92726027e-01 -8.05355868e-01 -8.81943155e-03 8.19001387e+01] [ 8.05268772e-01 5.92791632e-01 -1.18442311e-02 3.79374910e+01] [ 1.47669063e-02 -8.16287488e-05 9.99890960e-01 1.30143584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.92, Y:37.96, Z:1.31 [[ 5.93753003e-01 -8.04596157e-01 -9.07713820e-03 8.19206834e+01] [ 8.04511946e-01 5.93822258e-01 -1.16470809e-02 3.79598688e+01] [ 1.47614033e-02 -3.87176845e-04 9.99890970e-01 1.30806908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.93, Y:37.97, Z:1.30 [[ 5.95596349e-01 -8.03232255e-01 -9.10678529e-03 8.19340705e+01] [ 8.03148231e-01 5.95665839e-01 -1.16244103e-02 3.79732799e+01] [ 1.47617022e-02 -3.90642157e-04 9.99890964e-01 1.30493246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.978040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.96, Y:38.01, Z:1.30 [[ 5.92822482e-01 -8.05285183e-01 -8.79079996e-03 8.19597303e+01] [ 8.05197768e-01 5.92887655e-01 -1.18652083e-02 3.80099854e+01] [ 1.47668332e-02 -4.43702721e-05 9.99890963e-01 1.30085892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.008040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.97, Y:38.02, Z:1.31 [[ 5.98320984e-01 -8.01202360e-01 -9.31549002e-03 8.19725695e+01] [ 8.01120564e-01 5.98393194e-01 -1.14641897e-02 3.80210304e+01] [ 1.47594617e-02 -6.03565366e-04 9.99890891e-01 1.30742427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.038040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.00, Y:38.05, Z:1.31 [[ 5.98176897e-01 -8.01313815e-01 -8.97610667e-03 8.19954767e+01] [ 8.01228079e-01 5.98244213e-01 -1.17229465e-02 3.80498882e+01] [ 1.47636629e-02 -1.79512938e-04 9.99890995e-01 1.30884263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.068040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.02, Y:38.07, Z:1.31 [[ 5.99417060e-01 -8.00383605e-01 -9.23433126e-03 8.20150109e+01] [ 8.00300758e-01 5.99487992e-01 -1.15257827e-02 3.80717585e+01] [ 1.47609183e-02 -4.81491502e-04 9.99890936e-01 1.31045074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.03, Y:38.09, Z:1.31 [[ 6.03535844e-01 -7.97282045e-01 -9.26422348e-03 8.20304941e+01] [ 7.97199183e-01 6.03606779e-01 -1.15029768e-02 3.80883334e+01] [ 1.47630650e-02 -4.42972592e-04 9.99890922e-01 1.31370750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.05, Y:38.12, Z:1.32 [[ 6.01570268e-01 -7.98768724e-01 -9.04094475e-03 8.20516184e+01] [ 7.98683458e-01 6.01638169e-01 -1.16725168e-02 3.81161182e+01] [ 1.47630188e-02 -1.99013966e-04 9.99891001e-01 1.31627054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.158040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.07, Y:38.14, Z:1.32 [[ 6.00444948e-01 -7.99613025e-01 -9.21275395e-03 8.20673242e+01] [ 7.99529837e-01 6.00515462e-01 -1.15420584e-02 3.81381910e+01] [ 1.47615814e-02 -4.35501035e-04 9.99890947e-01 1.31700953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.09, Y:38.16, Z:1.32 [[ 6.00129054e-01 -7.99850928e-01 -9.14397569e-03 8.20869078e+01] [ 7.99766971e-01 6.00198607e-01 -1.15941549e-02 3.81613759e+01] [ 1.47617970e-02 -3.55060521e-04 9.99890976e-01 1.31884140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.10, Y:38.18, Z:1.32 [[ 5.98521232e-01 -8.01054343e-01 -9.18015368e-03 8.21023373e+01] [ 8.00970945e-01 5.98591476e-01 -1.15667738e-02 3.81832460e+01] [ 1.47607761e-02 -4.30076674e-04 9.99890961e-01 1.31824466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.12, Y:38.21, Z:1.32 [[ 5.98841717e-01 -8.00815717e-01 -9.09860052e-03 8.21205046e+01] [ 8.00731351e-01 5.98910747e-01 -1.16283969e-02 3.82056880e+01] [ 1.47614526e-02 -3.21965544e-04 9.99890992e-01 1.32004573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.14, Y:38.23, Z:1.32 [[ 5.97453472e-01 -8.01851662e-01 -9.12472176e-03 8.21381515e+01] [ 8.01767717e-01 5.97523026e-01 -1.16086727e-02 3.82298758e+01] [ 1.47606649e-02 -3.80265522e-04 9.99890983e-01 1.32014715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.15, Y:38.25, Z:1.32 [[ 5.95826871e-01 -8.03060677e-01 -9.15913041e-03 8.21517736e+01] [ 8.02977271e-01 5.95897092e-01 -1.15827065e-02 3.82512455e+01] [ 1.47595153e-02 -4.53285772e-04 9.99890970e-01 1.32052373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.16, Y:38.27, Z:1.32 [[ 5.95152497e-01 -8.03561222e-01 -9.10321155e-03 8.21642905e+01] [ 8.03477228e-01 5.95221981e-01 -1.16249112e-02 3.82700489e+01] [ 1.47597595e-02 -3.95628251e-04 9.99890991e-01 1.32103742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.18, Y:38.30, Z:1.32 [[ 5.95060314e-01 -8.03631168e-01 -8.95370302e-03 8.21842504e+01] [ 8.03545474e-01 5.95127635e-01 -1.17374984e-02 3.82957520e+01] [ 1.47612157e-02 -2.10188036e-04 9.99891025e-01 1.32085605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.398040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:82.20, Y:38.32, Z:1.32 [[ 5.95569466e-01 -8.03252568e-01 -9.07321121e-03 8.22020365e+01] [ 8.03168192e-01 5.95638472e-01 -1.16475794e-02 3.83190921e+01] [ 1.47603017e-02 -3.50371978e-04 9.99890999e-01 1.32041866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.22, Y:38.34, Z:1.32 [[ 5.97650545e-01 -8.01705109e-01 -9.09631909e-03 8.22181237e+01] [ 8.01620819e-01 5.97719668e-01 -1.16302009e-02 3.83415771e+01] [ 1.47610403e-02 -3.41002873e-04 9.99890992e-01 1.32045201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.23, Y:38.37, Z:1.32 [[ 5.97503546e-01 -8.01814425e-01 -9.11807593e-03 8.22348844e+01] [ 8.01730397e-01 5.97572999e-01 -1.16138424e-02 3.83665265e+01] [ 1.47608624e-02 -3.70926594e-04 9.99890984e-01 1.32053958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.25, Y:38.39, Z:1.32 [[ 5.98843560e-01 -8.00813507e-01 -9.17154012e-03 8.22505901e+01] [ 8.00729976e-01 5.98913647e-01 -1.15736644e-02 3.83873483e+01] [ 1.47613073e-02 -4.13112690e-04 9.99890961e-01 1.32068561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.27, Y:38.41, Z:1.32 [[ 5.99770074e-01 -8.00120591e-01 -9.10485132e-03 8.22658084e+01] [ 8.00036217e-01 5.99839097e-01 -1.16236624e-02 3.84105835e+01] [ 1.47617774e-02 -3.12685970e-04 9.99890990e-01 1.32074067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.29, Y:38.43, Z:1.32 [[ 6.01946816e-01 -7.98484859e-01 -9.05323107e-03 8.22851553e+01] [ 7.98399714e-01 6.02014856e-01 -1.16623209e-02 3.84323695e+01] [ 1.47623663e-02 -2.08000182e-04 9.99891009e-01 1.32270004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.578040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.30, Y:38.46, Z:1.32 [[ 6.01760933e-01 -7.98624389e-01 -9.10303619e-03 8.23019896e+01] [ 7.98539823e-01 6.01829719e-01 -1.16250373e-02 3.84552415e+01] [ 1.47625160e-02 -2.73643636e-04 9.99890991e-01 1.32341586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.608040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.32, Y:38.48, Z:1.32 [[ 6.00835493e-01 -7.99320935e-01 -9.09687514e-03 8.23160612e+01] [ 7.99236379e-01 6.00904287e-01 -1.16296449e-02 3.84767092e+01] [ 1.47621699e-02 -2.83050098e-04 9.99890993e-01 1.32342144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.638040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.33, Y:38.50, Z:1.32 [[ 5.98304918e-01 -8.01217389e-01 -9.05094409e-03 8.23293944e+01] [ 8.01132530e-01 5.98373312e-01 -1.16639717e-02 3.84988850e+01] [ 1.47612203e-02 -2.72394123e-04 9.99891010e-01 1.32271180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.35, Y:38.52, Z:1.32 [[ 5.96518078e-01 -8.02549475e-01 -8.97342919e-03 8.23453084e+01] [ 8.02463895e-01 5.96585531e-01 -1.17218265e-02 3.85220999e+01] [ 1.47607638e-02 -2.08571513e-04 9.99891032e-01 1.32276350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.36, Y:38.55, Z:1.32 [[ 5.92825475e-01 -8.05281368e-01 -8.93723704e-03 8.23593578e+01] [ 8.05195691e-01 5.92892794e-01 -1.17488104e-02 3.85453065e+01] [ 1.47599216e-02 -2.31230620e-04 9.99891040e-01 1.32364002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.728040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.38, Y:38.57, Z:1.33 [[ 5.92451159e-01 -8.05557503e-01 -8.87319963e-03 8.23776770e+01] [ 8.05471141e-01 5.92517581e-01 -1.17965054e-02 3.85685054e+01] [ 1.47602902e-02 -1.58252955e-04 9.99891048e-01 1.32542057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.758040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.39, Y:38.59, Z:1.33 [[ 5.91111657e-01 -8.06540578e-01 -8.90534313e-03 8.23937187e+01] [ 8.06454686e-01 5.91178692e-01 -1.17725722e-02 3.85904521e+01] [ 1.47597063e-02 -2.22851028e-04 9.99891045e-01 1.32610347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.788040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.41, Y:38.61, Z:1.33 [[ 5.89119529e-01 -8.07996962e-01 -8.89320135e-03 8.24098084e+01] [ 8.07911099e-01 5.89186600e-01 -1.17816039e-02 3.86139856e+01] [ 1.47592552e-02 -2.44143141e-04 9.99891046e-01 1.32645136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.818040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.43, Y:38.64, Z:1.33 [[ 5.88083577e-01 -8.08751223e-01 -8.89750825e-03 8.24253196e+01] [ 8.08665494e-01 5.88150821e-01 -1.17784016e-02 3.86371229e+01] [ 1.47588735e-02 -2.68423341e-04 9.99891046e-01 1.32626500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.44, Y:38.66, Z:1.32 [[ 5.87622614e-01 -8.09086322e-01 -8.88742383e-03 8.24425655e+01] [ 8.09000519e-01 5.87689759e-01 -1.17858950e-02 3.86620145e+01] [ 1.47588544e-02 -2.64272035e-04 9.99891047e-01 1.32497291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.45, Y:38.68, Z:1.32 [[ 5.87760666e-01 -8.08985345e-01 -8.95043537e-03 8.24490455e+01] [ 8.08900240e-01 5.87828713e-01 -1.17390735e-02 3.86783470e+01] [ 1.47580613e-02 -3.40243650e-04 9.99891036e-01 1.32413385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.908040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.47, Y:38.71, Z:1.32 [[ 5.84866436e-01 -8.11083804e-01 -8.62064787e-03 8.24714303e+01] [ 8.10995270e-01 5.84929964e-01 -1.19836839e-02 3.87070961e+01] [ 1.47622471e-02 1.75498317e-05 9.99891032e-01 1.32264953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.938040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.49, Y:38.73, Z:1.32 [[ 5.83293726e-01 -8.12212728e-01 -8.88332731e-03 8.24883599e+01] [ 8.12127242e-01 5.83361269e-01 -1.17886845e-02 3.87299957e+01] [ 1.47571087e-02 -3.38126395e-04 9.99891051e-01 1.32264758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.50, Y:38.75, Z:1.32 [[ 5.80612549e-01 -8.14131534e-01 -8.88330992e-03 8.25015473e+01] [ 8.14046271e-01 5.80680373e-01 -1.17886974e-02 3.87526478e+01] [ 1.47559140e-02 -3.86759659e-04 9.99891051e-01 1.32235594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.52, Y:38.77, Z:1.33 [[ 5.84693386e-01 -8.11206572e-01 -8.80576808e-03 8.25220045e+01] [ 8.11120100e-01 5.84759652e-01 -1.18461800e-02 3.87745252e+01] [ 1.47589570e-02 -2.16152379e-04 9.99891057e-01 1.32825675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.53, Y:38.80, Z:1.32 [[ 5.82009214e-01 -8.13133689e-01 -8.88132549e-03 8.25331714e+01] [ 8.13048287e-01 5.82076863e-01 -1.17901674e-02 3.87986894e+01] [ 1.47565964e-02 -3.58960399e-04 9.99891051e-01 1.32478662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.55, Y:38.82, Z:1.33 [[ 5.81960607e-01 -8.13169455e-01 -8.79141337e-03 8.25452001e+01] [ 8.13083047e-01 5.82026954e-01 -1.18567573e-02 3.88206545e+01] [ 1.47583924e-02 -2.47983521e-04 9.99891058e-01 1.32539900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.56, Y:38.84, Z:1.32 [[ 5.84289170e-01 -8.11498952e-01 -8.69579881e-03 8.25613109e+01] [ 8.11411296e-01 5.84353869e-01 -1.19274932e-02 3.88417509e+01] [ 1.47605719e-02 -8.67642945e-05 9.99891053e-01 1.32477867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.58, Y:38.86, Z:1.33 [[ 5.86250319e-01 -8.10083665e-01 -8.66133705e-03 8.25759015e+01] [ 8.09995476e-01 5.86314298e-01 -1.19529656e-02 3.88644007e+01] [ 1.47611679e-02 -8.21392136e-06 9.99891048e-01 1.32566477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.59, Y:38.89, Z:1.33 [[ 5.86209145e-01 -8.10114077e-01 -8.60347215e-03 8.25928465e+01] [ 8.10025262e-01 5.86272273e-01 -1.19957223e-02 3.88873121e+01] [ 1.47618807e-02 6.29723284e-05 9.99891036e-01 1.32606409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.61, Y:38.91, Z:1.33 [[ 5.83875990e-01 -8.11797316e-01 -8.59921332e-03 8.26076739e+01] [ 8.11708636e-01 5.83939309e-01 -1.19988680e-02 3.89124051e+01] [ 1.47620675e-02 2.57951951e-05 9.99891034e-01 1.32652240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.208040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.62, Y:38.94, Z:1.33 [[ 5.84459113e-01 -8.11376978e-01 -8.65711661e-03 8.26222452e+01] [ 8.11288883e-01 5.84523224e-01 -1.19561237e-02 3.89362789e+01] [ 1.47612092e-02 -3.55570066e-05 9.99891047e-01 1.32696438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.64, Y:38.96, Z:1.33 [[ 5.83395871e-01 -8.12141834e-01 -8.65443650e-03 8.26365599e+01] [ 8.12053795e-01 5.83460057e-01 -1.19581009e-02 3.89593817e+01] [ 1.47611920e-02 -5.15613012e-05 9.99891046e-01 1.32984252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.66, Y:38.99, Z:1.33 [[ 5.84486496e-01 -8.11357460e-01 -8.63758542e-03 8.26604402e+01] [ 8.11269150e-01 5.84550316e-01 -1.19705280e-02 3.89874147e+01] [ 1.47614805e-02 -1.07945975e-05 9.99891043e-01 1.33016307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.67, Y:39.01, Z:1.33 [[ 5.78459465e-01 -8.15662545e-01 -8.90285802e-03 8.26685618e+01] [ 8.15577666e-01 5.78527797e-01 -1.17753746e-02 3.90106898e+01] [ 1.47552828e-02 -4.49395281e-04 9.99891034e-01 1.33066721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.68, Y:39.03, Z:1.33 [[ 5.78713534e-01 -8.15484080e-01 -8.73845342e-03 8.26841985e+01] [ 8.15397342e-01 5.78779454e-01 -1.18961403e-02 3.90333187e+01] [ 1.47587504e-02 -2.40854283e-04 9.99891055e-01 1.33036052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.358040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.70, Y:39.06, Z:1.33 [[ 5.76793176e-01 -8.16843520e-01 -8.73481781e-03 8.26974720e+01] [ 8.16756896e-01 5.76859247e-01 -1.18988092e-02 3.90566085e+01] [ 1.47582256e-02 -2.71070731e-04 9.99891055e-01 1.33046750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.388040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:82.71, Y:39.08, Z:1.33 [[ 5.76466624e-01 -8.17074048e-01 -8.73105719e-03 8.27137655e+01] [ 8.16987409e-01 5.76532676e-01 -1.19015680e-02 3.90812221e+01] [ 1.47582021e-02 -2.72307043e-04 9.99891055e-01 1.32669791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.74, Y:39.11, Z:1.33 [[ 5.78665157e-01 -8.15518176e-01 -8.76019641e-03 8.27354286e+01] [ 8.15431682e-01 5.78731399e-01 -1.18801998e-02 3.91087525e+01] [ 1.47583196e-02 -2.68683988e-04 9.99891054e-01 1.33030322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.74, Y:39.13, Z:1.33 [[ 5.74258278e-01 -8.18624965e-01 -8.97761623e-03 8.27404620e+01] [ 8.18541289e-01 5.74328117e-01 -1.17205977e-02 3.91273295e+01] [ 1.47508713e-02 -6.17899287e-04 9.99891009e-01 1.32727076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.478040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.77, Y:39.16, Z:1.33 [[ 5.79326316e-01 -8.15049913e-01 -8.64050804e-03 8.27726151e+01] [ 8.14962055e-01 5.79390738e-01 -1.19675064e-02 3.91566198e+01] [ 1.47603454e-02 -1.08594772e-04 9.99891054e-01 1.33026268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.508040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.77, Y:39.18, Z:1.33 [[ 5.70418627e-01 -8.21303313e-01 -9.13552952e-03 8.27736981e+01] [ 8.21221812e-01 5.70491094e-01 -1.16037950e-02 3.91754994e+01] [ 1.47419735e-02 -8.83275284e-04 9.99890941e-01 1.32755538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.538040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.79, Y:39.20, Z:1.33 [[ 5.68950545e-01 -8.22325391e-01 -8.73087397e-03 8.27889996e+01] [ 8.22239381e-01 5.69017385e-01 -1.19002417e-02 3.91993321e+01] [ 1.47538900e-02 -4.08219396e-04 9.99891072e-01 1.32757726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.568040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.80, Y:39.22, Z:1.33 [[ 5.70481873e-01 -8.21263926e-01 -8.71759129e-03 8.28029550e+01] [ 8.21177643e-01 5.70548360e-01 -1.19099680e-02 3.92198367e+01] [ 1.47550345e-02 -3.64270226e-04 9.99891072e-01 1.32873883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.598040942 meters Centerline goodness : 0.996798 Centerline is valid? [True, True] Translation: X:82.82, Y:39.25, Z:1.33 [[ 5.68159982e-01 -8.22872761e-01 -8.64025524e-03 8.28169597e+01] [ 8.22785805e-01 5.68225591e-01 -1.19664447e-02 3.92456627e+01] [ 1.47564755e-02 -3.10224386e-04 9.99891069e-01 1.33089930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.83, Y:39.27, Z:1.33 [[ 5.67182383e-01 -8.23546744e-01 -8.65478160e-03 8.28317906e+01] [ 8.23460028e-01 5.67248306e-01 -1.19558411e-02 3.92700868e+01] [ 1.47556042e-02 -3.45724247e-04 9.99891070e-01 1.33145943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.658040942 meters Centerline goodness : 0.997150 Centerline is valid? [True, True] Translation: X:82.85, Y:39.29, Z:1.33 [[ 5.69984713e-01 -8.21609238e-01 -8.69987552e-03 8.28452513e+01] [ 8.21522797e-01 5.70050996e-01 -1.19229372e-02 3.92898391e+01] [ 1.47553680e-02 -3.51254126e-04 9.99891072e-01 1.33280638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.86, Y:39.31, Z:1.33 [[ 5.73747639e-01 -8.18987264e-01 -8.57375057e-03 8.28601682e+01] [ 8.18899139e-01 5.73811682e-01 -1.20147597e-02 3.93127018e+01] [ 1.47596534e-02 -1.27596934e-04 9.99891062e-01 1.33234594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.88, Y:39.34, Z:1.33 [[ 5.73869982e-01 -8.18901123e-01 -8.61360937e-03 8.28774176e+01] [ 8.18813425e-01 5.73934596e-01 -1.19856197e-02 3.93379650e+01] [ 1.47586859e-02 -1.74751604e-04 9.99891069e-01 1.33238906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.89, Y:39.36, Z:1.33 [[ 5.75616881e-01 -8.17673399e-01 -8.68442213e-03 8.28924053e+01] [ 8.17586340e-01 5.75682342e-01 -1.19338650e-02 3.93614895e+01] [ 1.47574724e-02 -2.30930761e-04 9.99891076e-01 1.33130189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.91, Y:39.38, Z:1.33 [[ 5.77230459e-01 -8.16534853e-01 -8.70811800e-03 8.29083159e+01] [ 8.16447926e-01 5.77296094e-01 -1.19165491e-02 3.93836178e+01] [ 1.47574401e-02 -2.31129797e-04 9.99891076e-01 1.33128189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.808040942 meters Centerline goodness : 0.996646 Centerline is valid? [True, True] Translation: X:82.92, Y:39.41, Z:1.33 [[ 5.77578076e-01 -8.16289521e-01 -8.65932415e-03 8.29238337e+01] [ 8.16202031e-01 5.77642962e-01 -1.19521609e-02 3.94063335e+01] [ 1.47584213e-02 -1.64451873e-04 9.99891075e-01 1.33092367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.94, Y:39.43, Z:1.33 [[ 5.78892217e-01 -8.15358509e-01 -8.61985325e-03 8.29392638e+01] [ 8.15270485e-01 5.78956383e-01 -1.19809455e-02 3.94292863e+01] [ 1.47592849e-02 -9.18358255e-05 9.99891072e-01 1.33439563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.96, Y:39.45, Z:1.33 [[ 5.78120286e-01 -8.15905623e-01 -8.65736266e-03 8.29556197e+01] [ 8.15818069e-01 5.78185084e-01 -1.19535688e-02 3.94526441e+01] [ 1.47585420e-02 -1.52232256e-04 9.99891075e-01 1.33435879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.98, Y:39.48, Z:1.34 [[ 5.81554141e-01 -8.13461172e-01 -8.70076949e-03 8.29821633e+01] [ 8.13373817e-01 5.81619207e-01 -1.19218899e-02 3.94776717e+01] [ 1.47585292e-02 -1.43753637e-04 9.99891077e-01 1.33668944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.99, Y:39.50, Z:1.33 [[ 5.76835562e-01 -8.16811636e-01 -8.91546176e-03 8.29943093e+01] [ 8.16727048e-01 5.76904243e-01 -1.17653473e-02 3.95008523e+01] [ 1.47534403e-02 -4.94828057e-04 9.99891040e-01 1.33305320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.02, Y:39.52, Z:1.34 [[ 5.77803797e-01 -8.16128029e-01 -8.82115670e-03 8.30151298e+01] [ 8.16042306e-01 5.77871016e-01 -1.18340002e-02 3.95248882e+01] [ 1.47555500e-02 -3.60706814e-04 9.99891066e-01 1.33728284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.03, Y:39.55, Z:1.34 [[ 5.76735905e-01 -8.16881895e-01 -8.92556481e-03 8.30302872e+01] [ 8.16797428e-01 5.76804743e-01 -1.17579841e-02 3.95466278e+01] [ 1.47531924e-02 -5.09126775e-04 9.99891036e-01 1.33730253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.05, Y:39.57, Z:1.34 [[ 5.78354970e-01 -8.15736949e-01 -8.87462471e-03 8.30504738e+01] [ 8.15651777e-01 5.78422904e-01 -1.17950211e-02 3.95708999e+01] [ 1.47549207e-02 -4.16894346e-04 9.99891053e-01 1.34141753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.07, Y:39.59, Z:1.34 [[ 5.80140016e-01 -8.14467410e-01 -8.96655389e-03 8.30682725e+01] [ 8.14383117e-01 5.80209091e-01 -1.17281626e-02 3.95932766e+01] [ 1.47546823e-02 -4.98233676e-04 9.99891020e-01 1.33750885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.07, Y:39.61, Z:1.34 [[ 5.74933436e-01 -8.18150455e-01 -9.02094908e-03 8.30706565e+01] [ 8.18067221e-01 5.75003825e-01 -1.16886133e-02 3.96112339e+01] [ 1.47501245e-02 -6.59568118e-04 9.99890993e-01 1.33879708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.09, Y:39.63, Z:1.34 [[ 5.75315393e-01 -8.17885777e-01 -8.66335407e-03 8.30870699e+01] [ 8.17798531e-01 5.75380579e-01 -1.19479051e-02 3.96336539e+01] [ 1.47567473e-02 -2.11064513e-04 9.99891091e-01 1.33841755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.10, Y:39.65, Z:1.34 [[ 5.76603610e-01 -8.16978140e-01 -8.65994374e-03 8.31040720e+01] [ 8.16890754e-01 5.76668609e-01 -1.19503764e-02 3.96546280e+01] [ 1.47571140e-02 -1.83597786e-04 9.99891091e-01 1.33701989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.12, Y:39.68, Z:1.34 [[ 5.77281332e-01 -8.16499418e-01 -8.65814595e-03 8.31214809e+01] [ 8.16411959e-01 5.77346232e-01 -1.19516788e-02 3.96763084e+01] [ 1.47572867e-02 -1.69132842e-04 9.99891091e-01 1.33685898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.14, Y:39.70, Z:1.34 [[ 5.78660439e-01 -8.15522649e-01 -8.65482145e-03 8.31403346e+01] [ 8.15435043e-01 5.78725142e-01 -1.19540857e-02 3.96976376e+01] [ 1.47575904e-02 -1.40088206e-04 9.99891091e-01 1.33706565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.228040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.18, Y:39.72, Z:1.34 [[ 5.87188186e-01 -8.09404217e-01 -8.65146344e-03 8.31752186e+01] [ 8.09315901e-01 5.87251917e-01 -1.19565155e-02 3.97236952e+01] [ 1.47582426e-02 1.89577373e-05 9.99891091e-01 1.33602951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.258040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.18, Y:39.74, Z:1.34 [[ 5.82534539e-01 -8.12755311e-01 -9.07283529e-03 8.31819755e+01] [ 8.12672011e-01 5.82604893e-01 -1.16508254e-02 3.97433799e+01] [ 1.47551485e-02 -5.86231096e-04 9.99890965e-01 1.33558864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.19, Y:39.76, Z:1.34 [[ 5.81750372e-01 -8.13319626e-01 -8.81424713e-03 8.31935628e+01] [ 8.13233513e-01 5.81817073e-01 -1.18383747e-02 3.97600979e+01] [ 1.47566619e-02 -2.81062291e-04 9.99891075e-01 1.33615843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.318040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.21, Y:39.78, Z:1.34 [[ 5.81356922e-01 -8.13603399e-01 -8.58130887e-03 8.32109638e+01] [ 8.13514795e-01 5.81420252e-01 -1.20070488e-02 3.97820949e+01] [ 1.47583225e-02 -6.40794598e-07 9.99891090e-01 1.33804323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.24, Y:39.81, Z:1.33 [[ 5.83182400e-01 -8.12296004e-01 -8.57265182e-03 8.32368053e+01] [ 8.12207165e-01 5.83245403e-01 -1.20133138e-02 3.98050161e+01] [ 1.47583265e-02 4.31839269e-05 9.99891089e-01 1.33476069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.25, Y:39.83, Z:1.33 [[ 5.78527211e-01 -8.15616183e-01 -8.74690202e-03 8.32531790e+01] [ 8.15529588e-01 5.78593274e-01 -1.18875809e-02 3.98285988e+01] [ 1.47566020e-02 -2.56068394e-04 9.99891083e-01 1.33413365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.408040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.27, Y:39.85, Z:1.33 [[ 5.73197173e-01 -8.19370963e-01 -8.73071667e-03 8.32701181e+01] [ 8.19284623e-01 5.73263565e-01 -1.18992497e-02 3.98485443e+01] [ 1.47549014e-02 -3.32325629e-04 9.99891085e-01 1.33300169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.29, Y:39.87, Z:1.34 [[ 5.75433777e-01 -8.17802831e-01 -8.63122987e-03 8.32913421e+01] [ 8.17715229e-01 5.75498480e-01 -1.19709063e-02 3.98725088e+01] [ 1.47571007e-02 -1.69424286e-04 9.99891094e-01 1.34172833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.31, Y:39.89, Z:1.34 [[ 5.72593128e-01 -8.19792997e-01 -8.74936846e-03 8.33055836e+01] [ 8.19706911e-01 5.72659853e-01 -1.18858051e-02 3.98920057e+01] [ 1.47543119e-02 -3.66187458e-04 9.99891082e-01 1.33784837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.33, Y:39.91, Z:1.34 [[ 5.72817541e-01 -8.19637525e-01 -8.62515135e-03 8.33299157e+01] [ 8.19550066e-01 5.72882435e-01 -1.19751834e-02 3.99139758e+01] [ 1.47565074e-02 -2.09148259e-04 9.99891095e-01 1.34284948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.35, Y:39.94, Z:1.34 [[ 5.74033943e-01 -8.18784949e-01 -8.73147332e-03 8.33518109e+01] [ 8.18698550e-01 5.74100257e-01 -1.18986622e-02 3.99362108e+01] [ 1.47551866e-02 -3.18208593e-04 9.99891086e-01 1.34256645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.37, Y:39.96, Z:1.34 [[ 5.73936626e-01 -8.18852393e-01 -8.80386562e-03 8.33680640e+01] [ 8.18766797e-01 5.74003999e-01 -1.18465842e-02 3.99560510e+01] [ 1.47540579e-02 -4.09124288e-04 9.99891069e-01 1.34255361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.39, Y:39.98, Z:1.34 [[ 5.75839904e-01 -8.17515974e-01 -8.71995567e-03 8.33863643e+01] [ 8.17429304e-01 5.75905860e-01 -1.19068865e-02 3.99768918e+01] [ 1.47559435e-02 -2.71486896e-04 9.99891088e-01 1.34360465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.40, Y:40.00, Z:1.34 [[ 5.77073550e-01 -8.16645331e-01 -8.74760626e-03 8.34035920e+01] [ 8.16558863e-01 5.77139777e-01 -1.18870201e-02 3.99978966e+01] [ 1.47560710e-02 -2.83250537e-04 9.99891083e-01 1.34275202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.43, Y:40.02, Z:1.34 [[ 5.79750129e-01 -8.14747524e-01 -8.73269314e-03 8.34251668e+01] [ 8.14660677e-01 5.79815854e-01 -1.18977283e-02 4.00184869e+01] [ 1.47569986e-02 -2.16472191e-04 9.99891086e-01 1.34236899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.44, Y:40.04, Z:1.34 [[ 5.79984991e-01 -8.14580434e-01 -8.72506141e-03 8.34426486e+01] [ 8.14493486e-01 5.80050580e-01 -1.19031988e-02 4.00404447e+01] [ 1.47570898e-02 -2.02828997e-04 9.99891088e-01 1.34132227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.47, Y:40.06, Z:1.34 [[ 5.85008161e-01 -8.10980832e-01 -8.69147002e-03 8.34704158e+01] [ 8.10893122e-01 5.85072718e-01 -1.19272622e-02 4.00603377e+01] [ 1.47579230e-02 -7.03075152e-05 9.99891093e-01 1.33768670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.49, Y:40.08, Z:1.34 [[ 5.84962154e-01 -8.11012057e-01 -8.87253433e-03 8.34891912e+01] [ 8.10926303e-01 5.85029364e-01 -1.17971747e-02 4.00804145e+01] [ 1.47583440e-02 -2.94070760e-04 9.99891046e-01 1.34010183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.768040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.50, Y:40.10, Z:1.34 [[ 5.83963532e-01 -8.11731830e-01 -8.83342690e-03 8.35008301e+01] [ 8.11645734e-01 5.84030279e-01 -1.18252212e-02 4.01003114e+01] [ 1.47578972e-02 -2.64115308e-04 9.99891061e-01 1.34268086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.798040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.52, Y:40.12, Z:1.34 [[ 5.86899520e-01 -8.09613522e-01 -8.65442915e-03 8.35200858e+01] [ 8.09525276e-01 5.86963326e-01 -1.19533500e-02 4.01234061e+01] [ 1.47574263e-02 9.43623967e-06 9.99891103e-01 1.34411990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.828040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.54, Y:40.15, Z:1.34 [[ 5.88639987e-01 -8.08348395e-01 -8.70855618e-03 8.35397764e+01] [ 8.08260583e-01 5.88704401e-01 -1.19146261e-02 4.01467361e+01] [ 1.47579343e-02 -2.53573113e-05 9.99891095e-01 1.34316985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.55, Y:40.17, Z:1.35 [[ 5.85978073e-01 -8.10279541e-01 -8.76145995e-03 8.35506822e+01] [ 8.10192505e-01 5.86043553e-01 -1.18768030e-02 4.01698785e+01] [ 1.47581276e-02 -1.38923058e-04 9.99891083e-01 1.34624068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.57, Y:40.20, Z:1.35 [[ 5.82656075e-01 -8.12673007e-01 -8.63023617e-03 8.35663903e+01] [ 8.12584843e-01 5.82719986e-01 -1.19704003e-02 4.01962532e+01] [ 1.47570323e-02 -3.81726644e-05 9.99891108e-01 1.34647015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.59, Y:40.22, Z:1.35 [[ 5.85247542e-01 -8.10808191e-01 -8.68278736e-03 8.35906979e+01] [ 8.10720378e-01 5.85311946e-01 -1.19329428e-02 4.02224110e+01] [ 1.47574670e-02 -5.55871879e-05 9.99891101e-01 1.34790599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.60, Y:40.24, Z:1.35 [[ 5.83634532e-01 -8.11967774e-01 -8.89201430e-03 8.36048834e+01] [ 8.11882336e-01 5.83702165e-01 -1.17836971e-02 4.02413036e+01] [ 1.47582703e-02 -3.41896822e-04 9.99891032e-01 1.35008996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.978040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.62, Y:40.27, Z:1.35 [[ 5.80091714e-01 -8.14504213e-01 -8.74591187e-03 8.36233745e+01] [ 8.14417490e-01 5.80157596e-01 -1.18876822e-02 4.02677408e+01] [ 1.47565744e-02 -2.26877668e-04 9.99891090e-01 1.35193087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.008040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.63, Y:40.29, Z:1.35 [[ 5.75585040e-01 -8.17693838e-01 -8.86838824e-03 8.36329255e+01] [ 8.17608813e-01 5.75653174e-01 -1.18005118e-02 4.02867830e+01] [ 1.47543216e-02 -4.58674343e-04 9.99891044e-01 1.34972708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.038040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.65, Y:40.31, Z:1.35 [[ 5.75307953e-01 -8.17890907e-01 -8.67313347e-03 8.36492364e+01] [ 8.17803789e-01 5.75373282e-01 -1.19394282e-02 4.03102759e+01] [ 1.47554390e-02 -2.24073419e-04 9.99891107e-01 1.35007089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.068040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.67, Y:40.33, Z:1.35 [[ 5.73730111e-01 -8.18998495e-01 -8.67321665e-03 8.36654645e+01] [ 8.18911503e-01 5.73795609e-01 -1.19393690e-02 4.03320005e+01] [ 1.47549789e-02 -2.52621365e-04 9.99891107e-01 1.34831741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.68, Y:40.35, Z:1.35 [[ 5.70021048e-01 -8.21584363e-01 -8.66826915e-03 8.36778729e+01] [ 8.21497615e-01 5.70086867e-01 -1.19428844e-02 4.03529587e+01] [ 1.47537535e-02 -3.13266963e-04 9.99891108e-01 1.34599015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.70, Y:40.38, Z:1.35 [[ 5.72845056e-01 -8.19619242e-01 -8.53465195e-03 8.37029509e+01] [ 8.19530845e-01 5.72908621e-01 -1.20377105e-02 4.03804014e+01] [ 1.47559148e-02 -9.86675948e-05 9.99891121e-01 1.34881638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.158040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.71, Y:40.40, Z:1.35 [[ 5.68913846e-01 -8.22350278e-01 -8.77819802e-03 8.37113086e+01] [ 8.22264812e-01 5.68981372e-01 -1.18649368e-02 4.04033456e+01] [ 1.47517653e-02 -4.67876495e-04 9.99891077e-01 1.34880664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.73, Y:40.43, Z:1.35 [[ 5.68336510e-01 -8.22751410e-01 -8.58652833e-03 8.37266813e+01] [ 8.22663921e-01 5.68401317e-01 -1.20006419e-02 4.04276964e+01] [ 1.47541391e-02 -2.43424108e-04 9.99891122e-01 1.34859368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.74, Y:40.45, Z:1.35 [[ 5.68658732e-01 -8.22528672e-01 -8.59244441e-03 8.37420726e+01] [ 8.22441221e-01 5.68723592e-01 -1.19964546e-02 4.04503186e+01] [ 1.47541537e-02 -2.44891795e-04 9.99891122e-01 1.34907992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.76, Y:40.47, Z:1.35 [[ 5.69268467e-01 -8.22106697e-01 -8.60185686e-03 8.37573285e+01] [ 8.22019298e-01 5.69333399e-01 -1.19897914e-02 4.04729985e+01] [ 1.47542122e-02 -2.45482168e-04 9.99891121e-01 1.34955815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.77, Y:40.50, Z:1.35 [[ 5.68681279e-01 -8.22513325e-01 -8.56933476e-03 8.37743668e+01] [ 8.22425625e-01 5.68745799e-01 -1.20127899e-02 4.04981091e+01] [ 1.47544529e-02 -2.16191761e-04 9.99891124e-01 1.35047540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.79, Y:40.52, Z:1.35 [[ 5.67184202e-01 -8.23545934e-01 -8.61256896e-03 8.37875166e+01] [ 8.23458814e-01 5.67249511e-01 -1.19822301e-02 4.05207638e+01] [ 1.47533924e-02 -2.95964218e-04 9.99891119e-01 1.34895990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.80, Y:40.54, Z:1.35 [[ 5.66022556e-01 -8.24345575e-01 -8.53455590e-03 8.38020076e+01] [ 8.24257714e-01 5.66086852e-01 -1.20373290e-02 4.05447799e+01] [ 1.47542187e-02 -2.21273828e-04 9.99891126e-01 1.34989024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.82, Y:40.57, Z:1.35 [[ 5.66220497e-01 -8.24209880e-01 -8.51010504e-03 8.38176582e+01] [ 8.24121744e-01 5.66284415e-01 -1.20545866e-02 4.05685203e+01] [ 1.47546492e-02 -1.87808602e-04 9.99891127e-01 1.34994568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.84, Y:40.59, Z:1.35 [[ 5.65683972e-01 -8.24578372e-01 -8.49422259e-03 8.38355964e+01] [ 8.24490109e-01 5.65747714e-01 -1.20657929e-02 4.05931074e+01] [ 1.47547789e-02 -1.77976875e-04 9.99891126e-01 1.35105306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.85, Y:40.62, Z:1.35 [[ 5.64708982e-01 -8.25246023e-01 -8.53034509e-03 8.38514316e+01] [ 8.25158219e-01 5.64773356e-01 -1.20403136e-02 4.06159924e+01] [ 1.47539326e-02 -2.39611112e-04 9.99891126e-01 1.35173465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.87, Y:40.64, Z:1.35 [[ 5.64171810e-01 -8.25613170e-01 -8.54763578e-03 8.38658225e+01] [ 8.25525593e-01 5.64236493e-01 -1.20281219e-02 4.06386462e+01] [ 1.47534639e-02 -2.70364813e-04 9.99891125e-01 1.35119757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.89, Y:40.66, Z:1.36 [[ 5.65811350e-01 -8.24490717e-01 -8.51901053e-03 8.38860685e+01] [ 8.24402707e-01 5.65875441e-01 -1.20482968e-02 4.06605529e+01] [ 1.47544077e-02 -2.06032260e-04 9.99891127e-01 1.35590909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.90, Y:40.68, Z:1.36 [[ 5.66270736e-01 -8.24174683e-01 -8.57589291e-03 8.39019129e+01] [ 8.24087242e-01 5.66335608e-01 -1.20082179e-02 4.06825507e+01] [ 1.47537027e-02 -2.67381533e-04 9.99891122e-01 1.35614028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.93, Y:40.71, Z:1.36 [[ 5.69852001e-01 -8.21702798e-01 -8.55616815e-03 8.39277022e+01] [ 8.21614867e-01 5.69916203e-01 -1.20221092e-02 4.07081258e+01] [ 1.47548997e-02 -1.79051966e-04 9.99891125e-01 1.36115228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.578040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.94, Y:40.73, Z:1.36 [[ 5.68543843e-01 -8.22606200e-01 -8.77147499e-03 8.39380991e+01] [ 8.22520681e-01 5.68611311e-01 -1.18703934e-02 4.07296006e+01] [ 1.47522191e-02 -4.65880500e-04 9.99891072e-01 1.36097595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.608040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.95, Y:40.75, Z:1.36 [[ 5.69621770e-01 -8.21861680e-01 -8.62662623e-03 8.39504702e+01] [ 8.21774517e-01 5.69687025e-01 -1.19722864e-02 4.07493065e+01] [ 1.47540405e-02 -2.69466616e-04 9.99891117e-01 1.35800130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.638040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.97, Y:40.77, Z:1.36 [[ 5.70223010e-01 -8.21446015e-01 -8.49487244e-03 8.39691857e+01] [ 8.21357416e-01 5.70286274e-01 -1.20648589e-02 4.07741215e+01] [ 1.47551394e-02 -9.76663053e-05 9.99891132e-01 1.36021951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.98, Y:40.79, Z:1.36 [[ 5.70190124e-01 -8.21468012e-01 -8.57483629e-03 8.39832686e+01] [ 8.21380256e-01 5.70254563e-01 -1.20086719e-02 4.07949610e+01] [ 1.47545794e-02 -1.95975097e-04 9.99891126e-01 1.36069009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.698040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.99, Y:40.82, Z:1.36 [[ 5.65175682e-01 -8.24927024e-01 -8.47667355e-03 8.39938421e+01] [ 8.24838623e-01 5.65239222e-01 -1.20775678e-02 4.08180322e+01] [ 1.47544604e-02 -1.65940101e-04 9.99891133e-01 1.35585996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.728040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.02, Y:40.84, Z:1.36 [[ 5.68892644e-01 -8.22368822e-01 -8.40719172e-03 8.40165372e+01] [ 8.22279412e-01 5.68954762e-01 -1.21263007e-02 4.08440989e+01] [ 1.47556034e-02 -1.44973786e-05 9.99891130e-01 1.36451833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.758040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.03, Y:40.87, Z:1.36 [[ 5.66396191e-01 -8.24088507e-01 -8.57248975e-03 8.40315192e+01] [ 8.24001024e-01 5.66461000e-01 -1.20103166e-02 4.08687181e+01] [ 1.47535450e-02 -2.61142745e-04 9.99891126e-01 1.36461319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.788040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.05, Y:40.89, Z:1.36 [[ 5.66117646e-01 -8.24279747e-01 -8.58544321e-03 8.40451528e+01] [ 8.24192423e-01 5.66182674e-01 -1.20012327e-02 4.08882278e+01] [ 1.47533022e-02 -2.81947656e-04 9.99891124e-01 1.35530969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.818040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.06, Y:40.91, Z:1.36 [[ 5.66640872e-01 -8.23921394e-01 -8.46515290e-03 8.40581864e+01] [ 8.23832762e-01 5.66704086e-01 -1.20854924e-02 4.09101965e+01] [ 1.47547325e-02 -1.25736315e-04 9.99891135e-01 1.36446075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.08, Y:40.94, Z:1.37 [[ 5.65274456e-01 -8.24859881e-01 -8.42411065e-03 8.40753061e+01] [ 8.24770925e-01 5.65337215e-01 -1.21142582e-02 4.09352757e+01] [ 1.47550288e-02 -1.00080832e-04 9.99891134e-01 1.36695761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.09, Y:40.95, Z:1.36 [[ 5.68505440e-01 -8.22635561e-01 -8.50278440e-03 8.40905973e+01] [ 8.22547180e-01 5.68569005e-01 -1.20591249e-02 4.09513483e+01] [ 1.47546847e-02 -1.38263212e-04 9.99891134e-01 1.36085956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.908040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.11, Y:40.98, Z:1.36 [[ 5.60714989e-01 -8.27967750e-01 -8.25259222e-03 8.41075744e+01] [ 8.27877369e-01 5.60775716e-01 -1.22335275e-02 4.09845274e+01] [ 1.47568196e-02 2.73879188e-05 9.99891112e-01 1.36166838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.938040942 meters Centerline goodness : 0.996470 Centerline is valid? [True, True] Translation: X:84.11, Y:41.00, Z:1.37 [[ 5.64404729e-01 -8.25454512e-01 -8.49409634e-03 8.41126497e+01] [ 8.25366363e-01 5.64468606e-01 -1.20647706e-02 4.09976027e+01] [ 1.47535700e-02 -2.01327846e-04 9.99891140e-01 1.37227858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.14, Y:41.03, Z:1.36 [[ 5.62959560e-01 -8.26445076e-01 -8.06660779e-03 8.41377817e+01] [ 8.26352661e-01 5.63017273e-01 -1.23624146e-02 4.10299848e+01] [ 1.47584962e-02 2.93676669e-04 9.99891044e-01 1.36119231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.16, Y:41.05, Z:1.37 [[ 5.68526428e-01 -8.22620984e-01 -8.50980723e-03 8.41613563e+01] [ 8.22532665e-01 5.68590094e-01 -1.20549034e-02 4.10534600e+01] [ 1.47552086e-02 -1.46063256e-04 9.99891125e-01 1.37253143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.028040942 meters Centerline goodness : 0.995963 Centerline is valid? [True, True] Translation: X:84.16, Y:41.08, Z:1.38 [[ 5.63849569e-01 -8.25832387e-01 -8.63319129e-03 8.41624408e+01] [ 8.25745740e-01 5.63915529e-01 -1.19686506e-02 4.10756573e+01] [ 1.47524900e-02 -3.80302429e-04 9.99891104e-01 1.37667438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.18, Y:41.09, Z:1.37 [[ 5.65593173e-01 -8.24642519e-01 -8.31133030e-03 8.41787797e+01] [ 8.24552373e-01 5.65654235e-01 -1.21930508e-02 4.10939973e+01] [ 1.47562473e-02 4.31791543e-05 9.99891120e-01 1.36599909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.088040942 meters Centerline goodness : 0.997882 Centerline is valid? [True, True] Translation: X:84.19, Y:41.12, Z:1.38 [[ 5.67250931e-01 -8.23503817e-01 -8.23681893e-03 8.41926529e+01] [ 8.23412790e-01 5.67310706e-01 -1.22450256e-02 4.11225818e+01] [ 1.47566609e-02 1.63700098e-04 9.99891101e-01 1.37796796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.118040942 meters Centerline goodness : 0.997676 Centerline is valid? [True, True] Translation: X:84.21, Y:41.15, Z:1.38 [[ 5.67637257e-01 -8.23236124e-01 -8.38029178e-03 8.42075758e+01] [ 8.23146536e-01 5.67699115e-01 -1.21447477e-02 4.11459260e+01] [ 1.47554792e-02 -4.39688279e-06 9.99891132e-01 1.38065825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.148040942 meters Centerline goodness : 0.997348 Centerline is valid? [True, True] Translation: X:84.22, Y:41.17, Z:1.38 [[ 5.68106405e-01 -8.22912508e-01 -8.37360056e-03 8.42234912e+01] [ 8.22822816e-01 5.68168113e-01 -1.21494234e-02 4.11702640e+01] [ 1.47555253e-02 1.21756654e-05 9.99891131e-01 1.38174300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.24, Y:41.19, Z:1.38 [[ 5.69633930e-01 -8.21855808e-01 -8.37954318e-03 8.42405309e+01] [ 8.21766063e-01 5.69695559e-01 -1.21452723e-02 4.11938047e+01] [ 1.47554511e-02 3.23349586e-05 9.99891132e-01 1.38249051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.208040942 meters Centerline goodness : 0.996799 Centerline is valid? [True, True] Translation: X:84.25, Y:41.22, Z:1.37 [[ 5.67196257e-01 -8.23539190e-01 -8.46222669e-03 8.42504627e+01] [ 8.23450485e-01 5.67259368e-01 -1.20875115e-02 4.12159736e+01] [ 1.47548168e-02 -1.12233377e-04 9.99891135e-01 1.37411410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.27, Y:41.24, Z:1.38 [[ 5.71385949e-01 -8.20639577e-01 -8.29348557e-03 8.42708453e+01] [ 8.20548830e-01 5.71446109e-01 -1.22050115e-02 4.12373403e+01] [ 1.47551955e-02 1.68562190e-04 9.99891122e-01 1.38254937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.268040942 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:84.28, Y:41.26, Z:1.39 [[ 5.70337193e-01 -8.21368240e-01 -8.34867840e-03 8.42845229e+01] [ 8.21278130e-01 5.70398289e-01 -1.21665457e-02 4.12643133e+01] [ 1.47552861e-02 8.24465199e-05 9.99891131e-01 1.38507448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.298040942 meters Centerline goodness : 0.997012 Centerline is valid? [True, True] Translation: X:84.30, Y:41.29, Z:1.38 [[ 5.68330480e-01 -8.22757241e-01 -8.42541935e-03 8.42959712e+01] [ 8.22668071e-01 5.68392927e-01 -1.21130648e-02 4.12866522e+01] [ 1.47550605e-02 -4.70995649e-05 9.99891137e-01 1.38497052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.328040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.31, Y:41.31, Z:1.38 [[ 5.67061244e-01 -8.23633395e-01 -8.34127237e-03 8.43122621e+01] [ 8.23543454e-01 5.67122588e-01 -1.21716431e-02 4.13120218e+01] [ 1.47554957e-02 3.26667817e-05 9.99891131e-01 1.38198621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.358040942 meters Centerline goodness : 0.998136 Centerline is valid? [True, True] Translation: X:84.32, Y:41.34, Z:1.38 [[ 5.62439498e-01 -8.26795476e-01 -8.42930301e-03 8.43248581e+01] [ 8.26706793e-01 5.62502637e-01 -1.21103703e-02 4.13365778e+01] [ 1.47543045e-02 -1.57211476e-04 9.99891137e-01 1.38012853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.388040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.34, Y:41.36, Z:1.38 [[ 5.62346913e-01 -8.26858490e-01 -8.42537420e-03 8.43401202e+01] [ 8.26769774e-01 5.62410005e-01 -1.21131030e-02 4.13552682e+01] [ 1.47543368e-02 -1.54078633e-04 9.99891137e-01 1.37751610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.418040942 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:84.35, Y:41.38, Z:1.38 [[ 5.56596115e-01 -8.30741361e-01 -8.33997553e-03 8.43499100e+01] [ 8.30652192e-01 5.56658573e-01 -1.21724855e-02 4.13790229e+01] [ 1.47547061e-02 -1.52460803e-04 9.99891132e-01 1.38028815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.38, Y:41.40, Z:1.39 [[ 5.62674120e-01 -8.26637371e-01 -8.27597162e-03 8.43770979e+01] [ 8.26547087e-01 5.62734978e-01 -1.22170749e-02 4.14036479e+01] [ 1.47562694e-02 3.37516526e-05 9.99891120e-01 1.38613598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.478040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.39, Y:41.43, Z:1.39 [[ 5.57866464e-01 -8.29886527e-01 -8.56509414e-03 8.43874730e+01] [ 8.29799634e-01 5.57932065e-01 -1.20157043e-02 4.14268427e+01] [ 1.47504118e-02 -4.04153508e-04 9.99891125e-01 1.38745183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.508040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.40, Y:41.45, Z:1.38 [[ 5.53097456e-01 -8.33073992e-01 -8.42182762e-03 8.44006631e+01] [ 8.32985951e-01 5.53161482e-01 -1.21153377e-02 4.14508738e+01] [ 1.47516034e-02 -3.14301612e-04 9.99891140e-01 1.37759778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.538040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.41, Y:41.47, Z:1.38 [[ 5.53959413e-01 -8.32501125e-01 -8.41698662e-03 8.44141690e+01] [ 8.32412966e-01 5.54023277e-01 -1.21187025e-02 4.14690058e+01] [ 1.47520399e-02 -2.93139491e-04 9.99891140e-01 1.38343951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.568040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:84.43, Y:41.50, Z:1.38 [[ 5.51009983e-01 -8.34458049e-01 -8.23177930e-03 8.44309825e+01] [ 8.34368178e-01 5.51071456e-01 -1.22472399e-02 4.14951701e+01] [ 1.47561065e-02 -1.19983243e-04 9.99891116e-01 1.38322103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.45, Y:41.52, Z:1.38 [[ 5.49740196e-01 -8.35294008e-01 -8.34484993e-03 8.44487830e+01] [ 8.35205412e-01 5.49803457e-01 -1.21687125e-02 4.15204423e+01] [ 1.47524800e-02 -2.80033402e-04 9.99891137e-01 1.38395465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.46, Y:41.54, Z:1.38 [[ 5.48083323e-01 -8.36381537e-01 -8.40217325e-03 8.44615709e+01] [ 8.36293674e-01 5.48147591e-01 -1.21289062e-02 4.15429612e+01] [ 1.47500242e-02 -3.79033148e-04 9.99891141e-01 1.38337247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.658040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:84.48, Y:41.57, Z:1.38 [[ 5.46098376e-01 -8.37679438e-01 -8.35001170e-03 8.44762512e+01] [ 8.37591173e-01 5.46162097e-01 -1.21651387e-02 4.15683016e+01] [ 1.47509465e-02 -3.50533597e-04 9.99891137e-01 1.38377281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.49, Y:41.59, Z:1.38 [[ 5.43746646e-01 -8.39207591e-01 -8.37880261e-03 8.44864759e+01] [ 8.39119812e-01 5.43811031e-01 -1.21451420e-02 4.15915308e+01] [ 1.47487806e-02 -4.26939042e-04 9.99891140e-01 1.38242574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.51, Y:41.62, Z:1.38 [[ 5.44844690e-01 -8.38495908e-01 -8.29915751e-03 8.45066641e+01] [ 8.38407200e-01 5.44907805e-01 -1.22004306e-02 4.16180442e+01] [ 1.47522868e-02 -3.10733580e-04 9.99891131e-01 1.38462159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.52, Y:41.64, Z:1.38 [[ 5.46925080e-01 -8.37138777e-01 -8.46318149e-03 8.45184398e+01] [ 8.37051655e-01 5.46990351e-01 -1.20864967e-02 4.16362560e+01] [ 1.47473537e-02 -4.73711878e-04 9.99891140e-01 1.37785000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.54, Y:41.67, Z:1.39 [[ 5.46858761e-01 -8.37184264e-01 -8.24645921e-03 8.45446386e+01] [ 8.37094856e-01 5.46920894e-01 -1.22367348e-02 4.16655756e+01] [ 1.47545627e-02 -2.11302941e-04 9.99891123e-01 1.38935167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.56, Y:41.69, Z:1.39 [[ 5.45303647e-01 -8.38194502e-01 -8.59709425e-03 8.45616388e+01] [ 8.38108959e-01 5.45371006e-01 -1.19932570e-02 4.16910465e+01] [ 1.47412881e-02 -6.65334913e-04 9.99891120e-01 1.38939642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.57, Y:41.72, Z:1.39 [[ 5.45090941e-01 -8.38332077e-01 -8.67150636e-03 8.45728836e+01] [ 8.38247366e-01 5.45159382e-01 -1.19416000e-02 4.17170037e+01] [ 1.47383794e-02 -7.59609398e-04 9.99891096e-01 1.38658697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.59, Y:41.74, Z:1.39 [[ 5.43913646e-01 -8.39096217e-01 -8.68821171e-03 8.45874255e+01] [ 8.39011786e-01 5.43982443e-01 -1.19300098e-02 4.17421452e+01] [ 1.47366607e-02 -8.00616881e-04 9.99891089e-01 1.38532456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.61, Y:41.77, Z:1.38 [[ 5.45892378e-01 -8.37810205e-01 -8.69325939e-03 8.46081189e+01] [ 8.37725667e-01 5.45961047e-01 -1.19265134e-02 4.17727154e+01] [ 1.47383356e-02 -7.71973777e-04 9.99891087e-01 1.38371897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.62, Y:41.78, Z:1.39 [[ 5.51721359e-01 -8.33980464e-01 -8.95139593e-03 8.46162111e+01] [ 8.33898300e-01 5.51793094e-01 -1.17476302e-02 4.17823862e+01] [ 1.47366125e-02 -9.83135350e-04 9.99890927e-01 1.38819784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.63, Y:41.81, Z:1.39 [[ 5.51395742e-01 -8.34200469e-01 -8.50376079e-03 8.46314802e+01] [ 8.34113449e-01 5.51461132e-01 -1.20571079e-02 4.18053738e+01] [ 1.47475386e-02 -4.44863306e-04 9.99891150e-01 1.38845372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.988040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.65, Y:41.83, Z:1.39 [[ 5.50238658e-01 -8.34964266e-01 -8.49084232e-03 8.46512249e+01] [ 8.34877199e-01 5.50303982e-01 -1.20660216e-02 4.18341076e+01] [ 1.47472412e-02 -4.49619118e-04 9.99891152e-01 1.38934687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.018040942 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:84.67, Y:41.86, Z:1.39 [[ 5.52108566e-01 -8.33726907e-01 -8.69342370e-03 8.46654486e+01] [ 8.33641866e-01 5.52176607e-01 -1.19261821e-02 4.18588393e+01] [ 1.47434842e-02 -6.62654635e-04 9.99891089e-01 1.39022313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.048040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.68, Y:41.88, Z:1.39 [[ 5.53093263e-01 -8.33074337e-01 -8.65972916e-03 8.46817247e+01] [ 8.32988852e-01 5.53160721e-01 -1.19494190e-02 4.18835499e+01] [ 1.47449764e-02 -6.04314681e-04 9.99891104e-01 1.38913220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.70, Y:41.91, Z:1.39 [[ 5.50893956e-01 -8.34529972e-01 -8.69334144e-03 8.46962619e+01] [ 8.34445030e-01 5.50962120e-01 -1.19262470e-02 4.19092664e+01] [ 1.47425124e-02 -6.84018185e-04 9.99891089e-01 1.38919875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.71, Y:41.93, Z:1.39 [[ 5.50391920e-01 -8.34860503e-01 -8.75642420e-03 8.47112960e+01] [ 8.34776288e-01 5.50461033e-01 -1.18827652e-02 4.19328292e+01] [ 1.47405216e-02 -7.69477337e-04 9.99891057e-01 1.39048671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.73, Y:41.96, Z:1.39 [[ 5.49446175e-01 -8.35483501e-01 -8.73046062e-03 8.47262088e+01] [ 8.35399081e-01 5.49515014e-01 -1.19006457e-02 4.19559828e+01] [ 1.47403123e-02 -7.54654532e-04 9.99891071e-01 1.39031255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.74, Y:41.98, Z:1.39 [[ 5.49316824e-01 -8.35568487e-01 -8.73671235e-03 8.47419440e+01] [ 8.35484146e-01 5.49385765e-01 -1.18963430e-02 4.19794124e+01] [ 1.47400347e-02 -7.64523322e-04 9.99891068e-01 1.39229644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.76, Y:42.00, Z:1.39 [[ 5.48864784e-01 -8.35865347e-01 -8.75043077e-03 8.47562291e+01] [ 8.35781193e-01 5.48933965e-01 -1.18869080e-02 4.20031826e+01] [ 1.47392631e-02 -7.89140297e-04 9.99891060e-01 1.39278958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.228040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.76, Y:42.02, Z:1.39 [[ 5.44995730e-01 -8.38393554e-01 -8.71224145e-03 8.47560124e+01] [ 8.38309302e-01 5.45064759e-01 -1.19131347e-02 4.20223284e+01] [ 1.47366312e-02 -8.10945488e-04 9.99891081e-01 1.39227617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.258040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.79, Y:42.05, Z:1.39 [[ 5.52489433e-01 -8.33478227e-01 -8.33493374e-03 8.47854693e+01] [ 8.33389380e-01 5.52552256e-01 -1.21715132e-02 4.20499907e+01] [ 1.47501777e-02 -2.21612801e-04 9.99891186e-01 1.39064842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.80, Y:42.08, Z:1.39 [[ 5.50845829e-01 -8.34562109e-01 -8.65787441e-03 8.48013337e+01] [ 8.34476794e-01 5.50913490e-01 -1.19501422e-02 4.20756401e+01] [ 1.47428757e-02 -6.42109315e-04 9.99891112e-01 1.39226077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.318040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.80, Y:42.09, Z:1.39 [[ 5.50861569e-01 -8.34551038e-01 -8.72334818e-03 8.48038069e+01] [ 8.34466429e-01 5.50930163e-01 -1.19051981e-02 4.20934667e+01] [ 1.47414510e-02 -7.21225119e-04 9.99891079e-01 1.39331897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.82, Y:42.12, Z:1.39 [[ 5.51044054e-01 -8.34433727e-01 -8.41459728e-03 8.48207618e+01] [ 8.34345822e-01 5.51108189e-01 -1.21166344e-02 4.21192360e+01] [ 1.47478819e-02 -3.43884757e-04 9.99891185e-01 1.39462941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.85, Y:42.15, Z:1.39 [[ 5.57988968e-01 -8.29805061e-01 -8.47771139e-03 8.48508421e+01] [ 8.29717278e-01 5.58053288e-01 -1.20734197e-02 4.21461262e+01] [ 1.47495995e-02 -2.97268615e-04 9.99891175e-01 1.39270531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.408040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.87, Y:42.17, Z:1.40 [[ 5.63818249e-01 -8.25852250e-01 -8.77740334e-03 8.48660907e+01] [ 8.25767153e-01 5.63886292e-01 -1.18683904e-02 4.21662667e+01] [ 1.47509943e-02 -5.56476286e-04 9.99891043e-01 1.39716589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.88, Y:42.19, Z:1.39 [[ 5.63861486e-01 -8.25823365e-01 -8.71751795e-03 8.48824446e+01] [ 8.25737628e-01 5.63928663e-01 -1.19093246e-02 4.21913124e+01] [ 1.47510568e-02 -4.83173111e-04 9.99891081e-01 1.39367448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.90, Y:42.21, Z:1.40 [[ 5.68663717e-01 -8.22523306e-01 -8.77431793e-03 8.48968651e+01] [ 8.22437776e-01 5.68731215e-01 -1.18705258e-02 4.22115453e+01] [ 1.47540127e-02 -4.65993173e-04 9.99891045e-01 1.39514438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.92, Y:42.24, Z:1.39 [[ 5.67309920e-01 -8.23458611e-01 -8.68166542e-03 8.49161584e+01] [ 8.23372220e-01 5.67376219e-01 -1.19337385e-02 4.22384206e+01] [ 1.47527103e-02 -3.78113874e-04 9.99891101e-01 1.39118211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.93, Y:42.26, Z:1.40 [[ 5.68506864e-01 -8.22632999e-01 -8.65420213e-03 8.49339912e+01] [ 8.22546231e-01 5.68572638e-01 -1.19521535e-02 4.22629466e+01] [ 1.47527785e-02 -3.23600017e-04 9.99891119e-01 1.39618053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.94, Y:42.28, Z:1.39 [[ 5.64710206e-01 -8.25244220e-01 -8.62328515e-03 8.49414601e+01] [ 8.25157437e-01 5.64775931e-01 -1.19729646e-02 4.22804257e+01] [ 1.47508437e-02 -3.54312558e-04 9.99891138e-01 1.39373518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.97, Y:42.31, Z:1.40 [[ 5.68542380e-01 -8.22611806e-01 -8.32942597e-03 8.49691869e+01] [ 8.22521776e-01 5.68603387e-01 -1.21702639e-02 4.23071003e+01] [ 1.47475426e-02 6.81765335e-05 9.99891247e-01 1.39529413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.98, Y:42.33, Z:1.40 [[ 5.68541207e-01 -8.22609602e-01 -8.62191959e-03 8.49846253e+01] [ 8.22522488e-01 5.68606509e-01 -1.19748029e-02 4.23267468e+01] [ 1.47530675e-02 -2.83553828e-04 9.99891127e-01 1.39795990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.00, Y:42.35, Z:1.40 [[ 5.63045823e-01 -8.26382105e-01 -8.48631084e-03 8.50014106e+01] [ 8.26294057e-01 5.63109730e-01 -1.20649934e-02 4.23485837e+01] [ 1.47490189e-02 -2.19044062e-04 9.99891203e-01 1.39845207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.02, Y:42.37, Z:1.40 [[ 5.60152313e-01 -8.28346848e-01 -8.41931214e-03 8.50166832e+01] [ 8.28258352e-01 5.60215550e-01 -1.21094976e-02 4.23690802e+01] [ 1.47474938e-02 -1.90202488e-04 9.99891232e-01 1.40030714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.04, Y:42.39, Z:1.40 [[ 5.57354770e-01 -8.30232318e-01 -8.36410160e-03 8.50404087e+01] [ 8.30143484e-01 5.57417499e-01 -1.21461339e-02 4.23902843e+01] [ 1.47464095e-02 -1.73698758e-04 9.99891251e-01 1.40055883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.05, Y:42.41, Z:1.40 [[ 5.54147747e-01 -8.32375180e-01 -8.47558636e-03 8.50542844e+01] [ 8.32287713e-01 5.54212439e-01 -1.20720610e-02 4.24103931e+01] [ 1.47457593e-02 -3.64421006e-04 9.99891209e-01 1.40115124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.07, Y:42.43, Z:1.40 [[ 5.51312514e-01 -8.34257421e-01 -8.31068052e-03 8.50701673e+01] [ 8.34168513e-01 5.51375106e-01 -1.21812948e-02 4.24327841e+01] [ 1.47446379e-02 -2.16807757e-04 9.99891268e-01 1.40260310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.798040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.09, Y:42.45, Z:1.40 [[ 5.49211002e-01 -8.35642937e-01 -8.25567738e-03 8.50926858e+01] [ 8.35553638e-01 5.49273016e-01 -1.22176983e-02 4.24545986e+01] [ 1.47442541e-02 -1.87966960e-04 9.99891280e-01 1.40320279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.828040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.11, Y:42.48, Z:1.40 [[ 5.49117096e-01 -8.35703522e-01 -8.36886774e-03 8.51119922e+01] [ 8.35615364e-01 5.49180769e-01 -1.21427463e-02 4.24768684e+01] [ 1.47437570e-02 -3.25364911e-04 9.99891252e-01 1.40403692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.13, Y:42.49, Z:1.40 [[ 5.47779662e-01 -8.36580477e-01 -8.39921937e-03 8.51281583e+01] [ 8.36492728e-01 5.47843916e-01 -1.21226618e-02 4.24940554e+01] [ 1.47430434e-02 -3.85338339e-04 9.99891241e-01 1.40442733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.14, Y:42.52, Z:1.40 [[ 5.41056866e-01 -8.40945867e-01 -8.21684993e-03 8.51412511e+01] [ 8.40856788e-01 5.41119180e-01 -1.22431130e-02 4.25164532e+01] [ 1.47420904e-02 -2.84973695e-04 9.99891289e-01 1.40067160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.16, Y:42.54, Z:1.40 [[ 5.42748941e-01 -8.39855738e-01 -8.11948939e-03 8.51628339e+01] [ 8.39765568e-01 5.42809654e-01 -1.23073445e-02 4.25422808e+01] [ 1.47437311e-02 -1.38669415e-04 9.99891296e-01 1.40218219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.18, Y:42.56, Z:1.40 [[ 5.41310122e-01 -8.40782339e-01 -8.27112325e-03 8.51830558e+01] [ 8.40693786e-01 5.41373198e-01 -1.22072878e-02 4.25638201e+01] [ 1.47414364e-02 -3.45553466e-04 9.99891279e-01 1.40130806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.978040942 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:85.20, Y:42.58, Z:1.40 [[ 5.41441886e-01 -8.40697285e-01 -8.29211139e-03 8.51988562e+01] [ 8.40608935e-01 5.41505253e-01 -1.21934443e-02 4.25833204e+01] [ 1.47412174e-02 -3.68381427e-04 9.99891274e-01 1.39966830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.008040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.22, Y:42.61, Z:1.40 [[ 5.39899436e-01 -8.41689350e-01 -8.22412683e-03 8.52202866e+01] [ 8.41600432e-01 5.39961979e-01 -1.22382539e-02 4.26055159e+01] [ 1.47415238e-02 -3.14002312e-04 9.99891289e-01 1.40058585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.038040942 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:85.24, Y:42.63, Z:1.40 [[ 5.39862916e-01 -8.41712449e-01 -8.25745935e-03 8.52382263e+01] [ 8.41623867e-01 5.39925947e-01 -1.22162933e-02 4.26263595e+01] [ 1.47410227e-02 -3.54551142e-04 9.99891282e-01 1.40003769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.068040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.26, Y:42.65, Z:1.40 [[ 5.38603798e-01 -8.42518780e-01 -8.24950465e-03 8.52566588e+01] [ 8.42430213e-01 5.38666846e-01 -1.22215293e-02 4.26494651e+01] [ 1.47406026e-02 -3.67069861e-04 9.99891284e-01 1.40033369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.28, Y:42.67, Z:1.40 [[ 5.39950867e-01 -8.41656149e-01 -8.24547385e-03 8.52760080e+01] [ 8.41567441e-01 5.40013714e-01 -1.22241743e-02 4.26730366e+01] [ 1.47412204e-02 -3.38668819e-04 9.99891285e-01 1.40099944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.29, Y:42.70, Z:1.40 [[ 5.40564964e-01 -8.41261523e-01 -8.28069893e-03 8.52914163e+01] [ 8.41173122e-01 5.40628258e-01 -1.22010695e-02 4.26966561e+01] [ 1.47410702e-02 -3.70030667e-04 9.99891276e-01 1.40164876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.158040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.31, Y:42.72, Z:1.40 [[ 5.44340057e-01 -8.38823736e-01 -8.28506522e-03 8.53073655e+01] [ 8.38735095e-01 5.44403017e-01 -1.21982073e-02 4.27182637e+01] [ 1.47425603e-02 -3.09002103e-04 9.99891275e-01 1.40276585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.188040942 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:85.32, Y:42.74, Z:1.40 [[ 5.45759737e-01 -8.37901389e-01 -8.22020550e-03 8.53215154e+01] [ 8.37811999e-01 5.45821601e-01 -1.22406756e-02 4.27406045e+01] [ 1.47432448e-02 -2.06518909e-04 9.99891291e-01 1.40211782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.34, Y:42.76, Z:1.40 [[ 5.48055062e-01 -8.36402040e-01 -8.20225840e-03 8.53350080e+01] [ 8.36312305e-01 5.48116417e-01 -1.22524224e-02 4.27611245e+01] [ 1.47437436e-02 -1.44647511e-04 9.99891295e-01 1.40202161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.248040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.35, Y:42.79, Z:1.40 [[ 5.48393251e-01 -8.36181129e-01 -8.12165807e-03 8.53524518e+01] [ 8.36090585e-01 5.48453386e-01 -1.23051129e-02 4.27884479e+01] [ 1.47436541e-02 -4.24009711e-05 9.99891306e-01 1.40445037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.278040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:85.37, Y:42.81, Z:1.40 [[ 5.48846837e-01 -8.35882368e-01 -8.23512569e-03 8.53671035e+01] [ 8.35792897e-01 5.48908588e-01 -1.22309212e-02 4.28115645e+01] [ 1.47439426e-02 -1.69957151e-04 9.99891288e-01 1.40326226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.308040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.38, Y:42.84, Z:1.40 [[ 5.47966725e-01 -8.36459890e-01 -8.20487447e-03 8.53825986e+01] [ 8.36370188e-01 5.48028128e-01 -1.22506857e-02 4.28361765e+01] [ 1.47437092e-02 -1.49344268e-04 9.99891294e-01 1.40282068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.338040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:85.40, Y:42.86, Z:1.40 [[ 5.47442379e-01 -8.36802979e-01 -8.22283650e-03 8.53985969e+01] [ 8.36713491e-01 5.47504102e-01 -1.22389615e-02 4.28598065e+01] [ 1.47436361e-02 -1.80032059e-04 9.99891290e-01 1.40233186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.368040942 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:85.41, Y:42.88, Z:1.40 [[ 5.46169334e-01 -8.37634333e-01 -8.23295837e-03 8.54141040e+01] [ 8.37545039e-01 5.46231341e-01 -1.22323584e-02 4.28826640e+01] [ 1.47433432e-02 -2.14534416e-04 9.99891288e-01 1.40064993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.398040942 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:85.43, Y:42.91, Z:1.40 [[ 5.44325186e-01 -8.38834241e-01 -8.19806529e-03 8.54310891e+01] [ 8.38744741e-01 5.44386879e-01 -1.22550343e-02 4.29077074e+01] [ 1.47428616e-02 -2.05360324e-04 9.99891297e-01 1.40311344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.428040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:85.44, Y:42.93, Z:1.40 [[ 5.44083995e-01 -8.38990516e-01 -8.21706846e-03 8.54447587e+01] [ 8.38901220e-01 5.44145992e-01 -1.22426934e-02 4.29294571e+01] [ 1.47427885e-02 -2.32255215e-04 9.99891292e-01 1.40285617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.458040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:85.46, Y:42.96, Z:1.40 [[ 5.41746455e-01 -8.40502483e-01 -8.14578437e-03 8.54603542e+01] [ 8.40412662e-01 5.41807660e-01 -1.22889293e-02 4.29550993e+01] [ 1.47423240e-02 -1.88336411e-04 9.99891308e-01 1.40402724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.488040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:85.47, Y:42.98, Z:1.40 [[ 5.39433720e-01 -8.41988246e-01 -8.18871602e-03 8.54723168e+01] [ 8.41899015e-01 5.39495797e-01 -1.22611009e-02 4.29781808e+01] [ 1.47414807e-02 -2.80020700e-04 9.99891299e-01 1.40404828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.518040942 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:85.49, Y:43.00, Z:1.40 [[ 5.38852348e-01 -8.42360926e-01 -8.13742351e-03 8.54867354e+01] [ 8.42271234e-01 5.38913739e-01 -1.22943228e-02 4.30015107e+01] [ 1.47416265e-02 -2.29093035e-04 9.99891310e-01 1.40386505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.548040942 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:85.50, Y:43.02, Z:1.40 [[ 5.36872041e-01 -8.43624416e-01 -8.13978018e-03 8.54994567e+01] [ 8.43534892e-01 5.36933677e-01 -1.22927966e-02 4.30238260e+01] [ 1.47410255e-02 -2.66529765e-04 9.99891310e-01 1.40327402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.578040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.51, Y:43.05, Z:1.41 [[ 5.35866155e-01 -8.44264297e-01 -8.07845667e-03 8.55141820e+01] [ 8.44174246e-01 5.35927003e-01 -1.23324678e-02 4.30477680e+01] [ 1.47413253e-02 -2.11072961e-04 9.99891318e-01 1.40530674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.608040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:85.53, Y:43.07, Z:1.41 [[ 5.34847686e-01 -8.44909996e-01 -8.06547037e-03 8.55281986e+01] [ 8.44819892e-01 5.34908454e-01 -1.23408644e-02 4.30702392e+01] [ 1.47412079e-02 -2.13387051e-04 9.99891320e-01 1.40597273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.638040942 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:85.54, Y:43.09, Z:1.41 [[ 5.32997547e-01 -8.46078588e-01 -8.03979426e-03 8.55418959e+01] [ 8.45988367e-01 5.33058136e-01 -1.23574506e-02 4.30947044e+01] [ 1.47410521e-02 -2.15081577e-04 9.99891322e-01 1.40848906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.668040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.56, Y:43.12, Z:1.41 [[ 5.32375767e-01 -8.46470397e-01 -7.99437447e-03 8.55562091e+01] [ 8.46379779e-01 5.32435759e-01 -1.23867658e-02 4.31184505e+01] [ 1.47415214e-02 -1.71862972e-04 9.99891323e-01 1.40627207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.698040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.57, Y:43.14, Z:1.41 [[ 5.31812198e-01 -8.46824596e-01 -7.99306423e-03 8.55695140e+01] [ 8.46734005e-01 5.31872232e-01 -1.23876113e-02 4.31407432e+01] [ 1.47414228e-02 -1.80116517e-04 9.99891323e-01 1.40768797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.728040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.58, Y:43.17, Z:1.41 [[ 5.31487567e-01 -8.47028705e-01 -7.95862385e-03 8.55847110e+01] [ 8.46937804e-01 5.31547131e-01 -1.24098248e-02 4.31659269e+01] [ 1.47418615e-02 -1.44791827e-04 9.99891322e-01 1.40810746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.758040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:85.60, Y:43.19, Z:1.41 [[ 5.32076055e-01 -8.46659085e-01 -7.96653708e-03 8.55995927e+01] [ 8.46568219e-01 5.32135672e-01 -1.24047223e-02 4.31900977e+01] [ 1.47418494e-02 -1.43961396e-04 9.99891323e-01 1.40839391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.788040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.61, Y:43.21, Z:1.41 [[ 5.33329956e-01 -8.45869738e-01 -7.97143428e-03 8.56137503e+01] [ 8.45778831e-01 5.33389510e-01 -1.24015655e-02 4.32131296e+01] [ 1.47419884e-02 -1.27943990e-04 9.99891323e-01 1.40769697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.818040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.63, Y:43.24, Z:1.41 [[ 5.33982156e-01 -8.45458309e-01 -7.95637785e-03 8.56276493e+01] [ 8.45367212e-01 5.34041419e-01 -1.24112715e-02 4.32352005e+01] [ 1.47422480e-02 -9.86634310e-05 9.99891322e-01 1.41156686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.64, Y:43.26, Z:1.41 [[ 5.33871102e-01 -8.45529150e-01 -7.88050954e-03 8.56430627e+01] [ 8.45437335e-01 5.33929262e-01 -1.24601569e-02 4.32592027e+01] [ 1.47430605e-02 -1.03593091e-05 9.99891315e-01 1.41195745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.878040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.66, Y:43.28, Z:1.41 [[ 5.33510510e-01 -8.45756747e-01 -7.87788506e-03 8.56556317e+01] [ 8.45664932e-01 5.33568670e-01 -1.24618474e-02 4.32817057e+01] [ 1.47430842e-02 -1.35245617e-05 9.99891315e-01 1.40880300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.908040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:85.67, Y:43.31, Z:1.41 [[ 5.33303826e-01 -8.45887956e-01 -7.78425783e-03 8.56707068e+01] [ 8.45795271e-01 5.33360626e-01 -1.25221170e-02 4.33051499e+01] [ 1.47441246e-02 9.42044681e-05 9.99891295e-01 1.40798002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.938040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:85.68, Y:43.33, Z:1.40 [[ 5.32268325e-01 -8.46539756e-01 -7.80205886e-03 8.56813877e+01] [ 8.46447308e-01 5.32325500e-01 -1.25106559e-02 4.33271304e+01] [ 1.47440025e-02 5.49941577e-05 9.99891300e-01 1.40361335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.968040942 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:85.71, Y:43.36, Z:1.41 [[ 5.38822601e-01 -8.42384368e-01 -7.66685486e-03 8.57101017e+01] [ 8.42290236e-01 5.38877043e-01 -1.25972948e-02 4.33558415e+01] [ 1.47432563e-02 3.29990150e-04 9.99891258e-01 1.40768167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.998040942 meters Centerline goodness : 0.988077 Centerline is valid? [True, True] Translation: X:85.73, Y:43.37, Z:1.41 [[ 5.40731606e-01 -8.41155987e-01 -8.12009670e-03 8.57278027e+01] [ 8.41066011e-01 5.40792543e-01 -1.23040630e-02 4.33739316e+01] [ 1.47409240e-02 -1.76341573e-04 9.99891331e-01 1.40590305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.028040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.74, Y:43.40, Z:1.41 [[ 5.38861722e-01 -8.42355202e-01 -8.10909539e-03 8.57399134e+01] [ 8.42265255e-01 5.38922698e-01 -1.23111791e-02 4.33977711e+01] [ 1.47405613e-02 -1.95986130e-04 9.99891333e-01 1.40581965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.75, Y:43.42, Z:1.41 [[ 5.36010408e-01 -8.44172889e-01 -8.06078789e-03 8.57516395e+01] [ 8.44082680e-01 5.36070983e-01 -1.23422620e-02 4.34204296e+01] [ 1.47401575e-02 -1.88390537e-04 9.99891340e-01 1.41217101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.088040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.77, Y:43.44, Z:1.41 [[ 5.35083071e-01 -8.44761852e-01 -7.97001679e-03 8.57661823e+01] [ 8.44670836e-01 5.35142415e-01 -1.24006018e-02 4.34449627e+01] [ 1.47406494e-02 -9.66886511e-05 9.99891346e-01 1.41124611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.118040942 meters Centerline goodness : 0.995473 Centerline is valid? [True, True] Translation: X:85.78, Y:43.47, Z:1.41 [[ 5.33623834e-01 -8.45684365e-01 -7.97240348e-03 8.57797595e+01] [ 8.45593474e-01 5.33683370e-01 -1.23990682e-02 4.34676952e+01] [ 1.47404373e-02 -1.24974057e-04 9.99891346e-01 1.40895175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.148040942 meters Centerline goodness : 0.996543 Centerline is valid? [True, True] Translation: X:85.79, Y:43.49, Z:1.41 [[ 5.32124222e-01 -8.46629474e-01 -7.89596165e-03 8.57939652e+01] [ 8.46537958e-01 5.32182798e-01 -1.24481299e-02 4.34907546e+01] [ 1.47410486e-02 -6.02798235e-05 9.99891343e-01 1.41003161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.178040942 meters Centerline goodness : 0.995331 Centerline is valid? [True, True] Translation: X:85.81, Y:43.51, Z:1.41 [[ 5.29436884e-01 -8.48312482e-01 -7.90683657e-03 8.58084229e+01] [ 8.48221256e-01 5.29495909e-01 -1.24411503e-02 4.35126988e+01] [ 1.47406207e-02 -1.19943019e-04 9.99891344e-01 1.41364907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.208040942 meters Centerline goodness : 0.995634 Centerline is valid? [True, True] Translation: X:85.82, Y:43.53, Z:1.42 [[ 5.28372596e-01 -8.48976711e-01 -7.80664180e-03 8.58234457e+01] [ 8.48884604e-01 5.28430264e-01 -1.25053789e-02 4.35346429e+01] [ 1.47420412e-02 -1.94385251e-05 9.99891330e-01 1.41524923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.238040942 meters Centerline goodness : 0.995663 Centerline is valid? [True, True] Translation: X:85.84, Y:43.56, Z:1.42 [[ 5.26387382e-01 -8.50209389e-01 -7.76658185e-03 8.58387116e+01] [ 8.50117038e-01 5.26444674e-01 -1.25310279e-02 4.35579499e+01] [ 1.47426732e-02 -6.32859487e-06 9.99891321e-01 1.41601685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.268040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:85.85, Y:43.58, Z:1.42 [[ 5.25720444e-01 -8.50621556e-01 -7.80917168e-03 8.58545068e+01] [ 8.50529654e-01 5.25778436e-01 -1.25037314e-02 4.35821157e+01] [ 1.47418375e-02 -6.84648874e-05 9.99891331e-01 1.41884219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.88, Y:43.61, Z:1.42 [[ 5.29164680e-01 -8.48482834e-01 -7.84995370e-03 8.58800154e+01] [ 8.48391085e-01 5.29222899e-01 -1.24775329e-02 4.36118398e+01] [ 1.47413478e-02 -5.71610089e-05 9.99891339e-01 1.41924349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.88, Y:43.63, Z:1.42 [[ 5.26357322e-01 -8.50223490e-01 -8.24537715e-03 8.58813883e+01] [ 8.50135818e-01 5.26421585e-01 -1.22231876e-02 4.36292541e+01] [ 1.47329857e-02 -5.75926162e-04 9.99891298e-01 1.42030351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.358040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.91, Y:43.66, Z:1.42 [[ 5.30550489e-01 -8.47616829e-01 -7.86708360e-03 8.59088082e+01] [ 8.47525153e-01 5.30608810e-01 -1.24662110e-02 4.36622094e+01] [ 1.47409141e-02 -5.35969105e-05 9.99891345e-01 1.42174956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.388040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.92, Y:43.68, Z:1.42 [[ 5.34289091e-01 -8.45259974e-01 -8.41087525e-03 8.59209901e+01] [ 8.45173329e-01 5.34354914e-01 -1.21189619e-02 4.36794202e+01] [ 1.47380659e-02 -6.33618302e-04 9.99891188e-01 1.42178863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.92, Y:43.70, Z:1.43 [[ 5.24789793e-01 -8.51192028e-01 -8.23434345e-03 8.59219020e+01] [ 8.51104341e-01 5.24854060e-01 -1.22318091e-02 4.37014163e+01] [ 1.47334470e-02 -5.89156880e-04 9.99891283e-01 1.42510366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.94, Y:43.73, Z:1.43 [[ 5.24865733e-01 -8.51148145e-01 -7.92447368e-03 8.59372513e+01] [ 8.51057415e-01 5.24925506e-01 -1.24293710e-02 4.37251352e+01] [ 1.47389944e-02 -2.20431178e-04 9.99891351e-01 1.42633690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.478040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.95, Y:43.75, Z:1.43 [[ 5.25164517e-01 -8.50963859e-01 -7.92089767e-03 8.59519650e+01] [ 8.50873074e-01 5.25224205e-01 -1.24316494e-02 4.37493228e+01] [ 1.47391316e-02 -2.11017373e-04 9.99891351e-01 1.42649831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.508040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.97, Y:43.77, Z:1.43 [[ 5.25491034e-01 -8.50762299e-01 -7.91734540e-03 8.59666944e+01] [ 8.50671456e-01 5.25550636e-01 -1.24339114e-02 4.37735589e+01] [ 1.47392689e-02 -2.01150797e-04 9.99891351e-01 1.42626290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.538040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.00, Y:43.80, Z:1.42 [[ 5.36623773e-01 -8.43784509e-01 -7.91381265e-03 8.59960008e+01] [ 8.43692859e-01 5.36682124e-01 -1.24361595e-02 4.37976301e+01] [ 1.47406405e-02 -3.28841246e-06 9.99891351e-01 1.42041589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.568040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.01, Y:43.83, Z:1.42 [[ 5.32633600e-01 -8.46306825e-01 -8.13667200e-03 8.60140985e+01] [ 8.46217579e-01 5.32695639e-01 -1.22948946e-02 4.38274084e+01] [ 1.47396229e-02 -3.36720890e-04 9.99891309e-01 1.42430303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.02, Y:43.85, Z:1.42 [[ 5.31120241e-01 -8.47255723e-01 -8.30835572e-03 8.60240820e+01] [ 8.47168272e-01 5.31184920e-01 -1.21860868e-02 4.38459406e+01] [ 1.47380051e-02 -5.66297975e-04 9.99891229e-01 1.42450379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.03, Y:43.87, Z:1.43 [[ 5.20967557e-01 -8.53537886e-01 -8.11676899e-03 8.60280452e+01] [ 8.53449302e-01 5.21030529e-01 -1.23075962e-02 4.38677868e+01] [ 1.47340841e-02 -5.15392486e-04 9.99891315e-01 1.42780389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.658040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.06, Y:43.90, Z:1.42 [[ 5.27970447e-01 -8.49226153e-01 -7.88345111e-03 8.60572526e+01] [ 8.49134817e-01 5.28029287e-01 -1.24552733e-02 4.38963812e+01] [ 1.47400369e-02 -1.18096605e-04 9.99891353e-01 1.42378639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.688040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:86.07, Y:43.91, Z:1.42 [[ 5.29204019e-01 -8.48454399e-01 -8.26069395e-03 8.60700891e+01] [ 8.48366626e-01 5.29268209e-01 -1.22159816e-02 4.39149723e+01] [ 1.47368260e-02 -5.43350498e-04 9.99891259e-01 1.42401184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.07, Y:43.94, Z:1.43 [[ 5.18141884e-01 -8.55256209e-01 -8.11207261e-03 8.60697099e+01] [ 8.55167793e-01 5.18205081e-01 -1.23101693e-02 4.39406706e+01] [ 1.47320659e-02 -5.58768925e-04 9.99891321e-01 1.42680053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.10, Y:43.97, Z:1.42 [[ 5.24826025e-01 -8.51173044e-01 -7.87989483e-03 8.60971342e+01] [ 8.51081901e-01 5.24885150e-01 -1.24570376e-02 4.39672075e+01] [ 1.47391344e-02 -1.68658325e-04 9.99891359e-01 1.42463622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.11, Y:43.99, Z:1.43 [[ 5.23829751e-01 -8.51783889e-01 -8.16079790e-03 8.61117057e+01] [ 8.51695531e-01 5.23893059e-01 -1.22794725e-02 4.39910072e+01] [ 1.47348422e-02 -5.18162060e-04 9.99891302e-01 1.42633940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.12, Y:44.01, Z:1.42 [[ 5.24770837e-01 -8.51204776e-01 -8.12394666e-03 8.61236201e+01] [ 8.51115987e-01 5.24833517e-01 -1.23027402e-02 4.40112765e+01] [ 1.47358707e-02 -4.58301589e-04 9.99891316e-01 1.42474099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.14, Y:44.04, Z:1.43 [[ 5.23112827e-01 -8.52225787e-01 -8.01116108e-03 8.61359501e+01] [ 8.52136023e-01 5.23174047e-01 -1.23739881e-02 4.40367668e+01] [ 1.47366633e-02 -3.53607059e-04 9.99891347e-01 1.42517969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.868040942 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:86.15, Y:44.06, Z:1.42 [[ 5.23434838e-01 -8.52028046e-01 -8.01116844e-03 8.61486885e+01] [ 8.51938259e-01 5.23496024e-01 -1.23739834e-02 4.40598098e+01] [ 1.47367957e-02 -3.48046888e-04 9.99891347e-01 1.42447382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.16, Y:44.09, Z:1.43 [[ 5.18731899e-01 -8.54900117e-01 -7.93766118e-03 8.61626504e+01] [ 8.54809958e-01 5.18792514e-01 -1.24203097e-02 4.40893598e+01] [ 1.47361234e-02 -3.42380957e-04 9.99891359e-01 1.42777224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.18, Y:44.11, Z:1.42 [[ 5.20815622e-01 -8.53631151e-01 -8.05888199e-03 8.61750967e+01] [ 8.53542016e-01 5.20877774e-01 -1.23439138e-02 4.41081946e+01] [ 1.47348419e-02 -4.49691218e-04 9.99891335e-01 1.42497604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.19, Y:44.13, Z:1.43 [[ 5.21569164e-01 -8.53172512e-01 -7.89130285e-03 8.61889316e+01] [ 8.53081710e-01 5.21628803e-01 -1.24493720e-02 4.41329444e+01] [ 1.47377928e-02 -2.38717613e-04 9.99891364e-01 1.42506532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.20, Y:44.16, Z:1.42 [[ 5.15769381e-01 -8.56691369e-01 -7.86406231e-03 8.62014114e+01] [ 8.56600714e-01 5.15829239e-01 -1.24664965e-02 4.41578270e+01] [ 1.47364532e-02 -3.06524210e-04 9.99891366e-01 1.42240331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.22, Y:44.18, Z:1.42 [[ 5.17406113e-01 -8.55704065e-01 -7.84011250e-03 8.62174669e+01] [ 8.55613067e-01 5.17465449e-01 -1.24815402e-02 4.41831166e+01] [ 1.47374921e-02 -2.50077469e-04 9.99891366e-01 1.41907708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.24, Y:44.21, Z:1.43 [[ 5.17542553e-01 -8.55620727e-01 -7.92954187e-03 8.62359682e+01] [ 8.55530574e-01 5.17603175e-01 -1.24253649e-02 4.42076590e+01] [ 1.47357558e-02 -3.53310417e-04 9.99891360e-01 1.42980841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.25, Y:44.23, Z:1.43 [[ 5.16653932e-01 -8.56156962e-01 -7.99819569e-03 8.62515025e+01] [ 8.56067535e-01 5.16715642e-01 -1.23822541e-02 4.42325099e+01] [ 1.47339459e-02 -4.49655399e-04 9.99891348e-01 1.43024949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.26, Y:44.25, Z:1.43 [[ 5.18022770e-01 -8.55329175e-01 -8.02574874e-03 8.62643112e+01] [ 8.55239917e-01 5.18084735e-01 -1.23649617e-02 4.42534181e+01] [ 1.47341304e-02 -4.58608993e-04 9.99891342e-01 1.43137424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.28, Y:44.28, Z:1.43 [[ 5.16830280e-01 -8.56051218e-01 -7.92295816e-03 8.62815849e+01] [ 8.55961055e-01 5.16890882e-01 -1.24293685e-02 4.42808203e+01] [ 1.47354809e-02 -3.57869611e-04 9.99891363e-01 1.43185865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.30, Y:44.30, Z:1.43 [[ 5.16074849e-01 -8.56505892e-01 -8.02542573e-03 8.62955614e+01] [ 8.56416771e-01 5.16137012e-01 -1.23651938e-02 4.43049505e+01] [ 1.47330806e-02 -4.91743677e-04 9.99891341e-01 1.43260185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.198040942 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:86.31, Y:44.33, Z:1.43 [[ 5.16070090e-01 -8.56509025e-01 -7.99706241e-03 8.63082553e+01] [ 8.56419630e-01 5.16131844e-01 -1.23829330e-02 4.43284844e+01] [ 1.47336325e-02 -4.58379877e-04 9.99891349e-01 1.43387298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.228040942 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:86.32, Y:44.35, Z:1.43 [[ 5.15654343e-01 -8.56760036e-01 -7.92716418e-03 8.63231469e+01] [ 8.56669998e-01 5.15715129e-01 -1.24265907e-02 4.43539095e+01] [ 1.47347648e-02 -3.83138257e-04 9.99891364e-01 1.43424641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.258040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.34, Y:44.38, Z:1.44 [[ 5.16050992e-01 -8.56521143e-01 -7.93131867e-03 8.63360934e+01] [ 8.56431117e-01 5.16111797e-01 -1.24239970e-02 4.43765210e+01] [ 1.47348632e-02 -3.81212147e-04 9.99891363e-01 1.43503302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.35, Y:44.40, Z:1.43 [[ 5.16908778e-01 -8.56004286e-01 -7.87258636e-03 8.63485687e+01] [ 8.55913640e-01 5.16968640e-01 -1.24606281e-02 4.44006743e+01] [ 1.47362313e-02 -2.97246000e-04 9.99891372e-01 1.43491629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.318040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.36, Y:44.42, Z:1.44 [[ 5.17897467e-01 -8.55407027e-01 -7.81229111e-03 8.63630908e+01] [ 8.55315743e-01 5.17956344e-01 -1.24982064e-02 4.44249275e+01] [ 1.47374793e-02 -2.09186139e-04 9.99891376e-01 1.43521090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.348040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.38, Y:44.45, Z:1.43 [[ 5.19854422e-01 -8.54219124e-01 -7.81463409e-03 8.63790277e+01] [ 8.54127727e-01 5.19913125e-01 -1.24967468e-02 4.44507738e+01] [ 1.47378909e-02 -1.78206544e-04 9.99891376e-01 1.43433774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.39, Y:44.47, Z:1.44 [[ 5.20388224e-01 -8.53893579e-01 -7.86456286e-03 8.63916149e+01] [ 8.53802615e-01 5.20447599e-01 -1.24656467e-02 4.44733174e+01] [ 1.47374286e-02 -2.27808558e-04 9.99891372e-01 1.43514408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.408040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.41, Y:44.50, Z:1.43 [[ 5.20698441e-01 -8.53704935e-01 -7.81131853e-03 8.64057496e+01] [ 8.53613450e-01 5.20757005e-01 -1.24987845e-02 4.44970451e+01] [ 1.47380728e-02 -1.59748959e-04 9.99891376e-01 1.43480506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.438040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:86.42, Y:44.53, Z:1.43 [[ 5.18999929e-01 -8.54738476e-01 -7.82371226e-03 8.64229055e+01] [ 8.54647224e-01 5.19058856e-01 -1.24910735e-02 4.45257029e+01] [ 1.47375683e-02 -2.03647699e-04 9.99891375e-01 1.43347256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.44, Y:44.55, Z:1.43 [[ 5.21510441e-01 -8.53207686e-01 -7.96894269e-03 8.64362959e+01] [ 8.53117628e-01 5.21571217e-01 -1.24007498e-02 4.45478752e+01] [ 1.47367862e-02 -3.31325010e-04 9.99891353e-01 1.43407429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.498040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:86.45, Y:44.57, Z:1.43 [[ 5.22167720e-01 -8.52806540e-01 -7.86620855e-03 8.64509598e+01] [ 8.52715468e-01 5.22226929e-01 -1.24645750e-02 4.45710400e+01] [ 1.47378170e-02 -1.99039023e-04 9.99891373e-01 1.43346841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.46, Y:44.59, Z:1.43 [[ 5.21370720e-01 -8.53294030e-01 -7.86578361e-03 8.64635353e+01] [ 8.53203009e-01 5.21430008e-01 -1.24648389e-02 4.45936337e+01] [ 1.47376282e-02 -2.12308231e-04 9.99891373e-01 1.43478913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.48, Y:44.62, Z:1.44 [[ 5.20145430e-01 -8.54041982e-01 -7.81183720e-03 8.64767381e+01] [ 8.53950542e-01 5.20204060e-01 -1.24983137e-02 4.46187361e+01] [ 1.47378341e-02 -1.69981828e-04 9.99891378e-01 1.43816185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.49, Y:44.64, Z:1.44 [[ 5.20705328e-01 -8.53700757e-01 -7.80887738e-03 8.64898248e+01] [ 8.53609251e-01 5.20763855e-01 -1.25001491e-02 4.46423158e+01] [ 1.47379679e-02 -1.56835728e-04 9.99891378e-01 1.43789452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.50, Y:44.67, Z:1.44 [[ 5.20202332e-01 -8.54007775e-01 -7.76237923e-03 8.65034279e+01] [ 8.53915872e-01 5.20260231e-01 -1.25289573e-02 4.46673737e+01] [ 1.47382842e-02 -1.10826027e-04 9.99891379e-01 1.43817219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.52, Y:44.69, Z:1.44 [[ 5.19737421e-01 -8.54290826e-01 -7.75880495e-03 8.65157388e+01] [ 8.54198921e-01 5.19795318e-01 -1.25311704e-02 4.46916606e+01] [ 1.47382544e-02 -1.14644656e-04 9.99891379e-01 1.43963450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.53, Y:44.72, Z:1.44 [[ 5.19403894e-01 -8.54493679e-01 -7.75555435e-03 8.65294808e+01] [ 8.54401767e-01 5.19461779e-01 -1.25331818e-02 4.47161527e+01] [ 1.47382387e-02 -1.16575894e-04 9.99891379e-01 1.44060143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.54, Y:44.74, Z:1.44 [[ 5.19468277e-01 -8.54454571e-01 -7.75203934e-03 8.65410149e+01] [ 8.54362623e-01 5.19526104e-01 -1.25353556e-02 4.47408484e+01] [ 1.47382787e-02 -1.11333101e-04 9.99891379e-01 1.44128519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.55, Y:44.77, Z:1.44 [[ 5.19304328e-01 -8.54554252e-01 -7.74887953e-03 8.65541193e+01] [ 8.54462286e-01 5.19362126e-01 -1.25373085e-02 4.47657813e+01] [ 1.47382849e-02 -1.10446727e-04 9.99891379e-01 1.44163452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.57, Y:44.79, Z:1.44 [[ 5.19067678e-01 -8.54698049e-01 -7.74540899e-03 8.65690527e+01] [ 8.54606066e-01 5.19125451e-01 -1.25394522e-02 4.47901329e+01] [ 1.47382843e-02 -1.10449150e-04 9.99891379e-01 1.44205433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.798040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.58, Y:44.81, Z:1.44 [[ 5.19125926e-01 -8.54662703e-01 -7.74193579e-03 8.65822107e+01] [ 8.54570684e-01 5.19183642e-01 -1.25415962e-02 4.48144619e+01] [ 1.47383210e-02 -1.05363596e-04 9.99891380e-01 1.44272542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.828040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.59, Y:44.84, Z:1.44 [[ 5.19004664e-01 -8.54736377e-01 -7.73848851e-03 8.65935531e+01] [ 8.54644335e-01 5.19062342e-01 -1.25437229e-02 4.48393849e+01] [ 1.47383343e-02 -1.03404652e-04 9.99891380e-01 1.44341180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.61, Y:44.87, Z:1.44 [[ 5.17826556e-01 -8.55450654e-01 -7.73539875e-03 8.66072434e+01] [ 8.55358663e-01 5.17884316e-01 -1.25456280e-02 4.48662208e+01] [ 1.47382074e-02 -1.20080975e-04 9.99891380e-01 1.44307068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.62, Y:44.89, Z:1.44 [[ 5.16740328e-01 -8.56106748e-01 -7.78912585e-03 8.66190627e+01] [ 8.56015328e-01 5.16798990e-01 -1.25125021e-02 4.48919694e+01] [ 1.47374499e-02 -2.01896671e-04 9.99891378e-01 1.44397431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.63, Y:44.91, Z:1.44 [[ 5.18205531e-01 -8.55220321e-01 -7.82497421e-03 8.66316514e+01] [ 8.55129134e-01 5.18264560e-01 -1.24904041e-02 4.49146582e+01] [ 1.47374543e-02 -2.18766912e-04 9.99891374e-01 1.44491120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.64, Y:44.94, Z:1.45 [[ 5.17946970e-01 -8.55377819e-01 -7.72801723e-03 8.66443490e+01] [ 8.55285754e-01 5.18004609e-01 -1.25501077e-02 4.49391014e+01] [ 1.47382323e-02 -1.09372758e-04 9.99891380e-01 1.44557321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.978040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.66, Y:44.96, Z:1.45 [[ 5.17442896e-01 -8.55682863e-01 -7.72572194e-03 8.66558391e+01] [ 8.55590811e-01 5.17500555e-01 -1.25515205e-02 4.49635894e+01] [ 1.47381864e-02 -1.15361554e-04 9.99891380e-01 1.44662427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.008040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.67, Y:44.99, Z:1.45 [[ 5.17113468e-01 -8.55882013e-01 -7.72276474e-03 8.66689563e+01] [ 8.55789955e-01 5.17171119e-01 -1.25533398e-02 4.49874895e+01] [ 1.47381686e-02 -1.17563411e-04 9.99891380e-01 1.44679280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.038040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.68, Y:45.01, Z:1.44 [[ 5.16252059e-01 -8.56401896e-01 -7.72035014e-03 8.66807599e+01] [ 8.56309874e-01 5.16309767e-01 -1.25548246e-02 4.50128029e+01] [ 1.47380678e-02 -1.29557998e-04 9.99891380e-01 1.44441559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.068040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.69, Y:45.04, Z:1.44 [[ 5.15484220e-01 -8.56864321e-01 -7.71709235e-03 8.66938012e+01] [ 8.56772321e-01 5.15541963e-01 -1.25568268e-02 4.50376623e+01] [ 1.47379818e-02 -1.38945074e-04 9.99891380e-01 1.44154127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.098040942 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:86.71, Y:45.06, Z:1.44 [[ 5.14027200e-01 -8.57739435e-01 -7.68759444e-03 8.67072493e+01] [ 8.57647262e-01 5.14084667e-01 -1.25749445e-02 4.50622538e+01] [ 1.47381002e-02 -1.29380810e-04 9.99891380e-01 1.44268161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.72, Y:45.09, Z:1.44 [[ 5.10389255e-01 -8.59908906e-01 -7.71246197e-03 8.67203157e+01] [ 8.59817207e-01 5.10447475e-01 -1.25596742e-02 4.50877321e+01] [ 1.47369825e-02 -2.20984729e-04 9.99891380e-01 1.44281355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.158040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.73, Y:45.11, Z:1.44 [[ 5.08212515e-01 -8.61197197e-01 -7.70890885e-03 8.67330623e+01] [ 8.61105613e-01 5.08270915e-01 -1.25618547e-02 4.51112751e+01] [ 1.47364482e-02 -2.54092913e-04 9.99891380e-01 1.44391018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.188040942 meters Centerline goodness : 0.996243 Centerline is valid? [True, True] Translation: X:86.74, Y:45.14, Z:1.44 [[ 5.02519140e-01 -8.64531737e-01 -7.70649431e-03 8.67445630e+01] [ 8.64440517e-01 5.02578108e-01 -1.25633358e-02 4.51374962e+01] [ 1.47345179e-02 -3.48489222e-04 9.99891380e-01 1.44379999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.76, Y:45.16, Z:1.44 [[ 5.00463743e-01 -8.65723071e-01 -7.72046185e-03 8.67595436e+01] [ 8.65632124e-01 5.00523130e-01 -1.25547760e-02 4.51644637e+01] [ 1.47332290e-02 -3.99869602e-04 9.99891380e-01 1.44356690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.77, Y:45.19, Z:1.44 [[ 4.96680542e-01 -8.67898306e-01 -7.80827750e-03 8.67687177e+01] [ 8.67808453e-01 4.96741591e-01 -1.25012177e-02 4.51864975e+01] [ 1.47284819e-02 -5.66977635e-04 9.99891369e-01 1.44460865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.78, Y:45.21, Z:1.44 [[ 4.93584133e-01 -8.69664262e-01 -7.66649003e-03 8.67802333e+01] [ 8.69573279e-01 4.93643460e-01 -1.25875739e-02 4.52106908e+01] [ 1.47314759e-02 -4.53548103e-04 9.99891383e-01 1.44485075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.79, Y:45.24, Z:1.45 [[ 4.92363138e-01 -8.70356142e-01 -7.66327854e-03 8.67927457e+01] [ 8.70265212e-01 4.92422546e-01 -1.25895288e-02 4.52357466e+01] [ 1.47309448e-02 -4.70464839e-04 9.99891383e-01 1.44514118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.80, Y:45.26, Z:1.44 [[ 4.91734026e-01 -8.70711764e-01 -7.65972657e-03 8.68030493e+01] [ 8.70620843e-01 4.91793449e-01 -1.25916895e-02 4.52609191e+01] [ 1.47307355e-02 -4.76955447e-04 9.99891383e-01 1.44492865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.82, Y:45.29, Z:1.45 [[ 4.91445488e-01 -8.70874674e-01 -7.65731509e-03 8.68160676e+01] [ 8.70783750e-01 4.91504906e-01 -1.25931558e-02 4.52862232e+01] [ 1.47306684e-02 -4.79015952e-04 9.99891383e-01 1.44511237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.82, Y:45.31, Z:1.44 [[ 4.93455307e-01 -8.69737478e-01 -7.65376513e-03 8.68245187e+01] [ 8.69646384e-01 4.93514463e-01 -1.25953130e-02 4.53079547e+01] [ 1.47318595e-02 -4.40845133e-04 9.99891383e-01 1.43717024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.84, Y:45.34, Z:1.44 [[ 4.90315318e-01 -8.71513039e-01 -7.47739676e-03 8.68387315e+01] [ 8.71420513e-01 4.90372246e-01 -1.27023396e-02 4.53354904e+01] [ 1.47369625e-02 -2.87805216e-04 9.99891364e-01 1.43829274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.85, Y:45.36, Z:1.44 [[ 4.90255403e-01 -8.71545690e-01 -7.59934182e-03 8.68513974e+01] [ 8.71454303e-01 4.90314107e-01 -1.26283048e-02 4.53593792e+01] [ 1.47322091e-02 -4.31384479e-04 9.99891382e-01 1.43767655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.86, Y:45.38, Z:1.44 [[ 4.94135381e-01 -8.69351806e-01 -7.59356636e-03 8.68621709e+01] [ 8.69260104e-01 4.94193594e-01 -1.26318118e-02 4.53817335e+01] [ 1.47341802e-02 -3.58959164e-04 9.99891382e-01 1.43673648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.88, Y:45.41, Z:1.43 [[ 4.92692961e-01 -8.70171421e-01 -7.43939273e-03 8.68756751e+01] [ 8.70078392e-01 4.92749081e-01 -1.27253178e-02 4.54097466e+01] [ 1.47389618e-02 -2.03180373e-04 9.99891355e-01 1.43117890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.548040942 meters Centerline goodness : 0.996691 Centerline is valid? [True, True] Translation: X:86.89, Y:45.43, Z:1.44 [[ 4.96800624e-01 -8.67831754e-01 -7.56223251e-03 8.68887222e+01] [ 8.67739582e-01 4.96858099e-01 -1.26509856e-02 4.54300422e+01] [ 1.47362835e-02 -2.77030950e-04 9.99891377e-01 1.44482552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.578040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.91, Y:45.46, Z:1.45 [[ 5.00231927e-01 -8.65859869e-01 -7.39634855e-03 8.69083453e+01] [ 8.65765973e-01 5.00286604e-01 -1.27511951e-02 4.54572408e+01] [ 1.47410422e-02 -2.49520065e-05 9.99891345e-01 1.44542815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.608040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.92, Y:45.48, Z:1.45 [[ 5.01086541e-01 -8.65363327e-01 -7.65443241e-03 8.69219226e+01] [ 8.65271717e-01 5.01144904e-01 -1.25952813e-02 4.54833605e+01] [ 1.47354744e-02 -3.11837911e-04 9.99891378e-01 1.44785066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.638040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.93, Y:45.50, Z:1.45 [[ 5.01170016e-01 -8.65314771e-01 -7.67869018e-03 8.69308562e+01] [ 8.65223379e-01 5.01228723e-01 -1.25806306e-02 4.55041713e+01] [ 1.47349855e-02 -3.38747428e-04 9.99891377e-01 1.44698749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.95, Y:45.53, Z:1.45 [[ 5.04179929e-01 -8.63565905e-01 -7.51836482e-03 8.69501086e+01] [ 8.63472853e-01 5.04235974e-01 -1.26773410e-02 4.55314407e+01] [ 1.47387494e-02 -1.00243040e-04 9.99891374e-01 1.44920772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.97, Y:45.55, Z:1.45 [[ 5.05868360e-01 -8.62576668e-01 -7.66121603e-03 8.69651333e+01] [ 8.62484799e-01 5.05926314e-01 -1.25911484e-02 4.55548113e+01] [ 1.47368416e-02 -2.38218770e-04 9.99891378e-01 1.44804972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.728040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.98, Y:45.58, Z:1.45 [[ 5.09360483e-01 -8.60518848e-01 -7.69491184e-03 8.69813355e+01] [ 8.60427050e-01 5.09418556e-01 -1.25708233e-02 4.55766252e+01] [ 1.47373612e-02 -2.17829691e-04 9.99891375e-01 1.45006211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.758040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.00, Y:45.60, Z:1.44 [[ 5.09597744e-01 -8.60378354e-01 -7.69592676e-03 8.69957491e+01] [ 8.60286550e-01 5.09655807e-01 -1.25702113e-02 4.56008429e+01] [ 1.47374115e-02 -2.14950978e-04 9.99891375e-01 1.44385261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.788040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.01, Y:45.62, Z:1.45 [[ 5.11703631e-01 -8.59127771e-01 -7.67247533e-03 8.70123208e+01] [ 8.59035613e-01 5.11761126e-01 -1.25843383e-02 4.56241912e+01] [ 1.47380292e-02 -1.51477910e-04 9.99891378e-01 1.44869380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.818040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.03, Y:45.65, Z:1.45 [[ 5.14148846e-01 -8.57666547e-01 -7.68494480e-03 8.70273913e+01] [ 8.57574338e-01 5.14206260e-01 -1.25768302e-02 4.56464626e+01] [ 1.47383733e-02 -1.24048703e-04 9.99891377e-01 1.45070986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.04, Y:45.67, Z:1.45 [[ 5.18976328e-01 -8.54754133e-01 -7.67748048e-03 8.70440097e+01] [ 8.54661535e-01 5.19033112e-01 -1.25813218e-02 4.56667673e+01] [ 1.47388034e-02 -3.22390801e-05 9.99891377e-01 1.45201543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.06, Y:45.69, Z:1.45 [[ 5.19006365e-01 -8.54736361e-01 -7.62537256e-03 8.70609117e+01] [ 8.54643299e-01 5.19062378e-01 -1.26126467e-02 4.56930508e+01] [ 1.47385318e-02 2.90703603e-05 9.99891382e-01 1.45267339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.908040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.08, Y:45.71, Z:1.45 [[ 5.23382050e-01 -8.52063292e-01 -7.70559602e-03 8.70823667e+01] [ 8.51970650e-01 5.23438770e-01 -1.25644283e-02 4.57135992e+01] [ 1.47390959e-02 1.10546072e-05 9.99891374e-01 1.45343582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.10, Y:45.73, Z:1.45 [[ 5.23270927e-01 -8.52130799e-01 -7.78701123e-03 8.70956665e+01] [ 8.52038890e-01 5.23328858e-01 -1.25154192e-02 4.57346562e+01] [ 1.47399419e-02 -8.58813735e-05 9.99891357e-01 1.45270426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.12, Y:45.76, Z:1.46 [[ 5.24652460e-01 -8.51281909e-01 -7.67506197e-03 8.71183958e+01] [ 8.51188918e-01 5.24708592e-01 -1.25825389e-02 4.57608709e+01] [ 1.47384587e-02 6.85323117e-05 9.99891381e-01 1.45533464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.13, Y:45.78, Z:1.46 [[ 5.25211012e-01 -8.50935458e-01 -7.88911278e-03 8.71299492e+01] [ 8.50844333e-01 5.25270232e-01 -1.24541319e-02 4.57793100e+01] [ 1.47415785e-02 -1.71359683e-04 9.99891322e-01 1.45565005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.15, Y:45.80, Z:1.46 [[ 5.24387976e-01 -8.51444492e-01 -7.71536354e-03 8.71471417e+01] [ 8.51351872e-01 5.24444731e-01 -1.25584500e-02 4.58031315e+01] [ 1.47391049e-02 1.70109911e-05 9.99891373e-01 1.45580244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.17, Y:45.82, Z:1.46 [[ 5.22295116e-01 -8.52729750e-01 -7.73207242e-03 8.71680631e+01] [ 8.52637417e-01 5.22352344e-01 -1.25484270e-02 4.58243725e+01] [ 1.47392832e-02 -3.86721380e-05 9.99891370e-01 1.45575878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.19, Y:45.84, Z:1.46 [[ 5.22248886e-01 -8.52757849e-01 -7.75575543e-03 8.71873937e+01] [ 8.52665730e-01 5.22306468e-01 -1.25342252e-02 4.58449801e+01] [ 1.47395401e-02 -6.70817432e-05 9.99891365e-01 1.45782362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.20, Y:45.87, Z:1.46 [[ 5.14705624e-01 -8.57331851e-01 -7.76007739e-03 8.72049895e+01] [ 8.57240282e-01 5.14764079e-01 -1.25316350e-02 4.58657735e+01] [ 1.47383789e-02 -2.02147919e-04 9.99891364e-01 1.45636692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.148040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.23, Y:45.89, Z:1.46 [[ 5.13941971e-01 -8.57790673e-01 -7.66889281e-03 8.72293586e+01] [ 8.57698340e-01 5.13999172e-01 -1.25860260e-02 4.58926103e+01] [ 1.47379803e-02 -1.09109621e-04 9.99891384e-01 1.46197940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.24, Y:45.91, Z:1.46 [[ 5.08453957e-01 -8.61052796e-01 -7.91556984e-03 8.72397994e+01] [ 8.60963086e-01 5.08515332e-01 -1.24387665e-02 4.59119388e+01] [ 1.47356233e-02 -4.90473360e-04 9.99891305e-01 1.45705185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.26, Y:45.93, Z:1.46 [[ 5.06299865e-01 -8.62322805e-01 -7.73473849e-03 8.72629102e+01] [ 8.62231585e-01 5.06358845e-01 -1.25464709e-02 4.59347119e+01] [ 1.47356613e-02 -3.16859284e-04 9.99891374e-01 1.46265596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.28, Y:45.95, Z:1.46 [[ 5.06250072e-01 -8.62351290e-01 -7.81776324e-03 8.72774502e+01] [ 8.62260832e-01 5.06310261e-01 -1.24970418e-02 4.59526782e+01] [ 1.47350539e-02 -4.14322735e-04 9.99891347e-01 1.46332506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.268040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.30, Y:45.98, Z:1.47 [[ 5.02899924e-01 -8.64310540e-01 -7.67839184e-03 8.72996938e+01] [ 8.64219042e-01 5.02958443e-01 -1.25798502e-02 4.59773899e+01] [ 1.47348091e-02 -3.09406735e-04 9.99891389e-01 1.46559213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.32, Y:46.00, Z:1.47 [[ 5.03060180e-01 -8.64216279e-01 -7.78964782e-03 8.73162420e+01] [ 8.64125785e-01 5.03120297e-01 -1.25137549e-02 4.59975992e+01] [ 1.47337206e-02 -4.36063737e-04 9.99891358e-01 1.46509359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.328040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.33, Y:46.02, Z:1.46 [[ 5.03042108e-01 -8.64226982e-01 -7.76930085e-03 8.73318241e+01] [ 8.64136302e-01 5.03101932e-01 -1.25258745e-02 4.60175560e+01] [ 1.47339490e-02 -4.12692598e-04 9.99891364e-01 1.46463595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.358040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.35, Y:46.04, Z:1.46 [[ 5.01738815e-01 -8.64984707e-01 -7.72125574e-03 8.73523437e+01] [ 8.64893676e-01 5.01798079e-01 -1.25545220e-02 4.60399909e+01] [ 1.47339808e-02 -3.78974295e-04 9.99891377e-01 1.46443514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.388040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.37, Y:46.06, Z:1.46 [[ 5.00976586e-01 -8.65425922e-01 -7.77384555e-03 8.73699508e+01] [ 8.65335428e-01 5.01036693e-01 -1.25231828e-02 4.60629578e+01] [ 1.47328689e-02 -4.53162606e-04 9.99891363e-01 1.46177249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.39, Y:46.09, Z:1.47 [[ 5.00378655e-01 -8.65772560e-01 -7.68608740e-03 8.73931174e+01] [ 8.65681308e-01 5.00437552e-01 -1.25749666e-02 4.60894246e+01] [ 1.47334678e-02 -3.61457320e-04 9.99891391e-01 1.46856310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.41, Y:46.11, Z:1.47 [[ 5.01037361e-01 -8.65390177e-01 -7.83609434e-03 8.74079121e+01] [ 8.65300250e-01 5.01098360e-01 -1.24864389e-02 4.61089684e+01] [ 1.47322956e-02 -5.24401976e-04 9.99891336e-01 1.46858722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.478040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.43, Y:46.13, Z:1.47 [[ 5.00070511e-01 -8.65950333e-01 -7.71397688e-03 8.74253398e+01] [ 8.65859357e-01 5.00129845e-01 -1.25583496e-02 4.61347294e+01] [ 1.47328971e-02 -3.99158772e-04 9.99891385e-01 1.47060553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.508040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.45, Y:46.16, Z:1.47 [[ 5.03794732e-01 -8.63788396e-01 -7.77658847e-03 8.74475094e+01] [ 8.63697732e-01 5.03854583e-01 -1.25214949e-02 4.61564074e+01] [ 1.47341917e-02 -4.08358660e-04 9.99891363e-01 1.47055684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.538040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.46, Y:46.18, Z:1.47 [[ 5.03222922e-01 -8.64120814e-01 -7.86828709e-03 8.74607359e+01] [ 8.64031028e-01 5.03284159e-01 -1.24675249e-02 4.61791991e+01] [ 1.47334320e-02 -5.24499867e-04 9.99891320e-01 1.47257544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.568040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.48, Y:46.20, Z:1.47 [[ 5.07157571e-01 -8.61817897e-01 -7.81735533e-03 8.74758424e+01] [ 8.61727369e-01 5.07217660e-01 -1.24974962e-02 4.62016192e+01] [ 1.47356666e-02 -3.98229199e-04 9.99891345e-01 1.47289248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.49, Y:46.23, Z:1.47 [[ 5.08786533e-01 -8.60857045e-01 -7.83660115e-03 8.74885472e+01] [ 8.60766578e-01 5.08846729e-01 -1.24861574e-02 4.62252705e+01] [ 1.47364254e-02 -3.92695629e-04 9.99891336e-01 1.47441554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.50, Y:46.25, Z:1.48 [[ 5.10409954e-01 -8.59896127e-01 -7.76720333e-03 8.75037253e+01] [ 8.59804923e-01 5.10468970e-01 -1.25269511e-02 4.62499397e+01] [ 1.47367930e-02 -2.84399146e-04 9.99891367e-01 1.47608537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.658040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.52, Y:46.27, Z:1.48 [[ 5.09805389e-01 -8.60254625e-01 -7.77462267e-03 8.75179946e+01] [ 8.60163529e-01 5.09864578e-01 -1.25225955e-02 4.62748874e+01] [ 1.47366254e-02 -3.03360224e-04 9.99891364e-01 1.47651194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.53, Y:46.30, Z:1.48 [[ 5.11802772e-01 -8.59067967e-01 -7.75570885e-03 8.75335820e+01] [ 8.58976566e-01 5.11861472e-01 -1.25336712e-02 4.62993994e+01] [ 1.47371240e-02 -2.47204494e-04 9.99891372e-01 1.47607084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.718040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.55, Y:46.32, Z:1.48 [[ 5.11122543e-01 -8.59472797e-01 -7.76247720e-03 8.75466860e+01] [ 8.59381503e-01 5.11181415e-01 -1.25297111e-02 4.63225028e+01] [ 1.47369799e-02 -2.66711533e-04 9.99891369e-01 1.47726571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.748040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:87.56, Y:46.35, Z:1.48 [[ 5.08541787e-01 -8.61002517e-01 -7.74057324e-03 8.75574143e+01] [ 8.60911204e-01 5.08600613e-01 -1.25425218e-02 4.63459917e+01] [ 1.47360032e-02 -2.85549772e-04 9.99891378e-01 1.48041531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.57, Y:46.37, Z:1.48 [[ 5.07351308e-01 -8.61705339e-01 -7.65240328e-03 8.75692810e+01] [ 8.61613326e-01 5.07408975e-01 -1.25940104e-02 4.63678767e+01] [ 1.47352241e-02 -2.03824985e-04 9.99891410e-01 1.48108689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.59, Y:46.40, Z:1.48 [[ 5.05902821e-01 -8.62557234e-01 -7.57327520e-03 8.75858001e+01] [ 8.62464623e-01 5.05959484e-01 -1.26401761e-02 4.63950702e+01] [ 1.47346457e-02 -1.36981195e-04 9.99891430e-01 1.48184283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.60, Y:46.42, Z:1.48 [[ 5.00665281e-01 -8.65607181e-01 -7.64753245e-03 8.75971755e+01] [ 8.65515573e-01 5.00723587e-01 -1.25969175e-02 4.64198382e+01] [ 1.47332821e-02 -3.12219185e-04 9.99891411e-01 1.48114832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.61, Y:46.44, Z:1.48 [[ 4.98506312e-01 -8.66852941e-01 -7.57868514e-03 8.76082270e+01] [ 8.66760867e-01 4.98563844e-01 -1.26369730e-02 4.64421528e+01] [ 1.47328556e-02 -2.69296911e-04 9.99891429e-01 1.47931954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.898040942 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:87.62, Y:46.47, Z:1.48 [[ 4.93787015e-01 -8.69550546e-01 -7.49877498e-03 8.76205789e+01] [ 8.69458078e-01 4.93843884e-01 -1.26834187e-02 4.64660358e+01] [ 1.47320978e-02 -2.56963017e-04 9.99891444e-01 1.48159151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.63, Y:46.49, Z:1.48 [[ 4.91755356e-01 -8.70701547e-01 -7.44893645e-03 8.76346471e+01] [ 8.70608772e-01 4.91811714e-01 -1.27123759e-02 4.64913530e+01] [ 1.47321595e-02 -2.33730487e-04 9.99891449e-01 1.48070466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.65, Y:46.51, Z:1.48 [[ 4.90504652e-01 -8.71406615e-01 -7.46314268e-03 8.76479620e+01] [ 8.71314046e-01 4.90561351e-01 -1.27041241e-02 4.65146294e+01] [ 1.47315871e-02 -2.71309076e-04 9.99891447e-01 1.48135446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.66, Y:46.54, Z:1.48 [[ 4.88197360e-01 -8.72701615e-01 -7.43155013e-03 8.76610001e+01] [ 8.72608918e-01 4.88253843e-01 -1.27224580e-02 4.65378010e+01] [ 1.47313925e-02 -2.73766518e-04 9.99891450e-01 1.48240229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.68, Y:46.57, Z:1.48 [[ 4.88031370e-01 -8.72794789e-01 -7.39180320e-03 8.76797286e+01] [ 8.72701752e-01 4.88087291e-01 -1.27455094e-02 4.65650035e+01] [ 1.47320594e-02 -2.30631207e-04 9.99891451e-01 1.48087904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.69, Y:46.59, Z:1.48 [[ 4.84920661e-01 -8.74525542e-01 -7.55181849e-03 8.76883774e+01] [ 8.74434135e-01 4.84979235e-01 -1.26524779e-02 4.65867263e+01] [ 1.47273903e-02 -4.68119917e-04 9.99891437e-01 1.48164390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.70, Y:46.61, Z:1.48 [[ 4.83281698e-01 -8.75433651e-01 -7.39751385e-03 8.77032493e+01] [ 8.75340972e-01 4.83338206e-01 -1.27420611e-02 4.66130027e+01] [ 1.47303301e-02 -3.17342055e-04 9.99891452e-01 1.48295239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.72, Y:46.64, Z:1.48 [[ 4.82674643e-01 -8.75768085e-01 -7.44649788e-03 8.77175988e+01] [ 8.75675882e-01 4.82731927e-01 -1.27136369e-02 4.66374049e+01] [ 1.47288597e-02 -3.84168431e-04 9.99891451e-01 1.48411694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.74, Y:46.67, Z:1.48 [[ 4.85029177e-01 -8.74466500e-01 -7.41880056e-03 8.77382000e+01] [ 8.74373897e-01 4.85085810e-01 -1.27296960e-02 4.66654351e+01] [ 1.47304476e-02 -3.12531583e-04 9.99891452e-01 1.48448057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.74, Y:46.69, Z:1.49 [[ 4.82580894e-01 -8.75818005e-01 -7.64869307e-03 8.77430932e+01] [ 8.75727636e-01 4.82641107e-01 -1.25964198e-02 4.66869363e+01] [ 1.47237449e-02 -6.19380383e-04 9.99891408e-01 1.48721729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.76, Y:46.71, Z:1.48 [[ 4.86454234e-01 -8.73674278e-01 -7.45210799e-03 8.77633762e+01] [ 8.73581880e-01 4.86511201e-01 -1.27102047e-02 4.67147360e+01] [ 1.47301129e-02 -3.27093638e-04 9.99891453e-01 1.48490450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.228040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.77, Y:46.74, Z:1.49 [[ 4.83793658e-01 -8.75148614e-01 -7.65509766e-03 8.77694163e+01] [ 8.75058220e-01 4.83853838e-01 -1.25926424e-02 4.67370050e+01] [ 1.47243819e-02 -6.06415620e-04 9.99891407e-01 1.48733909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.258040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.79, Y:46.76, Z:1.48 [[ 4.89624747e-01 -8.71901078e-01 -7.49107607e-03 8.77891338e+01] [ 8.71808821e-01 4.89681946e-01 -1.26874716e-02 4.67643235e+01] [ 1.47304649e-02 -3.18686129e-04 9.99891450e-01 1.48284494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.80, Y:46.79, Z:1.49 [[ 4.87964963e-01 -8.72829777e-01 -7.64033317e-03 8.77956449e+01] [ 8.72738962e-01 4.88024498e-01 -1.26013020e-02 4.67856267e+01] [ 1.47274613e-02 -5.19022592e-04 9.99891410e-01 1.48769659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.318040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.81, Y:46.81, Z:1.49 [[ 4.89057299e-01 -8.72220172e-01 -7.41153086e-03 8.78097747e+01] [ 8.72127257e-01 4.89113398e-01 -1.27330931e-02 4.68103707e+01] [ 1.47311397e-02 -2.36585961e-04 9.99891463e-01 1.48872676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.82, Y:46.83, Z:1.49 [[ 4.91182015e-01 -8.71025384e-01 -7.41681935e-03 8.78224110e+01] [ 8.70932378e-01 4.91237965e-01 -1.27300478e-02 4.68328744e+01] [ 1.47316180e-02 -2.06777589e-04 9.99891462e-01 1.48852950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.378040942 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:87.84, Y:46.86, Z:1.49 [[ 4.92152384e-01 -8.70477680e-01 -7.39188399e-03 8.78373935e+01] [ 8.70384396e-01 4.92207866e-01 -1.27443895e-02 4.68580580e+01] [ 1.47320500e-02 -1.61598820e-04 9.99891464e-01 1.48601664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.408040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.85, Y:46.88, Z:1.49 [[ 4.93076634e-01 -8.69954188e-01 -7.42594109e-03 8.78492520e+01] [ 8.69861140e-01 4.93132515e-01 -1.27248078e-02 4.68799264e+01] [ 1.47319728e-02 -1.85232182e-04 9.99891461e-01 1.48959488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.438040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.86, Y:46.90, Z:1.49 [[ 4.92762051e-01 -8.70133313e-01 -7.31976637e-03 8.78631020e+01] [ 8.70039373e-01 4.92816409e-01 -1.27857869e-02 4.69043063e+01] [ 1.47326401e-02 -6.81343652e-05 9.99891466e-01 1.49123006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.88, Y:46.93, Z:1.49 [[ 4.92170209e-01 -8.70468047e-01 -7.33925061e-03 8.78768435e+01] [ 8.70374310e-01 4.92224918e-01 -1.27746041e-02 4.69276170e+01] [ 1.47324467e-02 -1.00615609e-04 9.99891467e-01 1.49027177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.90, Y:46.95, Z:1.49 [[ 4.90314858e-01 -8.71514593e-01 -7.32498226e-03 8.78954210e+01] [ 8.71420851e-01 4.90369556e-01 -1.27827888e-02 4.69539780e+01] [ 1.47323353e-02 -1.15551005e-04 9.99891467e-01 1.49176907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.90, Y:46.98, Z:1.49 [[ 4.86023696e-01 -8.73913736e-01 -7.46651969e-03 8.79049653e+01] [ 8.73821496e-01 4.86080918e-01 -1.27017633e-02 4.69774689e+01] [ 1.47295781e-02 -3.51047469e-04 9.99891452e-01 1.48700531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.558040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.92, Y:47.00, Z:1.49 [[ 4.83766468e-01 -8.75166236e-01 -7.35284386e-03 8.79191304e+01] [ 8.75073149e-01 4.83822274e-01 -1.27667955e-02 4.70006665e+01] [ 1.47305380e-02 -2.58128674e-04 9.99891466e-01 1.48998361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.93, Y:47.02, Z:1.49 [[ 4.80725941e-01 -8.76840423e-01 -7.31042424e-03 8.79323037e+01] [ 8.76747161e-01 4.80781453e-01 -1.27910395e-02 4.70234683e+01] [ 1.47304168e-02 -2.60409208e-04 9.99891468e-01 1.49173016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.95, Y:47.05, Z:1.49 [[ 4.78914095e-01 -8.77831370e-01 -7.30581691e-03 8.79465256e+01] [ 8.77738183e-01 4.78969732e-01 -1.27936705e-02 4.70477253e+01] [ 1.47299505e-02 -2.85525344e-04 9.99891468e-01 1.49263322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.96, Y:47.07, Z:1.49 [[ 4.75938509e-01 -8.79448242e-01 -7.30243240e-03 8.79605422e+01] [ 8.79355214e-01 4.75994412e-01 -1.27956020e-02 4.70704492e+01] [ 1.47289867e-02 -3.31512265e-04 9.99891468e-01 1.49338279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.97, Y:47.09, Z:1.49 [[ 4.74665396e-01 -8.80136062e-01 -7.29886650e-03 8.79745922e+01] [ 8.80043084e-01 4.74721382e-01 -1.27976358e-02 4.70941967e+01] [ 1.47285887e-02 -3.48722137e-04 9.99891468e-01 1.49433429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.99, Y:47.12, Z:1.50 [[ 4.73739692e-01 -8.80634705e-01 -7.29523761e-03 8.79891826e+01] [ 8.80541754e-01 4.73795723e-01 -1.27997040e-02 4.71172665e+01] [ 1.47283160e-02 -3.60033463e-04 9.99891468e-01 1.49504052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.00, Y:47.14, Z:1.50 [[ 4.73954282e-01 -8.80519259e-01 -7.29197087e-03 8.80027963e+01] [ 8.80426266e-01 4.74010242e-01 -1.28015648e-02 4.71415110e+01] [ 1.47284933e-02 -3.52686218e-04 9.99891468e-01 1.49587259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.768040942 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:88.02, Y:47.17, Z:1.49 [[ 4.77414706e-01 -8.78647867e-01 -7.28858620e-03 8.80229651e+01] [ 8.78554625e-01 4.77470251e-01 -1.28034916e-02 4.71695682e+01] [ 1.47298437e-02 -2.90845924e-04 9.99891468e-01 1.49372724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.798040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.03, Y:47.19, Z:1.50 [[ 4.75456139e-01 -8.79707443e-01 -7.50167846e-03 8.80295452e+01] [ 8.79616208e-01 4.75514975e-01 -1.26820825e-02 4.71913648e+01] [ 1.47236828e-02 -5.68823969e-04 9.99891439e-01 1.49544436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.828040942 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:88.04, Y:47.22, Z:1.49 [[ 4.77049916e-01 -8.78846034e-01 -7.28193784e-03 8.80413447e+01] [ 8.78752761e-01 4.77105403e-01 -1.28070252e-02 4.72158766e+01] [ 1.47296552e-02 -2.89432674e-04 9.99891471e-01 1.49246880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.05, Y:47.24, Z:1.49 [[ 4.78368165e-01 -8.78129217e-01 -7.27852680e-03 8.80543746e+01] [ 8.78035832e-01 4.78423461e-01 -1.28089635e-02 4.72403774e+01] [ 1.47301431e-02 -2.63406977e-04 9.99891471e-01 1.49419326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.07, Y:47.26, Z:1.49 [[ 4.78398076e-01 -8.78112952e-01 -7.27491208e-03 8.80674328e+01] [ 8.78019534e-01 4.78453317e-01 -1.28110162e-02 4.72638899e+01] [ 1.47302250e-02 -2.58749418e-04 9.99891471e-01 1.49481796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.918040942 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:88.08, Y:47.29, Z:1.49 [[ 4.78618852e-01 -8.77992664e-01 -7.27166020e-03 8.80814098e+01] [ 8.77899203e-01 4.78674022e-01 -1.28128617e-02 4.72882753e+01] [ 1.47303534e-02 -2.51307543e-04 9.99891471e-01 1.49497382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.10, Y:47.31, Z:1.50 [[ 4.78614641e-01 -8.77994989e-01 -7.26807553e-03 8.80951146e+01] [ 8.77901498e-01 4.78669759e-01 -1.28148948e-02 4.73127227e+01] [ 1.47304214e-02 -2.47258133e-04 9.99891471e-01 1.49655536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.978040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.11, Y:47.34, Z:1.50 [[ 4.77943986e-01 -8.78360275e-01 -7.26451408e-03 8.81084258e+01] [ 8.78266796e-01 4.77999124e-01 -1.28169134e-02 4.73369391e+01] [ 1.47302989e-02 -2.54414833e-04 9.99891471e-01 1.49574239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.008040942 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:88.12, Y:47.36, Z:1.50 [[ 4.77132826e-01 -8.78801197e-01 -7.26095937e-03 8.81220006e+01] [ 8.78707738e-01 4.77187998e-01 -1.28189269e-02 4.73618203e+01] [ 1.47301309e-02 -2.63930390e-04 9.99891471e-01 1.49569740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.038040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.13, Y:47.39, Z:1.50 [[ 4.75714604e-01 -8.79569752e-01 -7.25725703e-03 8.81342481e+01] [ 8.79476350e-01 4.75769873e-01 -1.28210225e-02 4.73855954e+01] [ 1.47297679e-02 -2.83438266e-04 9.99891471e-01 1.49532190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.068040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.15, Y:47.41, Z:1.50 [[ 4.74650448e-01 -8.80144489e-01 -7.25474702e-03 8.81476035e+01] [ 8.80051132e-01 4.74705793e-01 -1.28224427e-02 4.74102737e+01] [ 1.47294727e-02 -2.98370174e-04 9.99891471e-01 1.49653212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.16, Y:47.44, Z:1.49 [[ 4.74513658e-01 -8.80218274e-01 -7.25111470e-03 8.81645292e+01] [ 8.80124894e-01 4.74568965e-01 -1.28244964e-02 4.74369836e+01] [ 1.47295101e-02 -2.96487853e-04 9.99891471e-01 1.49359200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.18, Y:47.46, Z:1.49 [[ 4.73569205e-01 -8.80725840e-01 -7.36225175e-03 8.81774844e+01] [ 8.80633488e-01 4.73626225e-01 -1.27616383e-02 4.74617074e+01] [ 1.47264601e-02 -4.39926544e-04 9.99891463e-01 1.49463368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.158040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.19, Y:47.49, Z:1.50 [[ 4.72792647e-01 -8.81143055e-01 -7.35042457e-03 8.81910874e+01] [ 8.81050650e-01 4.72849577e-01 -1.27683200e-02 4.74876644e+01] [ 1.47263617e-02 -4.39328515e-04 9.99891465e-01 1.49566660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.21, Y:47.51, Z:1.50 [[ 4.74804461e-01 -8.80060544e-01 -7.35954159e-03 8.82102342e+01] [ 8.79968088e-01 4.74861312e-01 -1.27631715e-02 4.75146232e+01] [ 1.47271252e-02 -4.16150986e-04 9.99891463e-01 1.49659714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.218040942 meters Centerline goodness : 0.996047 Centerline is valid? [True, True] Translation: X:88.22, Y:47.53, Z:1.50 [[ 4.73491289e-01 -8.80766282e-01 -7.53360411e-03 8.82170328e+01] [ 8.80675464e-01 4.73550788e-01 -1.26640291e-02 4.75307295e+01] [ 1.47215940e-02 -6.38352826e-04 9.99891428e-01 1.49949236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.23, Y:47.56, Z:1.50 [[ 4.73962553e-01 -8.80515898e-01 -7.15899316e-03 8.82346150e+01] [ 8.80421762e-01 4.74016574e-01 -1.28766530e-02 4.75576243e+01] [ 1.47315791e-02 -1.99882026e-04 9.99891464e-01 1.49873953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.25, Y:47.58, Z:1.50 [[ 4.73990904e-01 -8.80498964e-01 -7.36183675e-03 8.82498212e+01] [ 8.80406580e-01 4.74047874e-01 -1.27619161e-02 4.75836748e+01] [ 1.47267170e-02 -4.32377359e-04 9.99891463e-01 1.49898566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.26, Y:47.61, Z:1.50 [[ 4.72088363e-01 -8.81520230e-01 -7.39331308e-03 8.82597284e+01] [ 8.81428247e-01 4.72145987e-01 -1.27441225e-02 4.76078837e+01] [ 1.47249249e-02 -5.00323033e-04 9.99891457e-01 1.49769539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.27, Y:47.63, Z:1.50 [[ 4.72318625e-01 -8.81397644e-01 -7.30136409e-03 8.82727316e+01] [ 8.81304840e-01 4.72374894e-01 -1.27960367e-02 4.76343048e+01] [ 1.47273777e-02 -3.90921045e-04 9.99891470e-01 1.49774943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.29, Y:47.66, Z:1.50 [[ 4.72109891e-01 -8.81509243e-01 -7.32839742e-03 8.82865911e+01] [ 8.81416688e-01 4.72166574e-01 -1.27807807e-02 4.76608961e+01] [ 1.47266006e-02 -4.25438809e-04 9.99891467e-01 1.49870925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.30, Y:47.69, Z:1.50 [[ 4.68526821e-01 -8.83418767e-01 -7.34166144e-03 8.82978337e+01] [ 8.83326559e-01 4.68584071e-01 -1.27733143e-02 4.76883202e+01] [ 1.47243712e-02 -5.00444197e-04 9.99891465e-01 1.49571200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.32, Y:47.72, Z:1.50 [[ 4.72075977e-01 -8.81527294e-01 -7.34178259e-03 8.83200936e+01] [ 8.81434858e-01 4.72132858e-01 -1.27732461e-02 4.77157344e+01] [ 1.47262619e-02 -4.41360445e-04 9.99891465e-01 1.49892473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.33, Y:47.74, Z:1.50 [[ 4.67261306e-01 -8.84087012e-01 -7.55166255e-03 8.83288898e+01] [ 8.83996760e-01 4.67321703e-01 -1.26551737e-02 4.77371970e+01] [ 1.47173305e-02 -7.62372231e-04 9.99891404e-01 1.50020228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.488040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.34, Y:47.76, Z:1.50 [[ 4.65015716e-01 -8.85272085e-01 -7.32943574e-03 8.83409172e+01] [ 8.85180002e-01 4.65073155e-01 -1.27798909e-02 4.77625625e+01] [ 1.47224044e-02 -5.45019840e-04 9.99891471e-01 1.49932612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.518040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.35, Y:47.79, Z:1.50 [[ 4.64824021e-01 -8.85372803e-01 -7.32323389e-03 8.83531578e+01] [ 8.85280677e-01 4.64881391e-01 -1.27833687e-02 4.77876297e+01] [ 1.47224822e-02 -5.41100596e-04 9.99891472e-01 1.49953394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.548040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:88.37, Y:47.81, Z:1.50 [[ 4.64718089e-01 -8.85428393e-01 -7.32522562e-03 8.83666050e+01] [ 8.85336292e-01 4.64775498e-01 -1.27822523e-02 4.78121592e+01] [ 1.47223545e-02 -5.45144215e-04 9.99891472e-01 1.50054698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.578040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:88.38, Y:47.84, Z:1.50 [[ 4.64324419e-01 -8.85634956e-01 -7.31832713e-03 8.83804690e+01] [ 8.85542820e-01 4.64381770e-01 -1.27861149e-02 4.78372161e+01] [ 1.47223280e-02 -5.43786694e-04 9.99891473e-01 1.50096611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.608040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.39, Y:47.86, Z:1.50 [[ 4.64121740e-01 -8.85741232e-01 -7.31298954e-03 8.83928219e+01] [ 8.85649063e-01 4.64179035e-01 -1.27891004e-02 4.78612260e+01] [ 1.47223699e-02 -5.41042813e-04 9.99891474e-01 1.50069965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.638040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.41, Y:47.88, Z:1.50 [[ 4.66140960e-01 -8.84680693e-01 -7.25790164e-03 8.84064671e+01] [ 8.84587913e-01 4.66197248e-01 -1.28198831e-02 4.78837229e+01] [ 1.47251168e-02 -4.44379442e-04 9.99891481e-01 1.49883282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.42, Y:47.91, Z:1.50 [[ 4.66040563e-01 -8.84733942e-01 -7.21427718e-03 8.84248813e+01] [ 8.84640791e-01 4.66096230e-01 -1.28442457e-02 4.79129307e+01] [ 1.47262875e-02 -3.96104379e-04 9.99891484e-01 1.49865613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.44, Y:47.94, Z:1.50 [[ 4.64889799e-01 -8.85337687e-01 -7.39289132e-03 8.84368392e+01] [ 8.85246171e-01 4.64948165e-01 -1.27444513e-02 4.79376575e+01] [ 1.47204543e-02 -6.19763304e-04 9.99891456e-01 1.49990431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.728040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.45, Y:47.96, Z:1.50 [[ 4.66008121e-01 -8.84750078e-01 -7.33014254e-03 8.84519138e+01] [ 8.84657937e-01 4.66065468e-01 -1.27794704e-02 4.79630602e+01] [ 1.47229638e-02 -5.29331779e-04 9.99891471e-01 1.50015822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.758040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.47, Y:47.99, Z:1.50 [[ 4.65874436e-01 -8.84820219e-01 -7.36133041e-03 8.84651181e+01] [ 8.84728360e-01 4.65932246e-01 -1.27620797e-02 4.79876278e+01] [ 1.47220274e-02 -5.67251099e-04 9.99891464e-01 1.49983065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.788040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.48, Y:48.01, Z:1.50 [[ 4.66942149e-01 -8.84257300e-01 -7.35236619e-03 8.84776022e+01] [ 8.84165293e-01 4.66999718e-01 -1.27670740e-02 4.80102002e+01] [ 1.47229313e-02 -5.39222051e-04 9.99891466e-01 1.50122742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.818040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:88.50, Y:48.04, Z:1.50 [[ 4.67797556e-01 -8.83805658e-01 -7.28045777e-03 8.84957310e+01] [ 8.83712973e-01 4.67853997e-01 -1.28070296e-02 4.80386107e+01] [ 1.47251165e-02 -4.42737843e-04 9.99891482e-01 1.50180116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.848040942 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:88.51, Y:48.06, Z:1.50 [[ 4.68449220e-01 -8.83459085e-01 -7.44134154e-03 8.85090368e+01] [ 8.83367758e-01 4.68507914e-01 -1.27176300e-02 4.80621733e+01] [ 1.47218331e-02 -6.15877359e-04 9.99891438e-01 1.50028438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.878040942 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:88.52, Y:48.09, Z:1.50 [[ 4.69083503e-01 -8.83122945e-01 -7.38446760e-03 8.85247575e+01] [ 8.83031080e-01 4.69141313e-01 -1.27491522e-02 4.80897679e+01] [ 1.47234277e-02 -5.40297418e-04 9.99891458e-01 1.50325074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.908040942 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:88.54, Y:48.11, Z:1.50 [[ 4.69568126e-01 -8.82864605e-01 -7.47423553e-03 8.85379513e+01] [ 8.82773492e-01 4.69627178e-01 -1.26994209e-02 4.81139026e+01] [ 1.47219734e-02 -6.34813724e-04 9.99891424e-01 1.50272298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.938040942 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:88.55, Y:48.14, Z:1.50 [[ 4.69755118e-01 -8.82765235e-01 -7.46112396e-03 8.85511000e+01] [ 8.82673995e-01 4.69813963e-01 -1.27066760e-02 4.81393766e+01] [ 1.47223521e-02 -6.16713980e-04 9.99891430e-01 1.50357035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.968040942 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:88.56, Y:48.16, Z:1.50 [[ 4.69962904e-01 -8.82654702e-01 -7.45292417e-03 8.85621421e+01] [ 8.82563376e-01 4.70021609e-01 -1.27112094e-02 4.81631492e+01] [ 1.47226442e-02 -6.03881023e-04 9.99891434e-01 1.50494698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.998040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:88.58, Y:48.19, Z:1.51 [[ 4.69360382e-01 -8.82975936e-01 -7.37073000e-03 8.85763847e+01] [ 8.82883937e-01 4.69417964e-01 -1.27565099e-02 4.81890565e+01] [ 1.47236444e-02 -5.20098745e-04 9.99891466e-01 1.50700113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.028040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:88.59, Y:48.21, Z:1.51 [[ 4.67418270e-01 -8.84005486e-01 -7.37984301e-03 8.85887887e+01] [ 8.83913692e-01 4.67476186e-01 -1.27514943e-02 4.82133459e+01] [ 1.47222918e-02 -5.62862845e-04 9.99891463e-01 1.50958199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.60, Y:48.24, Z:1.51 [[ 4.65048408e-01 -8.85255008e-01 -7.31770303e-03 8.86018967e+01] [ 8.85162832e-01 4.65105674e-01 -1.27856590e-02 4.82387806e+01] [ 1.47220739e-02 -5.31408360e-04 9.99891483e-01 1.51038097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.088040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:88.62, Y:48.26, Z:1.51 [[ 4.65120412e-01 -8.85216739e-01 -7.37072000e-03 8.86151538e+01] [ 8.85125016e-01 4.65178435e-01 -1.27565499e-02 4.82614913e+01] [ 1.47210115e-02 -5.90676920e-04 9.99891466e-01 1.51144947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.118040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:88.63, Y:48.29, Z:1.51 [[ 4.65418684e-01 -8.85061060e-01 -7.23664631e-03 8.86306667e+01] [ 8.84968167e-01 4.65474740e-01 -1.28300525e-02 4.82851970e+01] [ 1.47238559e-02 -4.32855469e-04 9.99891504e-01 1.51159939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.148040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:88.64, Y:48.31, Z:1.51 [[ 4.64570676e-01 -8.85506235e-01 -7.26602937e-03 8.86425658e+01] [ 8.85413646e-01 4.64627246e-01 -1.28139504e-02 4.83097196e+01] [ 1.47228282e-02 -4.80455965e-04 9.99891498e-01 1.51149374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.178040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:88.65, Y:48.34, Z:1.51 [[ 4.64746226e-01 -8.85414493e-01 -7.21952310e-03 8.86544071e+01] [ 8.85321498e-01 4.64802104e-01 -1.28393919e-02 4.83352643e+01] [ 1.47238332e-02 -4.24540067e-04 9.99891508e-01 1.51058129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.208040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:88.67, Y:48.36, Z:1.51 [[ 4.64596935e-01 -8.85492974e-01 -7.20289505e-03 8.86661658e+01] [ 8.85399847e-01 4.64652587e-01 -1.28484822e-02 4.83595077e+01] [ 1.47240845e-02 -4.08076751e-04 9.99891512e-01 1.50725510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.238040942 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:88.68, Y:48.38, Z:1.51 [[ 4.64762024e-01 -8.85406637e-01 -7.16578660e-03 8.86788975e+01] [ 8.85313187e-01 4.64817121e-01 -1.28687504e-02 4.83848169e+01] [ 1.47248573e-02 -3.63058888e-04 9.99891518e-01 1.50665046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.268040942 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:88.69, Y:48.41, Z:1.51 [[ 4.65610446e-01 -8.84961028e-01 -7.13380962e-03 8.86922139e+01] [ 8.84867258e-01 4.65664988e-01 -1.28861984e-02 4.84094951e+01] [ 1.47257487e-02 -3.12525996e-04 9.99891521e-01 1.50651558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.298040942 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:88.70, Y:48.43, Z:1.50 [[ 4.65031156e-01 -8.85265715e-01 -7.11603175e-03 8.87037825e+01] [ 8.85171832e-01 4.65085501e-01 -1.28958937e-02 4.84340606e+01] [ 1.47258557e-02 -3.01918521e-04 9.99891523e-01 1.50416582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.328040942 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:88.72, Y:48.46, Z:1.50 [[ 4.64364851e-01 -8.85615520e-01 -7.10176814e-03 8.87152436e+01] [ 8.85521560e-01 4.64419059e-01 -1.29036708e-02 4.84589635e+01] [ 1.47258876e-02 -2.96757622e-04 9.99891524e-01 1.50273573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.358040942 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:88.73, Y:48.48, Z:1.50 [[ 4.65072513e-01 -8.85244357e-01 -7.07003376e-03 8.87267086e+01] [ 8.85150091e-01 4.65126183e-01 -1.29209618e-02 4.84845036e+01] [ 1.47266663e-02 -2.48856854e-04 9.99891526e-01 1.50275808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.388040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.74, Y:48.51, Z:1.50 [[ 4.65000838e-01 -8.85282243e-01 -7.04066192e-03 8.87378335e+01] [ 8.85187738e-01 4.65054087e-01 -1.29369546e-02 4.85103095e+01] [ 1.47271448e-02 -2.16612844e-04 9.99891526e-01 1.50214600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.418040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:88.75, Y:48.54, Z:1.50 [[ 4.65003755e-01 -8.85280945e-01 -7.01115525e-03 8.87524015e+01] [ 8.85186198e-01 4.65056572e-01 -1.29530214e-02 4.85358104e+01] [ 1.47276469e-02 -1.82974261e-04 9.99891526e-01 1.50419651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.448040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:88.77, Y:48.56, Z:1.51 [[ 4.68046158e-01 -8.83675761e-01 -7.06708896e-03 8.87707307e+01] [ 8.83581290e-01 4.68099468e-01 -1.29225689e-02 4.85614641e+01] [ 1.47274615e-02 -1.95988835e-04 9.99891526e-01 1.50695773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.478040942 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:88.78, Y:48.58, Z:1.51 [[ 4.70344409e-01 -8.82453092e-01 -7.25791038e-03 8.87799672e+01] [ 8.82360068e-01 4.70400255e-01 -1.28183824e-02 4.85822308e+01] [ 1.47257440e-02 -3.75035813e-04 9.99891500e-01 1.51175316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.508040942 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:88.79, Y:48.61, Z:1.50 [[ 4.69965277e-01 -8.82656757e-01 -7.04895676e-03 8.87921728e+01] [ 8.82562025e-01 4.70018115e-01 -1.29322765e-02 4.86089620e+01] [ 1.47278987e-02 -1.43420626e-04 9.99891528e-01 1.50431608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.538040942 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:88.80, Y:48.63, Z:1.51 [[ 4.73685909e-01 -8.80665538e-01 -7.06186666e-03 8.88035973e+01] [ 8.80570688e-01 4.73738537e-01 -1.29252430e-02 4.86338641e+01] [ 1.47282944e-02 -9.59673130e-05 9.99891528e-01 1.51237000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.568040942 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:88.82, Y:48.66, Z:1.51 [[ 4.74799535e-01 -8.80065784e-01 -7.04393396e-03 8.88158446e+01] [ 8.79970723e-01 4.74851780e-01 -1.29350085e-02 4.86584510e+01] [ 1.47284829e-02 -5.69196469e-05 9.99891528e-01 1.51266509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.598040942 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:88.83, Y:48.68, Z:1.51 [[ 4.75828492e-01 -8.79509906e-01 -7.04063089e-03 8.88286872e+01] [ 8.79414758e-01 4.75880577e-01 -1.29368061e-02 4.86839529e+01] [ 1.47285486e-02 -3.59337597e-05 9.99891528e-01 1.51372404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.628040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:88.84, Y:48.71, Z:1.51 [[ 4.77181271e-01 -8.78776715e-01 -7.03701422e-03 8.88416878e+01] [ 8.78681457e-01 4.77233155e-01 -1.29387731e-02 4.87112314e+01] [ 1.47285890e-02 -9.15371773e-06 9.99891528e-01 1.50999993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.658040942 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:88.85, Y:48.73, Z:1.52 [[ 4.78311083e-01 -8.78161979e-01 -7.07437435e-03 8.88538788e+01] [ 8.78066954e-01 4.78363395e-01 -1.29184606e-02 4.87343629e+01] [ 1.47286226e-02 -3.27314580e-05 9.99891527e-01 1.51588891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.87, Y:48.76, Z:1.52 [[ 4.77712331e-01 -8.78488178e-01 -7.03205711e-03 8.88664010e+01] [ 8.78392849e-01 4.77764085e-01 -1.29414547e-02 4.87586367e+01] [ 1.47285793e-02 5.38382088e-06 9.99891529e-01 1.51681518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.718040942 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:88.88, Y:48.78, Z:1.52 [[ 4.77009056e-01 -8.78870273e-01 -7.02880135e-03 8.88790493e+01] [ 8.78774960e-01 4.77060838e-01 -1.29432228e-02 4.87838083e+01] [ 1.47285796e-02 -2.70015173e-06 9.99891529e-01 1.51731649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.89, Y:48.81, Z:1.52 [[ 4.75820921e-01 -8.79514127e-01 -7.02510300e-03 8.88917340e+01] [ 8.79418854e-01 4.75872778e-01 -1.29452298e-02 4.88094377e+01] [ 1.47285677e-02 -1.83968727e-05 9.99891529e-01 1.51731078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.90, Y:48.83, Z:1.52 [[ 4.73129887e-01 -8.80964704e-01 -7.02139489e-03 8.89030767e+01] [ 8.80869561e-01 4.73181980e-01 -1.29472407e-02 4.88335371e+01] [ 1.47284596e-02 -5.92064991e-05 9.99891529e-01 1.51729912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.92, Y:48.86, Z:1.52 [[ 4.71519819e-01 -8.81827538e-01 -7.01807659e-03 8.89155870e+01] [ 8.81732463e-01 4.71572038e-01 -1.29490391e-02 4.88586282e+01] [ 1.47283480e-02 -8.23373596e-05 9.99891529e-01 1.51749890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.93, Y:48.88, Z:1.52 [[ 4.68306286e-01 -8.83538352e-01 -7.01447310e-03 8.89262952e+01] [ 8.83443438e-01 4.68358798e-01 -1.29509909e-02 4.88831865e+01] [ 1.47279873e-02 -1.31859801e-04 9.99891529e-01 1.51800103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.94, Y:48.91, Z:1.52 [[ 4.66710930e-01 -8.84382123e-01 -7.01201659e-03 8.89385738e+01] [ 8.84287284e-01 4.66763576e-01 -1.29523207e-02 4.89080312e+01] [ 1.47277549e-02 -1.55647451e-04 9.99891529e-01 1.51895929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.95, Y:48.93, Z:1.52 [[ 4.65505336e-01 -8.85017324e-01 -7.00844626e-03 8.89509619e+01] [ 8.84922528e-01 4.65558059e-01 -1.29542523e-02 4.89336368e+01] [ 1.47275764e-02 -1.71658400e-04 9.99891529e-01 1.52035788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.96, Y:48.96, Z:1.52 [[ 4.64260392e-01 -8.85671057e-01 -7.00478159e-03 8.89605326e+01] [ 8.85576305e-01 4.64313195e-01 -1.29562336e-02 4.89589115e+01] [ 1.47273737e-02 -1.88202493e-04 9.99891529e-01 1.52202586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.97, Y:48.98, Z:1.52 [[ 4.64235973e-01 -8.85683883e-01 -7.00150255e-03 8.89694614e+01] [ 8.85589106e-01 4.64288731e-01 -1.29580054e-02 4.89845463e+01] [ 1.47274153e-02 -1.84882140e-04 9.99891529e-01 1.52290316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.98, Y:49.01, Z:1.52 [[ 4.64478509e-01 -8.85556739e-01 -6.99825767e-03 8.89806075e+01] [ 8.85461922e-01 4.64531194e-01 -1.29597576e-02 4.90094628e+01] [ 1.47275097e-02 -1.77161778e-04 9.99891529e-01 1.52258413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.99, Y:49.04, Z:1.52 [[ 4.64160946e-01 -8.85723713e-01 -6.93688989e-03 8.89927501e+01] [ 8.85628417e-01 4.64212765e-01 -1.29928750e-02 4.90369815e+01] [ 1.47282903e-02 -1.12721663e-04 9.99891526e-01 1.52408981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.00, Y:49.06, Z:1.52 [[ 4.64058034e-01 -8.85777187e-01 -6.99402295e-03 8.90043520e+01] [ 8.85682360e-01 4.64110702e-01 -1.29620474e-02 4.90618276e+01] [ 1.47274867e-02 -1.79340527e-04 9.99891529e-01 1.52496462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.03, Y:49.09, Z:1.52 [[ 4.68872617e-01 -8.83238133e-01 -6.99073766e-03 8.90266929e+01] [ 8.83142994e-01 4.68924719e-01 -1.29638189e-02 4.90939601e+01] [ 1.47282689e-02 -9.54412743e-05 9.99891529e-01 1.52377012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.04, Y:49.12, Z:1.52 [[ 4.68301411e-01 -8.83538097e-01 -7.36334750e-03 8.90389703e+01] [ 8.83446074e-01 4.68358999e-01 -1.27625632e-02 4.91203908e+01] [ 1.47249009e-02 -5.28394087e-04 9.99891443e-01 1.52405706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.04, Y:49.15, Z:1.52 [[ 4.64792323e-01 -8.85389206e-01 -7.35192183e-03 8.90423199e+01] [ 8.85297314e-01 4.64850110e-01 -1.27687230e-02 4.91452011e+01] [ 1.47228312e-02 -5.73832204e-04 9.99891449e-01 1.52320069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.06, Y:49.17, Z:1.52 [[ 4.66585536e-01 -8.84447089e-01 -7.16134158e-03 8.90572094e+01] [ 8.84353488e-01 4.66640375e-01 -1.28712422e-02 4.91724607e+01] [ 1.47257038e-02 -3.27621970e-04 9.99891517e-01 1.52265701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.06, Y:49.19, Z:1.53 [[ 4.61904890e-01 -8.86899385e-01 -7.30440795e-03 8.90573718e+01] [ 8.86807278e-01 4.61962292e-01 -1.27942082e-02 4.91927431e+01] [ 1.47215364e-02 -5.67894803e-04 9.99891471e-01 1.52538077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.07, Y:49.22, Z:1.52 [[ 4.62581122e-01 -8.86549587e-01 -6.96676656e-03 8.90710858e+01] [ 8.86454645e-01 4.62633548e-01 -1.29754949e-02 4.92231668e+01] [ 1.47264796e-02 -1.73503589e-04 9.99891544e-01 1.52088124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.258040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.09, Y:49.25, Z:1.52 [[ 4.63262697e-01 -8.86192527e-01 -7.10476264e-03 8.90854360e+01] [ 8.86098668e-01 4.63317065e-01 -1.29014675e-02 4.92505927e+01] [ 1.47249418e-02 -3.18752094e-04 9.99891531e-01 1.52265879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.09, Y:49.27, Z:1.53 [[ 4.59998676e-01 -8.87890572e-01 -7.17987972e-03 8.90871043e+01] [ 8.87797537e-01 4.60054478e-01 -1.28611797e-02 4.92733074e+01] [ 1.47224560e-02 -4.58153888e-04 9.99891514e-01 1.52658213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.318040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.10, Y:49.30, Z:1.52 [[ 4.61351108e-01 -8.87190421e-01 -6.95072642e-03 8.91022326e+01] [ 8.87095425e-01 4.61403431e-01 -1.29838543e-02 4.93018019e+01] [ 1.47262402e-02 -1.75842015e-04 9.99891548e-01 1.52268284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.11, Y:49.33, Z:1.52 [[ 4.56417639e-01 -8.89737451e-01 -7.08570817e-03 8.91093484e+01] [ 8.89643857e-01 4.56472453e-01 -1.29115290e-02 4.93286182e+01] [ 1.47223015e-02 -4.10707148e-04 9.99891537e-01 1.52499350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.13, Y:49.36, Z:1.53 [[ 4.61049042e-01 -8.87346514e-01 -7.06715695e-03 8.91295348e+01] [ 8.87252484e-01 4.61103096e-01 -1.29214760e-02 4.93591330e+01] [ 1.47245146e-02 -3.12918451e-04 9.99891539e-01 1.52681159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.408040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.14, Y:49.39, Z:1.53 [[ 4.57398951e-01 -8.89231204e-01 -7.35292149e-03 8.91403690e+01] [ 8.89139806e-01 4.57457516e-01 -1.27681624e-02 4.93867723e+01] [ 1.47174976e-02 -6.97631099e-04 9.99891448e-01 1.52956259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.15, Y:49.41, Z:1.53 [[ 4.52267835e-01 -8.91851831e-01 -7.35644289e-03 8.91450898e+01] [ 8.91760803e-01 4.52326976e-01 -1.27662873e-02 4.94101614e+01] [ 1.47131543e-02 -7.86406286e-04 9.99891446e-01 1.52863880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.16, Y:49.43, Z:1.53 [[ 4.51713664e-01 -8.92133892e-01 -7.20315762e-03 8.91576994e+01] [ 8.92041593e-01 4.51770664e-01 -1.28477338e-02 4.94347774e+01] [ 1.47160740e-02 -6.22019306e-04 9.99891519e-01 1.52899757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.17, Y:49.46, Z:1.53 [[ 4.49542950e-01 -8.93229685e-01 -7.20185813e-03 8.91699104e+01] [ 8.93137514e-01 4.49600156e-01 -1.28484234e-02 4.94628852e+01] [ 1.47145497e-02 -6.56331486e-04 9.99891520e-01 1.52780902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.17, Y:49.48, Z:1.53 [[ 4.42044013e-01 -8.96964061e-01 -7.25009441e-03 8.91675220e+01] [ 8.96872787e-01 4.42102678e-01 -1.28228484e-02 4.94834780e+01] [ 1.47069203e-02 -8.34149010e-04 9.99891499e-01 1.52986669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.18, Y:49.51, Z:1.53 [[ 4.42329996e-01 -8.96825968e-01 -6.88172535e-03 8.91825668e+01] [ 8.96731582e-01 4.42383332e-01 -1.30175875e-02 4.95148268e+01] [ 1.47188711e-02 -4.12991023e-04 9.99891586e-01 1.52813928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.19, Y:49.54, Z:1.53 [[ 4.41184591e-01 -8.97388399e-01 -7.08644142e-03 8.91928082e+01] [ 8.97295787e-01 4.41241002e-01 -1.29092594e-02 4.95407676e+01] [ 1.47114481e-02 -6.63267714e-04 9.99891561e-01 1.52724912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.618040942 meters Centerline goodness : 0.995732 Centerline is valid? [True, True] Translation: X:89.20, Y:49.56, Z:1.53 [[ 4.37793838e-01 -8.99047364e-01 -7.09871078e-03 8.91981134e+01] [ 8.98955071e-01 4.37850773e-01 -1.29027215e-02 4.95628145e+01] [ 1.47083337e-02 -7.32690099e-04 9.99891558e-01 1.52754502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.21, Y:49.59, Z:1.53 [[ 4.36149371e-01 -8.99847654e-01 -6.92278903e-03 8.92094194e+01] [ 8.99753974e-01 4.36203949e-01 -1.29962323e-02 4.95930802e+01] [ 1.47143770e-02 -5.60508407e-04 9.99891581e-01 1.52746990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.22, Y:49.62, Z:1.53 [[ 4.35610326e-01 -9.00107468e-01 -7.08447973e-03 8.92194255e+01] [ 9.00015180e-01 4.35667282e-01 -1.29110332e-02 4.96168786e+01] [ 1.47077934e-02 -7.51959916e-04 9.99891552e-01 1.52838569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.23, Y:49.64, Z:1.53 [[ 4.34399330e-01 -9.00692599e-01 -7.07557370e-03 8.92270969e+01] [ 9.00600312e-01 4.34456282e-01 -1.29157377e-02 4.96443596e+01] [ 1.47071368e-02 -7.61676084e-04 9.99891554e-01 1.52843348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.24, Y:49.67, Z:1.53 [[ 4.33977538e-01 -9.00895827e-01 -7.08555252e-03 8.92352296e+01] [ 9.00803652e-01 4.34034676e-01 -1.29104702e-02 4.96702413e+01] [ 1.47063642e-02 -7.79837530e-04 9.99891551e-01 1.52693883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.768040942 meters Centerline goodness : 0.997490 Centerline is valid? [True, True] Translation: X:89.24, Y:49.70, Z:1.53 [[ 4.30424988e-01 -9.02599131e-01 -7.00995251e-03 8.92396514e+01] [ 9.02506533e-01 4.30481409e-01 -1.29504533e-02 4.96961218e+01] [ 1.47067221e-02 -7.52329225e-04 9.99891567e-01 1.52755119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.798040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.25, Y:49.72, Z:1.53 [[ 4.31184803e-01 -9.02237360e-01 -6.88559609e-03 8.92455400e+01] [ 9.02143666e-01 4.31239361e-01 -1.30161262e-02 4.97208187e+01] [ 1.47129754e-02 -5.99441087e-04 9.99891579e-01 1.52693787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.828040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.26, Y:49.75, Z:1.52 [[ 4.34927318e-01 -9.00439774e-01 -6.81484363e-03 8.92605809e+01] [ 9.00345268e-01 4.34980463e-01 -1.30535171e-02 4.97493326e+01] [ 1.47182298e-02 -4.58381033e-04 9.99891576e-01 1.52351772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.27, Y:49.77, Z:1.52 [[ 4.43644861e-01 -8.96175797e-01 -6.94102407e-03 8.92744040e+01] [ 8.96081810e-01 4.43698918e-01 -1.29868808e-02 4.97723555e+01] [ 1.47182531e-02 -4.58162491e-04 9.99891576e-01 1.52316383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.28, Y:49.81, Z:1.53 [[ 4.41771147e-01 -8.97101467e-01 -6.87099319e-03 8.92843490e+01] [ 8.97007018e-01 4.41824388e-01 -1.30238271e-02 4.98060432e+01] [ 1.47194668e-02 -4.09778071e-04 9.99891579e-01 1.52662065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.918040942 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:89.30, Y:49.83, Z:1.53 [[ 4.41566519e-01 -8.97200822e-01 -7.04949153e-03 8.92976319e+01] [ 8.97107861e-01 4.41622359e-01 -1.29297646e-02 4.98340695e+01] [ 1.47138085e-02 -6.14803129e-04 9.99891557e-01 1.52902835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.31, Y:49.86, Z:1.52 [[ 4.48073419e-01 -8.93968411e-01 -7.11980765e-03 8.93082502e+01] [ 8.93875631e-01 4.48129596e-01 -1.28927068e-02 4.98621352e+01] [ 1.47162691e-02 -5.87343361e-04 9.99891537e-01 1.52081388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.97804094199999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:89.30, Y:49.88, Z:1.52 [[ 4.39732727e-01 -8.98100186e-01 -7.15433899e-03 8.93022025e+01] [ 8.98008225e-01 4.39790261e-01 -1.28745825e-02 4.98841221e+01] [ 1.47090735e-02 -7.63279993e-04 9.99891524e-01 1.52467648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.008040942 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:89.32, Y:49.91, Z:1.53 [[ 4.42548503e-01 -8.96719507e-01 -6.70442692e-03 8.93185123e+01] [ 8.96623692e-01 4.42599235e-01 -1.31100342e-02 4.99105243e+01] [ 1.47233976e-02 -2.09522001e-04 9.99891583e-01 1.52866796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.038040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.32, Y:49.93, Z:1.53 [[ 4.37345502e-01 -8.99267616e-01 -6.83136575e-03 8.93229190e+01] [ 8.99173121e-01 4.37398632e-01 -1.30435885e-02 4.99340009e+01] [ 1.47177067e-02 -4.38025721e-04 9.99891593e-01 1.52594414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.068040942 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:89.34, Y:49.96, Z:1.52 [[ 4.39134486e-01 -8.98396909e-01 -6.62542635e-03 8.93363642e+01] [ 8.98300661e-01 4.39184428e-01 -1.31514150e-02 4.99618505e+01] [ 1.47249747e-02 -1.76385004e-04 9.99891566e-01 1.52399509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.35, Y:49.99, Z:1.53 [[ 4.38617632e-01 -8.98648805e-01 -6.70054410e-03 8.93450635e+01] [ 8.98553182e-01 4.38668727e-01 -1.31120761e-02 4.99878732e+01] [ 1.47224707e-02 -2.69607457e-04 9.99891582e-01 1.52641729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.36, Y:50.01, Z:1.53 [[ 4.35189240e-01 -9.00314213e-01 -6.68163638e-03 8.93556008e+01] [ 9.00218633e-01 4.35240423e-01 -1.31219650e-02 5.00123900e+01] [ 1.47220098e-02 -3.04395599e-04 9.99891579e-01 1.52964802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.158040942 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:89.37, Y:50.04, Z:1.53 [[ 4.34125351e-01 -9.00827838e-01 -6.66234577e-03 8.93657936e+01] [ 9.00732164e-01 4.34176366e-01 -1.31320572e-02 5.00369365e+01] [ 1.47223558e-02 -3.00030165e-04 9.99891575e-01 1.52943103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.38, Y:50.06, Z:1.53 [[ 4.33376093e-01 -9.01189030e-01 -6.59502837e-03 8.93778191e+01] [ 9.01092862e-01 4.33426206e-01 -1.31672728e-02 5.00634513e+01] [ 1.47246599e-02 -2.36351743e-04 9.99891558e-01 1.53270646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.39, Y:50.09, Z:1.53 [[ 4.33098441e-01 -9.01322535e-01 -6.58997078e-03 8.93895029e+01] [ 9.01226343e-01 4.33148511e-01 -1.31699177e-02 5.00885779e+01] [ 1.47247796e-02 -2.35184440e-04 9.99891557e-01 1.53368175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.248040942 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:89.41, Y:50.12, Z:1.54 [[ 4.40514787e-01 -8.97720858e-01 -6.63205708e-03 8.94108387e+01] [ 8.97624587e-01 4.40564678e-01 -1.31478550e-02 5.01181235e+01] [ 1.47249537e-02 -1.61272968e-04 9.99891569e-01 1.53605568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.278040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.42, Y:50.14, Z:1.54 [[ 4.41758554e-01 -8.97107330e-01 -6.91510405e-03 8.94214784e+01] [ 8.97013263e-01 4.41812434e-01 -1.29992420e-02 5.01416352e+01] [ 1.47168942e-02 -4.60413719e-04 9.99891595e-01 1.53634122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.43, Y:50.17, Z:1.53 [[ 4.42373632e-01 -8.96804773e-01 -6.83873076e-03 8.94315526e+01] [ 8.96710048e-01 4.42426340e-01 -1.30392976e-02 5.01691069e+01] [ 1.47193389e-02 -3.64117155e-04 9.99891598e-01 1.53454846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.338040942 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:89.45, Y:50.20, Z:1.54 [[ 4.44644473e-01 -8.95680852e-01 -6.86323665e-03 8.94472703e+01] [ 8.95586191e-01 4.44697297e-01 -1.30264475e-02 5.01955508e+01] [ 1.47196024e-02 -3.54482097e-04 9.99891598e-01 1.53812996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.368040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.45, Y:50.22, Z:1.53 [[ 4.44292083e-01 -8.95855122e-01 -6.93868964e-03 8.94517635e+01] [ 8.95761095e-01 4.44346038e-01 -1.29868835e-02 5.02179935e+01] [ 1.47175454e-02 -4.45438691e-04 9.99891592e-01 1.53417822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.47, Y:50.24, Z:1.53 [[ 4.50611538e-01 -8.92694673e-01 -6.74258018e-03 8.94654167e+01] [ 8.92598710e-01 4.50661965e-01 -1.30895620e-02 5.02410679e+01] [ 1.47236067e-02 -1.20110681e-04 9.99891595e-01 1.52594226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.48, Y:50.27, Z:1.53 [[ 4.52864560e-01 -8.91554344e-01 -6.67398969e-03 8.94799672e+01] [ 8.91457723e-01 4.52913735e-01 -1.31254440e-02 5.02671365e+01] [ 1.47247882e-02 -5.53121666e-06 9.99891584e-01 1.52559410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.50, Y:50.30, Z:1.53 [[ 4.59671559e-01 -8.88063147e-01 -6.77536089e-03 8.95027266e+01] [ 8.87966928e-01 4.59721489e-01 -1.30723947e-02 5.02952671e+01] [ 1.47238910e-02 -7.28833599e-06 9.99891598e-01 1.53138773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.52, Y:50.32, Z:1.54 [[ 4.61010122e-01 -8.87367228e-01 -7.00504010e-03 8.95178649e+01] [ 8.87272732e-01 4.61063275e-01 -1.29520620e-02 5.03225149e+01] [ 1.47230021e-02 -2.44349402e-04 9.99891581e-01 1.54133100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.52, Y:50.34, Z:1.54 [[ 4.61207959e-01 -8.87263411e-01 -7.13150177e-03 8.95221034e+01] [ 8.87169918e-01 4.61262932e-01 -1.28857709e-02 5.03426786e+01] [ 1.47225704e-02 -3.83833752e-04 9.99891543e-01 1.53823647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.54, Y:50.37, Z:1.54 [[ 4.62521674e-01 -8.86581328e-01 -6.87387390e-03 8.95352378e+01] [ 8.86485715e-01 4.62572744e-01 -1.30204925e-02 5.03680120e+01] [ 1.47233922e-02 -7.13310590e-05 9.99891602e-01 1.53881150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.578040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.56, Y:50.40, Z:1.54 [[ 4.69928947e-01 -8.82677277e-01 -6.89991996e-03 8.95609498e+01] [ 8.82581440e-01 4.69979599e-01 -1.30068778e-02 5.03971352e+01] [ 1.47236971e-02 2.25670996e-05 9.99891600e-01 1.54240626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.608040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.56, Y:50.42, Z:1.53 [[ 4.60694804e-01 -8.87529560e-01 -7.18179075e-03 8.95600068e+01] [ 8.87436504e-01 4.60750560e-01 -1.28597509e-02 5.04173553e+01] [ 1.47224232e-02 -4.48962837e-04 9.99891518e-01 1.53362408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.638040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.58, Y:50.44, Z:1.54 [[ 4.66391982e-01 -8.84552051e-01 -6.79614293e-03 8.95799189e+01] [ 8.84455631e-01 4.66441488e-01 -1.30604287e-02 5.04428455e+01] [ 1.47226321e-02 8.03923585e-05 9.99891613e-01 1.53993431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.59, Y:50.47, Z:1.54 [[ 4.65403284e-01 -8.85071538e-01 -6.93943798e-03 8.95927785e+01] [ 8.84976274e-01 4.65455006e-01 -1.29858303e-02 5.04665385e+01] [ 1.47233850e-02 -9.75898972e-05 9.99891600e-01 1.53975466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.61, Y:50.49, Z:1.54 [[ 4.65620470e-01 -8.84957485e-01 -6.91568478e-03 8.96107720e+01] [ 8.84862025e-01 4.65671821e-01 -1.29981878e-02 5.04911255e+01] [ 1.47232831e-02 -6.72045078e-05 9.99891604e-01 1.54344846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72804094199999 meters Centerline goodness : 0.996864 Centerline is valid? [True, True] Translation: X:89.62, Y:50.51, Z:1.54 [[ 4.62326245e-01 -8.86682562e-01 -6.96249652e-03 8.96195601e+01] [ 8.86587661e-01 4.62378636e-01 -1.29737039e-02 5.05120357e+01] [ 1.47228667e-02 -1.74779676e-04 9.99891597e-01 1.54045658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.758040942 meters Centerline goodness : 0.997520 Centerline is valid? [True, True] Translation: X:89.64, Y:50.54, Z:1.54 [[ 4.60565891e-01 -8.87599685e-01 -6.77195236e-03 8.96356220e+01] [ 8.87503405e-01 4.60615674e-01 -1.30731750e-02 5.05374073e+01] [ 1.47230134e-02 1.09276914e-05 9.99891611e-01 1.54098310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.788040942 meters Centerline goodness : 0.996691 Centerline is valid? [True, True] Translation: X:89.65, Y:50.56, Z:1.54 [[ 4.56729339e-01 -8.89578888e-01 -6.90740090e-03 8.96472817e+01] [ 8.89483881e-01 4.56781523e-01 -1.30025094e-02 5.05594943e+01] [ 1.47219310e-02 -2.05394229e-04 9.99891605e-01 1.54120272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.818040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:89.66, Y:50.59, Z:1.54 [[ 4.55195509e-01 -8.90365596e-01 -6.79366648e-03 8.96631475e+01] [ 8.90269788e-01 4.55246192e-01 -1.30617537e-02 5.05856433e+01] [ 1.47225269e-02 -1.02544403e-04 9.99891612e-01 1.54282268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.848040942 meters Centerline goodness : 0.997243 Centerline is valid? [True, True] Translation: X:89.67, Y:50.61, Z:1.54 [[ 4.50564769e-01 -8.92716805e-01 -6.93503694e-03 8.96745212e+01] [ 8.92622380e-01 4.50618011e-01 -1.29882682e-02 5.06077973e+01] [ 1.47198978e-02 -3.38313120e-04 9.99891599e-01 1.54406486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.69, Y:50.63, Z:1.55 [[ 4.49697028e-01 -8.93155221e-01 -6.80696732e-03 8.96906395e+01] [ 8.93059833e-01 4.49748495e-01 -1.30547286e-02 5.06326583e+01] [ 1.47213223e-02 -2.08356464e-04 9.99891614e-01 1.54593621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.908040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.70, Y:50.66, Z:1.54 [[ 4.48092403e-01 -8.93960823e-01 -6.87347537e-03 8.97030921e+01] [ 8.93866052e-01 4.48145011e-01 -1.30203816e-02 5.06562389e+01] [ 1.47200247e-02 -3.09632209e-04 9.99891607e-01 1.54370185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.938040942 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:89.72, Y:50.68, Z:1.55 [[ 4.44334344e-01 -8.95835083e-01 -6.81865866e-03 8.97159495e+01] [ 8.95740099e-01 4.44386552e-01 -1.30486568e-02 5.06805387e+01] [ 1.47195648e-02 -3.09779619e-04 9.99891613e-01 1.54565040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.73, Y:50.70, Z:1.55 [[ 4.44310482e-01 -8.95847184e-01 -6.78366692e-03 8.97306672e+01] [ 8.95751926e-01 4.44362182e-01 -1.30666948e-02 5.07045290e+01] [ 1.47201668e-02 -2.70813266e-04 9.99891616e-01 1.54641711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.74, Y:50.73, Z:1.55 [[ 4.42978594e-01 -8.96506354e-01 -6.80600816e-03 8.97420385e+01] [ 8.96411349e-01 4.43030762e-01 -1.30551812e-02 5.07276301e+01] [ 1.47193239e-02 -3.17817131e-04 9.99891614e-01 1.54507426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.75, Y:50.75, Z:1.55 [[ 4.44617957e-01 -8.95695113e-01 -6.71833938e-03 8.97549956e+01] [ 8.95599327e-01 4.44668671e-01 -1.31003082e-02 5.07506151e+01] [ 1.47213171e-02 -1.92307936e-04 9.99891617e-01 1.54528368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.77, Y:50.78, Z:1.54 [[ 4.43991470e-01 -8.96006270e-01 -6.65868695e-03 8.97681005e+01] [ 8.95910058e-01 4.44041378e-01 -1.31310052e-02 5.07763966e+01] [ 1.47221955e-02 -1.35530295e-04 9.99891613e-01 1.54460504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.78, Y:50.80, Z:1.54 [[ 4.43700202e-01 -8.96150521e-01 -6.66136498e-03 8.97808946e+01] [ 8.96054346e-01 4.43750180e-01 -1.31296273e-02 5.07995357e+01] [ 1.47221043e-02 -1.43326738e-04 9.99891614e-01 1.54370184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.79, Y:50.82, Z:1.55 [[ 4.44346608e-01 -8.95830297e-01 -6.64618138e-03 8.97943256e+01] [ 8.95733968e-01 4.44396294e-01 -1.31374547e-02 5.08228111e+01] [ 1.47224683e-02 -1.15626993e-04 9.99891612e-01 1.54679176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.82, Y:50.85, Z:1.55 [[ 4.51132191e-01 -8.92432880e-01 -6.58038472e-03 8.98169085e+01] [ 8.92335680e-01 4.51180175e-01 -1.31713564e-02 5.08470766e+01] [ 1.47234906e-02 7.01107847e-05 9.99891601e-01 1.54994862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.82, Y:50.87, Z:1.55 [[ 4.46406587e-01 -8.94804805e-01 -6.74683480e-03 8.98228057e+01] [ 8.94709141e-01 4.46457526e-01 -1.30855359e-02 5.08700552e+01] [ 1.47211756e-02 -1.94985358e-04 9.99891619e-01 1.54655157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.84, Y:50.90, Z:1.55 [[ 4.49948671e-01 -8.93030227e-01 -6.57318394e-03 8.98401124e+01] [ 8.92933038e-01 4.49996678e-01 -1.31749568e-02 5.08951934e+01] [ 1.47235456e-02 5.86412151e-05 9.99891601e-01 1.54746317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.85, Y:50.92, Z:1.55 [[ 4.50578595e-01 -8.92712221e-01 -6.61970259e-03 8.98533899e+01] [ 8.92615349e-01 4.50627219e-01 -1.31509922e-02 5.09189545e+01] [ 1.47230696e-02 1.67074456e-05 9.99891610e-01 1.54594640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.87, Y:50.94, Z:1.55 [[ 4.54048296e-01 -8.90952814e-01 -6.57485622e-03 8.98704323e+01] [ 8.90855418e-01 4.54095880e-01 -1.31740794e-02 5.09421298e+01] [ 1.47230982e-02 1.24421997e-04 9.99891602e-01 1.54907939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.89, Y:50.97, Z:1.55 [[ 4.60680446e-01 -8.87541279e-01 -6.63359596e-03 8.98940511e+01] [ 8.87443965e-01 4.60728173e-01 -1.31437849e-02 5.09685018e+01] [ 1.47219362e-02 1.68139991e-04 9.99891612e-01 1.54954283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.91, Y:50.99, Z:1.55 [[ 4.65302589e-01 -8.85125228e-01 -6.84337419e-03 8.99135983e+01] [ 8.85029234e-01 4.65352910e-01 -1.30354718e-02 5.09929015e+01] [ 1.47226091e-02 8.85256924e-06 9.99891616e-01 1.54785300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.358040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.93, Y:51.02, Z:1.55 [[ 4.65573625e-01 -8.84981695e-01 -6.97138272e-03 8.99282978e+01] [ 8.84886667e-01 4.65625797e-01 -1.29693517e-02 5.10183597e+01] [ 1.47236945e-02 -1.30695521e-04 9.99891592e-01 1.54864219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.388040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.94, Y:51.04, Z:1.55 [[ 4.63180479e-01 -8.86236545e-01 -6.97352674e-03 8.99381992e+01] [ 8.86141675e-01 4.63232939e-01 -1.29682472e-02 5.10413187e+01] [ 1.47233019e-02 -1.72893730e-04 9.99891591e-01 1.55008772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.95, Y:51.07, Z:1.55 [[ 4.62901430e-01 -8.86383409e-01 -6.83505652e-03 8.99506093e+01] [ 8.86287494e-01 4.62951889e-01 -1.30394487e-02 5.10659717e+01] [ 1.47222533e-02 -2.18456729e-05 9.99891622e-01 1.55045833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.448040942 meters Centerline goodness : 0.996140 Centerline is valid? [True, True] Translation: X:89.96, Y:51.09, Z:1.55 [[ 4.61607429e-01 -8.87057991e-01 -6.83391690e-03 8.99644438e+01] [ 8.86962141e-01 4.61658011e-01 -1.30400364e-02 5.10860626e+01] [ 1.47222010e-02 -4.20478914e-05 9.99891622e-01 1.55192477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.47804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.98, Y:51.11, Z:1.56 [[ 4.60817181e-01 -8.87469811e-01 -6.69778202e-03 8.99812643e+01] [ 8.87372977e-01 4.60865843e-01 -1.31101040e-02 5.11097738e+01] [ 1.47216004e-02 9.79303735e-05 9.99891627e-01 1.55540198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.508040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.00, Y:51.13, Z:1.55 [[ 4.60370158e-01 -8.87701500e-01 -6.73534230e-03 8.99956336e+01] [ 8.87604972e-01 4.60419423e-01 -1.30907788e-02 5.11330237e+01] [ 1.47217864e-02 4.82805984e-05 9.99891627e-01 1.55489122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.538040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.01, Y:51.16, Z:1.55 [[ 4.59997179e-01 -8.87894856e-01 -6.73200621e-03 9.00103577e+01] [ 8.87798324e-01 4.60046435e-01 -1.30924942e-02 5.11564183e+01] [ 1.47217937e-02 4.58465631e-05 9.99891627e-01 1.55471168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.568040942 meters Centerline goodness : 0.995834 Centerline is valid? [True, True] Translation: X:90.03, Y:51.18, Z:1.55 [[ 4.59330211e-01 -8.88240102e-01 -6.72885232e-03 9.00254838e+01] [ 8.88143584e-01 4.59379494e-01 -1.30941149e-02 5.11805089e+01] [ 1.47218148e-02 3.83355677e-05 9.99891627e-01 1.55313526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.04, Y:51.20, Z:1.56 [[ 4.58481974e-01 -8.88678154e-01 -6.73935234e-03 9.00425505e+01] [ 8.88581761e-01 4.58531503e-01 -1.30887218e-02 5.12021365e+01] [ 1.47218664e-02 1.24774135e-05 9.99891627e-01 1.55545996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.06, Y:51.23, Z:1.56 [[ 4.58226703e-01 -8.88809934e-01 -6.72234038e-03 9.00573647e+01] [ 8.88713427e-01 4.58276009e-01 -1.30974532e-02 5.12250345e+01] [ 1.47218339e-02 2.73686605e-05 9.99891628e-01 1.55631064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.658040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.07, Y:51.25, Z:1.56 [[ 4.57431426e-01 -8.89219696e-01 -6.69498239e-03 9.00739208e+01] [ 8.89123028e-01 4.57480415e-01 -1.31114851e-02 5.12466437e+01] [ 1.47218141e-02 4.49423333e-05 9.99891627e-01 1.55856214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.688040942 meters Centerline goodness : 0.995649 Centerline is valid? [True, True] Translation: X:90.09, Y:51.27, Z:1.55 [[ 4.54005248e-01 -8.90974249e-01 -6.64252092e-03 9.00872026e+01] [ 8.90877376e-01 4.54053836e-01 -1.31383047e-02 5.12715852e+01] [ 1.47219533e-02 4.71876895e-05 9.99891625e-01 1.55480726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.718040942 meters Centerline goodness : 0.995311 Centerline is valid? [True, True] Translation: X:90.10, Y:51.30, Z:1.56 [[ 4.51896027e-01 -8.92045421e-01 -6.70423623e-03 9.01020553e+01] [ 8.91949130e-01 4.51945752e-01 -1.31067635e-02 5.12968875e+01] [ 1.47217795e-02 -5.69433059e-05 9.99891627e-01 1.55759455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.748040942 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:90.12, Y:51.32, Z:1.56 [[ 4.51272227e-01 -8.92360712e-01 -6.76290089e-03 9.01188988e+01] [ 8.92264902e-01 4.51322880e-01 -1.30767997e-02 5.13170888e+01] [ 1.47214742e-02 -1.33102567e-04 9.99891624e-01 1.55881964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.13, Y:51.34, Z:1.56 [[ 4.50318672e-01 -8.92842838e-01 -6.69034105e-03 9.01336284e+01] [ 8.92746529e-01 4.50368363e-01 -1.31138180e-02 5.13418557e+01] [ 1.47216964e-02 -6.73816667e-05 9.99891628e-01 1.56184128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.808040942 meters Centerline goodness : 0.996242 Centerline is valid? [True, True] Translation: X:90.15, Y:51.36, Z:1.56 [[ 4.49348513e-01 -8.93331400e-01 -6.70246002e-03 9.01464960e+01] [ 8.93235238e-01 4.49398487e-01 -1.31076364e-02 5.13617650e+01] [ 1.47215386e-02 -9.69765366e-05 9.99891628e-01 1.55785659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.838040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.16, Y:51.39, Z:1.56 [[ 4.47138364e-01 -8.94441497e-01 -6.45688848e-03 9.01594150e+01] [ 8.94343620e-01 4.47184959e-01 -1.32326138e-02 5.13854531e+01] [ 1.47232224e-02 1.42132287e-04 9.99891597e-01 1.55558706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.18, Y:51.41, Z:1.56 [[ 4.48244393e-01 -8.93887807e-01 -6.44618136e-03 9.01760015e+01] [ 8.93789793e-01 4.48290708e-01 -1.32380873e-02 5.14074701e+01] [ 1.47231281e-02 1.72367307e-04 9.99891594e-01 1.55694105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.898040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.20, Y:51.43, Z:1.56 [[ 4.50670958e-01 -8.92667113e-01 -6.41193733e-03 9.01977297e+01] [ 8.92568724e-01 4.50716499e-01 -1.32555682e-02 5.14344485e+01] [ 1.47227758e-02 2.50804914e-04 9.99891583e-01 1.56195217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:51.46, Z:1.56 [[ 4.50038576e-01 -8.92983971e-01 -6.70129489e-03 9.02064508e+01] [ 8.92887770e-01 4.50088458e-01 -1.31076347e-02 5.14553543e+01] [ 1.47210832e-02 -8.45629966e-05 9.99891635e-01 1.55863687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:51.48, Z:1.56 [[ 4.51661418e-01 -8.92165942e-01 -6.47268752e-03 9.02261001e+01] [ 8.92067950e-01 4.51707751e-01 -1.32242482e-02 5.14819474e+01] [ 1.47219870e-02 1.98805634e-04 9.99891606e-01 1.56232172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.988040942 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:90.24, Y:51.50, Z:1.56 [[ 4.54321516e-01 -8.90812625e-01 -6.69532473e-03 9.02440442e+01] [ 8.90716142e-01 4.54370848e-01 -1.31105519e-02 5.15029895e+01] [ 1.47212055e-02 -7.22799172e-06 9.99891637e-01 1.55770843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:51.53, Z:1.56 [[ 4.56977294e-01 -8.89453179e-01 -6.69298486e-03 9.02590180e+01] [ 8.89356532e-01 4.57026303e-01 -1.31117463e-02 5.15264221e+01] [ 1.47211546e-02 3.93205451e-05 9.99891637e-01 1.56385677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:51.55, Z:1.56 [[ 4.58227207e-01 -8.88809924e-01 -6.68925367e-03 9.02734483e+01] [ 8.88713181e-01 4.58276025e-01 -1.31136496e-02 5.15499900e+01] [ 1.47210665e-02 6.42031206e-05 9.99891637e-01 1.56364003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.29, Y:51.57, Z:1.56 [[ 4.59095568e-01 -8.88361727e-01 -6.68593960e-03 9.02878843e+01] [ 8.88264911e-01 4.59144243e-01 -1.31153390e-02 5.15741384e+01] [ 1.47209759e-02 8.23084834e-05 9.99891637e-01 1.56463562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:51.59, Z:1.57 [[ 4.59531641e-01 -8.88136261e-01 -6.68221565e-03 9.02999016e+01] [ 8.88039394e-01 4.59580213e-01 -1.31172361e-02 5.15944994e+01] [ 1.47209071e-02 9.37142953e-05 9.99891637e-01 1.56518955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.32, Y:51.62, Z:1.57 [[ 4.59593969e-01 -8.88105628e-01 -6.46351628e-03 9.03208702e+01] [ 8.88007168e-01 4.59639291e-01 -1.32284167e-02 5.16234156e+01] [ 1.47191174e-02 3.40051750e-04 9.99891610e-01 1.56671911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.168040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.33, Y:51.64, Z:1.57 [[ 4.57264734e-01 -8.89304970e-01 -6.75530005e-03 9.03333600e+01] [ 8.89208771e-01 4.57314630e-01 -1.30801594e-02 5.16445376e+01] [ 1.47215483e-02 -2.57764495e-05 9.99891632e-01 1.56566823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.35, Y:51.67, Z:1.57 [[ 4.57050160e-01 -8.89415964e-01 -6.66293101e-03 9.03529191e+01] [ 8.89319089e-01 4.57098718e-01 -1.31270435e-02 5.16662428e+01] [ 1.47210193e-02 7.42455998e-05 9.99891637e-01 1.56925375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.37, Y:51.69, Z:1.57 [[ 4.52007136e-01 -8.91989515e-01 -6.65232666e-03 9.03661816e+01] [ 8.91892838e-01 4.52056086e-01 -1.31324228e-02 5.16906992e+01] [ 1.47212082e-02 2.78634312e-06 9.99891637e-01 1.56874377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.258040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.38, Y:51.71, Z:1.56 [[ 4.47974074e-01 -8.94021757e-01 -6.65790608e-03 9.03781221e+01] [ 8.93925344e-01 4.48023541e-01 -1.31295936e-02 5.17105004e+01] [ 1.47210410e-02 -6.99534573e-05 9.99891637e-01 1.56181655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.40, Y:51.74, Z:1.57 [[ 4.46621667e-01 -8.94699710e-01 -6.44321105e-03 9.03982403e+01] [ 8.94601779e-01 4.46668117e-01 -1.32382331e-02 5.17373371e+01] [ 1.47222203e-02 1.48373660e-04 9.99891611e-01 1.56949895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.318040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:90.41, Y:51.76, Z:1.57 [[ 4.45133842e-01 -8.95439347e-01 -6.65117557e-03 9.04104675e+01] [ 8.95343042e-01 4.45183516e-01 -1.31329097e-02 5.17586634e+01] [ 1.47207178e-02 -1.09181220e-04 9.99891638e-01 1.57040857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.43, Y:51.78, Z:1.57 [[ 4.43541964e-01 -8.96230056e-01 -6.49710267e-03 9.04315128e+01] [ 8.96132685e-01 4.43589545e-01 -1.32108155e-02 5.17835988e+01] [ 1.47219768e-02 3.72850089e-05 9.99891625e-01 1.57098289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.378040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:90.45, Y:51.81, Z:1.57 [[ 4.47418851e-01 -8.94299845e-01 -6.64529465e-03 9.04515004e+01] [ 8.94203369e-01 4.47468193e-01 -1.31358469e-02 5.18069625e+01] [ 1.47209438e-02 -6.50193428e-05 9.99891639e-01 1.57067223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.408040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:90.47, Y:51.83, Z:1.57 [[ 4.46509607e-01 -8.94753772e-01 -6.69768829e-03 9.04682450e+01] [ 8.94657743e-01 4.46559815e-01 -1.31093433e-02 5.18292778e+01] [ 1.47205528e-02 -1.38690974e-04 9.99891637e-01 1.56915583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.48, Y:51.85, Z:1.57 [[ 4.46304641e-01 -8.94855994e-01 -6.70213355e-03 9.04832687e+01] [ 8.94760010e-01 4.46354936e-01 -1.31070954e-02 5.18539790e+01] [ 1.47204933e-02 -1.47043566e-04 9.99891637e-01 1.56939287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.49, Y:51.88, Z:1.57 [[ 4.41938083e-01 -8.97020365e-01 -6.72276893e-03 9.04920041e+01] [ 8.96924786e-01 4.41989147e-01 -1.30966676e-02 5.18772197e+01] [ 1.47193685e-02 -2.41901898e-04 9.99891635e-01 1.56960937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.498040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:90.52, Y:51.91, Z:1.57 [[ 4.47215490e-01 -8.94401639e-01 -6.63427862e-03 9.05168341e+01] [ 8.94305094e-01 4.47264692e-01 -1.31413412e-02 5.19073687e+01] [ 1.47209157e-02 -5.60578208e-05 9.99891640e-01 1.56839754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.528040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:90.53, Y:51.93, Z:1.57 [[ 4.48944989e-01 -8.93532400e-01 -6.94604783e-03 9.05264864e+01] [ 8.93438139e-01 4.48998562e-01 -1.29839845e-02 5.19312203e+01] [ 1.47203763e-02 -3.76769268e-04 9.99891578e-01 1.57299492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.558040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:90.54, Y:51.96, Z:1.57 [[ 4.49860667e-01 -8.93072830e-01 -6.80443679e-03 9.05394439e+01] [ 8.92977424e-01 4.49912079e-01 -1.30553328e-02 5.19555090e+01] [ 1.47207613e-02 -2.03127723e-04 9.99891623e-01 1.57271499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.588040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:90.55, Y:51.98, Z:1.57 [[ 4.50564258e-01 -8.92718111e-01 -6.79875991e-03 9.05540188e+01] [ 8.92622621e-01 4.50615512e-01 -1.30581900e-02 5.19812592e+01] [ 1.47209094e-02 -1.85173200e-04 9.99891624e-01 1.57142282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.57, Y:52.01, Z:1.57 [[ 4.47940925e-01 -8.94037046e-01 -6.83282876e-03 9.05706786e+01] [ 8.93941968e-01 4.47992957e-01 -1.30410559e-02 5.20113331e+01] [ 1.47202463e-02 -2.66529726e-04 9.99891616e-01 1.57132726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.58, Y:52.04, Z:1.57 [[ 4.47020604e-01 -8.94495946e-01 -7.04154009e-03 9.05833505e+01] [ 8.94402551e-01 4.47075763e-01 -1.29359569e-02 5.20353936e+01] [ 1.47192629e-02 -5.15332153e-04 9.99891533e-01 1.57217425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.678040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:90.60, Y:52.06, Z:1.57 [[ 4.44683534e-01 -8.95660608e-01 -6.97356415e-03 9.05956527e+01] [ 8.95566822e-01 4.44737954e-01 -1.29699784e-02 5.20635020e+01] [ 1.47181074e-02 -4.77756864e-04 9.99891569e-01 1.57481973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.60, Y:52.08, Z:1.58 [[ 4.39606399e-01 -8.98162997e-01 -7.03175521e-03 9.05973892e+01] [ 8.98069983e-01 4.39662188e-01 -1.29408574e-02 5.20833958e+01] [ 1.47145961e-02 -6.26124589e-04 9.99891538e-01 1.57619550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.62, Y:52.11, Z:1.57 [[ 4.42501686e-01 -8.96742585e-01 -6.70772617e-03 9.06163489e+01] [ 8.96646885e-01 4.42552471e-01 -1.31024639e-02 5.21139934e+01] [ 1.47180581e-02 -2.16599413e-04 9.99891660e-01 1.57356198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.63, Y:52.14, Z:1.57 [[ 4.41598350e-01 -8.97185368e-01 -7.02223884e-03 9.06284381e+01] [ 8.97092160e-01 4.41653795e-01 -1.29453442e-02 5.21392203e+01] [ 1.47157718e-02 -5.82952761e-04 9.99891547e-01 1.57418639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.798040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.64, Y:52.16, Z:1.58 [[ 4.40739706e-01 -8.97607601e-01 -7.00751546e-03 9.06423423e+01] [ 8.97514329e-01 4.40795028e-01 -1.29526871e-02 5.21646786e+01] [ 1.47153084e-02 -5.80582012e-04 9.99891555e-01 1.57557771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.828040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.66, Y:52.19, Z:1.57 [[ 4.41637161e-01 -8.97166379e-01 -7.00765610e-03 9.06557281e+01] [ 8.97073052e-01 4.41692392e-01 -1.29526170e-02 5.21887035e+01] [ 1.47158809e-02 -5.66022431e-04 9.99891555e-01 1.57477398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.67, Y:52.22, Z:1.58 [[ 4.40157847e-01 -8.97893577e-01 -6.94215394e-03 9.06683412e+01] [ 8.97799828e-01 4.40212286e-01 -1.29851144e-02 5.22155736e+01] [ 1.47152723e-02 -5.17164596e-04 9.99891591e-01 1.57729828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.68, Y:52.24, Z:1.58 [[ 4.39604274e-01 -8.98164541e-01 -6.96700069e-03 9.06785202e+01] [ 8.98071019e-01 4.39659130e-01 -1.29728288e-02 5.22389302e+01] [ 1.47148403e-02 -5.53950401e-04 9.99891577e-01 1.57713666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.69, Y:52.27, Z:1.58 [[ 4.39735387e-01 -8.98101094e-01 -6.87123495e-03 9.06906777e+01] [ 8.98006822e-01 4.39788843e-01 -1.30200074e-02 5.22656373e+01] [ 1.47151754e-02 -4.45057867e-04 9.99891627e-01 1.57788325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.70, Y:52.29, Z:1.58 [[ 4.41295781e-01 -8.97335136e-01 -6.90557216e-03 9.07003398e+01] [ 8.97241035e-01 4.41349571e-01 -1.30031182e-02 5.22891980e+01] [ 1.47159261e-02 -4.57741534e-04 9.99891610e-01 1.57782563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.97804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:90.70, Y:52.31, Z:1.58 [[ 4.38448800e-01 -8.98730050e-01 -6.85183391e-03 9.07011294e+01] [ 8.98635705e-01 4.38502110e-01 -1.30295682e-02 5.23075761e+01] [ 1.47146081e-02 -4.44504034e-04 9.99891635e-01 1.57927271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.008040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.72, Y:52.34, Z:1.58 [[ 4.43134035e-01 -8.96431933e-01 -6.48208792e-03 9.07246494e+01] [ 8.96334581e-01 4.43181439e-01 -1.32109888e-02 5.23383530e+01] [ 1.47154932e-02 4.41191924e-05 9.99891720e-01 1.58015672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.038040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.74, Y:52.36, Z:1.58 [[ 4.43923804e-01 -8.96038625e-01 -6.81456826e-03 9.07369957e+01] [ 8.95943681e-01 4.43975995e-01 -1.30474956e-02 5.23619236e+01] [ 1.47165648e-02 -3.13375474e-04 9.99891656e-01 1.58005391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.068040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:90.75, Y:52.39, Z:1.58 [[ 4.44469629e-01 -8.95768173e-01 -6.79184337e-03 9.07496511e+01] [ 8.95673026e-01 4.44521431e-01 -1.30586708e-02 5.23870932e+01] [ 1.47166616e-02 -2.79088322e-04 9.99891665e-01 1.58016275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.75, Y:52.41, Z:1.58 [[ 4.44329888e-01 -8.95837575e-01 -6.78162502e-03 9.07528504e+01] [ 8.95742359e-01 4.44381556e-01 -1.30636901e-02 5.24076747e+01] [ 1.47165735e-02 -2.70000850e-04 9.99891669e-01 1.58272202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.78, Y:52.44, Z:1.58 [[ 4.50340352e-01 -8.92833502e-01 -6.47335388e-03 9.07759237e+01] [ 8.92735719e-01 4.50386842e-01 -1.32147007e-02 5.24393963e+01] [ 1.47140410e-02 1.72118753e-04 9.99891728e-01 1.58162858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.158040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.77, Y:52.46, Z:1.59 [[ 4.47663419e-01 -8.94175865e-01 -6.85468885e-03 9.07743795e+01] [ 8.94081008e-01 4.47715797e-01 -1.30274713e-02 5.24604989e+01] [ 1.47178029e-02 -2.96724774e-04 9.99891643e-01 1.58550876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.78, Y:52.49, Z:1.59 [[ 4.48023463e-01 -8.93998397e-01 -6.46866991e-03 9.07844868e+01] [ 8.93900710e-01 4.48070137e-01 -1.32164069e-02 5.24864450e+01] [ 1.47138644e-02 1.38911751e-04 9.99891736e-01 1.58585712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.80, Y:52.52, Z:1.59 [[ 4.46843263e-01 -8.94588903e-01 -6.46480732e-03 9.07986709e+01] [ 8.94491250e-01 4.46890009e-01 -1.32182960e-02 5.25158709e+01] [ 1.47139987e-02 1.23792923e-04 9.99891736e-01 1.58612142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.81, Y:52.54, Z:1.58 [[ 4.44839642e-01 -8.95585872e-01 -6.60593512e-03 9.08087919e+01] [ 8.95489338e-01 4.44888684e-01 -1.31493046e-02 5.25407314e+01] [ 1.47152372e-02 -6.62125153e-05 9.99891723e-01 1.58112325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.82, Y:52.56, Z:1.59 [[ 4.43541395e-01 -8.96230166e-01 -6.52073997e-03 9.08202522e+01] [ 8.96133088e-01 4.43589325e-01 -1.31908625e-02 5.25634636e+01] [ 1.47145796e-02 7.24272870e-06 9.99891735e-01 1.58686509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.83, Y:52.59, Z:1.59 [[ 4.43298292e-01 -8.96350974e-01 -6.44637206e-03 9.08326416e+01] [ 8.96253379e-01 4.43345152e-01 -1.32271066e-02 5.25892095e+01] [ 1.47140977e-02 8.59710165e-05 9.99891738e-01 1.58725750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.85, Y:52.61, Z:1.59 [[ 4.37685663e-01 -8.99104972e-01 -6.44278353e-03 9.08454158e+01] [ 8.99007647e-01 4.37733079e-01 -1.32288543e-02 5.26140486e+01] [ 1.47143482e-02 -2.03179773e-06 9.99891738e-01 1.58827317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.86, Y:52.64, Z:1.59 [[ 4.34186921e-01 -9.00799787e-01 -6.43901297e-03 9.08571406e+01] [ 9.00702620e-01 4.34234660e-01 -1.32306893e-02 5.26380470e+01] [ 1.47142447e-02 -5.50435956e-05 9.99891738e-01 1.58854356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.87, Y:52.67, Z:1.59 [[ 4.32575890e-01 -9.01574557e-01 -6.43562185e-03 9.08737906e+01] [ 9.01477450e-01 4.32623753e-01 -1.32323386e-02 5.26662650e+01] [ 1.47141427e-02 -7.75773232e-05 9.99891738e-01 1.58802584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.428040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:90.88, Y:52.69, Z:1.58 [[ 4.25025614e-01 -9.05157349e-01 -6.58795281e-03 9.08833764e+01] [ 9.05061782e-01 4.25076507e-01 -1.31580441e-02 5.26905042e+01] [ 1.47104842e-02 -3.69998560e-04 9.99891727e-01 1.58248891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.89, Y:52.71, Z:1.59 [[ 4.22204450e-01 -9.06477158e-01 -6.52409525e-03 9.08942451e+01] [ 9.06381268e-01 4.22254713e-01 -1.31891615e-02 5.27133403e+01] [ 1.47105036e-02 -3.44795055e-04 9.99891735e-01 1.58839756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.91, Y:52.74, Z:1.59 [[ 4.17713810e-01 -9.08555837e-01 -6.43928299e-03 9.09068472e+01] [ 9.08459558e-01 4.17763314e-01 -1.32304399e-02 5.27371529e+01] [ 1.47106896e-02 -3.23290749e-04 9.99891740e-01 1.58864870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.92, Y:52.76, Z:1.58 [[ 4.16339869e-01 -9.09186284e-01 -6.43541493e-03 9.09200677e+01] [ 9.09090051e-01 4.16389463e-01 -1.32323211e-02 5.27626598e+01] [ 1.47102838e-02 -3.41228872e-04 9.99891740e-01 1.58433491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.93, Y:52.79, Z:1.59 [[ 4.14620536e-01 -9.09971357e-01 -6.47620114e-03 9.09314294e+01] [ 9.09875526e-01 4.14670903e-01 -1.32124932e-02 5.27862297e+01] [ 1.47084825e-02 -4.14365914e-04 9.99891739e-01 1.59100139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.578040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:90.95, Y:52.81, Z:1.59 [[ 4.16597582e-01 -9.09068272e-01 -6.42891877e-03 9.09487733e+01] [ 9.08971977e-01 4.16647054e-01 -1.32354599e-02 5.28144442e+01] [ 1.47105267e-02 -3.29846420e-04 9.99891740e-01 1.59061344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.608040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.96, Y:52.84, Z:1.59 [[ 4.15476548e-01 -9.09579930e-01 -6.60210558e-03 9.09598176e+01] [ 9.09485011e-01 4.15528649e-01 -1.31512907e-02 5.28390986e+01] [ 1.47055141e-02 -5.40463179e-04 9.99891722e-01 1.59264995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.638040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.97, Y:52.86, Z:1.59 [[ 4.13905401e-01 -9.10296252e-01 -6.56147173e-03 9.09677372e+01] [ 9.10201111e-01 4.13957078e-01 -1.31710235e-02 5.28614658e+01] [ 1.47057010e-02 -5.20701111e-04 9.99891730e-01 1.59379193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.98, Y:52.89, Z:1.60 [[ 4.14680109e-01 -9.09944613e-01 -6.41932659e-03 9.09799737e+01] [ 9.09848353e-01 4.14729644e-01 -1.32399421e-02 5.28866146e+01] [ 1.47098990e-02 -3.50273095e-04 9.99891742e-01 1.59521963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.698040942 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:90.99, Y:52.91, Z:1.60 [[ 4.17346063e-01 -9.08724987e-01 -6.41569222e-03 9.09923431e+01] [ 9.08628555e-01 4.17395263e-01 -1.32417030e-02 5.29120101e+01] [ 1.47109459e-02 -3.03108534e-04 9.99891742e-01 1.59644700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.00, Y:52.94, Z:1.60 [[ 4.18469942e-01 -9.08208012e-01 -6.41207717e-03 9.10041760e+01] [ 9.08111493e-01 4.18518970e-01 -1.32434533e-02 5.29370250e+01] [ 1.47113863e-02 -2.80893844e-04 9.99891742e-01 1.59781408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.758040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.02, Y:52.96, Z:1.60 [[ 4.21110446e-01 -9.06986729e-01 -6.40829405e-03 9.10194942e+01] [ 9.06890039e-01 4.21159138e-01 -1.32452836e-02 5.29634542e+01] [ 1.47122081e-02 -2.33890742e-04 9.99891742e-01 1.59511435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.788040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.03, Y:52.99, Z:1.60 [[ 4.23158468e-01 -9.06032303e-01 -6.50981069e-03 9.10304092e+01] [ 9.05936252e-01 4.23208422e-01 -1.31961779e-02 5.29891337e+01] [ 1.47111701e-02 -3.13399090e-04 9.99891736e-01 1.59577468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.818040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.04, Y:53.01, Z:1.60 [[ 4.23428208e-01 -9.05906406e-01 -6.49122807e-03 9.10396601e+01] [ 9.05810203e-01 4.23477863e-01 -1.32051616e-02 5.30128836e+01] [ 1.47115319e-02 -2.88382693e-04 9.99891738e-01 1.59810230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.05, Y:53.04, Z:1.60 [[ 4.25000838e-01 -9.05170346e-01 -6.39784825e-03 9.10515855e+01] [ 9.05073374e-01 4.25048961e-01 -1.32502499e-02 5.30377935e+01] [ 1.47131320e-02 -1.59154790e-04 9.99891743e-01 1.59798420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.878040942 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:91.06, Y:53.06, Z:1.60 [[ 4.24704478e-01 -9.05309461e-01 -6.39416589e-03 9.10644020e+01] [ 9.05212478e-01 4.24752579e-01 -1.32520267e-02 5.30640924e+01] [ 1.47131236e-02 -1.59883677e-04 9.99891743e-01 1.59626659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.908040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.08, Y:53.09, Z:1.60 [[ 4.24171669e-01 -9.05559078e-01 -6.41487713e-03 9.10758228e+01] [ 9.05462274e-01 4.24220130e-01 -1.32420360e-02 5.30883757e+01] [ 1.47127659e-02 -1.91532706e-04 9.99891743e-01 1.59958874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.09, Y:53.11, Z:1.60 [[ 4.22814702e-01 -9.06193753e-01 -6.37254595e-03 9.10883936e+01] [ 9.06096714e-01 4.22862689e-01 -1.32624389e-02 5.31148765e+01] [ 1.47130512e-02 -1.66588801e-04 9.99891743e-01 1.59973294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.10, Y:53.14, Z:1.60 [[ 4.21244965e-01 -9.06924417e-01 -6.38604682e-03 9.11008546e+01] [ 9.06827559e-01 4.21293317e-01 -1.32559348e-02 5.31397134e+01] [ 1.47125298e-02 -2.07047447e-04 9.99891743e-01 1.60044269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.998040942 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:91.11, Y:53.16, Z:1.60 [[ 4.18264589e-01 -9.08302813e-01 -6.38235398e-03 9.11136171e+01] [ 9.08206087e-01 4.18313205e-01 -1.32577126e-02 5.31641262e+01] [ 1.47118406e-02 -2.51261027e-04 9.99891743e-01 1.60077881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.13, Y:53.19, Z:1.60 [[ 4.16469574e-01 -9.09127279e-01 -6.37845748e-03 9.11259879e+01] [ 9.09030620e-01 4.16518324e-01 -1.32595870e-02 5.31897503e+01] [ 1.47113967e-02 -2.75998613e-04 9.99891743e-01 1.60111064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.14, Y:53.21, Z:1.60 [[ 4.14094882e-01 -9.10211399e-01 -6.37481556e-03 9.11376576e+01] [ 9.10114841e-01 4.14143832e-01 -1.32613377e-02 5.32141500e+01] [ 1.47107113e-02 -3.10362177e-04 9.99891743e-01 1.60081808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.088040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:91.15, Y:53.24, Z:1.60 [[ 4.13555667e-01 -9.10456545e-01 -6.37097785e-03 9.11489640e+01] [ 9.10359988e-01 4.13604618e-01 -1.32631811e-02 5.32385995e+01] [ 1.47106159e-02 -3.14819595e-04 9.99891743e-01 1.60057120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.16, Y:53.26, Z:1.60 [[ 4.13118491e-01 -9.10655023e-01 -6.36717702e-03 9.11603197e+01] [ 9.10558462e-01 4.13167433e-01 -1.32650055e-02 5.32642756e+01] [ 1.47105541e-02 -3.17667851e-04 9.99891743e-01 1.60031250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.148040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:91.17, Y:53.29, Z:1.60 [[ 4.13351403e-01 -9.10549352e-01 -6.36362135e-03 9.11716719e+01] [ 9.10452751e-01 4.13400268e-01 -1.32667111e-02 5.32903455e+01] [ 1.47107179e-02 -3.09962940e-04 9.99891743e-01 1.60054267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.18, Y:53.31, Z:1.60 [[ 4.13535966e-01 -9.10465571e-01 -6.35994020e-03 9.11834655e+01] [ 9.10368934e-01 4.13584758e-01 -1.32684755e-02 5.33143163e+01] [ 1.47108645e-02 -3.02900124e-04 9.99891744e-01 1.60152090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.20, Y:53.34, Z:1.60 [[ 4.13499374e-01 -9.10482217e-01 -6.35605593e-03 9.11950817e+01] [ 9.10385553e-01 4.13548114e-01 -1.32703360e-02 5.33393903e+01] [ 1.47109399e-02 -2.99185864e-04 9.99891744e-01 1.60220129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.238040942 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:91.21, Y:53.36, Z:1.60 [[ 4.13625154e-01 -9.10425108e-01 -6.35251980e-03 9.12064574e+01] [ 9.10328411e-01 4.13673829e-01 -1.32720285e-02 5.33646515e+01] [ 1.47110592e-02 -2.93234412e-04 9.99891744e-01 1.60273262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.22, Y:53.39, Z:1.60 [[ 4.13459398e-01 -9.10500422e-01 -6.34880767e-03 9.12176994e+01] [ 9.10403707e-01 4.13508036e-01 -1.32738040e-02 5.33903810e+01] [ 1.47110872e-02 -2.91799025e-04 9.99891744e-01 1.60299734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.23, Y:53.42, Z:1.60 [[ 4.16448374e-01 -9.09137224e-01 -6.34510271e-03 9.12321794e+01] [ 9.09040322e-01 4.16496640e-01 -1.32755748e-02 5.34183366e+01] [ 1.47120332e-02 -2.39362663e-04 9.99891744e-01 1.60385765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.24, Y:53.44, Z:1.60 [[ 4.15493156e-01 -9.09573306e-01 -6.46829523e-03 9.12391847e+01] [ 9.09477362e-01 4.15543317e-01 -1.32166768e-02 5.34426701e+01] [ 1.47093933e-02 -3.91329323e-04 9.99891734e-01 1.60390482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.358040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.25, Y:53.47, Z:1.60 [[ 4.16820158e-01 -9.08966875e-01 -6.33848950e-03 9.12486087e+01] [ 9.08869907e-01 4.16868288e-01 -1.32786391e-02 5.34678113e+01] [ 1.47121583e-02 -2.26057932e-04 9.99891745e-01 1.60423427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.388040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.26, Y:53.49, Z:1.60 [[ 4.17214759e-01 -9.08785848e-01 -6.33463963e-03 9.12602772e+01] [ 9.08688832e-01 4.17262790e-01 -1.32804754e-02 5.34938179e+01] [ 1.47123175e-02 -2.15405938e-04 9.99891745e-01 1.60491868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.27, Y:53.52, Z:1.61 [[ 4.17881174e-01 -9.08479632e-01 -6.33104679e-03 9.12719079e+01] [ 9.08382555e-01 4.17929082e-01 -1.32821880e-02 5.35194895e+01] [ 1.47125258e-02 -2.00636154e-04 9.99891745e-01 1.60579585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.28, Y:53.54, Z:1.61 [[ 4.20176644e-01 -9.07420272e-01 -6.32748363e-03 9.12817462e+01] [ 9.07323048e-01 4.20224255e-01 -1.32838852e-02 5.35448142e+01] [ 1.47130288e-02 -1.59493431e-04 9.99891745e-01 1.60612310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.47804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.29, Y:53.57, Z:1.60 [[ 4.21356603e-01 -9.06872992e-01 -6.32372437e-03 9.12929253e+01] [ 9.06775680e-01 4.21404031e-01 -1.32856745e-02 5.35720629e+01] [ 1.47132624e-02 -1.36192775e-04 9.99891745e-01 1.60279963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.508040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.30, Y:53.60, Z:1.60 [[ 4.24968084e-01 -9.05186167e-01 -6.33486955e-03 9.13035538e+01] [ 9.05088745e-01 4.25015288e-01 -1.32803718e-02 5.35975672e+01] [ 1.47136252e-02 -8.98849857e-05 9.99891745e-01 1.60452628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.538040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.31, Y:53.62, Z:1.61 [[ 4.25744575e-01 -9.04821003e-01 -6.36476394e-03 9.13126643e+01] [ 9.04723753e-01 4.25792133e-01 -1.32661533e-02 5.36216019e+01] [ 1.47135605e-02 -1.10360327e-04 9.99891744e-01 1.60780564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.568040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.32, Y:53.65, Z:1.61 [[ 4.26472548e-01 -9.04478451e-01 -6.31640246e-03 9.13234683e+01] [ 9.04380821e-01 4.26519318e-01 -1.32891398e-02 5.36477379e+01] [ 1.47138082e-02 -4.49799407e-05 9.99891745e-01 1.60872384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.33, Y:53.67, Z:1.61 [[ 4.27019862e-01 -9.04220208e-01 -6.31295233e-03 9.13328910e+01] [ 9.04122525e-01 4.27066523e-01 -1.32907786e-02 5.36728099e+01] [ 1.47138411e-02 -3.22559643e-05 9.99891745e-01 1.60998858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.35, Y:53.70, Z:1.61 [[ 4.27385754e-01 -9.04047349e-01 -6.30931511e-03 9.13471387e+01] [ 9.03949622e-01 4.27432321e-01 -1.32925050e-02 5.37008876e+01] [ 1.47138591e-02 -2.22757583e-05 9.99891745e-01 1.61042801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.658040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.36, Y:53.73, Z:1.61 [[ 4.26590917e-01 -9.04422033e-01 -6.40129749e-03 9.13569098e+01] [ 9.04324997e-01 4.26638920e-01 -1.32488435e-02 5.37261887e+01] [ 1.47135886e-02 -1.37017048e-04 9.99891740e-01 1.61179334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.37, Y:53.75, Z:1.61 [[ 4.25063825e-01 -9.05140884e-01 -6.38158105e-03 9.13664339e+01] [ 9.05043789e-01 4.25111704e-01 -1.32581785e-02 5.37525021e+01] [ 1.47134042e-02 -1.40038241e-04 9.99891742e-01 1.61184394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.37, Y:53.78, Z:1.61 [[ 4.23523774e-01 -9.05862606e-01 -6.36798982e-03 9.13744542e+01] [ 9.05765496e-01 4.23571618e-01 -1.32646093e-02 5.37766961e+01] [ 1.47132133e-02 -1.50028055e-04 9.99891744e-01 1.61425632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.38, Y:53.80, Z:1.61 [[ 4.21660697e-01 -9.06731889e-01 -6.28801691e-03 9.13821749e+01] [ 9.06634310e-01 4.21707569e-01 -1.33024124e-02 5.38016585e+01] [ 1.47134258e-02 -9.18273952e-05 9.99891747e-01 1.61455215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.40, Y:53.83, Z:1.61 [[ 4.21868428e-01 -9.06635285e-01 -6.28408156e-03 9.13958804e+01] [ 9.06537668e-01 4.21915220e-01 -1.33042712e-02 5.38297397e+01] [ 1.47134714e-02 -8.41046738e-05 9.99891747e-01 1.61293386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.40, Y:53.86, Z:1.61 [[ 4.18583191e-01 -9.08156020e-01 -6.38394277e-03 9.14036155e+01] [ 9.08059287e-01 4.18631797e-01 -1.32570945e-02 5.38553663e+01] [ 1.47120316e-02 -2.47801588e-04 9.99891742e-01 1.61321455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.41, Y:53.88, Z:1.61 [[ 4.16627386e-01 -9.09055162e-01 -6.35090755e-03 9.14133658e+01] [ 9.08958295e-01 4.16675717e-01 -1.32726804e-02 5.38818368e+01] [ 1.47118676e-02 -2.42947951e-04 9.99891745e-01 1.61334730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.42, Y:53.91, Z:1.61 [[ 4.12255933e-01 -9.11045953e-01 -6.34959652e-03 9.14189244e+01] [ 9.10949310e-01 4.12304710e-01 -1.32732984e-02 5.39070950e+01] [ 1.47105533e-02 -3.12164567e-04 9.99891745e-01 1.61394171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.43, Y:53.94, Z:1.61 [[ 4.11261885e-01 -9.11495685e-01 -6.26720000e-03 9.14324941e+01] [ 9.11398502e-01 4.11309566e-01 -1.33120899e-02 5.39353487e+01] [ 1.47116718e-02 -2.37161498e-04 9.99891749e-01 1.61251851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.44, Y:53.96, Z:1.61 [[ 4.08458272e-01 -9.12754933e-01 -6.34598802e-03 9.14420874e+01] [ 9.12658468e-01 4.08507399e-01 -1.32750068e-02 5.39607572e+01] [ 1.47092110e-02 -3.69433349e-04 9.99891745e-01 1.61282379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.45, Y:53.99, Z:1.61 [[ 4.03160437e-01 -9.15107568e-01 -6.30879396e-03 9.14484364e+01] [ 9.15011116e-01 4.03209583e-01 -1.32924992e-02 5.39866085e+01] [ 1.47078328e-02 -4.13606796e-04 9.99891748e-01 1.61152217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.46, Y:54.01, Z:1.61 [[ 4.01162186e-01 -9.15985672e-01 -6.25686603e-03 9.14580762e+01] [ 9.15888947e-01 4.01210789e-01 -1.33168962e-02 5.40134483e+01] [ 1.47084083e-02 -3.88359241e-04 9.99891750e-01 1.61128660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.46, Y:54.04, Z:1.61 [[ 3.97358261e-01 -9.17642259e-01 -6.25270051e-03 9.14636441e+01] [ 9.17545706e-01 3.97407204e-01 -1.33188518e-02 5.40400924e+01] [ 1.47068095e-02 -4.44782702e-04 9.99891750e-01 1.61071164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.47, Y:54.07, Z:1.61 [[ 3.97137908e-01 -9.17737890e-01 -6.21669532e-03 9.14748691e+01] [ 9.17641084e-01 3.97186353e-01 -1.33357448e-02 5.40665932e+01] [ 1.47079049e-02 -4.08565222e-04 9.99891749e-01 1.61487208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.48, Y:54.09, Z:1.61 [[ 3.91072284e-01 -9.20338758e-01 -6.24815526e-03 9.14766687e+01] [ 9.20242508e-01 3.91121820e-01 -1.33209887e-02 5.40912356e+01] [ 1.47036120e-02 -5.40348602e-04 9.99891750e-01 1.60999302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.48, Y:54.12, Z:1.61 [[ 3.88449169e-01 -9.21450258e-01 -6.05513383e-03 9.14814789e+01] [ 9.21352727e-01 3.88496184e-01 -1.34114644e-02 5.41181285e+01] [ 1.47103937e-02 -3.69241858e-04 9.99891728e-01 1.61058278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.50, Y:54.15, Z:1.62 [[ 3.94131281e-01 -9.19034715e-01 -5.97712217e-03 9.15010062e+01] [ 9.18936339e-01 3.94176554e-01 -1.34480052e-02 5.41471296e+01] [ 1.47152251e-02 -1.92315256e-04 9.99891707e-01 1.61721395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.50, Y:54.17, Z:1.61 [[ 3.89543810e-01 -9.20986740e-01 -6.24866343e-03 9.14985884e+01] [ 9.20890577e-01 3.89593514e-01 -1.33206268e-02 5.41726168e+01] [ 1.47025594e-02 -5.65367553e-04 9.99891752e-01 1.61367372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.52, Y:54.20, Z:1.62 [[ 3.94792415e-01 -9.18750595e-01 -6.02439111e-03 9.15153764e+01] [ 9.18652526e-01 3.94838308e-01 -1.34256348e-02 5.42021368e+01] [ 1.47134704e-02 -2.33983311e-04 9.99891724e-01 1.61715977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.53, Y:54.23, Z:1.62 [[ 3.94534160e-01 -9.18860055e-01 -6.24469256e-03 9.15275399e+01] [ 9.18763597e-01 3.94583284e-01 -1.33223718e-02 5.42279702e+01] [ 1.47054466e-02 -4.81265420e-04 9.99891753e-01 1.61764399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.258040942 meters Centerline goodness : 0.995763 Centerline is valid? [True, True] Translation: X:91.53, Y:54.26, Z:1.62 [[ 3.95262180e-01 -9.18547146e-01 -6.24094635e-03 9.15305570e+01] [ 9.18450621e-01 3.95311174e-01 -1.33241265e-02 5.42552802e+01] [ 1.47059542e-02 -4.65477747e-04 9.99891753e-01 1.61592371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.54, Y:54.28, Z:1.61 [[ 3.95986906e-01 -9.18235534e-01 -6.15416971e-03 9.15366397e+01] [ 9.18138339e-01 3.96034563e-01 -1.33647233e-02 5.42772779e+01] [ 1.47092278e-02 -3.58123711e-04 9.99891749e-01 1.61124559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.318040942 meters Centerline goodness : 0.996299 Centerline is valid? [True, True] Translation: X:91.55, Y:54.31, Z:1.62 [[ 3.97913349e-01 -9.17402933e-01 -6.06843771e-03 9.15479054e+01] [ 9.17305021e-01 3.97959552e-01 -1.34049655e-02 5.43064210e+01] [ 1.47127474e-02 -2.32593664e-04 9.99891735e-01 1.61728414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.348040942 meters Centerline goodness : 0.996476 Centerline is valid? [True, True] Translation: X:91.55, Y:54.33, Z:1.62 [[ 3.99113780e-01 -9.16880762e-01 -6.15294836e-03 9.15538721e+01] [ 9.16783396e-01 3.99161088e-01 -1.33653125e-02 5.43346080e+01] [ 1.47104155e-02 -3.06640514e-04 9.99891749e-01 1.61731183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.378040942 meters Centerline goodness : 0.996430 Centerline is valid? [True, True] Translation: X:91.56, Y:54.36, Z:1.62 [[ 3.99172782e-01 -9.16855035e-01 -6.15911603e-03 9.15621658e+01] [ 9.16757710e-01 3.99220174e-01 -1.33624241e-02 5.43602138e+01] [ 1.47102492e-02 -3.12501081e-04 9.99891750e-01 1.61739133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.408040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.57, Y:54.39, Z:1.62 [[ 4.00559474e-01 -9.16250055e-01 -6.15992740e-03 9.15718489e+01] [ 9.16152664e-01 4.00606730e-01 -1.33620437e-02 5.43915232e+01] [ 1.47106817e-02 -2.91140678e-04 9.99891750e-01 1.61884071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.58, Y:54.42, Z:1.62 [[ 4.00354963e-01 -9.16338334e-01 -6.32155418e-03 9.15814593e+01] [ 9.16242126e-01 4.00404589e-01 -1.32865508e-02 5.44181723e+01] [ 1.47061551e-02 -4.72737676e-04 9.99891747e-01 1.61873875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.468040942 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:91.59, Y:54.44, Z:1.62 [[ 3.99137970e-01 -9.16869131e-01 -6.31483661e-03 9.15875351e+01] [ 9.16772940e-01 3.99187626e-01 -1.32896857e-02 5.44423922e+01] [ 1.47057072e-02 -4.84853173e-04 9.99891748e-01 1.61673575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.60, Y:54.47, Z:1.62 [[ 3.98699131e-01 -9.17060726e-01 -6.21512393e-03 9.15969352e+01] [ 9.16963831e-01 3.98747388e-01 -1.33361554e-02 5.44677625e+01] [ 1.47083288e-02 -3.81930273e-04 9.99891754e-01 1.61838304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.60, Y:54.49, Z:1.61 [[ 3.96199581e-01 -9.18143396e-01 -6.21265934e-03 9.16034798e+01] [ 9.18046615e-01 3.96248065e-01 -1.33373035e-02 5.44935899e+01] [ 1.47073113e-02 -4.19276840e-04 9.99891754e-01 1.61473626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.61, Y:54.52, Z:1.61 [[ 3.94897650e-01 -9.18704860e-01 -6.10129137e-03 9.16110286e+01] [ 9.18607344e-01 3.94944654e-01 -1.33891148e-02 5.45194090e+01] [ 1.47103173e-02 -3.17361080e-04 9.99891747e-01 1.61320739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.62, Y:54.54, Z:1.61 [[ 3.91566139e-01 -9.20129790e-01 -6.09337531e-03 9.16179428e+01] [ 9.20032387e-01 3.91613380e-01 -1.33927988e-02 5.45428348e+01] [ 1.47093604e-02 -3.61936138e-04 9.99891746e-01 1.61162565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.63, Y:54.57, Z:1.61 [[ 3.93904275e-01 -9.19132371e-01 -5.92510737e-03 9.16299853e+01] [ 9.19033659e-01 3.93948811e-01 -1.34709993e-02 5.45707353e+01] [ 1.47158205e-02 -1.39088907e-04 9.99891707e-01 1.61319355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.64, Y:54.60, Z:1.61 [[ 3.90845034e-01 -9.20436864e-01 -6.01159823e-03 9.16398051e+01] [ 9.20338912e-01 3.90891161e-01 -1.34308463e-02 5.45982132e+01] [ 1.47121267e-02 -2.83328188e-04 9.99891731e-01 1.61242206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.65, Y:54.62, Z:1.61 [[ 3.91674786e-01 -9.20083658e-01 -6.07645411e-03 9.16518302e+01] [ 9.19986129e-01 3.91721770e-01 -1.34006592e-02 5.46237273e+01] [ 1.47100069e-02 -3.41553162e-04 9.99891744e-01 1.61370812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.66, Y:54.65, Z:1.61 [[ 3.91123602e-01 -9.20318019e-01 -6.08874794e-03 9.16620911e+01] [ 9.20220606e-01 3.91170822e-01 -1.33949392e-02 5.46488883e+01] [ 1.47093444e-02 -3.63914469e-04 9.99891746e-01 1.61378454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.68, Y:54.68, Z:1.62 [[ 3.92665897e-01 -9.19661250e-01 -6.05634934e-03 9.16776600e+01] [ 9.19563526e-01 3.92712482e-01 -1.34099852e-02 5.46763403e+01] [ 1.47110477e-02 -3.03554084e-04 9.99891741e-01 1.61798654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.768040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.68, Y:54.70, Z:1.61 [[ 3.90864717e-01 -9.20427260e-01 -6.19936991e-03 9.16806982e+01] [ 9.20330664e-01 3.90913570e-01 -1.33435385e-02 5.46996054e+01] [ 1.47051744e-02 -4.89951832e-04 9.99891753e-01 1.60685300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.798040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.69, Y:54.73, Z:1.61 [[ 3.89766677e-01 -9.20893569e-01 -6.08053660e-03 9.16906710e+01] [ 9.20796164e-01 3.89813922e-01 -1.33989335e-02 5.47251281e+01] [ 1.47092695e-02 -3.76477003e-04 9.99891742e-01 1.61133704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.828040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.70, Y:54.75, Z:1.61 [[ 3.90528485e-01 -9.20571086e-01 -6.03142649e-03 9.17004158e+01] [ 9.20473289e-01 3.90574935e-01 -1.34218097e-02 5.47514883e+01] [ 1.47114540e-02 -3.10167953e-04 9.99891733e-01 1.60901128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.71, Y:54.78, Z:1.61 [[ 3.90342448e-01 -9.20650117e-01 -6.01132943e-03 9.17118651e+01] [ 9.20552185e-01 3.90388624e-01 -1.34311700e-02 5.47795503e+01] [ 1.47121629e-02 -2.90986669e-04 9.99891728e-01 1.61104944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.72, Y:54.80, Z:1.61 [[ 3.90512360e-01 -9.20577509e-01 -6.09482086e-03 9.17233000e+01] [ 9.20480170e-01 3.90559733e-01 -1.33922432e-02 5.48047252e+01] [ 1.47089895e-02 -3.80325264e-04 9.99891745e-01 1.61273926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.918040942 meters Centerline goodness : 0.997315 Centerline is valid? [True, True] Translation: X:91.73, Y:54.83, Z:1.62 [[ 3.89660174e-01 -9.20938642e-01 -6.08002695e-03 9.17345461e+01] [ 9.20841240e-01 3.89707422e-01 -1.33991013e-02 5.48317944e+01] [ 1.47091818e-02 -3.77643412e-04 9.99891743e-01 1.61592775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.74, Y:54.85, Z:1.61 [[ 3.88903218e-01 -9.21258050e-01 -6.15567651e-03 9.17442323e+01] [ 9.21161235e-01 3.88951645e-01 -1.33640423e-02 5.48548219e+01] [ 1.47059920e-02 -4.73051523e-04 9.99891749e-01 1.61208341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.97804094199999 meters Centerline goodness : 0.997481 Centerline is valid? [True, True] Translation: X:91.76, Y:54.88, Z:1.62 [[ 3.89412369e-01 -9.21043414e-01 -6.08584181e-03 9.17572033e+01] [ 9.20946066e-01 3.89459728e-01 -1.33963856e-02 5.48818312e+01] [ 1.47088430e-02 -3.88013819e-04 9.99891744e-01 1.61659237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.008040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.77, Y:54.91, Z:1.62 [[ 3.90638504e-01 -9.20523752e-01 -6.13040422e-03 9.17698573e+01] [ 9.20426663e-01 3.90686381e-01 -1.33757541e-02 5.49072192e+01] [ 1.47077647e-02 -4.17502943e-04 9.99891748e-01 1.61811505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.038040942 meters Centerline goodness : 0.997760 Centerline is valid? [True, True] Translation: X:91.78, Y:54.93, Z:1.62 [[ 3.89699313e-01 -9.20921587e-01 -6.15436354e-03 9.17789107e+01] [ 9.20824720e-01 3.89747637e-01 -1.33646683e-02 5.49333552e+01] [ 1.47064602e-02 -4.58888019e-04 9.99891749e-01 1.61598304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.068040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.79, Y:54.96, Z:1.62 [[ 3.90932651e-01 -9.20398741e-01 -6.14976912e-03 9.17881516e+01] [ 9.20301777e-01 3.90980778e-01 -1.33667920e-02 5.49577894e+01] [ 1.47072200e-02 -4.34128022e-04 9.99891749e-01 1.61564018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.80, Y:54.98, Z:1.62 [[ 3.93239364e-01 -9.19415756e-01 -6.12133336e-03 9.18018438e+01] [ 9.19318466e-01 3.93286835e-01 -1.33799455e-02 5.49831559e+01] [ 1.47091726e-02 -3.65933523e-04 9.99891747e-01 1.62115337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.128040942 meters Centerline goodness : 0.997716 Centerline is valid? [True, True] Translation: X:91.81, Y:55.01, Z:1.62 [[ 3.93680530e-01 -9.19226714e-01 -6.15528302e-03 9.18124488e+01] [ 9.19129646e-01 3.93728448e-01 -1.33642555e-02 5.50080184e+01] [ 1.47082907e-02 -3.96255906e-04 9.99891749e-01 1.62083409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.158040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.82, Y:55.03, Z:1.62 [[ 3.96509490e-01 -9.18010019e-01 -6.15050180e-03 9.18230603e+01] [ 9.17912770e-01 3.96557039e-01 -1.33664629e-02 5.50312040e+01] [ 1.47095717e-02 -3.45694749e-04 9.99891749e-01 1.61921648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.84, Y:55.06, Z:1.62 [[ 3.98997834e-01 -9.16931560e-01 -6.10267373e-03 9.18380368e+01] [ 9.16833843e-01 3.99044422e-01 -1.33885960e-02 5.50583634e+01] [ 1.47116642e-02 -2.53116981e-04 9.99891746e-01 1.62469617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.85, Y:55.08, Z:1.62 [[ 4.01815783e-01 -9.15699671e-01 -6.17967083e-03 9.18482469e+01] [ 9.15602355e-01 4.01863193e-01 -1.33529623e-02 5.50832381e+01] [ 1.47106855e-02 -2.92690164e-04 9.99891749e-01 1.61952163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.86, Y:55.11, Z:1.62 [[ 4.04938283e-01 -9.14323239e-01 -6.16453242e-03 9.18618985e+01] [ 9.14225655e-01 4.04985140e-01 -1.33599642e-02 5.51084649e+01] [ 1.47118698e-02 -2.25812723e-04 9.99891749e-01 1.62490706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.87, Y:55.13, Z:1.63 [[ 4.06786574e-01 -9.13502357e-01 -6.17475536e-03 9.18736069e+01] [ 9.13404749e-01 4.06833383e-01 -1.33552377e-02 5.51333285e+01] [ 1.47121377e-02 -2.07319498e-04 9.99891749e-01 1.62525417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.89, Y:55.16, Z:1.62 [[ 4.10441538e-01 -9.11866031e-01 -6.17141745e-03 9.18872790e+01] [ 9.11768214e-01 4.10487906e-01 -1.33567799e-02 5.51605122e+01] [ 1.47128861e-02 -1.44724974e-04 9.99891749e-01 1.62180984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.338040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.90, Y:55.18, Z:1.62 [[ 4.15479149e-01 -9.09581375e-01 -6.22888968e-03 9.18994584e+01] [ 9.09483699e-01 4.15525819e-01 -1.33302315e-02 5.51835137e+01] [ 1.47131947e-02 -1.26640407e-04 9.99891747e-01 1.62353595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.91, Y:55.21, Z:1.62 [[ 4.16344212e-01 -9.09186160e-01 -6.16627316e-03 9.19125313e+01] [ 9.09088010e-01 4.16389870e-01 -1.33591339e-02 5.52110946e+01] [ 1.47135133e-02 -4.36869295e-05 9.99891749e-01 1.62350403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.93, Y:55.24, Z:1.62 [[ 4.18999444e-01 -9.07964898e-01 -6.26174005e-03 9.19266126e+01] [ 9.07867268e-01 4.19046218e-01 -1.33150693e-02 5.52362655e+01] [ 1.47135740e-02 -1.05822195e-04 9.99891744e-01 1.62427480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.94, Y:55.26, Z:1.62 [[ 4.19983916e-01 -9.07509709e-01 -6.29594072e-03 9.19386807e+01] [ 9.07412264e-01 4.20031085e-01 -1.32992914e-02 5.52598293e+01] [ 1.47137269e-02 -1.27525323e-04 9.99891739e-01 1.62475703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.95, Y:55.29, Z:1.63 [[ 4.21910866e-01 -9.06615552e-01 -6.28197259e-03 9.19525847e+01] [ 9.06517911e-01 4.21957622e-01 -1.33057297e-02 5.52856196e+01] [ 1.47139077e-02 -8.08887493e-05 9.99891741e-01 1.62502411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.97, Y:55.31, Z:1.63 [[ 4.25448183e-01 -9.04960948e-01 -6.28693276e-03 9.19708401e+01] [ 9.04863159e-01 4.25494631e-01 -1.33034445e-02 5.53106625e+01] [ 1.47141539e-02 -2.88875337e-05 9.99891741e-01 1.62766031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.98, Y:55.34, Z:1.63 [[ 4.24960430e-01 -9.05189505e-01 -6.37119453e-03 9.19841021e+01] [ 9.05092320e-01 4.25008168e-01 -1.32646310e-02 5.53356978e+01] [ 1.47148145e-02 -1.29575941e-04 9.99891723e-01 1.62734570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.00, Y:55.36, Z:1.63 [[ 4.23382805e-01 -9.05928581e-01 -6.35669911e-03 9.19971052e+01] [ 9.05831378e-01 4.23430499e-01 -1.32712969e-02 5.53606521e+01] [ 1.47144674e-02 -1.39258618e-04 9.99891727e-01 1.62739291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.578040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.01, Y:55.38, Z:1.63 [[ 4.20654961e-01 -9.07198651e-01 -6.32548406e-03 9.20104087e+01] [ 9.07101376e-01 4.20702490e-01 -1.32856240e-02 5.53843448e+01] [ 1.47138471e-02 -1.49191658e-04 9.99891734e-01 1.62915996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.608040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.03, Y:55.41, Z:1.63 [[ 4.19251138e-01 -9.07848751e-01 -6.25533589e-03 9.20259522e+01] [ 9.07751067e-01 4.19297790e-01 -1.33177797e-02 5.54114089e+01] [ 1.47133782e-02 -9.47935412e-05 9.99891748e-01 1.62930793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.638040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.04, Y:55.43, Z:1.63 [[ 4.17128905e-01 -9.08825274e-01 -6.33229498e-03 9.20418776e+01] [ 9.08728232e-01 4.17176912e-01 -1.32825050e-02 5.54349736e+01] [ 1.47131635e-02 -2.13818443e-04 9.99891733e-01 1.63107232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.05, Y:55.46, Z:1.63 [[ 4.13482233e-01 -9.10490095e-01 -6.34269231e-03 9.20518548e+01] [ 9.10393319e-01 4.13530779e-01 -1.32777388e-02 5.54594941e+01] [ 1.47121481e-02 -2.84235632e-04 9.99891730e-01 1.62906139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.06, Y:55.48, Z:1.63 [[ 4.13597463e-01 -9.10437937e-01 -6.31671020e-03 9.20623221e+01] [ 9.10340973e-01 4.13645618e-01 -1.32896487e-02 5.54801272e+01] [ 1.47122798e-02 -2.53795132e-04 9.99891736e-01 1.62863356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.08, Y:55.50, Z:1.63 [[ 4.12983864e-01 -9.10717534e-01 -6.15645940e-03 9.20762668e+01] [ 9.10619495e-01 4.13029740e-01 -1.33629475e-02 5.55031284e+01] [ 1.47126714e-02 -8.75102479e-05 9.99891759e-01 1.62789061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.758040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.09, Y:55.53, Z:1.63 [[ 4.12472542e-01 -9.10949588e-01 -6.10328907e-03 9.20895891e+01] [ 9.10851215e-01 4.12517692e-01 -1.33872449e-02 5.55288700e+01] [ 1.47128200e-02 -3.73173097e-05 9.99891760e-01 1.62640662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.788040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.11, Y:55.55, Z:1.63 [[ 4.13635825e-01 -9.10421721e-01 -6.13958864e-03 9.21050257e+01] [ 9.10323535e-01 4.13681383e-01 -1.33706642e-02 5.55541179e+01] [ 1.47127766e-02 -5.84263396e-05 9.99891760e-01 1.62618868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.818040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.12, Y:55.58, Z:1.63 [[ 4.13208746e-01 -9.10615451e-01 -6.16704333e-03 9.21188637e+01] [ 9.10517474e-01 4.13254753e-01 -1.33581269e-02 5.55793986e+01] [ 1.47126768e-02 -9.55058356e-05 9.99891758e-01 1.62573573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.13, Y:55.60, Z:1.63 [[ 4.16690219e-01 -9.09027339e-01 -6.20945611e-03 9.21339062e+01] [ 9.08929474e-01 4.16736474e-01 -1.33387582e-02 5.56024375e+01] [ 1.47130028e-02 -8.58275735e-05 9.99891754e-01 1.62739201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.15, Y:55.62, Z:1.63 [[ 4.17857967e-01 -9.08491400e-01 -6.17211841e-03 9.21492140e+01] [ 9.08393223e-01 4.17903548e-01 -1.33557976e-02 5.56236421e+01] [ 1.47129775e-02 -2.58840894e-05 9.99891758e-01 1.63206086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.908040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.17, Y:55.65, Z:1.63 [[ 4.16461530e-01 -9.09132855e-01 -6.10302955e-03 9.21652494e+01] [ 9.09034283e-01 4.16506245e-01 -1.33872941e-02 5.56461279e+01] [ 1.47127788e-02 2.74298740e-05 9.99891761e-01 1.63344272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.18, Y:55.67, Z:1.63 [[ 4.14176350e-01 -9.10176216e-01 -6.09967442e-03 9.21796581e+01] [ 9.10077735e-01 4.14221264e-01 -1.33888226e-02 5.56722623e+01] [ 1.47128027e-02 -5.84420132e-06 9.99891761e-01 1.63361723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.19, Y:55.70, Z:1.64 [[ 4.13742229e-01 -9.10373101e-01 -6.17935466e-03 9.21934445e+01] [ 9.10275179e-01 4.13788360e-01 -1.33525679e-02 5.56971976e+01] [ 1.47127637e-02 -1.00391950e-04 9.99891756e-01 1.63561568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.21, Y:55.72, Z:1.63 [[ 4.12914101e-01 -9.10749187e-01 -6.15334054e-03 9.22065614e+01] [ 9.10651131e-01 4.12959939e-01 -1.33643858e-02 5.57218003e+01] [ 1.47126867e-02 -8.52031538e-05 9.99891759e-01 1.63442441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.22, Y:55.74, Z:1.64 [[ 4.14529372e-01 -9.10015324e-01 -6.12449757e-03 9.22228042e+01] [ 9.09916993e-01 4.14574612e-01 -1.33774766e-02 5.57428864e+01] [ 1.47127699e-02 -2.74274433e-05 9.99891761e-01 1.63646227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.24, Y:55.77, Z:1.63 [[ 4.11904878e-01 -9.11206782e-01 -6.04749987e-03 9.22377642e+01] [ 9.11108066e-01 4.11949269e-01 -1.34123896e-02 5.57708102e+01] [ 1.47127235e-02 1.47027873e-05 9.99891762e-01 1.63469504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.088040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.25, Y:55.79, Z:1.64 [[ 4.12229205e-01 -9.11059476e-01 -6.14123695e-03 9.22526532e+01] [ 9.10961370e-01 4.12274939e-01 -1.33699880e-02 5.57922740e+01] [ 1.47127323e-02 -8.29300997e-05 9.99891758e-01 1.63619485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.118040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.26, Y:55.82, Z:1.64 [[ 4.11984302e-01 -9.11170914e-01 -6.04155606e-03 9.22642921e+01] [ 9.11072156e-01 4.12028597e-01 -1.34150178e-02 5.58183502e+01] [ 1.47126679e-02 2.24832535e-05 9.99891763e-01 1.63658522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.28, Y:55.84, Z:1.64 [[ 4.12953462e-01 -9.10732115e-01 -6.03753577e-03 9.22789880e+01] [ 9.10633283e-01 4.12997593e-01 -1.34168326e-02 5.58410972e+01] [ 1.47126281e-02 4.25464486e-05 9.99891763e-01 1.63893555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.29, Y:55.87, Z:1.64 [[ 4.12907553e-01 -9.10752986e-01 -6.02925831e-03 9.22932398e+01] [ 9.10654101e-01 4.12951567e-01 -1.34205659e-02 5.58667406e+01] [ 1.47126121e-02 5.08842263e-05 9.99891762e-01 1.64000556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.31, Y:55.89, Z:1.64 [[ 4.12584887e-01 -9.10899073e-01 -6.04892215e-03 9.23099960e+01] [ 9.10800334e-01 4.12629226e-01 -1.34117023e-02 5.58920992e+01] [ 1.47126693e-02 2.41053896e-05 9.99891763e-01 1.64032088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.32, Y:55.91, Z:1.64 [[ 4.12190644e-01 -9.11077060e-01 -6.12081266e-03 9.23219705e+01] [ 9.10978817e-01 4.12236083e-01 -1.33793452e-02 5.59148918e+01] [ 1.47128343e-02 -6.10897582e-05 9.99891759e-01 1.63733493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.34, Y:55.94, Z:1.64 [[ 4.13504809e-01 -9.10482088e-01 -6.01173295e-03 9.23393997e+01] [ 9.10383061e-01 4.13548500e-01 -1.34283782e-02 5.59375604e+01] [ 1.47124410e-02 7.97191230e-05 9.99891763e-01 1.64247474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.35, Y:55.96, Z:1.64 [[ 4.12549119e-01 -9.10915395e-01 -6.03047856e-03 9.23530752e+01] [ 9.10816537e-01 4.12593190e-01 -1.34199546e-02 5.59614078e+01] [ 1.47125776e-02 4.37308353e-05 9.99891763e-01 1.64359093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.37, Y:55.99, Z:1.65 [[ 4.11793727e-01 -9.11257141e-01 -6.02898694e-03 9.23673146e+01] [ 9.11158310e-01 4.11837858e-01 -1.34206243e-02 5.59855145e+01] [ 1.47126048e-02 3.31673538e-05 9.99891763e-01 1.64501944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.358040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.38, Y:56.01, Z:1.64 [[ 4.09975960e-01 -9.12076444e-01 -6.02267873e-03 9.23830480e+01] [ 9.11977659e-01 4.10020195e-01 -1.34234546e-02 5.60092183e+01] [ 1.47126366e-02 1.07452377e-05 9.99891763e-01 1.64196098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.388040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.40, Y:56.03, Z:1.65 [[ 4.08385934e-01 -9.12789776e-01 -5.97934749e-03 9.23984030e+01] [ 9.12690783e-01 4.08429704e-01 -1.34428848e-02 5.60345408e+01] [ 1.47126710e-02 3.25897363e-05 9.99891762e-01 1.64592344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.42, Y:56.06, Z:1.65 [[ 4.07835138e-01 -9.13035757e-01 -6.01711289e-03 9.24203237e+01] [ 9.12937040e-01 4.07879523e-01 -1.34259559e-02 5.60605637e+01] [ 1.47126349e-02 -1.76686583e-05 9.99891763e-01 1.64537239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.43, Y:56.08, Z:1.65 [[ 4.03925056e-01 -9.14771199e-01 -6.18085539e-03 9.24312641e+01] [ 9.14673780e-01 4.03972259e-01 -1.33525438e-02 5.60837042e+01] [ 1.47114166e-02 -2.60039373e-04 9.99891747e-01 1.64508084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.47804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.44, Y:56.11, Z:1.65 [[ 4.02221532e-01 -9.15522235e-01 -6.07266996e-03 9.24436251e+01] [ 9.15424167e-01 4.02267336e-01 -1.34009747e-02 5.61066926e+01] [ 1.47117271e-02 -1.68908269e-04 9.99891762e-01 1.64808148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.508040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.47, Y:56.13, Z:1.65 [[ 4.01105156e-01 -9.16012320e-01 -6.00699120e-03 9.24654298e+01] [ 9.15913865e-01 4.01150117e-01 -1.34303509e-02 5.61330124e+01] [ 1.47120721e-02 -1.14903543e-04 9.99891765e-01 1.64779759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.538040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.48, Y:56.15, Z:1.65 [[ 4.00156715e-01 -9.16425863e-01 -6.18392995e-03 9.24799618e+01] [ 9.16328661e-01 4.00204363e-01 -1.33511609e-02 5.61545769e+01] [ 1.47101849e-02 -3.23955558e-04 9.99891747e-01 1.64704443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.568040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.49, Y:56.18, Z:1.65 [[ 3.99753413e-01 -9.16602307e-01 -6.11709407e-03 9.24938759e+01] [ 9.16504666e-01 3.99800130e-01 -1.33810460e-02 5.61794385e+01] [ 1.47107126e-02 -2.57226459e-04 9.99891759e-01 1.64726020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.51, Y:56.20, Z:1.65 [[ 3.99485721e-01 -9.16719045e-01 -6.11160953e-03 9.25070962e+01] [ 9.16621380e-01 3.99532386e-01 -1.33834960e-02 5.62029775e+01] [ 1.47106916e-02 -2.55516415e-04 9.99891759e-01 1.64850206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.52, Y:56.23, Z:1.65 [[ 3.95897896e-01 -9.18274286e-01 -6.09853414e-03 9.25172472e+01] [ 9.18176715e-01 3.95944752e-01 -1.33893344e-02 5.62251435e+01] [ 1.47097641e-02 -2.98722737e-04 9.99891761e-01 1.64953214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.658040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.53, Y:56.25, Z:1.65 [[ 3.95601863e-01 -9.18402635e-01 -5.98048142e-03 9.25326665e+01] [ 9.18304276e-01 3.95647027e-01 -1.34419819e-02 5.62535486e+01] [ 1.47113113e-02 -1.74228578e-04 9.99891768e-01 1.64662804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.55, Y:56.28, Z:1.65 [[ 3.95050511e-01 -9.18639116e-01 -6.10475533e-03 9.25461725e+01] [ 9.18541631e-01 3.95097548e-01 -1.33865634e-02 5.62779844e+01] [ 1.47093946e-02 -3.19103195e-04 9.99891760e-01 1.64681928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.56, Y:56.30, Z:1.65 [[ 3.96998107e-01 -9.17799220e-01 -6.09059623e-03 9.25622958e+01] [ 9.17701538e-01 3.97044730e-01 -1.33928716e-02 5.63046350e+01] [ 1.47102062e-02 -2.72404863e-04 9.99891762e-01 1.64820178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.58, Y:56.33, Z:1.65 [[ 3.98692851e-01 -9.17063705e-01 -6.17831887e-03 9.25784307e+01] [ 9.16966538e-01 3.98740573e-01 -1.33537966e-02 5.63306329e+01] [ 1.47098286e-02 -3.41248408e-04 9.99891746e-01 1.64990873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.59, Y:56.36, Z:1.65 [[ 3.98217557e-01 -9.17269609e-01 -6.26425156e-03 9.25933366e+01] [ 9.17173064e-01 3.98266579e-01 -1.33155252e-02 5.63562145e+01] [ 1.47087687e-02 -4.42926869e-04 9.99891722e-01 1.65068384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.61, Y:56.38, Z:1.65 [[ 3.99520576e-01 -9.16702820e-01 -6.26494031e-03 9.26108548e+01] [ 9.16606209e-01 3.99569471e-01 -1.33152187e-02 5.63823182e+01] [ 1.47093774e-02 -4.22779348e-04 9.99891722e-01 1.65424440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.61, Y:56.40, Z:1.66 [[ 3.93651419e-01 -9.19237603e-01 -6.38660601e-03 9.26105280e+01] [ 9.19142176e-01 3.93702688e-01 -1.32610201e-02 5.63996464e+01] [ 1.47044523e-02 -6.49979553e-04 9.99891672e-01 1.65594445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.62, Y:56.42, Z:1.66 [[ 3.93375808e-01 -9.19358389e-01 -5.96876313e-03 9.26225127e+01] [ 9.19260071e-01 3.93421038e-01 -1.34464980e-02 5.64249690e+01] [ 1.47103877e-02 -1.97318615e-04 9.99891777e-01 1.65686903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.65, Y:56.46, Z:1.66 [[ 4.00603881e-01 -9.16231931e-01 -5.96488503e-03 9.26506080e+01] [ 9.16133234e-01 4.00648279e-01 -1.34482181e-02 5.64584789e+01] [ 1.47115077e-02 -7.72210491e-05 9.99891777e-01 1.65849669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.928040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:92.65, Y:56.47, Z:1.66 [[ 3.94250446e-01 -9.18980277e-01 -6.46813589e-03 9.26472835e+01] [ 9.18885413e-01 3.94302825e-01 -1.32242438e-02 5.64741665e+01] [ 1.47032235e-02 -7.29811703e-04 9.99891635e-01 1.65891974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.68, Y:56.51, Z:1.66 [[ 4.02403057e-01 -9.15443209e-01 -5.95919297e-03 9.26766005e+01] [ 9.15344402e-01 4.02447177e-01 -1.34497442e-02 5.65084608e+01] [ 1.47107374e-02 -4.24957494e-05 9.99891790e-01 1.65961681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.69, Y:56.53, Z:1.66 [[ 4.01469450e-01 -9.15849505e-01 -6.47808522e-03 9.26874254e+01] [ 9.15754311e-01 4.01521225e-01 -1.32192147e-02 5.65339302e+01] [ 1.47079000e-02 -6.25223596e-04 9.99891638e-01 1.66035917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.68, Y:56.55, Z:1.66 [[ 3.94984932e-01 -9.18665160e-01 -6.42084759e-03 9.26839932e+01] [ 9.18569922e-01 3.95036555e-01 -1.32445959e-02 5.65501059e+01] [ 1.47038183e-02 -6.66581652e-04 9.99891671e-01 1.66118195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.71, Y:56.58, Z:1.66 [[ 4.00641084e-01 -9.16215814e-01 -5.94168755e-03 9.27106694e+01] [ 9.16116997e-01 4.00685137e-01 -1.34561753e-02 5.65826329e+01] [ 1.47095065e-02 -5.21843197e-05 9.99891808e-01 1.66117762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.72, Y:56.61, Z:1.66 [[ 3.99614554e-01 -9.16660810e-01 -6.41614507e-03 9.27213262e+01] [ 9.16565291e-01 3.99665627e-01 -1.32458821e-02 5.66073667e+01] [ 1.47062936e-02 -5.87568628e-04 9.99891684e-01 1.66122734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.108040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:92.73, Y:56.64, Z:1.66 [[ 3.95212917e-01 -9.18568186e-01 -6.26398619e-03 9.27342875e+01] [ 9.18471846e-01 3.95262249e-01 -1.33125002e-02 5.66395555e+01] [ 1.47043564e-02 -4.92022917e-04 9.99891764e-01 1.66057401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.75, Y:56.66, Z:1.66 [[ 3.95225993e-01 -9.18561349e-01 -6.43918459e-03 9.27450856e+01] [ 9.18466238e-01 3.95277854e-01 -1.32358252e-02 5.66627441e+01] [ 1.47031845e-02 -6.83031491e-04 9.99891669e-01 1.66346933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.75, Y:56.69, Z:1.66 [[ 3.91028351e-01 -9.20356531e-01 -6.37842384e-03 9.27529861e+01] [ 9.20261225e-01 3.91079772e-01 -1.32623824e-02 5.66882220e+01] [ 1.47005928e-02 -6.83848624e-04 9.99891707e-01 1.66231279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.76, Y:56.71, Z:1.66 [[ 3.90008484e-01 -9.20789829e-01 -6.28282180e-03 9.27630355e+01] [ 9.20693904e-01 3.90058632e-01 -1.33040834e-02 5.67129401e+01] [ 1.47009336e-02 -5.95850321e-04 9.99891758e-01 1.66355330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.78, Y:56.74, Z:1.66 [[ 3.91521196e-01 -9.20147610e-01 -6.28719285e-03 9.27762333e+01] [ 9.20051634e-01 3.91571249e-01 -1.33021725e-02 5.67391116e+01] [ 1.47018462e-02 -5.76459554e-04 9.99891756e-01 1.66309571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.258040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.78, Y:56.76, Z:1.66 [[ 3.85730817e-01 -9.22589589e-01 -6.33929115e-03 9.27845080e+01] [ 9.22494300e-01 3.85782223e-01 -1.32794145e-02 5.67644530e+01] [ 1.46970354e-02 -7.25680558e-04 9.99891729e-01 1.66461701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.288040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:92.80, Y:56.79, Z:1.66 [[ 3.83214246e-01 -9.23638555e-01 -6.21779624e-03 9.27951197e+01] [ 9.23542546e-01 3.83264163e-01 -1.33322199e-02 5.67907217e+01] [ 1.46972108e-02 -6.33302758e-04 9.99891790e-01 1.66458620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.318040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:92.80, Y:56.81, Z:1.67 [[ 3.83878208e-01 -9.23362843e-01 -6.21145166e-03 9.28049204e+01] [ 9.23266753e-01 3.83927963e-01 -1.33349734e-02 5.68124533e+01] [ 1.46977689e-02 -6.15821126e-04 9.99891792e-01 1.66501325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.348040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:92.81, Y:56.84, Z:1.66 [[ 3.79813145e-01 -9.25043020e-01 -6.11445982e-03 9.28145392e+01] [ 9.24946470e-01 3.79861924e-01 -1.33770626e-02 5.68391119e+01] [ 1.46970089e-02 -5.74763803e-04 9.99891828e-01 1.66396302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.378040942 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:92.83, Y:56.87, Z:1.66 [[ 3.79390506e-01 -9.25216314e-01 -6.13327703e-03 9.28259145e+01] [ 9.25119917e-01 3.79439601e-01 -1.33689161e-02 5.68673854e+01] [ 1.46963475e-02 -6.01976875e-04 9.99891822e-01 1.66335336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.408040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.83, Y:56.89, Z:1.66 [[ 3.81851795e-01 -9.24202957e-01 -6.17265532e-03 9.28327887e+01] [ 9.24106703e-01 3.81901202e-01 -1.33518832e-02 5.68879326e+01] [ 1.46971944e-02 -6.05751592e-04 9.99891807e-01 1.66265131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.438040942 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:92.85, Y:56.92, Z:1.66 [[ 3.81667069e-01 -9.24280666e-01 -5.95803984e-03 9.28470909e+01] [ 9.24182958e-01 3.81713386e-01 -1.34443495e-02 5.69211298e+01] [ 1.47006159e-02 -3.75053407e-04 9.99891870e-01 1.66223643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.468040942 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:92.86, Y:56.95, Z:1.66 [[ 3.80667553e-01 -9.24691030e-01 -6.22198369e-03 9.28559938e+01] [ 9.24595185e-01 3.80717795e-01 -1.33305920e-02 5.69469289e+01] [ 1.46954988e-02 -6.78292302e-04 9.99891785e-01 1.66338373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.498040942 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:92.87, Y:56.98, Z:1.66 [[ 3.82384085e-01 -9.23983126e-01 -6.13143914e-03 9.28687895e+01] [ 9.23886562e-01 3.82432841e-01 -1.33694964e-02 5.69759251e+01] [ 1.46980527e-02 -5.52471594e-04 9.99891825e-01 1.66342963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.528040942 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:92.88, Y:57.00, Z:1.66 [[ 3.82476541e-01 -9.23944306e-01 -6.21400962e-03 9.28775362e+01] [ 9.23848308e-01 3.82526480e-01 -1.33340283e-02 5.70003708e+01] [ 1.46969227e-02 -6.40849248e-04 9.99891789e-01 1.66354471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.558040942 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:92.89, Y:57.03, Z:1.66 [[ 3.82750145e-01 -9.23831200e-01 -6.18395032e-03 9.28894216e+01] [ 9.23734977e-01 3.82799621e-01 -1.33469660e-02 5.70282297e+01] [ 1.46975575e-02 -6.03778039e-04 9.99891803e-01 1.66341770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.588040942 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:92.90, Y:57.05, Z:1.66 [[ 3.79325822e-01 -9.25242385e-01 -6.20087890e-03 9.28965426e+01] [ 9.25146464e-01 3.79375898e-01 -1.33397101e-02 5.70547355e+01] [ 1.46949291e-02 -6.76624714e-04 9.99891795e-01 1.66459486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.618040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:92.91, Y:57.08, Z:1.67 [[ 3.78506684e-01 -9.25578246e-01 -6.13195520e-03 9.29081625e+01] [ 9.25481892e-01 3.78555852e-01 -1.33691822e-02 5.70819545e+01] [ 1.46955117e-02 -6.14688664e-04 9.99891826e-01 1.66544162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.648040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:92.90, Y:57.10, Z:1.67 [[ 3.71718628e-01 -9.28325038e-01 -6.15504290e-03 9.29047173e+01] [ 9.28229209e-01 3.71768832e-01 -1.33593240e-02 5.70999766e+01] [ 1.46900481e-02 -7.47380996e-04 9.99891816e-01 1.66779640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.678040942 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:92.93, Y:57.13, Z:1.67 [[ 3.76692849e-01 -9.26320587e-01 -5.71558528e-03 9.29302236e+01] [ 9.26221553e-01 3.76736159e-01 -1.35462259e-02 5.71347927e+01] [ 1.47014155e-02 -1.91131868e-04 9.99891910e-01 1.66735619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.94, Y:57.16, Z:1.67 [[ 3.74322867e-01 -9.27277450e-01 -6.23877337e-03 9.29376775e+01] [ 9.27182078e-01 3.74374004e-01 -1.33229063e-02 5.71589525e+01] [ 1.46896652e-02 -7.97410366e-04 9.99891783e-01 1.66765239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.738040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:92.95, Y:57.18, Z:1.67 [[ 3.74828948e-01 -9.27073557e-01 -6.15468368e-03 9.29456940e+01] [ 9.26977567e-01 3.74878825e-01 -1.33587658e-02 5.71811204e+01] [ 1.46918191e-02 -6.98001583e-04 9.99891826e-01 1.66870177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.768040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:92.96, Y:57.21, Z:1.67 [[ 3.73698907e-01 -9.27530424e-01 -6.03651234e-03 9.29575530e+01] [ 9.27433680e-01 3.73747197e-01 -1.34090187e-02 5.72096749e+01] [ 1.46934024e-02 -5.87529226e-04 9.99891874e-01 1.66970366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.798040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:92.97, Y:57.24, Z:1.67 [[ 3.76892992e-01 -9.26236463e-01 -6.13901565e-03 9.29699822e+01] [ 9.26140254e-01 3.76942429e-01 -1.33654375e-02 5.72374258e+01] [ 1.46936111e-02 -6.48249770e-04 9.99891833e-01 1.66954254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.828040942 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:92.98, Y:57.26, Z:1.67 [[ 3.78967870e-01 -9.25389087e-01 -6.19600072e-03 9.29787926e+01] [ 9.25293161e-01 3.79017913e-01 -1.33412235e-02 5.72613052e+01] [ 1.46942179e-02 -6.77222037e-04 9.99891805e-01 1.66929781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.858040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:92.99, Y:57.29, Z:1.67 [[ 3.77649449e-01 -9.25928541e-01 -6.10170894e-03 9.29859362e+01] [ 9.25832039e-01 3.77698268e-01 -1.33811017e-02 5.72893736e+01] [ 1.46945489e-02 -5.95791933e-04 9.99891852e-01 1.67027310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.888040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.00, Y:57.32, Z:1.67 [[ 3.77149176e-01 -9.26132919e-01 -6.02619710e-03 9.29979643e+01] [ 9.26035935e-01 3.77196956e-01 -1.34128070e-02 5.73183581e+01] [ 1.46951053e-02 -5.21845982e-04 9.99891885e-01 1.67040103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.918040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.02, Y:57.35, Z:1.67 [[ 3.81879008e-01 -9.24192052e-01 -6.12164753e-03 9.30169322e+01] [ 9.24095462e-01 3.81927674e-01 -1.33726516e-02 5.73493859e+01] [ 1.46969249e-02 -5.50251775e-04 9.99891843e-01 1.67199293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.948040942 meters Centerline goodness : 0.997174 Centerline is valid? [True, True] Translation: X:93.02, Y:57.36, Z:1.67 [[ 3.78850182e-01 -9.25435878e-01 -6.40114994e-03 9.30170645e+01] [ 9.25341434e-01 3.78903181e-01 -1.32518179e-02 5.73616584e+01] [ 1.46891238e-02 -9.02795656e-04 9.99891701e-01 1.67133409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.97804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.04, Y:57.39, Z:1.67 [[ 3.89045118e-01 -9.21200117e-01 -5.85148345e-03 9.30370090e+01] [ 9.21101375e-01 3.89089094e-01 -1.34882703e-02 5.73878539e+01] [ 1.47021446e-02 -1.42263739e-04 9.99891908e-01 1.67092067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.008040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.05, Y:57.41, Z:1.67 [[ 3.88287234e-01 -9.21517097e-01 -6.26604321e-03 9.30472598e+01] [ 9.21421173e-01 3.88337318e-01 -1.33097294e-02 5.74127639e+01] [ 1.46984816e-02 -6.05666878e-04 9.99891788e-01 1.67147629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.038040942 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:93.06, Y:57.44, Z:1.67 [[ 3.85634505e-01 -9.22630999e-01 -6.16994674e-03 9.30575742e+01] [ 9.22534560e-01 3.85683476e-01 -1.33507127e-02 5.74430683e+01] [ 1.46974279e-02 -5.43493621e-04 9.99891839e-01 1.67196375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.068040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:93.07, Y:57.47, Z:1.67 [[ 3.85495299e-01 -9.22688745e-01 -6.23326296e-03 9.30712521e+01] [ 9.22592746e-01 3.85545200e-01 -1.33237828e-02 5.74731223e+01] [ 1.46969090e-02 -6.14507572e-04 9.99891806e-01 1.67014271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.098040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:93.08, Y:57.50, Z:1.67 [[ 3.82787338e-01 -9.23815086e-01 -6.28810913e-03 9.30843247e+01] [ 9.23719611e-01 3.82838310e-01 -1.33006996e-02 5.75024131e+01] [ 1.46947160e-02 -7.17110350e-04 9.99891770e-01 1.67263893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.128040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:93.09, Y:57.52, Z:1.67 [[ 3.83016377e-01 -9.23719438e-01 -6.39170946e-03 9.30906221e+01] [ 9.23624671e-01 3.83068815e-01 -1.32570860e-02 5.75216913e+01] [ 1.46942926e-02 -8.25859490e-04 9.99891692e-01 1.66976631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.158040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.10, Y:57.55, Z:1.67 [[ 3.77023984e-01 -9.26183253e-01 -6.12344319e-03 9.30961109e+01] [ 9.26086968e-01 3.77073181e-01 -1.33695203e-02 5.75491084e+01] [ 1.46916120e-02 -6.30211136e-04 9.99891874e-01 1.67249636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.188040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.11, Y:57.57, Z:1.67 [[ 3.78912706e-01 -9.25412999e-01 -5.99522406e-03 9.31050748e+01] [ 9.25315763e-01 3.78959851e-01 -1.34227258e-02 5.75717537e+01] [ 1.46935141e-02 -4.61433979e-04 9.99891938e-01 1.67219633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.11, Y:57.60, Z:1.67 [[ 3.78047915e-01 -9.25766930e-01 -5.94690829e-03 9.31129798e+01] [ 9.25669421e-01 3.78094450e-01 -1.34428166e-02 5.75959023e+01] [ 1.46934080e-02 -4.22842374e-04 9.99891957e-01 1.67006784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.12, Y:57.62, Z:1.67 [[ 3.76349428e-01 -9.26459331e-01 -5.84951207e-03 9.31228334e+01] [ 9.26361275e-01 3.76394727e-01 -1.34832586e-02 5.76211438e+01] [ 1.46934163e-02 -3.44344779e-04 9.99891987e-01 1.66863243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.13, Y:57.65, Z:1.67 [[ 3.76032732e-01 -9.26588126e-01 -5.81632465e-03 9.31348019e+01] [ 9.26489873e-01 3.76077581e-01 -1.34970093e-02 5.76478817e+01] [ 1.46935578e-02 -3.13448625e-04 9.99891995e-01 1.67050098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.308040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.14, Y:57.67, Z:1.67 [[ 3.75460974e-01 -9.26819894e-01 -5.82587758e-03 9.31449841e+01] [ 9.26721730e-01 3.75506023e-01 -1.34930538e-02 5.76724950e+01] [ 1.46932828e-02 -3.32852219e-04 9.99891992e-01 1.67019581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.15, Y:57.70, Z:1.67 [[ 3.72517708e-01 -9.28006963e-01 -5.79940753e-03 9.31542401e+01] [ 9.27908772e-01 3.72562683e-01 -1.35040033e-02 5.76984794e+01] [ 1.46924519e-02 -3.50840773e-04 9.99891999e-01 1.66868526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.368040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.16, Y:57.72, Z:1.67 [[ 3.73235141e-01 -9.27718804e-01 -5.77506265e-03 9.31637901e+01] [ 9.27620422e-01 3.73279685e-01 -1.35140616e-02 5.77216314e+01] [ 1.46929627e-02 -3.13143354e-04 9.99892004e-01 1.67034878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.18, Y:57.75, Z:1.67 [[ 3.71226464e-01 -9.28525074e-01 -5.66569044e-03 9.31765603e+01] [ 9.28426095e-01 3.71269628e-01 -1.35591508e-02 5.77497365e+01] [ 1.46935102e-02 -2.26659258e-04 9.99892019e-01 1.67206320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.19, Y:57.77, Z:1.67 [[ 3.70223666e-01 -9.28924773e-01 -5.76223064e-03 9.31862563e+01] [ 9.28826454e-01 3.70268343e-01 -1.35193463e-02 5.77738919e+01] [ 1.46920273e-02 -3.46930309e-04 9.99892006e-01 1.67236846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.458040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.20, Y:57.80, Z:1.67 [[ 3.68356756e-01 -9.29667045e-01 -5.69961291e-03 9.31981607e+01] [ 9.29568416e-01 3.68400719e-01 -1.35451333e-02 5.78005658e+01] [ 1.46922056e-02 -3.08738767e-04 9.99892016e-01 1.67395926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.488040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.21, Y:57.83, Z:1.68 [[ 3.65621482e-01 -9.30745961e-01 -5.73484428e-03 9.32123134e+01] [ 9.30647687e-01 3.65666247e-01 -1.35306356e-02 5.78270585e+01] [ 1.46906234e-02 -3.90028532e-04 9.99892011e-01 1.67536927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.518040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.22, Y:57.85, Z:1.68 [[ 3.63257232e-01 -9.31670953e-01 -5.78096853e-03 9.32228296e+01] [ 9.31573092e-01 3.63302915e-01 -1.35116711e-02 5.78531297e+01] [ 1.46886742e-02 -4.77182493e-04 9.99892002e-01 1.67505702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.23, Y:57.88, Z:1.67 [[ 3.59503193e-01 -9.33126035e-01 -5.76682436e-03 9.32327892e+01] [ 9.33028267e-01 3.59549066e-01 -1.35174818e-02 5.78841073e+01] [ 1.46869705e-02 -5.21032286e-04 9.99892005e-01 1.67365691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.578040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.24, Y:57.90, Z:1.68 [[ 3.59126903e-01 -9.33269943e-01 -5.92294566e-03 9.32431973e+01] [ 9.33173230e-01 3.59175068e-01 -1.34533631e-02 5.79033046e+01] [ 1.46829938e-02 -6.95669707e-04 9.99891957e-01 1.67729051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.608040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.25, Y:57.93, Z:1.68 [[ 3.57677931e-01 -9.33827616e-01 -5.69932437e-03 9.32517631e+01] [ 9.33729499e-01 3.57723017e-01 -1.35449515e-02 5.79286441e+01] [ 1.46874293e-02 -4.76897062e-04 9.99892020e-01 1.67650533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.638040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.27, Y:57.96, Z:1.68 [[ 3.58423675e-01 -9.33542063e-01 -5.62895074e-03 9.32667235e+01] [ 9.33443458e-01 3.58467662e-01 -1.35737374e-02 5.79580835e+01] [ 1.46894516e-02 -3.89158407e-04 9.99892028e-01 1.67938845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.27, Y:57.98, Z:1.68 [[ 3.56830863e-01 -9.34150923e-01 -5.81269487e-03 9.32738954e+01] [ 9.34053590e-01 3.56877678e-01 -1.34986834e-02 5.79830154e+01] [ 1.46842286e-02 -6.12621670e-04 9.99891993e-01 1.67865191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.29, Y:58.01, Z:1.68 [[ 3.58107425e-01 -9.33662881e-01 -5.71815999e-03 9.32850445e+01] [ 9.33564866e-01 3.58152739e-01 -1.35372361e-02 5.80104400e+01] [ 1.46871895e-02 -4.90488508e-04 9.99892017e-01 1.67963289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.29, Y:58.03, Z:1.68 [[ 3.57837353e-01 -9.33766068e-01 -5.77568408e-03 9.32922062e+01] [ 9.33668441e-01 3.57883528e-01 -1.35137877e-02 5.80342627e+01] [ 1.46857386e-02 -5.56835945e-04 9.99892004e-01 1.67837060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.758040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.30, Y:58.06, Z:1.68 [[ 3.59065741e-01 -9.33294959e-01 -5.68451588e-03 9.33044657e+01] [ 9.33196682e-01 3.59110466e-01 -1.35508879e-02 5.80628090e+01] [ 1.46883445e-02 -4.39111749e-04 9.99892024e-01 1.68065827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.788040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.30, Y:58.08, Z:1.68 [[ 3.56552698e-01 -9.34257412e-01 -5.76730941e-03 9.33041200e+01] [ 9.34159793e-01 3.56598887e-01 -1.35172099e-02 5.80835475e+01] [ 1.46851697e-02 -5.67990891e-04 9.99892006e-01 1.68280603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.818040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.32, Y:58.11, Z:1.68 [[ 3.60104606e-01 -9.32895786e-01 -5.48861946e-03 9.33204814e+01] [ 9.32796231e-01 3.60146369e-01 -1.36302819e-02 5.81139651e+01] [ 1.46923389e-02 -2.11436248e-04 9.99892039e-01 1.67962840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.33, Y:58.14, Z:1.68 [[ 3.63251771e-01 -9.31673550e-01 -5.70498413e-03 9.33303896e+01] [ 9.31575205e-01 3.63296352e-01 -1.35424298e-02 5.81399203e+01] [ 1.46897236e-02 -3.95310170e-04 9.99892022e-01 1.68235715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.35, Y:58.17, Z:1.68 [[ 3.67345718e-01 -9.30066864e-01 -5.72283447e-03 9.33470471e+01] [ 9.29968437e-01 3.67390127e-01 -1.35351877e-02 5.81706202e+01] [ 1.46911424e-02 -3.49962196e-04 9.99892018e-01 1.68345151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.908040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.35, Y:58.19, Z:1.68 [[ 3.63651514e-01 -9.31516168e-01 -5.93339122e-03 9.33496798e+01] [ 9.31419282e-01 3.63699361e-01 -1.34497677e-02 5.81939487e+01] [ 1.46866467e-02 -6.35446591e-04 9.99891943e-01 1.68268267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.36, Y:58.22, Z:1.68 [[ 3.67720565e-01 -9.29918649e-01 -5.73511640e-03 9.33639078e+01] [ 9.29820285e-01 3.67765112e-01 -1.35299924e-02 5.82240921e+01] [ 1.46909680e-02 -3.57371107e-04 9.99892018e-01 1.68336961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.37, Y:58.25, Z:1.68 [[ 3.67969601e-01 -9.29819330e-01 -5.86407895e-03 9.33724870e+01] [ 9.29721771e-01 3.68015994e-01 -1.34780301e-02 5.82506115e+01] [ 1.46902077e-02 -4.92456530e-04 9.99891972e-01 1.68468512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.38, Y:58.27, Z:1.68 [[ 3.69161102e-01 -9.29347180e-01 -5.82233830e-03 9.33784396e+01] [ 9.29249296e-01 3.69206765e-01 -1.34948269e-02 5.82723864e+01] [ 1.46910260e-02 -4.28638597e-04 9.99891989e-01 1.68362266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.39, Y:58.30, Z:1.69 [[ 3.73432738e-01 -9.27639989e-01 -5.66049036e-03 9.33885110e+01] [ 9.27540895e-01 3.73475589e-01 -1.35599382e-02 5.82985150e+01] [ 1.46927959e-02 -1.86611454e-04 9.99892038e-01 1.68550586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.40, Y:58.33, Z:1.68 [[ 3.68785131e-01 -9.29497771e-01 -5.60547826e-03 9.33956719e+01] [ 9.29398556e-01 3.68827675e-01 -1.35819658e-02 5.83277015e+01] [ 1.46918625e-02 -2.00896350e-04 9.99892049e-01 1.68202893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.41, Y:58.35, Z:1.69 [[ 3.72384520e-01 -9.28061537e-01 -5.61709223e-03 9.34063008e+01] [ 9.27962229e-01 3.72426850e-01 -1.35773233e-02 5.83548477e+01] [ 1.46925475e-02 -1.56464402e-04 9.99892046e-01 1.68707419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.42, Y:58.39, Z:1.69 [[ 3.76416805e-01 -9.26433214e-01 -5.64697056e-03 9.34228260e+01] [ 9.26333901e-01 3.76459140e-01 -1.35653867e-02 5.83853647e+01] [ 1.46932784e-02 -1.24740765e-04 9.99892040e-01 1.68857952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.43, Y:58.41, Z:1.69 [[ 3.73136586e-01 -9.27757847e-01 -5.87068651e-03 9.34280379e+01] [ 9.27660065e-01 3.73182533e-01 -1.34759218e-02 5.84091907e+01] [ 1.46932299e-02 -4.17641977e-04 9.99891961e-01 1.68917496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.44, Y:58.43, Z:1.69 [[ 3.73412689e-01 -9.27647836e-01 -5.69709311e-03 9.34372606e+01] [ 9.27548968e-01 3.73456077e-01 -1.35451431e-02 5.84346389e+01] [ 1.46927367e-02 -2.26404522e-04 9.99892030e-01 1.69139986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.45, Y:58.46, Z:1.69 [[ 3.73316777e-01 -9.27686711e-01 -5.65247601e-03 9.34469916e+01] [ 9.27587577e-01 3.73359524e-01 -1.35629055e-02 5.84599458e+01] [ 1.46925329e-02 -1.79906383e-04 9.99892043e-01 1.69115852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.46, Y:58.49, Z:1.69 [[ 3.71707883e-01 -9.28332586e-01 -5.64437373e-03 9.34569017e+01] [ 9.28233478e-01 3.71750683e-01 -1.35661263e-02 5.84872640e+01] [ 1.46921769e-02 -1.96660567e-04 9.99892045e-01 1.69003642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.47, Y:58.51, Z:1.69 [[ 3.71142589e-01 -9.28558694e-01 -5.65062985e-03 9.34682167e+01] [ 9.28459650e-01 3.71185541e-01 -1.35636425e-02 5.85141100e+01] [ 1.46920703e-02 -2.12336416e-04 9.99892043e-01 1.68999988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.298040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:93.48, Y:58.54, Z:1.69 [[ 3.70876288e-01 -9.28664970e-01 -5.67038311e-03 9.34838143e+01] [ 9.28566057e-01 3.70919557e-01 -1.35558069e-02 5.85431313e+01] [ 1.46920590e-02 -2.37797924e-04 9.99892038e-01 1.68946346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.49, Y:58.56, Z:1.69 [[ 3.67050437e-01 -9.30182614e-01 -5.85504530e-03 9.34869666e+01] [ 9.30085030e-01 3.67096797e-01 -1.34825306e-02 5.85610902e+01] [ 1.46905839e-02 -4.96921230e-04 9.99891964e-01 1.68998043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.358040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.50, Y:58.59, Z:1.69 [[ 3.63432360e-01 -9.31604332e-01 -5.50346973e-03 9.34984428e+01] [ 9.31504761e-01 3.63473985e-01 -1.36214021e-02 5.85900499e+01] [ 1.46901253e-02 -1.76049939e-04 9.99892079e-01 1.68885264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.388040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:93.51, Y:58.62, Z:1.69 [[ 3.60443935e-01 -9.32764191e-01 -5.57977468e-03 9.35120058e+01] [ 9.32665216e-01 3.60486992e-01 -1.35913080e-02 5.86178075e+01] [ 1.46889216e-02 -3.05157210e-04 9.99892065e-01 1.68895162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.418040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:93.52, Y:58.64, Z:1.69 [[ 3.55880224e-01 -9.34514525e-01 -5.64527290e-03 9.35190460e+01] [ 9.34416168e-01 3.55924715e-01 -1.35655126e-02 5.86423994e+01] [ 1.46864608e-02 -4.47336597e-04 9.99892048e-01 1.68817936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.448040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.53, Y:58.67, Z:1.69 [[ 3.55326666e-01 -9.34725933e-01 -5.51270930e-03 9.35335280e+01] [ 9.34626786e-01 3.55369289e-01 -1.36176179e-02 5.86698483e+01] [ 1.46877882e-02 -3.13623002e-04 9.99892079e-01 1.68836910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.47804094199999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:93.55, Y:58.70, Z:1.69 [[ 3.55472039e-01 -9.34670060e-01 -5.61327164e-03 9.35475574e+01] [ 9.34571523e-01 3.55516109e-01 -1.35780943e-02 5.87002726e+01] [ 1.46866467e-02 -4.19370966e-04 9.99892057e-01 1.69114974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.508040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.55, Y:58.72, Z:1.69 [[ 3.50398810e-01 -9.36582839e-01 -5.76709907e-03 9.35525472e+01] [ 9.36485520e-01 3.50445637e-01 -1.35176223e-02 5.87211502e+01] [ 1.46814278e-02 -6.64246000e-04 9.99892001e-01 1.68937793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.538040942 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:93.57, Y:58.75, Z:1.69 [[ 3.52170144e-01 -9.35919734e-01 -5.51731819e-03 9.35685476e+01] [ 9.35820764e-01 3.52213168e-01 -1.36155180e-02 5.87510359e+01] [ 1.46863041e-02 -3.68241970e-04 9.99892083e-01 1.69145009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.568040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:93.57, Y:58.77, Z:1.69 [[ 3.47507913e-01 -9.37659602e-01 -5.72029916e-03 9.35730127e+01] [ 9.37562127e-01 3.47554366e-01 -1.35359466e-02 5.87738326e+01] [ 1.46802253e-02 -6.59287282e-04 9.99892022e-01 1.68826432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.598040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:93.58, Y:58.80, Z:1.69 [[ 3.46527319e-01 -9.38023705e-01 -5.50881147e-03 9.35814660e+01] [ 9.37924945e-01 3.46570814e-01 -1.36186447e-02 5.87984699e+01] [ 1.46838048e-02 -4.47619257e-04 9.99892087e-01 1.69076378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.628040942 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:93.59, Y:58.82, Z:1.69 [[ 3.47975557e-01 -9.37487733e-01 -5.45548332e-03 9.35939377e+01] [ 9.37388580e-01 3.48018125e-01 -1.36394747e-02 5.88243513e+01] [ 1.46854473e-02 -3.67703951e-04 9.99892095e-01 1.68991367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.658040942 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:93.60, Y:58.85, Z:1.69 [[ 3.46380553e-01 -9.38077978e-01 -5.49720939e-03 9.36036951e+01] [ 9.37979154e-01 3.46423895e-01 -1.36232311e-02 5.88515056e+01] [ 1.46840178e-02 -4.37445489e-04 9.99892088e-01 1.68957337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.688040942 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:93.61, Y:58.88, Z:1.69 [[ 3.47522341e-01 -9.37655634e-01 -5.48943370e-03 9.36145994e+01] [ 9.37556709e-01 3.47565451e-01 -1.36262548e-02 5.88772045e+01] [ 1.46846721e-02 -4.11227406e-04 9.99892090e-01 1.69036909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.718040942 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:93.63, Y:58.91, Z:1.69 [[ 3.46950776e-01 -9.37867024e-01 -5.53208221e-03 9.36258895e+01] [ 9.37768388e-01 3.46994564e-01 -1.36096364e-02 5.89060155e+01] [ 1.46836316e-02 -4.65937917e-04 9.99892081e-01 1.68970235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.748040942 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:93.63, Y:58.93, Z:1.69 [[ 3.49943840e-01 -9.36753608e-01 -5.65558512e-03 9.36336891e+01] [ 9.36655600e-01 3.49989104e-01 -1.35614846e-02 5.89309010e+01] [ 1.46831629e-02 -5.51577458e-04 9.99892044e-01 1.69007941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.778040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:93.64, Y:58.96, Z:1.69 [[ 3.48790691e-01 -9.37184374e-01 -5.52306052e-03 9.36427252e+01] [ 9.37085601e-01 3.48834154e-01 -1.36127965e-02 5.89574404e+01] [ 1.46843323e-02 -4.27563805e-04 9.99892088e-01 1.69011851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.808040942 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:93.66, Y:58.98, Z:1.69 [[ 3.54226690e-01 -9.35143599e-01 -5.46822217e-03 9.36557043e+01] [ 9.35044248e-01 3.54268781e-01 -1.36339984e-02 5.89838794e+01] [ 1.46869667e-02 -2.83503550e-04 9.99892100e-01 1.69132740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.838040942 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:93.66, Y:59.01, Z:1.69 [[ 3.53179588e-01 -9.35538956e-01 -5.57138807e-03 9.36649558e+01] [ 9.35440276e-01 3.53223290e-01 -1.35940110e-02 5.90106299e+01] [ 1.46856708e-02 -4.10573607e-04 9.99892075e-01 1.69139658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.868040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.67, Y:59.03, Z:1.69 [[ 3.52811472e-01 -9.35677929e-01 -5.55688335e-03 9.36731604e+01] [ 9.35579177e-01 3.52855003e-01 -1.35996273e-02 5.90340642e+01] [ 1.46856452e-02 -4.00799848e-04 9.99892080e-01 1.69137196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.898040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.68, Y:59.06, Z:1.69 [[ 3.52373633e-01 -9.35843449e-01 -5.46464500e-03 9.36832380e+01] [ 9.35744161e-01 3.52415868e-01 -1.36352758e-02 5.90608781e+01] [ 1.46863111e-02 -3.08798001e-04 9.99892103e-01 1.69175837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.928040942 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:93.69, Y:59.09, Z:1.69 [[ 3.50258312e-01 -9.36637242e-01 -5.45827333e-03 9.36908923e+01] [ 9.36538011e-01 3.50300678e-01 -1.36377345e-02 5.90863390e+01] [ 1.46856469e-02 -3.35150580e-04 9.99892104e-01 1.69301167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.958040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.70, Y:59.11, Z:1.69 [[ 3.49845432e-01 -9.36791930e-01 -5.39020002e-03 9.36983851e+01] [ 9.36692312e-01 3.49886850e-01 -1.36639611e-02 5.91091104e+01] [ 1.46862486e-02 -2.68684557e-04 9.99892115e-01 1.69136747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.71, Y:59.13, Z:1.69 [[ 3.51531210e-01 -9.36161317e-01 -5.27228044e-03 9.37095191e+01] [ 9.36060938e-01 3.51570726e-01 -1.37093276e-02 5.91337862e+01] [ 1.46877216e-02 -1.15919244e-04 9.99892123e-01 1.69087753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.72, Y:59.16, Z:1.69 [[ 3.51721394e-01 -9.36089892e-01 -5.27029305e-03 9.37175500e+01] [ 9.35989493e-01 3.51760860e-01 -1.37100916e-02 5.91622012e+01] [ 1.46877610e-02 -1.10806399e-04 9.99892123e-01 1.68547911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.73, Y:59.20, Z:1.70 [[ 3.52760265e-01 -9.35698914e-01 -5.26660870e-03 9.37336997e+01] [ 9.35598451e-01 3.52799565e-01 -1.37115067e-02 5.91968847e+01] [ 1.46878992e-02 -9.05561963e-05 9.99892123e-01 1.69504020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.078040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.74, Y:59.22, Z:1.70 [[ 3.54177737e-01 -9.35161035e-01 -5.65408195e-03 9.37431257e+01] [ 9.35062811e-01 3.54222535e-01 -1.35623069e-02 5.92218434e+01] [ 1.46857442e-02 -4.83454584e-04 9.99892042e-01 1.69566928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.75, Y:59.25, Z:1.69 [[ 3.51410914e-01 -9.36204233e-01 -5.65715176e-03 9.37476540e+01] [ 9.36106160e-01 3.51456047e-01 -1.35611239e-02 5.92516522e+01] [ 1.46842218e-02 -5.30167671e-04 9.99892040e-01 1.69243960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.76, Y:59.27, Z:1.69 [[ 3.51851772e-01 -9.36038345e-01 -5.70499107e-03 9.37604353e+01] [ 9.35940547e-01 3.51897551e-01 -1.35427867e-02 5.92743619e+01] [ 1.46841400e-02 -5.74478967e-04 9.99892017e-01 1.69392141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.168040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.77, Y:59.30, Z:1.69 [[ 3.54095391e-01 -9.35193059e-01 -5.51335176e-03 9.37670903e+01] [ 9.35093991e-01 3.54138153e-01 -1.36160512e-02 5.92978651e+01] [ 1.46861248e-02 -3.34121129e-04 9.99892097e-01 1.69477117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.77, Y:59.33, Z:1.69 [[ 3.52284724e-01 -9.35877079e-01 -5.43750120e-03 9.37747852e+01] [ 9.35777644e-01 3.52326573e-01 -1.36450213e-02 5.93256905e+01] [ 1.46858388e-02 -2.81359506e-04 9.99892118e-01 1.69276252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.78, Y:59.35, Z:1.69 [[ 3.53276918e-01 -9.35503056e-01 -5.42690070e-03 9.37824616e+01] [ 9.35403515e-01 3.53318506e-01 -1.36490654e-02 5.93501524e+01] [ 1.46861668e-02 -2.54442252e-04 9.99892120e-01 1.69336087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.258040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.80, Y:59.38, Z:1.70 [[ 3.54768770e-01 -9.34938608e-01 -5.37765760e-03 9.37967349e+01] [ 9.34838715e-01 3.54809481e-01 -1.36678449e-02 5.93795502e+01] [ 1.46866398e-02 -1.78317986e-04 9.99892130e-01 1.69507448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.80, Y:59.40, Z:1.69 [[ 3.50380279e-01 -9.36591179e-01 -5.53388525e-03 9.37997981e+01] [ 9.36492404e-01 3.50423732e-01 -1.36082577e-02 5.93985095e+01] [ 1.46845788e-02 -4.14376384e-04 9.99892090e-01 1.69262783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.318040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.81, Y:59.43, Z:1.70 [[ 3.50077683e-01 -9.36706131e-01 -5.21913679e-03 9.38095602e+01] [ 9.36605535e-01 3.50116576e-01 -1.37279209e-02 5.94276774e+01] [ 1.46863340e-02 -8.24336582e-05 9.99892147e-01 1.69501914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.82, Y:59.46, Z:1.70 [[ 3.51316207e-01 -9.36241904e-01 -5.29338657e-03 9.38237702e+01] [ 9.36141678e-01 3.51356054e-01 -1.36997009e-02 5.94582272e+01] [ 1.46860975e-02 -1.42432818e-04 9.99892143e-01 1.69531413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.83, Y:59.49, Z:1.70 [[ 3.52426073e-01 -9.35823715e-01 -5.46239237e-03 9.38325039e+01] [ 9.35724421e-01 3.52468269e-01 -1.36355166e-02 5.94854484e+01] [ 1.46857598e-02 -3.05782366e-04 9.99892112e-01 1.69606840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.408040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.84, Y:59.51, Z:1.69 [[ 3.51870183e-01 -9.36032954e-01 -5.44835751e-03 9.38409193e+01] [ 9.35933602e-01 3.51912234e-01 -1.36408418e-02 5.95108526e+01] [ 1.46856211e-02 -2.99495360e-04 9.99892116e-01 1.69450249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.85, Y:59.53, Z:1.69 [[ 3.48513740e-01 -9.37287888e-01 -5.43952715e-03 9.38451577e+01] [ 9.37188635e-01 3.48556018e-01 -1.36441896e-02 5.95336870e+01] [ 1.46845135e-02 -3.42675501e-04 9.99892118e-01 1.69472460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.86, Y:59.56, Z:1.69 [[ 3.50810193e-01 -9.36431899e-01 -5.24477103e-03 9.38571758e+01] [ 9.36331421e-01 3.50849383e-01 -1.37178606e-02 5.95568268e+01] [ 1.46859669e-02 -9.84785984e-05 9.99892151e-01 1.69382326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.498040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.87, Y:59.58, Z:1.70 [[ 3.51104130e-01 -9.36322029e-01 -5.19116693e-03 9.38661043e+01] [ 9.36221238e-01 3.51142503e-01 -1.37381158e-02 5.95841785e+01] [ 1.46861398e-02 -3.65715477e-05 9.99892152e-01 1.69889750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.88, Y:59.61, Z:1.70 [[ 3.52854071e-01 -9.35663724e-01 -5.23459203e-03 9.38786966e+01] [ 9.35563104e-01 3.52892892e-01 -1.37217160e-02 5.96132406e+01] [ 1.46861622e-02 -5.55278222e-05 9.99892151e-01 1.69687916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.89, Y:59.64, Z:1.70 [[ 3.53938563e-01 -9.35253508e-01 -5.32625681e-03 9.38883962e+01] [ 9.35153360e-01 3.53978611e-01 -1.36871086e-02 5.96388565e+01] [ 1.46862973e-02 -1.36471406e-04 9.99892141e-01 1.69699002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.90, Y:59.67, Z:1.70 [[ 3.54734710e-01 -9.34951962e-01 -5.30236266e-03 9.39002991e+01] [ 9.34851644e-01 3.54774322e-01 -1.36961160e-02 5.96679180e+01] [ 1.46863526e-02 -9.84347327e-05 9.99892145e-01 1.69545752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.91, Y:59.69, Z:1.70 [[ 3.54343614e-01 -9.35099742e-01 -5.39214630e-03 9.39061362e+01] [ 9.34999952e-01 3.54384582e-01 -1.36622844e-02 5.96918750e+01] [ 1.46864921e-02 -2.00513307e-04 9.99892128e-01 1.69510613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.92, Y:59.72, Z:1.69 [[ 3.53112079e-01 -9.35566132e-01 -5.27938804e-03 9.39168797e+01] [ 9.35465755e-01 3.53151529e-01 -1.37047089e-02 5.97243653e+01] [ 1.46860854e-02 -9.93884704e-05 9.99892149e-01 1.69179512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.678040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.93, Y:59.74, Z:1.69 [[ 3.53334899e-01 -9.35480848e-01 -5.48016420e-03 9.39263303e+01] [ 9.35381612e-01 3.53377258e-01 -1.36291459e-02 5.97439936e+01] [ 1.46863704e-02 -3.10391937e-04 9.99892101e-01 1.69381475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.94, Y:59.77, Z:1.69 [[ 3.51990544e-01 -9.35988617e-01 -5.28825063e-03 9.39368997e+01] [ 9.35888340e-01 3.52030244e-01 -1.37011963e-02 5.97721927e+01] [ 1.46857879e-02 -1.26520563e-04 9.99892150e-01 1.69280623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.95, Y:59.80, Z:1.69 [[ 3.47905333e-01 -9.37514514e-01 -5.33058692e-03 9.39460380e+01] [ 9.37414653e-01 3.47946088e-01 -1.36853340e-02 5.97975173e+01] [ 1.46849561e-02 -2.35769613e-04 9.99892142e-01 1.69137639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.96, Y:59.82, Z:1.69 [[ 3.49703889e-01 -9.36845478e-01 -5.26691080e-03 9.39595739e+01] [ 9.36745178e-01 3.49743522e-01 -1.37091661e-02 5.98248624e+01] [ 1.46854382e-02 -1.39604582e-04 9.99892153e-01 1.68827996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.798040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.97, Y:59.85, Z:1.69 [[ 3.45756331e-01 -9.38308702e-01 -5.41649230e-03 9.39665639e+01] [ 9.38209436e-01 3.45798566e-01 -1.36530515e-02 5.98475370e+01] [ 1.46837923e-02 -3.61175188e-04 9.99892122e-01 1.69365252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.828040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.98, Y:59.88, Z:1.69 [[ 3.41522483e-01 -9.39858858e-01 -5.26505370e-03 9.39770349e+01] [ 9.39758898e-01 3.41562962e-01 -1.37097323e-02 5.98775175e+01] [ 1.46835606e-02 -2.65699263e-04 9.99892155e-01 1.69258227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.98, Y:59.90, Z:1.69 [[ 3.38107799e-01 -9.41092178e-01 -5.35064368e-03 9.39827032e+01] [ 9.40992865e-01 3.38149886e-01 -1.36778038e-02 5.99008717e+01] [ 1.46813937e-02 -4.10345394e-04 9.99892138e-01 1.69321311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.99, Y:59.93, Z:1.69 [[ 3.33859782e-01 -9.42608468e-01 -5.18870592e-03 9.39893570e+01] [ 9.42508398e-01 3.33899962e-01 -1.37380732e-02 5.99256474e+01] [ 1.46821328e-02 -3.03808776e-04 9.99892166e-01 1.69398390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.00, Y:59.95, Z:1.69 [[ 3.32138946e-01 -9.43216474e-01 -5.13848209e-03 9.39969991e+01] [ 9.43116189e-01 3.32178577e-01 -1.37567408e-02 5.99502519e+01] [ 1.46824782e-02 -2.77036250e-04 9.99892168e-01 1.69109798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.01, Y:59.98, Z:1.69 [[ 3.32749941e-01 -9.43001556e-01 -5.05391221e-03 9.40094421e+01] [ 9.42900765e-01 3.32788272e-01 -1.37881429e-02 5.99782524e+01] [ 1.46841230e-02 -1.77333937e-04 9.99892167e-01 1.69185627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.02, Y:60.00, Z:1.69 [[ 3.31108898e-01 -9.43578279e-01 -5.18939295e-03 9.40176137e+01] [ 9.43478331e-01 3.31149379e-01 -1.37378089e-02 6.00031748e+01] [ 1.46811624e-02 -3.47369021e-04 9.99892166e-01 1.69404395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.03, Y:60.03, Z:1.69 [[ 3.30865866e-01 -9.43663850e-01 -5.12994945e-03 9.40261392e+01] [ 9.43563570e-01 3.30905507e-01 -1.37598677e-02 6.00303300e+01] [ 1.46822183e-02 -2.87762873e-04 9.99892169e-01 1.69361107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.04, Y:60.06, Z:1.69 [[ 3.33541834e-01 -9.42721474e-01 -5.10565316e-03 9.40354647e+01] [ 9.42620944e-01 3.33580836e-01 -1.37688750e-02 6.00574862e+01] [ 1.46833622e-02 -2.20199776e-04 9.99892169e-01 1.69211135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.04, Y:60.08, Z:1.69 [[ 3.33803003e-01 -9.42628836e-01 -5.14123883e-03 9.40416432e+01] [ 9.42528497e-01 3.33842497e-01 -1.37556893e-02 6.00818682e+01] [ 1.46828734e-02 -2.54073698e-04 9.99892169e-01 1.69122084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.09804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.05, Y:60.11, Z:1.69 [[ 3.35778421e-01 -9.41927393e-01 -5.06343387e-03 9.40491384e+01] [ 9.41826535e-01 3.35816567e-01 -1.37844855e-02 6.01074957e+01] [ 1.46843695e-02 -1.40343605e-04 9.99892169e-01 1.69200569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.06, Y:60.14, Z:1.69 [[ 3.36160314e-01 -9.41791412e-01 -5.01783115e-03 9.40600646e+01] [ 9.41690286e-01 3.36197752e-01 -1.38013443e-02 6.01361898e+01] [ 1.46849711e-02 -8.57786139e-05 9.99892166e-01 1.68957192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.06, Y:60.16, Z:1.69 [[ 3.29619419e-01 -9.44099984e-01 -5.12441537e-03 9.40580805e+01] [ 9.43999724e-01 3.29659112e-01 -1.37619620e-02 6.01557695e+01] [ 1.46819783e-02 -3.01236780e-04 9.99892169e-01 1.69152121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.188040942 meters Centerline goodness : 0.995787 Centerline is valid? [True, True] Translation: X:94.07, Y:60.19, Z:1.70 [[ 3.33261355e-01 -9.42822658e-01 -4.72275922e-03 9.40721899e+01] [ 9.42720096e-01 3.33294767e-01 -1.39074799e-02 6.01877178e+01] [ 1.46863581e-02 1.82585570e-04 9.99892133e-01 1.69632700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.07, Y:60.20, Z:1.69 [[ 3.30361480e-01 -9.43841008e-01 -5.04417186e-03 9.40743987e+01] [ 9.43740273e-01 3.30399923e-01 -1.37908681e-02 6.02045162e+01] [ 1.46829808e-02 -2.04416546e-04 9.99892178e-01 1.69138920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.248040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:94.07, Y:60.22, Z:1.69 [[ 3.22257085e-01 -9.46640893e-01 -4.62502612e-03 9.40700700e+01] [ 9.46538166e-01 3.22290251e-01 -1.39460996e-02 6.02215473e+01] [ 1.46925490e-02 1.16465662e-04 9.99892052e-01 1.68974326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.10, Y:60.26, Z:1.69 [[ 3.38122727e-01 -9.41093192e-01 -4.07751286e-03 9.41045544e+01] [ 9.40987315e-01 3.38145987e-01 -1.41479754e-02 6.02622530e+01] [ 1.46933579e-02 9.46864152e-04 9.99891598e-01 1.69211629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.12, Y:60.29, Z:1.69 [[ 3.39665229e-01 -9.40533047e-01 -5.01197554e-03 9.41156575e+01] [ 9.40431788e-01 3.39702203e-01 -1.38009145e-02 6.02883974e+01] [ 1.46827953e-02 -2.57303416e-05 9.99892202e-01 1.69085789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.11, Y:60.31, Z:1.69 [[ 3.26774324e-01 -9.45089033e-01 -5.02600935e-03 9.41071967e+01] [ 9.44988369e-01 3.26812884e-01 -1.37957033e-02 6.03053935e+01] [ 1.46807325e-02 -2.41438760e-04 9.99892203e-01 1.69083724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.14, Y:60.34, Z:1.70 [[ 3.42247323e-01 -9.39599306e-01 -4.46255369e-03 9.41413129e+01] [ 9.39495144e-01 3.42275890e-01 -1.40032419e-02 6.03427391e+01] [ 1.46848609e-02 6.00024525e-04 9.99891992e-01 1.69651768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.15, Y:60.37, Z:1.70 [[ 3.40046907e-01 -9.40394115e-01 -5.19707329e-03 9.41478990e+01] [ 9.40293886e-01 3.40086549e-01 -1.37312257e-02 6.03654211e+01] [ 1.46802185e-02 -2.17515430e-04 9.99892216e-01 1.69550149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.16, Y:60.39, Z:1.70 [[ 3.39109254e-01 -9.40733360e-01 -5.06557086e-03 9.41581080e+01] [ 9.40632435e-01 3.39147074e-01 -1.37798634e-02 6.03920517e+01] [ 1.46811508e-02 -9.19610342e-05 9.99892222e-01 1.69629989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.16, Y:60.42, Z:1.70 [[ 3.34860521e-01 -9.42254044e-01 -5.07418621e-03 9.41631446e+01] [ 9.42153339e-01 3.34898922e-01 -1.37766782e-02 6.04165269e+01] [ 1.46804703e-02 -1.67395830e-04 9.99892222e-01 1.69514233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.18, Y:60.44, Z:1.70 [[ 3.36786691e-01 -9.41567704e-01 -4.99827284e-03 9.41769595e+01] [ 9.41466502e-01 3.36823774e-01 -1.38047650e-02 6.04436817e+01] [ 1.46816580e-02 -5.64453371e-05 9.99892217e-01 1.69621876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.18, Y:60.47, Z:1.69 [[ 3.33218314e-01 -9.42835975e-01 -5.08715116e-03 9.41821842e+01] [ 9.42735410e-01 3.33257080e-01 -1.37718829e-02 6.04679735e+01] [ 1.46799558e-02 -2.06793931e-04 9.99892222e-01 1.69461675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.19, Y:60.49, Z:1.70 [[ 3.28763396e-01 -9.44399355e-01 -4.94858657e-03 9.41853980e+01] [ 9.44298196e-01 3.28800612e-01 -1.38229733e-02 6.04912930e+01] [ 1.46815053e-02 -1.28453743e-04 9.99892213e-01 1.69510663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.57804094199997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.19, Y:60.51, Z:1.69 [[ 3.24176095e-01 -9.45984721e-01 -4.77151664e-03 9.41876804e+01] [ 9.45882768e-01 3.24211208e-01 -1.38881867e-02 6.05144191e+01] [ 1.46849916e-02 -1.10772462e-05 9.99892170e-01 1.69256217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60804094199997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:94.20, Y:60.54, Z:1.69 [[ 3.26093214e-01 -9.45326428e-01 -4.60010292e-03 9.41996555e+01] [ 9.45223491e-01 3.26125597e-01 -1.39516062e-02 6.05413202e+01] [ 1.46890333e-02 2.01398749e-04 9.99892090e-01 1.69142270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.63804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.20, Y:60.57, Z:1.69 [[ 3.21356240e-01 -9.46946972e-01 -4.64739294e-03 9.42030007e+01] [ 9.46844452e-01 3.21389834e-01 -1.39340976e-02 6.05658729e+01] [ 1.46884764e-02 7.74509939e-05 9.99892116e-01 1.69008990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.21, Y:60.59, Z:1.69 [[ 3.20619971e-01 -9.47197515e-01 -4.43873865e-03 9.42119608e+01] [ 9.47093931e-01 3.20650565e-01 -1.40107127e-02 6.05918860e+01] [ 1.46941963e-02 2.88211862e-04 9.99891993e-01 1.69216060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.69804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.22, Y:60.62, Z:1.69 [[ 3.22268884e-01 -9.46637655e-01 -4.46284299e-03 9.42219952e+01] [ 9.46534141e-01 3.22299655e-01 -1.40018324e-02 6.06159457e+01] [ 1.46930345e-02 2.88121656e-04 9.99892010e-01 1.69170309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72804094199998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:94.24, Y:60.64, Z:1.69 [[ 3.24175071e-01 -9.45986732e-01 -4.43028624e-03 9.42356535e+01] [ 9.45882991e-01 3.24205151e-01 -1.40138494e-02 6.06429970e+01] [ 1.46932372e-02 3.52408218e-04 9.99891986e-01 1.69223795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.75804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.25, Y:60.67, Z:1.69 [[ 3.27608109e-01 -9.44802770e-01 -4.54441436e-03 9.42500057e+01] [ 9.44699504e-01 3.27639504e-01 -1.39714874e-02 6.06696579e+01] [ 1.46892296e-02 2.84066562e-04 9.99892067e-01 1.69322446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.26, Y:60.70, Z:1.69 [[ 3.29931866e-01 -9.43993235e-01 -4.66224447e-03 9.42635359e+01] [ 9.43890504e-01 3.29964747e-01 -1.39277219e-02 6.06956449e+01] [ 1.46860515e-02 1.94550969e-04 9.99892135e-01 1.69171987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.81804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.27, Y:60.72, Z:1.69 [[ 3.30055195e-01 -9.43949747e-01 -4.73744334e-03 9.42733025e+01] [ 9.43847411e-01 3.30089172e-01 -1.38997602e-02 6.07212906e+01] [ 1.46844539e-02 1.16264433e-04 9.99892171e-01 1.69214810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.29, Y:60.75, Z:1.70 [[ 3.33246283e-01 -9.42827871e-01 -4.74561580e-03 9.42874320e+01] [ 9.42725464e-01 3.33280034e-01 -1.38967191e-02 6.07516928e+01] [ 1.46838330e-02 1.57217120e-04 9.99892174e-01 1.69738450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.87804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.30, Y:60.78, Z:1.70 [[ 3.35462595e-01 -9.42040598e-01 -4.93548824e-03 9.43022112e+01] [ 9.41939133e-01 3.35498899e-01 -1.38259757e-02 6.07801661e+01] [ 1.46804813e-02 -1.08318364e-05 9.99892236e-01 1.69777699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.32, Y:60.81, Z:1.70 [[ 3.38912532e-01 -9.40804227e-01 -5.06974450e-03 9.43200758e+01] [ 9.40703369e-01 3.38950434e-01 -1.37758606e-02 6.08105972e+01] [ 1.46787799e-02 -1.00313955e-04 9.99892256e-01 1.69965173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.33, Y:60.83, Z:1.70 [[ 3.36725250e-01 -9.41587868e-01 -5.32845685e-03 9.43264953e+01] [ 9.41488589e-01 3.36767157e-01 -1.36791738e-02 6.08313456e+01] [ 1.46745933e-02 -4.10558112e-04 9.99892238e-01 1.69966093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.34, Y:60.86, Z:1.70 [[ 3.38180794e-01 -9.41067180e-01 -5.12958440e-03 9.43414665e+01] [ 9.40966691e-01 3.38219650e-01 -1.37533476e-02 6.08630014e+01] [ 1.46777502e-02 -1.75650056e-04 9.99892261e-01 1.70131937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.35, Y:60.89, Z:1.70 [[ 3.38663657e-01 -9.40892184e-01 -5.36904986e-03 9.43539823e+01] [ 9.40793057e-01 3.38705948e-01 -1.36640117e-02 6.08922757e+01] [ 1.46748909e-02 -4.23660661e-04 9.99892228e-01 1.70285154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.36, Y:60.92, Z:1.70 [[ 3.38003624e-01 -9.41128868e-01 -5.47761935e-03 9.43610030e+01] [ 9.41030418e-01 3.38047558e-01 -1.36235150e-02 6.09172622e+01] [ 1.46731791e-02 -5.49808995e-04 9.99892192e-01 1.70360764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.37, Y:60.95, Z:1.70 [[ 3.37567923e-01 -9.41285484e-01 -5.43453102e-03 9.43701347e+01] [ 9.41186797e-01 3.37611280e-01 -1.36395589e-02 6.09456601e+01] [ 1.46734778e-02 -5.10631278e-04 9.99892208e-01 1.70417189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.38, Y:60.97, Z:1.70 [[ 3.37335563e-01 -9.41368567e-01 -5.47170104e-03 9.43804896e+01] [ 9.41270112e-01 3.37379482e-01 -1.36257358e-02 6.09732559e+01] [ 1.46728790e-02 -5.53903402e-04 9.99892194e-01 1.70456093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.39, Y:61.00, Z:1.71 [[ 3.33659484e-01 -9.42677880e-01 -5.45557341e-03 9.43878901e+01] [ 9.42579501e-01 3.33703554e-01 -1.36316990e-02 6.10011375e+01] [ 1.46708453e-02 -5.93966021e-04 9.99892201e-01 1.70548015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.40, Y:61.03, Z:1.71 [[ 3.36059071e-01 -9.41825317e-01 -5.41965873e-03 9.44006024e+01] [ 9.41726612e-01 3.36102370e-01 -1.36449624e-02 6.10292008e+01] [ 1.46727312e-02 -5.18323472e-04 9.99892215e-01 1.70946310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.40, Y:61.05, Z:1.71 [[ 3.32557283e-01 -9.43066688e-01 -5.55655814e-03 9.44031869e+01] [ 9.42968975e-01 3.32602924e-01 -1.35944013e-02 6.10524635e+01] [ 1.46685545e-02 -7.18744760e-04 9.99892153e-01 1.70790496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.41, Y:61.08, Z:1.71 [[ 3.35266998e-01 -9.42108104e-01 -5.32544453e-03 9.44144137e+01] [ 9.42008885e-01 3.35309014e-01 -1.36793854e-02 6.10831356e+01] [ 1.46731294e-02 -4.30369585e-04 9.99892251e-01 1.70745772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.42, Y:61.11, Z:1.71 [[ 3.34302752e-01 -9.42449871e-01 -5.46914052e-03 9.44195954e+01] [ 9.42351544e-01 3.34346950e-01 -1.36265688e-02 6.11074386e+01] [ 1.46709484e-02 -5.98453568e-04 9.99892197e-01 1.70852815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.43, Y:61.14, Z:1.71 [[ 3.35047412e-01 -9.42186124e-01 -5.34214478e-03 9.44276482e+01] [ 9.42087015e-01 3.35089694e-01 -1.36730545e-02 6.11356826e+01] [ 1.46726599e-02 -4.51643692e-04 9.99892249e-01 1.70954183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.29804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.44, Y:61.16, Z:1.71 [[ 3.35624840e-01 -9.41980413e-01 -5.37291870e-03 9.44350848e+01] [ 9.41881458e-01 3.35667507e-01 -1.36617989e-02 6.11605553e+01] [ 1.46726612e-02 -4.75413426e-04 9.99892238e-01 1.71134114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.44, Y:61.19, Z:1.71 [[ 3.37462093e-01 -9.41324088e-01 -5.31952809e-03 9.44423781e+01] [ 9.41224740e-01 3.37503792e-01 -1.36813057e-02 6.11866507e+01] [ 1.46739035e-02 -3.89949385e-04 9.99892256e-01 1.71192800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.35804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.45, Y:61.22, Z:1.71 [[ 3.40104846e-01 -9.40372861e-01 -5.25124784e-03 9.44524505e+01] [ 9.40273010e-01 3.40145272e-01 -1.37062062e-02 6.12156961e+01] [ 1.46751314e-02 -2.76059476e-04 9.99892276e-01 1.71302217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.46, Y:61.24, Z:1.71 [[ 3.41456830e-01 -9.39882181e-01 -5.35894342e-03 9.44608677e+01] [ 9.39782882e-01 3.41498680e-01 -1.36669640e-02 6.12421145e+01] [ 1.46754080e-02 -3.69565097e-04 9.99892242e-01 1.71430811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.41804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.47, Y:61.27, Z:1.72 [[ 3.45002401e-01 -9.38586777e-01 -5.31084010e-03 9.44692474e+01] [ 9.38487050e-01 3.45043175e-01 -1.36844400e-02 6.12697864e+01] [ 1.46765036e-02 -2.62989998e-04 9.99892260e-01 1.71530995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.48, Y:61.30, Z:1.71 [[ 3.44909477e-01 -9.38620842e-01 -5.32616812e-03 9.44765966e+01] [ 9.38521205e-01 3.44950485e-01 -1.36788810e-02 6.12964178e+01] [ 1.46765471e-02 -2.80746018e-04 9.99892254e-01 1.71442112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.47804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.48, Y:61.32, Z:1.72 [[ 3.45357132e-01 -9.38456583e-01 -5.26242143e-03 9.44849896e+01] [ 9.38356572e-01 3.45397161e-01 -1.37019664e-02 6.13220876e+01] [ 1.46763260e-02 -2.05955928e-04 9.99892276e-01 1.71539331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.49, Y:61.35, Z:1.71 [[ 3.44144077e-01 -9.38902168e-01 -5.25090721e-03 9.44940569e+01] [ 9.38802146e-01 3.44184068e-01 -1.37061290e-02 6.13491681e+01] [ 1.46759928e-02 -2.12679854e-04 9.99892279e-01 1.71468898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.53804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.51, Y:61.38, Z:1.72 [[ 3.43642006e-01 -9.39086246e-01 -5.21479470e-03 9.45057360e+01] [ 9.38986047e-01 3.43681523e-01 -1.37191563e-02 6.13790006e+01] [ 1.46756996e-02 -1.82141076e-04 9.99892290e-01 1.71605103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.51, Y:61.40, Z:1.72 [[ 3.41760592e-01 -9.39771809e-01 -5.35208743e-03 9.45134144e+01] [ 9.39672454e-01 3.41802311e-01 -1.36696314e-02 6.14004898e+01] [ 1.46756901e-02 -3.57467798e-04 9.99892242e-01 1.71697773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.59804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.52, Y:61.42, Z:1.72 [[ 3.39110777e-01 -9.40732121e-01 -5.19205580e-03 9.45187944e+01] [ 9.40631988e-01 3.39150444e-01 -1.37272869e-02 6.14241442e+01] [ 1.46745877e-02 -2.28742861e-04 9.99892296e-01 1.71665023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.53, Y:61.45, Z:1.71 [[ 3.41944249e-01 -9.39706472e-01 -5.08699050e-03 9.45283824e+01] [ 9.39605652e-01 3.41982078e-01 -1.37650780e-02 6.14465898e+01] [ 1.46747925e-02 -7.28757572e-05 9.99892317e-01 1.70990058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.54, Y:61.48, Z:1.72 [[ 3.35929744e-01 -9.41873985e-01 -4.96023643e-03 9.45369434e+01] [ 9.41772728e-01 3.35966361e-01 -1.38106033e-02 6.14770393e+01] [ 1.46743206e-02 -3.20229450e-05 9.99892326e-01 1.71784528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.55, Y:61.50, Z:1.72 [[ 3.35434676e-01 -9.42049792e-01 -5.07619174e-03 9.45460219e+01] [ 9.41949178e-01 3.35473043e-01 -1.37689423e-02 6.15019855e+01] [ 1.46739547e-02 -1.62933956e-04 9.99892318e-01 1.71899750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.56, Y:61.53, Z:1.72 [[ 3.36427281e-01 -9.41695859e-01 -5.05909298e-03 9.45626251e+01] [ 9.41595111e-01 3.36465293e-01 -1.37750815e-02 6.15321826e+01] [ 1.46741464e-02 -1.29303990e-04 9.99892321e-01 1.71883030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.57, Y:61.56, Z:1.72 [[ 3.29172733e-01 -9.44255369e-01 -5.20666141e-03 9.45650337e+01] [ 9.44155740e-01 3.29213666e-01 -1.37222881e-02 6.15577495e+01] [ 1.46714483e-02 -3.98896179e-04 9.99892289e-01 1.71968340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.57, Y:61.58, Z:1.72 [[ 3.26217626e-01 -9.45281193e-01 -5.05242430e-03 9.45743633e+01] [ 9.45180828e-01 3.26256628e-01 -1.37773421e-02 6.15841214e+01] [ 1.46718493e-02 -2.81042752e-04 9.99892323e-01 1.71895872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.58, Y:61.61, Z:1.72 [[ 3.26040660e-01 -9.45342210e-01 -5.05911874e-03 9.45842892e+01] [ 9.45241889e-01 3.26079779e-01 -1.37749535e-02 6.16101507e+01] [ 1.46717213e-02 -2.90896009e-04 9.99892322e-01 1.71758036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.59, Y:61.64, Z:1.71 [[ 3.26230286e-01 -9.45276872e-01 -5.04329084e-03 9.45947769e+01] [ 9.45176457e-01 3.26269154e-01 -1.37805966e-02 6.16373039e+01] [ 1.46719495e-02 -2.71151794e-04 9.99892324e-01 1.71280019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.60, Y:61.66, Z:1.72 [[ 3.22473725e-01 -9.46564728e-01 -5.09048114e-03 9.46037604e+01] [ 9.46464731e-01 3.22513677e-01 -1.37637902e-02 6.16637852e+01] [ 1.46700681e-02 -3.79500171e-04 9.99892317e-01 1.71865555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.62, Y:61.69, Z:1.72 [[ 3.25567315e-01 -9.45505184e-01 -5.08619213e-03 9.46190229e+01] [ 9.45405033e-01 3.25606878e-01 -1.37653159e-02 6.16932974e+01] [ 1.46712767e-02 -3.26974689e-04 9.99892318e-01 1.71709166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.62, Y:61.72, Z:1.72 [[ 3.18958925e-01 -9.47753870e-01 -5.27310016e-03 9.46190509e+01] [ 9.47655071e-01 3.19001893e-01 -1.36988757e-02 6.17161822e+01] [ 1.46652914e-02 -6.27701431e-04 9.99892262e-01 1.71564405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.63, Y:61.74, Z:1.71 [[ 3.15522643e-01 -9.48904733e-01 -5.02683658e-03 9.46254373e+01] [ 9.48804675e-01 3.15562405e-01 -1.37860918e-02 6.17408756e+01] [ 1.46679684e-02 -4.19661920e-04 9.99892332e-01 1.71472651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.63, Y:61.77, Z:1.72 [[ 3.14583652e-01 -9.49217026e-01 -4.91552642e-03 9.46349591e+01] [ 9.49116390e-01 3.14621895e-01 -1.38254272e-02 6.17683066e+01] [ 1.46698631e-02 -3.16153308e-04 9.99892342e-01 1.71527611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.64, Y:61.79, Z:1.71 [[ 3.13614664e-01 -9.49537543e-01 -4.92920741e-03 9.46432027e+01] [ 9.49437021e-01 3.13653208e-01 -1.38205956e-02 6.17931392e+01] [ 1.46692361e-02 -3.45630560e-04 9.99892341e-01 1.70713688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.65, Y:61.82, Z:1.72 [[ 3.12848786e-01 -9.49790405e-01 -4.88094470e-03 9.46536003e+01] [ 9.49689648e-01 3.12886709e-01 -1.38376193e-02 6.18215313e+01] [ 1.46700208e-02 -3.06300252e-04 9.99892343e-01 1.71956276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.07804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.66, Y:61.85, Z:1.72 [[ 3.11154671e-01 -9.50346261e-01 -4.97541325e-03 9.46622258e+01] [ 9.50246097e-01 3.11194147e-01 -1.38043036e-02 6.18495616e+01] [ 1.46671878e-02 -4.32593457e-04 9.99892337e-01 1.72121135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.67, Y:61.88, Z:1.72 [[ 3.10059273e-01 -9.50704118e-01 -4.99263990e-03 9.46721325e+01] [ 9.50604096e-01 3.10099114e-01 -1.37982334e-02 6.18768844e+01] [ 1.46662505e-02 -4.67753714e-04 9.99892335e-01 1.72234231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.13804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.69, Y:61.91, Z:1.73 [[ 3.11105384e-01 -9.50361981e-01 -5.05418763e-03 9.46870777e+01] [ 9.50262263e-01 3.11146007e-01 -1.37765742e-02 6.19088897e+01] [ 1.46653226e-02 -5.16837367e-04 9.99892325e-01 1.72769994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.69, Y:61.93, Z:1.72 [[ 3.06543402e-01 -9.51842028e-01 -5.28179560e-03 9.46876776e+01] [ 9.51743840e-01 3.06587782e-01 -1.36965120e-02 6.19316232e+01] [ 1.46562497e-02 -8.28341056e-04 9.99892248e-01 1.72495694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.19804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.70, Y:61.96, Z:1.72 [[ 3.05478217e-01 -9.52185704e-01 -5.04413974e-03 9.46956167e+01] [ 9.52086175e-01 3.05519283e-01 -1.37798096e-02 6.19592715e+01] [ 1.46620197e-02 -5.93024043e-04 9.99892331e-01 1.72465305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.70, Y:61.99, Z:1.73 [[ 3.05637938e-01 -9.52134332e-01 -5.06606667e-03 9.47024636e+01] [ 9.52034921e-01 3.05679305e-01 -1.37721320e-02 6.19857389e+01] [ 1.46615115e-02 -6.13786349e-04 9.99892326e-01 1.72667299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.25804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.71, Y:62.01, Z:1.73 [[ 3.05208901e-01 -9.52271924e-01 -5.07043665e-03 9.47088806e+01] [ 9.52172557e-01 3.05250376e-01 -1.37706027e-02 6.20103867e+01] [ 1.46611110e-02 -6.25020113e-04 9.99892325e-01 1.72564897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.71, Y:62.03, Z:1.72 [[ 2.99754155e-01 -9.54003370e-01 -5.00175889e-03 9.47123849e+01] [ 9.53903844e-01 2.99795207e-01 -1.37945834e-02 6.20335954e+01] [ 1.46595823e-02 -6.36213355e-04 9.99892340e-01 1.72024366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.31804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.72, Y:62.07, Z:1.73 [[ 3.05335905e-01 -9.52232529e-01 -4.81619232e-03 9.47240241e+01] [ 9.52131733e-01 3.05373681e-01 -1.38592211e-02 6.20659952e+01] [ 1.46679396e-02 -3.53931717e-04 9.99892357e-01 1.72521940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.73, Y:62.09, Z:1.73 [[ 3.06032820e-01 -9.52007427e-01 -5.07663519e-03 9.47335191e+01] [ 9.51908059e-01 3.06074298e-01 -1.37684997e-02 6.20947992e+01] [ 1.46615415e-02 -6.18877157e-04 9.99892322e-01 1.72658618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.37804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.74, Y:62.12, Z:1.72 [[ 3.08863431e-01 -9.51092537e-01 -5.13482987e-03 9.47418646e+01] [ 9.50993378e-01 3.08905455e-01 -1.37482435e-02 6.21203581e+01] [ 1.46620288e-02 -6.36859532e-04 9.99892304e-01 1.72299639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.75, Y:62.15, Z:1.73 [[ 3.07047896e-01 -9.51680329e-01 -5.11284374e-03 9.47463376e+01] [ 9.51581124e-01 3.07089792e-01 -1.37558811e-02 6.21483130e+01] [ 1.46613036e-02 -6.41571239e-04 9.99892311e-01 1.72653535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.75, Y:62.17, Z:1.73 [[ 3.07198456e-01 -9.51631800e-01 -5.10162079e-03 9.47527573e+01] [ 9.51532524e-01 3.07240174e-01 -1.37597748e-02 6.21730174e+01] [ 1.46616621e-02 -6.27376523e-04 9.99892315e-01 1.72545642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.77, Y:62.21, Z:1.73 [[ 3.09809326e-01 -9.50785417e-01 -5.02723399e-03 9.47675712e+01] [ 9.50685609e-01 3.09849694e-01 -1.37855280e-02 6.22065845e+01] [ 1.46647659e-02 -5.08433868e-04 9.99892337e-01 1.72698730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.77, Y:62.23, Z:1.72 [[ 3.06275379e-01 -9.51928146e-01 -5.31005306e-03 9.47684875e+01] [ 9.51830128e-01 3.06320193e-01 -1.36874740e-02 6.22281255e+01] [ 1.46560682e-02 -8.62132205e-04 9.99892222e-01 1.72496955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.77, Y:62.25, Z:1.72 [[ 3.04311685e-01 -9.52559128e-01 -5.05035751e-03 9.47744192e+01] [ 9.52459692e-01 3.04352964e-01 -1.37771366e-02 6.22544871e+01] [ 1.46606285e-02 -6.17718316e-04 9.99892336e-01 1.72463428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.78, Y:62.28, Z:1.73 [[ 3.03623476e-01 -9.52778972e-01 -5.00160069e-03 9.47786678e+01] [ 9.52679290e-01 3.03664121e-01 -1.37939433e-02 6.22781764e+01] [ 1.46613858e-02 -5.76756386e-04 9.99892350e-01 1.72504944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.79, Y:62.31, Z:1.72 [[ 3.01194992e-01 -9.53550220e-01 -4.85330006e-03 9.47892551e+01] [ 9.53449815e-01 3.01233744e-01 -1.38449450e-02 6.23099524e+01] [ 1.46638281e-02 -4.57349954e-04 9.99892376e-01 1.71961819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.80, Y:62.34, Z:1.72 [[ 3.02267727e-01 -9.53209908e-01 -5.00924617e-03 9.47975491e+01] [ 9.53110327e-01 3.02308624e-01 -1.37912978e-02 6.23376844e+01] [ 1.46603400e-02 -6.05700024e-04 9.99892348e-01 1.71881280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.648040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:94.80, Y:62.36, Z:1.73 [[ 3.00810109e-01 -9.53670679e-01 -5.05118227e-03 9.48019217e+01] [ 9.53571399e-01 3.00851764e-01 -1.37768724e-02 6.23586553e+01] [ 1.46582563e-02 -6.72440462e-04 9.99892336e-01 1.72548897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.81, Y:62.38, Z:1.73 [[ 3.01095505e-01 -9.53581726e-01 -4.83627363e-03 9.48076193e+01] [ 9.53481234e-01 3.01134020e-01 -1.38505869e-02 6.23836888e+01] [ 1.46640331e-02 -4.40946703e-04 9.99892380e-01 1.73009937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.82, Y:62.41, Z:1.73 [[ 3.00919272e-01 -9.53637839e-01 -4.73954591e-03 9.48164091e+01] [ 9.53536831e-01 3.00956400e-01 -1.38837187e-02 6.24097844e+01] [ 1.46664362e-02 -3.41453072e-04 9.99892384e-01 1.73047547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.83, Y:62.44, Z:1.72 [[ 3.03270672e-01 -9.52892680e-01 -4.73705403e-03 9.48306786e+01] [ 9.52791567e-01 3.03307514e-01 -1.38845717e-02 6.24411668e+01] [ 1.46672908e-02 -3.02641743e-04 9.99892384e-01 1.72419774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.84, Y:62.47, Z:1.73 [[ 3.01395473e-01 -9.53486298e-01 -4.96473508e-03 9.48362266e+01] [ 9.53386505e-01 3.01435818e-01 -1.38065358e-02 6.24702795e+01] [ 1.46608917e-02 -5.72084046e-04 9.99892360e-01 1.72959440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.79804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.84, Y:62.49, Z:1.73 [[ 3.03854596e-01 -9.52705290e-01 -5.00151803e-03 9.48445934e+01] [ 9.52605598e-01 3.03895216e-01 -1.37939604e-02 6.24938588e+01] [ 1.46615164e-02 -5.73115822e-04 9.99892350e-01 1.73025783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.86, Y:62.52, Z:1.72 [[ 3.04489763e-01 -9.52503209e-01 -4.86013742e-03 9.48551167e+01] [ 9.52402713e-01 3.04528267e-01 -1.38421918e-02 6.25202695e+01] [ 1.46647814e-02 -4.14002361e-04 9.99892381e-01 1.72266009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.85804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.86, Y:62.55, Z:1.73 [[ 3.01944872e-01 -9.53312855e-01 -4.88824785e-03 9.48638377e+01] [ 9.53212616e-01 3.01984052e-01 -1.38326105e-02 6.25493494e+01] [ 1.46629783e-02 -4.82853724e-04 9.99892376e-01 1.72840693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.88, Y:62.58, Z:1.73 [[ 3.05405655e-01 -9.52209478e-01 -4.94936635e-03 9.48819278e+01] [ 9.52109431e-01 3.05445358e-01 -1.38117927e-02 6.25808643e+01] [ 1.46634809e-02 -4.94138761e-04 9.99892363e-01 1.72919254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.91804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.88, Y:62.60, Z:1.72 [[ 3.03439991e-01 -9.52836339e-01 -5.20408454e-03 9.48816426e+01] [ 9.52737816e-01 3.03483577e-01 -1.37249305e-02 6.25986052e+01] [ 1.46569667e-02 -7.93435359e-04 9.99892266e-01 1.72026613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.89, Y:62.63, Z:1.73 [[ 3.04096408e-01 -9.52629011e-01 -4.83137728e-03 9.48933937e+01] [ 9.52528383e-01 3.04134535e-01 -1.38514803e-02 6.26283638e+01] [ 1.46647106e-02 -3.89838593e-04 9.99892391e-01 1.72819066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.90, Y:62.65, Z:1.73 [[ 3.05879592e-01 -9.52057501e-01 -4.91845696e-03 9.49020555e+01] [ 9.51957267e-01 3.05918795e-01 -1.38221916e-02 6.26515915e+01] [ 1.46641696e-02 -4.54234529e-04 9.99892372e-01 1.72983975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.91, Y:62.68, Z:1.72 [[ 3.01699912e-01 -9.53391262e-01 -4.71863567e-03 9.49122088e+01] [ 9.53290135e-01 3.01736653e-01 -1.38892554e-02 6.26818650e+01] [ 1.46656801e-02 -3.07841688e-04 9.99892406e-01 1.72294604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.03804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.93, Y:62.71, Z:1.73 [[ 3.11967534e-01 -9.50079895e-01 -4.94483267e-03 9.49322838e+01] [ 9.49979560e-01 3.12006478e-01 -1.38128099e-02 6.27094248e+01] [ 1.46660928e-02 -3.88341727e-04 9.99892372e-01 1.73261037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.94, Y:62.74, Z:1.73 [[ 3.10863534e-01 -9.50440478e-01 -5.17321014e-03 9.49406363e+01] [ 9.50341445e-01 3.10905903e-01 -1.37352393e-02 6.27350769e+01] [ 1.46629090e-02 -6.46530969e-04 9.99892285e-01 1.73491589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.09804094199998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:94.95, Y:62.76, Z:1.73 [[ 3.04172300e-01 -9.52603314e-01 -5.11258865e-03 9.49466461e+01] [ 9.52504237e-01 3.04214491e-01 -1.37557992e-02 6.27607112e+01] [ 1.46591435e-02 -6.85629265e-04 9.99892314e-01 1.73402848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.95, Y:62.78, Z:1.74 [[ 3.08012047e-01 -9.51368869e-01 -5.08472165e-03 9.49535678e+01] [ 9.51269467e-01 3.08053436e-01 -1.37652276e-02 6.27779405e+01] [ 1.46621750e-02 -5.97084528e-04 9.99892326e-01 1.73533438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.97, Y:62.81, Z:1.74 [[ 3.07624678e-01 -9.51495872e-01 -4.76054053e-03 9.49677133e+01] [ 9.51394746e-01 3.07661400e-01 -1.38744820e-02 6.28074867e+01] [ 1.46661470e-02 -2.61020179e-04 9.99892412e-01 1.73726159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.98, Y:62.83, Z:1.73 [[ 3.09797329e-01 -9.50789839e-01 -4.92930479e-03 9.49811280e+01] [ 9.50689516e-01 3.09836277e-01 -1.38175948e-02 6.28312054e+01] [ 1.46649061e-02 -4.05584441e-04 9.99892382e-01 1.73283259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.99, Y:62.85, Z:1.74 [[ 3.14093306e-01 -9.49379442e-01 -4.90603633e-03 9.49905444e+01] [ 9.49278823e-01 3.14131462e-01 -1.38253981e-02 6.28500641e+01] [ 1.46666891e-02 -3.14731395e-04 9.99892389e-01 1.73580299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.00, Y:62.88, Z:1.74 [[ 3.10122394e-01 -9.50685259e-01 -4.65177036e-03 9.50007269e+01] [ 9.50583491e-01 3.10157261e-01 -1.39104274e-02 6.28825797e+01] [ 1.46672187e-02 -1.07961052e-04 9.99892425e-01 1.73841482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.01, Y:62.90, Z:1.74 [[ 3.11327080e-01 -9.50290167e-01 -4.90378666e-03 9.50096962e+01] [ 9.50189649e-01 3.11365496e-01 -1.38260232e-02 6.29047630e+01] [ 1.46656038e-02 -3.55111896e-04 9.99892391e-01 1.73797279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.02, Y:62.93, Z:1.74 [[ 3.10350077e-01 -9.50610408e-01 -4.76264628e-03 9.50196715e+01] [ 9.50509195e-01 3.10386540e-01 -1.38731956e-02 6.29319136e+01] [ 1.46662654e-02 -2.21391765e-04 9.99892420e-01 1.73959345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.03, Y:62.95, Z:1.73 [[ 3.16022612e-01 -9.48739391e-01 -4.82461341e-03 9.50339762e+01] [ 9.48638276e-01 3.16059375e-01 -1.38525074e-02 6.29510682e+01] [ 1.46672837e-02 -1.99107392e-04 9.99892410e-01 1.73465712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.05, Y:62.98, Z:1.74 [[ 3.12681590e-01 -9.49846743e-01 -4.62476654e-03 9.50450637e+01] [ 9.49744753e-01 3.12715787e-01 -1.39190613e-02 6.29814563e+01] [ 1.46672126e-02 -4.01135200e-05 9.99892430e-01 1.73802740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.398040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.06, Y:63.01, Z:1.74 [[ 3.12647417e-01 -9.49857505e-01 -4.72357077e-03 9.50575995e+01] [ 9.49756008e-01 3.12683064e-01 -1.38862388e-02 6.30095407e+01] [ 1.46669287e-02 -1.44743031e-04 9.99892424e-01 1.73685499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.07, Y:63.03, Z:1.74 [[ 3.14152089e-01 -9.49360581e-01 -4.79092411e-03 9.50691096e+01] [ 9.49259365e-01 3.14188559e-01 -1.38638781e-02 6.30312468e+01] [ 1.46670729e-02 -1.92463327e-04 9.99892414e-01 1.73600601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.08, Y:63.05, Z:1.74 [[ 3.16541539e-01 -9.48567265e-01 -4.64735581e-03 9.50766575e+01] [ 9.48465248e-01 3.16575653e-01 -1.39114789e-02 6.30499881e+01] [ 1.46672132e-02 -4.29453615e-06 9.99892431e-01 1.73847442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.09, Y:63.08, Z:1.74 [[ 3.15083963e-01 -9.49053773e-01 -4.36264649e-03 9.50919837e+01] [ 9.48950463e-01 3.15114046e-01 -1.40056228e-02 6.30821991e+01] [ 1.46668203e-02 2.73011735e-04 9.99892399e-01 1.73548099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.10, Y:63.11, Z:1.74 [[ 3.17255020e-01 -9.48328864e-01 -4.64945561e-03 9.51048425e+01] [ 9.48226834e-01 3.17289088e-01 -1.39106491e-02 6.31081574e+01] [ 1.46670916e-02 4.48468150e-06 9.99892432e-01 1.73621412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54804094199997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.12, Y:63.14, Z:1.74 [[ 3.17618988e-01 -9.48206992e-01 -4.65599447e-03 9.51191943e+01] [ 9.48104981e-01 3.17653112e-01 -1.39084888e-02 6.31393083e+01] [ 1.46671174e-02 3.22858611e-06 9.99892432e-01 1.73718224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.57804094199997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:95.13, Y:63.16, Z:1.74 [[ 3.19699141e-01 -9.47506582e-01 -4.87193277e-03 9.51310106e+01] [ 9.47405560e-01 3.19736203e-01 -1.38371061e-02 6.31626690e+01] [ 1.46684824e-02 -1.91985264e-04 9.99892394e-01 1.73885204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.14, Y:63.19, Z:1.74 [[ 3.21962790e-01 -9.46740036e-01 -4.82355808e-03 9.51421665e+01] [ 9.46638684e-01 3.21998904e-01 -1.38530952e-02 6.31875261e+01] [ 1.46684603e-02 -1.05985475e-04 9.99892407e-01 1.74101311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.63804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.16, Y:63.22, Z:1.74 [[ 3.22077211e-01 -9.46701433e-01 -4.76094081e-03 9.51552627e+01] [ 9.46599770e-01 3.22112395e-01 -1.38737507e-02 6.32164850e+01] [ 1.46678577e-02 -3.82865408e-05 9.99892420e-01 1.74112836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.16, Y:63.24, Z:1.74 [[ 3.23832240e-01 -9.46101976e-01 -4.87138102e-03 9.51640338e+01] [ 9.46000790e-01 3.23868853e-01 -1.38373281e-02 6.32419116e+01] [ 1.46692120e-02 -1.27357345e-04 9.99892393e-01 1.74487155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.69804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.17, Y:63.27, Z:1.74 [[ 3.27083844e-01 -9.44982712e-01 -4.88191379e-03 9.51729116e+01] [ 9.44881452e-01 3.27120263e-01 -1.38338461e-02 6.32654667e+01] [ 1.46697184e-02 -8.80022112e-05 9.99892390e-01 1.74178027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.18, Y:63.30, Z:1.75 [[ 3.24599454e-01 -9.45839655e-01 -4.74770788e-03 9.51802585e+01] [ 9.45737839e-01 3.24634173e-01 -1.38777889e-02 6.32964068e+01] [ 1.46674313e-02 1.46357190e-05 9.99892427e-01 1.74542031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.75804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.19, Y:63.32, Z:1.75 [[ 3.24572662e-01 -9.45848338e-01 -4.84848741e-03 9.51869658e+01] [ 9.45747011e-01 3.24608861e-01 -1.38448103e-02 6.33207261e+01] [ 1.46689528e-02 -9.17955428e-05 9.99892401e-01 1.74502030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.19, Y:63.35, Z:1.74 [[ 3.23617838e-01 -9.46175559e-01 -4.82763922e-03 9.51937156e+01] [ 9.46074166e-01 3.23653834e-01 -1.38516574e-02 6.33475029e+01] [ 1.46685836e-02 -8.46613223e-05 9.99892407e-01 1.74393460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.81804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.20, Y:63.37, Z:1.74 [[ 3.21361469e-01 -9.46944093e-01 -4.86739168e-03 9.52002245e+01] [ 9.46842983e-01 3.21398287e-01 -1.38385945e-02 6.33739914e+01] [ 1.46687467e-02 -1.61464614e-04 9.99892395e-01 1.74287382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.21, Y:63.40, Z:1.74 [[ 3.18856285e-01 -9.47790759e-01 -4.83194907e-03 9.52089022e+01] [ 9.47689570e-01 3.18892853e-01 -1.38502053e-02 6.34001806e+01] [ 1.46679706e-02 -1.62962733e-04 9.99892406e-01 1.74307910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.87804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.22, Y:63.43, Z:1.74 [[ 3.13389656e-01 -9.49612616e-01 -4.77522379e-03 9.52167432e+01] [ 9.49511356e-01 3.13425978e-01 -1.38686787e-02 6.34268621e+01] [ 1.46665515e-02 -1.87828764e-04 9.99892423e-01 1.74492592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.23, Y:63.45, Z:1.74 [[ 3.10179574e-01 -9.50666159e-01 -4.74191616e-03 9.52263380e+01] [ 9.50564857e-01 3.10215752e-01 -1.38795040e-02 6.34537783e+01] [ 1.46657919e-02 -2.02360212e-04 9.99892431e-01 1.74387902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.23, Y:63.48, Z:1.75 [[ 3.03501804e-01 -9.52819009e-01 -4.75298410e-03 9.52335417e+01] [ 9.52718019e-01 3.03538853e-01 -1.38759103e-02 6.34750423e+01] [ 1.46639465e-02 -3.16889777e-04 9.99892428e-01 1.74574852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.24, Y:63.51, Z:1.74 [[ 2.99963318e-01 -9.53939730e-01 -4.58255430e-03 9.52425237e+01] [ 9.53838020e-01 2.99998258e-01 -1.39311366e-02 6.35052822e+01] [ 1.46642230e-02 -1.92184576e-04 9.99892456e-01 1.74461013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.25, Y:63.53, Z:1.74 [[ 2.97515711e-01 -9.54705474e-01 -4.67540716e-03 9.52495350e+01] [ 9.54604321e-01 2.97552265e-01 -1.39010638e-02 6.35316076e+01] [ 1.46625997e-02 -3.27378996e-04 9.99892445e-01 1.74423392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.25, Y:63.56, Z:1.75 [[ 2.91866950e-01 -9.56447543e-01 -4.66703386e-03 9.52532682e+01] [ 9.56346565e-01 2.91903979e-01 -1.39037749e-02 6.35566519e+01] [ 1.46605571e-02 -4.05249434e-04 9.99892446e-01 1.74812312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.058040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:95.26, Y:63.59, Z:1.75 [[ 2.90109095e-01 -9.56982693e-01 -4.56490328e-03 9.52626295e+01] [ 9.56881261e-01 2.90144825e-01 -1.39367236e-02 6.35853562e+01] [ 1.46616863e-02 -3.24900145e-04 9.99892459e-01 1.74694633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.27, Y:63.61, Z:1.75 [[ 2.87698900e-01 -9.57709840e-01 -4.60492246e-03 9.52703134e+01] [ 9.57608703e-01 2.87735468e-01 -1.39238202e-02 6.36114918e+01] [ 1.46599791e-02 -4.03846066e-04 9.99892455e-01 1.74828353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.28, Y:63.64, Z:1.75 [[ 2.87342421e-01 -9.57816956e-01 -4.58397601e-03 9.52835514e+01] [ 9.57715725e-01 2.87378721e-01 -1.39305779e-02 6.36384208e+01] [ 1.46602809e-02 -3.87299938e-04 9.99892457e-01 1.74854520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.29, Y:63.66, Z:1.75 [[ 2.83800497e-01 -9.58872093e-01 -4.64628173e-03 9.52880353e+01] [ 9.58771321e-01 2.83838076e-01 -1.39104872e-02 6.36642209e+01] [ 1.46571696e-02 -5.06918483e-04 9.99892449e-01 1.74959608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.30, Y:63.69, Z:1.75 [[ 2.85067221e-01 -9.58496455e-01 -4.60716035e-03 9.52957360e+01] [ 9.58395430e-01 2.85104099e-01 -1.39230878e-02 6.36901543e+01] [ 1.46587506e-02 -4.46465476e-04 9.99892455e-01 1.74805946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.30, Y:63.72, Z:1.75 [[ 2.86050001e-01 -9.58203834e-01 -4.56165407e-03 9.53041295e+01] [ 9.58102539e-01 2.86086114e-01 -1.39377243e-02 6.37164061e+01] [ 1.46602068e-02 -3.83646288e-04 9.99892460e-01 1.74703267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.31, Y:63.74, Z:1.75 [[ 2.82165266e-01 -9.59354884e-01 -4.57911049e-03 9.53076835e+01] [ 9.59253826e-01 2.82202043e-01 -1.39321225e-02 6.37404050e+01] [ 1.46580841e-02 -4.61368197e-04 9.99892458e-01 1.74504230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.32, Y:63.77, Z:1.75 [[ 2.84807612e-01 -9.58574499e-01 -4.42201730e-03 9.53160839e+01] [ 9.58472549e-01 2.84841823e-01 -1.39824186e-02 6.37682547e+01] [ 1.46627654e-02 -2.56082954e-04 9.99892463e-01 1.74788817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.29804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.32, Y:63.80, Z:1.75 [[ 2.83438984e-01 -9.58979762e-01 -4.48986370e-03 9.53231384e+01] [ 9.58878201e-01 2.83474329e-01 -1.39607005e-02 6.37955436e+01] [ 1.46607904e-02 -3.48225661e-04 9.99892464e-01 1.74894325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.34, Y:63.82, Z:1.75 [[ 2.85009258e-01 -9.58514311e-01 -4.47648931e-03 9.53350235e+01] [ 9.58412625e-01 2.85044242e-01 -1.39649783e-02 6.38243150e+01] [ 1.46616291e-02 -3.10175769e-04 9.99892464e-01 1.75010908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.35804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.35, Y:63.84, Z:1.75 [[ 2.90139198e-01 -9.56973474e-01 -4.58433884e-03 9.53464724e+01] [ 9.56872139e-01 2.90175208e-01 -1.39304851e-02 6.38437167e+01] [ 1.46613662e-02 -3.44846347e-04 9.99892457e-01 1.74805570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.35, Y:63.88, Z:1.75 [[ 2.83915124e-01 -9.58839307e-01 -4.40284098e-03 9.53529062e+01] [ 9.58737296e-01 2.83949151e-01 -1.39884352e-02 6.38775360e+01] [ 1.46628445e-02 -2.49639532e-04 9.99892464e-01 1.75382828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.41804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.36, Y:63.90, Z:1.75 [[ 2.83865365e-01 -9.58852986e-01 -4.62654386e-03 9.53613539e+01] [ 9.58752108e-01 2.83902650e-01 -1.39169206e-02 6.39016441e+01] [ 1.46577689e-02 -4.85176935e-04 9.99892451e-01 1.75459571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.37, Y:63.93, Z:1.76 [[ 2.83733323e-01 -9.58892426e-01 -4.55167682e-03 9.53729853e+01] [ 9.58791169e-01 2.83769536e-01 -1.39407864e-02 6.39317125e+01] [ 1.46593417e-02 -4.08641883e-04 9.99892463e-01 1.75679999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.47804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.38, Y:63.95, Z:1.76 [[ 2.86134917e-01 -9.58177946e-01 -4.67256292e-03 9.53803653e+01] [ 9.58077216e-01 2.86172631e-01 -1.39022581e-02 6.39519346e+01] [ 1.46579967e-02 -4.98754621e-04 9.99892441e-01 1.75587524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.39, Y:63.98, Z:1.76 [[ 2.85064686e-01 -9.58497917e-01 -4.45726624e-03 9.53887615e+01] [ 9.58396140e-01 2.85099384e-01 -1.39707112e-02 6.39816168e+01] [ 1.46616614e-02 -2.89270370e-04 9.99892470e-01 1.75723792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.53804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.40, Y:64.01, Z:1.76 [[ 2.86189529e-01 -9.58162255e-01 -4.54384106e-03 9.53974825e+01] [ 9.58060868e-01 2.86225368e-01 -1.39431891e-02 6.40080434e+01] [ 1.46604001e-02 -3.62881581e-04 9.99892465e-01 1.75767816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.41, Y:64.04, Z:1.76 [[ 2.89647262e-01 -9.57122606e-01 -4.55860597e-03 9.54081037e+01] [ 9.57021163e-01 2.89682950e-01 -1.39385013e-02 6.40351455e+01] [ 1.46614051e-02 -3.25433660e-04 9.99892463e-01 1.75657715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.59804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.42, Y:64.06, Z:1.76 [[ 2.91579855e-01 -9.56535602e-01 -4.56398839e-03 9.54154264e+01] [ 9.56434114e-01 2.91615416e-01 -1.39367934e-02 6.40608626e+01] [ 1.46619684e-02 -3.01465986e-04 9.99892462e-01 1.75872920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.42, Y:64.09, Z:1.76 [[ 2.91187604e-01 -9.56655154e-01 -4.54918643e-03 9.54238953e+01] [ 9.56553608e-01 2.91222991e-01 -1.39414866e-02 6.40881982e+01] [ 1.46620227e-02 -2.91952616e-04 9.99892464e-01 1.75914363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.44, Y:64.12, Z:1.76 [[ 2.93579850e-01 -9.55923815e-01 -4.53118942e-03 9.54356888e+01] [ 9.55822092e-01 2.93614720e-01 -1.39471758e-02 6.41181554e+01] [ 1.46628614e-02 -2.36401174e-04 9.99892467e-01 1.75957425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.44, Y:64.15, Z:1.76 [[ 2.94517852e-01 -9.55634750e-01 -4.63252701e-03 9.54438656e+01] [ 9.55533489e-01 2.94554099e-01 -1.39152597e-02 6.41454100e+01] [ 1.46624355e-02 -3.28242300e-04 9.99892447e-01 1.76183906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.45, Y:64.17, Z:1.76 [[ 2.96313130e-01 -9.55079685e-01 -4.61780534e-03 9.54546605e+01] [ 9.54978284e-01 2.96348973e-01 -1.39198906e-02 6.41706063e+01] [ 1.46630866e-02 -2.85257481e-04 9.99892450e-01 1.75958426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.47, Y:64.20, Z:1.76 [[ 2.96885796e-01 -9.54901809e-01 -4.62163404e-03 9.54658087e+01] [ 9.54800405e-01 2.96921634e-01 -1.39186877e-02 6.41981867e+01] [ 1.46632432e-02 -2.80477379e-04 9.99892450e-01 1.76209194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.47, Y:64.22, Z:1.76 [[ 2.94153957e-01 -9.55746783e-01 -4.64064408e-03 9.54710920e+01] [ 9.55645576e-01 2.94190361e-01 -1.39127249e-02 6.42235357e+01] [ 1.46622748e-02 -3.42327904e-04 9.99892444e-01 1.76440648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.48, Y:64.25, Z:1.76 [[ 2.93608978e-01 -9.55914964e-01 -4.51103258e-03 9.54791617e+01] [ 9.55813146e-01 2.93643552e-01 -1.39532832e-02 6.42488673e+01] [ 1.46627879e-02 -2.14895010e-04 9.99892472e-01 1.76376368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.49, Y:64.28, Z:1.77 [[ 2.93190278e-01 -9.56043608e-01 -4.48116422e-03 9.54900235e+01] [ 9.55941662e-01 2.93224460e-01 -1.39626117e-02 6.42763335e+01] [ 1.46628526e-02 -1.90029561e-04 9.99892477e-01 1.76558899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.50, Y:64.30, Z:1.76 [[ 2.98905132e-01 -9.54272113e-01 -4.52288931e-03 9.55027121e+01] [ 9.54170161e-01 2.98939313e-01 -1.39495907e-02 6.42994253e+01] [ 1.46637748e-02 -1.46001763e-04 9.99892470e-01 1.75556119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.51, Y:64.32, Z:1.76 [[ 2.92818465e-01 -9.56157625e-01 -4.46567063e-03 9.55050194e+01] [ 9.56055619e-01 2.92852460e-01 -1.39674628e-02 6.43238637e+01] [ 1.46628787e-02 -1.79498494e-04 9.99892478e-01 1.76459428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.51, Y:64.35, Z:1.76 [[ 2.93218973e-01 -9.56035339e-01 -4.36626685e-03 9.55143603e+01] [ 9.55932852e-01 2.93251472e-01 -1.39984679e-02 6.43506434e+01] [ 1.46634442e-02 -6.92415401e-05 9.99892484e-01 1.75871151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.52, Y:64.38, Z:1.76 [[ 2.90116760e-01 -9.56981315e-01 -4.36220346e-03 9.55232607e+01] [ 9.56878914e-01 2.90149531e-01 -1.39997340e-02 6.43806265e+01] [ 1.46631752e-02 -1.12543029e-04 9.99892484e-01 1.76445776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.53, Y:64.40, Z:1.77 [[ 2.87448621e-01 -9.57785461e-01 -4.50562765e-03 9.55282549e+01] [ 9.57683841e-01 2.87483770e-01 -1.39550125e-02 6.44047754e+01] [ 1.46612029e-02 -3.03617711e-04 9.99892473e-01 1.76641127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.54, Y:64.44, Z:1.77 [[ 2.84453204e-01 -9.58679937e-01 -4.37647355e-03 9.55375162e+01] [ 9.58577801e-01 2.84486788e-01 -1.39952069e-02 6.44359201e+01] [ 1.46619730e-02 -2.14208951e-04 9.99892485e-01 1.76730883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.54, Y:64.46, Z:1.76 [[ 2.79090825e-01 -9.60254120e-01 -4.50950598e-03 9.55417025e+01] [ 9.60152829e-01 2.79126915e-01 -1.39538420e-02 6.44618233e+01] [ 1.46579587e-02 -4.35425652e-04 9.99892472e-01 1.76224547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.07804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.55, Y:64.49, Z:1.77 [[ 2.82042642e-01 -9.59391772e-01 -4.40184418e-03 9.55498229e+01] [ 9.59289844e-01 2.82076853e-01 -1.39872599e-02 6.44895789e+01] [ 1.46609204e-02 -2.77640675e-04 9.99892484e-01 1.76674934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.56, Y:64.52, Z:1.77 [[ 2.82351566e-01 -9.59300722e-01 -4.44049384e-03 9.55553833e+01] [ 9.59198971e-01 2.82386307e-01 -1.39752725e-02 6.45166833e+01] [ 1.46604237e-02 -3.13377032e-04 9.99892481e-01 1.76552299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.13804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.56, Y:64.55, Z:1.76 [[ 2.81822667e-01 -9.59456411e-01 -4.40219165e-03 9.55641091e+01] [ 9.59354494e-01 2.81856906e-01 -1.39871361e-02 6.45458305e+01] [ 1.46608355e-02 -2.81370354e-04 9.99892485e-01 1.76478596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.57, Y:64.57, Z:1.77 [[ 2.79182664e-01 -9.60227735e-01 -4.44264162e-03 9.55700710e+01] [ 9.60126109e-01 2.79217773e-01 -1.39746573e-02 6.45745214e+01] [ 1.46593180e-02 -3.64014162e-04 9.99892480e-01 1.76665339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.19804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.58, Y:64.60, Z:1.76 [[ 2.83440621e-01 -9.58979507e-01 -4.44072031e-03 9.55794448e+01] [ 9.58877716e-01 2.83475250e-01 -1.39752492e-02 6.45996880e+01] [ 1.46608119e-02 -2.96954422e-04 9.99892480e-01 1.76105180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.59, Y:64.63, Z:1.77 [[ 2.79007898e-01 -9.60278625e-01 -4.42202921e-03 9.55854004e+01] [ 9.60176905e-01 2.79042725e-01 -1.39810112e-02 6.46282079e+01] [ 1.46596013e-02 -3.45117777e-04 9.99892483e-01 1.76567802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.25804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.59, Y:64.65, Z:1.77 [[ 2.79496524e-01 -9.60136440e-01 -4.43963722e-03 9.55938808e+01] [ 9.60034787e-01 2.79531556e-01 -1.39755881e-02 6.46549467e+01] [ 1.46594901e-02 -3.56077875e-04 9.99892481e-01 1.76669904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.60, Y:64.68, Z:1.77 [[ 2.79210217e-01 -9.60219635e-01 -4.46169241e-03 9.56016752e+01] [ 9.60118101e-01 2.79245600e-01 -1.39687931e-02 6.46819459e+01] [ 1.46590174e-02 -3.83521874e-04 9.99892477e-01 1.76549608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.31804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.61, Y:64.71, Z:1.77 [[ 2.79222092e-01 -9.60216302e-01 -4.43574983e-03 9.56100706e+01] [ 9.60114641e-01 2.79257096e-01 -1.39767695e-02 6.47107647e+01] [ 1.46594365e-02 -3.56205535e-04 9.99892481e-01 1.76808247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.62, Y:64.74, Z:1.77 [[ 2.78865547e-01 -9.60319649e-01 -4.49205081e-03 9.56175651e+01] [ 9.60218276e-01 2.78901407e-01 -1.39594819e-02 6.47383131e+01] [ 1.46584041e-02 -4.20530710e-04 9.99892471e-01 1.77101833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.37804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.62, Y:64.77, Z:1.77 [[ 2.78339869e-01 -9.60472181e-01 -4.48400274e-03 9.56239957e+01] [ 9.60370788e-01 2.78375668e-01 -1.39619501e-02 6.47650905e+01] [ 1.46583019e-02 -4.20137883e-04 9.99892473e-01 1.76760927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40804094199999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:95.63, Y:64.79, Z:1.77 [[ 2.82160425e-01 -9.59357058e-01 -4.41921621e-03 9.56340326e+01] [ 9.59255212e-01 2.82194877e-01 -1.39817634e-02 6.47939680e+01] [ 1.46605836e-02 -2.94055858e-04 9.99892485e-01 1.76992471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.64, Y:64.82, Z:1.77 [[ 2.83456969e-01 -9.58974387e-01 -4.50236491e-03 9.56418048e+01] [ 9.58872894e-01 2.83492494e-01 -1.39563518e-02 6.48211347e+01] [ 1.46601706e-02 -3.61170478e-04 9.99892469e-01 1.77087589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.65, Y:64.85, Z:1.77 [[ 2.84295074e-01 -9.58726445e-01 -4.46253313e-03 9.56505529e+01] [ 9.58624729e-01 2.84329930e-01 -1.39684987e-02 6.48496373e+01] [ 1.46608009e-02 -3.06719226e-04 9.99892478e-01 1.77119303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.66, Y:64.88, Z:1.77 [[ 2.86875127e-01 -9.57957379e-01 -4.50790129e-03 9.56590127e+01] [ 9.57855786e-01 2.86910371e-01 -1.39546770e-02 6.48754560e+01] [ 1.46613494e-02 -3.14669597e-04 9.99892467e-01 1.77276657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.67, Y:64.90, Z:1.77 [[ 2.90316301e-01 -9.56920203e-01 -4.49122797e-03 9.56673453e+01] [ 9.56818405e-01 2.90350936e-01 -1.39597497e-02 6.49021604e+01] [ 1.46623988e-02 -2.44546670e-04 9.99892471e-01 1.77349074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.68, Y:64.93, Z:1.77 [[ 2.90652772e-01 -9.56818096e-01 -4.48298462e-03 9.56752703e+01] [ 9.56716247e-01 2.90687251e-01 -1.39622537e-02 6.49295261e+01] [ 1.46624835e-02 -2.30776467e-04 9.99892473e-01 1.77285932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.68, Y:64.96, Z:1.78 [[ 2.91742430e-01 -9.56486499e-01 -4.46452615e-03 9.56839704e+01] [ 9.56384525e-01 2.91776524e-01 -1.39678554e-02 6.49565168e+01] [ 1.46627090e-02 -1.94787649e-04 9.99892478e-01 1.77530595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.69, Y:64.98, Z:1.77 [[ 2.90530453e-01 -9.56855278e-01 -4.47588590e-03 9.56908590e+01] [ 9.56753400e-01 2.90564841e-01 -1.39644109e-02 6.49838748e+01] [ 1.46624554e-02 -2.25232429e-04 9.99892475e-01 1.77339841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.69, Y:65.01, Z:1.77 [[ 2.84559293e-01 -9.58648180e-01 -4.43565620e-03 9.56942421e+01] [ 9.58546329e-01 2.84593729e-01 -1.39765805e-02 6.50084660e+01] [ 1.46609834e-02 -2.74616105e-04 9.99892484e-01 1.76771722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.71, Y:65.04, Z:1.77 [[ 2.87859242e-01 -9.57663195e-01 -4.27344543e-03 9.57061628e+01] [ 9.57560485e-01 2.87890956e-01 -1.40255248e-02 6.50396515e+01] [ 1.46620151e-02 -5.47055614e-05 9.99892505e-01 1.76598237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.71, Y:65.06, Z:1.77 [[ 2.81134536e-01 -9.59657933e-01 -4.47494692e-03 9.57078153e+01] [ 9.59556392e-01 2.81169908e-01 -1.39647130e-02 6.50639836e+01] [ 1.46595680e-02 -3.68000813e-04 9.99892475e-01 1.77147072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.71, Y:65.09, Z:1.77 [[ 2.76277581e-01 -9.61068264e-01 -4.30011841e-03 9.57122788e+01] [ 9.60966071e-01 2.76310921e-01 -1.40173465e-02 6.50896632e+01] [ 1.46597965e-02 -2.59589312e-04 9.99892506e-01 1.77202915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.72, Y:65.12, Z:1.77 [[ 2.75369316e-01 -9.61329121e-01 -4.24992498e-03 9.57197061e+01] [ 9.61226725e-01 2.75402021e-01 -1.40324350e-02 6.51166486e+01] [ 1.46602263e-02 -2.21039456e-04 9.99892509e-01 1.76504063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.72, Y:65.14, Z:1.78 [[ 2.70959006e-01 -9.62581650e-01 -4.21711407e-03 9.57239138e+01] [ 9.62479252e-01 2.70991702e-01 -1.40422886e-02 6.51430455e+01] [ 1.46596522e-02 -2.54000233e-04 9.99892509e-01 1.77533406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.73, Y:65.17, Z:1.77 [[ 2.68116891e-01 -9.63377391e-01 -4.16359674e-03 9.57301249e+01] [ 9.63274840e-01 2.68149109e-01 -1.40583423e-02 6.51698448e+01] [ 1.46599539e-02 -2.41408948e-04 9.99892508e-01 1.77340892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.74, Y:65.20, Z:1.77 [[ 2.65382556e-01 -9.64134109e-01 -4.18546908e-03 9.57363915e+01] [ 9.64031754e-01 2.65415383e-01 -1.40517859e-02 6.51970767e+01] [ 1.46586939e-02 -3.05826257e-04 9.99892509e-01 1.77469033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.74, Y:65.22, Z:1.78 [[ 2.69009109e-01 -9.63128315e-01 -4.23655546e-03 9.57431281e+01] [ 9.63026075e-01 2.69042295e-01 -1.40364776e-02 6.52240251e+01] [ 1.46587416e-02 -3.03973045e-04 9.99892509e-01 1.77562983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.91804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.75, Y:65.25, Z:1.78 [[ 2.66958944e-01 -9.63698557e-01 -4.24435476e-03 9.57487281e+01] [ 9.63596424e-01 2.66992461e-01 -1.40341445e-02 6.52514126e+01] [ 1.46578956e-02 -3.43304669e-04 9.99892508e-01 1.77917754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.75, Y:65.28, Z:1.78 [[ 2.69830959e-01 -9.62898483e-01 -4.21486944e-03 9.57548654e+01] [ 9.62796114e-01 2.69863742e-01 -1.40429544e-02 6.52812122e+01] [ 1.46593799e-02 -2.68836074e-04 9.99892509e-01 1.78158703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.76, Y:65.31, Z:1.78 [[ 2.71292869e-01 -9.62487335e-01 -4.27891517e-03 9.57605094e+01] [ 9.62385214e-01 2.71326430e-01 -1.40238274e-02 6.53081724e+01] [ 1.46587391e-02 -3.13400307e-04 9.99892506e-01 1.78149378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.77, Y:65.34, Z:1.78 [[ 2.73121330e-01 -9.61970243e-01 -4.24149292e-03 9.57667570e+01] [ 9.61867885e-01 2.73154152e-01 -1.40349767e-02 6.53365541e+01] [ 1.46598113e-02 -2.46504320e-04 9.99892509e-01 1.78178636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.77, Y:65.36, Z:1.78 [[ 2.76710571e-01 -9.60943950e-01 -4.24081782e-03 9.57704810e+01] [ 9.60841468e-01 2.76743000e-01 -1.40351776e-02 6.53632152e+01] [ 1.46606356e-02 -1.91071613e-04 9.99892509e-01 1.78003543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.78, Y:65.39, Z:1.78 [[ 2.78919854e-01 -9.60305118e-01 -4.21836195e-03 9.57791396e+01] [ 9.60202460e-01 2.78951719e-01 -1.40418578e-02 6.53913396e+01] [ 1.46611873e-02 -1.33928584e-04 9.99892510e-01 1.78149348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.09804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.79, Y:65.42, Z:1.78 [[ 2.82721750e-01 -9.59192392e-01 -4.28566414e-03 9.57856103e+01] [ 9.59089909e-01 2.82754193e-01 -1.40218556e-02 6.54204344e+01] [ 1.46614468e-02 -1.46053667e-04 9.99892505e-01 1.77780221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.79, Y:65.45, Z:1.79 [[ 2.79657768e-01 -9.60090087e-01 -4.30799057e-03 9.57906596e+01] [ 9.59987809e-01 2.79690863e-01 -1.40152342e-02 6.54482764e+01] [ 1.46607930e-02 -2.16149321e-04 9.99892501e-01 1.78572135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.80, Y:65.47, Z:1.79 [[ 2.79144504e-01 -9.60239565e-01 -4.28068950e-03 9.57950778e+01] [ 9.60137181e-01 2.79177256e-01 -1.40233188e-02 6.54747784e+01] [ 1.46608167e-02 -1.95516758e-04 9.99892505e-01 1.78684647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.80, Y:65.50, Z:1.78 [[ 2.81791651e-01 -9.59466372e-01 -4.21255722e-03 9.58031999e+01] [ 9.59363595e-01 2.81823124e-01 -1.40434663e-02 6.55037505e+01] [ 1.46614297e-02 -8.40425006e-05 9.99892512e-01 1.78398894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.81, Y:65.53, Z:1.79 [[ 2.80734292e-01 -9.59776085e-01 -4.25710884e-03 9.58061897e+01] [ 9.59673542e-01 2.80766530e-01 -1.40303009e-02 6.55295795e+01] [ 1.46612009e-02 -1.46648127e-04 9.99892508e-01 1.78992628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.81, Y:65.56, Z:1.78 [[ 2.77054287e-01 -9.60845031e-01 -4.21303188e-03 9.58096774e+01] [ 9.60742412e-01 2.77086273e-01 -1.40433119e-02 6.55555326e+01] [ 1.46608197e-02 -1.56878660e-04 9.99892512e-01 1.78195317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.82, Y:65.58, Z:1.79 [[ 2.80511294e-01 -9.59841769e-01 -4.14636698e-03 9.58150582e+01] [ 9.59738744e-01 2.80541935e-01 -1.40629676e-02 6.55835346e+01] [ 1.46614535e-02 -3.46078012e-05 9.99892515e-01 1.78925690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.82, Y:65.61, Z:1.79 [[ 2.81469268e-01 -9.59561246e-01 -4.15530869e-03 9.58223157e+01] [ 9.59458229e-01 2.81499937e-01 -1.40603327e-02 6.56108113e+01] [ 1.46614695e-02 -2.92935555e-05 9.99892514e-01 1.78857189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.83, Y:65.64, Z:1.79 [[ 2.81833670e-01 -9.59454116e-01 -4.19316874e-03 9.58294242e+01] [ 9.59351252e-01 2.81864854e-01 -1.40491870e-02 6.56393466e+01] [ 1.46614572e-02 -6.31877405e-05 9.99892513e-01 1.78914638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.83, Y:65.66, Z:1.79 [[ 2.81023763e-01 -9.59691601e-01 -4.20432958e-03 9.58303959e+01] [ 9.59588812e-01 2.81055198e-01 -1.40459037e-02 6.56640796e+01] [ 1.46613844e-02 -8.71949276e-05 9.99892512e-01 1.78716308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.85, Y:65.70, Z:1.79 [[ 2.83980249e-01 -9.58821432e-01 -4.08412402e-03 9.58455233e+01] [ 9.58718032e-01 2.84009603e-01 -1.40811859e-02 6.56987072e+01] [ 1.46612733e-02 8.32553353e-05 9.99892514e-01 1.78730423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.84, Y:65.72, Z:1.79 [[ 2.77701164e-01 -9.60657295e-01 -4.43008581e-03 9.58421057e+01] [ 9.60555648e-01 2.77736247e-01 -1.39794321e-02 6.57196359e+01] [ 1.46598388e-02 -3.73239385e-04 9.99892469e-01 1.78614933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.86, Y:65.75, Z:1.79 [[ 2.82099492e-01 -9.59376284e-01 -4.12585921e-03 9.58560342e+01] [ 9.59273126e-01 2.82129661e-01 -1.40685630e-02 6.57490990e+01] [ 1.46610729e-02 1.09085950e-05 9.99892521e-01 1.78959295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.86, Y:65.78, Z:1.79 [[ 2.79786086e-01 -9.60052882e-01 -4.26737040e-03 9.58620565e+01] [ 9.59950418e-01 2.79818575e-01 -1.40271197e-02 6.57752069e+01] [ 1.46608662e-02 -1.71871090e-04 9.99892509e-01 1.79027065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.87, Y:65.80, Z:1.79 [[ 2.79430886e-01 -9.60156673e-01 -4.18853936e-03 9.58698985e+01] [ 9.60053873e-01 2.79462260e-01 -1.40501617e-02 6.58026919e+01] [ 1.46608952e-02 -9.51742940e-05 9.99892519e-01 1.79066713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.88, Y:65.83, Z:1.79 [[ 2.76761702e-01 -9.60929486e-01 -4.18143664e-03 9.58772749e+01] [ 9.60826742e-01 2.76793257e-01 -1.40522344e-02 6.58343010e+01] [ 1.46605998e-02 -1.28515842e-04 9.99892519e-01 1.79194572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.88, Y:65.86, Z:1.79 [[ 2.75301754e-01 -9.61348100e-01 -4.33295022e-03 9.58793959e+01] [ 9.61246088e-01 2.75335677e-01 -1.40080062e-02 6.58559387e+01] [ 1.46595859e-02 -3.08602778e-04 9.99892495e-01 1.79205231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60804094199997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:95.89, Y:65.89, Z:1.79 [[ 2.72325104e-01 -9.62196552e-01 -4.10284968e-03 9.58860208e+01] [ 9.62093609e-01 2.72355985e-01 -1.40749807e-02 6.58888617e+01] [ 1.46603335e-02 -1.14354875e-04 9.99892525e-01 1.79355841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.63804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.89, Y:65.92, Z:1.79 [[ 2.69173267e-01 -9.63082208e-01 -4.29115546e-03 9.58902870e+01] [ 9.62980218e-01 2.69207231e-01 -1.40202134e-02 6.59153429e+01] [ 1.46578281e-02 -3.58431192e-04 9.99892504e-01 1.79332725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.90, Y:65.94, Z:1.79 [[ 2.68444543e-01 -9.63285907e-01 -4.21773689e-03 9.58979619e+01] [ 9.63183606e-01 2.68477515e-01 -1.40415368e-02 6.59428493e+01] [ 1.46583820e-02 -2.93081090e-04 9.99892517e-01 1.79417913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.69804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.90, Y:65.97, Z:1.80 [[ 2.65989309e-01 -9.63966486e-01 -4.27807694e-03 9.59049606e+01] [ 9.63864548e-01 2.66023420e-01 -1.40240072e-02 6.59710163e+01] [ 1.46567416e-02 -3.93250713e-04 9.99892507e-01 1.79627741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.91, Y:66.00, Z:1.79 [[ 2.62845729e-01 -9.64828242e-01 -4.31123131e-03 9.59085156e+01] [ 9.64726572e-01 2.62880653e-01 -1.40143839e-02 6.59962503e+01] [ 1.46548127e-02 -4.75538449e-04 9.99892499e-01 1.79305904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.91, Y:66.02, Z:1.79 [[ 2.58438424e-01 -9.66018550e-01 -4.21220900e-03 9.59096414e+01] [ 9.65916572e-01 2.58472375e-01 -1.40430774e-02 6.60202189e+01] [ 1.46546129e-02 -4.39371672e-04 9.99892519e-01 1.79006159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.91, Y:66.05, Z:1.79 [[ 2.57180734e-01 -9.66354873e-01 -4.04098616e-03 9.59149268e+01] [ 9.66252151e-01 2.57212327e-01 -1.40925672e-02 6.60465931e+01] [ 1.46578125e-02 -2.80274786e-04 9.99892529e-01 1.79012580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.81804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.93, Y:66.08, Z:1.79 [[ 2.62030223e-01 -9.65051542e-01 -3.96032134e-03 9.59254889e+01] [ 9.64948307e-01 2.62060121e-01 -1.41158516e-02 6.60754938e+01] [ 1.46603667e-02 -1.22725614e-04 9.99892524e-01 1.78595209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.93, Y:66.10, Z:1.79 [[ 2.58816328e-01 -9.65917879e-01 -4.09388748e-03 9.59288568e+01] [ 9.65815342e-01 2.58848518e-01 -1.40772856e-02 6.60994344e+01] [ 1.46571986e-02 -3.10507945e-04 9.99892529e-01 1.78989095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.87804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.94, Y:66.12, Z:1.79 [[ 2.63367613e-01 -9.64687470e-01 -3.94781646e-03 9.59366499e+01] [ 9.64584141e-01 2.63397184e-01 -1.41194128e-02 6.61221109e+01] [ 1.46606644e-02 -8.94050981e-05 9.99892523e-01 1.78918032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.95, Y:66.15, Z:1.79 [[ 2.65610750e-01 -9.64072909e-01 -3.78884465e-03 9.59457807e+01] [ 9.63968843e-01 2.65637749e-01 -1.41652939e-02 6.61540073e+01] [ 1.46628363e-02 1.10126149e-04 9.99892489e-01 1.79140803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.96, Y:66.18, Z:1.79 [[ 2.71155482e-01 -9.62527245e-01 -4.00104396e-03 9.59556255e+01] [ 9.62423906e-01 2.71184998e-01 -1.41039531e-02 6.61829818e+01] [ 1.46604622e-02 -2.63361520e-05 9.99892529e-01 1.78930778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.97, Y:66.21, Z:1.79 [[ 2.76166131e-01 -9.61101307e-01 -4.06770304e-03 9.59650792e+01] [ 9.60998098e-01 2.76196085e-01 -1.40846893e-02 6.62110092e+01] [ 1.46602970e-02 -1.93407358e-05 9.99892532e-01 1.78770574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.97, Y:66.24, Z:1.79 [[ 2.72883891e-01 -9.62038193e-01 -4.11054476e-03 9.59701118e+01] [ 9.61935272e-01 2.72914825e-01 -1.40723154e-02 6.62365572e+01] [ 1.46599335e-02 -1.13969814e-04 9.99892531e-01 1.79269366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.98, Y:66.26, Z:1.79 [[ 2.78911952e-01 -9.60308107e-01 -4.05742785e-03 9.59816941e+01] [ 9.60204770e-01 2.78941461e-01 -1.40876345e-02 6.62620467e+01] [ 1.46602545e-02 3.32480706e-05 9.99892532e-01 1.78959305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.99, Y:66.28, Z:1.79 [[ 2.81260524e-01 -9.59622917e-01 -4.04657912e-03 9.59891784e+01] [ 9.59519463e-01 2.81289621e-01 -1.40907607e-02 6.62788210e+01] [ 1.46600776e-02 8.04033133e-05 9.99892532e-01 1.79180178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.00, Y:66.31, Z:1.79 [[ 2.78339316e-01 -9.60475543e-01 -3.73593324e-03 9.59971757e+01] [ 9.60370929e-01 2.78364155e-01 -1.41801027e-02 6.63090890e+01] [ 1.46595918e-02 3.58998420e-04 9.99892478e-01 1.79426294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.01, Y:66.34, Z:1.80 [[ 2.82290055e-01 -9.59321330e-01 -3.86132104e-03 9.60113448e+01] [ 9.59217101e-01 2.82316315e-01 -1.41439410e-02 6.63374507e+01] [ 1.46586983e-02 2.88848727e-04 9.99892514e-01 1.79813539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.02, Y:66.36, Z:1.80 [[ 2.86333933e-01 -9.58121594e-01 -3.98624415e-03 9.60227879e+01] [ 9.58017748e-01 2.86361594e-01 -1.41078639e-02 6.63628239e+01] [ 1.46585563e-02 2.20667516e-04 9.99892533e-01 1.79558810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.03, Y:66.39, Z:1.80 [[ 2.84330267e-01 -9.58718239e-01 -3.95451239e-03 9.60321964e+01] [ 9.58614323e-01 2.84357679e-01 -1.41170204e-02 6.63912910e+01] [ 1.46587409e-02 2.23043958e-04 9.99892530e-01 1.80020036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.04, Y:66.42, Z:1.80 [[ 2.85222090e-01 -9.58453105e-01 -4.00055988e-03 9.60442999e+01] [ 9.58349349e-01 2.85250082e-01 -1.41037384e-02 6.64164988e+01] [ 1.46589319e-02 1.88763787e-04 9.99892534e-01 1.80027731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.05, Y:66.44, Z:1.80 [[ 2.81782403e-01 -9.59470044e-01 -3.98893346e-03 9.60516342e+01] [ 9.59366342e-01 2.81810597e-01 -1.41070894e-02 6.64416694e+01] [ 1.46594534e-02 1.48281055e-04 9.99892533e-01 1.79861629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.06, Y:66.47, Z:1.80 [[ 2.85433000e-01 -9.58390821e-01 -3.87782154e-03 9.60637344e+01] [ 9.58286572e-01 2.85459161e-01 -1.41390727e-02 6.64689637e+01] [ 1.46577171e-02 3.19693627e-04 9.99892519e-01 1.80252836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.29804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.08, Y:66.49, Z:1.80 [[ 2.87540462e-01 -9.57760361e-01 -3.94623111e-03 9.60782530e+01] [ 9.57656322e-01 2.87567403e-01 -1.41193748e-02 6.64946583e+01] [ 1.46577850e-02 2.80758393e-04 9.99892529e-01 1.80418150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.09, Y:66.52, Z:1.80 [[ 2.87487544e-01 -9.57776100e-01 -3.98186760e-03 9.60898011e+01] [ 9.57672203e-01 2.87515016e-01 -1.41091134e-02 6.65229534e+01] [ 1.46582183e-02 2.42870439e-04 9.99892533e-01 1.80308160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.35804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.11, Y:66.55, Z:1.81 [[ 2.89293473e-01 -9.57231934e-01 -4.03880821e-03 9.61068712e+01] [ 9.57128212e-01 2.89321587e-01 -1.40927198e-02 6.65497247e+01] [ 1.46585159e-02 2.11274587e-04 9.99892536e-01 1.80627913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.11, Y:66.58, Z:1.81 [[ 2.84152384e-01 -9.58770200e-01 -4.13840091e-03 9.61134235e+01] [ 9.58667043e-01 2.84182517e-01 -1.40640849e-02 6.65757689e+01] [ 1.46602866e-02 2.89946775e-05 9.99892532e-01 1.80533754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.41804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.12, Y:66.60, Z:1.80 [[ 2.80821468e-01 -9.59751531e-01 -4.03764526e-03 9.61241946e+01] [ 9.59648058e-01 2.80850480e-01 -1.40930100e-02 6.66048702e+01] [ 1.46597626e-02 8.29013278e-05 9.99892536e-01 1.80105410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.14, Y:66.63, Z:1.80 [[ 2.76001903e-01 -9.61147990e-01 -4.18227697e-03 9.61359437e+01] [ 9.61045282e-01 2.76033552e-01 -1.40514939e-02 6.66270424e+01] [ 1.46600138e-02 -1.41118507e-04 9.99892526e-01 1.80412702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.47804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.14, Y:66.65, Z:1.80 [[ 2.70456406e-01 -9.62723817e-01 -4.02305184e-03 9.61424013e+01] [ 9.62620602e-01 2.70486319e-01 -1.40970906e-02 6.66489927e+01] [ 1.46597853e-02 -6.00241403e-05 9.99892538e-01 1.80418582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.16, Y:66.68, Z:1.81 [[ 2.70471249e-01 -9.62720416e-01 -3.83470273e-03 9.61615436e+01] [ 9.62616418e-01 2.70498397e-01 -1.41509270e-02 6.66772161e+01] [ 1.46606673e-02 1.36071098e-04 9.99892517e-01 1.80920943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.53804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.17, Y:66.70, Z:1.81 [[ 2.69654589e-01 -9.62948850e-01 -3.98936859e-03 9.61742346e+01] [ 9.62845517e-01 2.69684095e-01 -1.41066906e-02 6.67041793e+01] [ 1.46598907e-02 -3.72118099e-05 9.99892537e-01 1.80954972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.18, Y:66.73, Z:1.80 [[ 2.64197341e-01 -9.64460107e-01 -4.05802713e-03 9.61828345e+01] [ 9.64357241e-01 2.64228435e-01 -1.40870596e-02 6.67334956e+01] [ 1.46586531e-02 -1.91624163e-04 9.99892538e-01 1.80381651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.59804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.20, Y:66.76, Z:1.81 [[ 2.61034308e-01 -9.65320779e-01 -4.10886682e-03 9.61950064e+01] [ 9.65218243e-01 2.61066481e-01 -1.40725589e-02 6.67561465e+01] [ 1.46572209e-02 -2.92532542e-04 9.99892534e-01 1.80960426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.21, Y:66.78, Z:1.81 [[ 2.62266345e-01 -9.64987354e-01 -3.97136147e-03 9.62080224e+01] [ 9.64884174e-01 2.62296379e-01 -1.41116984e-02 6.67818837e+01] [ 1.46592843e-02 -1.30880258e-04 9.99892538e-01 1.80893966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.22, Y:66.81, Z:1.81 [[ 2.57892813e-01 -9.66165352e-01 -3.97610291e-03 9.62189220e+01] [ 9.66062331e-01 2.57923383e-01 -1.41103494e-02 6.68070994e+01] [ 1.46584606e-02 -2.02205552e-04 9.99892539e-01 1.80972668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.23, Y:66.83, Z:1.81 [[ 2.57601167e-01 -9.66243286e-01 -3.94358524e-03 9.62289585e+01] [ 9.66140132e-01 2.57631293e-01 -1.41195919e-02 6.68329191e+01] [ 1.46589518e-02 -1.72832620e-04 9.99892537e-01 1.81004197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.24, Y:66.86, Z:1.81 [[ 2.57678483e-01 -9.66222861e-01 -3.89651634e-03 9.62396895e+01] [ 9.66119502e-01 2.57707913e-01 -1.41329344e-02 6.68598202e+01] [ 1.46597274e-02 -1.22747320e-04 9.99892533e-01 1.80738542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.25, Y:66.89, Z:1.81 [[ 2.59015752e-01 -9.65865118e-01 -3.92608571e-03 9.62521877e+01] [ 9.65761845e-01 2.59045471e-01 -1.41245518e-02 6.68862037e+01] [ 1.46594466e-02 -1.33182374e-04 9.99892536e-01 1.81011556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.27, Y:66.91, Z:1.81 [[ 2.61701425e-01 -9.65140814e-01 -3.94622485e-03 9.62655482e+01] [ 9.65037545e-01 2.61731152e-01 -1.41188448e-02 6.69146533e+01] [ 1.46595234e-02 -1.13333321e-04 9.99892537e-01 1.81158498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.28, Y:66.94, Z:1.81 [[ 2.60299602e-01 -9.65519424e-01 -4.04450744e-03 9.62752457e+01] [ 9.65416624e-01 2.60330914e-01 -1.40910044e-02 6.69380857e+01] [ 1.46580487e-02 -2.36751892e-04 9.99892537e-01 1.81095973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.29, Y:66.96, Z:1.81 [[ 2.60494276e-01 -9.65467333e-01 -3.94473384e-03 9.62860945e+01] [ 9.65364095e-01 2.60524110e-01 -1.41192123e-02 6.69646276e+01] [ 1.46593366e-02 -1.30130408e-04 9.99892538e-01 1.81233958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.30, Y:66.99, Z:1.81 [[ 2.60701855e-01 -9.65411235e-01 -3.96120590e-03 9.62982068e+01] [ 9.65308061e-01 2.60731907e-01 -1.41145583e-02 6.69923551e+01] [ 1.46591659e-02 -1.44092466e-04 9.99892538e-01 1.81394234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.31, Y:67.02, Z:1.82 [[ 2.60330526e-01 -9.65511197e-01 -4.01803531e-03 9.63111173e+01] [ 9.65408281e-01 2.60361449e-01 -1.40985042e-02 6.70179344e+01] [ 1.46584052e-02 -2.08773525e-04 9.99892538e-01 1.81540975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.928040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.32, Y:67.04, Z:1.81 [[ 2.62157118e-01 -9.65016785e-01 -4.03119870e-03 9.63205138e+01] [ 9.64913866e-01 2.62188038e-01 -1.40947865e-02 6.70377980e+01] [ 1.46586376e-02 -1.94710917e-04 9.99892537e-01 1.81430673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.33, Y:67.07, Z:1.82 [[ 2.60564897e-01 -9.65448709e-01 -3.83726299e-03 9.63314545e+01] [ 9.65345016e-01 2.60593150e-01 -1.41495309e-02 6.70695183e+01] [ 1.46606108e-02 -1.74116271e-05 9.99892527e-01 1.81707506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.35, Y:67.10, Z:1.82 [[ 2.62402597e-01 -9.64950007e-01 -4.04481064e-03 9.63467447e+01] [ 9.64847141e-01 2.62433690e-01 -1.40908937e-02 6.70967260e+01] [ 1.46585026e-02 -2.05136872e-04 9.99892537e-01 1.81929304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.36, Y:67.12, Z:1.82 [[ 2.67190661e-01 -9.63634945e-01 -4.10418621e-03 9.63580308e+01] [ 9.63532181e-01 2.67222110e-01 -1.40741246e-02 6.71232712e+01] [ 1.46590476e-02 -1.94040823e-04 9.99892532e-01 1.82172489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04804094199997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.36, Y:67.15, Z:1.82 [[ 2.67248071e-01 -9.63618806e-01 -4.15516212e-03 9.63639339e+01] [ 9.63516262e-01 2.67280258e-01 -1.40597471e-02 6.71506723e+01] [ 1.46588295e-02 -2.46125985e-04 9.99892523e-01 1.82004778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.07804094199997 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:96.38, Y:67.18, Z:1.82 [[ 2.72600252e-01 -9.62118568e-01 -4.11872759e-03 9.63770508e+01] [ 9.62015691e-01 2.72631336e-01 -1.40700068e-02 6.71812966e+01] [ 1.46599090e-02 -1.26793167e-04 9.99892530e-01 1.82206175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.38, Y:67.21, Z:1.82 [[ 2.71657344e-01 -9.62384548e-01 -4.27421834e-03 9.63795721e+01] [ 9.62282377e-01 2.71690798e-01 -1.40263178e-02 6.72052923e+01] [ 1.46599773e-02 -3.02652755e-04 9.99892491e-01 1.82182620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.13804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.39, Y:67.23, Z:1.82 [[ 2.75895270e-01 -9.61178976e-01 -4.09588780e-03 9.63885205e+01] [ 9.61075900e-01 2.75925667e-01 -1.40762307e-02 6.72344168e+01] [ 1.46599376e-02 -5.28935654e-05 9.99892536e-01 1.82224227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.40, Y:67.26, Z:1.82 [[ 2.77074878e-01 -9.60839311e-01 -4.16293306e-03 9.63954780e+01] [ 9.60736478e-01 2.77106130e-01 -1.40574765e-02 6.72601720e+01] [ 1.46605503e-02 -1.04508069e-04 9.99892523e-01 1.82204079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.19804094199998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:96.40, Y:67.29, Z:1.82 [[ 2.76542803e-01 -9.60992724e-01 -4.13057640e-03 9.64012523e+01] [ 9.60889773e-01 2.76573638e-01 -1.40665190e-02 6.72869468e+01] [ 1.46602310e-02 -7.90340137e-05 9.99892530e-01 1.82145682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.41, Y:67.31, Z:1.82 [[ 2.76471407e-01 -9.61013555e-01 -4.06313391e-03 9.64085507e+01] [ 9.60910326e-01 2.76501262e-01 -1.40853398e-02 6.73137013e+01] [ 1.46596641e-02 -1.01136278e-05 9.99892541e-01 1.82212690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.25804094199998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:96.41, Y:67.34, Z:1.83 [[ 2.75093779e-01 -9.61408793e-01 -4.06750328e-03 9.64123664e+01] [ 9.61305626e-01 2.75123846e-01 -1.40841212e-02 6.73369399e+01] [ 1.46596651e-02 -3.56596715e-05 9.99892541e-01 1.82672569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28804094199998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:96.42, Y:67.37, Z:1.82 [[ 2.73622248e-01 -9.61829204e-01 -3.93046297e-03 9.64208356e+01] [ 9.61725525e-01 2.73650463e-01 -1.41222620e-02 6.73664820e+01] [ 1.46587770e-02 8.41384977e-05 9.99892551e-01 1.82322698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.31804094199998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:96.43, Y:67.39, Z:1.82 [[ 2.73887311e-01 -9.61753376e-01 -4.02299655e-03 9.64267493e+01] [ 9.61650064e-01 2.73916855e-01 -1.40965138e-02 6.73899178e+01] [ 1.46593363e-02 -7.85863839e-06 9.99892546e-01 1.82486616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.43, Y:67.42, Z:1.82 [[ 2.69816912e-01 -9.62903748e-01 -3.89961366e-03 9.64341773e+01] [ 9.62800058e-01 2.69845084e-01 -1.41307645e-02 6.74178087e+01] [ 1.46588577e-02 5.81709742e-05 9.99892551e-01 1.82276006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.37804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.44, Y:67.45, Z:1.82 [[ 2.67745996e-01 -9.63481508e-01 -3.93255394e-03 9.64423251e+01] [ 9.63378013e-01 2.67774874e-01 -1.41216249e-02 6.74452066e+01] [ 1.46589636e-02 -7.52747857e-06 9.99892552e-01 1.82363889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.45, Y:67.47, Z:1.83 [[ 2.65981120e-01 -9.63970089e-01 -3.96385356e-03 9.64490975e+01] [ 9.63866776e-01 2.66010646e-01 -1.41129447e-02 6.74700890e+01] [ 1.46588838e-02 -6.68499057e-05 9.99892551e-01 1.82910959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.46, Y:67.50, Z:1.83 [[ 2.65714019e-01 -9.64043960e-01 -3.91194856e-03 9.64566120e+01] [ 9.63940442e-01 2.65742813e-01 -1.41273176e-02 6.74976685e+01] [ 1.46589274e-02 -1.70590950e-05 9.99892552e-01 1.82950827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.46, Y:67.53, Z:1.82 [[ 2.61448702e-01 -9.65209461e-01 -3.90803353e-03 9.64645778e+01] [ 9.65106055e-01 2.61477897e-01 -1.41284005e-02 6.75265763e+01] [ 1.46587302e-02 -7.78148503e-05 9.99892552e-01 1.82255851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.47, Y:67.56, Z:1.83 [[ 2.60999117e-01 -9.65330914e-01 -3.96068100e-03 9.64744027e+01] [ 9.65227741e-01 2.61029129e-01 -1.41138507e-02 6.75558896e+01] [ 1.46583895e-02 -1.39256609e-04 9.99892550e-01 1.82651169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.48, Y:67.58, Z:1.82 [[ 2.59422367e-01 -9.65755465e-01 -4.05184760e-03 9.64788938e+01] [ 9.65652730e-01 2.59453879e-01 -1.40886649e-02 6.75766734e+01] [ 1.46574727e-02 -2.57762913e-04 9.99892540e-01 1.82275681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.558040942 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:96.49, Y:67.61, Z:1.82 [[ 2.55410543e-01 -9.66825205e-01 -3.80505959e-03 9.64866694e+01] [ 9.66721557e-01 2.55438877e-01 -1.41566559e-02 6.76080523e+01] [ 1.46589719e-02 -6.26739630e-05 9.99892550e-01 1.82417772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.49, Y:67.63, Z:1.83 [[ 2.53355125e-01 -9.67365091e-01 -3.99519999e-03 9.64918488e+01] [ 9.67262309e-01 2.53386457e-01 -1.41042305e-02 6.76327391e+01] [ 1.46562698e-02 -2.91027292e-04 9.99892549e-01 1.82795313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.50, Y:67.66, Z:1.83 [[ 2.51051556e-01 -9.67965903e-01 -3.88939774e-03 9.64983933e+01] [ 9.67862740e-01 2.51081589e-01 -1.41333466e-02 6.76605658e+01] [ 1.46571538e-02 -2.16204509e-04 9.99892555e-01 1.83170688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.648040942 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:96.50, Y:67.68, Z:1.83 [[ 2.54469943e-01 -9.67072663e-01 -3.93864201e-03 9.65042562e+01] [ 9.66969603e-01 2.54500330e-01 -1.41197905e-02 6.76766829e+01] [ 1.46572491e-02 -2.15484823e-04 9.99892554e-01 1.82767915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.51, Y:67.71, Z:1.83 [[ 2.50320599e-01 -9.68156426e-01 -3.56834434e-03 9.65109905e+01] [ 9.68051974e-01 2.50346009e-01 -1.42214766e-02 6.77111739e+01] [ 1.46619347e-02 1.05585768e-04 9.99892502e-01 1.83038422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.52, Y:67.74, Z:1.83 [[ 2.48149477e-01 -9.68713950e-01 -3.88841118e-03 9.65166465e+01] [ 9.68610877e-01 2.48179804e-01 -1.41334201e-02 6.77389349e+01] [ 1.46562663e-02 -2.59156566e-04 9.99892558e-01 1.82644864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.738040942 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:96.52, Y:67.77, Z:1.83 [[ 2.47795025e-01 -9.68804625e-01 -3.90175103e-03 9.65238178e+01] [ 9.68701620e-01 2.47825585e-01 -1.41297546e-02 6.77665164e+01] [ 1.46559253e-02 -2.78349654e-04 9.99892557e-01 1.82763155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.768040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.53, Y:67.79, Z:1.83 [[ 2.46315287e-01 -9.69181943e-01 -3.89105501e-03 9.65272770e+01] [ 9.69078939e-01 2.46345849e-01 -1.41326908e-02 6.77901121e+01] [ 1.46556940e-02 -2.89641663e-04 9.99892558e-01 1.82597937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.79804094199997 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:96.53, Y:67.82, Z:1.82 [[ 2.43188692e-01 -9.69971765e-01 -3.74645961e-03 9.65343474e+01] [ 9.69868241e-01 2.43217476e-01 -1.41722974e-02 6.78206133e+01] [ 1.46579328e-02 -1.87029728e-04 9.99892549e-01 1.82216251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.54, Y:67.84, Z:1.83 [[ 2.42763931e-01 -9.70077580e-01 -3.89397540e-03 9.65375465e+01] [ 9.69974701e-01 2.42794912e-01 -1.41318640e-02 6.78449079e+01] [ 1.46544418e-02 -3.46350774e-04 9.99892558e-01 1.82690768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.85804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.55, Y:67.87, Z:1.83 [[ 2.43397445e-01 -9.69919376e-01 -3.75352927e-03 9.65455776e+01] [ 9.69815877e-01 2.43426310e-01 -1.41702739e-02 6.78722203e+01] [ 1.46577310e-02 -1.91223824e-04 9.99892551e-01 1.82738920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.55, Y:67.90, Z:1.83 [[ 2.45047274e-01 -9.69503710e-01 -3.79339930e-03 9.65537682e+01] [ 9.69400330e-01 2.45076546e-01 -1.41593463e-02 6.78995681e+01] [ 1.46572119e-02 -2.07613333e-04 9.99892556e-01 1.83244390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.91804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.56, Y:67.93, Z:1.83 [[ 2.45386191e-01 -9.69417932e-01 -3.80670125e-03 9.65609244e+01] [ 9.69314598e-01 2.45415621e-01 -1.41557025e-02 6.79253483e+01] [ 1.46570158e-02 -2.16277155e-04 9.99892557e-01 1.83347048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.57, Y:67.96, Z:1.84 [[ 2.47866111e-01 -9.68786853e-01 -3.79794904e-03 9.65714540e+01] [ 9.68683407e-01 2.47895148e-01 -1.41580976e-02 6.79550958e+01] [ 1.46576720e-02 -1.69697625e-04 9.99892556e-01 1.83578536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97804094199998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:96.58, Y:67.98, Z:1.83 [[ 2.46921679e-01 -9.69027640e-01 -3.88804879e-03 9.65764223e+01] [ 9.68924605e-01 2.46952132e-01 -1.41334422e-02 6.79819816e+01] [ 1.46558581e-02 -2.77372861e-04 9.99892559e-01 1.83275019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.59, Y:68.01, Z:1.83 [[ 2.48526912e-01 -9.68617261e-01 -3.86986018e-03 9.65850633e+01] [ 9.68514098e-01 2.48556929e-01 -1.41384155e-02 6.80120493e+01] [ 1.46565939e-02 -2.34237395e-04 9.99892559e-01 1.83424727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.03804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.59, Y:68.04, Z:1.84 [[ 2.50242764e-01 -9.68174874e-01 -3.99662002e-03 9.65926169e+01] [ 9.68072199e-01 2.50274447e-01 -1.41038489e-02 6.80364008e+01] [ 1.46552440e-02 -3.39630583e-04 9.99892548e-01 1.83605835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.60, Y:68.06, Z:1.84 [[ 2.49810583e-01 -9.68286974e-01 -3.87398414e-03 9.65995001e+01] [ 9.68183790e-01 2.49840524e-01 -1.41372099e-02 6.80627761e+01] [ 1.46567544e-02 -2.19103999e-04 9.99892560e-01 1.84016380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.09804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.61, Y:68.09, Z:1.84 [[ 2.50824317e-01 -9.68024995e-01 -3.84330547e-03 9.66099752e+01] [ 9.67921652e-01 2.50853701e-01 -1.41455452e-02 6.80934944e+01] [ 1.46573487e-02 -1.71971857e-04 9.99892561e-01 1.83862913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.61, Y:68.12, Z:1.84 [[ 2.48291528e-01 -9.68677207e-01 -3.97301931e-03 9.66140645e+01] [ 9.68574494e-01 2.48323074e-01 -1.41102873e-02 6.81172201e+01] [ 1.46549061e-02 -3.44700365e-04 9.99892552e-01 1.83994034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.15804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.62, Y:68.14, Z:1.84 [[ 2.45685372e-01 -9.69342030e-01 -3.83758304e-03 9.66219702e+01] [ 9.69238821e-01 2.45715220e-01 -1.41470265e-02 6.81448090e+01] [ 1.46562600e-02 -2.43817001e-04 9.99892562e-01 1.83730970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.63, Y:68.17, Z:1.84 [[ 2.44772035e-01 -9.69572984e-01 -3.85744334e-03 9.66296814e+01] [ 9.69469887e-01 2.44802270e-01 -1.41416438e-02 6.81709309e+01] [ 1.46556667e-02 -2.78196221e-04 9.99892561e-01 1.84168912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.64, Y:68.20, Z:1.84 [[ 2.39381409e-01 -9.70918057e-01 -3.82984606e-03 9.66401385e+01] [ 9.70815011e-01 2.39411815e-01 -1.41491138e-02 6.82042214e+01] [ 1.46545405e-02 -3.31037251e-04 9.99892562e-01 1.83907965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.65, Y:68.23, Z:1.84 [[ 2.38334233e-01 -9.71174664e-01 -4.07012090e-03 9.66451100e+01] [ 9.71072713e-01 2.38368240e-01 -1.40843175e-02 6.82261868e+01] [ 1.46485198e-02 -5.95608331e-04 9.99892527e-01 1.83865577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.65, Y:68.25, Z:1.84 [[ 2.37156682e-01 -9.71463912e-01 -3.81787353e-03 9.66520772e+01] [ 9.71360888e-01 2.37187150e-01 -1.41520885e-02 6.82519847e+01] [ 1.46537938e-02 -3.52270658e-04 9.99892565e-01 1.83806222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.66, Y:68.28, Z:1.84 [[ 2.33239155e-01 -9.72411949e-01 -3.80760954e-03 9.66578671e+01] [ 9.72309004e-01 2.33269888e-01 -1.41548442e-02 6.82780243e+01] [ 1.46525403e-02 -4.00709132e-04 9.99892565e-01 1.83649547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.338040942 meters Centerline goodness : 0.997672 Centerline is valid? [True, True] Translation: X:96.67, Y:68.30, Z:1.84 [[ 2.34691374e-01 -9.72062716e-01 -3.74623455e-03 9.66665425e+01] [ 9.71959464e-01 2.34721060e-01 -1.41712618e-02 6.83019222e+01] [ 1.46546754e-02 -3.15315216e-04 9.99892565e-01 1.84178644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.67, Y:68.33, Z:1.84 [[ 2.32582711e-01 -9.72569711e-01 -3.66600507e-03 9.66730258e+01] [ 9.72466185e-01 2.32611451e-01 -1.41926611e-02 6.83291260e+01] [ 1.46561071e-02 -2.64098373e-04 9.99892559e-01 1.84371295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.398040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:96.68, Y:68.36, Z:1.85 [[ 2.31271493e-01 -9.72881926e-01 -3.77559321e-03 9.66809561e+01] [ 9.72778904e-01 2.31301969e-01 -1.41634479e-02 6.83586995e+01] [ 1.46526647e-02 -3.97215673e-04 9.99892565e-01 1.84645105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.68, Y:68.38, Z:1.83 [[ 2.28084531e-01 -9.73633716e-01 -3.85142436e-03 9.66842913e+01] [ 9.73531127e-01 2.28116446e-01 -1.41432448e-02 6.83842846e+01] [ 1.46489132e-02 -5.23626138e-04 9.99892562e-01 1.83472685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.69, Y:68.41, Z:1.84 [[ 2.29607552e-01 -9.73276081e-01 -3.74726542e-03 9.66917918e+01] [ 9.73172990e-01 2.29637792e-01 -1.41709516e-02 6.84113262e+01] [ 1.46527619e-02 -3.92979993e-04 9.99892565e-01 1.83697615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.70, Y:68.44, Z:1.85 [[ 2.31265540e-01 -9.72883572e-01 -3.71556508e-03 9.67018780e+01] [ 9.72780295e-01 2.31295142e-01 -1.41793663e-02 6.84402768e+01] [ 1.46542647e-02 -3.35229696e-04 9.99892564e-01 1.84789525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.71, Y:68.47, Z:1.85 [[ 2.31007972e-01 -9.72944400e-01 -3.80950145e-03 9.67085645e+01] [ 9.72841532e-01 2.31038969e-01 -1.41544289e-02 6.84669327e+01] [ 1.46516156e-02 -4.36255310e-04 9.99892564e-01 1.84848159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.72, Y:68.49, Z:1.85 [[ 2.31773251e-01 -9.72762395e-01 -3.80570007e-03 9.67150423e+01] [ 9.72659487e-01 2.31804112e-01 -1.41554366e-02 6.84928051e+01] [ 1.46520534e-02 -4.20798709e-04 9.99892564e-01 1.84919627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.57804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.72, Y:68.52, Z:1.85 [[ 2.30839869e-01 -9.72984416e-01 -3.77894755e-03 9.67225470e+01] [ 9.72881423e-01 2.30870439e-01 -1.41625134e-02 6.85202819e+01] [ 1.46523521e-02 -4.07195133e-04 9.99892566e-01 1.85079888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.73, Y:68.54, Z:1.84 [[ 2.30385601e-01 -9.73091946e-01 -3.81315796e-03 9.67255925e+01] [ 9.72989114e-01 2.30416717e-01 -1.41534746e-02 6.85427022e+01] [ 1.46512475e-02 -4.49404424e-04 9.99892564e-01 1.84018770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.63804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.74, Y:68.57, Z:1.85 [[ 2.31860603e-01 -9.72742231e-01 -3.63506542e-03 9.67365419e+01] [ 9.72638603e-01 2.31888968e-01 -1.42004955e-02 6.85722465e+01] [ 1.46563533e-02 -2.43069500e-04 9.99892560e-01 1.85050774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.74, Y:68.60, Z:1.85 [[ 2.32038187e-01 -9.72699478e-01 -3.74233494e-03 9.67436121e+01] [ 9.72596292e-01 2.32068098e-01 -1.41721698e-02 6.85992752e+01] [ 1.46537387e-02 -3.51296497e-04 9.99892567e-01 1.84973174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.69804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.75, Y:68.63, Z:1.85 [[ 2.31577033e-01 -9.72809387e-01 -3.73831425e-03 9.67505965e+01] [ 9.72706198e-01 2.31606934e-01 -1.41732303e-02 6.86258843e+01] [ 1.46536710e-02 -3.54086822e-04 9.99892567e-01 1.85129871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.76, Y:68.66, Z:1.85 [[ 2.32163859e-01 -9.72669523e-01 -3.73375123e-03 9.67591402e+01] [ 9.72566298e-01 2.32193631e-01 -1.41744323e-02 6.86564135e+01] [ 1.46539915e-02 -3.40529717e-04 9.99892567e-01 1.84677036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.75804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.76, Y:68.68, Z:1.85 [[ 2.32957924e-01 -9.72479149e-01 -3.86137702e-03 9.67641832e+01] [ 9.72376442e-01 2.32989469e-01 -1.41407913e-02 6.86798072e+01] [ 1.46512849e-02 -4.60502658e-04 9.99892558e-01 1.85349226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.77, Y:68.71, Z:1.85 [[ 2.33043223e-01 -9.72459229e-01 -3.72881383e-03 9.67709768e+01] [ 9.72355957e-01 2.33072830e-01 -1.41756613e-02 6.87070594e+01] [ 1.46543379e-02 -3.22192535e-04 9.99892568e-01 1.85486864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.81804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.78, Y:68.73, Z:1.86 [[ 2.33436517e-01 -9.72364910e-01 -3.72478858e-03 9.67780183e+01] [ 9.72261609e-01 2.33466024e-01 -1.41767189e-02 6.87339727e+01] [ 1.46545556e-02 -3.12105045e-04 9.99892568e-01 1.85622752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.78, Y:68.76, Z:1.86 [[ 2.34203792e-01 -9.72180405e-01 -3.72077192e-03 9.67845624e+01] [ 9.72077064e-01 2.34233158e-01 -1.41777730e-02 6.87599594e+01] [ 1.46548813e-02 -2.96388846e-04 9.99892568e-01 1.85660859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.87804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.79, Y:68.79, Z:1.86 [[ 2.34428390e-01 -9.72126287e-01 -3.71653358e-03 9.67912545e+01] [ 9.72022921e-01 2.34457671e-01 -1.41788840e-02 6.87869426e+01] [ 1.46550356e-02 -2.88622884e-04 9.99892568e-01 1.85734552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.80, Y:68.81, Z:1.86 [[ 2.34673346e-01 -9.72067198e-01 -3.71255693e-03 9.67967108e+01] [ 9.71963809e-01 2.34702543e-01 -1.41799251e-02 6.88144636e+01] [ 1.46551867e-02 -2.80820489e-04 9.99892568e-01 1.85779345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.80, Y:68.84, Z:1.86 [[ 2.34271932e-01 -9.72164034e-01 -3.70851403e-03 9.68030063e+01] [ 9.72060640e-01 2.34301112e-01 -1.41809824e-02 6.88416544e+01] [ 1.46551500e-02 -2.82694371e-04 9.99892568e-01 1.85831350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.81, Y:68.87, Z:1.86 [[ 2.33953008e-01 -9.72240848e-01 -3.70443445e-03 9.68094048e+01] [ 9.72137448e-01 2.33982162e-01 -1.41820480e-02 6.88677895e+01] [ 1.46551380e-02 -2.83286664e-04 9.99892568e-01 1.85830321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.81, Y:68.90, Z:1.85 [[ 2.31004047e-01 -9.72945749e-01 -3.70145966e-03 9.68127719e+01] [ 9.72842424e-01 2.31033471e-01 -1.41828244e-02 6.88960429e+01] [ 1.46542798e-02 -3.24647163e-04 9.99892568e-01 1.85036408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.82, Y:68.92, Z:1.85 [[ 2.31880188e-01 -9.72737369e-01 -3.68637600e-03 9.68213299e+01] [ 9.72633956e-01 2.31909300e-01 -1.41867575e-02 6.89235784e+01] [ 1.46548940e-02 -2.95866485e-04 9.99892568e-01 1.85138411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.83, Y:68.95, Z:1.86 [[ 2.35058141e-01 -9.71974042e-01 -3.75921928e-03 9.68335186e+01] [ 9.71870834e-01 2.35087977e-01 -1.41677624e-02 6.89548471e+01] [ 1.46544445e-02 -3.23227685e-04 9.99892566e-01 1.85596438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.83, Y:68.98, Z:1.86 [[ 2.31780320e-01 -9.72760076e-01 -3.96446506e-03 9.68332742e+01] [ 9.72657852e-01 2.31813485e-01 -1.41142095e-02 6.89768647e+01] [ 1.46487560e-02 -5.84672077e-04 9.99892530e-01 1.85838106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.84, Y:69.00, Z:1.86 [[ 2.31752078e-01 -9.72767898e-01 -3.68650631e-03 9.68393982e+01] [ 9.72664494e-01 2.31781205e-01 -1.41864408e-02 6.90044322e+01] [ 1.46545771e-02 -2.97996656e-04 9.99892572e-01 1.85810070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.148040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.84, Y:69.03, Z:1.86 [[ 2.31891328e-01 -9.72734728e-01 -3.68260494e-03 9.68445785e+01] [ 9.72631303e-01 2.31920384e-01 -1.41874535e-02 6.90315190e+01] [ 1.46546999e-02 -2.91869406e-04 9.99892572e-01 1.85737845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.178040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:96.86, Y:69.06, Z:1.86 [[ 2.35242013e-01 -9.71929866e-01 -3.67849184e-03 9.68582244e+01] [ 9.71826325e-01 2.35270653e-01 -1.41885198e-02 6.90648881e+01] [ 1.46556874e-02 -2.37119233e-04 9.99892572e-01 1.85645735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.86, Y:69.09, Z:1.85 [[ 2.31880810e-01 -9.72736071e-01 -3.97809379e-03 9.68589416e+01] [ 9.72633904e-01 2.31914162e-01 -1.41106625e-02 6.90884065e+01] [ 1.46485267e-02 -5.97237028e-04 9.99892526e-01 1.85128222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.87, Y:69.12, Z:1.86 [[ 2.31161905e-01 -9.72907857e-01 -3.80480930e-03 9.68672809e+01] [ 9.72804967e-01 2.31192817e-01 -1.41554564e-02 6.91189292e+01] [ 1.46515993e-02 -4.29135135e-04 9.99892567e-01 1.85507160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.87, Y:69.14, Z:1.86 [[ 2.30354492e-01 -9.73098976e-01 -3.89753182e-03 9.68734192e+01] [ 9.72996509e-01 2.30386837e-01 -1.41314923e-02 6.91439147e+01] [ 1.46492807e-02 -5.37032111e-04 9.99892549e-01 1.85552588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.29804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.88, Y:69.17, Z:1.86 [[ 2.27813957e-01 -9.73696933e-01 -3.88381679e-03 9.68806674e+01] [ 9.73594491e-01 2.27846370e-01 -1.41350490e-02 6.91711970e+01] [ 1.46481675e-02 -5.61101177e-04 9.99892552e-01 1.85825223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.89, Y:69.20, Z:1.86 [[ 2.27271874e-01 -9.73823376e-01 -3.94052190e-03 9.68873315e+01] [ 9.73721201e-01 2.27305165e-01 -1.41203603e-02 6.91982377e+01] [ 1.46464380e-02 -6.27808964e-04 9.99892538e-01 1.85868157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.35804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.89, Y:69.22, Z:1.86 [[ 2.20335337e-01 -9.75416421e-01 -3.89173262e-03 9.68857507e+01] [ 9.75314267e-01 2.20368650e-01 -1.41328922e-02 6.92213900e+01] [ 1.46430710e-02 -6.81686783e-04 9.99892552e-01 1.86229481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.89, Y:69.25, Z:1.86 [[ 2.15954203e-01 -9.76396736e-01 -3.63270324e-03 9.68909495e+01] [ 9.76293603e-01 2.15984221e-01 -1.41991626e-02 6.92506120e+01] [ 1.46486226e-02 -4.80216094e-04 9.99892588e-01 1.85643454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.41804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.90, Y:69.28, Z:1.86 [[ 2.13687925e-01 -9.76894978e-01 -3.69763435e-03 9.68958874e+01] [ 9.76792194e-01 2.13719124e-01 -1.41825579e-02 6.92770819e+01] [ 1.46451248e-02 -5.81178991e-04 9.99892586e-01 1.85708465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.90, Y:69.30, Z:1.85 [[ 2.10287325e-01 -9.77632771e-01 -3.66138960e-03 9.68996680e+01] [ 9.77529939e-01 2.10318357e-01 -1.41918156e-02 6.93042597e+01] [ 1.46444415e-02 -5.94758998e-04 9.99892588e-01 1.85425098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.90, Y:69.33, Z:1.86 [[ 2.09855069e-01 -9.77725609e-01 -3.67193632e-03 9.69035800e+01] [ 9.77622836e-01 2.09886299e-01 -1.41891245e-02 6.93296530e+01] [ 1.46437595e-02 -6.12109097e-04 9.99892587e-01 1.85848313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.91, Y:69.35, Z:1.86 [[ 2.13162212e-01 -9.77010263e-01 -3.58007642e-03 9.69086275e+01] [ 9.76906995e-01 2.13191760e-01 -1.42125257e-02 6.93533921e+01] [ 1.46490262e-02 -4.67828290e-04 9.99892588e-01 1.85905556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.53804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.91, Y:69.39, Z:1.86 [[ 2.13270803e-01 -9.76987160e-01 -3.41372720e-03 9.69133486e+01] [ 9.76883206e-01 2.13297919e-01 -1.42548044e-02 6.93857779e+01] [ 1.46549018e-02 -2.94679177e-04 9.99892568e-01 1.85825581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.92, Y:69.41, Z:1.86 [[ 2.16438935e-01 -9.76289541e-01 -3.59439446e-03 9.69174513e+01] [ 9.76186235e-01 2.16468345e-01 -1.42088300e-02 6.94105192e+01] [ 1.46500047e-02 -4.33454365e-04 9.99892589e-01 1.85683527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.59804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.92, Y:69.44, Z:1.85 [[ 2.20460866e-01 -9.75389532e-01 -3.50254923e-03 9.69207830e+01] [ 9.75285733e-01 2.20488512e-01 -1.42321548e-02 6.94397536e+01] [ 1.46541667e-02 -2.78353116e-04 9.99892583e-01 1.85370459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.93, Y:69.46, Z:1.86 [[ 2.25547352e-01 -9.74225543e-01 -3.60333991e-03 9.69272351e+01] [ 9.74122002e-01 2.25575926e-01 -1.42065619e-02 6.94647100e+01] [ 1.46532222e-02 -3.05840268e-04 9.99892589e-01 1.85785372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.93, Y:69.49, Z:1.86 [[ 2.26063417e-01 -9.74106162e-01 -3.53781637e-03 9.69308748e+01] [ 9.74002346e-01 2.26090981e-01 -1.42231899e-02 6.94915961e+01] [ 1.46547653e-02 -2.30498541e-04 9.99892587e-01 1.85740489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.94, Y:69.53, Z:1.86 [[ 2.29585240e-01 -9.73282200e-01 -3.51817560e-03 9.69407968e+01] [ 9.73178207e-01 2.29612141e-01 -1.42281970e-02 6.95250623e+01] [ 1.46558667e-02 -1.57227804e-04 9.99892585e-01 1.86094283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.94, Y:69.55, Z:1.86 [[ 2.28789297e-01 -9.73468575e-01 -3.79357925e-03 9.69436547e+01] [ 9.73365721e-01 2.28820296e-01 -1.41578728e-02 6.95477325e+01] [ 1.46502922e-02 -4.53370247e-04 9.99892576e-01 1.85633836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.95, Y:69.58, Z:1.86 [[ 2.29058512e-01 -9.73406094e-01 -3.57417360e-03 9.69508758e+01] [ 9.73302339e-01 2.29086287e-01 -1.42137246e-02 6.95793228e+01] [ 1.46545203e-02 -2.22976919e-04 9.99892592e-01 1.86324464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.778040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.95, Y:69.60, Z:1.86 [[ 2.28314712e-01 -9.73580121e-01 -3.76044828e-03 9.69540087e+01] [ 9.73477144e-01 2.28345280e-01 -1.41662681e-02 6.96045134e+01] [ 1.46506776e-02 -4.26343038e-04 9.99892582e-01 1.86304714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.96, Y:69.63, Z:1.86 [[ 2.27883354e-01 -9.73681625e-01 -3.64270396e-03 9.69600138e+01] [ 9.73578180e-01 2.27912254e-01 -1.41961793e-02 6.96333299e+01] [ 1.46527758e-02 -3.11384130e-04 9.99892594e-01 1.86440881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.97, Y:69.66, Z:1.87 [[ 2.28523726e-01 -9.73531482e-01 -3.65521064e-03 9.69655758e+01] [ 9.73428068e-01 2.28552740e-01 -1.41930048e-02 6.96596843e+01] [ 1.46527454e-02 -3.14646283e-04 9.99892593e-01 1.86503465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.868040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.97, Y:69.69, Z:1.87 [[ 2.27573637e-01 -9.73754056e-01 -3.64389835e-03 9.69722090e+01] [ 9.73650625e-01 2.27602586e-01 -1.41958754e-02 6.96884646e+01] [ 1.46526519e-02 -3.17276918e-04 9.99892594e-01 1.86701147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.98, Y:69.72, Z:1.87 [[ 2.27601781e-01 -9.73747294e-01 -3.69286255e-03 9.69769794e+01] [ 9.73644060e-01 2.27631441e-01 -1.41834613e-02 6.97158381e+01] [ 1.46517187e-02 -3.67352637e-04 9.99892590e-01 1.86655343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.98, Y:69.74, Z:1.87 [[ 2.26674512e-01 -9.73963528e-01 -3.70285060e-03 9.69803285e+01] [ 9.73860364e-01 2.26704415e-01 -1.41809310e-02 6.97397116e+01] [ 1.46511621e-02 -3.91603833e-04 9.99892589e-01 1.87138614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.99, Y:69.77, Z:1.87 [[ 2.28789290e-01 -9.73469337e-01 -3.59326421e-03 9.69913117e+01] [ 9.73365668e-01 2.28817373e-01 -1.42086447e-02 6.97715758e+01] [ 1.46538812e-02 -2.46774289e-04 9.99892596e-01 1.86733901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.99, Y:69.80, Z:1.87 [[ 2.27600691e-01 -9.73747162e-01 -3.79341294e-03 9.69948450e+01] [ 9.73644344e-01 2.27631814e-01 -1.41579689e-02 6.97976155e+01] [ 1.46497835e-02 -4.71071550e-04 9.99892575e-01 1.86575291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.01804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.00, Y:69.83, Z:1.87 [[ 2.26486129e-01 -9.74007423e-01 -3.68428556e-03 9.70018608e+01] [ 9.73904190e-01 2.26515782e-01 -1.41855044e-02 6.98273235e+01] [ 1.46513354e-02 -3.75321176e-04 9.99892593e-01 1.86620096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.01, Y:69.86, Z:1.87 [[ 2.24880206e-01 -9.74379295e-01 -3.72585518e-03 9.70084444e+01] [ 9.74276283e-01 2.24910634e-01 -1.41750310e-02 6.98552109e+01] [ 1.46498412e-02 -4.42328451e-04 9.99892587e-01 1.86589725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.07804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.01, Y:69.88, Z:1.87 [[ 2.23614727e-01 -9.74670474e-01 -3.73100822e-03 9.70148561e+01] [ 9.74567523e-01 2.23645364e-01 -1.41737352e-02 6.98822348e+01] [ 1.46491439e-02 -4.66663507e-04 9.99892587e-01 1.86590137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.02, Y:69.91, Z:1.87 [[ 2.23399641e-01 -9.74719947e-01 -3.69110406e-03 9.70227161e+01] [ 9.74616838e-01 2.23429721e-01 -1.41837559e-02 6.99093725e+01] [ 1.46498922e-02 -4.28766184e-04 9.99892593e-01 1.86575063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.13804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.03, Y:69.94, Z:1.86 [[ 2.21020277e-01 -9.75262197e-01 -3.69918131e-03 9.70292204e+01] [ 9.75159195e-01 2.21050726e-01 -1.41817295e-02 6.99359692e+01] [ 1.46486114e-02 -4.72840890e-04 9.99892592e-01 1.86485724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.04, Y:69.96, Z:1.87 [[ 2.20184857e-01 -9.75451238e-01 -3.67574617e-03 9.70366221e+01] [ 9.75348165e-01 2.20215053e-01 -1.41875846e-02 6.99636238e+01] [ 1.46487516e-02 -4.61241001e-04 9.99892595e-01 1.86730273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.19804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.04, Y:69.99, Z:1.87 [[ 2.21756673e-01 -9.75095086e-01 -3.68121514e-03 9.70435792e+01] [ 9.74991987e-01 2.21786782e-01 -1.41862193e-02 6.99881210e+01] [ 1.46493576e-02 -4.43266467e-04 9.99892594e-01 1.86694431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.05, Y:70.02, Z:1.87 [[ 2.22431872e-01 -9.74941527e-01 -3.61667211e-03 9.70515463e+01] [ 9.74838146e-01 2.22460971e-01 -1.42023317e-02 7.00180679e+01] [ 1.46510113e-02 -3.66618705e-04 9.99892601e-01 1.86804690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.25804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.06, Y:70.05, Z:1.87 [[ 2.23017345e-01 -9.74807371e-01 -3.72198994e-03 9.70576588e+01] [ 9.74704400e-01 2.23047914e-01 -1.41760473e-02 7.00454503e+01] [ 1.46490975e-02 -4.66335538e-04 9.99892587e-01 1.86773099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28804094199998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:97.06, Y:70.07, Z:1.87 [[ 2.25920413e-01 -9.74138744e-01 -3.69798133e-03 9.70604482e+01] [ 9.74035585e-01 2.25950326e-01 -1.41820347e-02 7.00663514e+01] [ 1.46508296e-02 -3.97954267e-04 9.99892592e-01 1.87319776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.31804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.07, Y:70.09, Z:1.87 [[ 2.25737061e-01 -9.74182223e-01 -3.43146159e-03 9.70679699e+01] [ 9.74078030e-01 2.25763105e-01 -1.42482486e-02 7.00948956e+01] [ 1.46550879e-02 -1.26153591e-04 9.99892600e-01 1.86524023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.08, Y:70.13, Z:1.87 [[ 2.25207323e-01 -9.74304519e-01 -3.51649767e-03 9.70785146e+01] [ 9.74200664e-01 2.25234666e-01 -1.42271146e-02 7.01287586e+01] [ 1.46535792e-02 -2.21723981e-04 9.99892606e-01 1.86700477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.37804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.09, Y:70.15, Z:1.87 [[ 2.28428378e-01 -9.73553452e-01 -3.76203109e-03 9.70864319e+01] [ 9.73450476e-01 2.28458958e-01 -1.41660322e-02 7.01494787e+01] [ 1.46508592e-02 -4.26227192e-04 9.99892580e-01 1.86799594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.09, Y:70.18, Z:1.87 [[ 2.26260676e-01 -9.74060400e-01 -3.52764818e-03 9.70929622e+01] [ 9.73956562e-01 2.26288070e-01 -1.42241171e-02 7.01773779e+01] [ 1.46534139e-02 -2.17417749e-04 9.99892609e-01 1.86752375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.10, Y:70.20, Z:1.87 [[ 2.26411199e-01 -9.74025201e-01 -3.58844173e-03 9.71003661e+01] [ 9.73921594e-01 2.26439464e-01 -1.42090652e-02 7.02032552e+01] [ 1.46525525e-02 -2.77769386e-04 9.99892607e-01 1.86945827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.11, Y:70.24, Z:1.87 [[ 2.24127280e-01 -9.74553473e-01 -3.53423271e-03 9.71085731e+01] [ 9.74449721e-01 2.24154997e-01 -1.42224631e-02 7.02383585e+01] [ 1.46527667e-02 -2.56290112e-04 9.99892610e-01 1.86967448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.498040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.12, Y:70.26, Z:1.87 [[ 2.23944012e-01 -9.74594761e-01 -3.75928634e-03 9.71161414e+01] [ 9.74491907e-01 2.23975025e-01 -1.41672812e-02 7.02630944e+01] [ 1.46493443e-02 -4.90716324e-04 9.99892572e-01 1.87231344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.528040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.13, Y:70.29, Z:1.87 [[ 2.25260379e-01 -9.74291978e-01 -3.59195760e-03 9.71255256e+01] [ 9.74188419e-01 2.25288818e-01 -1.42081750e-02 7.02890804e+01] [ 1.46521388e-02 -2.98704604e-04 9.99892607e-01 1.87014610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.13, Y:70.31, Z:1.87 [[ 2.25597678e-01 -9.74213790e-01 -3.63038596e-03 9.71314079e+01] [ 9.74110371e-01 2.25626641e-01 -1.41987600e-02 7.03109371e+01] [ 1.46517396e-02 -3.33189327e-04 9.99892602e-01 1.86917998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.14, Y:70.34, Z:1.87 [[ 2.22266017e-01 -9.74979939e-01 -3.45476894e-03 9.71412687e+01] [ 9.74875940e-01 2.22292773e-01 -1.42416549e-02 7.03449836e+01] [ 1.46532980e-02 -2.02535201e-04 9.99892614e-01 1.86955870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.15, Y:70.37, Z:1.87 [[ 2.22752459e-01 -9.74868036e-01 -3.69530055e-03 9.71493089e+01] [ 9.74764959e-01 2.22782668e-01 -1.41829885e-02 7.03688094e+01] [ 1.46497911e-02 -4.42753933e-04 9.99892588e-01 1.87109806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.16, Y:70.40, Z:1.87 [[ 2.22033967e-01 -9.75032468e-01 -3.55023862e-03 9.71599681e+01] [ 9.74928842e-01 2.22062140e-01 -1.42182711e-02 7.03965486e+01] [ 1.46516496e-02 -3.04290881e-04 9.99892613e-01 1.87155315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.17, Y:70.42, Z:1.87 [[ 2.22889421e-01 -9.74836946e-01 -3.63791598e-03 9.71660616e+01] [ 9.74733638e-01 2.22918781e-01 -1.41969265e-02 7.04177762e+01] [ 1.46506483e-02 -3.81654331e-04 9.99892601e-01 1.86868092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.17, Y:70.45, Z:1.87 [[ 2.19308583e-01 -9.75649484e-01 -3.43944733e-03 9.71734301e+01] [ 9.75545512e-01 2.19335430e-01 -1.42451075e-02 7.04478724e+01] [ 1.46526245e-02 -2.31263060e-04 9.99892618e-01 1.87052930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.18, Y:70.47, Z:1.87 [[ 2.17712410e-01 -9.76006570e-01 -3.53291546e-03 9.71821174e+01] [ 9.75903003e-01 2.17740790e-01 -1.42224261e-02 7.04739584e+01] [ 1.46504411e-02 -3.51384146e-04 9.99892615e-01 1.87093770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.19, Y:70.50, Z:1.87 [[ 2.16092541e-01 -9.76366507e-01 -3.52961323e-03 9.71900914e+01] [ 9.76262974e-01 2.16121044e-01 -1.42232266e-02 7.05010498e+01] [ 1.46499057e-02 -3.72297538e-04 9.99892615e-01 1.87190345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.79804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.20, Y:70.53, Z:1.87 [[ 2.13024410e-01 -9.77040496e-01 -3.53143555e-03 9.71986115e+01] [ 9.76937060e-01 2.13053265e-01 -1.42227855e-02 7.05264073e+01] [ 1.46486213e-02 -4.20189771e-04 9.99892615e-01 1.87320328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.21, Y:70.55, Z:1.88 [[ 2.14028136e-01 -9.76821173e-01 -3.51472980e-03 9.72064879e+01] [ 9.76717642e-01 2.14056641e-01 -1.42268249e-02 7.05502945e+01] [ 1.46494150e-02 -3.87957796e-04 9.99892616e-01 1.87732657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.85804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.22, Y:70.59, Z:1.88 [[ 2.16407389e-01 -9.76297157e-01 -3.42095591e-03 9.72220666e+01] [ 9.76193197e-01 2.16434275e-01 -1.42494741e-02 7.05870771e+01] [ 1.46521332e-02 -2.55822404e-04 9.99892619e-01 1.87964684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.22, Y:70.61, Z:1.88 [[ 2.12236937e-01 -9.77210667e-01 -3.84634469e-03 9.72242766e+01] [ 9.77108561e-01 2.12270442e-01 -1.41463289e-02 7.06088768e+01] [ 1.46404088e-02 -7.55922797e-04 9.99892538e-01 1.87869193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.91804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.23, Y:70.63, Z:1.88 [[ 2.11939016e-01 -9.77276145e-01 -3.63174227e-03 9.72298383e+01] [ 9.77173150e-01 2.11969443e-01 -1.41982545e-02 7.06335153e+01] [ 1.46454338e-02 -5.39676940e-04 9.99892604e-01 1.87568967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.24, Y:70.66, Z:1.88 [[ 2.12129061e-01 -9.77235068e-01 -3.58933142e-03 9.72358821e+01] [ 9.77131895e-01 2.12158853e-01 -1.42085159e-02 7.06601934e+01] [ 1.46465684e-02 -4.93211077e-04 9.99892612e-01 1.87603260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.97804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.24, Y:70.69, Z:1.88 [[ 2.12936913e-01 -9.77059552e-01 -3.53606638e-03 9.72440595e+01] [ 9.76956141e-01 2.12965844e-01 -1.42213555e-02 7.06897826e+01] [ 1.46481726e-02 -4.26330224e-04 9.99892619e-01 1.87756545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.25, Y:70.72, Z:1.87 [[ 2.12675203e-01 -9.77116317e-01 -3.60021990e-03 9.72503246e+01] [ 9.77013170e-01 2.12705094e-01 -1.42059007e-02 7.07157327e+01] [ 1.46466025e-02 -4.96219455e-04 9.99892610e-01 1.87468191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.03804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.26, Y:70.74, Z:1.87 [[ 2.13261076e-01 -9.76988716e-01 -3.57237031e-03 9.72563875e+01] [ 9.76885441e-01 2.13290501e-01 -1.42126002e-02 7.07397864e+01] [ 1.46475027e-02 -4.58802136e-04 9.99892614e-01 1.87445692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.27, Y:70.77, Z:1.88 [[ 2.13291381e-01 -9.76982489e-01 -3.46448233e-03 9.72651835e+01] [ 9.76878790e-01 2.13319233e-01 -1.42384632e-02 7.07692287e+01] [ 1.46497699e-02 -3.47437830e-04 9.99892626e-01 1.87757598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.09804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.28, Y:70.80, Z:1.88 [[ 2.14280955e-01 -9.76765580e-01 -3.56021081e-03 9.72754897e+01] [ 9.76662225e-01 2.14310095e-01 -1.42155342e-02 7.07979425e+01] [ 1.46482336e-02 -4.31005172e-04 9.99892616e-01 1.87951060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.28, Y:70.82, Z:1.88 [[ 2.11906593e-01 -9.77283174e-01 -3.63223799e-03 9.72789995e+01] [ 9.77180180e-01 2.11937030e-01 -1.41982979e-02 7.08217935e+01] [ 1.46455634e-02 -5.40638039e-04 9.99892602e-01 1.87903716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.29, Y:70.85, Z:1.88 [[ 2.14145668e-01 -9.76795482e-01 -3.49549808e-03 9.72913670e+01] [ 9.76691880e-01 2.14173881e-01 -1.42309428e-02 7.08517240e+01] [ 1.46493650e-02 -3.66529830e-04 9.99892625e-01 1.88286854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.188040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:97.30, Y:70.88, Z:1.88 [[ 2.12343492e-01 -9.77188373e-01 -3.62294361e-03 9.72971243e+01] [ 9.77085327e-01 2.12373749e-01 -1.42005294e-02 7.08781981e+01] [ 1.46460104e-02 -5.24535030e-04 9.99892604e-01 1.88382288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.30, Y:70.91, Z:1.89 [[ 2.10722457e-01 -9.77539487e-01 -3.54943339e-03 9.73033256e+01] [ 9.77436198e-01 2.10751817e-01 -1.42179887e-02 7.09060485e+01] [ 1.46466949e-02 -4.73295164e-04 9.99892619e-01 1.88503571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.31, Y:70.93, Z:1.89 [[ 2.10275009e-01 -9.77635918e-01 -3.52606618e-03 9.73095519e+01] [ 9.77532550e-01 2.10304076e-01 -1.42235299e-02 7.09329857e+01] [ 1.46469798e-02 -4.55991592e-04 9.99892623e-01 1.88543217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.32, Y:70.96, Z:1.89 [[ 2.09885261e-01 -9.77719679e-01 -3.52240934e-03 9.73184858e+01] [ 9.77616308e-01 2.09914317e-01 -1.42243957e-02 7.09590966e+01] [ 1.46468757e-02 -4.58073816e-04 9.99892624e-01 1.88629623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.33, Y:70.99, Z:1.89 [[ 2.09760566e-01 -9.77746387e-01 -3.53654685e-03 9.73275408e+01] [ 9.77643076e-01 2.09789841e-01 -1.42210492e-02 7.09878649e+01] [ 1.46465111e-02 -4.74465207e-04 9.99892622e-01 1.88783095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.34, Y:71.01, Z:1.89 [[ 2.09932183e-01 -9.77709291e-01 -3.60844071e-03 9.73358028e+01] [ 9.77606261e-01 2.09962483e-01 -1.42040484e-02 7.10135660e+01] [ 1.46450673e-02 -5.45747340e-04 9.99892606e-01 1.88625771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.368040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.34, Y:71.04, Z:1.89 [[ 2.09771570e-01 -9.77743717e-01 -3.62097098e-03 9.73427138e+01] [ 9.77640742e-01 2.09802069e-01 -1.42010822e-02 7.10411460e+01] [ 1.46447061e-02 -5.61025458e-04 9.99892603e-01 1.88559293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.35, Y:71.07, Z:1.89 [[ 2.10775888e-01 -9.77527842e-01 -3.58371144e-03 9.73508061e+01] [ 9.77424688e-01 2.10805741e-01 -1.42098511e-02 7.10700022e+01] [ 1.46459920e-02 -5.07714056e-04 9.99892613e-01 1.88885558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.36, Y:71.10, Z:1.89 [[ 2.12590395e-01 -9.77134773e-01 -3.59981649e-03 9.73585533e+01] [ 9.77031627e-01 2.12620290e-01 -1.42060885e-02 7.10995747e+01] [ 1.46466571e-02 -4.97056587e-04 9.99892608e-01 1.88897990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.36, Y:71.13, Z:1.89 [[ 2.12281260e-01 -9.77201808e-01 -3.64595199e-03 9.73633675e+01] [ 9.77098853e-01 2.12311858e-01 -1.41953325e-02 7.11260057e+01] [ 1.46457834e-02 -5.49052433e-04 9.99892594e-01 1.88808582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.37, Y:71.15, Z:1.89 [[ 2.12887534e-01 -9.77070163e-01 -3.57682960e-03 9.73686456e+01] [ 9.76966919e-01 2.12917064e-01 -1.42114105e-02 7.11514992e+01] [ 1.46471132e-02 -4.69012056e-04 9.99892615e-01 1.88667628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.51804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.38, Y:71.18, Z:1.89 [[ 2.17986164e-01 -9.75945426e-01 -3.54359829e-03 9.73815396e+01] [ 9.75841903e-01 2.18014670e-01 -1.42191655e-02 7.11799655e+01] [ 1.46496860e-02 -3.58410351e-04 9.99892623e-01 1.88779650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.38, Y:71.20, Z:1.89 [[ 2.14041160e-01 -9.76817618e-01 -3.70443106e-03 9.73799125e+01] [ 9.76714842e-01 2.14072421e-01 -1.41815650e-02 7.11985904e+01] [ 1.46458191e-02 -5.82734169e-04 9.99892574e-01 1.88998671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.57804094199997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:97.39, Y:71.22, Z:1.89 [[ 2.15218656e-01 -9.76560251e-01 -3.31741977e-03 9.73882277e+01] [ 9.76455978e-01 2.15244157e-01 -1.42715271e-02 7.12247510e+01] [ 1.46510613e-02 -1.67815484e-04 9.99892653e-01 1.89090717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.41, Y:71.26, Z:1.89 [[ 2.23266591e-01 -9.74751790e-01 -3.31310124e-03 9.74085910e+01] [ 9.74647295e-01 2.23291167e-01 -1.42725296e-02 7.12625849e+01] [ 1.46519600e-02 -4.25261403e-05 9.99892653e-01 1.89187451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.63804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.40, Y:71.28, Z:1.89 [[ 2.15512964e-01 -9.76493423e-01 -3.84146704e-03 9.74031737e+01] [ 9.76391160e-01 2.15546056e-01 -1.41492207e-02 7.12776190e+01] [ 1.46446341e-02 -7.01433969e-04 9.99892516e-01 1.89248440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.41, Y:71.30, Z:1.89 [[ 2.14885523e-01 -9.76633646e-01 -3.30654159e-03 9.74102349e+01] [ 9.76529356e-01 2.14910900e-01 -1.42731448e-02 7.13049841e+01] [ 1.46502452e-02 -1.61842756e-04 9.99892666e-01 1.89249676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.69804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.42, Y:71.33, Z:1.89 [[ 2.14201755e-01 -9.76783856e-01 -3.30246354e-03 9.74179655e+01] [ 9.76679569e-01 2.14227146e-01 -1.42740883e-02 7.13322932e+01] [ 1.46501763e-02 -1.67913912e-04 9.99892666e-01 1.89266451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72804094199998 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:97.43, Y:71.36, Z:1.89 [[ 2.13131227e-01 -9.77018014e-01 -3.29838930e-03 9.74274185e+01] [ 9.76913740e-01 2.13156673e-01 -1.42750297e-02 7.13593363e+01] [ 1.46500348e-02 -1.79787235e-04 9.99892666e-01 1.89338899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.75804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.45, Y:71.40, Z:1.89 [[ 2.19533920e-01 -9.75599306e-01 -3.29432936e-03 9.74489177e+01] [ 9.75494853e-01 2.19558621e-01 -1.42759665e-02 7.13983877e+01] [ 1.46509214e-02 -7.95424435e-05 9.99892666e-01 1.89355224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.44, Y:71.41, Z:1.89 [[ 2.11579495e-01 -9.77353292e-01 -3.82887679e-03 9.74422518e+01] [ 9.77251108e-01 2.11612817e-01 -1.41522933e-02 7.14142473e+01] [ 1.46420299e-02 -7.47439012e-04 9.99892520e-01 1.89353040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.81804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.46, Y:71.45, Z:1.89 [[ 2.16387627e-01 -9.76302028e-01 -3.27801475e-03 9.74566469e+01] [ 9.76197613e-01 2.16412426e-01 -1.42787587e-02 7.14488477e+01] [ 1.46497842e-02 -1.10243469e-04 9.99892680e-01 1.89190142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.46, Y:71.47, Z:1.89 [[ 2.17024096e-01 -9.76159563e-01 -3.61229574e-03 9.74617996e+01] [ 9.76056351e-01 2.17053704e-01 -1.42017590e-02 7.14747647e+01] [ 1.46472450e-02 -4.43680291e-04 9.99892625e-01 1.89229780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.87804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.47, Y:71.51, Z:1.89 [[ 2.19690215e-01 -9.75563110e-01 -3.58155131e-03 9.74702218e+01] [ 9.75459702e-01 2.19719093e-01 -1.42088353e-02 7.15056557e+01] [ 1.46485507e-02 -3.72116897e-04 9.99892635e-01 1.89368836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.47, Y:71.53, Z:1.89 [[ 2.18805774e-01 -9.75761451e-01 -3.69098254e-03 9.74744268e+01] [ 9.75658485e-01 2.18836337e-01 -1.41837022e-02 7.15323642e+01] [ 1.46476309e-02 -4.97662487e-04 9.99892594e-01 1.89355358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.48, Y:71.56, Z:1.89 [[ 2.16769223e-01 -9.76216062e-01 -3.64739801e-03 9.74755134e+01] [ 9.76112992e-01 2.16799368e-01 -1.41936880e-02 7.15568859e+01] [ 1.46468598e-02 -4.83517863e-04 9.99892612e-01 1.89254303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.968040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.48, Y:71.58, Z:1.89 [[ 2.15940907e-01 -9.76400113e-01 -3.51335606e-03 9.74807860e+01] [ 9.76296563e-01 2.15969188e-01 -1.42242908e-02 7.15845871e+01] [ 1.46473758e-02 -3.58471205e-04 9.99892657e-01 1.89270825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.49, Y:71.61, Z:1.89 [[ 2.17828698e-01 -9.75980809e-01 -3.48124980e-03 9.74882602e+01] [ 9.75877087e-01 2.17856312e-01 -1.42315968e-02 7.16122410e+01] [ 1.46481776e-02 -2.97221711e-04 9.99892666e-01 1.89325586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.49, Y:71.64, Z:1.89 [[ 2.13641627e-01 -9.76905962e-01 -3.46370994e-03 9.74921337e+01] [ 9.76802295e-01 2.13669430e-01 -1.42355827e-02 7.16399402e+01] [ 1.46469145e-02 -3.42046768e-04 9.99892670e-01 1.89266405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.50, Y:71.67, Z:1.89 [[ 2.14730869e-01 -9.76666977e-01 -3.50276877e-03 9.75007419e+01] [ 9.76563423e-01 2.14759125e-01 -1.42267129e-02 7.16693941e+01] [ 1.46470123e-02 -3.65761435e-04 9.99892660e-01 1.89377570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.49, Y:71.69, Z:1.90 [[ 2.07086151e-01 -9.78316219e-01 -3.56396780e-03 9.74941008e+01] [ 9.78213123e-01 2.07116105e-01 -1.42128308e-02 7.16870788e+01] [ 1.46427980e-02 -5.43039658e-04 9.99892641e-01 1.89699108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.50, Y:71.72, Z:1.90 [[ 2.05334825e-01 -9.78686640e-01 -3.17344798e-03 9.74994813e+01] [ 9.78582163e-01 2.05359277e-01 -1.43009613e-02 7.17153453e+01] [ 1.46478568e-02 -1.68994199e-04 9.99892700e-01 1.89814482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:71.75, Z:1.90 [[ 2.09339059e-01 -9.77837849e-01 -3.20931849e-03 9.75133528e+01] [ 9.77733396e-01 2.09363608e-01 -1.42928712e-02 7.17492373e+01] [ 1.46480249e-02 -1.45801654e-04 9.99892701e-01 1.89746135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:71.77, Z:1.90 [[ 2.04507033e-01 -9.78858885e-01 -3.48667325e-03 9.75088988e+01] [ 9.78755573e-01 2.04536137e-01 -1.42301750e-02 7.17697557e+01] [ 1.46424839e-02 -5.02429994e-04 9.99892667e-01 1.89892605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.53, Y:71.81, Z:1.90 [[ 2.09494179e-01 -9.77804807e-01 -3.15420761e-03 9.75260898e+01] [ 9.77700166e-01 2.09517905e-01 -1.43049632e-02 7.18062626e+01] [ 1.46483247e-02 -8.70627852e-05 9.99892704e-01 1.89812261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.53, Y:71.83, Z:1.90 [[ 2.02248656e-01 -9.79327374e-01 -3.65720982e-03 9.75257803e+01] [ 9.79224802e-01 2.02280470e-01 -1.41914966e-02 7.18305414e+01] [ 1.46379032e-02 -7.11019445e-04 9.99892607e-01 1.89551624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.52, Y:71.85, Z:1.90 [[ 1.97589928e-01 -9.80278457e-01 -3.51656609e-03 9.75232085e+01] [ 9.80175478e-01 1.97620193e-01 -1.42229537e-02 7.18508485e+01] [ 1.46373996e-02 -6.36539456e-04 9.99892665e-01 1.89903198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.29804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.53, Y:71.88, Z:1.90 [[ 2.00214243e-01 -9.79746962e-01 -3.18535728e-03 9.75334081e+01] [ 9.79642681e-01 2.00239414e-01 -1.42966336e-02 7.18804308e+01] [ 1.46449174e-02 -2.58122268e-04 9.99892724e-01 1.89559582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.54, Y:71.91, Z:1.90 [[ 1.96453116e-01 -9.80507580e-01 -3.32542285e-03 9.75366892e+01] [ 9.80403907e-01 1.96480725e-01 -1.42654995e-02 7.19092866e+01] [ 1.46408119e-02 -4.57755722e-04 9.99892713e-01 1.89506196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.35804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.54, Y:71.94, Z:1.90 [[ 1.98066413e-01 -9.80182996e-01 -3.31509500e-03 9.75438632e+01] [ 9.80079239e-01 1.98093702e-01 -1.42677877e-02 7.19381231e+01] [ 1.46417423e-02 -4.23086261e-04 9.99892714e-01 1.89694865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38804094199998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:97.55, Y:71.97, Z:1.90 [[ 1.99254577e-01 -9.79942049e-01 -3.34561465e-03 9.75489545e+01] [ 9.79838371e-01 1.99282185e-01 -1.42610343e-02 7.19670375e+01] [ 1.46417086e-02 -4.36585235e-04 9.99892709e-01 1.89785551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.41804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.55, Y:71.99, Z:1.90 [[ 1.97785659e-01 -9.80239553e-01 -3.35447580e-03 9.75536869e+01] [ 9.80135949e-01 1.97813550e-01 -1.42590752e-02 7.19944940e+01] [ 1.46408702e-02 -4.67601745e-04 9.99892707e-01 1.89617020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.56, Y:72.03, Z:1.90 [[ 2.02836376e-01 -9.79206816e-01 -3.37863066e-03 9.75644627e+01] [ 9.79103158e-01 2.02864085e-01 -1.42537435e-02 7.20254031e+01] [ 1.46427656e-02 -4.16850284e-04 9.99892702e-01 1.90139621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.47804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.57, Y:72.05, Z:1.90 [[ 2.03059209e-01 -9.79160154e-01 -3.51419133e-03 9.75700546e+01] [ 9.79056993e-01 2.03088865e-01 -1.42238096e-02 7.20521594e+01] [ 1.46410807e-02 -5.52318069e-04 9.99892661e-01 1.90081920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50804094199998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:97.56, Y:72.07, Z:1.90 [[ 1.97535127e-01 -9.80289545e-01 -3.50462169e-03 9.75648743e+01] [ 9.80186516e-01 1.97565224e-01 -1.42259194e-02 7.20710378e+01] [ 1.46379115e-02 -6.25064129e-04 9.99892665e-01 1.90244241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.53804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.58, Y:72.10, Z:1.90 [[ 2.03416965e-01 -9.79087306e-01 -3.09618587e-03 9.75798917e+01] [ 9.78982653e-01 2.03440492e-01 -1.43154154e-02 7.21049310e+01] [ 1.46459311e-02 -1.19113910e-04 9.99892736e-01 1.90233052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.58, Y:72.13, Z:1.90 [[ 2.01287804e-01 -9.79526036e-01 -3.45916624e-03 9.75830486e+01] [ 9.79422723e-01 2.01316846e-01 -1.42357323e-02 7.21295744e+01] [ 1.46406589e-02 -5.22506729e-04 9.99892683e-01 1.90035208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.59804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.59, Y:72.16, Z:1.90 [[ 2.01921262e-01 -9.79395937e-01 -3.37688395e-03 9.75908292e+01] [ 9.79292303e-01 2.01949042e-01 -1.42537495e-02 7.21580701e+01] [ 1.46420228e-02 -4.28821373e-04 9.99892708e-01 1.90176238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.60, Y:72.18, Z:1.91 [[ 2.03428892e-01 -9.79083806e-01 -3.40384691e-03 9.75996963e+01] [ 9.78980228e-01 2.03456904e-01 -1.42478335e-02 7.21843213e+01] [ 1.46423592e-02 -4.33877852e-04 9.99892701e-01 1.90562069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.65804094199999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:97.60, Y:72.21, Z:1.90 [[ 2.00147465e-01 -9.79759804e-01 -3.42337400e-03 9.76017518e+01] [ 9.79656392e-01 2.00176108e-01 -1.42435747e-02 7.22088235e+01] [ 1.46405596e-02 -5.02914872e-04 9.99892695e-01 1.90313892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.61, Y:72.24, Z:1.90 [[ 2.00791578e-01 -9.79628539e-01 -3.26624612e-03 9.76123348e+01] [ 9.79524543e-01 2.00817867e-01 -1.42777314e-02 7.22428114e+01] [ 1.46427938e-02 -3.32520004e-04 9.99892733e-01 1.90213153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.718040942 meters Centerline goodness : 0.995659 Centerline is valid? [True, True] Translation: X:97.61, Y:72.26, Z:1.90 [[ 1.95138922e-01 -9.80769220e-01 -3.54095349e-03 9.76112971e+01] [ 9.80666420e-01 1.95169798e-01 -1.42170117e-02 7.22625814e+01] [ 1.46346946e-02 -6.98201852e-04 9.99892663e-01 1.90230480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.748040942 meters Centerline goodness : 0.996167 Centerline is valid? [True, True] Translation: X:97.62, Y:72.29, Z:1.90 [[ 1.96917589e-01 -9.80414967e-01 -3.15520884e-03 9.76182557e+01] [ 9.80310688e-01 1.96942670e-01 -1.43017167e-02 7.22852424e+01] [ 1.46430123e-02 -2.76825397e-04 9.99892747e-01 1.90172783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.778040942 meters Centerline goodness : 0.996070 Centerline is valid? [True, True] Translation: X:97.63, Y:72.31, Z:1.90 [[ 1.95625826e-01 -9.80674054e-01 -2.98943135e-03 9.76255031e+01] [ 9.80569242e-01 1.95648625e-01 -1.43379845e-02 7.23129129e+01] [ 1.46457675e-02 -1.26464374e-04 9.99892737e-01 1.90326526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.64, Y:72.34, Z:1.90 [[ 2.01948406e-01 -9.79391362e-01 -3.06620265e-03 9.76404215e+01] [ 9.79286656e-01 2.01971652e-01 -1.43212012e-02 7.23372473e+01] [ 1.46453468e-02 -1.10547575e-04 9.99892745e-01 1.90312914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.64, Y:72.37, Z:1.90 [[ 1.98478529e-01 -9.80100258e-01 -3.12387347e-03 9.76421833e+01] [ 9.79995831e-01 1.98502987e-01 -1.43086105e-02 7.23726344e+01] [ 1.46439710e-02 -2.21431023e-04 9.99892747e-01 1.90279081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.65, Y:72.40, Z:1.90 [[ 2.01767837e-01 -9.79427483e-01 -3.39790660e-03 9.76507937e+01] [ 9.79323937e-01 2.01795939e-01 -1.42486844e-02 7.23982146e+01] [ 1.46412369e-02 -4.52725028e-04 9.99892709e-01 1.90425862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.65, Y:72.42, Z:1.90 [[ 1.98732635e-01 -9.80047589e-01 -3.47325817e-03 9.76515246e+01] [ 9.79944414e-01 1.98762152e-01 -1.42320837e-02 7.24248804e+01] [ 1.46384715e-02 -5.75220450e-04 9.99892686e-01 1.90126222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.66, Y:72.45, Z:1.90 [[ 1.99324619e-01 -9.79927831e-01 -3.33795607e-03 9.76568578e+01] [ 9.79824140e-01 1.99352107e-01 -1.42615546e-02 7.24506097e+01] [ 1.46407229e-02 -4.27930999e-04 9.99892727e-01 1.90196021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.67, Y:72.48, Z:1.90 [[ 1.99499632e-01 -9.79892427e-01 -3.27552320e-03 9.76654875e+01] [ 9.79788508e-01 1.99526192e-01 -1.42750854e-02 7.24809085e+01] [ 1.46416008e-02 -3.61445699e-04 9.99892741e-01 1.90357840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.67, Y:72.51, Z:1.90 [[ 1.97914308e-01 -9.80213490e-01 -3.38246318e-03 9.76710894e+01] [ 9.80110000e-01 1.97942593e-01 -1.42519427e-02 7.25081869e+01] [ 1.46394800e-02 -4.94522615e-04 9.99892715e-01 1.90487640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.01804094199997 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:97.68, Y:72.54, Z:1.90 [[ 1.97317507e-01 -9.80333929e-01 -3.34507583e-03 9.76770457e+01] [ 9.80230320e-01 1.97345311e-01 -1.42600099e-02 7.25366367e+01] [ 1.46397065e-02 -4.65195147e-04 9.99892726e-01 1.90409006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.68, Y:72.56, Z:1.91 [[ 1.96534193e-01 -9.80491235e-01 -3.35410846e-03 9.76818251e+01] [ 9.80387681e-01 1.96562211e-01 -1.42580657e-02 7.25644672e+01] [ 1.46391995e-02 -4.86129170e-04 9.99892723e-01 1.90563747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.07804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.69, Y:72.59, Z:1.91 [[ 1.95326789e-01 -9.80732640e-01 -3.30667699e-03 9.76870856e+01] [ 9.80628950e-01 1.95354245e-01 -1.42681973e-02 7.25933838e+01] [ 1.46392602e-02 -4.55662015e-04 9.99892736e-01 1.90573832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.70, Y:72.62, Z:1.91 [[ 1.99667101e-01 -9.79858186e-01 -3.31430066e-03 9.76970658e+01] [ 9.79754402e-01 1.99694208e-01 -1.42665708e-02 7.26231976e+01] [ 1.46410628e-02 -3.98635828e-04 9.99892734e-01 1.90591829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.13804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.70, Y:72.65, Z:1.91 [[ 1.98968521e-01 -9.79999607e-01 -3.50687444e-03 9.77026417e+01] [ 9.79896545e-01 1.98998501e-01 -1.42252412e-02 7.26503842e+01] [ 1.46385935e-02 -6.05998937e-04 9.99892666e-01 1.90639841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.70, Y:72.67, Z:1.91 [[ 1.91925670e-01 -9.81403229e-01 -3.49845959e-03 9.76951982e+01] [ 9.81300353e-01 1.91956267e-01 -1.42270422e-02 7.26678633e+01] [ 1.46340164e-02 -7.02505025e-04 9.99892670e-01 1.90761293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.19804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.71, Y:72.70, Z:1.91 [[ 1.96085594e-01 -9.80582059e-01 -3.04386099e-03 9.77075862e+01] [ 9.80477455e-01 1.96109139e-01 -1.43236488e-02 7.27011161e+01] [ 1.46424420e-02 -1.75775901e-04 9.99892778e-01 1.90606814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.71, Y:72.73, Z:1.91 [[ 1.95467750e-01 -9.80704508e-01 -3.32060175e-03 9.77125995e+01] [ 9.80600871e-01 1.95495393e-01 -1.42647569e-02 7.27293594e+01] [ 1.46386738e-02 -4.67885033e-04 9.99892739e-01 1.90688255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.25804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.72, Y:72.76, Z:1.91 [[ 1.93039563e-01 -9.81185507e-01 -3.27548050e-03 9.77158622e+01] [ 9.81081777e-01 1.93066807e-01 -1.42742864e-02 7.27566666e+01] [ 1.46381095e-02 -4.58012209e-04 9.99892752e-01 1.90698809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.72, Y:72.78, Z:1.91 [[ 1.97343311e-01 -9.80329154e-01 -3.21976387e-03 9.77241081e+01] [ 9.80225114e-01 1.97369288e-01 -1.42860230e-02 7.27835636e+01] [ 1.46404874e-02 -3.36842322e-04 9.99892766e-01 1.90623541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.31804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.73, Y:72.81, Z:1.91 [[ 1.98108892e-01 -9.80174388e-01 -3.32192972e-03 9.77284674e+01] [ 9.80070684e-01 1.98136275e-01 -1.42643459e-02 7.28116578e+01] [ 1.46397413e-02 -4.29832177e-04 9.99892741e-01 1.90629151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.73, Y:72.83, Z:1.91 [[ 1.94447260e-01 -9.80907402e-01 -3.30627601e-03 9.77253089e+01] [ 9.80803744e-01 1.94474803e-01 -1.42676924e-02 7.28318358e+01] [ 1.46382724e-02 -4.68494195e-04 9.99892745e-01 1.90915990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.37804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.73, Y:72.87, Z:1.91 [[ 1.95437060e-01 -9.80711638e-01 -3.00650788e-03 9.77348231e+01] [ 9.80606927e-01 1.95460129e-01 -1.43315025e-02 7.28658455e+01] [ 1.46427237e-02 -1.47295735e-04 9.99892779e-01 1.90717876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.74, Y:72.90, Z:1.91 [[ 1.95429292e-01 -9.80712365e-01 -3.26341953e-03 9.77424758e+01] [ 9.80608514e-01 1.95456108e-01 -1.42777014e-02 7.28961846e+01] [ 1.46401735e-02 -4.09855910e-04 9.99892743e-01 1.90718287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.75, Y:72.92, Z:1.91 [[ 1.92069520e-01 -9.81375679e-01 -3.32810880e-03 9.77459711e+01] [ 9.81272150e-01 1.92097632e-01 -1.42641895e-02 7.29234645e+01] [ 1.46378505e-02 -5.26064441e-04 9.99892723e-01 1.90781033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.468040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:97.75, Y:72.95, Z:1.91 [[ 1.89552918e-01 -9.81865120e-01 -3.25225480e-03 9.77516860e+01] [ 9.81761393e-01 1.89580193e-01 -1.42799758e-02 7.29513983e+01] [ 1.46375732e-02 -4.86127118e-04 9.99892747e-01 1.90832310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.76, Y:72.98, Z:1.91 [[ 1.86492110e-01 -9.82451107e-01 -3.24266685e-03 9.77550920e+01] [ 9.82347431e-01 1.86519568e-01 -1.42819672e-02 7.29776667e+01] [ 1.46361553e-02 -5.21951252e-04 9.99892750e-01 1.90693451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.76, Y:73.01, Z:1.91 [[ 1.85310087e-01 -9.82674812e-01 -3.22252369e-03 9.77613088e+01] [ 9.82571098e-01 1.85337378e-01 -1.42861522e-02 7.30055817e+01] [ 1.46358961e-02 -5.18990527e-04 9.99892755e-01 1.90771055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.77, Y:73.04, Z:1.91 [[ 1.83002344e-01 -9.83107305e-01 -3.18894399e-03 9.77661379e+01] [ 9.83003535e-01 1.83029390e-01 -1.42930811e-02 7.30351316e+01] [ 1.46353029e-02 -5.19075887e-04 9.99892763e-01 1.90842771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.77, Y:73.06, Z:1.91 [[ 1.82475078e-01 -9.83205149e-01 -3.23729622e-03 9.77704035e+01] [ 9.83101567e-01 1.82502882e-01 -1.42831191e-02 7.30616995e+01] [ 1.46340522e-02 -5.76277711e-04 9.99892750e-01 1.90896418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.77, Y:73.09, Z:1.91 [[ 1.81653865e-01 -9.83357178e-01 -3.24569842e-03 9.77738169e+01] [ 9.83253649e-01 1.81681878e-01 -1.42813843e-02 7.30873645e+01] [ 1.46333864e-02 -5.97076154e-04 9.99892748e-01 1.90955141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.648040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.78, Y:73.12, Z:1.91 [[ 1.82985988e-01 -9.83110344e-01 -3.19039576e-03 9.77792258e+01] [ 9.83006580e-01 1.83013058e-01 -1.42927786e-02 7.31153313e+01] [ 1.46352626e-02 -5.20801801e-04 9.99892763e-01 1.90895699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.78, Y:73.15, Z:1.91 [[ 1.82603662e-01 -9.83181633e-01 -3.12715486e-03 9.77826703e+01] [ 9.83077659e-01 1.82629852e-01 -1.43056986e-02 7.31452189e+01] [ 1.46362120e-02 -4.61963128e-04 9.99892778e-01 1.90985231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.79, Y:73.18, Z:1.91 [[ 1.85296849e-01 -9.82677581e-01 -3.13841994e-03 9.77906493e+01] [ 9.82573574e-01 1.85322918e-01 -1.43034057e-02 7.31764633e+01] [ 1.46372572e-02 -4.33352500e-04 9.99892776e-01 1.90837855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.79, Y:73.20, Z:1.91 [[ 1.81439170e-01 -9.83396773e-01 -3.25797170e-03 9.77861210e+01] [ 9.83293291e-01 1.81467384e-01 -1.42790775e-02 7.31965334e+01] [ 1.46332143e-02 -6.12757740e-04 9.99892741e-01 1.90768311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.80, Y:73.23, Z:1.91 [[ 1.85843509e-01 -9.82575065e-01 -2.90382237e-03 9.77967742e+01] [ 9.82470279e-01 1.85866101e-01 -1.43507394e-02 7.32291552e+01] [ 1.46404008e-02 -1.85927407e-04 9.99892806e-01 1.90736722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.79804094199997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.80, Y:73.26, Z:1.91 [[ 1.86347176e-01 -9.82479046e-01 -3.10719016e-03 9.78016723e+01] [ 9.82374909e-01 1.86372679e-01 -1.43095461e-02 7.32566897e+01] [ 1.46379245e-02 -3.85882156e-04 9.99892785e-01 1.90828721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.81, Y:73.29, Z:1.91 [[ 1.86501256e-01 -9.82449909e-01 -3.07542632e-03 9.78061628e+01] [ 9.82345662e-01 1.86526281e-01 -1.43159403e-02 7.32859079e+01] [ 1.46383421e-02 -3.51190850e-04 9.99892792e-01 1.90916717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.85804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.81, Y:73.32, Z:1.91 [[ 1.86712593e-01 -9.82409730e-01 -3.08715663e-03 9.78122292e+01] [ 9.82305517e-01 1.86737766e-01 -1.43135827e-02 7.33150961e+01] [ 1.46382917e-02 -3.60004847e-04 9.99892790e-01 1.90885120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.81, Y:73.34, Z:1.91 [[ 1.80591720e-01 -9.83553180e-01 -3.12616238e-03 9.78112198e+01] [ 9.83449259e-01 1.80618109e-01 -1.43057540e-02 7.33371654e+01] [ 1.46351113e-02 -4.90921361e-04 9.99892781e-01 1.90995426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.91804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.83, Y:73.37, Z:1.91 [[ 1.86179779e-01 -9.82511505e-01 -2.86905477e-03 9.78282376e+01] [ 9.82406612e-01 1.86201827e-01 -1.43571335e-02 7.33741077e+01] [ 1.46402721e-02 -1.45570426e-04 9.99892815e-01 1.90877054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.82, Y:73.39, Z:1.91 [[ 1.77843890e-01 -9.84053128e-01 -3.31532600e-03 9.78230081e+01] [ 9.83949959e-01 1.77873313e-01 -1.42675403e-02 7.33908871e+01] [ 1.46297257e-02 -7.24720012e-04 9.99892717e-01 1.91132875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.97804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.83, Y:73.42, Z:1.91 [[ 1.75585821e-01 -9.84459967e-01 -2.86243219e-03 9.78287901e+01] [ 9.84355305e-01 1.75608901e-01 -1.43578325e-02 7.34184046e+01] [ 1.46373799e-02 -2.96618494e-04 9.99892824e-01 1.91185508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.83, Y:73.45, Z:1.91 [[ 1.73630912e-01 -9.84806649e-01 -2.85831726e-03 9.78332584e+01] [ 9.84702020e-01 1.73654140e-01 -1.43586517e-02 7.34466485e+01] [ 1.46368543e-02 -3.21484989e-04 9.99892824e-01 1.91070639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.03804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.85, Y:73.48, Z:1.91 [[ 1.77901769e-01 -9.84044112e-01 -2.85420668e-03 9.78460928e+01] [ 9.83939370e-01 1.77924482e-01 -1.43594687e-02 7.34809777e+01] [ 1.46381839e-02 -2.53791447e-04 9.99892824e-01 1.90738426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.84, Y:73.50, Z:1.91 [[ 1.71721014e-01 -9.85140523e-01 -3.16898830e-03 9.78434680e+01] [ 9.85037004e-01 1.71748959e-01 -1.42967390e-02 7.35019206e+01] [ 1.46285674e-02 -6.66520221e-04 9.99892775e-01 1.90987265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.09804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.85, Y:73.53, Z:1.91 [[ 1.72780186e-01 -9.84956293e-01 -2.84748149e-03 9.78516942e+01] [ 9.84851654e-01 1.72803346e-01 -1.43604900e-02 7.35318999e+01] [ 1.46365094e-02 -3.23138714e-04 9.99892828e-01 1.90928849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.85, Y:73.56, Z:1.91 [[ 1.71707099e-01 -9.85143588e-01 -2.96376189e-03 9.78546227e+01] [ 9.85039357e-01 1.71732066e-01 -1.43374380e-02 7.35568571e+01] [ 1.46334081e-02 -4.57582208e-04 9.99892821e-01 1.91153215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.86, Y:73.58, Z:1.91 [[ 1.72883004e-01 -9.84938277e-01 -2.83862725e-03 9.78585429e+01] [ 9.84833608e-01 1.72906024e-01 -1.43621705e-02 7.35848801e+01] [ 1.46366673e-02 -3.12600326e-04 9.99892829e-01 1.91082839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.86, Y:73.61, Z:1.91 [[ 1.73731175e-01 -9.84789036e-01 -2.83449874e-03 9.78634563e+01] [ 9.84684333e-01 1.73754045e-01 -1.43629853e-02 7.36130541e+01] [ 1.46370161e-02 -2.95788194e-04 9.99892829e-01 1.91038207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.218040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:97.87, Y:73.64, Z:1.91 [[ 1.74213327e-01 -9.84703866e-01 -2.83065803e-03 9.78682465e+01] [ 9.84599141e-01 1.74236090e-01 -1.43637422e-02 7.36398736e+01] [ 1.46372352e-02 -2.84708141e-04 9.99892829e-01 1.90982989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.88, Y:73.67, Z:1.91 [[ 1.79279980e-01 -9.83794034e-01 -2.82634428e-03 9.78808438e+01] [ 9.83689179e-01 1.79302140e-01 -1.43645909e-02 7.36734757e+01] [ 1.46385684e-02 -2.04960711e-04 9.99892829e-01 1.90708660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.88, Y:73.70, Z:1.91 [[ 1.80319306e-01 -9.83603234e-01 -3.10250030e-03 9.78833386e+01] [ 9.83499245e-01 1.80345379e-01 -1.43100929e-02 7.36953918e+01] [ 1.46349752e-02 -4.70920697e-04 9.99892792e-01 1.91022888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.89, Y:73.73, Z:1.91 [[ 1.78395428e-01 -9.83954582e-01 -2.90727540e-03 9.78883236e+01] [ 9.83850005e-01 1.78418863e-01 -1.43484365e-02 7.37256152e+01] [ 1.46369226e-02 -3.00627444e-04 9.99892829e-01 1.90980497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.90, Y:73.75, Z:1.91 [[ 1.79750330e-01 -9.83707673e-01 -3.00537193e-03 9.78963891e+01] [ 9.83603378e-01 1.79775051e-01 -1.43291824e-02 7.37548484e+01] [ 1.46360176e-02 -3.80418719e-04 9.99892815e-01 1.90933583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.89, Y:73.78, Z:1.91 [[ 1.74369653e-01 -9.84675376e-01 -3.10281012e-03 9.78930737e+01] [ 9.84571547e-01 1.74396359e-01 -1.43100647e-02 7.37763498e+01] [ 1.46318871e-02 -5.59697546e-04 9.99892792e-01 1.91255135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.91, Y:73.82, Z:1.91 [[ 1.81925022e-01 -9.83308403e-01 -2.80550304e-03 9.79125874e+01] [ 9.83203434e-01 1.81946596e-01 -1.43681172e-02 7.38165386e+01] [ 1.46387421e-02 -1.44460177e-04 9.99892837e-01 1.91017589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.90, Y:73.83, Z:1.91 [[ 1.71744589e-01 -9.85135684e-01 -3.38832190e-03 9.79022394e+01] [ 9.85032966e-01 1.71775706e-01 -1.42535291e-02 7.38298385e+01] [ 1.46236915e-02 -8.89642276e-04 9.99892672e-01 1.91459532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.92, Y:73.87, Z:1.91 [[ 1.78961953e-01 -9.83852015e-01 -2.79866067e-03 9.79222672e+01] [ 9.83747106e-01 1.78983743e-01 -1.43683854e-02 7.38703313e+01] [ 1.46372797e-02 -1.81780013e-04 9.99892853e-01 1.91465974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.91, Y:73.88, Z:1.92 [[ 1.68124626e-01 -9.85759801e-01 -3.42406853e-03 9.79096803e+01] [ 9.85657348e-01 1.68156635e-01 -1.42456570e-02 7.38822125e+01] [ 1.46185758e-02 -9.79912547e-04 9.99892663e-01 1.91571702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.51804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.92, Y:73.92, Z:1.92 [[ 1.71352912e-01 -9.85205758e-01 -2.79164876e-03 9.79216579e+01] [ 9.85101017e-01 1.71375409e-01 -1.43685323e-02 7.39158580e+01] [ 1.46343807e-02 -2.87966172e-04 9.99892870e-01 1.91510994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.92, Y:73.94, Z:1.92 [[ 1.67411929e-01 -9.85882232e-01 -3.07761014e-03 9.79167926e+01] [ 9.85778537e-01 1.67439000e-01 -1.43128424e-02 7.39360586e+01] [ 1.46260890e-02 -6.37701464e-04 9.99892830e-01 1.91634955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.57804094199997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:97.93, Y:73.97, Z:1.92 [[ 1.77862339e-01 -9.84051440e-01 -2.78416843e-03 9.79340339e+01] [ 9.83946534e-01 1.77884034e-01 -1.43696982e-02 7.39697900e+01] [ 1.46357814e-02 -1.83644729e-04 9.99892874e-01 1.91622640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.94, Y:74.01, Z:1.92 [[ 1.78582594e-01 -9.83920110e-01 -3.07807473e-03 9.79393830e+01] [ 9.83816114e-01 1.78608495e-01 -1.43129252e-02 7.40073576e+01] [ 1.46325452e-02 -4.72220215e-04 9.99892827e-01 1.91734400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.63804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.93, Y:74.03, Z:1.92 [[ 1.70156768e-01 -9.85411178e-01 -3.38898110e-03 9.79326244e+01] [ 9.85308512e-01 1.70188060e-01 -1.42534323e-02 7.40285609e+01] [ 1.46222556e-02 -9.13873965e-04 9.99892671e-01 1.91728596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.94, Y:74.06, Z:1.92 [[ 1.75978704e-01 -9.84389397e-01 -3.00167567e-03 9.79435118e+01] [ 9.84285229e-01 1.76003769e-01 -1.43269426e-02 7.40625101e+01] [ 1.46315966e-02 -4.33268237e-04 9.99892859e-01 1.91746689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.69804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.95, Y:74.09, Z:1.92 [[ 1.78712786e-01 -9.83895711e-01 -3.31215560e-03 9.79467846e+01] [ 9.83792508e-01 1.78742072e-01 -1.42679310e-02 7.40879915e+01] [ 1.46301776e-02 -7.08612172e-04 9.99892722e-01 1.91767466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.95, Y:74.10, Z:1.92 [[ 1.81062879e-01 -9.83466117e-01 -3.26053958e-03 9.79472358e+01] [ 9.83362666e-01 1.81091169e-01 -1.42777784e-02 7.41034512e+01] [ 1.46321662e-02 -6.21117217e-04 9.99892751e-01 1.91936405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.75804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.95, Y:74.13, Z:1.92 [[ 1.83043488e-01 -9.83100636e-01 -2.86708289e-03 9.79496123e+01] [ 9.82995881e-01 1.83065841e-01 -1.43525844e-02 7.41287436e+01] [ 1.46348998e-02 -1.91183566e-04 9.99892886e-01 1.92256124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.96, Y:74.17, Z:1.92 [[ 1.74799282e-01 -9.84600058e-01 -2.81724904e-03 9.79550609e+01] [ 9.84495340e-01 1.74821785e-01 -1.43620445e-02 7.41677090e+01] [ 1.46333863e-02 -2.63093491e-04 9.99892892e-01 1.91658796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.81804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.96, Y:74.19, Z:1.92 [[ 1.75182277e-01 -9.84530649e-01 -3.25141410e-03 9.79572428e+01] [ 9.84427341e-01 1.75211052e-01 -1.42792672e-02 7.41914783e+01] [ 1.46280599e-02 -6.99306399e-04 9.99892760e-01 1.91634159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.96, Y:74.22, Z:1.92 [[ 1.74039785e-01 -9.84733733e-01 -3.10309437e-03 9.79578023e+01] [ 9.84629951e-01 1.74066529e-01 -1.43074277e-02 7.42153881e+01] [ 1.46291515e-02 -5.65338018e-04 9.99892828e-01 1.92047790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.87804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.96, Y:74.25, Z:1.92 [[ 1.72030490e-01 -9.85087297e-01 -2.92031448e-03 9.79612300e+01] [ 9.84982978e-01 1.72054788e-01 -1.43416250e-02 7.42455269e+01] [ 1.46302067e-02 -4.09263281e-04 9.99892889e-01 1.92384110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.96, Y:74.27, Z:1.92 [[ 1.70126401e-01 -9.85417714e-01 -2.98956038e-03 9.79570967e+01] [ 9.85313664e-01 1.70151908e-01 -1.43286931e-02 7.42652160e+01] [ 1.46284274e-02 -5.07965706e-04 9.99892870e-01 1.92208354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.96, Y:74.30, Z:1.92 [[ 1.68797312e-01 -9.85647195e-01 -2.65986818e-03 9.79608351e+01] [ 9.85542166e-01 1.68818158e-01 -1.43899070e-02 7.42969008e+01] [ 1.46324055e-02 -1.92434626e-04 9.99892922e-01 1.92283982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.96, Y:74.32, Z:1.92 [[ 1.69310463e-01 -9.85558835e-01 -2.78379955e-03 9.79637566e+01] [ 9.85454163e-01 1.69333062e-01 -1.43668814e-02 7.43214213e+01] [ 1.46307962e-02 -3.10843519e-04 9.99892916e-01 1.92120102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.96, Y:74.35, Z:1.92 [[ 1.61432505e-01 -9.86880087e-01 -2.69066552e-03 9.79557146e+01] [ 9.86775311e-01 1.61454584e-01 -1.43841462e-02 7.43453071e+01] [ 1.46298478e-02 -3.33013543e-04 9.99892923e-01 1.92035040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.96, Y:74.38, Z:1.92 [[ 1.63985429e-01 -9.86459634e-01 -2.48378843e-03 9.79633575e+01] [ 9.86354200e-01 1.64004216e-01 -1.44225423e-02 7.43772258e+01] [ 1.46346076e-02 -8.48083611e-05 9.99892905e-01 1.92190372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.97, Y:74.40, Z:1.92 [[ 1.63723477e-01 -9.86502662e-01 -2.66851349e-03 9.79684665e+01] [ 9.86397769e-01 1.63744989e-01 -1.43882073e-02 7.44044737e+01] [ 1.46309605e-02 -2.76528427e-04 9.99892924e-01 1.92236632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.97, Y:74.43, Z:1.92 [[ 1.65559602e-01 -9.86196186e-01 -2.66467125e-03 9.79708382e+01] [ 9.86091242e-01 1.65580862e-01 -1.43889204e-02 7.44300705e+01] [ 1.46315170e-02 -2.45385051e-04 9.99892924e-01 1.92270430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.98, Y:74.46, Z:1.92 [[ 1.66243805e-01 -9.86081337e-01 -2.56808015e-03 9.79778502e+01] [ 9.85976098e-01 1.66263583e-01 -1.44067539e-02 7.44613417e+01] [ 1.46332093e-02 -1.37032066e-04 9.99892919e-01 1.92273127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.148040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.98, Y:74.49, Z:1.92 [[ 1.67434486e-01 -9.85879412e-01 -2.73455828e-03 9.79798839e+01] [ 9.85774634e-01 1.67456566e-01 -1.43760116e-02 7.44898516e+01] [ 1.46309336e-02 -2.88618082e-04 9.99892921e-01 1.92310877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.99, Y:74.52, Z:1.92 [[ 1.67298842e-01 -9.85902486e-01 -2.71771658e-03 9.79856462e+01] [ 9.85797660e-01 1.67320692e-01 -1.43791163e-02 7.45230431e+01] [ 1.46311368e-02 -2.73509130e-04 9.99892922e-01 1.92105747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.99, Y:74.55, Z:1.92 [[ 1.65109020e-01 -9.86270982e-01 -2.92584047e-03 9.79858756e+01] [ 9.86166854e-01 1.65134131e-01 -1.43407061e-02 7.45478166e+01] [ 1.46269784e-02 -5.17586961e-04 9.99892886e-01 1.91823015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.98, Y:74.57, Z:1.92 [[ 1.62694981e-01 -9.86672372e-01 -2.82386640e-03 9.79828952e+01] [ 9.86567979e-01 1.62718864e-01 -1.43594811e-02 7.45726301e+01] [ 1.46275996e-02 -4.49720668e-04 9.99892910e-01 1.92015746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.99, Y:74.60, Z:1.92 [[ 1.66531869e-01 -9.86032472e-01 -2.66484337e-03 9.79920066e+01] [ 9.85927510e-01 1.66553029e-01 -1.43886651e-02 7.46049528e+01] [ 1.46315288e-02 -2.31171090e-04 9.99892927e-01 1.91938483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.29804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.99, Y:74.64, Z:1.92 [[ 1.63030071e-01 -9.86616879e-01 -2.88608634e-03 9.79945299e+01] [ 9.86512673e-01 1.63054824e-01 -1.43482003e-02 7.46410436e+01] [ 1.46267669e-02 -5.07972634e-04 9.99892894e-01 1.91833606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.00, Y:74.66, Z:1.92 [[ 1.61708401e-01 -9.86833730e-01 -3.09567055e-03 9.79971158e+01] [ 9.86730242e-01 1.61736334e-01 -1.43103810e-02 7.46649517e+01] [ 1.46226491e-02 -7.40482923e-04 9.99892809e-01 1.92020080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.35804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.00, Y:74.69, Z:1.92 [[ 1.61643500e-01 -9.86845012e-01 -2.88120313e-03 9.80012410e+01] [ 9.86740828e-01 1.61668328e-01 -1.43488498e-02 7.46940411e+01] [ 1.46258902e-02 -5.23602463e-04 9.99892899e-01 1.91911216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38804094199998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:98.00, Y:74.72, Z:1.92 [[ 1.59237271e-01 -9.87236041e-01 -2.91393286e-03 9.79994139e+01] [ 9.87132023e-01 1.59262829e-01 -1.43429942e-02 7.47218065e+01] [ 1.46240020e-02 -5.92497172e-04 9.99892888e-01 1.91917385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.41804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.00, Y:74.75, Z:1.92 [[ 1.53850138e-01 -9.88090098e-01 -2.84489020e-03 9.79963832e+01] [ 9.87985996e-01 1.53875261e-01 -1.43553326e-02 7.47472924e+01] [ 1.46221202e-02 -6.02141778e-04 9.99892910e-01 1.92057819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44804094199998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:98.00, Y:74.78, Z:1.92 [[ 1.54673348e-01 -9.87961950e-01 -2.70927196e-03 9.79980561e+01] [ 9.87857405e-01 1.54696413e-01 -1.43793826e-02 7.47779752e+01] [ 1.46253975e-02 -4.52267127e-04 9.99892941e-01 1.92155932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.47804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.00, Y:74.80, Z:1.92 [[ 1.54846567e-01 -9.87934720e-01 -2.74404678e-03 9.80003351e+01] [ 9.87830277e-01 1.54870120e-01 -1.43732272e-02 7.48049515e+01] [ 1.46247810e-02 -4.85007595e-04 9.99892935e-01 1.92137096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.00, Y:74.83, Z:1.92 [[ 1.50618953e-01 -9.88588139e-01 -2.72449390e-03 9.79976676e+01] [ 9.88483737e-01 1.50642668e-01 -1.43766848e-02 7.48293597e+01] [ 1.46230451e-02 -5.27716705e-04 9.99892938e-01 1.92215378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.53804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.99, Y:74.85, Z:1.92 [[ 1.45642745e-01 -9.89333917e-01 -2.56731300e-03 9.79918017e+01] [ 9.89229149e-01 1.45664701e-01 -1.44043765e-02 7.48503404e+01] [ 1.46247051e-02 -4.41767917e-04 9.99892956e-01 1.92065593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.00, Y:74.88, Z:1.92 [[ 1.49985997e-01 -9.88685495e-01 -2.27890667e-03 9.80015461e+01] [ 9.88579824e-01 1.50003285e-01 -1.44549819e-02 7.48833126e+01] [ 1.46332744e-02 -8.48362813e-05 9.99892924e-01 1.92321495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.59804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.00, Y:74.91, Z:1.93 [[ 1.48250910e-01 -9.88946534e-01 -2.53397235e-03 9.79991766e+01] [ 9.88841611e-01 1.48272104e-01 -1.44101300e-02 7.49113684e+01] [ 1.46265655e-02 -3.69382419e-04 9.99892958e-01 1.92527795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.00, Y:74.94, Z:1.93 [[ 1.50059682e-01 -9.88673795e-01 -2.49391200e-03 9.80042871e+01] [ 9.88568717e-01 1.50080101e-01 -1.44171631e-02 7.49416472e+01] [ 1.46281579e-02 -3.01968476e-04 9.99892957e-01 1.92548179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.00, Y:74.97, Z:1.92 [[ 1.51215165e-01 -9.88497317e-01 -2.65115889e-03 9.80018956e+01] [ 9.88392678e-01 1.51237750e-01 -1.43894956e-02 7.49680801e+01] [ 1.46249331e-02 -4.44476078e-04 9.99892951e-01 1.92375286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.00, Y:75.00, Z:1.92 [[ 1.51491205e-01 -9.88455333e-01 -2.54357226e-03 9.80040079e+01] [ 9.88350370e-01 1.51512195e-01 -1.44083697e-02 7.49966615e+01] [ 1.46274120e-02 -3.31199308e-04 9.99892959e-01 1.92114738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.718040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.00, Y:75.03, Z:1.92 [[ 1.51658629e-01 -9.88429705e-01 -2.52546589e-03 9.80044763e+01] [ 9.88324687e-01 1.51679337e-01 -1.44115426e-02 7.50255228e+01] [ 1.46278578e-02 -3.10345496e-04 9.99892959e-01 1.92074773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.01, Y:75.05, Z:1.92 [[ 1.51341625e-01 -9.88478303e-01 -2.52132993e-03 9.80072018e+01] [ 9.88373279e-01 1.51362307e-01 -1.44122662e-02 7.50534323e+01] [ 1.46278467e-02 -3.10839350e-04 9.99892959e-01 1.92110233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.02, Y:75.09, Z:1.92 [[ 1.55210053e-01 -9.87878284e-01 -2.51717927e-03 9.80156777e+01] [ 9.87773168e-01 1.55230263e-01 -1.44129911e-02 7.50868948e+01] [ 1.46290233e-02 -2.49361030e-04 9.99892959e-01 1.92218626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.00, Y:75.11, Z:1.92 [[ 1.45086902e-01 -9.89415024e-01 -2.77497433e-03 9.80033689e+01] [ 9.89310917e-01 1.45111932e-01 -1.43678781e-02 7.51065720e+01] [ 1.46184764e-02 -6.60721479e-04 9.99892926e-01 1.92116878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.838040942 meters Centerline goodness : 0.997253 Centerline is valid? [True, True] Translation: X:98.01, Y:75.14, Z:1.93 [[ 1.45497494e-01 -9.89355883e-01 -2.32720871e-03 9.80074253e+01] [ 9.89250453e-01 1.45515967e-01 -1.44445092e-02 7.51386866e+01] [ 1.46294062e-02 -2.00552373e-04 9.99892964e-01 1.92892653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.01, Y:75.16, Z:1.92 [[ 1.47155901e-01 -9.89109930e-01 -2.58579415e-03 9.80071358e+01] [ 9.89005199e-01 1.47177965e-01 -1.44001190e-02 7.51629751e+01] [ 1.46238726e-02 -4.38301364e-04 9.99892969e-01 1.92189016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.01, Y:75.20, Z:1.92 [[ 1.49118317e-01 -9.88816286e-01 -2.46594569e-03 9.80146815e+01] [ 9.88711169e-01 1.49138428e-01 -1.44206134e-02 7.51982954e+01] [ 1.46271046e-02 -2.87730439e-04 9.99892977e-01 1.92214985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.01, Y:75.22, Z:1.92 [[ 1.46640585e-01 -9.89185849e-01 -2.80985798e-03 9.80123349e+01] [ 9.89081818e-01 1.46665958e-01 -1.43615582e-02 7.52182624e+01] [ 1.46183606e-02 -6.73192145e-04 9.99892919e-01 1.92181534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.958040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.01, Y:75.25, Z:1.92 [[ 1.46071917e-01 -9.89270915e-01 -2.46020913e-03 9.80120509e+01] [ 9.89165850e-01 1.46092267e-01 -1.44212080e-02 7.52468570e+01] [ 1.46258992e-02 -3.27021357e-04 9.99892982e-01 1.92259228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.01, Y:75.27, Z:1.92 [[ 1.45526287e-01 -9.89351336e-01 -2.45618420e-03 9.80138406e+01] [ 9.89246271e-01 1.45546637e-01 -1.44218935e-02 7.52746969e+01] [ 1.46258089e-02 -3.31006449e-04 9.99892982e-01 1.92320731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.01804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.01, Y:75.30, Z:1.92 [[ 1.44589226e-01 -9.89488728e-01 -2.45217705e-03 9.80131559e+01] [ 9.89383671e-01 1.44609617e-01 -1.44225748e-02 7.53019787e+01] [ 1.46255836e-02 -3.40795006e-04 9.99892982e-01 1.92315791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.02, Y:75.33, Z:1.92 [[ 1.44066167e-01 -9.89565029e-01 -2.44794630e-03 9.80158715e+01] [ 9.89459971e-01 1.44086552e-01 -1.44232928e-02 7.53293953e+01] [ 1.46255023e-02 -3.44236359e-04 9.99892982e-01 1.92354439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.07804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.02, Y:75.36, Z:1.92 [[ 1.43643354e-01 -9.89626503e-01 -2.44380603e-03 9.80187412e+01] [ 9.89521441e-01 1.43663723e-01 -1.44239943e-02 7.53577605e+01] [ 1.46254533e-02 -3.46287546e-04 9.99892982e-01 1.92401063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10804094199997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.02, Y:75.39, Z:1.92 [[ 1.44796131e-01 -9.89458502e-01 -2.43987880e-03 9.80227102e+01] [ 9.89353406e-01 1.44816320e-01 -1.44246586e-02 7.53914909e+01] [ 1.46259354e-02 -3.25267651e-04 9.99892982e-01 1.92301117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.13804094199998 meters Centerline goodness : 0.997145 Centerline is valid? [True, True] Translation: X:98.02, Y:75.42, Z:1.93 [[ 1.44833032e-01 -9.89452559e-01 -2.65079144e-03 9.80241688e+01] [ 9.89348084e-01 1.44856286e-01 -1.43883360e-02 7.54157808e+01] [ 1.46205597e-02 -5.38649105e-04 9.99892969e-01 1.92861677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16804094199998 meters Centerline goodness : 0.998239 Centerline is valid? [True, True] Translation: X:98.02, Y:75.44, Z:1.93 [[ 1.45009957e-01 -9.89426843e-01 -2.57572762e-03 9.80218118e+01] [ 9.89322139e-01 1.45032102e-01 -1.44012229e-02 7.54408693e+01] [ 1.46225197e-02 -4.59903638e-04 9.99892979e-01 1.92853260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.19804094199998 meters Centerline goodness : 0.997430 Centerline is valid? [True, True] Translation: X:98.02, Y:75.47, Z:1.93 [[ 1.45188022e-01 -9.89400956e-01 -2.48731153e-03 9.80247538e+01] [ 9.89295990e-01 1.45208861e-01 -1.44163497e-02 7.54695344e+01] [ 1.46247298e-02 -3.67606030e-04 9.99892985e-01 1.92861537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22804094199998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.03, Y:75.49, Z:1.93 [[ 1.47951034e-01 -9.88991401e-01 -2.54975871e-03 9.80284468e+01] [ 9.88886555e-01 1.47972489e-01 -1.44056761e-02 7.54926896e+01] [ 1.46243839e-02 -3.90087440e-04 9.99892982e-01 1.92708591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.25804094199998 meters Centerline goodness : 0.997590 Centerline is valid? [True, True] Translation: X:98.03, Y:75.52, Z:1.93 [[ 1.46020767e-01 -9.89278475e-01 -2.45647723e-03 9.80302602e+01] [ 9.89173405e-01 1.46041068e-01 -1.44215651e-02 7.55207377e+01] [ 1.46256905e-02 -3.24033947e-04 9.99892986e-01 1.93183725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28804094199998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:98.03, Y:75.54, Z:1.93 [[ 1.48580395e-01 -9.88897115e-01 -2.52229045e-03 9.80325126e+01] [ 9.88792177e-01 1.48601384e-01 -1.44103617e-02 7.55446755e+01] [ 1.46251809e-02 -3.52923834e-04 9.99892984e-01 1.92973205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.31804094199998 meters Centerline goodness : 0.997914 Centerline is valid? [True, True] Translation: X:98.03, Y:75.57, Z:1.93 [[ 1.47244237e-01 -9.89097134e-01 -2.44843414e-03 9.80299628e+01] [ 9.88992016e-01 1.47264291e-01 -1.44228996e-02 7.55723687e+01] [ 1.46262155e-02 -2.97792973e-04 9.99892987e-01 1.93026269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34804094199998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:98.03, Y:75.60, Z:1.93 [[ 1.48236099e-01 -9.88948995e-01 -2.43796613e-03 9.80349875e+01] [ 9.88843829e-01 1.48255895e-01 -1.44246731e-02 7.56044633e+01] [ 1.46267088e-02 -2.72510488e-04 9.99892987e-01 1.92769435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.37804094199998 meters Centerline goodness : 0.997178 Centerline is valid? [True, True] Translation: X:98.04, Y:75.63, Z:1.93 [[ 1.49747112e-01 -9.88720793e-01 -2.64515684e-03 9.80370991e+01] [ 9.88616183e-01 1.49769765e-01 -1.43896096e-02 7.56252215e+01] [ 1.46234708e-02 -4.60242380e-04 9.99892965e-01 1.92889695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40804094199999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:98.04, Y:75.65, Z:1.93 [[ 1.51573788e-01 -9.88443099e-01 -2.37232408e-03 9.80395215e+01] [ 9.88337695e-01 1.51592271e-01 -1.44354956e-02 7.56533327e+01] [ 1.46282920e-02 -1.56614572e-04 9.99892989e-01 1.92899129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.438040942 meters Centerline goodness : 0.997204 Centerline is valid? [True, True] Translation: X:98.04, Y:75.68, Z:1.93 [[ 1.49927224e-01 -9.88693893e-01 -2.49259715e-03 9.80402446e+01] [ 9.88588845e-01 1.49947637e-01 -1.44153301e-02 7.56777556e+01] [ 1.46261079e-02 -3.02903312e-04 9.99892987e-01 1.93070013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.468040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.04, Y:75.71, Z:1.93 [[ 1.50676095e-01 -9.88580417e-01 -2.33972418e-03 9.80431922e+01] [ 9.88474947e-01 1.50694197e-01 -1.44408538e-02 7.57056436e+01] [ 1.46285281e-02 -1.36867280e-04 9.99892988e-01 1.92969486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.498040942 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:98.05, Y:75.73, Z:1.93 [[ 1.52860091e-01 -9.88244811e-01 -2.44685165e-03 9.80484808e+01] [ 9.88139579e-01 1.52879524e-01 -1.44230030e-02 7.57328370e+01] [ 1.46275314e-02 -2.13129409e-04 9.99892989e-01 1.92945892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.528040942 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:98.06, Y:75.76, Z:1.92 [[ 1.62486644e-01 -9.86707681e-01 -2.45835149e-03 9.80574134e+01] [ 9.86602294e-01 1.62505219e-01 -1.44210973e-02 7.57587961e+01] [ 1.46289024e-02 -8.21795121e-05 9.99892989e-01 1.92102983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.558040942 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:98.06, Y:75.79, Z:1.93 [[ 1.56847260e-01 -9.87619992e-01 -2.38506543e-03 9.80571112e+01] [ 9.87514526e-01 1.56865366e-01 -1.44332078e-02 7.57899253e+01] [ 1.46286587e-02 -9.14776723e-05 9.99892991e-01 1.93131275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.588040942 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:98.06, Y:75.82, Z:1.93 [[ 1.57743792e-01 -9.87476794e-01 -2.54508059e-03 9.80606603e+01] [ 9.87371725e-01 1.57764139e-01 -1.44067199e-02 7.58178023e+01] [ 1.46278240e-02 -2.40369979e-04 9.99892979e-01 1.93277396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.618040942 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:98.07, Y:75.85, Z:1.93 [[ 1.61791576e-01 -9.86821731e-01 -2.52135361e-03 9.80659396e+01] [ 9.86716518e-01 1.61811146e-01 -1.44106193e-02 7.58471825e+01] [ 1.46286954e-02 -1.56344435e-04 9.99892983e-01 1.93384637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.648040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.07, Y:75.87, Z:1.93 [[ 1.63599245e-01 -9.86523506e-01 -2.58041417e-03 9.80708411e+01] [ 9.86418409e-01 1.63619485e-01 -1.44009150e-02 7.58730789e+01] [ 1.46290472e-02 -1.89389213e-04 9.99892972e-01 1.93293091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.07, Y:75.90, Z:1.93 [[ 1.63470965e-01 -9.86544873e-01 -2.54089426e-03 9.80735691e+01] [ 9.86439677e-01 1.63490641e-01 -1.44073934e-02 7.59013423e+01] [ 1.46289525e-02 -1.51248407e-04 9.99892980e-01 1.93385398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.708040942 meters Centerline goodness : 0.997205 Centerline is valid? [True, True] Translation: X:98.08, Y:75.92, Z:1.93 [[ 1.68073154e-01 -9.85771280e-01 -2.52936305e-03 9.80792416e+01] [ 9.85665965e-01 1.68092170e-01 -1.44093090e-02 7.59155696e+01] [ 1.46294491e-02 -7.12890709e-05 9.99892981e-01 1.92586636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.08, Y:75.95, Z:1.93 [[ 1.64167958e-01 -9.86430296e-01 -2.03791386e-03 9.80807699e+01] [ 9.86323926e-01 1.64180192e-01 -1.44906173e-02 7.59522554e+01] [ 1.46285690e-02 3.68851859e-04 9.99892929e-01 1.93251611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76804094199997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.08, Y:75.97, Z:1.93 [[ 1.58712237e-01 -9.87321615e-01 -2.54040531e-03 9.80786251e+01] [ 9.87216499e-01 1.58732413e-01 -1.44085301e-02 7.59725301e+01] [ 1.46290979e-02 -2.21119988e-04 9.99892965e-01 1.93117089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.79804094199997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.09, Y:76.00, Z:1.94 [[ 1.61768458e-01 -9.86826210e-01 -2.23537434e-03 9.80910993e+01] [ 9.86720301e-01 1.61783847e-01 -1.44580150e-02 7.60037450e+01] [ 1.46291956e-02 1.33161537e-04 9.99892979e-01 1.93561166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82804094199997 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:98.09, Y:76.03, Z:1.93 [[ 1.55417984e-01 -9.87845783e-01 -2.44121093e-03 9.80887200e+01] [ 9.87740477e-01 1.55437063e-01 -1.44245885e-02 7.60257694e+01] [ 1.46287236e-02 -1.69442376e-04 9.99892980e-01 1.93283192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.85804094199997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:98.09, Y:76.05, Z:1.93 [[ 1.54020915e-01 -9.88065186e-01 -2.17831566e-03 9.80939378e+01] [ 9.87959270e-01 1.54036300e-01 -1.44672088e-02 7.60520423e+01] [ 1.46300850e-02 7.61655965e-05 9.99892972e-01 1.93258085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88804094199998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:98.11, Y:76.09, Z:1.93 [[ 1.55354609e-01 -9.87856475e-01 -2.12825302e-03 9.81068250e+01] [ 9.87750425e-01 1.55369117e-01 -1.44753120e-02 7.60856220e+01] [ 1.46301954e-02 1.46623610e-04 9.99892962e-01 1.93292357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.91804094199998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:98.11, Y:76.10, Z:1.93 [[ 1.49248019e-01 -9.88796837e-01 -2.41749549e-03 9.81052348e+01] [ 9.88691591e-01 1.49267409e-01 -1.44283750e-02 7.61036544e+01] [ 1.46275848e-02 -2.36751092e-04 9.99892983e-01 1.93200769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94804094199998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:98.11, Y:76.13, Z:1.93 [[ 1.49375129e-01 -9.88778542e-01 -2.01642439e-03 9.81095091e+01] [ 9.88672335e-01 1.49388640e-01 -1.44930708e-02 7.61307856e+01] [ 1.46316683e-02 1.71321313e-04 9.99892937e-01 1.93234504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.97804094199998 meters Centerline goodness : 0.997065 Centerline is valid? [True, True] Translation: X:98.11, Y:76.16, Z:1.94 [[ 1.49576856e-01 -9.88748074e-01 -2.00244932e-03 9.81125111e+01] [ 9.88641835e-01 1.49590141e-01 -1.44952563e-02 7.61604315e+01] [ 1.46317035e-02 1.88449701e-04 9.99892933e-01 1.93905985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00804094199998 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:98.12, Y:76.19, Z:1.94 [[ 1.50104129e-01 -9.88667817e-01 -2.16755520e-03 9.81190312e+01] [ 9.88561930e-01 1.50119776e-01 -1.44694302e-02 7.61918872e+01] [ 1.46308528e-02 2.91586583e-05 9.99892963e-01 1.93811124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.03804094199998 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:98.11, Y:76.21, Z:1.93 [[ 1.34962060e-01 -9.90847904e-01 -2.38197702e-03 9.81107966e+01] [ 9.90742817e-01 1.34982451e-01 -1.44363790e-02 7.62052364e+01] [ 1.46257809e-02 -4.11563177e-04 9.99892953e-01 1.92593222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06804094199998 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:98.13, Y:76.25, Z:1.92 [[ 1.48726989e-01 -9.88876595e-01 -1.83351979e-03 9.81317173e+01] [ 9.88770038e-01 1.48737886e-01 -1.45207783e-02 7.62501998e+01] [ 1.46319717e-02 3.46702203e-04 9.99892887e-01 1.92414131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.09804094199998 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:98.13, Y:76.27, Z:1.93 [[ 1.47298214e-01 -9.89088602e-01 -2.64069709e-03 9.81292204e+01] [ 9.88983967e-01 1.47321064e-01 -1.43950165e-02 7.62674712e+01] [ 1.46269770e-02 -4.91246863e-04 9.99892899e-01 1.92676184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12804094199998 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:98.14, Y:76.29, Z:1.93 [[ 1.44057040e-01 -9.89566932e-01 -2.20392692e-03 9.81356091e+01] [ 9.89461246e-01 1.44073865e-01 -1.44624955e-02 7.62946545e+01] [ 1.46291356e-02 -9.72759890e-05 9.99892984e-01 1.92536117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.15804094199999 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:98.14, Y:76.32, Z:1.92 [[ 1.46823607e-01 -9.89160179e-01 -2.22917530e-03 9.81394197e+01] [ 9.89054505e-01 1.46840506e-01 -1.44585977e-02 7.63236838e+01] [ 1.46292023e-02 -8.19123994e-05 9.99892984e-01 1.92318662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.188040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:98.15, Y:76.35, Z:1.94 [[ 1.56354615e-01 -9.87698383e-01 -2.26703821e-03 9.81507695e+01] [ 9.87592635e-01 1.56371048e-01 -1.44527579e-02 7.63492721e+01] [ 1.46294648e-02 2.08451607e-05 9.99892983e-01 1.93720770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.218040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:98.15, Y:76.38, Z:1.93 [[ 1.57837231e-01 -9.87462590e-01 -2.24555674e-03 9.81534318e+01] [ 9.87356771e-01 1.57853191e-01 -1.44560660e-02 7.63776573e+01] [ 1.46292926e-02 6.45397745e-05 9.99892984e-01 1.93136986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.248040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.17, Y:76.41, Z:1.94 [[ 1.61905312e-01 -9.86803750e-01 -2.24244234e-03 9.81672154e+01] [ 9.86697860e-01 1.61920790e-01 -1.44565445e-02 7.64088799e+01] [ 1.46288704e-02 1.27978289e-04 9.99892984e-01 1.94066836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.278040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:98.16, Y:76.43, Z:1.93 [[ 1.56427896e-01 -9.87686329e-01 -2.45537430e-03 9.81639095e+01] [ 9.87581018e-01 1.56447074e-01 -1.44237678e-02 7.64273245e+01] [ 1.46302944e-02 -1.68601398e-04 9.99892957e-01 1.93439072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.17, Y:76.46, Z:1.94 [[ 1.56325449e-01 -9.87703385e-01 -2.09235316e-03 9.81698311e+01] [ 9.87597267e-01 1.56339327e-01 -1.44794135e-02 7.64559527e+01] [ 1.46284828e-02 1.97098566e-04 9.99892979e-01 1.93606571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.338040942 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:98.19, Y:76.49, Z:1.93 [[ 1.67970497e-01 -9.85789798e-01 -2.09440421e-03 9.81900604e+01] [ 9.85683527e-01 1.67983152e-01 -1.44790993e-02 7.64903702e+01] [ 1.46251730e-02 3.67641777e-04 9.99892979e-01 1.93099074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.368040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:98.20, Y:76.52, Z:1.93 [[ 1.70210157e-01 -9.85404587e-01 -2.51053595e-03 9.81986561e+01] [ 9.85299151e-01 1.70228670e-01 -1.44147088e-02 7.65209329e+01] [ 1.46316854e-02 -2.00990805e-05 9.99892951e-01 1.93293225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.398040942 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:98.20, Y:76.54, Z:1.92 [[ 1.73195884e-01 -9.84883943e-01 -2.60872216e-03 9.82031559e+01] [ 9.84778675e-01 1.73215513e-01 -1.43995347e-02 7.65367603e+01] [ 1.46337417e-02 -7.50738151e-05 9.99892918e-01 1.92449487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.428040942 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:98.20, Y:76.57, Z:1.93 [[ 1.55477631e-01 -9.87836928e-01 -2.21586685e-03 9.82027123e+01] [ 9.87731095e-01 1.55493409e-01 -1.44597386e-02 7.65734624e+01] [ 1.46284164e-02 5.94853019e-05 9.99892997e-01 1.92947901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.458040942 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:98.21, Y:76.59, Z:1.94 [[ 1.61673697e-01 -9.86841100e-01 -2.50169912e-03 9.82107053e+01] [ 9.86735809e-01 1.61692993e-01 -1.44159438e-02 7.65905133e+01] [ 1.46307530e-02 -1.37837176e-04 9.99892955e-01 1.94082032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.488040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.22, Y:76.62, Z:1.95 [[ 1.65611928e-01 -9.86188714e-01 -2.12356291e-03 9.82239022e+01] [ 9.86082548e-01 1.65625265e-01 -1.44734527e-02 7.66247883e+01] [ 1.46252714e-02 3.02968083e-04 9.99892999e-01 1.94643473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.51804094199997 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:98.23, Y:76.65, Z:1.93 [[ 1.58938045e-01 -9.87285589e-01 -2.42157166e-03 9.82267456e+01] [ 9.87180165e-01 1.58956461e-01 -1.44279615e-02 7.66528368e+01] [ 1.46294429e-02 -9.73755325e-05 9.99892979e-01 1.93383767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.24, Y:76.68, Z:1.95 [[ 1.63964497e-01 -9.86463384e-01 -2.37409240e-03 9.82406983e+01] [ 9.86357761e-01 1.63981682e-01 -1.44351827e-02 7.66804965e+01] [ 1.46290868e-02 2.51530104e-05 9.99892989e-01 1.94948603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.57804094199997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:98.25, Y:76.71, Z:1.95 [[ 1.62266567e-01 -9.86743968e-01 -2.42944105e-03 9.82473266e+01] [ 9.86638500e-01 1.62284743e-01 -1.44267726e-02 7.67078214e+01] [ 1.46297921e-02 -5.59972023e-05 9.99892977e-01 1.95009933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60804094199997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.26, Y:76.73, Z:1.95 [[ 1.61014692e-01 -9.86949052e-01 -2.41612518e-03 9.82569967e+01] [ 9.86843577e-01 1.61032807e-01 -1.44287913e-02 7.67337087e+01] [ 1.46295573e-02 -6.10902293e-05 9.99892980e-01 1.95320156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.63804094199998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:98.26, Y:76.76, Z:1.95 [[ 1.59528402e-01 -9.87190403e-01 -2.40770193e-03 9.82615210e+01] [ 9.87084936e-01 1.59546553e-01 -1.44300649e-02 7.67603661e+01] [ 1.46293622e-02 -7.46011090e-05 9.99892982e-01 1.95233577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66804094199998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:98.27, Y:76.79, Z:1.95 [[ 1.58767874e-01 -9.87313125e-01 -2.35706627e-03 9.82683853e+01] [ 9.87207557e-01 1.58785365e-01 -1.44376953e-02 7.67876990e+01] [ 1.46287937e-02 -3.46714580e-05 9.99892993e-01 1.95320330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.69804094199998 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:98.28, Y:76.82, Z:1.94 [[ 1.60391310e-01 -9.87050714e-01 -2.34873665e-03 9.82776839e+01] [ 9.86945099e-01 1.60408506e-01 -1.44389391e-02 7.68182437e+01] [ 1.46287225e-02 -2.19377694e-06 9.99892995e-01 1.93983718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72804094199998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:98.29, Y:76.84, Z:1.95 [[ 1.56824931e-01 -9.87623340e-01 -2.46550898e-03 9.82861792e+01] [ 9.87518057e-01 1.56844215e-01 -1.44215183e-02 7.68418665e+01] [ 1.46297289e-02 -1.73081018e-04 9.99892965e-01 1.95489212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.75804094199998 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:98.29, Y:76.88, Z:1.94 [[ 1.51063249e-01 -9.88521236e-01 -2.37921211e-03 9.82896385e+01] [ 9.88415860e-01 1.51081887e-01 -1.44343852e-02 7.68782698e+01] [ 1.46281521e-02 -1.71145869e-04 9.99892988e-01 1.93694103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78804094199998 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:98.29, Y:76.89, Z:1.95 [[ 1.50489740e-01 -9.88607860e-01 -2.70877801e-03 9.82923372e+01] [ 9.88503325e-01 1.50513243e-01 -1.43854333e-02 7.68913481e+01] [ 1.46292594e-02 -5.12775959e-04 9.99892855e-01 1.94982221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.81804094199998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.30, Y:76.92, Z:1.95 [[ 1.50954999e-01 -9.88538358e-01 -2.12202812e-03 9.83026185e+01] [ 9.88432429e-01 1.50969889e-01 -1.44715656e-02 7.69193664e+01] [ 1.46260601e-02 8.70737688e-05 9.99893030e-01 1.95288232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84804094199998 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:98.30, Y:76.95, Z:1.94 [[ 1.43365817e-01 -9.89667329e-01 -2.19555932e-03 9.83032893e+01] [ 9.89561680e-01 1.43382593e-01 -1.44607747e-02 7.69465609e+01] [ 1.46261612e-02 -9.94605910e-05 9.99893027e-01 1.94033192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.87804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.32, Y:76.97, Z:1.95 [[ 1.45828510e-01 -9.89307618e-01 -2.11745488e-03 9.83157441e+01] [ 9.89201758e-01 1.45843881e-01 -1.44722023e-02 7.69716900e+01] [ 1.46262778e-02 1.58696097e-05 9.99893030e-01 1.95281822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90804094199999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.32, Y:77.00, Z:1.95 [[ 1.44496296e-01 -9.89503102e-01 -2.10495981e-03 9.83227989e+01] [ 9.89397237e-01 1.44511627e-01 -1.44740274e-02 7.69999775e+01] [ 1.46262862e-02 8.80193347e-06 9.99893030e-01 1.95286312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.938040942 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:98.33, Y:77.03, Z:1.95 [[ 1.43956736e-01 -9.89581721e-01 -2.11549035e-03 9.83290468e+01] [ 9.89475887e-01 1.43972279e-01 -1.44724909e-02 7.70252873e+01] [ 1.46262844e-02 -9.81413776e-06 9.99893030e-01 1.95263815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.968040942 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:98.34, Y:77.05, Z:1.95 [[ 1.41982554e-01 -9.89867004e-01 -2.06591551e-03 9.83383683e+01] [ 9.89761095e-01 1.41997583e-01 -1.44797068e-02 7.70538832e+01] [ 1.46263390e-02 1.11029677e-05 9.99893029e-01 1.95247557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.998040942 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:98.35, Y:77.08, Z:1.95 [[ 1.41417291e-01 -9.89947814e-01 -2.11564453e-03 9.83475080e+01] [ 9.89842020e-01 1.41433108e-01 -1.44724689e-02 7.70810715e+01] [ 1.46262111e-02 -4.74965103e-05 9.99893030e-01 1.95324617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.36, Y:77.11, Z:1.95 [[ 1.41650665e-01 -9.89914457e-01 -2.11093069e-03 9.83551094e+01] [ 9.89808649e-01 1.41666388e-01 -1.44731536e-02 7.71084249e+01] [ 1.46262319e-02 -3.92856181e-05 9.99893030e-01 1.95486773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.058040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:98.36, Y:77.14, Z:1.96 [[ 1.41700927e-01 -9.89907177e-01 -2.15134196e-03 9.83620875e+01] [ 9.89801456e-01 1.41717235e-01 -1.44672881e-02 7.71354387e+01] [ 1.46261545e-02 -7.93732807e-05 9.99893029e-01 1.95670495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.38, Y:77.17, Z:1.96 [[ 1.44328939e-01 -9.89527404e-01 -2.16201530e-03 9.83760055e+01] [ 9.89421663e-01 1.44345122e-01 -1.44657411e-02 7.71660449e+01] [ 1.46263236e-02 -5.13197070e-05 9.99893028e-01 1.95710306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.118040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.38, Y:77.19, Z:1.96 [[ 1.41980068e-01 -9.89866678e-01 -2.37063146e-03 9.83805024e+01] [ 9.89761459e-01 1.41999547e-01 -1.44354584e-02 7.71913043e+01] [ 1.46258078e-02 -2.96812290e-04 9.99892993e-01 1.95929898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.38, Y:77.21, Z:1.95 [[ 1.33167138e-01 -9.91090972e-01 -2.28002071e-03 9.83819019e+01] [ 9.90985706e-01 1.33186233e-01 -1.44484196e-02 7.72092112e+01] [ 1.46233655e-02 -3.35413248e-04 9.99893017e-01 1.95351623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.178040942 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:98.39, Y:77.24, Z:1.95 [[ 1.34309082e-01 -9.90937733e-01 -1.86567427e-03 9.83905822e+01] [ 9.90831540e-01 1.34322002e-01 -1.45072249e-02 7.72410481e+01] [ 1.46263576e-02 9.98831357e-05 9.99893024e-01 1.95447228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.40, Y:77.26, Z:1.96 [[ 1.36840353e-01 -9.90590848e-01 -2.11900522e-03 9.83995690e+01] [ 9.90485149e-01 1.36856707e-01 -1.44710755e-02 7.72616176e+01] [ 1.46249150e-02 -1.18616127e-04 9.99893043e-01 1.95798972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.41, Y:77.29, Z:1.96 [[ 1.37254700e-01 -9.90533840e-01 -1.96471151e-03 9.84069798e+01] [ 9.90427808e-01 1.37268754e-01 -1.44929987e-02 7.72912699e+01] [ 1.46254991e-02 4.33272701e-05 9.99893041e-01 1.96071907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26804094199997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.41, Y:77.32, Z:1.96 [[ 1.39483578e-01 -9.90222157e-01 -2.10035643e-03 9.84145723e+01] [ 9.90116374e-01 1.39499377e-01 -1.44737389e-02 7.73210181e+01] [ 1.46252154e-02 -6.07484048e-05 9.99893044e-01 1.96378739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.29804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.42, Y:77.35, Z:1.96 [[ 1.42483398e-01 -9.89794831e-01 -2.16172751e-03 9.84227130e+01] [ 9.89689131e-01 1.42499774e-01 -1.44650542e-02 7.73482492e+01] [ 1.46254815e-02 -7.84081443e-05 9.99893039e-01 1.96402877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32804094199997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:98.43, Y:77.38, Z:1.97 [[ 1.43909298e-01 -9.89588560e-01 -2.14366613e-03 9.84299962e+01] [ 9.89482799e-01 1.43925258e-01 -1.44675984e-02 7.73785100e+01] [ 1.46254976e-02 -3.90988269e-05 9.99893041e-01 1.96548656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.35804094199997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.44, Y:77.41, Z:1.97 [[ 1.46630939e-01 -9.89188779e-01 -2.21992258e-03 9.84384687e+01] [ 9.89083133e-01 1.46647723e-01 -1.44568682e-02 7.74086573e+01] [ 1.46261184e-02 -7.58638209e-05 9.99893030e-01 1.96551010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.45, Y:77.43, Z:1.97 [[ 1.49126111e-01 -9.88815125e-01 -2.45986631e-03 9.84463635e+01] [ 9.88709978e-01 1.49146133e-01 -1.44225624e-02 7.74290642e+01] [ 1.46281274e-02 -2.81313714e-04 9.99892964e-01 1.96915997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.41804094199998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:98.45, Y:77.45, Z:1.97 [[ 1.45801507e-01 -9.89311484e-01 -2.16968653e-03 9.84531480e+01] [ 9.89205756e-01 1.45817645e-01 -1.44632882e-02 7.74540334e+01] [ 1.46250757e-02 -3.74971826e-05 9.99893047e-01 1.96860568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.46, Y:77.48, Z:1.97 [[ 1.47430197e-01 -9.89070391e-01 -2.02472414e-03 9.84610636e+01] [ 9.88964348e-01 1.47444040e-01 -1.44835533e-02 7.74837930e+01] [ 1.46237873e-02 1.32933134e-04 9.99893058e-01 1.97195997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.47804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.47, Y:77.51, Z:1.97 [[ 1.46313279e-01 -9.89235838e-01 -2.20939254e-03 9.84672271e+01] [ 9.89130187e-01 1.46329943e-01 -1.44575620e-02 7.75116471e+01] [ 1.46252388e-02 -7.00435453e-05 9.99893043e-01 1.97355492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.48, Y:77.54, Z:1.97 [[ 1.43720603e-01 -9.89615900e-01 -2.18143170e-03 9.84756299e+01] [ 9.89510233e-01 1.43737135e-01 -1.44614854e-02 7.75391207e+01] [ 1.46248686e-02 -8.01355828e-05 9.99893048e-01 1.97439248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.53804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.48, Y:77.57, Z:1.98 [[ 1.41302505e-01 -9.89964131e-01 -2.14966653e-03 9.84826158e+01] [ 9.89858437e-01 1.41318830e-01 -1.44658878e-02 7.75695833e+01] [ 1.46244985e-02 -8.37993675e-05 9.99893053e-01 1.97683725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56804094199998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:98.49, Y:77.59, Z:1.97 [[ 1.35289046e-01 -9.90803615e-01 -2.25178772e-03 9.84877459e+01] [ 9.90698252e-01 1.35307504e-01 -1.44517504e-02 7.75906553e+01] [ 1.46235303e-02 -2.75678640e-04 9.99893032e-01 1.96712483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.59804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.49, Y:77.62, Z:1.97 [[ 1.31086809e-01 -9.91368890e-01 -1.99294014e-03 9.84933269e+01] [ 9.91263032e-01 1.31101935e-01 -1.44873590e-02 7.76211041e+01] [ 1.46235953e-02 -7.64262206e-05 9.99893067e-01 1.96514872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62804094199998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:98.50, Y:77.65, Z:1.97 [[ 1.27841980e-01 -9.91792295e-01 -2.11470729e-03 9.84997805e+01] [ 9.91686754e-01 1.27859230e-01 -1.44706642e-02 7.76454578e+01] [ 1.46222781e-02 -2.47168837e-04 9.99893058e-01 1.96758722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.65804094199999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:98.51, Y:77.68, Z:1.98 [[ 1.33065810e-01 -9.91105229e-01 -1.97889052e-03 9.85111865e+01] [ 9.90999313e-01 1.33080519e-01 -1.44892138e-02 7.76796936e+01] [ 1.46236873e-02 -3.30601812e-05 9.99893068e-01 1.97545655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.688040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.52, Y:77.70, Z:1.98 [[ 1.32495852e-01 -9.91180906e-01 -2.29361539e-03 9.85175835e+01] [ 9.91075693e-01 1.32515216e-01 -1.44460765e-02 7.77018686e+01] [ 1.46226141e-02 -3.59101246e-04 9.99893019e-01 1.97810713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.718040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.52, Y:77.73, Z:1.98 [[ 1.30046470e-01 -9.91505649e-01 -2.11260974e-03 9.85208131e+01] [ 9.91400068e-01 1.30063455e-01 -1.44707811e-02 7.77289049e+01] [ 1.46226346e-02 -2.12567442e-04 9.99893061e-01 1.98312344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:77.76, Z:1.98 [[ 1.30990984e-01 -9.91381409e-01 -2.06497626e-03 9.85275165e+01] [ 9.91275708e-01 1.31007173e-01 -1.44772612e-02 7.77566413e+01] [ 1.46230143e-02 -1.50570113e-04 9.99893067e-01 1.98262865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:77.78, Z:1.98 [[ 1.30888206e-01 -9.91394857e-01 -2.12463586e-03 9.85329572e+01] [ 9.91289288e-01 1.30905277e-01 -1.44691461e-02 7.77795594e+01] [ 1.46227631e-02 -2.12288191e-04 9.99893059e-01 1.98184057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.54, Y:77.81, Z:1.98 [[ 1.32371166e-01 -9.91198193e-01 -2.00397994e-03 9.85425936e+01] [ 9.91092344e-01 1.32386316e-01 -1.44854788e-02 7.78100265e+01] [ 1.46232800e-02 -6.86694558e-05 9.99893072e-01 1.98201937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.838040942 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:98.55, Y:77.85, Z:1.98 [[ 1.35731941e-01 -9.90743366e-01 -2.10294255e-03 9.85548635e+01] [ 9.90637669e-01 1.35748178e-01 -1.44720992e-02 7.78466791e+01] [ 1.46236069e-02 -1.18927990e-04 9.99893062e-01 1.97766990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.868040942 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:98.56, Y:77.87, Z:1.98 [[ 1.34883218e-01 -9.90858419e-01 -2.47223304e-03 9.85584477e+01] [ 9.90753584e-01 1.34904930e-01 -1.44220606e-02 7.78746445e+01] [ 1.46237366e-02 -5.04079802e-04 9.99892940e-01 1.97821939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.898040942 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:98.56, Y:77.90, Z:1.98 [[ 1.30926306e-01 -9.91389161e-01 -2.41512775e-03 9.85592607e+01] [ 9.91284272e-01 1.30947606e-01 -1.44296796e-02 7.78993142e+01] [ 1.46216832e-02 -5.04853503e-04 9.99892970e-01 1.98383426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.928040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:98.57, Y:77.93, Z:1.98 [[ 1.32853696e-01 -9.91133120e-01 -2.24346320e-03 9.85661931e+01] [ 9.91027791e-01 1.32872291e-01 -1.44524267e-02 7.79259983e+01] [ 1.46223729e-02 -3.03276078e-04 9.99893041e-01 1.98252994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.57, Y:77.95, Z:1.99 [[ 1.32456584e-01 -9.91186202e-01 -2.27281213e-03 9.85701463e+01] [ 9.91080946e-01 1.32475649e-01 -1.44485379e-02 7.79529260e+01] [ 1.46222837e-02 -3.38736819e-04 9.99893031e-01 1.98684352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.988040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:98.57, Y:77.97, Z:1.98 [[ 1.30633314e-01 -9.91428246e-01 -2.22952920e-03 9.85694404e+01] [ 9.91322927e-01 1.30651942e-01 -1.44542510e-02 7.79720694e+01] [ 1.46216450e-02 -3.21976696e-04 9.99893046e-01 1.98409986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.01804094199997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.57, Y:78.00, Z:1.99 [[ 1.33585401e-01 -9.91035488e-01 -1.89773788e-03 9.85735107e+01] [ 9.90929442e-01 1.33598868e-01 -1.44976831e-02 7.80018430e+01] [ 1.46212541e-02 5.61544794e-05 9.99893102e-01 1.98923941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04804094199997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:98.58, Y:78.03, Z:1.99 [[ 1.33082058e-01 -9.91103059e-01 -1.97285970e-03 9.85766078e+01] [ 9.90997162e-01 1.33096678e-01 -1.44878874e-02 7.80330777e+01] [ 1.46215706e-02 -2.70204895e-05 9.99893099e-01 1.99100388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.07804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.57, Y:78.06, Z:1.99 [[ 1.30753740e-01 -9.91412703e-01 -2.07652237e-03 9.85745015e+01] [ 9.91307050e-01 1.30770122e-01 -1.44743823e-02 7.80574761e+01] [ 1.46216336e-02 -1.65891648e-04 9.99893084e-01 1.99123528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.58, Y:78.09, Z:1.99 [[ 1.30828276e-01 -9.91403255e-01 -1.88360256e-03 9.85777487e+01] [ 9.91297222e-01 1.30841832e-01 -1.44993905e-02 7.80865131e+01] [ 1.46211970e-02 2.97202823e-05 9.99893104e-01 1.99177765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.13804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.58, Y:78.12, Z:2.00 [[ 1.31069336e-01 -9.91371404e-01 -1.88878069e-03 9.85831012e+01] [ 9.91265378e-01 1.31082942e-01 -1.44987199e-02 7.81174767e+01] [ 1.46212033e-02 2.80546910e-05 9.99893104e-01 1.99704154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.59, Y:78.15, Z:2.00 [[ 1.29747679e-01 -9.91545022e-01 -2.00247357e-03 9.85864059e+01] [ 9.91439234e-01 1.29763087e-01 -1.44840139e-02 7.81451716e+01] [ 1.46213991e-02 -1.06063673e-04 9.99893096e-01 1.99693259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.19804094199998 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:98.59, Y:78.17, Z:1.99 [[ 1.25254418e-01 -9.92122649e-01 -1.99485060e-03 9.85893383e+01] [ 9.92016917e-01 1.25270194e-01 -1.44849972e-02 7.81686950e+01] [ 1.46207891e-02 -1.64615656e-04 9.99893097e-01 1.99155253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22804094199998 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:98.60, Y:78.21, Z:2.00 [[ 1.27855124e-01 -9.91791107e-01 -1.86184225e-03 9.85986095e+01] [ 9.91685076e-01 1.27868679e-01 -1.45020735e-02 7.82054353e+01] [ 1.46210989e-02 7.80323529e-06 9.99893106e-01 1.99509145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.25804094199998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.60, Y:78.23, Z:2.00 [[ 1.21316216e-01 -9.92611325e-01 -2.26574413e-03 9.85972785e+01] [ 9.92506260e-01 1.21336360e-01 -1.44503122e-02 7.82276497e+01] [ 1.46184607e-02 -4.95708028e-04 9.99893022e-01 2.00162643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28804094199998 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:98.61, Y:78.26, Z:1.99 [[ 1.28190679e-01 -9.91747520e-01 -2.00170411e-03 9.86073729e+01] [ 9.91641758e-01 1.28206242e-01 -1.44838787e-02 7.82590809e+01] [ 1.46209818e-02 -1.28275145e-04 9.99893100e-01 1.98730234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.31804094199998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:98.61, Y:78.29, Z:2.00 [[ 1.18990593e-01 -9.92892916e-01 -2.21262745e-03 9.86058637e+01] [ 9.92787774e-01 1.19010209e-01 -1.44570556e-02 7.82866542e+01] [ 1.46176334e-02 -4.76415859e-04 9.99893043e-01 2.00056191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.60, Y:78.31, Z:2.00 [[ 1.11061945e-01 -9.93811132e-01 -2.16299054e-03 9.86010344e+01] [ 9.93706029e-01 1.11081679e-01 -1.44633437e-02 7.83055778e+01] [ 1.46141006e-02 -5.43049654e-04 9.99893061e-01 2.00179708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.37804094199998 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:98.60, Y:78.33, Z:2.00 [[ 1.07959190e-01 -9.94153659e-01 -1.82079062e-03 9.86006303e+01] [ 9.94047848e-01 1.07974268e-01 -1.45062965e-02 7.83309462e+01] [ 1.46180863e-02 -2.43864976e-04 9.99893120e-01 2.00124044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40804094199999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:98.61, Y:78.36, Z:2.00 [[ 1.09894520e-01 -9.93941860e-01 -1.66554058e-03 9.86051410e+01] [ 9.93835715e-01 1.09907125e-01 -1.45256723e-02 7.83606195e+01] [ 1.46207285e-02 -5.89819290e-05 9.99893110e-01 2.00295365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.438040942 meters Centerline goodness : 0.991825 Centerline is valid? [True, True] Translation: X:98.61, Y:78.38, Z:1.99 [[ 1.06806407e-01 -9.94278184e-01 -1.81224899e-03 9.86060938e+01] [ 9.94172373e-01 1.06821483e-01 -1.45073457e-02 7.83844827e+01] [ 1.46179244e-02 -2.52210412e-04 9.99893121e-01 1.99253085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.468040942 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:98.61, Y:78.41, Z:1.99 [[ 1.06308295e-01 -9.94331852e-01 -1.64761889e-03 9.86098416e+01] [ 9.94225721e-01 1.06321020e-01 -1.45277884e-02 7.84050538e+01] [ 1.46206193e-02 -9.36806643e-05 9.99893109e-01 1.99436331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.498040942 meters Centerline goodness : 0.998438 Centerline is valid? [True, True] Translation: X:98.62, Y:78.44, Z:2.00 [[ 1.11148209e-01 -9.93802853e-01 -1.40196947e-03 9.86160055e+01] [ 9.93696230e-01 1.11156823e-01 -1.45589808e-02 7.84402837e+01] [ 1.46245952e-02 2.25072876e-04 9.99893030e-01 1.99871485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.62, Y:78.47, Z:2.00 [[ 1.15329806e-01 -9.93325537e-01 -1.84759063e-03 9.86239395e+01] [ 9.93219683e-01 1.15344490e-01 -1.45020827e-02 7.84742985e+01] [ 1.46183985e-02 -1.62540998e-04 9.99893132e-01 1.99943126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.558040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.62, Y:78.49, Z:2.00 [[ 1.08483130e-01 -9.94095965e-01 -2.15002124e-03 9.86151927e+01] [ 9.93990884e-01 1.08502948e-01 -1.44648830e-02 7.84943937e+01] [ 1.46127654e-02 -5.67905734e-04 9.99893067e-01 2.00198349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.588040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:98.62, Y:78.52, Z:2.00 [[ 1.09903504e-01 -9.93940691e-01 -1.76728101e-03 9.86200643e+01] [ 9.93834765e-01 1.09917593e-01 -1.45114960e-02 7.85222973e+01] [ 1.46178217e-02 -1.61521042e-04 9.99893141e-01 1.99541465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.618040942 meters Centerline goodness : 0.997668 Centerline is valid? [True, True] Translation: X:98.62, Y:78.53, Z:1.99 [[ 1.14501608e-01 -9.93421387e-01 -1.82490784e-03 9.86228267e+01] [ 9.93315507e-01 1.14516049e-01 -1.45044394e-02 7.85343346e+01] [ 1.46180015e-02 -1.51927623e-04 9.99893140e-01 1.99427088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.648040942 meters Centerline goodness : 0.997448 Centerline is valid? [True, True] Translation: X:98.63, Y:78.56, Z:2.00 [[ 1.13212685e-01 -9.93570110e-01 -1.15081793e-03 9.86251755e+01] [ 9.93463192e-01 1.13217395e-01 -1.45845140e-02 7.85629302e+01] [ 1.46210298e-02 5.07856733e-04 9.99892978e-01 1.99600371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.678040942 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:98.63, Y:78.61, Z:1.99 [[ 1.11612953e-01 -9.93750802e-01 -1.37567727e-03 9.86300660e+01] [ 9.93644210e-01 1.11621132e-01 -1.45570331e-02 7.86067554e+01] [ 1.46196179e-02 2.57819684e-04 9.99893094e-01 1.99252222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.708040942 meters Centerline goodness : 0.995207 Centerline is valid? [True, True] Translation: X:98.64, Y:78.62, Z:1.99 [[ 1.18415484e-01 -9.92961642e-01 -2.22514397e-03 9.86398292e+01] [ 9.92856601e-01 1.18435341e-01 -1.44513144e-02 7.86219061e+01] [ 1.46131366e-02 -4.97989485e-04 9.99893098e-01 1.99002459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.738040942 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:98.64, Y:78.65, Z:2.00 [[ 1.09840754e-01 -9.93947463e-01 -1.85735585e-03 9.86355097e+01] [ 9.93841774e-01 1.09856163e-01 -1.44966019e-02 7.86506054e+01] [ 1.46129027e-02 -2.53600145e-04 9.99893194e-01 1.99746417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76804094199997 meters Centerline goodness : 0.996369 Centerline is valid? [True, True] Translation: X:98.64, Y:78.68, Z:2.00 [[ 1.07309997e-01 -9.94223798e-01 -1.89857331e-03 9.86374094e+01] [ 9.94118235e-01 1.07326276e-01 -1.44915566e-02 7.86752639e+01] [ 1.46116173e-02 -3.32317452e-04 9.99893189e-01 1.99646994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.79804094199997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.65, Y:78.70, Z:2.00 [[ 1.09376730e-01 -9.93998727e-01 -1.80599586e-03 9.86453701e+01] [ 9.93892942e-01 1.09391440e-01 -1.45028327e-02 7.87047962e+01] [ 1.46133577e-02 -2.08694119e-04 9.99893197e-01 2.00186179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82804094199997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:98.65, Y:78.73, Z:1.99 [[ 1.08615552e-01 -9.94081922e-01 -1.94788472e-03 9.86456458e+01] [ 9.93976436e-01 1.08632411e-01 -1.44860034e-02 7.87264017e+01] [ 1.46118775e-02 -3.62746263e-04 9.99893175e-01 1.98940064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.85804094199997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.65, Y:78.76, Z:1.99 [[ 1.03869905e-01 -9.94589479e-01 -1.67677006e-03 9.86492269e+01] [ 9.94483528e-01 1.03883316e-01 -1.45179075e-02 7.87623642e+01] [ 1.46135465e-02 -1.59546521e-04 9.99893204e-01 1.99458809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88804094199998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:98.65, Y:78.79, Z:2.00 [[ 1.02512732e-01 -9.94729727e-01 -1.97760879e-03 9.86524748e+01] [ 9.94624413e-01 1.02530671e-01 -1.44823742e-02 7.87862638e+01] [ 1.46088137e-02 -4.82350237e-04 9.99893169e-01 1.99745303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.91804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.66, Y:78.81, Z:2.00 [[ 1.02781493e-01 -9.94702266e-01 -1.83500699e-03 9.86560623e+01] [ 9.94596645e-01 1.02797327e-01 -1.44991115e-02 7.88133696e+01] [ 1.46109329e-02 -3.34851475e-04 9.99893199e-01 1.99850383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.66, Y:78.84, Z:1.99 [[ 1.04589396e-01 -9.94513864e-01 -1.79819611e-03 9.86604754e+01] [ 9.94408140e-01 1.04604502e-01 -1.45034107e-02 7.88395940e+01] [ 1.46119424e-02 -2.71237883e-04 9.99893203e-01 1.99444213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.97804094199998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.66, Y:78.87, Z:1.99 [[ 1.05063559e-01 -9.94464058e-01 -1.69877775e-03 9.86629687e+01] [ 9.94358137e-01 1.05077164e-01 -1.45149703e-02 7.88744332e+01] [ 1.46131191e-02 -1.64199031e-04 9.99893209e-01 1.99436565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.66, Y:78.89, Z:2.00 [[ 1.05088936e-01 -9.94460814e-01 -2.00108104e-03 9.86643735e+01] [ 9.94355505e-01 1.05106944e-01 -1.44796642e-02 7.88940101e+01] [ 1.46097862e-02 -4.68133444e-04 9.99893162e-01 1.99543673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.03804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.67, Y:78.92, Z:1.99 [[ 1.09445220e-01 -9.93991402e-01 -1.68433110e-03 9.86678355e+01] [ 9.93885401e-01 1.09458147e-01 -1.45163130e-02 7.89219595e+01] [ 1.46134541e-02 -8.52910227e-05 9.99893214e-01 1.98692909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06804094199998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:98.66, Y:78.96, Z:1.99 [[ 9.68293814e-02 -9.95299584e-01 -1.67595727e-03 9.86628074e+01] [ 9.95193740e-01 9.68435294e-02 -1.45172797e-02 7.89568214e+01] [ 1.46113481e-02 -2.62202973e-04 9.99893214e-01 1.98513808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.09804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.67, Y:78.98, Z:1.99 [[ 1.03823631e-01 -9.94593944e-01 -1.88132107e-03 9.86681050e+01] [ 9.94488404e-01 1.03840029e-01 -1.44935376e-02 7.89788494e+01] [ 1.46105411e-02 -3.66180299e-04 9.99893193e-01 1.98605809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12804094199998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.67, Y:79.01, Z:2.00 [[ 1.10008167e-01 -9.93929284e-01 -1.66765626e-03 9.86712613e+01] [ 9.93823249e-01 1.10020790e-01 -1.45180811e-02 7.90070158e+01] [ 1.46134228e-02 -6.02480711e-05 9.99893216e-01 1.99565776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.67, Y:79.03, Z:2.00 [[ 1.07786647e-01 -9.94172578e-01 -1.70987358e-03 9.86718053e+01] [ 9.94066647e-01 1.07800123e-01 -1.45132351e-02 7.90325157e+01] [ 1.46129850e-02 -1.35395348e-04 9.99893215e-01 1.99777000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.67, Y:79.06, Z:2.00 [[ 1.07631296e-01 -9.94189567e-01 -1.61554881e-03 9.86733537e+01] [ 9.94083472e-01 1.07643412e-01 -1.45240223e-02 7.90594798e+01] [ 1.46135347e-02 -4.27510185e-05 9.99893216e-01 1.99852639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.68, Y:79.09, Z:1.99 [[ 1.12469933e-01 -9.93653893e-01 -1.56701072e-03 9.86811026e+01] [ 9.93547662e-01 1.12480823e-01 -1.45295587e-02 7.90926900e+01] [ 1.46136112e-02 7.72386604e-05 9.99893213e-01 1.99328921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.68, Y:79.12, Z:1.99 [[ 1.11498169e-01 -9.93763018e-01 -1.79537687e-03 9.86806103e+01] [ 9.93657191e-01 1.11512498e-01 -1.45034392e-02 7.91169354e+01] [ 1.46131884e-02 -1.66882222e-04 9.99893208e-01 1.99263721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.68, Y:79.15, Z:2.00 [[ 1.09522122e-01 -9.93982967e-01 -1.66342736e-03 9.86847263e+01] [ 9.93876932e-01 1.09534735e-01 -1.45184522e-02 7.91456635e+01] [ 1.46132973e-02 -6.31503870e-05 9.99893218e-01 1.99591579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.69, Y:79.18, Z:2.00 [[ 1.06882284e-01 -9.94270281e-01 -1.66931626e-03 9.86897544e+01] [ 9.94164290e-01 1.06895264e-01 -1.45177833e-02 7.91752510e+01] [ 1.46130424e-02 -1.07880791e-04 9.99893218e-01 1.99989889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.69, Y:79.20, Z:2.00 [[ 1.07299860e-01 -9.94225182e-01 -1.73979368e-03 9.86932995e+01] [ 9.94119313e-01 1.07313825e-01 -1.45097877e-02 7.91991481e+01] [ 1.46127002e-02 -1.72664312e-04 9.99893214e-01 1.99860494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.70, Y:79.24, Z:2.00 [[ 1.03195251e-01 -9.94659815e-01 -1.60985059e-03 9.86999218e+01] [ 9.94553769e-01 1.03207757e-01 -1.45244711e-02 7.92354231e+01] [ 1.46130568e-02 -1.02226525e-04 9.99893218e-01 1.99703936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.70, Y:79.26, Z:2.00 [[ 9.96769926e-02 -9.95017952e-01 -1.94242620e-03 9.86982524e+01] [ 9.94912608e-01 9.96947199e-02 -1.44867096e-02 7.92555310e+01] [ 1.46081857e-02 -4.88552671e-04 9.99893175e-01 1.99872140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.71, Y:79.29, Z:2.00 [[ 9.91821412e-02 -9.95067954e-01 -1.63416504e-03 9.87059538e+01] [ 9.94962007e-01 9.91954291e-02 -1.45214004e-02 7.92912832e+01] [ 1.46118819e-02 -1.85668544e-04 9.99893224e-01 1.99883573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.71, Y:79.32, Z:2.00 [[ 9.80748052e-02 -9.95177160e-01 -1.93700815e-03 9.87105557e+01] [ 9.95071836e-01 9.80926232e-02 -1.44872040e-02 7.93176420e+01] [ 1.46073408e-02 -5.06632542e-04 9.99893179e-01 2.00115774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.71, Y:79.35, Z:2.00 [[ 9.27747672e-02 -9.95685339e-01 -1.88366480e-03 9.87123489e+01] [ 9.95579993e-01 9.27923701e-02 -1.44931974e-02 7.93467172e+01] [ 1.46054539e-02 -5.30735975e-04 9.99893194e-01 1.99991178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.51804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.72, Y:79.37, Z:2.00 [[ 8.81019993e-02 -9.96109551e-01 -1.94945304e-03 9.87155550e+01] [ 9.96004439e-01 8.81210522e-02 -1.44858092e-02 7.93726600e+01] [ 1.46012407e-02 -6.65435124e-04 9.99893175e-01 2.00161124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.72, Y:79.40, Z:2.00 [[ 8.68663130e-02 -9.96218098e-01 -1.93537371e-03 9.87197312e+01] [ 9.96112976e-01 8.68852918e-02 -1.44873830e-02 7.94005972e+01] [ 1.46007487e-02 -6.69385317e-04 9.99893179e-01 2.00097356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.57804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.72, Y:79.43, Z:2.00 [[ 8.41384201e-02 -9.96452227e-01 -1.91970461e-03 9.87210313e+01] [ 9.96347122e-01 8.41574591e-02 -1.44891014e-02 7.94299320e+01] [ 1.45992548e-02 -6.93602063e-04 9.99893185e-01 1.99996419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60804094199997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.72, Y:79.45, Z:1.99 [[ 8.75185992e-02 -9.96161043e-01 -1.91622635e-03 9.87236220e+01] [ 9.96055866e-01 8.75372309e-02 -1.44894813e-02 7.94531565e+01] [ 1.46015979e-02 -6.40569387e-04 9.99893186e-01 1.99421969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.63804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.72, Y:79.48, Z:2.00 [[ 8.56828654e-02 -9.96320906e-01 -1.76016125e-03 9.87238313e+01] [ 9.96215425e-01 8.56994220e-02 -1.45063838e-02 7.94840432e+01] [ 1.46038583e-02 -5.10551257e-04 9.99893228e-01 2.00009032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.73, Y:79.51, Z:2.00 [[ 8.60937876e-02 -9.96285311e-01 -1.85462438e-03 9.87262524e+01] [ 9.96180024e-01 8.61116745e-02 -1.44961627e-02 7.95122394e+01] [ 1.46020188e-02 -5.99510211e-04 9.99893205e-01 2.00002588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.69804094199998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:98.73, Y:79.54, Z:2.00 [[ 8.47519586e-02 -9.96400296e-01 -1.88583311e-03 9.87287120e+01] [ 9.96295103e-01 8.47704408e-02 -1.44927891e-02 7.95423317e+01] [ 1.46004823e-02 -6.50554028e-04 9.99893196e-01 1.99988738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72804094199998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:98.73, Y:79.57, Z:2.00 [[ 8.78069713e-02 -9.96135675e-01 -1.91132579e-03 9.87320202e+01] [ 9.96030481e-01 8.78255014e-02 -1.44900978e-02 7.95692151e+01] [ 1.46019665e-02 -6.31407144e-04 9.99893186e-01 1.99627530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.75804094199998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:98.73, Y:79.60, Z:2.00 [[ 8.71509608e-02 -9.96193440e-01 -1.82741352e-03 9.87347244e+01] [ 9.96088080e-01 8.71683401e-02 -1.44988958e-02 7.95978004e+01] [ 1.46029975e-02 -5.56672127e-04 9.99893216e-01 1.99666500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.73, Y:79.63, Z:2.00 [[ 8.43164711e-02 -9.96437354e-01 -1.82538483e-03 9.87347564e+01] [ 9.96332039e-01 8.43341207e-02 -1.44991077e-02 7.96282319e+01] [ 1.46013947e-02 -5.96175798e-04 9.99893216e-01 1.99951040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.81804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.73, Y:79.65, Z:1.99 [[ 8.53291839e-02 -9.96350972e-01 -1.91584585e-03 9.87345091e+01] [ 9.96245833e-01 8.53480414e-02 -1.44897271e-02 7.96531614e+01] [ 1.46003674e-02 -6.72256858e-04 9.99893183e-01 1.99403049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84804094199998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.73, Y:79.68, Z:2.00 [[ 8.18675030e-02 -9.96641707e-01 -1.73798884e-03 9.87336397e+01] [ 9.96536253e-01 8.18841405e-02 -1.45080358e-02 7.96830704e+01] [ 1.46016273e-02 -5.44232219e-04 9.99893242e-01 2.00174157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.87804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.74, Y:79.70, Z:2.00 [[ 8.58842590e-02 -9.96303308e-01 -1.90062790e-03 9.87353313e+01] [ 9.96198129e-01 8.59028366e-02 -1.44910706e-02 7.96982305e+01] [ 1.46007709e-02 -6.48847100e-04 9.99893193e-01 2.00056440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.73, Y:79.73, Z:2.00 [[ 8.18635517e-02 -9.96642469e-01 -1.46541898e-03 9.87325258e+01] [ 9.96536498e-01 8.18762202e-02 -1.45358834e-02 7.97282941e+01] [ 1.46070617e-02 -2.70384457e-04 9.99893275e-01 2.00289176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.938040942 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:98.73, Y:79.76, Z:2.00 [[ 7.93092624e-02 -9.96848898e-01 -1.52158121e-03 9.87330713e+01] [ 9.96743063e-01 7.93230208e-02 -1.45301147e-02 7.97597820e+01] [ 1.46050252e-02 -3.64252840e-04 9.99893275e-01 1.99776441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.968040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:98.73, Y:79.79, Z:2.01 [[ 7.65174661e-02 -9.97066873e-01 -1.65176917e-03 9.87327291e+01] [ 9.96961334e-01 7.65334155e-02 -1.45167279e-02 7.97884447e+01] [ 1.46005640e-02 -5.35966761e-04 9.99893262e-01 2.00684012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.998040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:98.73, Y:79.82, Z:2.00 [[ 7.56765427e-02 -9.97130941e-01 -1.71690427e-03 9.87339519e+01] [ 9.97025551e-01 7.56935282e-02 -1.45100156e-02 7.98184594e+01] [ 1.45983441e-02 -6.13729611e-04 9.99893250e-01 2.00280758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.028040942 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:98.73, Y:79.84, Z:2.00 [[ 7.50544976e-02 -9.97177851e-01 -1.77666300e-03 9.87326380e+01] [ 9.97072600e-01 7.50724171e-02 -1.45038678e-02 7.98438572e+01] [ 1.45963141e-02 -6.82881479e-04 9.99893235e-01 1.99816869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.058040942 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:98.73, Y:79.87, Z:2.00 [[ 7.36402921e-02 -9.97283469e-01 -1.67022859e-03 9.87331078e+01] [ 9.97178016e-01 7.36568144e-02 -1.45147641e-02 7.98746923e+01] [ 1.45983581e-02 -5.96643757e-04 9.99893260e-01 2.00205938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.088040942 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:98.73, Y:79.90, Z:2.00 [[ 7.75281101e-02 -9.96988607e-01 -1.76319087e-03 9.87335503e+01] [ 9.96883284e-01 7.75455727e-02 -1.45052640e-02 7.98977454e+01] [ 1.45983106e-02 -6.33129805e-04 9.99893239e-01 2.00156696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.118040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.73, Y:79.93, Z:2.00 [[ 7.53966984e-02 -9.97152332e-01 -1.60130672e-03 9.87331937e+01] [ 9.97046712e-01 7.54120323e-02 -1.45216780e-02 7.99277706e+01] [ 1.46010829e-02 -5.01691022e-04 9.99893273e-01 2.00444538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.148040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:98.73, Y:79.95, Z:2.00 [[ 7.82881238e-02 -9.96929344e-01 -1.68905715e-03 9.87345010e+01] [ 9.96823854e-01 7.83044281e-02 -1.45127958e-02 7.99506091e+01] [ 1.46004927e-02 -5.47512906e-04 9.99893257e-01 2.00108039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.73, Y:79.99, Z:2.00 [[ 7.75704505e-02 -9.96985752e-01 -1.49525561e-03 9.87338887e+01] [ 9.96879900e-01 7.75840098e-02 -1.45322586e-02 7.99856716e+01] [ 1.46044627e-02 -3.63316416e-04 9.99893283e-01 2.00401629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.73, Y:80.01, Z:2.00 [[ 7.86882840e-02 -9.96897723e-01 -1.75620743e-03 9.87346709e+01] [ 9.96792364e-01 7.87055225e-02 -1.45059855e-02 8.00126222e+01] [ 1.45992071e-02 -6.09123057e-04 9.99893240e-01 2.00346534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.238040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:98.73, Y:80.04, Z:2.00 [[ 7.99241981e-02 -9.96799453e-01 -1.72398662e-03 9.87338627e+01] [ 9.96694008e-01 7.99408374e-02 -1.45092063e-02 8.00420492e+01] [ 1.46005859e-02 -5.58650456e-04 9.99893250e-01 2.00321546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.73, Y:80.07, Z:2.00 [[ 8.07037182e-02 -9.96736708e-01 -1.68687308e-03 9.87345834e+01] [ 9.96631176e-01 8.07197351e-02 -1.45128534e-02 8.00702861e+01] [ 1.46016577e-02 -5.09949076e-04 9.99893260e-01 2.00357046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.29804094199997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.74, Y:80.10, Z:2.01 [[ 8.51445105e-02 -9.96367212e-01 -1.67080368e-03 9.87365194e+01] [ 9.96261580e-01 8.51598229e-02 -1.45144273e-02 8.00997450e+01] [ 1.46039848e-02 -4.28733707e-04 9.99893264e-01 2.00890302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.73, Y:80.13, Z:2.00 [[ 8.12983739e-02 -9.96688167e-01 -1.80911449e-03 9.87348837e+01] [ 9.96582871e-01 8.13161057e-02 -1.45007439e-02 8.01264507e+01] [ 1.45998300e-02 -6.24045611e-04 9.99893222e-01 2.00387629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.35804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.74, Y:80.15, Z:2.00 [[ 8.15457429e-02 -9.96668207e-01 -1.66637264e-03 9.87351870e+01] [ 9.96562628e-01 8.15613720e-02 -1.45145099e-02 8.01522436e+01] [ 1.46020622e-02 -4.77048204e-04 9.99893270e-01 2.00239757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.74, Y:80.18, Z:2.00 [[ 8.04276632e-02 -9.96759246e-01 -1.54821105e-03 9.87357783e+01] [ 9.96653468e-01 8.04416902e-02 -1.45258385e-02 8.01813734e+01] [ 1.46033046e-02 -3.74750659e-04 9.99893296e-01 2.00331320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.41804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.74, Y:80.21, Z:2.01 [[ 8.20577537e-02 -9.96626287e-01 -1.60257915e-03 9.87370106e+01] [ 9.96520583e-01 8.20723997e-02 -1.45206331e-02 8.02083007e+01] [ 1.46031722e-02 -4.05472570e-04 9.99893286e-01 2.00536326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.74, Y:80.24, Z:2.01 [[ 8.55024957e-02 -9.96336767e-01 -1.53966026e-03 9.87386561e+01] [ 9.96230904e-01 8.55158592e-02 -1.45266266e-02 8.02377740e+01] [ 1.46050775e-02 -2.91794309e-04 9.99893298e-01 2.00855884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.74, Y:80.26, Z:2.01 [[ 8.56655780e-02 -9.96322637e-01 -1.61590983e-03 9.87383434e+01] [ 9.96216904e-01 8.56800354e-02 -1.45193624e-02 8.02636003e+01] [ 1.46044206e-02 -3.65987117e-04 9.99893283e-01 2.00771704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.74, Y:80.30, Z:2.01 [[ 8.47630709e-02 -9.96399959e-01 -1.53061352e-03 9.87411785e+01] [ 9.96294093e-01 8.47763811e-02 -1.45274359e-02 8.02968807e+01] [ 1.46048964e-02 -2.93551131e-04 9.99893300e-01 2.00891763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.53804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.74, Y:80.33, Z:2.01 [[ 8.66757856e-02 -9.96235125e-01 -1.69812652e-03 9.87426465e+01] [ 9.96129522e-01 8.66913335e-02 -1.45116226e-02 8.03258908e+01] [ 1.46042011e-02 -4.33747663e-04 9.99893259e-01 2.00700116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.75, Y:80.36, Z:2.01 [[ 9.07987480e-02 -9.95867796e-01 -1.70892508e-03 9.87461268e+01] [ 9.95762149e-01 9.08140160e-02 -1.45106063e-02 8.03556294e+01] [ 1.46058399e-02 -3.84138022e-04 9.99893255e-01 2.00904919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.59804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.74, Y:80.38, Z:2.00 [[ 8.62569808e-02 -9.96271318e-01 -1.78742779e-03 9.87410243e+01] [ 9.96165887e-01 8.62738732e-02 -1.45032591e-02 8.03771069e+01] [ 1.46033893e-02 -5.29567252e-04 9.99893225e-01 2.00333128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.74, Y:80.40, Z:2.00 [[ 8.58536906e-02 -9.96306644e-01 -1.48801439e-03 9.87415433e+01] [ 9.96200701e-01 8.58662637e-02 -1.45309157e-02 8.04037471e+01] [ 1.46050181e-02 -2.34828242e-04 9.99893313e-01 2.00354121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.75, Y:80.43, Z:2.00 [[ 8.79771671e-02 -9.96121453e-01 -1.43840762e-03 9.87450411e+01] [ 9.96015408e-01 8.79887906e-02 -1.45354706e-02 8.04331226e+01] [ 1.46056579e-02 -1.53886620e-04 9.99893320e-01 2.00322211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.75, Y:80.46, Z:2.00 [[ 8.55927773e-02 -9.96329106e-01 -1.47944669e-03 9.87454038e+01] [ 9.96223153e-01 8.56052532e-02 -1.45317211e-02 8.04604139e+01] [ 1.46050251e-02 -2.30048682e-04 9.99893314e-01 2.00418802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.75, Y:80.48, Z:2.00 [[ 8.76490910e-02 -9.96150423e-01 -1.40423858e-03 9.87471343e+01] [ 9.96044332e-01 8.76602508e-02 -1.45385529e-02 8.04844293e+01] [ 1.46056815e-02 -1.24392938e-04 9.99893324e-01 2.00370144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.75, Y:80.51, Z:2.00 [[ 8.74686463e-02 -9.96166448e-01 -1.28178855e-03 9.87495135e+01] [ 9.96060190e-01 8.74780375e-02 -1.45495977e-02 8.05120922e+01] [ 1.46059494e-02 -4.10493662e-06 9.99893327e-01 2.00488667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.75, Y:80.54, Z:2.01 [[ 8.50486662e-02 -9.96375937e-01 -1.31032721e-03 9.87533470e+01] [ 9.96269741e-01 8.50587322e-02 -1.45470270e-02 8.05419774e+01] [ 1.46057625e-02 -6.82340991e-05 9.99893328e-01 2.00552566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.76, Y:80.57, Z:2.01 [[ 8.38562034e-02 -9.96476920e-01 -1.37279797e-03 9.87564824e+01] [ 9.96370826e-01 8.38673082e-02 -1.45414141e-02 8.05694091e+01] [ 1.46053164e-02 -1.48428061e-04 9.99893326e-01 2.00631162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.76, Y:80.60, Z:2.01 [[ 8.12356321e-02 -9.96693993e-01 -1.36274102e-03 9.87604631e+01] [ 9.96587913e-01 8.12468692e-02 -1.45423148e-02 8.05966294e+01] [ 1.46049563e-02 -1.76737096e-04 9.99893326e-01 2.00781938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.76, Y:80.63, Z:2.01 [[ 7.98319848e-02 -9.96807400e-01 -1.36420059e-03 9.87641497e+01] [ 9.96701338e-01 7.98433925e-02 -1.45421845e-02 8.06253107e+01] [ 1.46046795e-02 -1.98769109e-04 9.99893326e-01 2.00851988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.77, Y:80.65, Z:2.00 [[ 7.39550478e-02 -9.97260629e-01 -1.37437312e-03 9.87670920e+01] [ 9.97154652e-01 7.39672288e-02 -1.45412780e-02 8.06507327e+01] [ 1.46031026e-02 -2.95061641e-04 9.99893325e-01 2.00278505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.77, Y:80.68, Z:2.00 [[ 7.32552787e-02 -9.97312389e-01 -1.28977414e-03 9.87713452e+01] [ 9.97206289e-01 7.32663006e-02 -1.45487779e-02 8.06786524e+01] [ 1.46041734e-02 -2.20396111e-04 9.99893329e-01 2.00330497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.78, Y:80.71, Z:2.01 [[ 7.80000358e-02 -9.96952527e-01 -1.28548399e-03 9.87787761e+01] [ 9.96846370e-01 7.80104901e-02 -1.45491569e-02 8.07117274e+01] [ 1.46051000e-02 -1.46595292e-04 9.99893329e-01 2.00892319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.78, Y:80.74, Z:2.01 [[ 7.53740225e-02 -9.97154214e-01 -1.49319268e-03 9.87803972e+01] [ 9.97048413e-01 7.53877842e-02 -1.45307749e-02 8.07373792e+01] [ 1.46019919e-02 -3.93542438e-04 9.99893308e-01 2.01076486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.01804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.79, Y:80.77, Z:2.01 [[ 7.66308865e-02 -9.97058586e-01 -1.37262866e-03 9.87853728e+01] [ 9.96952575e-01 7.66427576e-02 -1.45413750e-02 8.07674259e+01] [ 1.46038049e-02 -2.54127219e-04 9.99893326e-01 2.01082654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.79, Y:80.79, Z:2.01 [[ 7.80859948e-02 -9.96945592e-01 -1.43642166e-03 9.87882670e+01] [ 9.96839663e-01 7.80986413e-02 -1.45357737e-02 8.07928202e+01] [ 1.46035581e-02 -2.96841731e-04 9.99893318e-01 2.00863120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.07804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.79, Y:80.82, Z:2.01 [[ 7.73310230e-02 -9.97004508e-01 -1.38724234e-03 9.87906350e+01] [ 9.96898511e-01 7.73430328e-02 -1.45400663e-02 8.08216357e+01] [ 1.46038052e-02 -2.58541619e-04 9.99893325e-01 2.01013912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.79, Y:80.85, Z:2.01 [[ 7.67108479e-02 -9.97052371e-01 -1.41930415e-03 9.87936950e+01] [ 9.96946432e-01 7.67233910e-02 -1.45372731e-02 8.08496868e+01] [ 1.46033164e-02 -2.99803661e-04 9.99893321e-01 2.01033312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.13804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.80, Y:80.88, Z:2.01 [[ 7.46599195e-02 -9.97208014e-01 -1.44015801e-03 9.87965409e+01] [ 9.97102134e-01 7.46729844e-02 -1.45354568e-02 8.08760180e+01] [ 1.46024149e-02 -3.50768590e-04 9.99893318e-01 2.01170211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.80, Y:80.90, Z:2.01 [[ 7.31178125e-02 -9.97322342e-01 -1.39019904e-03 9.88004399e+01] [ 9.97216402e-01 7.31303131e-02 -1.45397592e-02 8.09040731e+01] [ 1.46024924e-02 -3.23213898e-04 9.99893326e-01 2.01234662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.19804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.80, Y:80.93, Z:2.01 [[ 7.29832304e-02 -9.97332253e-01 -1.35071692e-03 9.88047079e+01] [ 9.97226254e-01 7.29951698e-02 -1.45431356e-02 8.09335316e+01] [ 1.46029340e-02 -2.85565353e-04 9.99893331e-01 2.01228888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.81, Y:80.96, Z:2.01 [[ 7.36568923e-02 -9.97282660e-01 -1.39935253e-03 9.88086465e+01] [ 9.97176728e-01 7.36694691e-02 -1.45389964e-02 8.09612464e+01] [ 1.46025785e-02 -3.24504487e-04 9.99893324e-01 2.01264724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.25804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.81, Y:80.99, Z:2.01 [[ 7.17375557e-02 -9.97422574e-01 -1.39000971e-03 9.88113598e+01] [ 9.97316652e-01 7.17502001e-02 -1.45397882e-02 8.09872186e+01] [ 1.46020465e-02 -3.43230965e-04 9.99893326e-01 2.01389924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.81, Y:81.01, Z:2.01 [[ 6.97606456e-02 -9.97562881e-01 -1.32297109e-03 9.88126884e+01] [ 9.97456879e-01 6.97725230e-02 -1.45454404e-02 8.10143860e+01] [ 1.46022984e-02 -3.04907298e-04 9.99893334e-01 2.01390052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.31804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.82, Y:81.04, Z:2.01 [[ 6.71397461e-02 -9.97742790e-01 -1.25649987e-03 9.88157670e+01] [ 9.97636717e-01 6.71509330e-02 -1.45510205e-02 8.10435033e+01] [ 1.46025510e-02 -2.76578581e-04 9.99893339e-01 2.01489041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.82, Y:81.07, Z:2.01 [[ 6.77591426e-02 -9.97700831e-01 -1.32317112e-03 9.88181591e+01] [ 9.97594853e-01 6.77712355e-02 -1.45454222e-02 8.10693809e+01] [ 1.46016527e-02 -3.34403360e-04 9.99893334e-01 2.01496861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.37804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.82, Y:81.10, Z:2.01 [[ 6.51881034e-02 -9.97872205e-01 -1.25484471e-03 9.88213304e+01] [ 9.97766152e-01 6.51994736e-02 -1.45511337e-02 8.10994848e+01] [ 1.46019871e-02 -3.03480768e-04 9.99893339e-01 2.01372960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.83, Y:81.13, Z:2.01 [[ 6.56736446e-02 -9.97840292e-01 -1.31322256e-03 9.88253101e+01] [ 9.97734323e-01 6.56858140e-02 -1.45462653e-02 8.11286392e+01] [ 1.46011097e-02 -3.54940959e-04 9.99893335e-01 2.01418795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.83, Y:81.16, Z:2.01 [[ 6.58051539e-02 -9.97831590e-01 -1.34162887e-03 9.88280852e+01] [ 9.97725665e-01 6.58177233e-02 -1.45439141e-02 8.11573145e+01] [ 1.46006799e-02 -3.81513047e-04 9.99893332e-01 2.01437226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.83, Y:81.19, Z:2.01 [[ 7.08708846e-02 -9.97484555e-01 -1.37118915e-03 9.88338317e+01] [ 9.97378613e-01 7.08833468e-02 -1.45414710e-02 8.11851406e+01] [ 1.46020872e-02 -3.37027813e-04 9.99893327e-01 2.01452825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.83, Y:81.21, Z:2.01 [[ 6.48813720e-02 -9.97891917e-01 -1.45954891e-03 9.88311358e+01] [ 9.97786199e-01 6.48957565e-02 -1.45341451e-02 8.12112072e+01] [ 1.45982244e-02 -5.13322487e-04 9.99893308e-01 2.01312162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.84, Y:81.24, Z:2.01 [[ 6.63624836e-02 -9.97794697e-01 -1.32762312e-03 9.88357936e+01] [ 9.97688745e-01 6.63747897e-02 -1.45449792e-02 8.12418098e+01] [ 1.46010238e-02 -3.59313700e-04 9.99893335e-01 2.01424798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.84, Y:81.26, Z:2.01 [[ 6.51145079e-02 -9.97876783e-01 -1.42381642e-03 9.88352143e+01] [ 9.97771001e-01 6.51283475e-02 -1.45370974e-02 8.12646370e+01] [ 1.45989628e-02 -4.74066796e-04 9.99893317e-01 2.01281795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.84, Y:81.29, Z:2.01 [[ 6.42642542e-02 -9.97932114e-01 -1.26529831e-03 9.88387676e+01] [ 9.97826092e-01 6.42758749e-02 -1.45500072e-02 8.12931820e+01] [ 1.46012476e-02 -3.27502303e-04 9.99893342e-01 2.01367985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.84, Y:81.32, Z:2.02 [[ 6.26203222e-02 -9.98036596e-01 -1.28394406e-03 9.88395989e+01] [ 9.97930621e-01 6.26323892e-02 -1.45484954e-02 8.13201940e+01] [ 1.46003473e-02 -3.70255627e-04 9.99893341e-01 2.01502202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.84, Y:81.35, Z:2.01 [[ 6.24834796e-02 -9.98045231e-01 -1.23733089e-03 9.88416771e+01] [ 9.97939187e-01 6.24948818e-02 -1.45522535e-02 8.13471308e+01] [ 1.46011341e-02 -3.25505548e-04 9.99893345e-01 2.01106378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.84, Y:81.37, Z:2.01 [[ 6.20866777e-02 -9.98069996e-01 -1.23618126e-03 9.88436499e+01] [ 9.97963955e-01 6.20981054e-02 -1.45523459e-02 8.13738268e+01] [ 1.46010243e-02 -3.30157529e-04 9.99893345e-01 2.01145440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.85, Y:81.40, Z:2.01 [[ 6.23813519e-02 -9.98051629e-01 -1.22973759e-03 9.88456858e+01] [ 9.97945575e-01 6.23926543e-02 -1.45528607e-02 8.14004031e+01] [ 1.46012329e-02 -3.19384068e-04 9.99893345e-01 2.01293307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.85, Y:81.43, Z:2.01 [[ 6.17751254e-02 -9.98089398e-01 -1.17800408e-03 9.88476397e+01] [ 9.97983275e-01 6.17857381e-02 -1.45569714e-02 8.14260646e+01] [ 1.46019426e-02 -2.76369636e-04 9.99893348e-01 2.01299713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.85, Y:81.45, Z:2.02 [[ 6.32449023e-02 -9.97997362e-01 -1.16100032e-03 9.88513661e+01] [ 9.97891200e-01 6.32551107e-02 -1.45583182e-02 8.14531080e+01] [ 1.46026024e-02 -2.37812588e-04 9.99893348e-01 2.01560777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.79804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.86, Y:81.49, Z:2.02 [[ 6.38365010e-02 -9.97959717e-01 -1.14195315e-03 9.88550370e+01] [ 9.97853523e-01 6.38463687e-02 -1.45598210e-02 8.14851974e+01] [ 1.46030244e-02 -2.10053941e-04 9.99893348e-01 2.01503588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.86, Y:81.51, Z:2.01 [[ 6.82060842e-02 -9.97670427e-01 -1.28418921e-03 9.88595588e+01] [ 9.97564385e-01 6.82175614e-02 -1.45485914e-02 8.15132147e+01] [ 1.46023036e-02 -2.88758967e-04 9.99893339e-01 2.01288669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.85804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.86, Y:81.54, Z:2.02 [[ 6.84560035e-02 -9.97653329e-01 -1.26948887e-03 9.88621538e+01] [ 9.97547263e-01 6.84672398e-02 -1.45497464e-02 8.15417167e+01] [ 1.46025213e-02 -2.70357661e-04 9.99893341e-01 2.01519696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.86, Y:81.57, Z:2.01 [[ 6.78702869e-02 -9.97693304e-01 -1.30181799e-03 9.88633447e+01] [ 9.97587292e-01 6.78820568e-02 -1.45472102e-02 8.15682031e+01] [ 1.46020243e-02 -3.11353756e-04 9.99893336e-01 2.01274615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.91804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.87, Y:81.60, Z:2.01 [[ 7.04872090e-02 -9.97511852e-01 -1.28752140e-03 9.88667119e+01] [ 9.97405789e-01 7.04984923e-02 -1.45483265e-02 8.15963995e+01] [ 1.46028965e-02 -2.58710364e-04 9.99893339e-01 2.01442632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.87, Y:81.62, Z:2.01 [[ 7.12834928e-02 -9.97455306e-01 -1.25571251e-03 9.88695068e+01] [ 9.97349190e-01 7.12942275e-02 -1.45507979e-02 8.16237441e+01] [ 1.46032956e-02 -2.15152157e-04 9.99893343e-01 2.01361367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.97804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.88, Y:81.65, Z:2.02 [[ 7.36915824e-02 -9.97280285e-01 -1.25842055e-03 9.88751687e+01] [ 9.97174148e-01 7.37021004e-02 -1.45505885e-02 8.16549257e+01] [ 1.46037633e-02 -1.82608543e-04 9.99893343e-01 2.01587334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.88, Y:81.68, Z:2.01 [[ 7.23430467e-02 -9.97378860e-01 -1.37628889e-03 9.88750145e+01] [ 9.97272900e-01 7.23554270e-02 -1.45414778e-02 8.16846740e+01] [ 1.46029445e-02 -3.20560802e-04 9.99893320e-01 2.01131675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.03804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.88, Y:81.71, Z:2.02 [[ 7.28953824e-02 -9.97338484e-01 -1.48726230e-03 9.88816926e+01] [ 9.97232683e-01 7.29093214e-02 -1.45329635e-02 8.17095236e+01] [ 1.46027191e-02 -4.23760646e-04 9.99893285e-01 2.01596498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.88, Y:81.73, Z:2.02 [[ 7.20568326e-02 -9.97399646e-01 -1.32623813e-03 9.88833898e+01] [ 9.97293621e-01 7.20685135e-02 -1.45451905e-02 8.17341728e+01] [ 1.46029478e-02 -2.74568476e-04 9.99893334e-01 2.01545600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.09804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.89, Y:81.76, Z:2.02 [[ 7.24753808e-02 -9.97369461e-01 -1.21531817e-03 9.88884127e+01] [ 9.97263287e-01 7.24853992e-02 -1.45534971e-02 8.17643972e+01] [ 1.46033064e-02 -1.57221948e-04 9.99893354e-01 2.01646581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.89, Y:81.79, Z:2.02 [[ 7.16228180e-02 -9.97430940e-01 -1.30071263e-03 9.88929962e+01] [ 9.97324885e-01 7.16341729e-02 -1.45471034e-02 8.17909054e+01] [ 1.46029065e-02 -2.55328535e-04 9.99893339e-01 2.01683181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.90, Y:81.82, Z:2.02 [[ 7.32667431e-02 -9.97311527e-01 -1.30487616e-03 9.88975120e+01] [ 9.97205459e-01 7.32779839e-02 -1.45467907e-02 8.18165563e+01] [ 1.46033007e-02 -2.35433651e-04 9.99893338e-01 2.01764642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.90, Y:81.84, Z:2.02 [[ 6.93720600e-02 -9.97590091e-01 -1.23632193e-03 9.88964882e+01] [ 9.97483975e-01 6.93827150e-02 -1.45519301e-02 8.18400291e+01] [ 1.46026406e-02 -2.23713946e-04 9.99893351e-01 2.02105355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.90, Y:81.87, Z:2.02 [[ 7.20830056e-02 -9.97398047e-01 -1.08406954e-03 9.89048614e+01] [ 9.97291721e-01 7.20911500e-02 -1.45632637e-02 8.18739159e+01] [ 1.46035226e-02 -3.13697614e-05 9.99893362e-01 2.01822154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.91, Y:81.90, Z:2.02 [[ 7.23429768e-02 -9.97378934e-01 -1.32518243e-03 9.89110722e+01] [ 9.97272905e-01 7.23546119e-02 -1.45452267e-02 8.19022950e+01] [ 1.46029858e-02 -2.69323533e-04 9.99893334e-01 2.01997028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.91, Y:81.92, Z:2.02 [[ 7.19438069e-02 -9.97407734e-01 -1.37837267e-03 9.89132116e+01] [ 9.97301784e-01 7.19562599e-02 -1.45412475e-02 8.19248950e+01] [ 1.46027352e-02 -3.28500821e-04 9.99893320e-01 2.01847512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.92, Y:81.96, Z:2.02 [[ 7.07736038e-02 -9.97491680e-01 -1.20184451e-03 9.89167983e+01] [ 9.97385509e-01 7.07836068e-02 -1.45542727e-02 8.19568365e+01] [ 1.46028368e-02 -1.68643973e-04 9.99893359e-01 2.02006695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.92, Y:81.98, Z:2.02 [[ 7.14217831e-02 -9.97445303e-01 -1.34039188e-03 9.89181776e+01] [ 9.97339306e-01 7.14337379e-02 -1.45440446e-02 8.19813880e+01] [ 1.46026382e-02 -2.98063904e-04 9.99893331e-01 2.02025022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.92, Y:82.01, Z:2.02 [[ 6.97771441e-02 -9.97561869e-01 -1.21164196e-03 9.89189755e+01] [ 9.97455722e-01 6.97873960e-02 -1.45534038e-02 8.20102779e+01] [ 1.46024781e-02 -1.93064246e-04 9.99893360e-01 2.02002784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.92, Y:82.04, Z:2.02 [[ 7.45477681e-02 -9.97216689e-01 -1.22682536e-03 9.89223026e+01] [ 9.97110513e-01 7.45577337e-02 -1.45523110e-02 8.20437404e+01] [ 1.46032768e-02 -1.38438158e-04 9.99893357e-01 2.02159358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.428040942 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:98.92, Y:82.08, Z:2.02 [[ 7.43380770e-02 -9.97232109e-01 -1.40415488e-03 9.89226357e+01] [ 9.97126160e-01 7.43506517e-02 -1.45396246e-02 8.20760822e+01] [ 1.46037803e-02 -3.19271832e-04 9.99893308e-01 2.01772261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.92, Y:82.10, Z:2.02 [[ 7.05007870e-02 -9.97510531e-01 -1.54271888e-03 9.89192370e+01] [ 9.97404838e-01 7.05157882e-02 -1.45297157e-02 8.20977729e+01] [ 1.46023304e-02 -5.14358883e-04 9.99893248e-01 2.02193089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.92, Y:82.12, Z:2.02 [[ 6.63266667e-02 -9.97797144e-01 -1.27774641e-03 9.89150163e+01] [ 9.97691125e-01 6.63382495e-02 -1.45483829e-02 8.21195064e+01] [ 1.46010984e-02 -3.09850513e-04 9.99893350e-01 2.02362812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.51804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.92, Y:82.15, Z:2.02 [[ 6.83496253e-02 -9.97660916e-01 -1.01287672e-03 9.89227341e+01] [ 9.97554566e-01 6.83571282e-02 -1.45668007e-02 8.21543057e+01] [ 1.46019650e-02 -1.47644321e-05 9.99893386e-01 2.01642339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.92, Y:82.18, Z:2.02 [[ 6.66615188e-02 -9.97774823e-01 -1.28229103e-03 9.89222223e+01] [ 9.97668815e-01 6.66731321e-02 -1.45474533e-02 8.21768819e+01] [ 1.46005770e-02 -3.09546438e-04 9.99893358e-01 2.02001166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.57804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.92, Y:82.21, Z:2.02 [[ 6.32947603e-02 -9.97994295e-01 -1.07731091e-03 9.89247641e+01] [ 9.97888063e-01 6.33037421e-02 -1.45619294e-02 8.22073762e+01] [ 1.46009203e-02 -1.53341865e-04 9.99893389e-01 2.02175182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.93, Y:82.23, Z:2.02 [[ 5.99073708e-02 -9.98203221e-01 -1.19896540e-03 9.89252837e+01] [ 9.98097174e-01 5.99184870e-02 -1.45535813e-02 8.22304424e+01] [ 1.45992719e-02 -3.24817189e-04 9.99893372e-01 2.01526525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.63804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.93, Y:82.26, Z:2.01 [[ 5.83482967e-02 -9.98295795e-01 -9.90537542e-04 9.89252623e+01] [ 9.98189509e-01 5.83565390e-02 -1.45677537e-02 8.22608898e+01] [ 1.46007316e-02 -1.38740567e-04 9.99893394e-01 2.01360480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.93, Y:82.29, Z:2.02 [[ 5.75587607e-02 -9.98341545e-01 -1.07175854e-03 9.89259255e+01] [ 9.98235361e-01 5.75682718e-02 -1.45622361e-02 8.22880570e+01] [ 1.45997845e-02 -2.31683017e-04 9.99893391e-01 2.02015992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.69804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.93, Y:82.31, Z:2.01 [[ 6.06385745e-02 -9.98159276e-01 -1.01178498e-03 9.89290125e+01] [ 9.98052994e-01 6.06468830e-02 -1.45662888e-02 8.23130597e+01] [ 1.46008379e-02 -1.26536042e-04 9.99893394e-01 2.01322152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.93, Y:82.34, Z:2.02 [[ 5.54892564e-02 -9.98458838e-01 -9.44489983e-04 9.89272018e+01] [ 9.98352523e-01 5.54971312e-02 -1.45708134e-02 8.23398554e+01] [ 1.46007739e-02 -1.34410357e-04 9.99893394e-01 2.02123959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.75804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.93, Y:82.37, Z:2.02 [[ 5.55874292e-02 -9.98453419e-01 -8.99203635e-04 9.89284438e+01] [ 9.98347054e-01 5.55946327e-02 -1.45738404e-02 8.23656222e+01] [ 1.46012917e-02 -8.75949778e-05 9.99893392e-01 2.02194807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78804094199998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.93, Y:82.39, Z:2.02 [[ 5.74024633e-02 -9.98350742e-01 -8.68215380e-04 9.89301472e+01] [ 9.98244333e-01 5.74090210e-02 -1.45758963e-02 8.23948780e+01] [ 1.46017002e-02 -2.99987331e-05 9.99893389e-01 2.01750478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.81804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.93, Y:82.43, Z:2.02 [[ 5.60319997e-02 -9.98428543e-01 -9.27083083e-04 9.89308314e+01] [ 9.98322205e-01 5.60395627e-02 -1.45719697e-02 8.24261419e+01] [ 1.46010238e-02 -1.09031028e-04 9.99893393e-01 2.02292823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.93, Y:82.46, Z:2.02 [[ 5.86688457e-02 -9.98276973e-01 -1.02600485e-03 9.89339226e+01] [ 9.98170723e-01 5.86775714e-02 -1.45653765e-02 8.24570588e+01] [ 1.46004834e-02 -1.69594181e-04 9.99893393e-01 2.02472249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.87804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.93, Y:82.48, Z:2.02 [[ 5.82329228e-02 -9.98302397e-01 -1.11808220e-03 9.89317281e+01] [ 9.98196262e-01 5.82430378e-02 -1.45592442e-02 8.24814146e+01] [ 1.45996489e-02 -2.68238131e-04 9.99893383e-01 2.02235853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.93, Y:82.51, Z:2.02 [[ 5.63363925e-02 -9.98411387e-01 -9.56045730e-04 9.89322656e+01] [ 9.98305080e-01 5.63443457e-02 -1.45699322e-02 8.25103410e+01] [ 1.46006539e-02 -1.33607892e-04 9.99893396e-01 2.02114821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.93, Y:82.54, Z:2.02 [[ 5.67865984e-02 -9.98385852e-01 -9.86080789e-04 9.89342524e+01] [ 9.98279575e-01 5.67949419e-02 -1.45679539e-02 8.25379150e+01] [ 1.46004434e-02 -1.57119766e-04 9.99893396e-01 2.02296898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.94, Y:82.57, Z:2.02 [[ 5.91019325e-02 -9.98251494e-01 -9.57487432e-04 9.89365690e+01] [ 9.98145167e-01 5.91096122e-02 -1.45698271e-02 8.25661834e+01] [ 1.46009483e-02 -9.46065166e-05 9.99893396e-01 2.02035158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.94, Y:82.60, Z:2.02 [[ 6.01958546e-02 -9.98186160e-01 -9.21216030e-04 9.89383702e+01] [ 9.98079788e-01 6.02028884e-02 -1.45721931e-02 8.25954710e+01] [ 1.46012213e-02 -4.22614844e-05 9.99893396e-01 2.02367375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.028040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.94, Y:82.62, Z:2.02 [[ 6.22564178e-02 -9.98059711e-01 -9.75454564e-04 9.89404495e+01] [ 9.97953378e-01 6.22640237e-02 -1.45686574e-02 8.26227137e+01] [ 1.46011258e-02 -6.64657531e-05 9.99893396e-01 2.02375347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.95, Y:82.66, Z:2.03 [[ 6.83650663e-02 -9.97659915e-01 -9.54661819e-04 9.89460325e+01] [ 9.97553519e-01 6.83717175e-02 -1.45700078e-02 8.26558153e+01] [ 1.46011847e-02 4.37532956e-05 9.99893396e-01 2.02679622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.95, Y:82.68, Z:2.03 [[ 7.17432347e-02 -9.97422492e-01 -1.13180690e-03 9.89492136e+01] [ 9.97316241e-01 7.17521122e-02 -1.45584663e-02 8.26828868e+01] [ 1.46021512e-02 -8.42979450e-05 9.99893379e-01 2.02655146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.95, Y:82.71, Z:2.03 [[ 7.38421469e-02 -9.97269317e-01 -1.11666012e-03 9.89525446e+01] [ 9.97163033e-01 7.38505796e-02 -1.45594510e-02 8.27096914e+01] [ 1.46021597e-02 -3.83910781e-05 9.99893382e-01 2.02615765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.96, Y:82.74, Z:2.03 [[ 7.44749965e-02 -9.97222269e-01 -1.10504932e-03 9.89560986e+01] [ 9.97115969e-01 7.44831923e-02 -1.45601992e-02 8.27391918e+01] [ 1.46020625e-02 -1.74915390e-05 9.99893384e-01 2.02724106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.96, Y:82.77, Z:2.03 [[ 7.33663967e-02 -9.97304436e-01 -1.11061058e-03 9.89576281e+01] [ 9.97198150e-01 7.33747918e-02 -1.45598432e-02 8.27658841e+01] [ 1.46020870e-02 -3.92955844e-05 9.99893383e-01 2.02791478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.97, Y:82.79, Z:2.02 [[ 7.78110373e-02 -9.96967572e-01 -1.05009113e-03 9.89650159e+01] [ 9.96861197e-01 7.78180747e-02 -1.45636924e-02 8.27894769e+01] [ 1.46012451e-02 8.64209073e-05 9.99893392e-01 2.02026667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.97, Y:82.82, Z:2.03 [[ 7.39526963e-02 -9.97261326e-01 -9.20483079e-04 9.89651876e+01] [ 9.97154872e-01 7.39582521e-02 -1.45718600e-02 8.28214082e+01] [ 1.46000298e-02 1.59764153e-04 9.99893401e-01 2.02710158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.97, Y:82.85, Z:2.03 [[ 7.13598017e-02 -9.97450027e-01 -1.10603816e-03 9.89680117e+01] [ 9.97343753e-01 7.13683439e-02 -1.45601499e-02 8.28500084e+01] [ 1.46019581e-02 -6.40908411e-05 9.99893384e-01 2.03190463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.29804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.97, Y:82.88, Z:2.03 [[ 7.08333843e-02 -9.97487515e-01 -1.13519597e-03 9.89701921e+01] [ 9.97381275e-01 7.08424082e-02 -1.45583224e-02 8.28780362e+01] [ 1.46021648e-02 -1.01007961e-04 9.99893378e-01 2.03085929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.97, Y:82.90, Z:2.03 [[ 6.62775745e-02 -9.97800605e-01 -1.11182915e-03 9.89713185e+01] [ 9.97694382e-01 6.62867425e-02 -1.45597765e-02 8.29044511e+01] [ 1.46014534e-02 -1.44279023e-04 9.99893383e-01 2.03458318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.35804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.97, Y:82.93, Z:2.03 [[ 6.35421979e-02 -9.97978555e-01 -1.09233652e-03 9.89723658e+01] [ 9.97872337e-01 6.35513726e-02 -1.45609810e-02 8.29315562e+01] [ 1.46009662e-02 -1.64775658e-04 9.99893387e-01 2.03390826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.98, Y:82.96, Z:2.04 [[ 5.97201318e-02 -9.98214640e-01 -1.01926539e-03 9.89756268e+01] [ 9.98108380e-01 5.97286471e-02 -1.45653694e-02 8.29624338e+01] [ 1.46002444e-02 -1.47491544e-04 9.99893400e-01 2.03535778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.41804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.97, Y:82.99, Z:2.03 [[ 5.46575534e-02 -9.98504514e-01 -1.13431277e-03 9.89743172e+01] [ 9.98398433e-01 5.46682852e-02 -1.45584548e-02 8.29862904e+01] [ 1.45986937e-02 -3.36766573e-04 9.99893377e-01 2.03356101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44804094199998 meters Centerline goodness : 0.998053 Centerline is valid? [True, True] Translation: X:98.97, Y:83.01, Z:2.04 [[ 4.75409263e-02 -9.98868801e-01 -9.89590592e-04 9.89728555e+01] [ 9.98762616e-01 4.75503044e-02 -1.45673012e-02 8.30091962e+01] [ 1.45978780e-02 -2.95823094e-04 9.99893402e-01 2.03674749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.47804094199998 meters Centerline goodness : 0.997710 Centerline is valid? [True, True] Translation: X:98.97, Y:83.04, Z:2.03 [[ 4.54723127e-02 -9.98965321e-01 -7.46172614e-04 9.89738837e+01] [ 9.98858892e-01 4.54783601e-02 -1.45819606e-02 8.30365389e+01] [ 1.46008077e-02 -8.22456754e-05 9.99893399e-01 2.03485305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50804094199998 meters Centerline goodness : 0.998160 Centerline is valid? [True, True] Translation: X:98.98, Y:83.06, Z:2.03 [[ 4.42511180e-02 -9.99020130e-01 -7.86510429e-04 9.89752843e+01] [ 9.98913748e-01 4.42578841e-02 -1.45795568e-02 8.30631084e+01] [ 1.46000801e-02 -1.40494391e-04 9.99893403e-01 2.03409324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.53804094199998 meters Centerline goodness : 0.998401 Centerline is valid? [True, True] Translation: X:98.98, Y:83.09, Z:2.04 [[ 4.28168430e-02 -9.99082621e-01 -7.96046273e-04 9.89760051e+01] [ 9.98976259e-01 4.28239009e-02 -1.45789861e-02 8.30907398e+01] [ 1.45997014e-02 -1.71005171e-04 9.99893404e-01 2.03670121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56804094199998 meters Centerline goodness : 0.998401 Centerline is valid? [True, True] Translation: X:98.98, Y:83.12, Z:2.04 [[ 4.24784046e-02 -9.99097044e-01 -8.25691194e-04 9.89774739e+01] [ 9.98990716e-01 4.24859310e-02 -1.45772188e-02 8.31184597e+01] [ 1.45991365e-02 -2.05640839e-04 9.99893406e-01 2.03711631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.59804094199998 meters Centerline goodness : 0.997226 Centerline is valid? [True, True] Translation: X:98.98, Y:83.14, Z:2.04 [[ 4.25898206e-02 -9.99092306e-01 -8.19866104e-04 9.89780813e+01] [ 9.98985970e-01 4.25972502e-02 -1.45775634e-02 8.31435351e+01] [ 1.45992554e-02 -1.98178927e-04 9.99893406e-01 2.03546201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62804094199998 meters Centerline goodness : 0.996595 Centerline is valid? [True, True] Translation: X:98.98, Y:83.17, Z:2.04 [[ 4.11244745e-02 -9.99153761e-01 -7.34983165e-04 9.89754615e+01] [ 9.99047349e-01 4.11308216e-02 -1.45824966e-02 8.31718819e+01] [ 1.46003868e-02 -1.34585473e-04 9.99893400e-01 2.03698862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.65804094199999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.98, Y:83.20, Z:2.04 [[ 4.46359151e-02 -9.99002982e-01 -8.22852260e-04 9.89770972e+01] [ 9.98896635e-01 4.46431704e-02 -1.45774091e-02 8.31981626e+01] [ 1.45996098e-02 -1.71268361e-04 9.99893405e-01 2.03672354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.688040942 meters Centerline goodness : 0.995907 Centerline is valid? [True, True] Translation: X:98.97, Y:83.23, Z:2.04 [[ 4.43258602e-02 -9.99016774e-01 -8.39035183e-04 9.89744595e+01] [ 9.98910445e-01 4.43333847e-02 -1.45764775e-02 8.32257053e+01] [ 1.45993428e-02 -1.92006101e-04 9.99893405e-01 2.03908635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.718040942 meters Centerline goodness : 0.997372 Centerline is valid? [True, True] Translation: X:98.98, Y:83.24, Z:2.03 [[ 4.44498706e-02 -9.99011295e-01 -8.00850341e-04 9.89766392e+01] [ 9.98904927e-01 4.44568247e-02 -1.45786559e-02 8.32358999e+01] [ 1.45998452e-02 -1.51953983e-04 9.99893405e-01 2.02815003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.748040942 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:98.98, Y:83.28, Z:2.04 [[ 5.23773008e-02 -9.98627361e-01 -1.09040919e-04 9.89840637e+01] [ 9.98520556e-01 5.23732953e-02 -1.46197312e-02 8.32776868e+01] [ 1.46053745e-02 6.56862461e-04 9.99893120e-01 2.03885621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.99, Y:83.31, Z:2.04 [[ 5.44295188e-02 -9.98517337e-01 -7.45351574e-04 9.89873026e+01] [ 9.98410868e-01 5.44345994e-02 -1.45812361e-02 8.33119044e+01] [ 1.46001900e-02 4.94825528e-05 9.99893410e-01 2.03574450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.99, Y:83.34, Z:2.04 [[ 5.82703777e-02 -9.98300269e-01 -1.06583702e-03 9.89923035e+01] [ 9.98194075e-01 5.82797268e-02 -1.45623804e-02 8.33413001e+01] [ 1.45997449e-02 -2.15356790e-04 9.99893395e-01 2.04058992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.99, Y:83.36, Z:2.04 [[ 6.16165005e-02 -9.98099211e-01 -1.17142302e-03 9.89927395e+01] [ 9.97993100e-01 6.16270337e-02 -1.45561343e-02 8.33602504e+01] [ 1.46006575e-02 -2.72174032e-04 9.99893368e-01 2.04316675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.868040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:98.99, Y:83.39, Z:2.05 [[ 5.61804956e-02 -9.98420270e-01 -8.46696019e-04 9.89861459e+01] [ 9.98313881e-01 5.61868693e-02 -1.45749992e-02 8.33878170e+01] [ 1.45995479e-02 -2.64377069e-05 9.99893421e-01 2.04506549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.00, Y:83.42, Z:2.05 [[ 6.34623936e-02 -9.97983913e-01 -7.95727892e-04 9.89964847e+01] [ 9.97877444e-01 6.34672466e-02 -1.45779405e-02 8.34236708e+01] [ 1.45990528e-02 1.31112084e-04 9.99893420e-01 2.04565277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.928040942 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:98.99, Y:83.44, Z:2.05 [[ 5.97165780e-02 -9.98214714e-01 -1.14677686e-03 9.89914590e+01] [ 9.98108612e-01 5.97269535e-02 -1.45564657e-02 8.34408602e+01] [ 1.45989718e-02 -2.75345541e-04 9.99893391e-01 2.04835738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.958040942 meters Centerline goodness : 0.995892 Centerline is valid? [True, True] Translation: X:98.99, Y:83.47, Z:2.05 [[ 5.88401412e-02 -9.98267162e-01 -7.14505642e-04 9.89909107e+01] [ 9.98160664e-01 5.88443010e-02 -1.45820639e-02 8.34666746e+01] [ 1.45988401e-02 1.44819273e-04 9.99893421e-01 2.04806156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.99, Y:83.50, Z:2.05 [[ 6.02997489e-02 -9.98180084e-01 -6.78580248e-04 9.89933480e+01] [ 9.98073556e-01 6.03032281e-02 -1.45841637e-02 8.35021786e+01] [ 1.45985423e-02 2.02148408e-04 9.99893415e-01 2.04654381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.01804094199997 meters Centerline goodness : 0.995873 Centerline is valid? [True, True] Translation: X:98.99, Y:83.52, Z:2.05 [[ 5.66756510e-02 -9.98392042e-01 -1.09608120e-03 9.89894563e+01] [ 9.98285912e-01 5.66856105e-02 -1.45594873e-02 8.35178737e+01] [ 1.45982083e-02 -2.69033999e-04 9.99893404e-01 2.04580223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04804094199997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.99, Y:83.55, Z:2.05 [[ 5.51381526e-02 -9.98478503e-01 -6.79972118e-04 9.89918863e+01] [ 9.98372001e-01 5.51422030e-02 -1.45837439e-02 8.35466882e+01] [ 1.45990499e-02 1.25255571e-04 9.99893420e-01 2.04615070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.07804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.99, Y:83.57, Z:2.05 [[ 5.24882416e-02 -9.98621212e-01 -8.12142950e-04 9.89930413e+01] [ 9.98514831e-01 5.24945043e-02 -1.45760015e-02 8.35725737e+01] [ 1.45985374e-02 -4.58680895e-05 9.99893435e-01 2.04823688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.99, Y:83.60, Z:2.05 [[ 4.88888568e-02 -9.98803863e-01 -8.50341482e-04 9.89949165e+01] [ 9.98697542e-01 4.88960602e-02 -1.45737728e-02 8.36002856e+01] [ 1.45979189e-02 -1.36738858e-04 9.99893435e-01 2.04882651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.13804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.00, Y:83.63, Z:2.05 [[ 4.72759860e-02 -9.98881507e-01 -8.46198842e-04 9.89959290e+01] [ 9.98775194e-01 4.72833006e-02 -1.45740133e-02 8.36283031e+01] [ 1.45977234e-02 -1.56161565e-04 9.99893435e-01 2.04911480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16804094199998 meters Centerline goodness : 0.997314 Centerline is valid? [True, True] Translation: X:99.00, Y:83.65, Z:2.05 [[ 4.62121850e-02 -9.98931291e-01 -8.42005455e-04 9.89954293e+01] [ 9.98824982e-01 4.62195517e-02 -1.45742556e-02 8.36515318e+01] [ 1.45975970e-02 -1.67507889e-04 9.99893435e-01 2.04780529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.19804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.99, Y:83.69, Z:2.04 [[ 4.05165950e-02 -9.99178604e-01 -7.23101476e-04 9.89933794e+01] [ 9.99072216e-01 4.05228332e-02 -1.45810692e-02 8.36865644e+01] [ 1.45983945e-02 -1.31655317e-04 9.99893429e-01 2.03845641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22804094199998 meters Centerline goodness : 0.996752 Centerline is valid? [True, True] Translation: X:98.99, Y:83.70, Z:2.05 [[ 4.28234176e-02 -9.99082109e-01 -1.04657608e-03 9.89933796e+01] [ 9.98976063e-01 4.28341269e-02 -1.45623941e-02 8.37034428e+01] [ 1.45938565e-02 -4.21892970e-04 9.99893415e-01 2.04763617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.25804094199998 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:98.99, Y:83.74, Z:2.05 [[ 4.22180715e-02 -9.99108160e-01 -7.21056942e-04 9.89941590e+01] [ 9.99001762e-01 4.22240987e-02 -1.45810129e-02 8.37356797e+01] [ 1.45984549e-02 -1.04754910e-04 9.99893431e-01 2.04949592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28804094199998 meters Centerline goodness : 0.996096 Centerline is valid? [True, True] Translation: X:98.99, Y:83.76, Z:2.05 [[ 4.12543119e-02 -9.99148193e-01 -9.84591184e-04 9.89923668e+01] [ 9.99042088e-01 4.12642845e-02 -1.45658989e-02 8.37565242e+01] [ 1.45941201e-02 -3.82741895e-04 9.99893427e-01 2.05106027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.31804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.00, Y:83.79, Z:2.05 [[ 4.36394068e-02 -9.99047165e-01 -6.04337022e-04 9.89954520e+01] [ 9.98940672e-01 4.36435788e-02 -1.45866929e-02 8.37902546e+01] [ 1.45991696e-02 3.28577947e-05 9.99893426e-01 2.05110100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34804094199998 meters Centerline goodness : 0.998553 Centerline is valid? [True, True] Translation: X:98.98, Y:83.79, Z:2.05 [[ 2.40770242e-02 -9.99709716e-01 -8.83865359e-04 9.89780519e+01] [ 9.99603648e-01 2.40873532e-02 -1.45721415e-02 8.37943785e+01] [ 1.45892014e-02 -5.32661235e-04 9.99893430e-01 2.04744634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.37804094199998 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:98.98, Y:83.83, Z:2.05 [[ 2.33758534e-02 -9.99726742e-01 1.02992502e-04 9.89795696e+01] [ 9.99619896e-01 2.33718487e-02 -1.46225799e-02 8.38257382e+01] [ 1.46161771e-02 4.44768639e-04 9.99893079e-01 2.04728013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40804094199999 meters Centerline goodness : 0.996640 Centerline is valid? [True, True] Translation: X:98.97, Y:83.85, Z:2.05 [[ 2.18300520e-02 -9.99761696e-01 -1.39174132e-05 9.89737617e+01] [ 9.99654892e-01 2.18279233e-02 -1.46164050e-02 8.38462003e+01] [ 1.46132256e-02 3.05164270e-04 9.99893175e-01 2.04993555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.99, Y:83.90, Z:2.06 [[ 4.11051223e-02 -9.99154788e-01 2.81250668e-04 9.89929520e+01] [ 9.99048040e-01 4.10966121e-02 -1.46315290e-02 8.38952726e+01] [ 1.46076038e-02 8.82413715e-04 9.99892914e-01 2.05657850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.468040942 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:98.98, Y:83.90, Z:2.05 [[ 2.73464518e-02 -9.99625709e-01 -7.83091527e-04 9.89779503e+01] [ 9.99519532e-01 2.73549644e-02 -1.45743493e-02 8.39014199e+01] [ 1.45903157e-02 -3.84158536e-04 9.99893482e-01 2.04851855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.498040942 meters Centerline goodness : 0.993586 Centerline is valid? [True, True] Translation: X:98.97, Y:83.95, Z:2.06 [[ 2.18188144e-02 -9.99761933e-01 1.25932537e-04 9.89651816e+01] [ 9.99655354e-01 2.18146487e-02 -1.46046013e-02 8.39498360e+01] [ 1.45983773e-02 4.44544220e-04 9.99893339e-01 2.05679685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.528040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.96, Y:83.96, Z:2.04 [[ 1.56271368e-02 -9.99877148e-01 -1.21727499e-03 9.89567020e+01] [ 9.99771798e-01 1.56432013e-02 -1.45479387e-02 8.39633860e+01] [ 1.45651935e-02 -9.89654571e-04 9.99893432e-01 2.04206870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.558040942 meters Centerline goodness : 0.994129 Centerline is valid? [True, True] Translation: X:98.97, Y:83.99, Z:2.05 [[ 2.38526132e-02 -9.99715343e-01 -5.33803006e-04 9.89657368e+01] [ 9.99609102e-01 2.38578610e-02 -1.45755306e-02 8.39947589e+01] [ 1.45841170e-02 -1.85929849e-04 9.99893629e-01 2.05443971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.96, Y:84.01, Z:2.04 [[ 1.75106757e-02 -9.99846376e-01 -7.75582406e-04 9.89625719e+01] [ 9.99740409e-01 1.75201185e-02 -1.45657050e-02 8.40099725e+01] [ 1.45770557e-02 -5.20325735e-04 9.99893614e-01 2.04062493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.98, Y:84.04, Z:2.05 [[ 3.05609199e-02 -9.99532843e-01 -3.54397109e-04 9.89769725e+01] [ 9.99426431e-01 3.05628377e-02 -1.45850171e-02 8.40444077e+01] [ 1.45890350e-02 9.15377025e-05 9.99893570e-01 2.05254324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.96, Y:84.06, Z:2.04 [[ 1.65696745e-02 -9.99862485e-01 -6.75977339e-04 9.89636430e+01] [ 9.99756415e-01 1.65777671e-02 -1.45700982e-02 8.40560980e+01] [ 1.45793008e-02 -4.34390897e-04 9.99893622e-01 2.04072060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.678040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:98.97, Y:84.10, Z:2.05 [[ 2.28004438e-02 -9.99740024e-01 -1.54905677e-04 9.89741962e+01] [ 9.99633508e-01 2.28002759e-02 -1.45944339e-02 8.40955262e+01] [ 1.45941716e-02 1.77910666e-04 9.99893484e-01 2.05372125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.708040942 meters Centerline goodness : 0.994415 Centerline is valid? [True, True] Translation: X:98.97, Y:84.12, Z:2.05 [[ 1.85630154e-02 -9.99827449e-01 -6.97617584e-04 9.89726581e+01] [ 9.99721396e-01 1.85712113e-02 -1.45684481e-02 8.41211053e+01] [ 1.45788899e-02 -4.26988900e-04 9.99893631e-01 2.05201424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.738040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:98.97, Y:84.15, Z:2.06 [[ 1.70420195e-02 -9.99854536e-01 -6.90761301e-04 9.89722934e+01] [ 9.99748488e-01 1.70502770e-02 -1.45687731e-02 8.41481218e+01] [ 1.45784315e-02 -4.42306251e-04 9.99893631e-01 2.05503636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76804094199997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.97, Y:84.18, Z:2.06 [[ 1.60352859e-02 -9.99871192e-01 -6.84221918e-04 9.89723823e+01] [ 9.99765146e-01 1.60435549e-02 -1.45690802e-02 8.41770584e+01] [ 1.45781809e-02 -4.50441860e-04 9.99893631e-01 2.05662343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.79804094199997 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:98.96, Y:84.18, Z:2.05 [[-1.31298279e-03 -9.99998888e-01 -7.07165787e-04 9.89553796e+01] [ 9.99893033e-01 -1.30254180e-03 -1.45680087e-02 8.41840923e+01] [ 1.45670714e-02 -7.26217688e-04 9.99893631e-01 2.04534951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82804094199997 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:98.95, Y:84.21, Z:2.05 [[-1.95376296e-03 -9.99998068e-01 2.15363335e-04 9.89511550e+01] [ 9.99891402e-01 -1.95670031e-03 -1.46067042e-02 8.42120740e+01] [ 1.46070974e-02 1.86801909e-04 9.99893293e-01 2.04657259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.85804094199997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:98.97, Y:84.26, Z:2.06 [[ 1.45525249e-02 -9.99894070e-01 2.68874743e-04 9.89701007e+01] [ 9.99787459e-01 1.45470449e-02 -1.46089101e-02 8.42587948e+01] [ 1.46034513e-02 4.81414125e-04 9.99893248e-01 2.05890424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88804094199998 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:98.97, Y:84.29, Z:2.06 [[ 1.67495214e-02 -9.99859516e-01 -6.33948763e-04 9.89680624e+01] [ 9.99753430e-01 1.67569821e-02 -1.45698937e-02 8.42872220e+01] [ 1.45784699e-02 -3.89753705e-04 9.99893653e-01 2.05677760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.91804094199998 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:98.97, Y:84.32, Z:2.05 [[ 2.25134315e-02 -9.99746345e-01 -6.26014849e-04 9.89701886e+01] [ 9.99640211e-01 2.25201650e-02 -1.45702346e-02 8.43214012e+01] [ 1.45806367e-02 -2.97763637e-04 9.99893653e-01 2.05398591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94804094199998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:98.97, Y:84.35, Z:2.05 [[ 2.38316616e-02 -9.99715615e-01 -8.60552575e-04 9.89696642e+01] [ 9.99609713e-01 2.38416703e-02 -1.45600772e-02 8.43491488e+01] [ 1.45764535e-02 -5.13225881e-04 9.99893626e-01 2.05474877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.97804094199998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:98.97, Y:84.38, Z:2.05 [[ 2.48467769e-02 -9.99690908e-01 -8.52318627e-04 9.89688132e+01] [ 9.99584987e-01 2.48565582e-02 -1.45604302e-02 8.43758385e+01] [ 1.45771154e-02 -4.90185142e-04 9.99893628e-01 2.05495412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00804094199998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:98.97, Y:84.40, Z:2.06 [[ 2.81445815e-02 -9.99603520e-01 -8.28051983e-04 9.89671002e+01] [ 9.99497541e-01 2.81536600e-02 -1.45614615e-02 8.44040040e+01] [ 1.45790009e-02 -4.17809680e-04 9.99893633e-01 2.05560013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.03804094199998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:98.97, Y:84.44, Z:2.06 [[ 3.06476037e-02 -9.99529935e-01 -7.96287013e-04 9.89701034e+01] [ 9.99423903e-01 3.06559542e-02 -1.45627961e-02 8.44385484e+01] [ 1.45803616e-02 -3.49513470e-04 9.99893640e-01 2.05715530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06804094199998 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:98.97, Y:84.46, Z:2.06 [[ 3.66164349e-02 -9.99328847e-01 -1.04496699e-03 9.89675873e+01] [ 9.99223017e-01 3.66277740e-02 -1.45522905e-02 8.44638518e+01] [ 1.45807985e-02 -5.11302071e-04 9.99893564e-01 2.06073744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.09804094199998 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:98.96, Y:84.49, Z:2.06 [[ 3.41021415e-02 -9.99417946e-01 -9.01258491e-04 9.89635403e+01] [ 9.99311992e-01 3.41116544e-02 -1.45581132e-02 8.44887971e+01] [ 1.45803830e-02 -4.04175581e-04 9.99893619e-01 2.06009683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12804094199998 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:98.96, Y:84.52, Z:2.06 [[ 3.57676815e-02 -9.99359841e-01 -7.62292073e-04 9.89640150e+01] [ 9.99253746e-01 3.57749932e-02 -1.45636556e-02 8.45160825e+01] [ 1.45816035e-02 -2.40815014e-04 9.99893654e-01 2.06013358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.15804094199999 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:98.97, Y:84.54, Z:2.06 [[ 3.79740961e-02 -9.99278417e-01 -7.83349812e-04 9.89655311e+01] [ 9.99172323e-01 3.79814804e-02 -1.45628080e-02 8.45444817e+01] [ 1.45820525e-02 -2.29691981e-04 9.99893650e-01 2.05955794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.188040942 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:98.97, Y:84.57, Z:2.06 [[ 3.73434168e-02 -9.99302166e-01 -8.06889713e-04 9.89655628e+01] [ 9.99196096e-01 3.73512111e-02 -1.45618673e-02 8.45712038e+01] [ 1.45818438e-02 -2.62451172e-04 9.99893645e-01 2.05834071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.218040942 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:98.97, Y:84.60, Z:2.06 [[ 3.59899152e-02 -9.99351860e-01 -7.64867513e-04 9.89660233e+01] [ 9.99245767e-01 3.59972409e-02 -1.45635335e-02 8.46015468e+01] [ 1.45816274e-02 -2.40150287e-04 9.99893654e-01 2.05973807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.248040942 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:98.97, Y:84.63, Z:2.06 [[ 3.48694712e-02 -9.99391508e-01 -8.56982500e-04 9.89659809e+01] [ 9.99285502e-01 3.48782578e-02 -1.45600016e-02 8.46282125e+01] [ 1.45810320e-02 -3.48670631e-04 9.99893630e-01 2.06154068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.278040942 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:98.96, Y:84.65, Z:2.06 [[ 3.16329741e-02 -9.99499271e-01 -7.49787239e-04 9.89643749e+01] [ 9.99393199e-01 3.16405424e-02 -1.45640168e-02 8.46539479e+01] [ 1.45804478e-02 -2.88629101e-04 9.99893658e-01 2.05756136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.308040942 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:98.97, Y:84.68, Z:2.06 [[ 3.25185351e-02 -9.99470928e-01 -6.40303609e-04 9.89683613e+01] [ 9.99364765e-01 3.25244140e-02 -1.45680570e-02 8.46820853e+01] [ 1.45811749e-02 -1.66164994e-04 9.99893675e-01 2.06006607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.338040942 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:98.97, Y:84.71, Z:2.06 [[ 2.96697158e-02 -9.99559534e-01 -6.68143025e-04 9.89696139e+01] [ 9.99453410e-01 2.96763029e-02 -1.45670400e-02 8.47118071e+01] [ 1.45804517e-02 -2.35577887e-04 9.99893672e-01 2.05916793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.368040942 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:98.97, Y:84.74, Z:2.06 [[ 2.84132855e-02 -9.99596006e-01 -7.14681287e-04 9.89730489e+01] [ 9.99489928e-01 2.84206840e-02 -1.45653512e-02 8.47383912e+01] [ 1.45797786e-02 -3.00467265e-04 9.99893664e-01 2.06080835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.398040942 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:98.97, Y:84.77, Z:2.06 [[ 2.58836411e-02 -9.99664723e-01 -6.92339798e-04 9.89744939e+01] [ 9.99558645e-01 2.58909826e-02 -1.45661404e-02 8.47683328e+01] [ 1.45791821e-02 -3.15009479e-04 9.99893668e-01 2.06161803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.428040942 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:98.98, Y:84.79, Z:2.06 [[ 2.43924438e-02 -9.99702185e-01 -7.41305299e-04 9.89754184e+01] [ 9.99596161e-01 2.44006568e-02 -1.45644253e-02 8.47939723e+01] [ 1.45781761e-02 -3.85744007e-04 9.99893658e-01 2.05965432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.458040942 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:98.97, Y:84.82, Z:2.06 [[ 1.84545690e-02 -9.99829459e-01 -6.93781233e-04 9.89734879e+01] [ 9.99723440e-01 1.84627195e-02 -1.45661064e-02 8.48220391e+01] [ 1.45764314e-02 -4.24778145e-04 9.99893668e-01 2.05661681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.488040942 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:98.97, Y:84.85, Z:2.06 [[ 1.80271399e-02 -9.99837245e-01 -7.10691535e-04 9.89742110e+01] [ 9.99731246e-01 1.80355820e-02 -1.45655061e-02 8.48497911e+01] [ 1.45759532e-02 -4.47926118e-04 9.99893665e-01 2.05702587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.51804094199997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:98.98, Y:84.87, Z:2.06 [[ 1.69153669e-02 -9.99856686e-01 -6.91547397e-04 9.89750532e+01] [ 9.99750677e-01 1.69236481e-02 -1.45661685e-02 8.48728844e+01] [ 1.45757844e-02 -4.44982895e-04 9.99893669e-01 2.06108224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54804094199997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:98.98, Y:84.90, Z:2.06 [[ 1.60894086e-02 -9.99870435e-01 -4.93404344e-04 9.89781754e+01] [ 9.99764265e-01 1.60948914e-02 -1.45728774e-02 8.49030910e+01] [ 1.45789306e-02 -2.58819052e-04 9.99893688e-01 2.06105183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.57804094199997 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:98.98, Y:84.93, Z:2.06 [[ 1.75244934e-02 -9.99846273e-01 -5.68671719e-04 9.89836432e+01] [ 9.99740152e-01 1.75309204e-02 -1.45703322e-02 8.49326284e+01] [ 1.45780617e-02 -3.13186260e-04 9.99893685e-01 2.06301036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60804094199997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:98.98, Y:84.96, Z:2.06 [[ 1.51808334e-02 -9.99884534e-01 -6.78273977e-04 9.89838699e+01] [ 9.99778527e-01 1.51891053e-02 -1.45666615e-02 8.49581013e+01] [ 1.45752820e-02 -4.56989695e-04 9.99893671e-01 2.06333919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.63804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.99, Y:84.99, Z:2.06 [[ 1.56782730e-02 -9.99876930e-01 -5.62469932e-04 9.89850294e+01] [ 9.99770818e-01 1.56848056e-02 -1.45704704e-02 8.49863741e+01] [ 1.45774995e-02 -3.33901211e-04 9.99893687e-01 2.06189645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66804094199998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:98.99, Y:85.02, Z:2.06 [[ 1.78217318e-02 -9.99841029e-01 -5.50115303e-04 9.89890808e+01] [ 9.99734893e-01 1.78278570e-02 -1.45708709e-02 8.50185476e+01] [ 1.45783620e-02 -2.90291309e-04 9.99893688e-01 2.06330470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.69804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.99, Y:85.04, Z:2.06 [[ 1.76763679e-02 -9.99843509e-01 -7.09144405e-04 9.89884424e+01] [ 9.99737509e-01 1.76848247e-02 -1.45656895e-02 8.50396938e+01] [ 1.45759512e-02 -4.51489775e-04 9.99893663e-01 2.06469648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72804094199998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:99.00, Y:85.07, Z:2.06 [[ 2.34770671e-02 -9.99724269e-01 -4.60869111e-04 9.89962005e+01] [ 9.99618047e-01 2.34812910e-02 -1.45735829e-02 8.50730351e+01] [ 1.45803864e-02 -1.18548096e-04 9.99893693e-01 2.06225824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.75804094199998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:99.00, Y:85.10, Z:2.06 [[ 2.46899087e-02 -9.99694950e-01 -6.44801402e-04 9.89985542e+01] [ 9.99588842e-01 2.46966844e-02 -1.45678174e-02 8.51024046e+01] [ 1.45792980e-02 -2.84858204e-04 9.99893676e-01 2.06225697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.00, Y:85.13, Z:2.06 [[ 2.45208258e-02 -9.99699106e-01 -6.53520913e-04 9.89987155e+01] [ 9.99593005e-01 2.45277464e-02 -1.45675464e-02 8.51263655e+01] [ 1.45791925e-02 -2.96046666e-04 9.99893674e-01 2.06471564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.81804094199998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:99.01, Y:85.16, Z:2.06 [[ 2.94365321e-02 -9.99566520e-01 -5.12777910e-04 9.90067737e+01] [ 9.99460302e-01 2.94408794e-02 -1.45718910e-02 8.51573218e+01] [ 1.45806710e-02 -8.35552276e-05 9.99893693e-01 2.06488068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.01, Y:85.18, Z:2.07 [[ 3.16298651e-02 -9.99499395e-01 -7.14865912e-04 9.90105654e+01] [ 9.99393290e-01 3.16369250e-02 -1.45655746e-02 8.51802694e+01] [ 1.45808992e-02 -2.53725037e-04 9.99893661e-01 2.06659239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.87804094199998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:99.01, Y:85.21, Z:2.06 [[ 3.00052864e-02 -9.99549561e-01 -5.98596108e-04 9.90139890e+01] [ 9.99443390e-01 3.00108242e-02 -1.45691455e-02 8.52116469e+01] [ 1.45805474e-02 -1.61111541e-04 9.99893685e-01 2.06388214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90804094199999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:99.02, Y:85.24, Z:2.07 [[ 3.20740450e-02 -9.99485215e-01 -7.48850177e-04 9.90164040e+01] [ 9.99379128e-01 3.20815531e-02 -1.45647706e-02 8.52373444e+01] [ 1.45812972e-02 -2.81234128e-04 9.99893648e-01 2.06659886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.938040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:99.02, Y:85.27, Z:2.06 [[ 2.95429259e-02 -9.99563338e-01 -5.89876885e-04 9.90202306e+01] [ 9.99457167e-01 2.95483857e-02 -1.45692796e-02 8.52679215e+01] [ 1.45803477e-02 -1.59137532e-04 9.99893688e-01 2.06133122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.968040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.02, Y:85.29, Z:2.07 [[ 3.14340343e-02 -9.99505559e-01 -7.34859363e-04 9.90230627e+01] [ 9.99399468e-01 3.14414064e-02 -1.45650891e-02 8.52909987e+01] [ 1.45809925e-02 -2.76578546e-04 9.99893653e-01 2.06639658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.03, Y:85.32, Z:2.07 [[ 2.93706525e-02 -9.99568448e-01 -5.31047880e-04 9.90285800e+01] [ 9.99462249e-01 2.93752731e-02 -1.45707178e-02 8.53185311e+01] [ 1.45800295e-02 -1.02810819e-04 9.99893700e-01 2.06561270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.03, Y:85.35, Z:2.06 [[ 2.37353453e-02 -9.99718163e-01 -4.78139822e-04 9.90284404e+01] [ 9.99611962e-01 2.37397934e-02 -1.45721313e-02 8.53458805e+01] [ 1.45793753e-02 -1.32079718e-04 9.99893707e-01 2.06341804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.058040942 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:99.03, Y:85.37, Z:2.07 [[ 2.22098612e-02 -9.99753251e-01 -3.97903622e-04 9.90347602e+01] [ 9.99647018e-01 2.22133017e-02 -1.45742352e-02 8.53719725e+01] [ 1.45794778e-02 -7.40714282e-05 9.99893711e-01 2.06920434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.04, Y:85.40, Z:2.07 [[ 2.30452858e-02 -9.99734350e-01 -3.78825277e-04 9.90410944e+01] [ 9.99628106e-01 2.30483594e-02 -1.45747311e-02 8.54046859e+01] [ 1.45795906e-02 -4.28055504e-05 9.99893711e-01 2.06514894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.118040942 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:99.05, Y:85.44, Z:2.07 [[ 2.67505588e-02 -9.99641968e-01 -5.86265109e-04 9.90507998e+01] [ 9.99535813e-01 2.67562625e-02 -1.45691675e-02 8.54389628e+01] [ 1.45796376e-02 -1.96259600e-04 9.99893692e-01 2.06588093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.148040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:99.05, Y:85.46, Z:2.07 [[ 2.23426807e-02 -9.99749981e-01 -8.82781243e-04 9.90517927e+01] [ 9.99644093e-01 2.23531717e-02 -1.45610420e-02 8.54566960e+01] [ 1.45771344e-02 -5.57134342e-04 9.99893593e-01 2.06636807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.178040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:99.06, Y:85.49, Z:2.07 [[ 2.28981011e-02 -9.99737677e-01 -5.03221715e-04 9.90592599e+01] [ 9.99631501e-01 2.29030036e-02 -1.45710184e-02 8.54918850e+01] [ 1.45787214e-02 -1.69387627e-04 9.99893710e-01 2.06528765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.208040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:99.06, Y:85.51, Z:2.07 [[ 1.56781523e-02 -9.99876791e-01 -7.74196659e-04 9.90573059e+01] [ 9.99770867e-01 1.56877681e-02 -1.45638825e-02 8.55093141e+01] [ 1.45742335e-02 -5.45684498e-04 9.99893641e-01 2.06695937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.238040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:99.07, Y:85.54, Z:2.06 [[ 2.11006334e-02 -9.99777290e-01 -3.66113017e-04 9.90679620e+01] [ 9.99671060e-01 2.11037283e-02 -1.45741350e-02 8.55428987e+01] [ 1.45786156e-02 -5.84691073e-05 9.99893725e-01 2.06370218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26804094199997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:99.07, Y:85.57, Z:2.06 [[ 1.76988066e-02 -9.99843162e-01 -6.34894712e-04 9.90739600e+01] [ 9.99737109e-01 1.77061794e-02 -1.45672547e-02 8.55708070e+01] [ 1.45762116e-02 -3.76904779e-04 9.99893690e-01 2.06404718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.29804094199997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:99.08, Y:85.61, Z:2.07 [[ 1.68676881e-02 -9.99857565e-01 -5.74695263e-04 9.90796703e+01] [ 9.99751476e-01 1.68742721e-02 -1.45686545e-02 8.56050342e+01] [ 1.45762770e-02 -3.28812915e-04 9.99893706e-01 2.06637917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32804094199997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:99.08, Y:85.63, Z:2.07 [[ 1.65802453e-02 -9.99862229e-01 -7.86661005e-04 9.90821532e+01] [ 9.99756306e-01 1.65899471e-02 -1.45637267e-02 8.56309106e+01] [ 1.45747709e-02 -5.44999139e-04 9.99893634e-01 2.06822444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.35804094199997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:99.08, Y:85.65, Z:2.07 [[ 1.74205325e-02 -9.99847987e-01 -7.27053530e-04 9.90802271e+01] [ 9.99742006e-01 1.74292772e-02 -1.45650932e-02 8.56532197e+01] [ 1.45755511e-02 -4.73134275e-04 9.99893659e-01 2.06977387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38804094199998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:99.08, Y:85.68, Z:2.07 [[ 1.89854377e-02 -9.99819613e-01 -5.43717629e-04 9.90808314e+01] [ 9.99713491e-01 1.89913456e-02 -1.45692747e-02 8.56829965e+01] [ 1.45769725e-02 -2.66957792e-04 9.99893715e-01 2.06818195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.41804094199998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:99.08, Y:85.71, Z:2.07 [[ 2.32669842e-02 -9.99729116e-01 -5.84421751e-04 9.90808117e+01] [ 9.99622993e-01 2.32730307e-02 -1.45683586e-02 8.57089986e+01] [ 1.45780135e-02 -2.45239651e-04 9.99893705e-01 2.06801199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44804094199998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:99.08, Y:85.74, Z:2.07 [[ 2.44079642e-02 -9.99701951e-01 -5.09710081e-04 9.90803504e+01] [ 9.99595784e-01 2.44128007e-02 -1.45699714e-02 8.57388113e+01] [ 1.45780723e-02 -1.53880707e-04 9.99893722e-01 2.07092052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.47804094199998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:99.08, Y:85.77, Z:2.07 [[ 2.64557489e-02 -9.99649838e-01 -5.43380713e-04 9.90802862e+01] [ 9.99543676e-01 2.64608588e-02 -1.45692513e-02 8.57657419e+01] [ 1.45785280e-02 -1.57692301e-04 9.99893715e-01 2.07211266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50804094199998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:99.08, Y:85.79, Z:2.07 [[ 2.82561571e-02 -9.99600589e-01 -5.02661768e-04 9.90804100e+01] [ 9.99494401e-01 2.82604822e-02 -1.45701065e-02 8.57877029e+01] [ 1.45784925e-02 -9.07124042e-05 9.99893724e-01 2.07413286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.53804094199998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:99.08, Y:85.82, Z:2.08 [[ 2.45627235e-02 -9.99698245e-01 -3.02219729e-04 9.90798851e+01] [ 9.99592006e-01 2.45645191e-02 -1.45741672e-02 8.58222224e+01] [ 1.45771932e-02 5.58848142e-05 9.99893746e-01 2.07809336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.08, Y:85.85, Z:2.08 [[ 2.42900023e-02 -9.99704799e-01 -5.56700031e-04 9.90803766e+01] [ 9.99598655e-01 2.42955362e-02 -1.45689890e-02 8.58510636e+01] [ 1.45782135e-02 -2.02595827e-04 9.99893712e-01 2.07884658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.59804094199998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:99.08, Y:85.87, Z:2.08 [[ 2.55825397e-02 -9.99672546e-01 -5.78123410e-04 9.90811556e+01] [ 9.99566405e-01 2.55882487e-02 -1.45685608e-02 8.58749881e+01] [ 1.45785835e-02 -2.05171953e-04 9.99893706e-01 2.07564318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.08, Y:85.91, Z:2.08 [[ 2.31566349e-02 -9.99731748e-01 -4.50418092e-04 9.90823766e+01] [ 9.99625562e-01 2.31607402e-02 -1.45710345e-02 8.59055022e+01] [ 1.45775578e-02 -1.12833312e-04 9.99893735e-01 2.07823054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.65804094199999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:99.08, Y:85.93, Z:2.08 [[ 2.19846653e-02 -9.99758167e-01 -5.31236138e-04 9.90825730e+01] [ 9.99652023e-01 2.19900729e-02 -1.45694887e-02 8.59331919e+01] [ 1.45776473e-02 -2.10745947e-04 9.99893718e-01 2.07648076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.688040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.08, Y:85.96, Z:2.08 [[ 2.23273638e-02 -9.99750595e-01 -4.86825608e-04 9.90841194e+01] [ 9.99644429e-01 2.23320878e-02 -1.45703198e-02 8.59580520e+01] [ 1.45775577e-02 -1.61335675e-04 9.99893729e-01 2.07665656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.09, Y:85.99, Z:2.08 [[ 2.07234702e-02 -9.99785177e-01 -3.70804334e-04 9.90850820e+01] [ 9.99678973e-01 2.07266735e-02 -1.45724636e-02 8.59869275e+01] [ 1.45770187e-02 -6.86932796e-05 9.99893747e-01 2.07621047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.09, Y:86.02, Z:2.08 [[ 1.96752285e-02 -9.99806353e-01 -3.76230167e-04 9.90866769e+01] [ 9.99700154e-01 1.96786223e-02 -1.45723643e-02 8.60155791e+01] [ 1.45769461e-02 -8.94027574e-05 9.99893747e-01 2.07864720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.09, Y:86.04, Z:2.08 [[ 1.74161028e-02 -9.99848225e-01 -4.53883288e-04 9.90870813e+01] [ 9.99742067e-01 1.74208682e-02 -1.45709410e-02 8.60430188e+01] [ 1.45766365e-02 -1.99997210e-04 9.99893735e-01 2.07777083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.808040942 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:99.09, Y:86.07, Z:2.08 [[ 1.65834316e-02 -9.99862386e-01 -4.45748137e-04 9.90872464e+01] [ 9.99756228e-01 1.65881668e-02 -1.45710854e-02 8.60713220e+01] [ 1.45764743e-02 -2.04000879e-04 9.99893737e-01 2.07781971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.09, Y:86.10, Z:2.08 [[ 1.35696379e-02 -9.99907844e-01 -4.09325212e-04 9.90862061e+01] [ 9.99801684e-01 1.35741623e-02 -1.45716986e-02 8.61002218e+01] [ 1.45759120e-02 -2.11511363e-04 9.99893743e-01 2.07809091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.868040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:99.09, Y:86.13, Z:2.08 [[ 1.26844398e-02 -9.99919461e-01 -4.20268243e-04 9.90866262e+01] [ 9.99813310e-01 1.26892177e-02 -1.45715234e-02 8.61294898e+01] [ 1.45756826e-02 -2.35358172e-04 9.99893741e-01 2.07903688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.898040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:99.09, Y:86.16, Z:2.08 [[ 1.11226985e-02 -9.99938041e-01 -4.47317584e-04 9.90864709e+01] [ 9.99831911e-01 1.11280363e-02 -1.45711053e-02 8.61585569e+01] [ 1.45751802e-02 -2.85172384e-04 9.99893736e-01 2.08092327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.09, Y:86.19, Z:2.09 [[ 1.20434112e-02 -9.99927374e-01 -4.51559130e-04 9.90888741e+01] [ 9.99821241e-01 1.20487131e-02 -1.45710414e-02 8.61894637e+01] [ 1.45754238e-02 -2.75993367e-04 9.99893735e-01 2.08539163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.958040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:99.09, Y:86.22, Z:2.09 [[ 1.07345856e-02 -9.99942233e-01 -5.46297971e-04 9.90876427e+01] [ 9.99836161e-01 1.07414067e-02 -1.45696282e-02 8.62166870e+01] [ 1.45746546e-02 -3.89809544e-04 9.99893708e-01 2.08505535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.09, Y:86.24, Z:2.09 [[ 8.53215739e-03 -9.99963462e-01 -5.25721105e-04 9.90857454e+01] [ 9.99857392e-01 8.53891234e-03 -1.45699239e-02 8.62436233e+01] [ 1.45738807e-02 -4.01333249e-04 9.99893715e-01 2.08794435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.01804094199997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:99.08, Y:86.26, Z:2.09 [[ 4.58644843e-03 -9.99989382e-01 -4.48007563e-04 9.90799640e+01] [ 9.99883291e-01 4.59248983e-03 -1.45709923e-02 8.62640273e+01] [ 1.45728950e-02 -3.81126172e-04 9.99893737e-01 2.08540613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04804094199997 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:99.08, Y:86.29, Z:2.08 [[ 1.60690827e-03 -9.99998691e-01 -1.88257810e-04 9.90790923e+01] [ 9.99892493e-01 1.60948136e-03 -1.45743480e-02 8.62923887e+01] [ 1.45746319e-02 -1.64817931e-04 9.99893771e-01 2.08499098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.07804094199997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:99.08, Y:86.32, Z:2.09 [[-1.04613992e-03 -9.99999436e-01 -1.84137430e-04 9.90794900e+01] [ 9.99893243e-01 -1.04334514e-03 -1.45744000e-02 8.63207084e+01] [ 1.45741997e-02 -1.99364633e-04 9.99893771e-01 2.08702279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.08, Y:86.35, Z:2.09 [[-3.98394497e-03 -9.99992048e-01 -1.79929763e-04 9.90838957e+01] [ 9.99885862e-01 -3.98089953e-03 -1.45744520e-02 8.63537978e+01] [ 1.45736198e-02 -2.37973041e-04 9.99893771e-01 2.08533195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.13804094199998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:99.08, Y:86.38, Z:2.09 [[-8.26481280e-03 -9.99965767e-01 -3.98125458e-04 9.90804391e+01] [ 9.99859725e-01 -8.25813479e-03 -1.45716971e-02 8.63764468e+01] [ 1.45679105e-02 -5.18501959e-04 9.99893748e-01 2.08788274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16804094199998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:99.09, Y:86.41, Z:2.09 [[-3.55667569e-03 -9.99993660e-01 -1.72232106e-04 9.90873808e+01] [ 9.99887473e-01 -3.55378782e-03 -1.45743670e-02 8.64079015e+01] [ 1.45736625e-02 -2.24049022e-04 9.99893773e-01 2.09050072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.19804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.09, Y:86.43, Z:2.09 [[-5.35662579e-03 -9.99985607e-01 -3.04350259e-04 9.90862631e+01] [ 9.99879490e-01 -5.35162206e-03 -1.45727840e-02 8.64290397e+01] [ 1.45709455e-02 -3.82374532e-04 9.99893765e-01 2.08577343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.09, Y:86.46, Z:2.09 [[-6.58436682e-03 -9.99978320e-01 -7.85956944e-05 9.90867394e+01] [ 9.99872107e-01 -6.58252188e-03 -1.45753348e-02 8.64591857e+01] [ 1.45745015e-02 -1.74554994e-04 9.99893771e-01 2.08653862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.25804094199998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:99.09, Y:86.49, Z:2.09 [[-5.54281787e-03 -9.99984627e-01 -1.49454040e-04 9.90876669e+01] [ 9.99878438e-01 -5.54005101e-03 -1.45745433e-02 8.64877782e+01] [ 1.45734913e-02 -2.30219911e-04 9.99893775e-01 2.08631563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.09, Y:86.52, Z:2.09 [[-7.24243333e-03 -9.99973760e-01 -1.64305717e-04 9.90862378e+01] [ 9.99867581e-01 -7.23926960e-03 -1.45743807e-02 8.65154300e+01] [ 1.45728088e-02 -2.69837940e-04 9.99893775e-01 2.08524235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.31804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.09, Y:86.55, Z:2.09 [[-7.07973062e-03 -9.99974922e-01 -1.83670773e-04 9.90873166e+01] [ 9.99868751e-01 -7.07630203e-03 -1.45741754e-02 8.65463123e+01] [ 1.45725101e-02 -2.86827901e-04 9.99893774e-01 2.08696549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34804094199998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:99.09, Y:86.58, Z:2.09 [[-7.84736746e-03 -9.99969172e-01 -2.72259081e-04 9.90876954e+01] [ 9.99863047e-01 -7.84256680e-03 -1.45733057e-02 8.65782291e+01] [ 1.45707212e-02 -3.86583879e-04 9.99893767e-01 2.08797886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.37804094199998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:99.09, Y:86.61, Z:2.09 [[-8.37113737e-03 -9.99964876e-01 -4.13748320e-04 9.90878217e+01] [ 9.99858839e-01 -8.36422037e-03 -1.45719373e-02 8.66068928e+01] [ 1.45679648e-02 -5.35673604e-04 9.99893738e-01 2.08844447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40804094199999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:99.09, Y:86.63, Z:2.09 [[-2.55032189e-03 -9.99996664e-01 -4.08570106e-04 9.90908039e+01] [ 9.99890586e-01 -2.54409766e-03 -1.45719856e-02 8.66324513e+01] [ 1.45708975e-02 -4.45688657e-04 9.99893740e-01 2.09180101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.09, Y:86.66, Z:2.09 [[-3.04397123e-03 -9.99995288e-01 -3.96841862e-04 9.90863654e+01] [ 9.99889206e-01 -3.03786547e-03 -1.45721054e-02 8.66577892e+01] [ 1.45708312e-02 -4.41154964e-04 9.99893742e-01 2.09011197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.09, Y:86.69, Z:2.09 [[-2.65608455e-03 -9.99996433e-01 -2.81489026e-04 9.90855054e+01] [ 9.99890289e-01 -2.65170042e-03 -1.45731869e-02 8.66881306e+01] [ 1.45723885e-02 -3.20165760e-04 9.99893766e-01 2.09232655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.08, Y:86.72, Z:2.09 [[-4.29831052e-03 -9.99990716e-01 -3.04633118e-04 9.90838886e+01] [ 9.99884590e-01 -4.29341490e-03 -1.45730023e-02 8.67188601e+01] [ 1.45715591e-02 -3.67237250e-04 9.99893762e-01 2.09072521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.08, Y:86.74, Z:2.09 [[-2.77292737e-05 -9.99999924e-01 -3.90210351e-04 9.90848292e+01] [ 9.99893818e-01 -2.20400591e-05 -1.45723273e-02 8.67440578e+01] [ 1.45723176e-02 -3.90572998e-04 9.99893742e-01 2.09224663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.558040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:99.08, Y:86.77, Z:2.09 [[-7.95868416e-04 -9.99999614e-01 -3.71360401e-04 9.90846535e+01] [ 9.99893503e-01 -7.90372317e-04 -1.45724945e-02 8.67706183e+01] [ 1.45721953e-02 -3.82918640e-04 9.99893747e-01 2.09289687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.588040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:99.08, Y:86.80, Z:2.09 [[-4.99006165e-03 -9.99987496e-01 -3.27527032e-04 9.90837901e+01] [ 9.99881385e-01 -4.98475909e-03 -1.45728374e-02 8.68021869e+01] [ 1.45710225e-02 -4.00207540e-04 9.99893757e-01 2.09351434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.618040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:99.08, Y:86.83, Z:2.09 [[-7.93218443e-03 -9.99968459e-01 -4.01021182e-04 9.90820237e+01] [ 9.99862407e-01 -7.92549916e-03 -1.45723782e-02 8.68308021e+01] [ 1.45687402e-02 -5.16556796e-04 9.99893737e-01 2.09262823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.648040942 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:99.08, Y:86.86, Z:2.09 [[-9.18157644e-03 -9.99957785e-01 -3.57627597e-04 9.90807456e+01] [ 9.99851714e-01 -9.17539072e-03 -1.45726207e-02 8.68586371e+01] [ 1.45687241e-02 -4.91374197e-04 9.99893750e-01 2.09258784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.678040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:99.08, Y:86.89, Z:2.09 [[-1.00466775e-02 -9.99949482e-01 -3.12057953e-04 9.90796070e+01] [ 9.99843393e-01 -1.00410638e-02 -1.45728353e-02 8.68866964e+01] [ 1.45689657e-02 -4.58417659e-04 9.99893762e-01 2.09107898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.708040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.08, Y:86.91, Z:2.09 [[-7.93287833e-03 -9.99968487e-01 -3.07429892e-04 9.90805269e+01] [ 9.99862383e-01 -7.92755633e-03 -1.45728550e-02 8.69115773e+01] [ 1.45699586e-02 -4.22992270e-04 9.99893763e-01 2.09271644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.738040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:99.08, Y:86.94, Z:2.09 [[-1.11887585e-02 -9.99937383e-01 -2.05680484e-04 9.90790811e+01] [ 9.99831249e-01 -1.11845733e-02 -1.45732401e-02 8.69406773e+01] [ 1.45700272e-02 -3.68702240e-04 9.99893784e-01 2.09183870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.08, Y:86.97, Z:2.09 [[-1.13394572e-02 -9.99935683e-01 -2.17081898e-04 9.90792546e+01] [ 9.99829554e-01 -1.13350899e-02 -1.45732019e-02 8.69696337e+01] [ 1.45698039e-02 -3.82297096e-04 9.99893782e-01 2.09318299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.79804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.08, Y:87.00, Z:2.09 [[-1.29116382e-02 -9.99916615e-01 -2.29838257e-04 9.90766256e+01] [ 9.99810499e-01 -1.29069182e-02 -1.45731683e-02 8.69972456e+01] [ 1.45689866e-02 -4.17958180e-04 9.99893779e-01 2.09135905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82804094199997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:99.08, Y:87.03, Z:2.09 [[-1.38525016e-02 -9.99904033e-01 -1.79809640e-04 9.90756108e+01] [ 9.99797900e-01 -1.38484106e-02 -1.45732792e-02 8.70256334e+01] [ 1.45693906e-02 -3.81649674e-04 9.99893788e-01 2.08975911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.85804094199997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:99.07, Y:87.05, Z:2.09 [[-1.52103041e-02 -9.99884303e-01 -1.66477617e-04 9.90740821e+01] [ 9.99778170e-01 -1.52062632e-02 -1.45733044e-02 8.70515392e+01] [ 1.45690868e-02 -3.88105079e-04 9.99893790e-01 2.09056555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.07, Y:87.08, Z:2.09 [[-1.37666412e-02 -9.99905231e-01 -8.90632429e-05 9.90743415e+01] [ 9.99799065e-01 -1.37638815e-02 -1.45734257e-02 8.70766906e+01] [ 1.45708188e-02 -2.89672470e-04 9.99893798e-01 2.09063924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.91804094199998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:99.07, Y:87.11, Z:2.09 [[-1.42512391e-02 -9.99898446e-01 -4.07841729e-06 9.90743195e+01] [ 9.99792258e-01 -1.42496662e-02 -1.45735195e-02 8.71075597e+01] [ 1.45719814e-02 -2.11768281e-04 9.99893801e-01 2.09073282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94804094199998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:99.07, Y:87.13, Z:2.09 [[-1.41256157e-02 -9.99900224e-01 -9.29629077e-05 9.90736089e+01] [ 9.99794060e-01 -1.41227610e-02 -1.45734226e-02 8.71323406e+01] [ 1.45706556e-02 -2.98802330e-04 9.99893798e-01 2.09192856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.97804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.07, Y:87.16, Z:2.09 [[-1.32440422e-02 -9.99912294e-01 -2.16365104e-06 9.90735959e+01] [ 9.99806105e-01 -1.32426042e-02 -1.45734772e-02 8.71605775e+01] [ 1.45721703e-02 -1.95174978e-04 9.99893801e-01 2.09276171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.07, Y:87.19, Z:2.09 [[-1.10036972e-02 -9.99939457e-01 -3.39357738e-05 9.90731211e+01] [ 9.99833271e-01 -1.10020341e-02 -1.45734719e-02 8.71892205e+01] [ 1.45722162e-02 -1.94292188e-04 9.99893801e-01 2.09492257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.03804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.08, Y:87.20, Z:2.10 [[-2.55556875e-03 -9.99996734e-01 -2.27638689e-05 9.90767169e+01] [ 9.99890537e-01 -2.55496561e-03 -1.45734619e-02 8.72030687e+01] [ 1.45733562e-02 -6.00048610e-05 9.99893801e-01 2.09834424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.07, Y:87.22, Z:2.10 [[-4.12675331e-03 -9.99991445e-01 -2.82591866e-04 9.90718666e+01] [ 9.99885317e-01 -4.12219721e-03 -1.45725912e-02 8.72245783e+01] [ 1.45713016e-02 -3.42696946e-04 9.99893774e-01 2.09511758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.09804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.07, Y:87.25, Z:2.10 [[-1.61629046e-03 -9.99998693e-01 -4.77905676e-05 9.90728490e+01] [ 9.99892500e-01 -1.61542236e-03 -1.45732026e-02 8.72545970e+01] [ 1.45731063e-02 -7.13399584e-05 9.99893804e-01 2.09559675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.07, Y:87.28, Z:2.10 [[-1.12718143e-03 -9.99999361e-01 -9.07650667e-05 9.90723126e+01] [ 9.99893173e-01 -1.12573901e-03 -1.45731028e-02 8.72824550e+01] [ 1.45729913e-02 -1.07181901e-04 9.99893803e-01 2.09594668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.15804094199999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:99.07, Y:87.31, Z:2.10 [[ 2.28986212e-04 -9.99999971e-01 -7.94060474e-05 9.90723785e+01] [ 9.99893780e-01 2.30119089e-04 -1.45731260e-02 8.73108558e+01] [ 1.45731439e-02 -7.60605680e-05 9.99893803e-01 2.09600193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.188040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.07, Y:87.34, Z:2.10 [[ 7.78462205e-04 -9.99999688e-01 -1.34536282e-04 9.90695197e+01] [ 9.99893504e-01 7.80340143e-04 -1.45730134e-02 8.73375374e+01] [ 1.45731138e-02 -1.23177414e-04 9.99893799e-01 2.09809847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.218040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:99.07, Y:87.36, Z:2.10 [[ 2.41452594e-03 -9.99997083e-01 -5.66476083e-05 9.90696614e+01] [ 9.99890890e-01 2.41509507e-03 -1.45731342e-02 8.73612730e+01] [ 1.45732285e-02 -2.14542170e-05 9.99893805e-01 2.09608253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.07, Y:87.40, Z:2.10 [[ 4.43604212e-03 -9.99990156e-01 9.24496843e-05 9.90702989e+01] [ 9.99883971e-01 4.43422376e-03 -1.45733279e-02 8.73963801e+01] [ 1.45727745e-02 1.57086854e-04 9.99893799e-01 2.10328821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.07, Y:87.42, Z:2.10 [[ 3.13928961e-03 -9.99995052e-01 -2.00390798e-04 9.90687896e+01] [ 9.99888874e-01 3.14187656e-03 -1.45728420e-02 8.74223465e+01] [ 1.45733995e-02 -1.54620158e-04 9.99893790e-01 2.10405303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.07, Y:87.45, Z:2.11 [[ 3.36082542e-03 -9.99994349e-01 -8.00818177e-05 9.90665150e+01] [ 9.99888158e-01 3.36163556e-03 -1.45729796e-02 8.74471002e+01] [ 1.45731664e-02 -3.10956210e-05 9.99893805e-01 2.10501555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.06, Y:87.48, Z:2.10 [[ 1.19013295e-03 -9.99999292e-01 3.67401756e-06 9.90635701e+01] [ 9.99893099e-01 1.18995302e-03 -1.45730525e-02 8.74754360e+01] [ 1.45730378e-02 2.10174948e-05 9.99893807e-01 2.10439282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.06, Y:87.50, Z:2.11 [[ 5.52445201e-03 -9.99984740e-01 1.36797175e-05 9.90631469e+01] [ 9.99878550e-01 5.52366600e-03 -1.45730586e-02 8.75035913e+01] [ 1.45727606e-02 9.41862187e-05 9.99893807e-01 2.11484798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.06, Y:87.53, Z:2.11 [[ 5.57721970e-03 -9.99984447e-01 -6.93046735e-06 9.90612691e+01] [ 9.99878256e-01 5.57672844e-03 -1.45730488e-02 8.75340365e+01] [ 1.45728608e-02 7.43474710e-05 9.99893807e-01 2.11305219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.06, Y:87.56, Z:2.11 [[ 5.51927387e-03 -9.99984765e-01 -8.86776170e-05 9.90581662e+01] [ 9.99878571e-01 5.51998007e-03 -1.45730337e-02 8.75639958e+01] [ 1.45733011e-02 -8.23428495e-06 9.99893804e-01 2.11137113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.05, Y:87.55, Z:2.11 [[ 8.14931035e-04 -9.99999665e-01 -7.35725799e-05 9.90546096e+01] [ 9.99893476e-01 8.15916669e-04 -1.45729833e-02 8.75549486e+01] [ 1.45730385e-02 -6.16887663e-05 9.99893806e-01 2.11090739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.05, Y:87.55, Z:2.11 [[ 8.72292348e-04 -9.99999620e-01 5.71242800e-06 9.90528605e+01] [ 9.99893433e-01 8.72116476e-04 -1.45726816e-02 8.75487531e+01] [ 1.45726710e-02 1.84234579e-05 9.99893813e-01 2.10779641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.51804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.05, Y:87.55, Z:2.11 [[ 1.19494161e-04 -9.99999991e-01 -6.05082630e-05 9.90521813e+01] [ 9.99893802e-01 1.20363254e-04 -1.45729366e-02 8.75513052e+01] [ 1.45729438e-02 -5.87604563e-05 9.99893807e-01 2.10939125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.05, Y:87.54, Z:2.11 [[-7.94442641e-03 -9.99968439e-01 -8.23107704e-05 9.90474115e+01] [ 9.99862263e-01 -7.94238332e-03 -1.45730257e-02 8.75407584e+01] [ 1.45719120e-02 -1.98073763e-04 9.99893804e-01 2.11044307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.57804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.05, Y:87.54, Z:2.11 [[-7.92134570e-03 -9.99968625e-01 4.15283210e-05 9.90451020e+01] [ 9.99862440e-01 -7.92110974e-03 -1.45724594e-02 8.75417968e+01] [ 1.45723311e-02 -7.39108800e-05 9.99893815e-01 2.10851657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.04, Y:87.55, Z:2.11 [[-5.62800198e-03 -9.99984160e-01 6.94309524e-05 9.90389017e+01] [ 9.99877977e-01 -5.62841616e-03 -1.45723264e-02 8.75465922e+01] [ 1.45724864e-02 -1.25906018e-05 9.99893816e-01 2.10685800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.63804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.04, Y:87.54, Z:2.11 [[-6.19511971e-03 -9.99980803e-01 -1.15041519e-04 9.90386480e+01] [ 9.99874628e-01 -6.19278538e-03 -1.45731616e-02 8.75417114e+01] [ 1.45721694e-02 -2.05309576e-04 9.99893799e-01 2.10993391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.03, Y:87.57, Z:2.11 [[-1.33130510e-02 -9.99911350e-01 -2.34235691e-04 9.90316830e+01] [ 9.99805237e-01 -1.33082243e-02 -1.45732292e-02 8.75652318e+01] [ 1.45688200e-02 -4.28204215e-04 9.99893777e-01 2.10802430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.69804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.03, Y:87.56, Z:2.11 [[-1.63547789e-02 -9.99866252e-01 6.01005629e-06 9.90280996e+01] [ 9.99760076e-01 -1.63531298e-02 -1.45727949e-02 8.75593454e+01] [ 1.45709441e-02 -2.32326224e-04 9.99893811e-01 2.10878658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.03, Y:87.57, Z:2.11 [[-1.46110736e-02 -9.99893252e-01 2.22244741e-05 9.90269530e+01] [ 9.99787071e-01 -1.46098459e-02 -1.45727603e-02 8.75663411e+01] [ 1.45715294e-02 -1.90703931e-04 9.99893811e-01 2.10762460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.75804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.02, Y:87.56, Z:2.11 [[-1.81037448e-02 -9.99836113e-01 -3.28308826e-05 9.90200757e+01] [ 9.99729950e-01 -1.81013440e-02 -1.45728852e-02 8.75550717e+01] [ 1.45699026e-02 -2.96645811e-04 9.99893809e-01 2.10596834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.02, Y:87.55, Z:2.11 [[-2.18539050e-02 -9.99761175e-01 -1.18133744e-05 9.90163115e+01] [ 9.99655015e-01 -2.18514122e-02 -1.45728317e-02 8.75504630e+01] [ 1.45690932e-02 -3.30282578e-04 9.99893811e-01 2.10521788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.81804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.01, Y:87.54, Z:2.10 [[-2.56750085e-02 -9.99670342e-01 3.07782182e-05 9.90134281e+01] [ 9.99564179e-01 -2.56727305e-02 -1.45727055e-02 8.75445799e+01] [ 1.45686917e-02 -3.43389533e-04 9.99893812e-01 2.10421979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.01, Y:87.54, Z:2.11 [[-2.79486664e-02 -9.99609357e-01 7.22171448e-05 9.90107769e+01] [ 9.99503186e-01 -2.79467507e-02 -1.45725648e-02 8.75432069e+01] [ 1.45688903e-02 -3.35102486e-04 9.99893812e-01 2.10530781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.87804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.01, Y:87.54, Z:2.11 [[-2.81551712e-02 -9.99603563e-01 5.69599895e-05 9.90094115e+01] [ 9.99497397e-01 -2.81530113e-02 -1.45726198e-02 8.75415949e+01] [ 1.45684463e-02 -3.53363245e-04 9.99893812e-01 2.10697501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.00, Y:87.54, Z:2.11 [[-3.00662308e-02 -9.99547908e-01 4.19153760e-05 9.90031207e+01] [ 9.99441751e-01 -3.00636487e-02 -1.45726772e-02 8.75428335e+01] [ 1.45673492e-02 -3.96253499e-04 9.99893812e-01 2.10715273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.00, Y:87.55, Z:2.10 [[-2.90278298e-02 -9.99578602e-01 5.41103999e-05 9.90024342e+01] [ 9.99472439e-01 -2.90255357e-02 -1.45726264e-02 8.75509295e+01] [ 1.45680561e-02 -3.68929864e-04 9.99893812e-01 2.10165534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.00, Y:87.55, Z:2.11 [[-2.33075821e-02 -9.99728339e-01 6.44392910e-05 9.89973640e+01] [ 9.99622163e-01 -2.33060460e-02 -1.45725807e-02 8.75519244e+01] [ 1.45701237e-02 -2.75236677e-04 9.99893812e-01 2.10700837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.998040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.99, Y:87.56, Z:2.11 [[-2.48306897e-02 -9.99691670e-01 -5.25748830e-05 9.89938699e+01] [ 9.99585529e-01 -2.48272869e-02 -1.45730944e-02 8.75553222e+01] [ 1.45672958e-02 -4.14413076e-04 9.99893805e-01 2.10739200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.99, Y:87.55, Z:2.11 [[-2.47025083e-02 -9.99694846e-01 -4.47150682e-05 9.89920033e+01] [ 9.99588702e-01 -2.46992336e-02 -1.45730572e-02 8.75512828e+01] [ 1.45675057e-02 -4.04687742e-04 9.99893806e-01 2.10688930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.99, Y:87.56, Z:2.11 [[-2.00303905e-02 -9.99799371e-01 2.45976088e-05 9.89890853e+01] [ 9.99693198e-01 -2.00286219e-02 -1.45726887e-02 8.75572939e+01] [ 1.45702577e-02 -2.67306583e-04 9.99893812e-01 2.10571264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.99, Y:87.56, Z:2.11 [[-2.15879214e-02 -9.99766948e-01 -1.07068801e-04 9.89858867e+01] [ 9.99660815e-01 -2.15840689e-02 -1.45733877e-02 8.75553036e+01] [ 1.45676804e-02 -4.21641632e-04 9.99893797e-01 2.10565464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.98, Y:87.55, Z:2.10 [[-2.48727486e-02 -9.99690624e-01 -6.01435407e-05 9.89830756e+01] [ 9.99584486e-01 -2.48692311e-02 -1.45731188e-02 8.75479613e+01] [ 1.45671145e-02 -4.22592070e-04 9.99893805e-01 2.10203365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.98, Y:87.54, Z:2.10 [[-2.09655474e-02 -9.99780175e-01 2.18893131e-04 9.89782873e+01] [ 9.99673989e-01 -2.09665109e-02 -1.45712378e-02 8.75440385e+01] [ 1.45726241e-02 -8.66722071e-05 9.99893810e-01 2.10260659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.98, Y:87.55, Z:2.10 [[-2.07221612e-02 -9.99785273e-01 -4.01696386e-06 9.89764949e+01] [ 9.99679110e-01 -2.07199023e-02 -1.45726775e-02 8.75467010e+01] [ 1.45694651e-02 -3.05993046e-04 9.99893813e-01 2.10466703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.97, Y:87.53, Z:2.10 [[-2.57056110e-02 -9.99669556e-01 -1.64864680e-05 9.89695461e+01] [ 9.99563409e-01 -2.57026412e-02 -1.45727603e-02 8.75327748e+01] [ 1.45675210e-02 -3.91080976e-04 9.99893812e-01 2.10289722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.97, Y:87.53, Z:2.10 [[-2.67731142e-02 -9.99641523e-01 1.60621219e-04 9.89669297e+01] [ 9.99535342e-01 -2.67726117e-02 -1.45714560e-02 8.75279966e+01] [ 1.45705327e-02 -2.29576670e-04 9.99893818e-01 2.10369014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.96, Y:87.53, Z:2.10 [[-2.32436302e-02 -9.99729807e-01 2.17381885e-04 9.89628388e+01] [ 9.99623622e-01 -2.32443298e-02 -1.45710182e-02 8.75272535e+01] [ 1.45721341e-02 -1.21383292e-04 9.99893813e-01 2.10398887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.29804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.96, Y:87.52, Z:2.10 [[-2.36493887e-02 -9.99720297e-01 1.87251386e-04 9.89629463e+01] [ 9.99614113e-01 -2.36496060e-02 -1.45712604e-02 8.75248258e+01] [ 1.45716132e-02 -1.57422273e-04 9.99893816e-01 2.10395990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32804094199997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:98.96, Y:87.53, Z:2.10 [[-2.25615362e-02 -9.99745438e-01 1.92702873e-04 9.89619532e+01] [ 9.99639254e-01 -2.25619486e-02 -1.45712144e-02 8.75280405e+01] [ 1.45718529e-02 -1.36115626e-04 9.99893816e-01 2.10380333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.35804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.96, Y:87.53, Z:2.10 [[-2.11702842e-02 -9.99775863e-01 2.05548013e-04 9.89611573e+01] [ 9.99669681e-01 -2.11710315e-02 -1.45711018e-02 8.75278948e+01] [ 1.45721875e-02 -1.02994249e-04 9.99893815e-01 2.10176480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38804094199998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:98.96, Y:87.53, Z:2.10 [[-2.07724786e-02 -9.99784208e-01 2.04451202e-04 9.89614859e+01] [ 9.99678026e-01 -2.07732522e-02 -1.45711115e-02 8.75252583e+01] [ 1.45722143e-02 -9.82927281e-05 9.99893815e-01 2.10318406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.41804094199998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.96, Y:87.53, Z:2.10 [[-1.99709331e-02 -9.99800546e-01 1.74222873e-04 9.89624317e+01] [ 9.99694363e-01 -1.99713513e-02 -1.45713900e-02 8.75255680e+01] [ 1.45719631e-02 -1.16834630e-04 9.99893816e-01 2.10345559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.96, Y:87.53, Z:2.10 [[-1.89571844e-02 -9.99820280e-01 1.82607840e-04 9.89628497e+01] [ 9.99714098e-01 -1.89578324e-02 -1.45713095e-02 8.75271885e+01] [ 1.45721526e-02 -9.36753702e-05 9.99893816e-01 2.10334550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.47804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.96, Y:87.52, Z:2.10 [[-1.94006576e-02 -9.99811780e-01 1.40197591e-04 9.89629307e+01] [ 9.99705597e-01 -1.94006405e-02 -1.45717190e-02 8.75245925e+01] [ 1.45716963e-02 -1.42544616e-04 9.99893817e-01 2.10327285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.96, Y:87.52, Z:2.10 [[-1.79451432e-02 -9.99838961e-01 1.51551936e-04 9.89643302e+01] [ 9.99732779e-01 -1.79454462e-02 -1.45716053e-02 8.75243725e+01] [ 1.45719784e-02 -1.09978105e-04 9.99893817e-01 2.10204675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.53804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.97, Y:87.53, Z:2.11 [[-6.71414224e-03 -9.99977450e-01 1.43383908e-04 9.89699850e+01] [ 9.99871276e-01 -6.71551875e-03 -1.45716885e-02 8.75343260e+01] [ 1.45723228e-02 4.55290617e-05 9.99893817e-01 2.10507897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.97, Y:87.53, Z:2.10 [[-1.78670260e-02 -9.99840368e-01 -8.46092621e-05 9.89657368e+01] [ 9.99734205e-01 -1.78638956e-02 -1.45739440e-02 8.75269763e+01] [ 1.45701061e-02 -3.44979810e-04 9.99893791e-01 2.10136251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.59804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.97, Y:87.50, Z:2.11 [[-1.99328464e-02 -9.99801311e-01 1.38916293e-04 9.89674484e+01] [ 9.99695131e-01 -1.99327542e-02 -1.45715623e-02 8.75001977e+01] [ 1.45714360e-02 -1.51578771e-04 9.99893820e-01 2.10718786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.97, Y:87.52, Z:2.10 [[-1.55121083e-02 -9.99879667e-01 1.58786267e-04 9.89717442e+01] [ 9.99773489e-01 -1.55127751e-02 -1.45713457e-02 8.75199133e+01] [ 1.45720555e-02 -6.72819926e-05 9.99893820e-01 2.10424089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.97, Y:87.52, Z:2.10 [[-3.12246482e-02 -9.99512391e-01 4.37340962e-05 9.89712095e+01] [ 9.99406238e-01 -3.12219696e-02 -1.45726028e-02 8.75154593e+01] [ 1.45668625e-02 -4.11316267e-04 9.99893813e-01 2.10103543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.97, Y:87.51, Z:2.10 [[-3.54459514e-02 -9.99371546e-01 3.11096571e-04 9.89716704e+01] [ 9.99265360e-01 -3.54467205e-02 -1.45694771e-02 8.75136387e+01] [ 1.45713482e-02 -2.05560949e-04 9.99893811e-01 2.10102353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.98, Y:87.50, Z:2.10 [[-3.39661612e-02 -9.99422920e-01 3.56440678e-04 9.89751165e+01] [ 9.99316736e-01 -3.39677484e-02 -1.45689237e-02 8.75011711e+01] [ 1.45726238e-02 -1.38653277e-04 9.99893804e-01 2.10357619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.98, Y:87.50, Z:2.11 [[-2.86573158e-02 -9.99589249e-01 3.03476963e-04 9.89781712e+01] [ 9.99483070e-01 -2.86586951e-02 -1.45695809e-02 8.75044708e+01] [ 1.45722937e-02 -1.14204995e-04 9.99893812e-01 2.10617830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.98, Y:87.50, Z:2.11 [[-2.45425967e-02 -9.99698766e-01 1.96072424e-04 9.89827553e+01] [ 9.99592586e-01 -2.45428478e-02 -1.45709039e-02 8.75017006e+01] [ 1.45713268e-02 -1.61615276e-04 9.99893820e-01 2.10737012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.99, Y:87.54, Z:2.11 [[-1.82260602e-02 -9.99833883e-01 1.28410421e-04 9.89862980e+01] [ 9.99727702e-01 -1.82259961e-02 -1.45717336e-02 8.75364145e+01] [ 1.45716534e-02 -1.37209839e-04 9.99893818e-01 2.10868172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.99, Y:87.83, Z:2.12 [[-2.23372213e-02 -9.99750492e-01 5.62148696e-05 9.89866803e+01] [ 9.99644314e-01 -2.23356684e-02 -1.45727210e-02 8.78290992e+01] [ 1.45703406e-02 -2.69319220e-04 9.99893811e-01 2.11577734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.868040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.99, Y:87.53, Z:2.11 [[-1.58509569e-02 -9.99874344e-01 2.07676370e-04 9.89908682e+01] [ 9.99768175e-01 -1.58523002e-02 -1.45705624e-02 8.75305550e+01] [ 1.45720237e-02 -2.33291318e-05 9.99893822e-01 2.11182333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.898040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.99, Y:87.48, Z:2.11 [[-2.39771294e-02 -9.99712507e-01 6.12905466e-06 9.89889249e+01] [ 9.99606342e-01 -2.39746725e-02 -1.45731001e-02 8.74836423e+01] [ 1.45690574e-02 -3.43294464e-04 9.99893807e-01 2.11224799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.99, Y:87.53, Z:2.11 [[-2.52110828e-02 -9.99682131e-01 1.94285899e-04 9.89910272e+01] [ 9.99575956e-01 -2.52112369e-02 -1.45705914e-02 8.75284746e+01] [ 1.45708581e-02 -1.73136874e-04 9.99893824e-01 2.11069219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.00, Y:87.52, Z:2.11 [[-1.30213362e-02 -9.99915200e-01 1.95031144e-04 9.89994079e+01] [ 9.99809034e-01 -1.30227957e-02 -1.45705814e-02 8.75234045e+01] [ 1.45718857e-02 5.26545990e-06 9.99893824e-01 2.11262909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.00, Y:87.52, Z:2.11 [[-1.81323868e-02 -9.99835593e-01 -6.36052517e-05 9.89994325e+01] [ 9.99729424e-01 -1.81295343e-02 -1.45739030e-02 8.75172286e+01] [ 1.45703538e-02 -3.27847688e-04 9.99893793e-01 2.11212760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.01804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.00, Y:87.52, Z:2.11 [[-1.79481570e-02 -9.99838918e-01 2.96320825e-05 9.90037378e+01] [ 9.99732741e-01 -1.79466829e-02 -1.45726625e-02 8.75186149e+01] [ 1.45708469e-02 -2.31928271e-04 9.99893813e-01 2.11409828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.00, Y:87.51, Z:2.11 [[-1.98947197e-02 -9.99802081e-01 1.17376942e-06 9.90045329e+01] [ 9.99695909e-01 -1.98926242e-02 -1.45730481e-02 8.75097339e+01] [ 1.45701872e-02 -2.88753295e-04 9.99893808e-01 2.11265722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.07804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.01, Y:87.50, Z:2.11 [[-1.78673716e-02 -9.99840365e-01 3.19516141e-05 9.90088634e+01] [ 9.99734188e-01 -1.78659399e-02 -1.45726260e-02 8.75044452e+01] [ 1.45708705e-02 -2.28431403e-04 9.99893813e-01 2.11169065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.01, Y:87.51, Z:2.11 [[-2.21389710e-02 -9.99754903e-01 -1.80554637e-05 9.90094404e+01] [ 9.99648738e-01 -2.21363569e-02 -1.45733160e-02 8.75053416e+01] [ 1.45693444e-02 -3.40687342e-04 9.99893803e-01 2.11229960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.13804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.01, Y:87.50, Z:2.11 [[-2.21590840e-02 -9.99754451e-01 1.08633469e-04 9.90126947e+01] [ 9.99648278e-01 -2.21583141e-02 -1.45714964e-02 8.75036766e+01] [ 1.45703255e-02 -2.14295753e-04 9.99893824e-01 2.10846852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.02, Y:87.50, Z:2.11 [[-1.62360486e-02 -9.99868185e-01 5.30633649e-05 9.90176655e+01] [ 9.99762007e-01 -1.62350978e-02 -1.45723004e-02 8.75028818e+01] [ 1.45712410e-02 -1.83545840e-04 9.99893817e-01 2.11078108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.19804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.02, Y:87.50, Z:2.11 [[-2.21990794e-02 -9.99753570e-01 -2.96969280e-05 9.90170169e+01] [ 9.99647407e-01 -2.21962892e-02 -1.45734980e-02 8.74970399e+01] [ 1.45692475e-02 -3.53204697e-04 9.99893801e-01 2.10843577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.02, Y:87.47, Z:2.11 [[-2.86708220e-02 -9.99588903e-01 9.90493261e-05 9.90172420e+01] [ 9.99482739e-01 -2.86692209e-02 -1.45715772e-02 8.74688338e+01] [ 1.45684266e-02 -3.18781006e-04 9.99893824e-01 2.10559199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.25804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.02, Y:87.47, Z:2.11 [[-2.82231213e-02 -9.99601614e-01 2.61574065e-04 9.90190595e+01] [ 9.99495449e-01 -2.82239362e-02 -1.45690573e-02 8.74664938e+01] [ 1.45706359e-02 -1.49742185e-04 9.99893831e-01 2.10510251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.02, Y:87.47, Z:2.11 [[-2.55282549e-02 -9.99674065e-01 2.68483329e-04 9.90236374e+01] [ 9.99567903e-01 -2.55294567e-02 -1.45689478e-02 8.74654840e+01] [ 1.45710536e-02 -1.03552496e-04 9.99893831e-01 2.10773496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.31804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.03, Y:87.48, Z:2.11 [[-1.38801130e-02 -9.99903639e-01 2.33239849e-04 9.90307517e+01] [ 9.99797489e-01 -1.38820380e-02 -1.45695069e-02 8.74844624e+01] [ 1.45713408e-02 3.09662124e-05 9.99893832e-01 2.10970283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34804094199998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:99.03, Y:87.48, Z:2.11 [[-1.48969361e-02 -9.99889034e-01 1.86601782e-05 9.90331819e+01] [ 9.99782853e-01 -1.48956261e-02 -1.45728568e-02 8.74832881e+01] [ 1.45715176e-02 -1.98434791e-04 9.99893810e-01 2.11296579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.37804094199998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:99.04, Y:87.48, Z:2.11 [[-1.85657188e-02 -9.99827641e-01 4.66216836e-05 9.90355811e+01] [ 9.99721465e-01 -1.85644268e-02 -1.45724132e-02 8.74788169e+01] [ 1.45707670e-02 -2.23938628e-04 9.99893816e-01 2.10974816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.04, Y:87.46, Z:2.11 [[-2.58087190e-02 -9.99666897e-01 7.42120141e-05 9.90359088e+01] [ 9.99560730e-01 -2.58070598e-02 -1.45719708e-02 8.74616485e+01] [ 1.45690320e-02 -3.01904484e-04 9.99893820e-01 2.11222952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.04, Y:87.47, Z:2.11 [[-3.14114281e-02 -9.99506516e-01 2.17392721e-04 9.90398229e+01] [ 9.99400350e-01 -3.14112605e-02 -1.45695771e-02 8.74666854e+01] [ 1.45692158e-02 -2.40388863e-04 9.99893834e-01 2.11121549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.04, Y:87.45, Z:2.11 [[-4.13323877e-02 -9.99145414e-01 2.73556950e-04 9.90409963e+01] [ 9.99039250e-01 -4.13319847e-02 -1.45686195e-02 8.74549979e+01] [ 1.45674760e-02 -3.28861701e-04 9.99893835e-01 2.10501800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.05, Y:87.45, Z:2.12 [[-3.49147879e-02 -9.99390215e-01 3.94172973e-04 9.90465785e+01] [ 9.99284060e-01 -3.49168244e-02 -1.45664899e-02 8.74521167e+01] [ 1.45713707e-02 -1.14695135e-04 9.99893825e-01 2.11644193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.05, Y:87.45, Z:2.11 [[-3.73778712e-02 -9.99301163e-01 2.85126282e-04 9.90484598e+01] [ 9.99194997e-01 -3.73780570e-02 -1.45684092e-02 8.74451559e+01] [ 1.45688857e-02 -2.59639368e-04 9.99893834e-01 2.11401080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.05, Y:87.45, Z:2.11 [[-3.52391168e-02 -9.99378863e-01 3.05985726e-04 9.90517321e+01] [ 9.99272699e-01 -3.52398338e-02 -1.45680358e-02 8.74455550e+01] [ 1.45697699e-02 -2.07601533e-04 9.99893834e-01 2.11207705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.06, Y:87.44, Z:2.11 [[-3.67255616e-02 -9.99325348e-01 2.85293923e-04 9.90557113e+01] [ 9.99219183e-01 -3.67258191e-02 -1.45684103e-02 8.74389253e+01] [ 1.45690593e-02 -2.49961888e-04 9.99893834e-01 2.11385304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.06, Y:87.44, Z:2.11 [[-3.57403562e-02 -9.99361061e-01 3.11613683e-04 9.90583805e+01] [ 9.99254897e-01 -3.57411020e-02 -1.45679271e-02 8.74434588e+01] [ 1.45697565e-02 -2.09281407e-04 9.99893834e-01 2.11181338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.06, Y:87.45, Z:2.11 [[-3.30990096e-02 -9.99452032e-01 3.01291114e-04 9.90638434e+01] [ 9.99345870e-01 -3.30998855e-02 -1.45681184e-02 8.74454295e+01] [ 1.45701082e-02 -1.81096261e-04 9.99893834e-01 2.11372295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.07, Y:87.44, Z:2.11 [[-2.91634436e-02 -9.99574616e-01 2.85216527e-04 9.90674410e+01] [ 9.99468455e-01 -2.91645032e-02 -1.45684182e-02 8.74421081e+01] [ 1.45705392e-02 -1.39800320e-04 9.99893834e-01 2.11382518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.07, Y:87.45, Z:2.11 [[-2.87329981e-02 -9.99587101e-01 2.03491584e-04 9.90693960e+01] [ 9.99480934e-01 -2.87329124e-02 -1.45699420e-02 8.74452704e+01] [ 1.45697730e-02 -2.15252159e-04 9.99893832e-01 2.11411325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.07, Y:87.45, Z:2.11 [[-2.12511577e-02 -9.99774142e-01 2.31687337e-04 9.90746087e+01] [ 9.99667981e-01 -2.12522775e-02 -1.45694098e-02 8.74490151e+01] [ 1.45710431e-02 -7.80064141e-05 9.99893834e-01 2.11497405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.08, Y:87.46, Z:2.12 [[-1.95779655e-02 -9.99808328e-01 1.06449528e-04 9.90792827e+01] [ 9.99702149e-01 -1.95774378e-02 -1.45717835e-02 8.74625306e+01] [ 1.45710745e-02 -1.78868054e-04 9.99893820e-01 2.11640314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.79804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.08, Y:87.44, Z:2.12 [[-2.36421972e-02 -9.99720483e-01 4.02861299e-05 9.90833814e+01] [ 9.99614307e-01 -2.36402736e-02 -1.45730483e-02 8.74412806e+01] [ 1.45699273e-02 -3.04268292e-04 9.99893807e-01 2.11705755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.08, Y:87.44, Z:2.11 [[-2.79035085e-02 -9.99610610e-01 1.47154063e-04 9.90843923e+01] [ 9.99504441e-01 -2.79026899e-02 -1.45709483e-02 8.74405668e+01] [ 1.45693805e-02 -2.59499440e-04 9.99893827e-01 2.11195196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.85804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.09, Y:87.45, Z:2.12 [[-2.74986904e-02 -9.99621821e-01 1.93870917e-04 9.90857186e+01] [ 9.99515654e-01 -2.74985956e-02 -1.45700103e-02 8.74480599e+01] [ 1.45698314e-02 -2.06879187e-04 9.99893833e-01 2.11613789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.09, Y:87.44, Z:2.12 [[-2.78444470e-02 -9.99612242e-01 2.28882519e-04 9.90892993e+01] [ 9.99506079e-01 -2.78448258e-02 -1.45692905e-02 8.74417612e+01] [ 1.45700144e-02 -1.76904370e-04 9.99893836e-01 2.11512880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.91804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.09, Y:87.44, Z:2.11 [[-2.93364025e-02 -9.99569564e-01 2.49359162e-04 9.90916775e+01] [ 9.99463403e-01 -2.93369213e-02 -1.45688637e-02 8.74415952e+01] [ 1.45699081e-02 -1.78172693e-04 9.99893837e-01 2.10889759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.10, Y:87.44, Z:2.12 [[-2.07668689e-02 -9.99784327e-01 1.90433865e-04 9.90987281e+01] [ 9.99678161e-01 -2.07674389e-02 -1.45701010e-02 8.74393273e+01] [ 1.45709134e-02 -1.12202801e-04 9.99893832e-01 2.11709963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.97804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.10, Y:87.45, Z:2.12 [[-1.81909238e-02 -9.99834524e-01 1.20606445e-04 9.91020101e+01] [ 9.99728346e-01 -1.81907497e-02 -1.45715669e-02 8.74480414e+01] [ 1.45713496e-02 -1.44496581e-04 9.99893822e-01 2.11611918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.10, Y:87.42, Z:2.12 [[-3.09761397e-02 -9.99520120e-01 9.13847426e-05 9.90985622e+01] [ 9.99413954e-01 -3.09741818e-02 -1.45721860e-02 8.74210118e+01] [ 1.45680236e-02 -3.60058882e-04 9.99893816e-01 2.12011425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.03804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.10, Y:87.44, Z:2.12 [[-2.29815790e-02 -9.99735838e-01 3.19154996e-04 9.91048543e+01] [ 9.99629703e-01 -2.29837896e-02 -1.45671961e-02 8.74396409e+01] [ 1.45706834e-02 -1.57403536e-05 9.99893842e-01 2.11795778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.11, Y:87.43, Z:2.12 [[-2.61414196e-02 -9.99658243e-01 1.55467564e-04 9.91079362e+01] [ 9.99552072e-01 -2.61409093e-02 -1.45707806e-02 8.74343700e+01] [ 1.45698650e-02 -2.25502964e-04 9.99893828e-01 2.11758333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.09804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.11, Y:87.44, Z:2.12 [[-2.76508747e-02 -9.99617618e-01 2.14972482e-04 9.91112571e+01] [ 9.99511455e-01 -2.76510713e-02 -1.45694582e-02 8.74369623e+01] [ 1.45698313e-02 -1.87990804e-04 9.99893837e-01 2.11627356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.11, Y:87.43, Z:2.12 [[-2.81120623e-02 -9.99604757e-01 2.05408343e-04 9.91141154e+01] [ 9.99498592e-01 -2.81120706e-02 -1.45696722e-02 8.74290376e+01] [ 1.45696881e-02 -2.04278183e-04 9.99893836e-01 2.11776241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.15804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.11, Y:87.43, Z:2.12 [[-3.16280409e-02 -9.99499683e-01 2.23254206e-04 9.91147203e+01] [ 9.99393521e-01 -3.16279358e-02 -1.45692674e-02 8.74323676e+01] [ 1.45690392e-02 -2.37678578e-04 9.99893838e-01 2.11656224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.188040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.11, Y:87.43, Z:2.12 [[-3.20165855e-02 -9.99487309e-01 2.40948037e-04 9.91148435e+01] [ 9.99381148e-01 -3.20166970e-02 -1.45688603e-02 8.74299940e+01] [ 1.45691053e-02 -2.25646235e-04 9.99893840e-01 2.11652123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.12, Y:87.43, Z:2.12 [[-3.03456298e-02 -9.99539435e-01 2.46452610e-04 9.91214354e+01] [ 9.99433276e-01 -3.03459990e-02 -1.45687315e-02 8.74272973e+01] [ 1.45695005e-02 -1.95784393e-04 9.99893840e-01 2.12160366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.12, Y:87.42, Z:2.12 [[-3.06482147e-02 -9.99530216e-01 1.84781371e-04 9.91232861e+01] [ 9.99424050e-01 -3.06476529e-02 -1.45701832e-02 8.74246332e+01] [ 1.45690015e-02 -2.61875158e-04 9.99893832e-01 2.12156172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.278040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.13, Y:87.43, Z:2.12 [[-2.89007539e-02 -9.99582271e-01 1.73833309e-04 9.91275621e+01] [ 9.99476103e-01 -2.89002181e-02 -1.45704429e-02 8.74287374e+01] [ 1.45693802e-02 -2.47354545e-04 9.99893830e-01 2.12375227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.308040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:99.13, Y:87.43, Z:2.12 [[-3.00553490e-02 -9.99548233e-01 8.02722609e-05 9.91289048e+01] [ 9.99442062e-01 -3.00533269e-02 -1.45726757e-02 8.74287973e+01] [ 1.45685047e-02 -3.57759379e-04 9.99893810e-01 2.12384798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.13, Y:87.42, Z:2.12 [[-3.37182014e-02 -9.99431372e-01 1.23461830e-04 9.91286001e+01] [ 9.99325208e-01 -3.37164197e-02 -1.45716277e-02 8.74200087e+01] [ 1.45675045e-02 -3.67950557e-04 9.99893821e-01 2.12092692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.368040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:99.13, Y:87.43, Z:2.12 [[-3.38368478e-02 -9.99427349e-01 2.02177186e-04 9.91305473e+01] [ 9.99321188e-01 -3.38362009e-02 -1.45696749e-02 8.74295325e+01] [ 1.45681725e-02 -2.90951928e-04 9.99893836e-01 2.12189591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.13, Y:87.42, Z:2.12 [[-3.10753609e-02 -9.99517023e-01 2.06782966e-04 9.91338759e+01] [ 9.99410860e-01 -3.10750745e-02 -1.45695589e-02 8.74181725e+01] [ 1.45689479e-02 -2.46093159e-04 9.99893837e-01 2.12265453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.428040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.14, Y:87.44, Z:2.12 [[-2.73451904e-02 -9.99626032e-01 1.90471783e-04 9.91372949e+01] [ 9.99519866e-01 -2.73450624e-02 -1.45699745e-02 8.74410025e+01] [ 1.45697343e-02 -2.08038395e-04 9.99893834e-01 2.12296507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.14, Y:87.42, Z:2.12 [[-3.17624299e-02 -9.99495436e-01 1.46380160e-04 9.91363606e+01] [ 9.99389268e-01 -3.17611900e-02 -1.45711041e-02 8.74182964e+01] [ 1.45684013e-02 -3.16522912e-04 9.99893825e-01 2.12166326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.14, Y:87.42, Z:2.12 [[-3.13521448e-02 -9.99508376e-01 2.21280950e-04 9.91368244e+01] [ 9.99402216e-01 -3.13520402e-02 -1.45691500e-02 8.74189648e+01] [ 1.45689250e-02 -2.35625428e-04 9.99893840e-01 2.12213721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.51804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.14, Y:87.41, Z:2.12 [[-2.70727386e-02 -9.99633431e-01 2.63820131e-04 9.91423159e+01] [ 9.99527282e-01 -2.70737085e-02 -1.45680217e-02 8.74142911e+01] [ 1.45698241e-02 -1.30700824e-04 9.99893846e-01 2.12477608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.14, Y:87.41, Z:2.12 [[-2.58710952e-02 -9.99665210e-01 3.93781250e-04 9.91442762e+01] [ 9.99559106e-01 -2.58740864e-02 -1.45645080e-02 8.74109346e+01] [ 1.45698207e-02 1.68078605e-05 9.99893854e-01 2.11841033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.57804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.14, Y:87.42, Z:2.12 [[-2.76508606e-02 -9.99617597e-01 3.00993326e-04 9.91410837e+01] [ 9.99511456e-01 -2.76523109e-02 -1.45670197e-02 8.74155591e+01] [ 1.45697724e-02 -1.01944355e-04 9.99893850e-01 2.12240721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.14, Y:87.41, Z:2.12 [[-2.66120913e-02 -9.99645809e-01 2.28605423e-04 9.91436556e+01] [ 9.99539651e-01 -2.66125970e-02 -1.45689719e-02 8.74093136e+01] [ 1.45698955e-02 -1.59210625e-04 9.99893841e-01 2.12327670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.63804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.14, Y:87.41, Z:2.12 [[-2.93713346e-02 -9.99568553e-01 1.78681748e-04 9.91438505e+01] [ 9.99462386e-01 -2.93708196e-02 -1.45703209e-02 8.74079313e+01] [ 1.45692827e-02 -2.49364085e-04 9.99893831e-01 2.12258422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.15, Y:87.40, Z:2.12 [[-2.80948864e-02 -9.99605230e-01 2.49628523e-04 9.91466357e+01] [ 9.99499076e-01 -2.80955410e-02 -1.45683624e-02 8.74016127e+01] [ 1.45696247e-02 -1.59793008e-04 9.99893845e-01 2.11964251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.69804094199998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:99.14, Y:87.42, Z:2.12 [[-3.23482723e-02 -9.99476573e-01 4.10429746e-04 9.91442017e+01] [ 9.99370462e-01 -3.23508185e-02 -1.45638310e-02 8.74151550e+01] [ 1.45694856e-02 -6.09434046e-05 9.99893858e-01 2.12223924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.14, Y:87.41, Z:2.12 [[-3.48528857e-02 -9.99392435e-01 1.93982390e-04 9.91439030e+01] [ 9.99286274e-01 -3.48520114e-02 -1.45698595e-02 8.74077947e+01] [ 1.45677680e-02 -3.13957707e-04 9.99893835e-01 2.12156054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.75804094199998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:99.14, Y:87.40, Z:2.12 [[-3.54334855e-02 -9.99372007e-01 2.45471157e-04 9.91448079e+01] [ 9.99265852e-01 -3.54333001e-02 -1.45684103e-02 8.73962199e+01] [ 1.45679592e-02 -2.70918608e-04 9.99893845e-01 2.12351972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.14, Y:87.39, Z:2.12 [[-3.80442906e-02 -9.99276036e-01 1.87488653e-04 9.91441596e+01] [ 9.99169878e-01 -3.80429827e-02 -1.45700453e-02 8.73949715e+01] [ 1.45666298e-02 -3.66974025e-04 9.99893834e-01 2.12209493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.81804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.14, Y:87.39, Z:2.12 [[-4.27830556e-02 -9.99084360e-01 2.29374433e-04 9.91442879e+01] [ 9.98978209e-01 -4.27818547e-02 -1.45688459e-02 8.73903153e+01] [ 1.45653191e-02 -3.94159682e-04 9.99893842e-01 2.11966589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84804094199998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:99.14, Y:87.39, Z:2.12 [[-3.67392369e-02 -9.99324825e-01 3.49983962e-04 9.91420259e+01] [ 9.99218691e-01 -3.67404360e-02 -1.45653250e-02 8.73913715e+01] [ 1.45683494e-02 -1.85408410e-04 9.99893859e-01 2.12276589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.87804094199998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:99.14, Y:87.40, Z:2.12 [[-4.52923006e-02 -9.98973775e-01 6.68240390e-05 9.91415828e+01] [ 9.98867644e-01 -4.52884636e-02 -1.45734456e-02 8.73957424e+01] [ 1.45615163e-02 -5.93316506e-04 9.99893799e-01 2.11990242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.14, Y:87.38, Z:2.12 [[-4.42820006e-02 -9.99019031e-01 2.82440047e-04 9.91418156e+01] [ 9.98912887e-01 -4.42814141e-02 -1.45670803e-02 8.73840829e+01] [ 1.45652973e-02 -3.62926456e-04 9.99893855e-01 2.12228109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.14, Y:87.38, Z:2.12 [[-4.67367991e-02 -9.98907214e-01 2.23421424e-04 9.91402147e+01] [ 9.98801072e-01 -4.67350915e-02 -1.45688257e-02 8.73818040e+01] [ 1.45633468e-02 -4.57746724e-04 9.99893844e-01 2.12102771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.14, Y:87.38, Z:2.12 [[-4.62025535e-02 -9.98932060e-01 2.52417104e-04 9.91397190e+01] [ 9.98825917e-01 -4.62013253e-02 -1.45679621e-02 8.73766093e+01] [ 1.45640664e-02 -4.20956303e-04 9.99893850e-01 2.12173350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.14, Y:87.38, Z:2.12 [[-4.92649000e-02 -9.98785719e-01 2.39907975e-04 9.91375690e+01] [ 9.98679580e-01 -4.92631641e-02 -1.45683370e-02 8.73775820e+01] [ 1.45624655e-02 -4.78116469e-04 9.99893847e-01 2.11792676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.14, Y:87.37, Z:2.12 [[-4.62815072e-02 -9.98928382e-01 3.32267953e-04 9.91358955e+01] [ 9.98822244e-01 -4.62814346e-02 -1.45655303e-02 8.73727207e+01] [ 1.45652994e-02 -3.42238073e-04 9.99893862e-01 2.11943573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.058040942 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:99.14, Y:87.38, Z:2.12 [[-4.26568790e-02 -9.99089741e-01 2.84760287e-04 9.91364420e+01] [ 9.98983597e-01 -4.26564990e-02 -1.45669803e-02 8.73774708e+01] [ 1.45658674e-02 -3.36911059e-04 9.99893855e-01 2.12317437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.088040942 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:99.13, Y:87.37, Z:2.12 [[-4.56478764e-02 -9.98957570e-01 2.12577877e-04 9.91325402e+01] [ 9.98851425e-01 -4.56461264e-02 -1.45691831e-02 8.73739258e+01] [ 1.45636991e-02 -4.52718554e-04 9.99893841e-01 2.11801331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.13, Y:87.39, Z:2.12 [[-4.24114490e-02 -9.99100184e-01 3.03509377e-04 9.91331699e+01] [ 9.98994043e-01 -4.24113683e-02 -1.45663611e-02 8.73868568e+01] [ 1.45661263e-02 -3.14576423e-04 9.99893859e-01 2.11943039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.148040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.13, Y:87.42, Z:2.12 [[-4.06830703e-02 -9.99172067e-01 2.60618792e-04 9.91329362e+01] [ 9.99065920e-01 -4.06825481e-02 -1.45677063e-02 8.74162064e+01] [ 1.45662479e-02 -3.32283667e-04 9.99893851e-01 2.12087973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.178040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:99.13, Y:87.38, Z:2.12 [[-4.21412209e-02 -9.99111635e-01 2.40439541e-04 9.91310540e+01] [ 9.99005487e-01 -4.21402496e-02 -1.45683435e-02 8.73811927e+01] [ 1.45655337e-02 -3.73727359e-04 9.99893847e-01 2.11740046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.13, Y:87.39, Z:2.12 [[-4.36489134e-02 -9.99046891e-01 2.87618934e-04 9.91293617e+01] [ 9.98940748e-01 -4.36484697e-02 -1.45668413e-02 8.73882342e+01] [ 1.45655116e-02 -3.48512520e-04 9.99893857e-01 2.11653340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.13, Y:87.34, Z:2.12 [[-4.84231675e-02 -9.98826859e-01 3.21047790e-04 9.91279539e+01] [ 9.98720722e-01 -4.84227038e-02 -1.45657658e-02 8.73416742e+01] [ 1.45642241e-02 -3.84683437e-04 9.99893862e-01 2.12427166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.13, Y:87.53, Z:2.12 [[-3.85586424e-02 -9.99256225e-01 4.77206232e-04 9.91272156e+01] [ 9.99150138e-01 -3.85615024e-02 -1.45606481e-02 8.75319882e+01] [ 1.45682200e-02 -8.46381497e-05 9.99893874e-01 2.12267415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.29804094199997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.13, Y:87.55, Z:2.13 [[-3.32948086e-02 -9.99445518e-01 3.35776498e-04 9.91283931e+01] [ 9.99339389e-01 -3.32961665e-02 -1.45654134e-02 8.75468955e+01] [ 1.45685172e-02 -1.49397971e-04 9.99893862e-01 2.12658870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32804094199997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:98.43, Y:87.28, Z:3.16 [[-9.58813574e-02 9.95392747e-01 -2.09396966e-04 9.84296923e+01] [ 9.95286834e-01 9.58742201e-02 1.45688670e-02 8.72788192e+01] [ 1.45218203e-02 1.18847270e-03 -9.99893847e-01 3.15533562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.35804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.46, Y:87.28, Z:3.16 [[-1.80639555e-01 9.83548080e-01 -1.58916255e-03 9.84595774e+01] [ 9.83442966e-01 1.80643543e-01 1.44167895e-02 8.72833407e+01] [ 1.44666776e-02 1.04139170e-03 -9.99894810e-01 3.16226274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.51, Y:87.23, Z:3.15 [[-2.50208579e-01 9.68186770e-01 -3.16940404e-03 9.85102132e+01] [ 9.68084036e-01 2.50228224e-01 1.41115490e-02 8.72291619e+01] [ 1.44556894e-02 4.62581153e-04 -9.99895404e-01 3.15470724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.41804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.44, Y:87.54, Z:3.16 [[-3.33738973e-01 9.42657837e-01 -3.80785501e-03 9.84352978e+01] [ 9.42555401e-01 3.33759005e-01 1.39371167e-02 8.75439446e+01] [ 1.44088382e-02 1.06224470e-03 -9.99895623e-01 3.16392994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.46, Y:87.54, Z:3.16 [[-4.09847852e-01 9.12138959e-01 -5.22086852e-03 9.84605329e+01] [ 9.12040390e-01 4.09880431e-01 1.34297855e-02 8.75430874e+01] [ 1.43897624e-02 7.42525772e-04 -9.99896186e-01 3.16289855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.47804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.66, Y:87.22, Z:3.16 [[-4.74286108e-01 8.80347025e-01 -6.46549519e-03 9.86600997e+01] [ 8.80253148e-01 4.74329999e-01 1.28626250e-02 8.72210013e+01] [ 1.43903520e-02 4.09291860e-04 -9.99896370e-01 3.16178261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.70, Y:87.21, Z:3.16 [[-5.43861167e-01 8.39144991e-01 -7.12143843e-03 9.87019972e+01] [ 8.39052293e-01 5.43907167e-01 1.24997037e-02 8.72126514e+01] [ 1.43624652e-02 8.22844218e-04 -9.99896516e-01 3.16071681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.53804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.75, Y:87.21, Z:3.16 [[-6.06311456e-01 7.95185053e-01 -8.19442976e-03 9.87490856e+01] [ 7.95097897e-01 6.06366498e-01 1.17899969e-02 8.72053109e+01] [ 1.43440570e-02 6.33036346e-04 -9.99896918e-01 3.16198654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56804094199998 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:98.49, Y:87.55, Z:3.17 [[-6.67874035e-01 7.44220884e-01 -8.91898297e-03 9.84891051e+01] [ 7.44136686e-01 6.67933030e-01 1.12276078e-02 8.75523233e+01] [ 1.43131035e-02 8.61685303e-04 -9.99897191e-01 3.16628559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.59804094199998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:99.35, Y:87.74, Z:2.12 [[-6.72935727e-01 -7.39636927e-01 9.73264440e-03 9.93525973e+01] [ 7.39562553e-01 -6.73006090e-01 -1.04896206e-02 8.77389001e+01] [ 1.43086397e-02 1.39058895e-04 9.99897617e-01 2.12160705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.83, Y:87.22, Z:3.16 [[-7.18772260e-01 6.95181155e-01 -9.46571684e-03 9.88329485e+01] [ 6.95099290e-01 7.18833695e-01 1.07283008e-02 8.72203286e+01] [ 1.42623887e-02 1.13159194e-03 -9.99897647e-01 3.16171877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.89, Y:87.22, Z:3.16 [[-7.72448642e-01 6.34989644e-01 -1.05474014e-02 9.88865556e+01] [ 6.34917674e-01 7.72520324e-01 9.58627386e-03 8.72171739e+01] [ 1.42352666e-02 7.08172636e-04 -9.99898423e-01 3.16030947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.93, Y:87.23, Z:3.16 [[-8.20578239e-01 5.71422575e-01 -1.12957795e-02 9.89305251e+01] [ 5.71357337e-01 8.20655723e-01 8.65889691e-03 8.72280761e+01] [ 1.42178352e-02 6.51375896e-04 -9.99898709e-01 3.15868256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.718040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.97, Y:87.24, Z:3.16 [[-8.63144626e-01 5.04816149e-01 -1.19167754e-02 9.89732913e+01] [ 5.04757074e-01 8.63226620e-01 7.75226882e-03 8.72420500e+01] [ 1.42003482e-02 6.76252498e-04 -9.99898941e-01 3.15967965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.748040942 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:99.02, Y:87.26, Z:3.16 [[-9.00498946e-01 4.34679673e-01 -1.24591670e-02 9.90198269e+01] [ 4.34626918e-01 9.00584848e-01 6.80987049e-03 8.72569487e+01] [ 1.41806493e-02 7.17191858e-04 -9.99899192e-01 3.15869622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.778040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:99.06, Y:87.28, Z:3.16 [[-9.32159156e-01 3.61817316e-01 -1.29436439e-02 9.90593918e+01] [ 3.61771682e-01 9.32248743e-01 5.79069397e-03 8.72783538e+01] [ 1.41618691e-02 7.15204578e-04 -9.99899460e-01 3.15704541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.10, Y:87.30, Z:3.16 [[-9.57608118e-01 2.87764834e-01 -1.33451288e-02 9.90987236e+01] [ 2.87726632e-01 9.57700846e-01 4.74078733e-03 8.73013419e+01] [ 1.41448730e-02 7.00067473e-04 -9.99899711e-01 3.15831257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.14, Y:87.33, Z:3.16 [[-9.76757268e-01 2.13913019e-01 -1.36550449e-02 9.91399532e+01] [ 2.13882283e-01 9.76852473e-01 3.68999152e-03 8.73270575e+01] [ 1.41283016e-02 6.83653868e-04 -9.99899957e-01 3.15753933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.29, Y:88.08, Z:2.12 [[-9.78635402e-01 -2.05136698e-01 1.38450483e-02 9.92903576e+01] [ 2.05117554e-01 -9.78733327e-01 -2.80410269e-03 8.80798994e+01] [ 1.41258346e-02 9.56682868e-05 9.99900221e-01 2.12256271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.898040942 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:99.17, Y:87.36, Z:3.16 [[-9.90356699e-01 1.37850924e-01 -1.38105574e-02 9.91745663e+01] [ 1.37822908e-01 9.90452450e-01 2.96477003e-03 8.73563139e+01] [ 1.40873967e-02 1.03276869e-03 -9.99900234e-01 3.15755859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.928040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:99.25, Y:88.12, Z:2.12 [[-9.92033551e-01 -1.25194399e-01 1.39927095e-02 9.92472104e+01] [ 1.25184076e-01 -9.92132219e-01 -1.61464567e-03 8.81154699e+01] [ 1.40847625e-02 1.49881726e-04 9.99900794e-01 2.12366605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.20, Y:87.39, Z:3.16 [[-9.97427939e-01 7.03077258e-02 -1.39402436e-02 9.91997381e+01] [ 7.02866924e-02 9.97524840e-01 1.99366814e-03 8.73901998e+01] [ 1.40459095e-02 1.00872669e-03 -9.99900843e-01 3.15939569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.23, Y:88.15, Z:2.13 [[-9.98829428e-01 -4.62964974e-02 1.40145584e-02 9.92284519e+01] [ 4.62912296e-02 -9.98927741e-01 -7.00214844e-04 8.81487211e+01] [ 1.40319487e-02 -5.06440519e-05 9.99901546e-01 2.12515602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.01804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.23, Y:87.42, Z:3.16 [[-9.99882598e-01 -6.23065774e-03 -1.39988640e-02 9.92307213e+01] [-6.24466638e-03 9.99980044e-01 9.57209813e-04 8.74236699e+01] [ 1.39926206e-02 1.04451567e-03 -9.99901553e-01 3.15752041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.19, Y:88.18, Z:2.12 [[-9.99325805e-01 3.39515705e-02 1.39723484e-02 9.91946193e+01] [-3.39492946e-02 -9.99423476e-01 4.00107917e-04 8.81808668e+01] [ 1.39778773e-02 -7.45132070e-05 9.99902302e-01 2.12262148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.07804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.25, Y:87.46, Z:3.16 [[-9.96762825e-01 -7.91740711e-02 -1.39763358e-02 9.92530956e+01] [-7.91795008e-02 9.96860361e-01 -1.65297269e-04 8.74605874e+01] [ 1.39455424e-02 9.41877117e-04 -9.99902313e-01 3.15919888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.16, Y:88.21, Z:2.12 [[-9.93440343e-01 1.13509450e-01 1.38523927e-02 9.91602108e+01] [-1.13500388e-01 -9.93536907e-01 1.44111629e-03 8.82109663e+01] [ 1.39264437e-02 -1.40588887e-04 9.99903013e-01 2.12271423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.13804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.27, Y:87.50, Z:3.16 [[-9.88038993e-01 -1.53579168e-01 -1.38703776e-02 9.92691765e+01] [-1.53576674e-01 9.88135942e-01 -1.25114638e-03 8.74988658e+01] [ 1.38979687e-02 8.93985053e-04 -9.99903019e-01 3.16056903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.13, Y:88.24, Z:2.12 [[-9.82025971e-01 1.88251143e-01 1.36565112e-02 9.91264419e+01] [-1.88235014e-01 -9.82120912e-01 2.46853480e-03 8.82407317e+01] [ 1.38770498e-02 -1.46468306e-04 9.99903698e-01 2.12415713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.19804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.28, Y:87.54, Z:3.16 [[-9.73682037e-01 -2.27499157e-01 -1.36903049e-02 9.92815417e+01] [-2.27489596e-01 9.73777860e-01 -2.27233271e-03 8.75365149e+01] [ 1.38482696e-02 9.01872391e-04 -9.99903701e-01 3.15985653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.08, Y:88.26, Z:2.13 [[-9.63925344e-01 2.65836583e-01 1.33732302e-02 9.90777267e+01] [-2.65813446e-01 -9.64018092e-01 3.51135944e-03 8.82623018e+01] [ 1.38254837e-02 -1.70096053e-04 9.99904409e-01 2.12533039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.25804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.29, Y:87.58, Z:3.16 [[-9.53446832e-01 -3.01262336e-01 -1.34217347e-02 9.92939826e+01] [-3.01245328e-01 9.53540893e-01 -3.31944239e-03 8.75766328e+01] [ 1.37981959e-02 8.78323056e-04 -9.99904415e-01 3.16018221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.03, Y:88.28, Z:2.12 [[-9.39123278e-01 3.43333615e-01 1.30191553e-02 9.90333733e+01] [-3.43304133e-01 -9.39213486e-01 4.50560701e-03 8.82796886e+01] [ 1.37746926e-02 -2.38209408e-04 9.99905096e-01 2.12093192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.31804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.30, Y:87.62, Z:3.16 [[-9.28042120e-01 -3.72246248e-01 -1.30596330e-02 9.92963085e+01] [-3.72221250e-01 9.28133668e-01 -4.38586086e-03 8.76166276e+01] [ 1.37537053e-02 7.90809310e-04 -9.99905101e-01 3.16148363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.99, Y:88.30, Z:2.12 [[-9.11007122e-01 4.12198013e-01 1.26024700e-02 9.89873373e+01] [-4.12161995e-01 -9.11094258e-01 5.45366152e-03 8.82982886e+01] [ 1.37300265e-02 -2.25934680e-04 9.99905713e-01 2.12222233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.37804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.28, Y:87.65, Z:3.16 [[-8.96457353e-01 -4.42949334e-01 -1.26531783e-02 9.92842958e+01] [-4.42917972e-01 8.96546269e-01 -5.33459155e-03 8.76492076e+01] [ 1.37071135e-02 8.22086246e-04 -9.99905715e-01 3.16133086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40804094199999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:98.92, Y:88.30, Z:2.12 [[-8.78510695e-01 4.77569076e-01 1.21134768e-02 9.89162261e+01] [-4.77526642e-01 -8.78594185e-01 6.36901886e-03 8.83001199e+01] [ 1.36844767e-02 -1.89256716e-04 9.99906345e-01 2.12254103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.23, Y:87.66, Z:3.16 [[-8.59676344e-01 -5.10694110e-01 -1.21699911e-02 9.92312428e+01] [-5.10656419e-01 8.59762079e-01 -6.26020533e-03 8.76592640e+01] [ 1.36603469e-02 8.32933659e-04 -9.99906346e-01 3.16393198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.82, Y:88.28, Z:2.12 [[-8.43514190e-01 5.36982245e-01 1.15706634e-02 9.88233160e+01] [-5.36933603e-01 -8.43593537e-01 7.22849807e-03 8.82812075e+01] [ 1.36425120e-02 -1.15337291e-04 9.99906930e-01 2.12211962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.17, Y:87.66, Z:3.16 [[-8.13433645e-01 -5.81541361e-01 -1.16340083e-02 9.91699771e+01] [-5.81498509e-01 8.13516261e-01 -7.12580777e-03 8.76555832e+01] [ 1.36084069e-02 9.68786721e-04 -9.99906932e-01 3.16260525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.72, Y:88.25, Z:2.12 [[-8.08592499e-01 5.88267488e-01 1.09331025e-02 9.87178882e+01] [-5.88211780e-01 -8.08666401e-01 8.09646357e-03 8.82480186e+01] [ 1.36041190e-02 1.15760002e-04 9.99907453e-01 2.12492721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.558040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:99.09, Y:87.64, Z:3.17 [[-7.71963572e-01 -6.35570628e-01 -1.10553498e-02 9.90877686e+01] [-6.35521848e-01 7.72042197e-01 -7.92634107e-03 8.76399627e+01] [ 1.35729461e-02 9.07069781e-04 -9.99907472e-01 3.16677511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.60, Y:88.19, Z:2.12 [[-7.67738343e-01 6.40679361e-01 1.03823091e-02 9.85971673e+01] [-6.40619831e-01 -7.67808539e-01 8.73380226e-03 8.81904680e+01] [ 1.35671925e-02 5.41617561e-05 9.99907960e-01 2.12494244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.00, Y:87.61, Z:3.17 [[-7.23544366e-01 -6.90198760e-01 -1.04509103e-02 9.89983055e+01] [-6.90145197e-01 7.23619211e-01 -8.65121341e-03 8.76054597e+01] [ 1.35335362e-02 9.53108804e-04 -9.99907963e-01 3.16925250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.48, Y:88.13, Z:2.13 [[-7.23800655e-01 6.89940515e-01 9.73124016e-03 9.84844973e+01] [-6.89876438e-01 -7.23866063e-01 9.40332412e-03 8.81300466e+01] [ 1.35318488e-02 9.27788552e-05 9.99908436e-01 2.12583483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.92, Y:87.57, Z:3.17 [[-6.71986170e-01 -7.40498952e-01 -9.79232404e-03 9.89211759e+01] [-7.40440698e-01 6.72056807e-01 -9.33926400e-03 8.75721542e+01] [ 1.34967132e-02 9.74779004e-04 -9.99908440e-01 3.16895797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.708040942 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:98.37, Y:88.05, Z:2.12 [[-6.72270852e-01 7.40250120e-01 9.03665733e-03 9.83690310e+01] [-7.40182182e-01 -6.72331583e-01 1.00289769e-02 8.80531310e+01] [ 1.34995815e-02 5.34161232e-05 9.99908875e-01 2.12411109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.36, Y:88.05, Z:2.12 [[-6.68990303e-01 7.43215343e-01 9.10652920e-03 9.83630968e+01] [-7.43148540e-01 -6.69052273e-01 9.96512530e-03 8.80465417e+01] [ 1.34989781e-02 -1.00931692e-04 9.99908880e-01 2.12218270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.36, Y:88.05, Z:2.13 [[-6.78186618e-01 7.34833724e-01 9.07247085e-03 9.83613756e+01] [-7.34765738e-01 -6.78247289e-01 9.99625996e-03 8.80502719e+01] [ 1.34989677e-02 1.13188998e-04 9.99908878e-01 2.13207613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.79804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.84, Y:87.52, Z:3.17 [[-6.21903307e-01 -7.83041152e-01 -9.10114562e-03 9.88355178e+01] [-7.82978226e-01 6.21969210e-01 -9.96994708e-03 8.75165733e+01] [ 1.34675112e-02 9.25655789e-04 -9.99908881e-01 3.16659292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.24, Y:87.96, Z:2.12 [[-6.32086167e-01 7.74853469e-01 8.31739430e-03 9.82390289e+01] [-7.74781063e-01 -6.32140837e-01 1.05956083e-02 8.79633250e+01] [ 1.34678084e-02 2.53177832e-04 9.99909273e-01 2.12020061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.85804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.76, Y:87.45, Z:3.18 [[-5.65824602e-01 -8.24483681e-01 -8.31739430e-03 9.87564225e+01] [-8.24416046e-01 5.65885074e-01 -1.05956083e-02 8.74542693e+01] [ 1.34425954e-02 8.61737477e-04 -9.99909273e-01 3.17569235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.13, Y:87.86, Z:2.14 [[-5.74532730e-01 8.18446096e-01 7.62429345e-03 9.81304708e+01] [-8.18371146e-01 -5.74583303e-01 1.10768166e-02 8.78639172e+01] [ 1.34465690e-02 1.24491908e-04 9.99909583e-01 2.13592703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.91804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.67, Y:87.39, Z:3.17 [[-5.12510682e-01 -8.58647000e-01 -7.62429345e-03 9.86736355e+01] [-8.58575990e-01 5.12566653e-01 -1.10768166e-02 8.73886618e+01] [ 1.34190339e-02 8.69048478e-04 -9.99909583e-01 3.16923274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.02, Y:87.76, Z:2.14 [[-5.15084211e-01 8.57112382e-01 6.82791779e-03 9.80239511e+01] [-8.57034502e-01 -5.15129454e-01 1.15545139e-02 8.77575371e+01] [ 1.34207785e-02 9.97865293e-05 9.99909932e-01 2.13931843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.97804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.02, Y:87.75, Z:2.14 [[-5.15449927e-01 8.56891830e-01 6.91118426e-03 9.80208814e+01] [-8.56814598e-01 -5.15496258e-01 1.15044926e-02 8.77499592e+01] [ 1.34207953e-02 8.38631133e-06 9.99909937e-01 2.13802895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:87.31, Z:3.17 [[-4.56297201e-01 -8.89800595e-01 -6.91118426e-03 9.85949117e+01] [-8.89726675e-01 4.56348651e-01 -1.15044926e-02 8.73087910e+01] [ 1.33906140e-02 8.99597211e-04 -9.99909937e-01 3.17020162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.03804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.92, Y:87.64, Z:2.14 [[-4.53273535e-01 8.91350915e-01 6.05386509e-03 9.79201431e+01] [-8.91270882e-01 -4.53313960e-01 1.19444083e-02 8.76363837e+01] [ 1.33909608e-02 1.84505053e-05 9.99910337e-01 2.13993391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.92, Y:87.63, Z:2.13 [[-4.49210548e-01 8.93404967e-01 6.11948073e-03 9.79183462e+01] [-8.93325576e-01 -4.49252213e-01 1.19106963e-02 8.76271830e+01] [ 1.33902655e-02 -1.16278215e-04 9.99910340e-01 2.13332030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.09804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.92, Y:87.62, Z:2.13 [[-4.48020491e-01 8.94002308e-01 6.12487628e-03 9.79158137e+01] [-8.93923009e-01 -4.48062333e-01 1.19079211e-02 8.76214746e+01] [ 1.33900353e-02 -1.40175171e-04 9.99910340e-01 2.13168387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.93, Y:87.64, Z:2.14 [[-4.47583056e-01 8.94221353e-01 6.13028934e-03 9.79277967e+01] [-8.94142113e-01 -4.47625010e-01 1.19051338e-02 8.76440758e+01] [ 1.33898957e-02 -1.52813703e-04 9.99910340e-01 2.14342227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.90, Y:87.60, Z:2.14 [[-4.53427410e-01 8.91272085e-01 6.13626088e-03 9.79013825e+01] [-8.91192615e-01 -4.53468923e-01 1.19020551e-02 8.76039206e+01] [ 1.33905731e-02 -7.18723684e-05 9.99910340e-01 2.14184767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.52, Y:87.24, Z:3.17 [[-4.11421361e-01 -9.11424605e-01 -6.13626088e-03 9.85214254e+01] [-9.11347154e-01 4.11466531e-01 -1.19020551e-02 8.72359224e+01] [ 1.33726918e-02 6.95504183e-04 -9.99910340e-01 3.16775658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.218040942 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:97.61, Y:87.01, Z:2.15 [[-3.81483595e-01 9.24360363e-01 5.30902791e-03 9.76126957e+01] [-9.24279081e-01 -3.81520466e-01 1.22602751e-02 8.70106860e+01] [ 1.33584151e-02 -2.29929639e-04 9.99910746e-01 2.15406230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.71, Y:87.23, Z:2.15 [[-3.80621720e-01 9.24715644e-01 5.29949490e-03 9.77089152e+01] [-9.24634339e-01 -3.80658540e-01 1.22643988e-02 8.72330369e+01] [ 1.33583794e-02 -2.31998395e-04 9.99910746e-01 2.14813331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.64, Y:87.09, Z:2.15 [[-3.86817337e-01 9.22141304e-01 5.26902005e-03 9.76417561e+01] [-9.22059573e-01 -3.86853206e-01 1.22776340e-02 8.70913679e+01] [ 1.33600507e-02 -1.09148690e-04 9.99910745e-01 2.15196962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.308040942 meters Centerline goodness : 0.997786 Centerline is valid? [True, True] Translation: X:97.57, Y:86.90, Z:2.16 [[-3.81712358e-01 9.24265808e-01 5.32844268e-03 9.75671817e+01] [-9.24184634e-01 -3.81749467e-01 1.22517905e-02 8.68998724e+01] [ 1.33580411e-02 -2.47805028e-04 9.99910747e-01 2.15671747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.338040942 meters Centerline goodness : 0.997450 Centerline is valid? [True, True] Translation: X:97.56, Y:86.87, Z:2.16 [[-3.81958088e-01 9.24164299e-01 5.32609773e-03 9.75574923e+01] [-9.24083102e-01 -3.81995144e-01 1.22528139e-02 8.68749453e+01] [ 1.33581566e-02 -2.41695546e-04 9.99910747e-01 2.15556796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.67, Y:87.12, Z:2.15 [[-3.83440483e-01 9.23550233e-01 5.32562094e-03 9.76668057e+01] [-9.23468974e-01 -3.83477402e-01 1.22530225e-02 8.71243442e+01] [ 1.33585371e-02 -2.19740846e-04 9.99910747e-01 2.15416671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.80, Y:87.45, Z:2.15 [[-4.04102160e-01 9.14698434e-01 5.31222073e-03 9.78026979e+01] [-9.14616287e-01 -4.04137064e-01 1.22588972e-02 8.74515241e+01] [ 1.33600593e-02 9.52032240e-05 9.99910746e-01 2.15034765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.43, Y:87.07, Z:3.17 [[-3.47890580e-01 -9.37520093e-01 -5.31222073e-03 9.84279735e+01] [-9.37440215e-01 3.47930401e-01 -1.22588972e-02 8.70748374e+01] [ 1.33412455e-02 7.15134504e-04 -9.99910746e-01 3.16906786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.72, Y:87.30, Z:2.15 [[-3.41558565e-01 9.39850208e-01 4.39706590e-03 9.77162255e+01] [-9.39765837e-01 -3.41586824e-01 1.25941600e-02 8.73040548e+01] [ 1.33386037e-02 1.69430898e-04 9.99911023e-01 2.15245163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.36, Y:86.98, Z:3.17 [[-2.86034636e-01 -9.58209191e-01 -4.39706590e-03 9.83599659e+01] [-9.58126616e-01 2.86067779e-01 -1.25941600e-02 8.69772743e+01] [ 1.33256987e-02 6.10579905e-04 -9.99911023e-01 3.16868980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.51804094199997 meters Centerline goodness : 0.997682 Centerline is valid? [True, True] Translation: X:97.47, Y:86.54, Z:2.16 [[-2.64797944e-01 9.64297025e-01 3.64649435e-03 9.74670047e+01] [-9.64211816e-01 -2.64823022e-01 1.28195551e-02 8.65402645e+01] [ 1.33275345e-02 -1.21401117e-04 9.99911177e-01 2.16330192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.66, Y:87.17, Z:2.15 [[-2.79003909e-01 9.60282493e-01 3.78848325e-03 9.76563257e+01] [-9.60197491e-01 -2.79029620e-01 1.27769271e-02 8.71659840e+01] [ 1.33265584e-02 -7.28795078e-05 9.99911195e-01 2.14981348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.57804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.30, Y:86.88, Z:3.18 [[-2.39179431e-01 -9.70967995e-01 -3.78848325e-03 9.82974344e+01] [-9.70884125e-01 2.39208624e-01 -1.27769271e-02 8.68797798e+01] [ 1.33122251e-02 6.22200094e-04 -9.99911195e-01 3.18200558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.59, Y:87.02, Z:2.14 [[-2.09676560e-01 9.77766379e-01 2.94092299e-03 9.75899757e+01] [-9.77680292e-01 -2.09697127e-01 1.29754284e-02 8.70241957e+01] [ 1.33036408e-02 -1.54639242e-04 9.99911491e-01 2.14456707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.63804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.59, Y:87.02, Z:2.16 [[-2.15442621e-01 9.76511762e-01 3.04221783e-03 9.75894645e+01] [-9.76425885e-01 -2.15464024e-01 1.29516353e-02 8.70173163e+01] [ 1.33029127e-02 -1.80165980e-04 9.99911496e-01 2.15568492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.24, Y:86.77, Z:3.17 [[-1.73712665e-01 -9.84791681e-01 -3.04221783e-03 9.82365279e+01] [-9.84706792e-01 1.73737701e-01 -1.29516353e-02 8.67659457e+01] [ 1.32832106e-02 7.45829474e-04 -9.99911496e-01 3.17079701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.69804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.53, Y:86.86, Z:2.16 [[-1.49330725e-01 9.88785445e-01 1.91762515e-03 9.75329541e+01] [-9.88698149e-01 -1.49343023e-01 1.31389127e-02 8.68645256e+01] [ 1.32779496e-02 6.60909274e-05 9.99911842e-01 2.15653762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.53, Y:86.85, Z:2.16 [[-1.60837877e-01 9.86978486e-01 2.15533555e-03 9.75337387e+01] [-9.86891558e-01 -1.60852317e-01 1.30990454e-02 8.68486871e+01] [ 1.32751667e-02 -2.02598054e-05 9.99911881e-01 2.15885907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.75804094199998 meters Centerline goodness : 0.997705 Centerline is valid? [True, True] Translation: X:98.11, Y:86.12, Z:3.18 [[-1.11385226e-01 -9.93774662e-01 -2.29165698e-03 9.81093801e+01] [-9.93688968e-01 1.11405776e-01 -1.30762329e-02 8.61179699e+01] [ 1.32501328e-02 8.20695093e-04 -9.99911876e-01 3.18444445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.12, Y:86.70, Z:3.18 [[-1.97186777e-02 -9.99802942e-01 -2.29165698e-03 9.81164193e+01] [-9.99719495e-01 1.97470041e-02 -1.30762329e-02 8.66978055e+01] [ 1.31189095e-02 2.03316814e-03 -9.99911876e-01 3.17631897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.81804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.43, Y:86.67, Z:2.16 [[-8.56748346e-03 9.99963298e-01 -7.04546809e-07 9.74335748e+01] [-9.99877460e-01 -8.56673878e-03 1.31025221e-02 8.66736235e+01] [ 1.31020352e-02 1.12960102e-04 9.99914158e-01 2.15818668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.08, Y:86.58, Z:3.18 [[ 4.85293684e-02 -9.98821756e-01 7.04546814e-07 9.80827756e+01] [-9.98736015e-01 -4.85252118e-02 -1.31025221e-02 8.65775404e+01] [ 1.30871183e-02 6.35153465e-04 -9.99914158e-01 3.17733337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.87804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.41, Y:86.48, Z:2.16 [[ 7.40909139e-02 9.97250898e-01 -1.08759424e-03 9.74119521e+01] [-9.97165692e-01 7.40988010e-02 1.30365049e-02 8.64773203e+01] [ 1.30812557e-02 1.18625103e-04 9.99914430e-01 2.15846684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.07, Y:86.52, Z:3.18 [[ 1.21707760e-01 -9.92565798e-01 5.98815070e-04 9.80728253e+01] [-9.92480331e-01 -1.21705161e-01 -1.30631499e-02 8.65205151e+01] [ 1.30389146e-02 9.95574528e-04 -9.99914494e-01 3.17872357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.43, Y:86.38, Z:2.16 [[ 1.56978319e-01 9.87599961e-01 -2.03104499e-03 9.74288116e+01] [-9.87516170e-01 1.56991457e-01 1.28645802e-02 8.63812018e+01] [ 1.30239156e-02 -1.37704016e-05 9.99915185e-01 2.16067726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.08, Y:86.48, Z:3.18 [[ 1.97284529e-01 -9.80344724e-01 1.74244904e-03 9.80832591e+01] [-9.80260151e-01 -1.97290446e-01 -1.29041163e-02 8.64792085e+01] [ 1.29942509e-02 8.37729154e-04 -9.99915220e-01 3.18188449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.46, Y:86.29, Z:2.16 [[ 2.26842381e-01 9.73927020e-01 -2.94853271e-03 9.74561685e+01] [-9.73844970e-01 2.26861543e-01 1.26417752e-02 8.62862776e+01] [ 1.29810751e-02 3.72336973e-06 9.99915742e-01 2.16024863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.09, Y:86.43, Z:3.18 [[ 2.71354577e-01 -9.62475944e-01 2.59832383e-03 9.80920460e+01] [-9.62392406e-01 -2.71365354e-01 -1.27161949e-02 8.64291317e+01] [ 1.29441268e-02 9.49990579e-04 -9.99915770e-01 3.18364812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.49, Y:86.19, Z:2.16 [[ 2.98149521e-01 9.54511366e-01 -3.86208564e-03 9.74875996e+01] [-9.54431593e-01 2.98174534e-01 1.23402503e-02 8.61930911e+01] [ 1.29304847e-02 6.85683743e-06 9.99916398e-01 2.15893020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.10, Y:86.38, Z:3.19 [[ 3.43668320e-01 -9.39084419e-01 3.54106787e-03 9.80958059e+01] [-9.39002575e-01 -3.43685255e-01 -1.24342529e-02 8.63792784e+01] [ 1.28938259e-02 9.48186943e-04 -9.99916422e-01 3.18704496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.118040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:97.52, Y:86.10, Z:2.16 [[ 3.70586435e-01 9.28785917e-01 -4.73439585e-03 9.75200936e+01] [-9.28708679e-01 3.70616674e-01 1.19779447e-02 8.61046254e+01] [ 1.28795924e-02 -4.19893296e-05 9.99917054e-01 2.15780686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.10, Y:86.33, Z:3.19 [[ 4.14596421e-01 -9.09994373e-01 4.47759653e-03 9.81010703e+01] [-9.09914732e-01 -4.14619551e-01 -1.20750983e-02 8.63330045e+01] [ 1.28447705e-02 9.32061466e-04 -9.99917068e-01 3.18731134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.56, Y:86.02, Z:2.16 [[ 4.40407549e-01 8.97780456e-01 -5.60749339e-03 9.75571502e+01] [-8.97706282e-01 4.40443244e-01 1.15403963e-02 8.60217048e+01] [ 1.28305248e-02 -4.85956047e-05 9.99917684e-01 2.16037278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.57, Y:86.00, Z:2.16 [[ 4.40503318e-01 8.97734863e-01 -5.37990587e-03 9.75715055e+01] [-8.97659344e-01 4.40536066e-01 1.16480119e-02 8.59969458e+01] [ 1.28268690e-02 -3.01665126e-04 9.99917687e-01 2.16118169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.58, Y:85.97, Z:2.16 [[ 4.40921294e-01 8.97529597e-01 -5.38841237e-03 9.75842785e+01] [-8.97454112e-01 4.40954118e-01 1.16439862e-02 8.59734542e+01] [ 1.28268648e-02 -2.98228611e-04 9.99917688e-01 2.16302495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.60, Y:85.95, Z:2.16 [[ 4.38391271e-01 8.98768002e-01 -5.40103422e-03 9.75975949e+01] [-8.98692684e-01 4.38424470e-01 1.16380052e-02 8.59452093e+01] [ 1.28278122e-02 -2.48129946e-04 9.99917689e-01 2.15780298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.29804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.14, Y:86.21, Z:3.19 [[ 4.83103150e-01 -8.75547128e-01 5.34526931e-03 9.81435057e+01] [-8.75469950e-01 -4.83131776e-01 -1.16642207e-02 8.62100931e+01] [ 1.27950444e-02 9.55399090e-04 -9.99917684e-01 3.18862757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.64, Y:85.87, Z:2.16 [[ 5.12400943e-01 8.58722279e-01 -6.42809913e-03 9.76383044e+01] [-8.58651268e-01 5.12441243e-01 1.10440902e-02 8.58685132e+01] [ 1.27778294e-02 -1.39506771e-04 9.99918350e-01 2.16170534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.35804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.65, Y:85.85, Z:2.16 [[ 5.15951488e-01 8.56594667e-01 -6.29594205e-03 9.76536153e+01] [-8.56522559e-01 5.15989785e-01 1.11197076e-02 8.58462152e+01] [ 1.27737240e-02 -3.44613274e-04 9.99918353e-01 2.16124587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.67, Y:85.82, Z:2.16 [[ 5.15530063e-01 8.56848070e-01 -6.33550524e-03 9.76674623e+01] [-8.56776258e-01 5.15568908e-01 1.10970605e-02 8.58174011e+01] [ 1.27748844e-02 -2.92757815e-04 9.99918355e-01 2.16192262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.41804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.68, Y:85.80, Z:2.16 [[ 5.18797669e-01 8.54874064e-01 -6.27005769e-03 9.76830540e+01] [-8.54801650e-01 5.18835389e-01 1.11345269e-02 8.57957226e+01] [ 1.27717461e-02 -4.16910936e-04 9.99918351e-01 2.16197820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.70, Y:85.77, Z:2.16 [[ 5.19329591e-01 8.54550648e-01 -6.32194570e-03 9.76979403e+01] [-8.54478570e-01 5.19367940e-01 1.11047963e-02 8.57705910e+01] [ 1.27730268e-02 -3.65082202e-04 9.99918355e-01 2.16223850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.47804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.71, Y:85.75, Z:2.16 [[ 5.20359649e-01 8.53923825e-01 -6.31961081e-03 9.77120980e+01] [-8.53851684e-01 5.20397881e-01 1.11061345e-02 8.57485900e+01] [ 1.27725049e-02 -3.83173933e-04 9.99918355e-01 2.16432217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.73, Y:85.73, Z:2.16 [[ 5.22186936e-01 8.52807312e-01 -6.36336061e-03 9.77268192e+01] [-8.52735394e-01 5.22225582e-01 1.10810394e-02 8.57291445e+01] [ 1.27731011e-02 -3.60111203e-04 9.99918356e-01 2.16042546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.53804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.74, Y:85.70, Z:2.16 [[ 5.18999950e-01 8.54749442e-01 -6.51483258e-03 9.77434936e+01] [-8.54678746e-01 5.19040820e-01 1.09940459e-02 8.56986646e+01] [ 1.27786186e-02 -1.37820325e-04 9.99918341e-01 2.16471298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.76, Y:85.68, Z:2.16 [[ 5.17317866e-01 8.55769929e-01 -6.32878126e-03 9.77605723e+01] [-8.55697990e-01 5.17356474e-01 1.11008179e-02 8.56758917e+01] [ 1.27739821e-02 -3.27126000e-04 9.99918356e-01 2.16325472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.59804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.78, Y:85.65, Z:2.16 [[ 5.16574583e-01 8.56218612e-01 -6.35517916e-03 9.77760256e+01] [-8.56146892e-01 5.16613595e-01 1.10856585e-02 8.56508874e+01] [ 1.27749191e-02 -2.85602518e-04 9.99918357e-01 2.16230551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.79, Y:85.62, Z:2.16 [[ 5.12952486e-01 8.58393535e-01 -6.34713212e-03 9.77914008e+01] [-8.58321923e-01 5.12991697e-01 1.10902833e-02 8.56172428e+01] [ 1.27758536e-02 -2.40905750e-04 9.99918356e-01 2.16387830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.81, Y:85.59, Z:2.16 [[ 5.09826171e-01 8.60255218e-01 -6.18340249e-03 9.78067829e+01] [-8.60182597e-01 5.09863524e-01 1.11842606e-02 8.55893790e+01] [ 1.27740099e-02 -3.83173532e-04 9.99918336e-01 2.16424338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.82, Y:85.57, Z:2.16 [[ 5.13762320e-01 8.57910632e-01 -6.13400306e-03 9.78237279e+01] [-8.57837503e-01 5.13798694e-01 1.12125142e-02 8.55725284e+01] [ 1.27709779e-02 -4.98589432e-04 9.99918323e-01 2.16417467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.84, Y:85.55, Z:2.17 [[ 5.12473094e-01 8.58680056e-01 -6.31585128e-03 9.78392693e+01] [-8.58608244e-01 5.12511941e-01 1.11082700e-02 8.55474782e+01] [ 1.27753991e-02 -2.69847520e-04 9.99918355e-01 2.16528518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.85, Y:85.52, Z:2.17 [[ 5.11469244e-01 8.59278445e-01 -6.30610661e-03 9.78534418e+01] [-8.59206610e-01 5.11508049e-01 1.11138554e-02 8.55240380e+01] [ 1.27755206e-02 -2.66146732e-04 9.99918354e-01 2.16602987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.87, Y:85.50, Z:2.17 [[ 5.10727000e-01 8.59719658e-01 -6.32788533e-03 9.78680208e+01] [-8.59648011e-01 5.10766148e-01 1.11013684e-02 8.55017447e+01] [ 1.27761342e-02 -2.30014524e-04 9.99918355e-01 2.16580729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.88, Y:85.48, Z:2.17 [[ 5.10177064e-01 8.60045990e-01 -6.34499605e-03 9.78824761e+01] [-8.59974490e-01 5.10216478e-01 1.10915531e-02 8.54770294e+01] [ 1.27765673e-02 -2.02121251e-04 9.99918356e-01 2.16662626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.90, Y:85.45, Z:2.17 [[ 5.08967689e-01 8.60762349e-01 -6.33008667e-03 9.78970621e+01] [-8.60690798e-01 5.09007012e-01 1.11001107e-02 8.54532981e+01] [ 1.27766159e-02 -2.01350349e-04 9.99918355e-01 2.16885010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.91, Y:85.43, Z:2.17 [[ 5.06844782e-01 8.62013846e-01 -6.36364163e-03 9.79120334e+01] [-8.61942633e-01 5.06884713e-01 1.10808418e-02 8.54298118e+01] [ 1.27774717e-02 -1.31172828e-04 9.99918356e-01 2.16869757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.93, Y:85.41, Z:2.17 [[ 5.05624507e-01 8.62729992e-01 -6.38896038e-03 9.79259388e+01] [-8.62659019e-01 5.05664863e-01 1.10662934e-02 8.54061306e+01] [ 1.27778960e-02 -8.38948354e-05 9.99918356e-01 2.16807923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.94, Y:85.38, Z:2.17 [[ 5.03194738e-01 8.64149382e-01 -6.39550165e-03 9.79396165e+01] [-8.64078570e-01 5.03235377e-01 1.10625332e-02 8.53822612e+01] [ 1.27781239e-02 -4.03925683e-05 9.99918356e-01 2.16843384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.95, Y:85.35, Z:2.17 [[ 4.99263673e-01 8.66426638e-01 -6.37689714e-03 9.79533253e+01] [-8.66355876e-01 4.99304397e-01 1.10732290e-02 8.53510012e+01] [ 1.27781534e-02 -3.79869163e-06 9.99918356e-01 2.16772051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.97, Y:85.33, Z:2.16 [[ 5.05346290e-01 8.62894044e-01 -6.24473938e-03 9.79697925e+01] [-8.62822049e-01 5.05384813e-01 1.11491447e-02 8.53342894e+01] [ 1.27765270e-02 -2.46080066e-04 9.99918347e-01 2.15811093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.01804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.98, Y:85.30, Z:2.17 [[ 4.97268808e-01 8.67572866e-01 -6.40738507e-03 9.79802255e+01] [-8.67502424e-01 4.97310082e-01 1.10555880e-02 8.53000528e+01] [ 1.27779854e-02 6.08229958e-05 9.99918356e-01 2.16926999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.99, Y:85.28, Z:2.17 [[ 4.96918726e-01 8.67774733e-01 -6.22837025e-03 9.79929618e+01] [-8.67703000e-01 4.96957738e-01 1.11584636e-02 8.52769055e+01] [ 1.27782695e-02 -1.40473950e-04 9.99918345e-01 2.17004195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.07804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.50, Y:85.57, Z:3.20 [[ 5.65954438e-01 -8.24412944e-01 6.23476940e-03 9.85008005e+01] [-8.24338310e-01 -5.65987563e-01 -1.11548115e-02 8.55733072e+01] [ 1.27249729e-02 1.17355581e-03 -9.99918346e-01 3.19865154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.04, Y:85.20, Z:2.16 [[ 5.60425315e-01 8.28172724e-01 -7.30794335e-03 9.80413468e+01] [-8.28107157e-01 5.60472921e-01 1.04231223e-02 8.52037368e+01] [ 1.27280499e-02 2.10378601e-04 9.99918973e-01 2.16326051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.13804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.06, Y:85.18, Z:2.17 [[ 5.61712882e-01 8.27301184e-01 -7.16859954e-03 9.80587457e+01] [-8.27234320e-01 5.61758623e-01 1.05180534e-02 8.51786299e+01] [ 1.27286207e-02 2.19854650e-05 9.99918988e-01 2.17211139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.08, Y:85.15, Z:2.17 [[ 5.62255012e-01 8.26933229e-01 -7.12296230e-03 9.80752469e+01] [-8.26865940e-01 5.62300127e-01 1.05491471e-02 8.51527689e+01] [ 1.27286829e-02 -4.15759377e-05 9.99918986e-01 2.17087350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.19804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.09, Y:85.12, Z:2.17 [[ 5.62321723e-01 8.26887608e-01 -7.15284406e-03 9.80920776e+01] [-8.26820574e-01 5.62367214e-01 1.05287924e-02 8.51241303e+01] [ 1.27286530e-02 -6.45006849e-06 9.99918987e-01 2.17100246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.11, Y:85.09, Z:2.17 [[ 5.61132560e-01 8.27695445e-01 -7.10637380e-03 9.81070615e+01] [-8.27628074e-01 5.61177556e-01 1.05604277e-02 8.50908129e+01] [ 1.27287553e-02 -4.43653501e-05 9.99918985e-01 2.17110238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.25804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.12, Y:85.07, Z:2.17 [[ 5.64156925e-01 8.25637953e-01 -6.99531986e-03 9.81232825e+01] [-8.25569474e-01 5.64200248e-01 1.06359330e-02 8.50674565e+01] [ 1.27281912e-02 -2.25212740e-04 9.99918968e-01 2.16886281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.14, Y:85.04, Z:2.17 [[ 5.64500124e-01 8.25402906e-01 -7.04653211e-03 9.81381507e+01] [-8.25334842e-01 5.64544077e-01 1.06010992e-02 8.50417958e+01] [ 1.27282560e-02 -1.68573338e-04 9.99918978e-01 2.17150665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.31804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.15, Y:85.01, Z:2.17 [[ 5.65953014e-01 8.24407070e-01 -7.08296155e-03 9.81520892e+01] [-8.24339239e-01 5.65997315e-01 1.05763113e-02 8.50136072e+01] [ 1.27281230e-02 -1.46932128e-04 9.99918983e-01 2.17040527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.17, Y:84.99, Z:2.17 [[ 5.66317579e-01 8.24156928e-01 -7.05384335e-03 9.81655497e+01] [-8.24088830e-01 5.66361477e-01 1.05961201e-02 8.49897711e+01] [ 1.27278909e-02 -1.87775580e-04 9.99918979e-01 2.16989676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.37804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.18, Y:84.98, Z:2.17 [[ 5.74912695e-01 8.18184106e-01 -7.08255643e-03 9.81816512e+01] [-8.18115792e-01 5.74956248e-01 1.05765664e-02 8.49759164e+01] [ 1.27257386e-02 -2.86251020e-04 9.99918984e-01 2.16755298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.20, Y:84.94, Z:2.17 [[ 5.72487292e-01 8.19880696e-01 -7.34471338e-03 9.81960355e+01] [-8.19814757e-01 5.72534400e-01 1.03983163e-02 8.49422484e+01] [ 1.27304799e-02 6.84004448e-05 9.99918962e-01 2.16643617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.21, Y:84.91, Z:2.17 [[ 5.70886056e-01 8.20997641e-01 -7.21004593e-03 9.82119128e+01] [-8.20930628e-01 5.70931579e-01 1.04897797e-02 8.49100105e+01] [ 1.27285273e-02 -6.95214247e-05 9.99918987e-01 2.16760598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.23, Y:84.88, Z:2.17 [[ 5.70115752e-01 8.21533871e-01 -7.08014424e-03 9.82269507e+01] [-8.21465796e-01 5.70159674e-01 1.05779203e-02 8.48833210e+01] [ 1.27269325e-02 -2.14542669e-04 9.99918986e-01 2.16930858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.24, Y:84.85, Z:2.17 [[ 5.71101176e-01 8.20849131e-01 -7.08173258e-03 9.82416402e+01] [-8.20781017e-01 5.71145036e-01 1.05768436e-02 8.48548984e+01] [ 1.27266893e-02 -2.27896143e-04 9.99918986e-01 2.16874875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.26, Y:84.83, Z:2.17 [[ 5.71528813e-01 8.20551522e-01 -7.07223529e-03 9.82579773e+01] [-8.20483305e-01 5.71572515e-01 1.05832800e-02 8.48276224e+01] [ 1.27264218e-02 -2.45998470e-04 9.99918986e-01 2.16907134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.27, Y:84.80, Z:2.17 [[ 5.72204371e-01 8.20080423e-01 -7.08924439e-03 9.82746460e+01] [-8.20012314e-01 5.72248236e-01 1.05717380e-02 8.47994947e+01] [ 1.27264830e-02 -2.35926992e-04 9.99918987e-01 2.17094329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.29, Y:84.77, Z:2.17 [[ 5.69032652e-01 8.22284486e-01 -7.07561039e-03 9.82875917e+01] [-8.22216432e-01 5.69076605e-01 1.05809872e-02 8.47670196e+01] [ 1.27271460e-02 -2.03244109e-04 9.99918986e-01 2.17346906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.31, Y:84.74, Z:2.17 [[ 5.69997610e-01 8.21616760e-01 -6.97310898e-03 9.83055538e+01] [-8.21547799e-01 5.70040159e-01 1.06503976e-02 8.47413955e+01] [ 1.27254973e-02 -3.41958848e-04 9.99918969e-01 2.17360713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.32, Y:84.71, Z:2.17 [[ 5.63655147e-01 8.25980301e-01 -7.02974781e-03 9.83168404e+01] [-8.25912147e-01 5.63698955e-01 1.06119891e-02 8.47120907e+01] [ 1.27279554e-02 -1.75548157e-04 9.99918981e-01 2.16683250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.34, Y:84.68, Z:2.18 [[ 5.65844961e-01 8.24481199e-01 -7.08748107e-03 9.83369417e+01] [-8.24413417e-01 5.65889329e-01 1.05728283e-02 8.46784925e+01] [ 1.27278280e-02 -1.39567118e-04 9.99918988e-01 2.17764116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.35, Y:84.66, Z:2.18 [[ 5.68038269e-01 8.22973607e-01 -6.85328977e-03 9.83531304e+01] [-8.22903763e-01 5.68079426e-01 1.07313898e-02 8.46559125e+01] [ 1.27248635e-02 -4.56242143e-04 9.99918932e-01 2.17721855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.37, Y:84.63, Z:2.17 [[ 5.71451092e-01 8.20606475e-01 -6.97591538e-03 9.83650177e+01] [-8.20537464e-01 5.71493555e-01 1.06482775e-02 8.46338276e+01] [ 1.27247362e-02 -3.60969914e-04 9.99918972e-01 2.17206207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.38, Y:84.60, Z:2.18 [[ 5.67440398e-01 8.23383471e-01 -7.14527526e-03 9.83830106e+01] [-8.23316098e-01 5.67485375e-01 1.05333934e-02 8.45978460e+01] [ 1.27278613e-02 -9.42528200e-05 9.99918993e-01 2.17978408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.79804094199997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:98.40, Y:84.57, Z:2.18 [[ 5.65353943e-01 8.24819358e-01 -6.92426039e-03 9.83971603e+01] [-8.24750238e-01 5.65396249e-01 1.06830349e-02 8.45669763e+01] [ 1.27265248e-02 -3.28910507e-04 9.99918960e-01 2.17772450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.41, Y:84.54, Z:2.18 [[ 5.66245535e-01 8.24207989e-01 -6.86919546e-03 9.84139495e+01] [-8.24138369e-01 5.66287051e-01 1.07203221e-02 8.45432608e+01] [ 1.27257116e-02 -4.09166991e-04 9.99918941e-01 2.17809690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.85804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.43, Y:84.52, Z:2.17 [[ 5.69357150e-01 8.22060815e-01 -6.96068493e-03 9.84327832e+01] [-8.21991792e-01 5.69399592e-01 1.06582846e-02 8.45179245e+01] [ 1.27251693e-02 -3.46744693e-04 9.99918972e-01 2.16887116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.45, Y:84.49, Z:2.18 [[ 5.64693324e-01 8.25271190e-01 -6.99383875e-03 9.84460801e+01] [-8.25202685e-01 5.64736583e-01 1.06357950e-02 8.44869787e+01] [ 1.27270918e-02 -2.34627938e-04 9.99918980e-01 2.17652049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.91804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.46, Y:84.46, Z:2.18 [[ 5.64768180e-01 8.25220036e-01 -6.98537339e-03 9.84649910e+01] [-8.25151456e-01 5.64811325e-01 1.06415386e-02 8.44592763e+01] [ 1.27270289e-02 -2.46011382e-04 9.99918978e-01 2.17695111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.48, Y:84.44, Z:2.17 [[ 5.66532945e-01 8.24009498e-01 -6.98354059e-03 9.84804629e+01] [-8.23940811e-01 5.66575919e-01 1.06427820e-02 8.44365366e+01] [ 1.27264594e-02 -2.75462555e-04 9.99918977e-01 2.17382390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.97804094199998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:98.50, Y:84.40, Z:2.18 [[ 5.61920727e-01 8.27160619e-01 -7.09976477e-03 9.84967787e+01] [-8.27093162e-01 5.61965574e-01 1.05638833e-02 8.44032185e+01] [ 1.27278516e-02 -6.38980835e-05 9.99918996e-01 2.17837922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00804094199998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:98.51, Y:84.38, Z:2.18 [[ 5.59528562e-01 8.28781731e-01 -6.97358318e-03 9.85147866e+01] [-8.28713327e-01 5.59571989e-01 1.06494386e-02 8.43772100e+01] [ 1.27282820e-02 -1.79563750e-04 9.99918976e-01 2.18067484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.03804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:84.35, Z:2.18 [[ 5.58926803e-01 8.29187619e-01 -6.98000950e-03 9.85345960e+01] [-8.29119302e-01 5.58970362e-01 1.06450792e-02 8.43506577e+01] [ 1.27283863e-02 -1.62559456e-04 9.99918978e-01 2.17940077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.55, Y:84.32, Z:2.18 [[ 5.56435449e-01 8.30861502e-01 -6.98247591e-03 9.85532817e+01] [-8.30793337e-01 5.56479245e-01 1.06434056e-02 8.43217509e+01] [ 1.27287989e-02 -1.21373739e-04 9.99918978e-01 2.17730587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.09804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.57, Y:84.30, Z:2.18 [[ 5.55646005e-01 8.31390242e-01 -6.91251328e-03 9.85718014e+01] [-8.31321524e-01 5.55688967e-01 1.06908638e-02 8.42991242e+01] [ 1.27294872e-02 -1.93814699e-04 9.99918958e-01 2.18202867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:84.27, Z:2.18 [[ 5.54935430e-01 8.31864229e-01 -6.96939276e-03 9.85920627e+01] [-8.31796032e-01 5.54979181e-01 1.06522527e-02 8.42713323e+01] [ 1.27290959e-02 -1.14199224e-04 9.99918975e-01 2.17994839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.19, Y:84.68, Z:3.22 [[ 6.29114949e-01 -7.77281321e-01 6.93744123e-03 9.91889320e+01] [-7.77209158e-01 -6.29151807e-01 -1.06737350e-02 8.46781142e+01] [ 1.26611985e-02 1.32316340e-03 -9.99918968e-01 3.22085139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.188040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.19, Y:84.67, Z:3.23 [[ 6.85897624e-01 -7.27647605e-01 8.56803038e-03 9.91880058e+01] [-7.27587400e-01 -6.85951111e-01 -9.36207767e-03 8.46661251e+01] [ 1.26895434e-02 1.87435889e-04 -9.99919467e-01 3.22855694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.19, Y:84.66, Z:3.23 [[ 7.42332738e-01 -6.69970325e-01 9.04813592e-03 9.91925758e+01] [-6.69911308e-01 -7.42387674e-01 -8.90962652e-03 8.46608431e+01] [ 1.26864100e-02 5.52458883e-04 -9.99919372e-01 3.23211753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.19, Y:84.65, Z:3.22 [[ 7.87084722e-01 -6.16767972e-01 9.74214755e-03 9.91912333e+01] [-6.16714292e-01 -7.87144907e-01 -8.14725929e-03 8.46477396e+01] [ 1.26934504e-02 4.04461684e-04 -9.99919353e-01 3.22380910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.19, Y:84.64, Z:3.22 [[ 8.29548729e-01 -5.58338876e-01 1.03250047e-02 9.91912438e+01] [-5.58289998e-01 -8.29612898e-01 -7.39710461e-03 8.46394139e+01] [ 1.26958481e-02 3.71911894e-04 -9.99919335e-01 3.22235826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.19, Y:84.63, Z:3.22 [[ 8.69517052e-01 -4.93784381e-01 1.08204147e-02 9.91920805e+01] [-4.93739849e-01 -8.69584266e-01 -6.64578826e-03 8.46324544e+01] [ 1.26908489e-02 4.36156281e-04 -9.99919373e-01 3.22414397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.19, Y:84.62, Z:3.22 [[ 9.03317404e-01 -4.28824730e-01 1.12702577e-02 9.91944656e+01] [-4.28785282e-01 -9.03387602e-01 -5.83284467e-03 8.46237567e+01] [ 1.26826791e-02 4.36389491e-04 -9.99919476e-01 3.22364088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.368040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:99.20, Y:84.62, Z:3.24 [[ 9.35151609e-01 -3.54054816e-01 1.16899523e-02 9.91973003e+01] [-3.54021044e-01 -9.35224562e-01 -4.91114115e-03 8.46191150e+01] [ 1.26715437e-02 4.54172442e-04 -9.99919610e-01 3.23844166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.398040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.20, Y:84.61, Z:3.23 [[ 9.59517312e-01 -2.81395455e-01 1.19635623e-02 9.92006843e+01] [-2.81365367e-01 -9.59591686e-01 -4.16250753e-03 8.46112349e+01] [ 1.26514456e-02 6.27865949e-04 -9.99919770e-01 3.23434826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.20, Y:84.60, Z:3.23 [[ 9.78305927e-01 -2.06801339e-01 1.22767678e-02 9.92032477e+01] [-2.06779491e-01 -9.78382859e-01 -3.03689879e-03 8.46027117e+01] [ 1.26394139e-02 4.32432298e-04 -9.99920026e-01 3.23393974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.20, Y:84.59, Z:3.22 [[ 9.91165608e-01 -1.32046772e-01 1.24252865e-02 9.92046953e+01] [-1.32028497e-01 -9.91243291e-01 -2.28339024e-03 8.45948665e+01] [ 1.26179962e-02 6.22725978e-04 -9.99920196e-01 3.22416838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.488040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.19, Y:84.58, Z:3.24 [[ 9.98288162e-01 -5.71209815e-02 1.25673590e-02 9.91936942e+01] [-5.71122464e-02 -9.98367208e-01 -1.05314562e-03 8.45774808e+01] [ 1.26069958e-02 3.33592706e-04 -9.99920473e-01 3.24146665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.51804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.20, Y:84.59, Z:3.23 [[ 9.99496140e-01 2.91443537e-02 1.25727336e-02 9.91978669e+01] [ 2.91584164e-02 -9.99574364e-01 -9.36616886e-04 8.45902928e+01] [ 1.25400851e-02 1.30274596e-03 -9.99920521e-01 3.23427742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.20, Y:84.59, Z:3.23 [[ 9.94338877e-01 1.05515473e-01 1.25172980e-02 9.92013221e+01] [ 1.05517661e-01 -9.94417310e-01 4.87398948e-04 8.45870141e+01] [ 1.24988459e-02 8.36156279e-04 -9.99921537e-01 3.23295684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.57804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.20, Y:84.59, Z:3.24 [[ 9.81340319e-01 1.91881068e-01 1.23625970e-02 9.92024068e+01] [ 1.91873859e-01 -9.81417985e-01 1.77771554e-03 8.45904813e+01] [ 1.24739850e-02 6.27515259e-04 -9.99922000e-01 3.24377047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.21, Y:84.58, Z:3.23 [[ 9.66940908e-01 2.54709980e-01 1.21698998e-02 9.92071195e+01] [ 2.54695658e-01 -9.67017385e-01 2.73855789e-03 8.45796172e+01] [ 1.24660427e-02 4.51596984e-04 -9.99922194e-01 3.22517022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.63804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.21, Y:84.58, Z:3.22 [[ 9.43163131e-01 3.32116373e-01 1.19173387e-02 9.92119192e+01] [ 3.32096948e-01 -9.43238269e-01 3.63128775e-03 8.45816205e+01] [ 1.24469001e-02 5.32815092e-04 -9.99922392e-01 3.22466198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.66804094199998 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:99.20, Y:84.55, Z:3.24 [[ 9.19863611e-01 3.92075048e-01 1.13178622e-02 9.92045809e+01] [ 3.92040241e-01 -9.19933156e-01 5.23815617e-03 8.45518826e+01] [ 1.24654270e-02 -3.81331829e-04 -9.99922231e-01 3.23678295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.69804094199998 meters Centerline goodness : 0.996668 Centerline is valid? [True, True] Translation: X:99.51, Y:83.94, Z:2.18 [[ 9.04553261e-01 -4.26202219e-01 -1.16218411e-02 9.95090839e+01] [ 4.26178592e-01 9.04627540e-01 -4.56295984e-03 8.39352193e+01] [ 1.24581812e-02 -8.25539683e-04 9.99922053e-01 2.18490099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72804094199998 meters Centerline goodness : 0.997682 Centerline is valid? [True, True] Translation: X:99.53, Y:83.95, Z:2.18 [[ 9.05486739e-01 -4.24224289e-01 -1.12923447e-02 9.95334031e+01] [ 4.24191308e-01 9.05557150e-01 -5.28979209e-03 8.39469925e+01] [ 1.24699218e-02 -2.77873387e-07 9.99922248e-01 2.18474865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.75804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.57, Y:83.96, Z:2.19 [[ 9.08279687e-01 -4.18211310e-01 -1.12831720e-02 9.95670483e+01] [ 4.18177611e-01 9.08349761e-01 -5.31001989e-03 8.39584782e+01] [ 1.24697770e-02 1.04613296e-04 9.99922244e-01 2.18563357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78804094199998 meters Centerline goodness : 0.995132 Centerline is valid? [True, True] Translation: X:99.58, Y:83.97, Z:2.18 [[ 9.05775938e-01 -4.23603740e-01 -1.13939583e-02 9.95821387e+01] [ 4.23573519e-01 9.05847567e-01 -5.06546892e-03 8.39732265e+01] [ 1.24669410e-02 -2.37999151e-04 9.99922256e-01 2.18464932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.81804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.61, Y:83.97, Z:2.17 [[ 9.11585613e-01 -4.10956421e-01 -1.12468351e-02 9.96077748e+01] [ 4.10921174e-01 9.11654943e-01 -5.39018791e-03 8.39688245e+01] [ 1.24683652e-02 2.92055049e-04 9.99922224e-01 2.17205631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.64, Y:83.98, Z:2.18 [[ 9.08603111e-01 -4.17510893e-01 -1.11821733e-02 9.96358652e+01] [ 4.17474329e-01 9.08671846e-01 -5.53727105e-03 8.39834807e+01] [ 1.24727970e-02 3.62911419e-04 9.99922146e-01 2.17881033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.87804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.66, Y:83.99, Z:2.18 [[ 9.06861580e-01 -4.21279859e-01 -1.11962234e-02 9.96610096e+01] [ 4.21243975e-01 9.06930650e-01 -5.50546237e-03 8.39932725e+01] [ 1.24735386e-02 2.76350636e-04 9.99922164e-01 2.17992291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90804094199999 meters Centerline goodness : 0.997114 Centerline is valid? [True, True] Translation: X:99.69, Y:84.01, Z:2.19 [[ 9.05718726e-01 -4.23731002e-01 -1.12083423e-02 9.96935919e+01] [ 4.23695638e-01 9.05788050e-01 -5.47847702e-03 8.40118699e+01] [ 1.24737831e-02 2.13033460e-04 9.99922177e-01 2.18771853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.938040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:99.71, Y:84.02, Z:2.18 [[ 9.04235686e-01 -4.26883618e-01 -1.13225583e-02 9.97112442e+01] [ 4.26851669e-01 9.04306566e-01 -5.22372907e-03 8.40164356e+01] [ 1.24689881e-02 -1.09570661e-04 9.99922253e-01 2.17918800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.968040942 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:99.73, Y:84.03, Z:2.18 [[ 9.03134681e-01 -4.29210852e-01 -1.12157463e-02 9.97306372e+01] [ 4.29176022e-01 9.03204312e-01 -5.46937375e-03 8.40275853e+01] [ 1.24776250e-02 1.26051717e-04 9.99922143e-01 2.18106610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.998040942 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:99.75, Y:84.04, Z:2.18 [[ 9.00387605e-01 -4.34946315e-01 -1.11294213e-02 9.97549089e+01] [ 4.34909467e-01 9.00456347e-01 -5.66759669e-03 8.40444414e+01] [ 1.24866583e-02 2.62743124e-04 9.99922004e-01 2.17976407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.81, Y:84.05, Z:2.18 [[ 9.07556930e-01 -4.19781976e-01 -1.11136004e-02 9.98104166e+01] [ 4.19743536e-01 9.07624830e-01 -5.70375065e-03 8.40456264e+01] [ 1.24813114e-02 5.11616487e-04 9.99921975e-01 2.17675389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.84, Y:84.06, Z:2.18 [[ 9.04486437e-01 -4.26349156e-01 -1.14316898e-02 9.98368419e+01] [ 4.26320324e-01 9.04558597e-01 -4.97247512e-03 8.40597471e+01] [ 1.24606439e-02 -3.76025396e-04 9.99922292e-01 2.18440770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.87, Y:84.07, Z:2.18 [[ 9.07128535e-01 -4.20697908e-01 -1.14495338e-02 9.98651138e+01] [ 4.20669143e-01 9.07200723e-01 -4.93145543e-03 8.40650780e+01] [ 1.24616783e-02 -3.43001648e-04 9.99922291e-01 2.18491988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.89, Y:84.08, Z:2.19 [[ 9.06064580e-01 -4.22984761e-01 -1.14397767e-02 9.98907711e+01] [ 4.22955896e-01 9.06136728e-01 -4.95386351e-03 8.40798094e+01] [ 1.24614106e-02 -3.50000733e-04 9.99922292e-01 2.19077289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.92, Y:84.10, Z:2.19 [[ 9.04344919e-01 -4.26648291e-01 -1.14674991e-02 9.99155400e+01] [ 4.26620523e-01 9.04417501e-01 -4.89020394e-03 8.40955537e+01] [ 1.24578041e-02 -4.69839390e-04 9.99922288e-01 2.18601403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.94, Y:84.11, Z:2.19 [[ 9.05113193e-01 -4.25015922e-01 -1.14705448e-02 9.99395749e+01] [ 4.24988112e-01 9.05185760e-01 -4.88321404e-03 8.41087163e+01] [ 1.24584175e-02 -4.54983724e-04 9.99922287e-01 2.18536043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.96, Y:84.12, Z:2.19 [[ 9.06146660e-01 -4.22808127e-01 -1.14681732e-02 9.99641051e+01] [ 4.22780071e-01 9.06219130e-01 -4.88865414e-03 8.41204768e+01] [ 1.24596407e-02 -4.18677480e-04 9.99922288e-01 2.18603490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.00, Y:84.13, Z:2.19 [[ 9.07636065e-01 -4.19601541e-01 -1.14595494e-02 9.99960503e+01] [ 4.19572980e-01 9.07708335e-01 -4.90841203e-03 8.41324144e+01] [ 1.24615058e-02 -3.53065505e-04 9.99922290e-01 2.19054174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.02, Y:84.15, Z:2.19 [[ 9.08876320e-01 -4.16906367e-01 -1.15289202e-02 1.00019198e+02] [ 4.16879600e-01 9.08949307e-01 -4.74946863e-03 8.41466705e+01] [ 1.24592877e-02 -4.89492074e-04 9.99922260e-01 2.18959780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.29804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.05, Y:84.16, Z:2.19 [[ 9.09865385e-01 -4.14744225e-01 -1.14982104e-02 1.00048984e+02] [ 4.14716397e-01 9.09937955e-01 -4.81962801e-03 8.41587089e+01] [ 1.24615710e-02 -3.83283700e-04 9.99922278e-01 2.19118199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.07, Y:84.17, Z:2.19 [[ 9.11026253e-01 -4.12186600e-01 -1.15487311e-02 1.00073547e+02] [ 4.12160028e-01 9.11099326e-01 -4.70421912e-03 8.41698447e+01] [ 1.24610572e-02 -4.74258208e-04 9.99922246e-01 2.19252718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.35804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.08, Y:84.19, Z:2.19 [[ 9.07415708e-01 -4.20075982e-01 -1.15283071e-02 1.00080102e+02] [ 4.20049454e-01 9.07488781e-01 -4.75076656e-03 8.41862548e+01] [ 1.24574923e-02 -5.31538890e-04 9.99922261e-01 2.18835017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.13, Y:84.19, Z:2.19 [[ 9.12257289e-01 -4.09461405e-01 -1.13135141e-02 1.00128525e+02] [ 4.09427922e-01 9.12327428e-01 -5.23836135e-03 8.41922913e+01] [ 1.24665360e-02 1.46664768e-04 9.99922279e-01 2.19410909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.41804094199998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:100.12, Y:84.21, Z:2.19 [[ 9.05979676e-01 -4.23163208e-01 -1.15639835e-02 1.00119451e+02] [ 4.23137993e-01 9.06053231e-01 -4.66699950e-03 8.42142176e+01] [ 1.24524871e-02 -6.64954080e-04 9.99922244e-01 2.18672876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.19, Y:84.22, Z:2.20 [[ 9.14599955e-01 -4.04204691e-01 -1.12022022e-02 1.00186891e+02] [ 4.04167736e-01 9.14668424e-01 -5.48771721e-03 8.42159556e+01] [ 1.24644616e-02 4.91497219e-04 9.99922195e-01 2.19591465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.47804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.21, Y:84.23, Z:2.20 [[ 9.11392366e-01 -4.11373770e-01 -1.16437527e-02 1.00205466e+02] [ 4.11349986e-01 9.11466468e-01 -4.47964363e-03 8.42319161e+01] [ 1.24556980e-02 -7.06944508e-04 9.99922175e-01 2.19591573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50804094199998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:100.24, Y:84.24, Z:2.19 [[ 9.12418068e-01 -4.09096652e-01 -1.15411730e-02 1.00236046e+02] [ 4.09069717e-01 9.12490960e-01 -4.71322058e-03 8.42433178e+01] [ 1.24593788e-02 -4.20716772e-04 9.99922290e-01 2.19008355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.53804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.26, Y:84.26, Z:2.19 [[ 9.10613210e-01 -4.13096910e-01 -1.15985007e-02 1.00261894e+02] [ 4.13071953e-01 9.10686862e-01 -4.58265648e-03 8.42555432e+01] [ 1.24556834e-02 -6.17987803e-04 9.99922234e-01 2.19399914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.28, Y:84.27, Z:2.20 [[ 9.09015732e-01 -4.16599922e-01 -1.16148661e-02 1.00284293e+02] [ 4.16575723e-01 9.09089658e-01 -4.54541048e-03 8.42654562e+01] [ 1.24525723e-02 -7.06621627e-04 9.99922214e-01 2.19751798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.59804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.31, Y:84.28, Z:2.19 [[ 9.09466820e-01 -4.15615890e-01 -1.15557546e-02 1.00314141e+02] [ 4.15589907e-01 9.09540067e-01 -4.67940606e-03 8.42779845e+01] [ 1.24552574e-02 -5.46690451e-04 9.99922281e-01 2.19117845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.33, Y:84.29, Z:2.20 [[ 9.06188446e-01 -4.22715229e-01 -1.15903028e-02 1.00331699e+02] [ 4.22690817e-01 9.06262270e-01 -4.60115930e-03 8.42912410e+01] [ 1.24488342e-02 -7.29597163e-04 9.99922244e-01 2.19684558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.36, Y:84.30, Z:2.20 [[ 9.04716064e-01 -4.25859657e-01 -1.15063793e-02 1.00359571e+02] [ 4.25833089e-01 9.04789054e-01 -4.79042819e-03 8.43042560e+01] [ 1.24508961e-02 -5.65819688e-04 9.99922325e-01 2.19847835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.38, Y:84.32, Z:2.19 [[ 9.04077600e-01 -4.27212837e-01 -1.15275610e-02 1.00381647e+02] [ 4.27186985e-01 9.04150865e-01 -4.74268782e-03 8.43154523e+01] [ 1.24487913e-02 -6.36666187e-04 9.99922308e-01 2.19437257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.41, Y:84.33, Z:2.20 [[ 9.02717537e-01 -4.30080316e-01 -1.14878436e-02 1.00408692e+02] [ 4.30053560e-01 9.02790445e-01 -4.83207627e-03 8.43289103e+01] [ 1.24492963e-02 -5.78388051e-04 9.99922337e-01 2.19835407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.43, Y:84.34, Z:2.20 [[ 9.02040561e-01 -4.31497979e-01 -1.15030924e-02 1.00433294e+02] [ 4.31471772e-01 9.02113679e-01 -4.79781521e-03 8.43422205e+01] [ 1.24473446e-02 -6.35435746e-04 9.99922327e-01 2.19990594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.46, Y:84.36, Z:2.20 [[ 9.01396763e-01 -4.32841712e-01 -1.14859720e-02 1.00459571e+02] [ 4.32815126e-01 9.01469732e-01 -4.83617038e-03 8.43556588e+01] [ 1.24475523e-02 -6.11994078e-04 9.99922339e-01 2.19931378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.49, Y:84.37, Z:2.20 [[ 9.01121702e-01 -4.33414010e-01 -1.14880048e-02 1.00485640e+02] [ 4.33387529e-01 9.01194710e-01 -4.83162242e-03 8.43676416e+01] [ 1.24470220e-02 -6.24878179e-04 9.99922338e-01 2.19967281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.51, Y:84.38, Z:2.20 [[ 9.01142611e-01 -4.33370570e-01 -1.14867112e-02 1.00509941e+02] [ 4.33344048e-01 9.01215603e-01 -4.83451328e-03 8.43817742e+01] [ 1.24471392e-02 -6.21112010e-04 9.99922338e-01 2.19785206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.53, Y:84.40, Z:2.20 [[ 8.98559700e-01 -4.38701328e-01 -1.14721805e-02 1.00534689e+02] [ 4.38674828e-01 8.98632689e-01 -4.86674126e-03 8.43981567e+01] [ 1.24443223e-02 -6.59499252e-04 9.99922349e-01 2.19885091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.56, Y:84.41, Z:2.20 [[ 8.99824528e-01 -4.36101241e-01 -1.14684919e-02 1.00557398e+02] [ 4.36074427e-01 8.99897400e-01 -4.87491332e-03 8.44095781e+01] [ 1.24464218e-02 -6.14549469e-04 9.99922351e-01 2.20128286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.58, Y:84.42, Z:2.20 [[ 9.00177996e-01 -4.35371692e-01 -1.14483296e-02 1.00581329e+02] [ 4.35344249e-01 9.00250621e-01 -4.91971605e-03 8.44230935e+01] [ 1.24482710e-02 -5.55344326e-04 9.99922363e-01 2.20021000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.61, Y:84.44, Z:2.20 [[ 9.01608121e-01 -4.32402494e-01 -1.14402680e-02 1.00611659e+02] [ 4.32374584e-01 9.01680564e-01 -4.93761685e-03 8.44362648e+01] [ 1.24505051e-02 -4.94685657e-04 9.99922367e-01 2.19630717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.63, Y:84.45, Z:2.20 [[ 9.00255711e-01 -4.35209941e-01 -1.14874820e-02 1.00632890e+02] [ 4.35183588e-01 9.00328766e-01 -4.83299697e-03 8.44510134e+01] [ 1.24458788e-02 -6.48230523e-04 9.99922337e-01 2.20014110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.01804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.66, Y:84.46, Z:2.20 [[ 9.01019657e-01 -4.33627553e-01 -1.14334201e-02 1.00655770e+02] [ 4.33599553e-01 9.01092060e-01 -4.95254663e-03 8.44647052e+01] [ 1.24501247e-02 -4.95183979e-04 9.99922372e-01 2.19965868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.68, Y:84.48, Z:2.20 [[ 9.02271148e-01 -4.31017678e-01 -1.14252973e-02 1.00682597e+02] [ 4.30989242e-01 9.02343376e-01 -4.97046948e-03 8.44778892e+01] [ 1.24519016e-02 -4.39469040e-04 9.99922376e-01 2.20191687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.07804094199997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.71, Y:84.49, Z:2.20 [[ 9.03143704e-01 -4.29185881e-01 -1.14424546e-02 1.00709632e+02] [ 4.29157777e-01 9.03216071e-01 -4.93265974e-03 8.44940389e+01] [ 1.24520368e-02 -4.55717795e-04 9.99922367e-01 2.20159428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10804094199997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:100.73, Y:84.51, Z:2.20 [[ 9.03213235e-01 -4.29038618e-01 -1.14768109e-02 1.00732558e+02] [ 4.29011461e-01 9.03285988e-01 -4.85699624e-03 8.45075086e+01] [ 1.24506814e-02 -5.36780105e-04 9.99922343e-01 2.19727681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.13804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.75, Y:84.52, Z:2.19 [[ 9.04129021e-01 -4.27105813e-01 -1.14602427e-02 1.00753511e+02] [ 4.27078038e-01 9.04201528e-01 -4.89345760e-03 8.45185442e+01] [ 1.24523932e-02 -4.70100945e-04 9.99922355e-01 2.19022079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.78, Y:84.53, Z:2.20 [[ 9.04862606e-01 -4.25550735e-01 -1.14121337e-02 1.00776499e+02] [ 4.25521500e-01 9.04934507e-01 -4.99921656e-03 8.45340388e+01] [ 1.24546538e-02 -3.32504105e-04 9.99922383e-01 2.20101380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.19804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.80, Y:84.55, Z:2.20 [[ 9.03734229e-01 -4.27942546e-01 -1.13850871e-02 1.00801947e+02] [ 4.27912752e-01 9.03805890e-01 -5.05859878e-03 8.45486495e+01] [ 1.24546984e-02 -3.00195076e-04 9.99922392e-01 2.20024418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.83, Y:84.56, Z:2.20 [[ 9.03645572e-01 -4.28129191e-01 -1.14051237e-02 1.00825610e+02] [ 4.28099966e-01 9.03717474e-01 -5.01463166e-03 8.45611791e+01] [ 1.24539198e-02 -3.51083379e-04 9.99922385e-01 2.20056019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.25804094199998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:100.85, Y:84.58, Z:2.20 [[ 9.03052596e-01 -4.29379280e-01 -1.13772860e-02 1.00852976e+02] [ 4.29349386e-01 9.03124212e-01 -5.07557308e-03 8.45755222e+01] [ 1.24544484e-02 -3.01321319e-04 9.99922395e-01 2.20017792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28804094199998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:100.88, Y:84.59, Z:2.20 [[ 9.02125848e-01 -4.31321969e-01 -1.14154809e-02 1.00876164e+02] [ 4.31293285e-01 9.02197973e-01 -4.99197464e-03 8.45888281e+01] [ 1.24521720e-02 -4.20030886e-04 9.99922380e-01 2.20012654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.31804094199998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:100.92, Y:84.60, Z:2.21 [[ 9.03190858e-01 -4.29088211e-01 -1.13833767e-02 1.00916554e+02] [ 4.29058464e-01 9.03262537e-01 -5.06205754e-03 8.46018755e+01] [ 1.24542469e-02 -3.12130011e-04 9.99922394e-01 2.20671617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34804094199998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:100.94, Y:84.61, Z:2.21 [[ 9.03736293e-01 -4.27933368e-01 -1.15648721e-02 1.00937835e+02] [ 4.27908572e-01 9.03809989e-01 -4.66461558e-03 8.46124222e+01] [ 1.24485916e-02 -7.33125539e-04 9.99922245e-01 2.20971561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.37804094199998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:100.97, Y:84.63, Z:2.21 [[ 9.02374997e-01 -4.30798570e-01 -1.14872615e-02 1.00970230e+02] [ 4.30771848e-01 9.02447920e-01 -4.83392267e-03 8.46277486e+01] [ 1.24491022e-02 -5.86377907e-04 9.99922335e-01 2.20847834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.98, Y:84.64, Z:2.20 [[ 9.01610902e-01 -4.32393551e-01 -1.15584594e-02 1.00980463e+02] [ 4.32368940e-01 9.01684651e-01 -4.67861996e-03 8.46399551e+01] [ 1.24450905e-02 -7.79224078e-04 9.99922253e-01 2.19717541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.01, Y:84.66, Z:2.20 [[ 8.99339090e-01 -4.37104266e-01 -1.13605127e-02 1.01008514e+02] [ 4.37074573e-01 8.99410764e-01 -5.10836190e-03 8.46583047e+01] [ 1.24506542e-02 -3.71241679e-04 9.99922419e-01 2.20207096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.03, Y:84.67, Z:2.19 [[ 9.02173063e-01 -4.31223110e-01 -1.14190170e-02 1.01029508e+02] [ 4.31194551e-01 9.02245224e-01 -4.98145337e-03 8.46665198e+01] [ 1.24508713e-02 -4.29684844e-04 9.99922393e-01 2.19439322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.06, Y:84.68, Z:2.20 [[ 9.00883039e-01 -4.33914154e-01 -1.13250527e-02 1.01064810e+02] [ 4.33883245e-01 9.00954187e-01 -5.18482838e-03 8.46836674e+01] [ 1.24531241e-02 -2.42826663e-04 9.99922427e-01 2.19766722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.09, Y:84.69, Z:2.20 [[ 9.02947564e-01 -4.29596870e-01 -1.14989757e-02 1.01088864e+02] [ 4.29570389e-01 9.03020582e-01 -4.80732389e-03 8.46942538e+01] [ 1.24490230e-02 -5.98858069e-04 9.99922329e-01 2.19894976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.10, Y:84.71, Z:2.20 [[ 8.99177500e-01 -4.37434287e-01 -1.14484939e-02 1.01104772e+02] [ 4.37407048e-01 8.99250188e-01 -4.91669744e-03 8.47119169e+01] [ 1.24457924e-02 -5.86668221e-04 9.99922376e-01 2.19985281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.14, Y:84.72, Z:2.20 [[ 9.00386510e-01 -4.34942526e-01 -1.13636626e-02 1.01140566e+02] [ 4.34912765e-01 9.00458148e-01 -5.10004851e-03 8.47226020e+01] [ 1.24507306e-02 -3.50187052e-04 9.99922425e-01 2.20459697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.16, Y:84.73, Z:2.20 [[ 9.00690509e-01 -4.34309669e-01 -1.14769014e-02 1.01161115e+02] [ 4.34282963e-01 9.00763419e-01 -4.85492535e-03 8.47311029e+01] [ 1.24465139e-02 -6.11437554e-04 9.99922352e-01 2.20182379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.19, Y:84.75, Z:2.20 [[ 8.98336486e-01 -4.39160211e-01 -1.13959338e-02 1.01185170e+02] [ 4.39131677e-01 8.98408634e-01 -5.02961938e-03 8.47468543e+01] [ 1.24470141e-02 -4.86024939e-04 9.99922415e-01 2.19925157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.21, Y:84.76, Z:2.20 [[ 8.95548145e-01 -4.44819320e-01 -1.13706712e-02 1.01207562e+02] [ 4.44790552e-01 8.95620186e-01 -5.08396997e-03 8.47636147e+01] [ 1.24452508e-02 -5.04627266e-04 9.99922428e-01 2.19610346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.23, Y:84.78, Z:2.20 [[ 8.95450768e-01 -4.45015905e-01 -1.13475477e-02 1.01232083e+02] [ 4.44986523e-01 8.95522551e-01 -5.13365280e-03 8.47765133e+01] [ 1.24465420e-02 -4.52572443e-04 9.99922436e-01 2.20145311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.73804094199997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:101.25, Y:84.79, Z:2.20 [[ 8.95649341e-01 -4.44616097e-01 -1.13483467e-02 1.01252400e+02] [ 4.44586705e-01 8.95721120e-01 -5.13193919e-03 8.47894980e+01] [ 1.24466966e-02 -4.48906128e-04 9.99922436e-01 2.20055442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76804094199997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:101.28, Y:84.80, Z:2.20 [[ 8.97275670e-01 -4.41326682e-01 -1.12753005e-02 1.01279320e+02] [ 4.41295056e-01 8.97346481e-01 -5.28834913e-03 8.48021745e+01] [ 1.24517408e-02 -2.30627340e-04 9.99922447e-01 2.20096187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.79804094199997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:101.30, Y:84.81, Z:2.20 [[ 8.97739618e-01 -4.40381235e-01 -1.13113264e-02 1.01303113e+02] [ 4.40350505e-01 8.97810824e-01 -5.21121795e-03 8.48143787e+01] [ 1.24503538e-02 -3.02631458e-04 9.99922446e-01 2.19804579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82804094199997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:101.33, Y:84.83, Z:2.20 [[ 8.98894241e-01 -4.38020251e-01 -1.12872964e-02 1.01329634e+02] [ 4.37988688e-01 8.98965080e-01 -5.26261839e-03 8.48268839e+01] [ 1.24520187e-02 -2.13170758e-04 9.99922448e-01 2.19943272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.85804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.35, Y:84.84, Z:2.20 [[ 8.98038797e-01 -4.39771078e-01 -1.13012651e-02 1.01352407e+02] [ 4.39740028e-01 8.98109863e-01 -5.23274986e-03 8.48393834e+01] [ 1.24509897e-02 -2.70406242e-04 9.99922447e-01 2.19711669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.38, Y:84.85, Z:2.20 [[ 9.00047399e-01 -4.35646416e-01 -1.12641416e-02 1.01377992e+02] [ 4.35614047e-01 9.00117873e-01 -5.31202198e-03 8.48507949e+01] [ 1.24532185e-02 -1.25746744e-04 9.99922448e-01 2.19772053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.91804094199998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:101.42, Y:84.87, Z:2.20 [[ 8.97651593e-01 -4.40561500e-01 -1.12775515e-02 1.01415648e+02] [ 4.40529876e-01 8.97722404e-01 -5.28339833e-03 8.48725247e+01] [ 1.24517725e-02 -2.25447421e-04 9.99922448e-01 2.20008163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94804094199998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:101.43, Y:84.88, Z:2.20 [[ 9.00453065e-01 -4.34801734e-01 -1.14773338e-02 1.01431167e+02] [ 4.34775011e-01 9.00525999e-01 -4.85955389e-03 8.48764325e+01] [ 1.24485799e-02 -6.14257719e-04 9.99922325e-01 2.19956836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.97804094199998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:101.46, Y:84.89, Z:2.21 [[ 8.99264493e-01 -4.37260601e-01 -1.12489572e-02 1.01455317e+02] [ 4.37227984e-01 8.99334840e-01 -5.34188871e-03 8.48904629e+01] [ 1.24523766e-02 -1.14588060e-04 9.99922460e-01 2.20562144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.48, Y:84.90, Z:2.21 [[ 9.01001036e-01 -4.33671165e-01 -1.12451666e-02 1.01479908e+02] [ 4.33638168e-01 9.01071206e-01 -5.34988907e-03 8.49007506e+01] [ 1.24527885e-02 -5.60778625e-05 9.99922459e-01 2.20796646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.03804094199998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:101.51, Y:84.92, Z:2.21 [[ 9.00492350e-01 -4.34726767e-01 -1.12323805e-02 1.01507773e+02] [ 4.34693516e-01 9.00562400e-01 -5.37684322e-03 8.49150076e+01] [ 1.24529172e-02 -4.08367892e-05 9.99922459e-01 2.20629175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.53, Y:84.93, Z:2.21 [[ 9.02285165e-01 -4.30992641e-01 -1.12616385e-02 1.01532348e+02] [ 4.30959869e-01 9.02355440e-01 -5.31519167e-03 8.49267653e+01] [ 1.24528092e-02 -5.74956638e-05 9.99922459e-01 2.20608359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.09804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.56, Y:84.94, Z:2.21 [[ 9.02864269e-01 -4.29778969e-01 -1.12316539e-02 1.01556777e+02] [ 4.29745317e-01 9.02934126e-01 -5.37830901e-03 8.49373433e+01] [ 1.24529277e-02 2.91323692e-05 9.99922459e-01 2.20721896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.58, Y:84.95, Z:2.21 [[ 9.03381848e-01 -4.28690125e-01 -1.12255340e-02 1.01584726e+02] [ 4.28656228e-01 9.03451589e-01 -5.39118580e-03 8.49483392e+01] [ 1.24528746e-02 5.84043411e-05 9.99922458e-01 2.20751776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.62, Y:84.96, Z:2.21 [[ 9.02874001e-01 -4.29757999e-01 -1.12517118e-02 1.01618234e+02] [ 4.29724870e-01 9.02944108e-01 -5.33612244e-03 8.49633994e+01] [ 1.24529082e-02 -1.72942014e-05 9.99922459e-01 2.20893337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.64, Y:84.97, Z:2.21 [[ 9.03858989e-01 -4.27677921e-01 -1.14247081e-02 1.01637524e+02] [ 4.27649236e-01 9.03931104e-01 -4.96901230e-03 8.49707202e+01] [ 1.24522858e-02 -3.94481244e-04 9.99922389e-01 2.20705753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.66, Y:84.98, Z:2.21 [[ 9.04000400e-01 -4.27382133e-01 -1.13044057e-02 1.01662115e+02] [ 4.27350232e-01 9.04071071e-01 -5.22292135e-03 8.49802474e+01] [ 1.24521694e-02 -1.09417393e-04 9.99922463e-01 2.20902604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.69, Y:84.99, Z:2.21 [[ 9.04499914e-01 -4.26324931e-01 -1.12675791e-02 1.01686340e+02] [ 4.26291978e-01 9.04570093e-01 -5.30053829e-03 8.49876013e+01] [ 1.24520667e-02 -8.94216987e-06 9.99922470e-01 2.20700766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.71, Y:85.00, Z:2.21 [[ 9.04182635e-01 -4.26998331e-01 -1.12333265e-02 1.01714850e+02] [ 4.26964533e-01 9.04252411e-01 -5.37271017e-03 8.49989507e+01] [ 1.24519008e-02 6.16792439e-05 9.99922470e-01 2.20996398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.308040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:101.74, Y:85.01, Z:2.21 [[ 9.03831879e-01 -4.27739128e-01 -1.12771210e-02 1.01742177e+02] [ 4.27706537e-01 9.03902227e-01 -5.28044035e-03 8.50083001e+01] [ 1.24520657e-02 -5.06680358e-05 9.99922469e-01 2.21145681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.77, Y:85.02, Z:2.21 [[ 9.03348815e-01 -4.28758365e-01 -1.12775712e-02 1.01769239e+02] [ 4.28725865e-01 9.03419205e-01 -5.27949211e-03 8.50196055e+01] [ 1.24520009e-02 -6.57635424e-05 9.99922469e-01 2.21179337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.79, Y:85.03, Z:2.21 [[ 9.03576756e-01 -4.28277495e-01 -1.12886892e-02 1.01790858e+02] [ 4.28245249e-01 9.03647265e-01 -5.25608679e-03 8.50296521e+01] [ 1.24520568e-02 -8.50496579e-05 9.99922467e-01 2.20987933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.82, Y:85.04, Z:2.21 [[ 9.01272384e-01 -4.33107219e-01 -1.12350288e-02 1.01818053e+02] [ 4.33073942e-01 9.01342408e-01 -5.36890260e-03 8.50400820e+01] [ 1.24519184e-02 -2.67545741e-05 9.99922472e-01 2.20905628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.84, Y:85.05, Z:2.21 [[ 9.01089776e-01 -4.33486914e-01 -1.12388035e-02 1.01844596e+02] [ 4.33453765e-01 9.01159860e-01 -5.36096976e-03 8.50497910e+01] [ 1.24518688e-02 -4.07866287e-05 9.99922472e-01 2.21176404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.87, Y:85.06, Z:2.21 [[ 9.01229052e-01 -4.33197161e-01 -1.12434989e-02 1.01872999e+02] [ 4.33164112e-01 9.01299183e-01 -5.35110392e-03 8.50567417e+01] [ 1.24518394e-02 -4.77099113e-05 9.99922472e-01 2.21148983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.90, Y:85.07, Z:2.21 [[ 8.99743793e-01 -4.36273672e-01 -1.12423170e-02 1.01901243e+02] [ 4.36240833e-01 8.99814023e-01 -5.35358565e-03 8.50688267e+01] [ 1.24516230e-02 -8.75022686e-05 9.99922472e-01 2.21176116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.51804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.93, Y:85.08, Z:2.21 [[ 9.00587176e-01 -4.34529383e-01 -1.12673801e-02 1.01929406e+02] [ 4.34497065e-01 9.00657649e-01 -5.30096913e-03 8.50762013e+01] [ 1.24514789e-02 -1.21658775e-04 9.99922470e-01 2.21027596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.96, Y:85.09, Z:2.21 [[ 8.99243762e-01 -4.37302499e-01 -1.12774745e-02 1.01956297e+02] [ 4.37270664e-01 8.99314456e-01 -5.27978124e-03 8.50885260e+01] [ 1.24508574e-02 -1.83498425e-04 9.99922468e-01 2.21341108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.57804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:85.10, Z:2.21 [[ 8.99124268e-01 -4.37548187e-01 -1.12753920e-02 1.01983097e+02] [ 4.37516317e-01 8.99194946e-01 -5.28414327e-03 8.50992388e+01] [ 1.24508428e-02 -1.82066529e-04 9.99922469e-01 2.21312136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.01, Y:85.10, Z:2.21 [[ 9.01058996e-01 -4.33549923e-01 -1.12760442e-02 1.02009205e+02] [ 4.33517756e-01 9.01129540e-01 -5.28277778e-03 8.51032503e+01] [ 1.24515244e-02 -1.28270917e-04 9.99922469e-01 2.21103718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.63804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.04, Y:85.12, Z:2.22 [[ 8.99430705e-01 -4.36919006e-01 -1.12334133e-02 1.02040245e+02] [ 4.36885988e-01 8.99500848e-01 -5.37192466e-03 8.51174367e+01] [ 1.24515608e-02 -7.60468982e-05 9.99922473e-01 2.21658212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.07, Y:85.12, Z:2.21 [[ 9.00261860e-01 -4.35201988e-01 -1.13054742e-02 1.02067948e+02] [ 4.35170722e-01 9.00332817e-01 -5.22116611e-03 8.51241979e+01] [ 1.24509513e-02 -2.19394683e-04 9.99922460e-01 2.21334857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.69804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.10, Y:85.14, Z:2.21 [[ 8.98968879e-01 -4.37866376e-01 -1.13133532e-02 1.02104963e+02] [ 4.37835528e-01 8.99040022e-01 -5.20467648e-03 8.51386647e+01] [ 1.24501101e-02 -2.74545772e-04 9.99922457e-01 2.21347413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.13, Y:85.15, Z:2.21 [[ 8.98542502e-01 -4.38735976e-01 -1.14941566e-02 1.02130794e+02] [ 4.38710029e-01 8.98615736e-01 -4.82376017e-03 8.51513744e+01] [ 1.24451871e-02 -7.08248257e-04 9.99922305e-01 2.21396786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.75804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.15, Y:85.16, Z:2.22 [[ 8.98934034e-01 -4.37933740e-01 -1.14735707e-02 1.02145292e+02] [ 4.37907176e-01 8.99007018e-01 -4.86691598e-03 8.51566042e+01] [ 1.24462073e-02 -6.49322547e-04 9.99922332e-01 2.21598306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.17, Y:85.17, Z:2.21 [[ 8.98421799e-01 -4.38988521e-01 -1.12849313e-02 1.02170593e+02] [ 4.38957066e-01 8.98492641e-01 -5.26006079e-03 8.51665988e+01] [ 1.24485340e-02 -2.27847055e-04 9.99922488e-01 2.21452348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.81804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.20, Y:85.17, Z:2.22 [[ 8.97887241e-01 -4.40081469e-01 -1.12606617e-02 1.02198820e+02] [ 4.40049467e-01 8.97957831e-01 -5.31049301e-03 8.51741590e+01] [ 1.24486489e-02 -1.87024237e-04 9.99922495e-01 2.21567249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.23, Y:85.18, Z:2.22 [[ 8.99716890e-01 -4.36328627e-01 -1.12626320e-02 1.02229202e+02] [ 4.36296382e-01 8.99787369e-01 -5.30639900e-03 8.51798492e+01] [ 1.24493078e-02 -1.39588797e-04 9.99922495e-01 2.21742457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.87804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.25, Y:85.19, Z:2.22 [[ 8.97861693e-01 -4.40132495e-01 -1.13034129e-02 1.02252824e+02] [ 4.40101615e-01 8.97932795e-01 -5.22151578e-03 8.51915917e+01] [ 1.24478639e-02 -2.86451260e-04 9.99922481e-01 2.21941829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.28, Y:85.19, Z:2.22 [[ 8.99792161e-01 -4.36173518e-01 -1.12573734e-02 1.02281157e+02] [ 4.36141125e-01 8.99862571e-01 -5.31724708e-03 8.51925145e+01] [ 1.24493313e-02 -1.25386258e-04 9.99922496e-01 2.21861917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.31, Y:85.21, Z:2.22 [[ 8.97396152e-01 -4.41082646e-01 -1.12359252e-02 1.02309276e+02] [ 4.41050079e-01 8.97466478e-01 -5.36180918e-03 8.52062059e+01] [ 1.24488672e-02 -1.43938798e-04 9.99922499e-01 2.22134111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.968040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.34, Y:85.22, Z:2.22 [[ 8.95448780e-01 -4.45022120e-01 -1.12603185e-02 1.02338052e+02] [ 4.44990497e-01 8.95519541e-01 -5.31128329e-03 8.52155858e+01] [ 1.24474738e-02 -2.54752566e-04 9.99922495e-01 2.22358212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.36, Y:85.23, Z:2.22 [[ 8.94148970e-01 -4.47627401e-01 -1.12840691e-02 1.02359762e+02] [ 4.47596604e-01 8.94220102e-01 -5.26210977e-03 8.52260347e+01] [ 1.24459059e-02 -3.45600974e-04 9.99922487e-01 2.22465011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.40, Y:85.23, Z:2.22 [[ 8.97185215e-01 -4.41511804e-01 -1.12257509e-02 1.02395907e+02] [ 4.41479008e-01 8.97255432e-01 -5.38276743e-03 8.52303346e+01] [ 1.24489213e-02 -1.26594020e-04 9.99922501e-01 2.21885189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.42, Y:85.25, Z:2.22 [[ 8.94893978e-01 -4.46135344e-01 -1.13146805e-02 1.02419353e+02] [ 4.46105221e-01 8.94965418e-01 -5.19930926e-03 8.52450324e+01] [ 1.24458434e-02 -3.94707501e-04 9.99922470e-01 2.22490348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.088040942 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:102.45, Y:85.25, Z:2.22 [[ 8.97070886e-01 -4.41743113e-01 -1.12626591e-02 1.02452514e+02] [ 4.41711293e-01 8.97141559e-01 -5.30634892e-03 8.52545444e+01] [ 1.24482426e-02 -2.14672592e-04 9.99922495e-01 2.22267728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.47, Y:85.27, Z:2.23 [[ 8.97457506e-01 -4.40954594e-01 -1.13609599e-02 1.02471889e+02] [ 4.40925264e-01 8.97529310e-01 -5.10388017e-03 8.52680957e+01] [ 1.24473739e-02 -4.28818685e-04 9.99922436e-01 2.22502001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.50, Y:85.28, Z:2.23 [[ 8.97766134e-01 -4.40327750e-01 -1.12890366e-02 1.02496940e+02] [ 4.40296509e-01 8.97837072e-01 -5.25140979e-03 8.52817585e+01] [ 1.24480570e-02 -2.55985532e-04 9.99922487e-01 2.22518760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.52, Y:85.29, Z:2.23 [[ 8.98714535e-01 -4.38389202e-01 -1.12735311e-02 1.02520868e+02] [ 4.38357408e-01 8.98785219e-01 -5.28318408e-03 8.52935561e+01] [ 1.24485740e-02 -1.93761538e-04 9.99922495e-01 2.22555668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.54, Y:85.31, Z:2.23 [[ 8.97090933e-01 -4.41702568e-01 -1.12560847e-02 1.02539548e+02] [ 4.41670587e-01 8.97161525e-01 -5.31891477e-03 8.53079188e+01] [ 1.24479044e-02 -1.99931325e-04 9.99922502e-01 2.22594858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.23804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.57, Y:85.32, Z:2.23 [[ 8.98043352e-01 -4.39764795e-01 -1.11831368e-02 1.02572361e+02] [ 4.39730798e-01 8.98112980e-01 -5.46810506e-03 8.53186957e+01] [ 1.24484004e-02 -6.97428298e-06 9.99922516e-01 2.22665759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.59, Y:85.33, Z:2.23 [[ 8.97941301e-01 -4.39971196e-01 -1.12591020e-02 1.02592439e+02] [ 4.39939158e-01 8.98011867e-01 -5.31260553e-03 8.53300167e+01] [ 1.24482006e-02 -1.82911942e-04 9.99922501e-01 2.22565073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.29804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.62, Y:85.35, Z:2.23 [[ 8.96575543e-01 -4.42749474e-01 -1.11892428e-02 1.02621790e+02] [ 4.42715869e-01 8.96645359e-01 -5.45530284e-03 8.53455424e+01] [ 1.24481150e-02 -6.25642164e-05 9.99922517e-01 2.22855950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.64, Y:85.36, Z:2.23 [[ 8.95115428e-01 -4.45692271e-01 -1.12592587e-02 1.02643442e+02] [ 4.45660689e-01 8.95186199e-01 -5.31218809e-03 8.53585754e+01] [ 1.24467342e-02 -2.62787471e-04 9.99922502e-01 2.22640698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.35804094199997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:102.67, Y:85.37, Z:2.23 [[ 8.94419523e-01 -4.47087364e-01 -1.12519015e-02 1.02667234e+02] [ 4.47055703e-01 8.94490256e-01 -5.32727474e-03 8.53714500e+01] [ 1.24464735e-02 -2.65408214e-04 9.99922504e-01 2.22634208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38804094199998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:102.69, Y:85.39, Z:2.23 [[ 8.92026153e-01 -4.51844606e-01 -1.12158231e-02 1.02694786e+02] [ 4.51812394e-01 8.92096626e-01 -5.40094377e-03 8.53855931e+01] [ 1.24459852e-02 -2.49664791e-04 9.99922515e-01 2.22902564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.41804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.72, Y:85.40, Z:2.23 [[ 8.90815865e-01 -4.54225294e-01 -1.12462403e-02 1.02719680e+02] [ 4.54194053e-01 8.90886782e-01 -5.33885778e-03 8.53981187e+01] [ 1.24441711e-02 -3.52036253e-04 9.99922506e-01 2.22768670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.74, Y:85.41, Z:2.23 [[ 8.89616521e-01 -4.56569952e-01 -1.12393825e-02 1.02744568e+02] [ 4.56538722e-01 8.89687441e-01 -5.35284061e-03 8.54109746e+01] [ 1.24434837e-02 -3.69237894e-04 9.99922509e-01 2.22780521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.47804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.77, Y:85.42, Z:2.23 [[ 8.88220792e-01 -4.59279592e-01 -1.12285512e-02 1.02768228e+02] [ 4.59248299e-01 8.88291681e-01 -5.37490026e-03 8.54239811e+01] [ 1.24428106e-02 -3.82594880e-04 9.99922512e-01 2.22864995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.79, Y:85.44, Z:2.23 [[ 8.87676903e-01 -4.60330145e-01 -1.12192933e-02 1.02791144e+02] [ 4.60298699e-01 8.87747721e-01 -5.39374589e-03 8.54382836e+01] [ 1.24428059e-02 -3.76322439e-04 9.99922514e-01 2.22805337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.53804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.82, Y:85.45, Z:2.23 [[ 8.87975899e-01 -4.59753414e-01 -1.12071839e-02 1.02816793e+02] [ 4.59721610e-01 8.88046554e-01 -5.41838345e-03 8.54518003e+01] [ 1.24436213e-02 -3.40790687e-04 9.99922517e-01 2.22856452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.84, Y:85.47, Z:2.23 [[ 8.88086336e-01 -4.59540027e-01 -1.12081539e-02 1.02841933e+02] [ 4.59508232e-01 8.88156995e-01 -5.41641084e-03 8.54652255e+01] [ 1.24436578e-02 -3.39998497e-04 9.99922517e-01 2.22833635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.59804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.87, Y:85.48, Z:2.23 [[ 8.89099138e-01 -4.57577588e-01 -1.12015171e-02 1.02868153e+02] [ 4.57545466e-01 8.89169648e-01 -5.42989689e-03 8.54768719e+01] [ 1.24446481e-02 -2.97486709e-04 9.99922518e-01 2.23020544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.89, Y:85.49, Z:2.23 [[ 8.89416982e-01 -4.56959316e-01 -1.12078198e-02 1.02892105e+02] [ 4.56927307e-01 8.89487544e-01 -5.41709727e-03 8.54887707e+01] [ 1.24446092e-02 -3.03100616e-04 9.99922517e-01 2.23075517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.91, Y:85.50, Z:2.24 [[ 8.90017442e-01 -4.55788758e-01 -1.12053714e-02 1.02914911e+02] [ 4.55756593e-01 8.90087933e-01 -5.42206658e-03 8.55020710e+01] [ 1.24450829e-02 -2.81188067e-04 9.99922517e-01 2.23702204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.94, Y:85.51, Z:2.24 [[ 8.90491565e-01 -4.54862767e-01 -1.11639959e-02 1.02939326e+02] [ 4.54829476e-01 8.90561526e-01 -5.50596049e-03 8.55143799e+01] [ 1.24466817e-02 -1.74703027e-04 9.99922522e-01 2.23716486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.96, Y:85.53, Z:2.24 [[ 8.90919096e-01 -4.54024828e-01 -1.11633139e-02 1.02964941e+02] [ 4.53991453e-01 8.90989018e-01 -5.50734284e-03 8.55268936e+01] [ 1.24468605e-02 -1.61452204e-04 9.99922522e-01 2.23737961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.99, Y:85.54, Z:2.24 [[ 8.91011572e-01 -4.53843357e-01 -1.11617643e-02 1.02990422e+02] [ 4.53809929e-01 8.91081468e-01 -5.51048176e-03 8.55388798e+01] [ 1.24469368e-02 -1.55416432e-04 9.99922522e-01 2.23768385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.02, Y:85.55, Z:2.23 [[ 8.91767993e-01 -4.52355277e-01 -1.11602120e-02 1.03021325e+02] [ 4.52321693e-01 8.91837814e-01 -5.51362369e-03 8.55502791e+01] [ 1.24472159e-02 -1.31132858e-04 9.99922522e-01 2.23326736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.04, Y:85.56, Z:2.24 [[ 8.90415484e-01 -4.55010089e-01 -1.12287357e-02 1.03041558e+02] [ 4.54978457e-01 8.90486224e-01 -5.37482978e-03 8.55619420e+01] [ 1.24446362e-02 -3.23001170e-04 9.99922510e-01 2.23875378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.07, Y:85.57, Z:2.23 [[ 8.90670515e-01 -4.54512411e-01 -1.11580310e-02 1.03068510e+02] [ 4.54478944e-01 8.90740391e-01 -5.51780821e-03 8.55732460e+01] [ 1.24468212e-02 -1.56541046e-04 9.99922523e-01 2.23423934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.09, Y:85.59, Z:2.24 [[ 8.89747558e-01 -4.56316117e-01 -1.11751875e-02 1.03092326e+02] [ 4.56283226e-01 8.89817708e-01 -5.48309690e-03 8.55853961e+01] [ 1.24459052e-02 -2.20478512e-04 9.99922522e-01 2.24087351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.12, Y:85.60, Z:2.23 [[ 8.89296890e-01 -4.57194291e-01 -1.11544566e-02 1.03120228e+02] [ 4.57160944e-01 8.89366823e-01 -5.52500312e-03 8.55986760e+01] [ 1.24464036e-02 -1.86013842e-04 9.99922523e-01 2.23484130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.15, Y:85.61, Z:2.24 [[ 8.90451877e-01 -4.54940255e-01 -1.11722589e-02 1.03150278e+02] [ 4.54907181e-01 8.90521941e-01 -5.48906149e-03 8.56091681e+01] [ 1.24463367e-02 -1.94595697e-04 9.99922522e-01 2.23725014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.17, Y:85.62, Z:2.24 [[ 8.89379219e-01 -4.57032435e-01 -1.12230978e-02 1.03170569e+02] [ 4.57000818e-01 8.89449964e-01 -5.38639523e-03 8.56222083e+01] [ 1.24441412e-02 -3.38416874e-04 9.99922511e-01 2.23651684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.20, Y:85.63, Z:2.24 [[ 8.90702980e-01 -4.54448612e-01 -1.11651306e-02 1.03201190e+02] [ 4.54415321e-01 8.90772939e-01 -5.50332701e-03 8.56320297e+01] [ 1.24465755e-02 -1.71776644e-04 9.99922524e-01 2.23746104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.01804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.22, Y:85.64, Z:2.24 [[ 8.89843622e-01 -4.56127581e-01 -1.12231434e-02 1.03221625e+02] [ 4.56095895e-01 8.89914335e-01 -5.38615100e-03 8.56446765e+01] [ 1.24444082e-02 -3.25997534e-04 9.99922512e-01 2.24231271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.25, Y:85.66, Z:2.24 [[ 8.89856258e-01 -4.56104668e-01 -1.11521743e-02 1.03251580e+02] [ 4.56071182e-01 8.89926123e-01 -5.52929091e-03 8.56564262e+01] [ 1.24465466e-02 -1.65911188e-04 9.99922525e-01 2.23833312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.07804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.27, Y:85.67, Z:2.24 [[ 8.88713857e-01 -4.58325262e-01 -1.12086697e-02 1.03272844e+02] [ 4.58293383e-01 8.88784478e-01 -5.41532988e-03 8.56691104e+01] [ 1.24440741e-02 -3.24180441e-04 9.99922517e-01 2.23888397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.30, Y:85.68, Z:2.24 [[ 8.88909168e-01 -4.57947221e-01 -1.11729438e-02 1.03299856e+02] [ 4.57914406e-01 8.88979351e-01 -5.48730812e-03 8.56812696e+01] [ 1.24454138e-02 -2.38533438e-04 9.99922524e-01 2.24005178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.13804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.32, Y:85.69, Z:2.24 [[ 8.88805388e-01 -4.58148310e-01 -1.11851783e-02 1.03324977e+02] [ 4.58115821e-01 8.88875724e-01 -5.46267496e-03 8.56937724e+01] [ 1.24449487e-02 -2.68852197e-04 9.99922522e-01 2.24081323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.35, Y:85.71, Z:2.25 [[ 8.89005014e-01 -4.57761081e-01 -1.11749100e-02 1.03347722e+02] [ 4.57728301e-01 8.89075214e-01 -5.48332871e-03 8.57056046e+01] [ 1.24453900e-02 -2.40365851e-04 9.99922524e-01 2.24531329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.19804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.38, Y:85.72, Z:2.24 [[ 8.88960456e-01 -4.57848354e-01 -1.11441634e-02 1.03375087e+02] [ 4.57814806e-01 8.89030289e-01 -5.54512099e-03 8.57185592e+01] [ 1.24463233e-02 -1.72569703e-04 9.99922527e-01 2.24144976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.40, Y:85.73, Z:2.25 [[ 8.89625053e-01 -4.56555108e-01 -1.11668771e-02 1.03398481e+02] [ 4.56522031e-01 8.89695111e-01 -5.49947953e-03 8.57305381e+01] [ 1.24459314e-02 -2.05450645e-04 9.99922525e-01 2.24706768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.25804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.43, Y:85.74, Z:2.25 [[ 8.89722744e-01 -4.56365308e-01 -1.11419807e-02 1.03425138e+02] [ 4.56331590e-01 8.89792495e-01 -5.54946557e-03 8.57443333e+01] [ 1.24466344e-02 -1.46952016e-04 9.99922527e-01 2.24502326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.45, Y:85.76, Z:2.25 [[ 8.90013770e-01 -4.55797105e-01 -1.11574520e-02 1.03448675e+02] [ 4.55763731e-01 8.90083686e-01 -5.51841286e-03 8.57565065e+01] [ 1.24463426e-02 -1.73698533e-04 9.99922526e-01 2.24947088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.31804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.48, Y:85.77, Z:2.25 [[ 8.91203215e-01 -4.53467451e-01 -1.11400666e-02 1.03479504e+02] [ 4.53433458e-01 8.91272832e-01 -5.55328868e-03 8.57680534e+01] [ 1.24470743e-02 -1.02170173e-04 9.99922527e-01 2.25083818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.50, Y:85.78, Z:2.25 [[ 8.89630014e-01 -4.56544706e-01 -1.11969097e-02 1.03500159e+02] [ 4.56512383e-01 8.89700431e-01 -5.43932294e-03 8.57835490e+01] [ 1.24451895e-02 -2.72543010e-04 9.99922518e-01 2.24987395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.37804094199998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:103.52, Y:85.80, Z:2.25 [[ 8.89413200e-01 -4.56968267e-01 -1.11428320e-02 1.03523796e+02] [ 4.56934619e-01 8.89482984e-01 -5.54760592e-03 8.57957960e+01] [ 1.24464393e-02 -1.57431737e-04 9.99922528e-01 2.25270041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.55, Y:85.81, Z:2.25 [[ 8.87881376e-01 -4.59937689e-01 -1.11348554e-02 1.03548636e+02] [ 4.59904074e-01 8.87951175e-01 -5.56356999e-03 8.58094336e+01] [ 1.24461035e-02 -1.81175200e-04 9.99922528e-01 2.25346687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.58, Y:85.82, Z:2.25 [[ 8.88073391e-01 -4.59566864e-01 -1.11332643e-02 1.03578361e+02] [ 4.59533180e-01 8.88143157e-01 -5.56675217e-03 8.58214982e+01] [ 1.24462274e-02 -1.72419878e-04 9.99922528e-01 2.25367757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.60, Y:85.83, Z:2.25 [[ 8.86953785e-01 -4.61722722e-01 -1.11852741e-02 1.03603086e+02] [ 4.61690516e-01 8.87024253e-01 -5.46272361e-03 8.58349542e+01] [ 1.24438730e-02 -3.18951571e-04 9.99922521e-01 2.25380699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.498040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:103.63, Y:85.85, Z:2.25 [[ 8.85322400e-01 -4.64843282e-01 -1.11790469e-02 1.03627450e+02] [ 4.64811167e-01 8.85392908e-01 -5.47516976e-03 8.58489191e+01] [ 1.24429448e-02 -3.48855424e-04 9.99922523e-01 2.25494481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.528040942 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:103.65, Y:85.86, Z:2.26 [[ 8.84861331e-01 -4.65720524e-01 -1.11721774e-02 1.03652853e+02] [ 4.65688306e-01 8.84931790e-01 -5.48888420e-03 8.58620843e+01] [ 1.24429010e-02 -3.45850988e-04 9.99922524e-01 2.25606949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.558040942 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:103.67, Y:85.88, Z:2.26 [[ 8.84204106e-01 -4.66967045e-01 -1.11748812e-02 1.03673475e+02] [ 4.66934994e-01 8.84274642e-01 -5.48348897e-03 8.58753370e+01] [ 1.24422727e-02 -3.69419619e-04 9.99922524e-01 2.25868153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.70, Y:85.89, Z:2.26 [[ 8.82823584e-01 -4.69572947e-01 -1.11250356e-02 1.03703826e+02] [ 4.69539851e-01 8.82893629e-01 -5.58281785e-03 8.58918070e+01] [ 1.24437633e-02 -2.95004273e-04 9.99922530e-01 2.25854725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.73, Y:85.90, Z:2.26 [[ 8.82614733e-01 -4.69963414e-01 -1.12081715e-02 1.03728487e+02] [ 4.69932444e-01 8.82685761e-01 -5.41712140e-03 8.59043045e+01] [ 1.24391422e-02 -4.85852259e-04 9.99922513e-01 2.25895832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.75, Y:85.92, Z:2.26 [[ 8.81765727e-01 -4.71554578e-01 -1.12018866e-02 1.03751229e+02] [ 4.71523577e-01 8.81836740e-01 -5.42962617e-03 8.59209945e+01] [ 1.24386002e-02 -4.94295362e-04 9.99922515e-01 2.25818307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.678040942 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:103.78, Y:85.94, Z:2.26 [[ 8.81951359e-01 -4.71207633e-01 -1.11878396e-02 1.03776393e+02] [ 4.71176250e-01 8.82022197e-01 -5.45754430e-03 8.59357156e+01] [ 1.24395594e-02 -4.58155685e-04 9.99922521e-01 2.25783577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.80, Y:85.95, Z:2.26 [[ 8.81467855e-01 -4.72111474e-01 -1.11882671e-02 1.03799526e+02] [ 4.72080174e-01 8.81538731e-01 -5.45669530e-03 8.59512884e+01] [ 1.24390593e-02 -4.71857600e-04 9.99922521e-01 2.25723964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.73804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.82, Y:85.97, Z:2.26 [[ 8.82269746e-01 -4.70611577e-01 -1.11731566e-02 1.03821672e+02] [ 4.70579777e-01 8.82340393e-01 -5.48667467e-03 8.59681006e+01] [ 1.24406200e-02 -4.17134482e-04 9.99922525e-01 2.25632534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.85, Y:85.98, Z:2.26 [[ 8.82264701e-01 -4.70621103e-01 -1.11703030e-02 1.03845207e+02] [ 4.70589232e-01 8.82335315e-01 -5.49233005e-03 8.59841314e+01] [ 1.24407592e-02 -4.10935365e-04 9.99922526e-01 2.25649931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.79804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.87, Y:86.00, Z:2.26 [[ 8.83076234e-01 -4.69096952e-01 -1.11541689e-02 1.03867769e+02] [ 4.69064556e-01 8.83146604e-01 -5.52427055e-03 8.60009961e+01] [ 1.24421848e-02 -3.53673234e-04 9.99922530e-01 2.25667597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.89, Y:86.02, Z:2.26 [[ 8.82812578e-01 -4.69593007e-01 -1.11516945e-02 1.03888356e+02] [ 4.69560589e-01 8.82882938e-01 -5.52916491e-03 8.60161568e+01] [ 1.24420979e-02 -3.55179888e-04 9.99922531e-01 2.25898878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.85804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.92, Y:86.03, Z:2.26 [[ 8.85203523e-01 -4.65071384e-01 -1.11054810e-02 1.03918523e+02] [ 4.65037459e-01 8.85273163e-01 -5.62047797e-03 8.60320532e+01] [ 1.24453078e-02 -1.89197783e-04 9.99922536e-01 2.25824867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.94, Y:86.05, Z:2.26 [[ 8.85253640e-01 -4.64974031e-01 -1.11867725e-02 1.03939941e+02] [ 4.64942122e-01 8.85324243e-01 -5.45970622e-03 8.60467732e+01] [ 1.24425425e-02 -3.67976947e-04 9.99922521e-01 2.25875258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.91804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.96, Y:86.06, Z:2.26 [[ 8.85751362e-01 -4.64025804e-01 -1.11614271e-02 1.03962743e+02] [ 4.63993187e-01 8.85821632e-01 -5.50982293e-03 8.60627806e+01] [ 1.24437336e-02 -2.98492955e-04 9.99922529e-01 2.25768416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.98, Y:86.08, Z:2.26 [[ 8.84440986e-01 -4.66518558e-01 -1.11614168e-02 1.03982243e+02] [ 4.66486139e-01 8.84511347e-01 -5.50984328e-03 8.60786534e+01] [ 1.24428439e-02 -3.33515005e-04 9.99922529e-01 2.25909091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.97804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.02, Y:86.09, Z:2.26 [[ 8.87070154e-01 -4.61501112e-01 -1.11024828e-02 1.04017154e+02] [ 4.61466836e-01 8.87139620e-01 -5.62614235e-03 8.60926279e+01] [ 1.24459233e-02 -1.32644642e-04 9.99922538e-01 2.25985715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.04, Y:86.11, Z:2.26 [[ 8.85545901e-01 -4.64415866e-01 -1.12410015e-02 1.04038211e+02] [ 4.64385270e-01 8.85617114e-01 -5.35241904e-03 8.61082005e+01] [ 1.24409716e-02 -4.80342779e-04 9.99922493e-01 2.25817763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.03804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.06, Y:86.12, Z:2.26 [[ 8.85899565e-01 -4.63742145e-01 -1.11885910e-02 1.04060427e+02] [ 4.63710186e-01 8.85970145e-01 -5.45583807e-03 8.61206885e+01] [ 1.24428596e-02 -3.54939049e-04 9.99922522e-01 2.25860203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.09, Y:86.14, Z:2.26 [[ 8.83506995e-01 -4.68285029e-01 -1.11589633e-02 1.04086009e+02] [ 4.68252695e-01 8.83577392e-01 -5.51424557e-03 8.61367586e+01] [ 1.24420463e-02 -3.53340080e-04 9.99922532e-01 2.25873222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.09804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.11, Y:86.15, Z:2.26 [[ 8.82511327e-01 -4.70158206e-01 -1.11812143e-02 1.04111650e+02] [ 4.70126575e-01 8.82582052e-01 -5.47041129e-03 8.61505596e+01] [ 1.24402978e-02 -4.28886061e-04 9.99922525e-01 2.25844241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.14, Y:86.16, Z:2.26 [[ 8.82790200e-01 -4.69634292e-01 -1.11845868e-02 1.04143487e+02] [ 4.69602704e-01 8.82860945e-01 -5.46377113e-03 8.61625209e+01] [ 1.24404091e-02 -4.28948587e-04 9.99922523e-01 2.25981704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.15, Y:86.18, Z:2.26 [[ 8.78177451e-01 -4.78201639e-01 -1.12941307e-02 1.04151557e+02] [ 4.78173504e-01 8.78249717e-01 -5.24739778e-03 8.61792511e+01] [ 1.24283813e-02 -7.92407635e-04 9.99922451e-01 2.25798450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.19, Y:86.19, Z:2.26 [[ 8.80626728e-01 -4.73680739e-01 -1.10961002e-02 1.04190986e+02] [ 4.73647283e-01 8.80696584e-01 -5.63719802e-03 8.61896514e+01] [ 1.24425296e-02 -2.91370451e-04 9.99922546e-01 2.25707132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.21, Y:86.21, Z:2.26 [[ 8.78398399e-01 -4.77796394e-01 -1.12631677e-02 1.04214205e+02] [ 4.77767452e-01 8.78470312e-01 -5.30775793e-03 8.62060839e+01] [ 1.24303860e-02 -7.18848845e-04 9.99922481e-01 2.25503501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.23, Y:86.22, Z:2.25 [[ 8.76706381e-01 -4.80894491e-01 -1.12432208e-02 1.04232138e+02] [ 4.80865300e-01 8.76778177e-01 -5.34705680e-03 8.62209345e+01] [ 1.24291808e-02 -7.18675924e-04 9.99922496e-01 2.25205707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.25, Y:86.24, Z:2.26 [[ 8.75323861e-01 -4.83407982e-01 -1.11741372e-02 1.04249620e+02] [ 4.83377262e-01 8.75394974e-01 -5.48292570e-03 8.62366876e+01] [ 1.24322736e-02 -6.01988142e-04 9.99922535e-01 2.25557845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.28, Y:86.25, Z:2.25 [[ 8.76543783e-01 -4.81194368e-01 -1.10895155e-02 1.04281767e+02] [ 4.81161361e-01 8.76613845e-01 -5.64904508e-03 8.62504022e+01] [ 1.24395115e-02 -3.84211042e-04 9.99922552e-01 2.25389693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.338040942 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:104.27, Y:86.27, Z:2.25 [[ 8.69927333e-01 -4.93053431e-01 -1.11691732e-02 1.04274944e+02] [ 4.93023373e-01 8.69998726e-01 -5.49265869e-03 8.62697245e+01] [ 1.24253407e-02 -7.28449533e-04 9.99922537e-01 2.24997380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.368040942 meters Centerline goodness : 0.998095 Centerline is valid? [True, True] Translation: X:104.30, Y:86.28, Z:2.25 [[ 8.70695482e-01 -4.91703223e-01 -1.08313184e-02 1.04295735e+02] [ 4.91664655e-01 8.70762849e-01 -6.15862878e-03 8.62840770e+01] [ 1.24597273e-02 3.69138380e-05 9.99922374e-01 2.25002410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:86.29, Z:2.26 [[ 8.79309557e-01 -4.76129490e-01 -1.07429565e-02 1.04346821e+02] [ 4.76087593e-01 8.79375064e-01 -6.33253210e-03 8.62931562e+01] [ 1.24621934e-02 4.53667694e-04 9.99922241e-01 2.25601815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.428040942 meters Centerline goodness : 0.998414 Centerline is valid? [True, True] Translation: X:104.35, Y:86.31, Z:2.25 [[ 8.72381479e-01 -4.88699743e-01 -1.10957545e-02 1.04346590e+02] [ 4.88667525e-01 8.72451892e-01 -5.63436520e-03 8.63086727e+01] [ 1.24340249e-02 -5.06819062e-04 9.99922566e-01 2.25202356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.40, Y:86.32, Z:2.26 [[ 8.81313390e-01 -4.72409833e-01 -1.07544083e-02 1.04401199e+02] [ 4.72367991e-01 8.81378875e-01 -6.30549692e-03 8.63171943e+01] [ 1.24574871e-02 4.77080618e-04 9.99922289e-01 2.25553555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48804094199997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:104.41, Y:86.34, Z:2.25 [[ 8.74359158e-01 -4.85151589e-01 -1.11354932e-02 1.04406695e+02] [ 4.85120127e-01 8.74429892e-01 -5.55210024e-03 8.63382846e+01] [ 1.24308184e-02 -5.47522189e-04 9.99922584e-01 2.25239306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.51804094199997 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:104.42, Y:86.35, Z:2.25 [[ 8.73444054e-01 -4.86802464e-01 -1.09016171e-02 1.04422157e+02] [ 4.86765329e-01 8.73512082e-01 -6.01302099e-03 8.63492416e+01] [ 1.24498477e-02 -5.44918292e-05 9.99922496e-01 2.25305917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54804094199997 meters Centerline goodness : 0.998168 Centerline is valid? [True, True] Translation: X:104.45, Y:86.37, Z:2.25 [[ 8.74466333e-01 -4.84967650e-01 -1.07243364e-02 1.04445762e+02] [ 4.84926066e-01 8.74532016e-01 -6.36107903e-03 8.63651687e+01] [ 1.24636931e-02 3.62039201e-04 9.99922260e-01 2.25247030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.57804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.51, Y:86.37, Z:2.26 [[ 8.86052061e-01 -4.63462123e-01 -1.07054172e-02 1.04505931e+02] [ 4.63418498e-01 8.86116448e-01 -6.39816211e-03 8.63685200e+01] [ 1.24515520e-02 7.08016381e-04 9.99922226e-01 2.26054678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60804094199997 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:104.50, Y:86.39, Z:2.25 [[ 8.76340666e-01 -4.81563005e-01 -1.11404779e-02 1.04499737e+02] [ 4.81531399e-01 8.76411327e-01 -5.54061283e-03 8.63879932e+01] [ 1.24317952e-02 -5.09025588e-04 9.99922593e-01 2.25488932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.63804094199998 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:104.53, Y:86.40, Z:2.25 [[ 8.78940408e-01 -4.76810126e-01 -1.07640233e-02 1.04526328e+02] [ 4.76768917e-01 8.79006231e-01 -6.28063496e-03 8.64023320e+01] [ 1.24563139e-02 3.88352120e-04 9.99922342e-01 2.25449829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66804094199998 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:104.55, Y:86.42, Z:2.25 [[ 8.81723276e-01 -4.71644084e-01 -1.07667651e-02 1.04553091e+02] [ 4.71602556e-01 8.81788892e-01 -6.27522794e-03 8.64157876e+01] [ 1.24536880e-02 4.55380610e-04 9.99922346e-01 2.25441578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.69804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.60, Y:86.42, Z:2.26 [[ 8.88893745e-01 -4.57986266e-01 -1.07930310e-02 1.04601828e+02] [ 4.57944360e-01 8.88959073e-01 -6.22340971e-03 8.64242835e+01] [ 1.24447990e-02 5.89342309e-04 9.99922387e-01 2.26033823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.64, Y:86.43, Z:2.26 [[ 8.91768872e-01 -4.52354879e-01 -1.11059771e-02 1.04641890e+02] [ 4.52320176e-01 8.91838025e-01 -5.60312443e-03 8.64333238e+01] [ 1.24393334e-02 -2.67655882e-05 9.99922628e-01 2.25872681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.75804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.67, Y:86.44, Z:2.26 [[ 8.90868620e-01 -4.54121018e-01 -1.12783912e-02 1.04665160e+02] [ 4.54090757e-01 8.90939903e-01 -5.26051252e-03 8.64448342e+01] [ 1.24372781e-02 -4.34987662e-04 9.99922559e-01 2.26118790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78804094199998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:104.67, Y:86.46, Z:2.26 [[ 8.82199326e-01 -4.70742537e-01 -1.12166521e-02 1.04666135e+02] [ 4.70712065e-01 8.82270470e-01 -5.38241212e-03 8.64627576e+01] [ 1.24298512e-02 -5.31453111e-04 9.99922605e-01 2.25700121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.81804094199998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:104.69, Y:86.47, Z:2.26 [[ 8.80020265e-01 -4.74811035e-01 -1.09002096e-02 1.04689619e+02] [ 4.74773073e-01 8.80087762e-01 -6.00498185e-03 8.64738939e+01] [ 1.24443727e-02 1.09379697e-04 9.99922560e-01 2.25798544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84804094199998 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:104.71, Y:86.49, Z:2.26 [[ 8.79361780e-01 -4.76030857e-01 -1.08389991e-02 1.04714494e+02] [ 4.75991501e-01 8.79428549e-01 -6.12530287e-03 8.64852057e+01] [ 1.24479584e-02 2.27085803e-04 9.99922495e-01 2.25873964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.87804094199998 meters Centerline goodness : 0.997321 Centerline is valid? [True, True] Translation: X:104.73, Y:86.50, Z:2.26 [[ 8.76991587e-01 -4.80383856e-01 -1.08215660e-02 1.04733108e+02] [ 4.80344408e-01 8.77058327e-01 -6.15955438e-03 8.64964482e+01] [ 1.24500951e-02 2.03798645e-04 9.99922474e-01 2.25788498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90804094199999 meters Centerline goodness : 0.995062 Centerline is valid? [True, True] Translation: X:104.75, Y:86.51, Z:2.26 [[ 8.73608852e-01 -4.86510720e-01 -1.07187702e-02 1.04752702e+02] [ 4.86469240e-01 8.73674540e-01 -6.36221217e-03 8.65087981e+01] [ 1.24600011e-02 3.43732873e-04 9.99922312e-01 2.25667702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.938040942 meters Centerline goodness : 0.996049 Centerline is valid? [True, True] Translation: X:104.78, Y:86.52, Z:2.26 [[ 8.74094926e-01 -4.85638908e-01 -1.06259848e-02 1.04781807e+02] [ 4.85595116e-01 8.74159331e-01 -6.54583436e-03 8.65209994e+01] [ 1.24677156e-02 5.61754291e-04 9.99922117e-01 2.25550249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.968040942 meters Centerline goodness : 0.996834 Centerline is valid? [True, True] Translation: X:104.81, Y:86.53, Z:2.26 [[ 8.74936266e-01 -4.84120623e-01 -1.06655060e-02 1.04809742e+02] [ 4.84077676e-01 8.75001130e-01 -6.46732738e-03 8.65294139e+01] [ 1.24632963e-02 4.95565939e-04 9.99922207e-01 2.25645172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.87, Y:86.54, Z:2.26 [[ 8.83261873e-01 -4.68758435e-01 -1.06767684e-02 1.04871392e+02] [ 4.68714633e-01 8.83326132e-01 -6.44496858e-03 8.65370553e+01] [ 1.24522019e-02 6.88237455e-04 9.99922231e-01 2.25759335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.90, Y:86.55, Z:2.26 [[ 8.83920688e-01 -4.67503117e-01 -1.11827101e-02 1.04898004e+02] [ 4.67471750e-01 8.83991320e-01 -5.43214169e-03 8.65499591e+01] [ 1.24249619e-02 -4.26018651e-04 9.99922716e-01 2.26259598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.058040942 meters Centerline goodness : 0.998093 Centerline is valid? [True, True] Translation: X:104.89, Y:86.56, Z:2.26 [[ 8.76537293e-01 -4.81203358e-01 -1.12117027e-02 1.04890348e+02] [ 4.81173834e-01 8.76608727e-01 -5.37414292e-03 8.65638232e+01] [ 1.24143321e-02 -6.84141307e-04 9.99922705e-01 2.26080195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.95, Y:86.57, Z:2.26 [[ 8.87983824e-01 -4.59747823e-01 -1.08012894e-02 1.04952193e+02] [ 4.59706437e-01 8.88049354e-01 -6.19160431e-03 8.65708956e+01] [ 1.24386547e-02 5.32622202e-04 9.99922495e-01 2.26093051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.98, Y:86.58, Z:2.26 [[ 8.88614283e-01 -4.58516520e-01 -1.12808150e-02 1.04979717e+02] [ 4.58487024e-01 8.88685728e-01 -5.22746347e-03 8.65825428e+01] [ 1.24219777e-02 -5.26908614e-04 9.99922705e-01 2.26092468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.99, Y:86.60, Z:2.26 [[ 8.86115090e-01 -4.63327856e-01 -1.12847030e-02 1.04992062e+02] [ 4.63298846e-01 8.86186738e-01 -5.21964919e-03 8.65975362e+01] [ 1.24187630e-02 -6.02979944e-04 9.99922702e-01 2.26207502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.02, Y:86.61, Z:2.26 [[ 8.86575943e-01 -4.62449402e-01 -1.11197073e-02 1.05016311e+02] [ 4.62416148e-01 8.86645646e-01 -5.55021551e-03 8.66088078e+01] [ 1.24259339e-02 -2.21244651e-04 9.99922771e-01 2.26333411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.05, Y:86.62, Z:2.26 [[ 8.89474415e-01 -4.56849683e-01 -1.11190198e-02 1.05053968e+02] [ 4.56815972e-01 8.89543898e-01 -5.55159238e-03 8.66185721e+01] [ 1.24270995e-02 -1.41346471e-04 9.99922771e-01 2.26263526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.23804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.07, Y:86.63, Z:2.26 [[ 8.88823920e-01 -4.58110223e-01 -1.12721972e-02 1.05073980e+02] [ 4.58080482e-01 8.88895253e-01 -5.24411827e-03 8.66321626e+01] [ 1.24221868e-02 -5.02475755e-04 9.99922715e-01 2.26442456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.09, Y:86.65, Z:2.26 [[ 8.87976679e-01 -4.59751920e-01 -1.12066445e-02 1.05091504e+02] [ 4.59720649e-01 8.88047312e-01 -5.37548896e-03 8.66456252e+01] [ 1.24234219e-02 -3.78617050e-04 9.99922755e-01 2.26351872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.29804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.13, Y:86.66, Z:2.26 [[ 8.89895484e-01 -4.56029018e-01 -1.11158762e-02 1.05125629e+02] [ 4.55995175e-01 8.89964898e-01 -5.55705505e-03 8.66563266e+01] [ 1.24269179e-02 -1.23587702e-04 9.99922775e-01 2.26308547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.16, Y:86.67, Z:2.26 [[ 8.91396792e-01 -4.53084934e-01 -1.12161411e-02 1.05155335e+02] [ 4.53053376e-01 8.91467301e-01 -5.35627768e-03 8.66675889e+01] [ 1.24256718e-02 -3.06941869e-04 9.99922751e-01 2.26377002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.35804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.18, Y:86.68, Z:2.26 [[ 8.90533653e-01 -4.54778204e-01 -1.12516002e-02 1.05178970e+02] [ 4.54747676e-01 8.90604636e-01 -5.28530059e-03 8.66805149e+01] [ 1.24243668e-02 -4.09901004e-04 9.99922731e-01 2.26265190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.21, Y:86.69, Z:2.26 [[ 8.89755646e-01 -4.56299471e-01 -1.12108827e-02 1.05205501e+02] [ 4.56268040e-01 8.89826206e-01 -5.36648505e-03 8.66924258e+01] [ 1.24244615e-02 -3.40307100e-04 9.99922755e-01 2.26302094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.41804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.23, Y:86.70, Z:2.27 [[ 8.89229948e-01 -4.57322946e-01 -1.12170789e-02 1.05229954e+02] [ 4.57291751e-01 8.89300617e-01 -5.35414177e-03 8.67041699e+01] [ 1.24239271e-02 -3.68414459e-04 9.99922752e-01 2.26508279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.25, Y:86.72, Z:2.26 [[ 8.88230576e-01 -4.59260692e-01 -1.12276966e-02 1.05252851e+02] [ 4.59229919e-01 8.88301436e-01 -5.33295289e-03 8.67158037e+01] [ 1.24227947e-02 -4.19202403e-04 9.99922746e-01 2.26463569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.47804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.28, Y:86.73, Z:2.26 [[ 8.87588271e-01 -4.60502165e-01 -1.11721413e-02 1.05280034e+02] [ 4.60470099e-01 8.87658526e-01 -5.44330211e-03 8.67286789e+01] [ 1.24236988e-02 -3.13025882e-04 9.99922774e-01 2.26370594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.31, Y:86.74, Z:2.26 [[ 8.86935808e-01 -4.61757150e-01 -1.11896314e-02 1.05306434e+02] [ 4.61725621e-01 8.87006312e-01 -5.40860076e-03 8.67407603e+01] [ 1.24227338e-02 -3.69457841e-04 9.99922767e-01 2.26477246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.53804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.33, Y:86.75, Z:2.27 [[ 8.86663418e-01 -4.62279945e-01 -1.11908986e-02 1.05331939e+02] [ 4.62248489e-01 8.86733956e-01 -5.40608939e-03 8.67538551e+01] [ 1.24224765e-02 -3.79594294e-04 9.99922766e-01 2.26512960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.36, Y:86.77, Z:2.27 [[ 8.86775736e-01 -4.62064560e-01 -1.11864275e-02 1.05360413e+02] [ 4.62032976e-01 8.86846214e-01 -5.41493551e-03 8.67657120e+01] [ 1.24226907e-02 -3.66664981e-04 9.99922768e-01 2.26810367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.59804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.39, Y:86.78, Z:2.27 [[ 8.87140535e-01 -4.61362806e-01 -1.12264399e-02 1.05389050e+02] [ 4.61332165e-01 8.87211453e-01 -5.33578790e-03 8.67773553e+01] [ 1.24219601e-02 -4.45524105e-04 9.99922745e-01 2.27158524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.41, Y:86.79, Z:2.27 [[ 8.84186780e-01 -4.66997832e-01 -1.12589380e-02 1.05406046e+02] [ 4.66968459e-01 8.84258259e-01 -5.27153514e-03 8.67912482e+01] [ 1.24176044e-02 -5.96547241e-04 9.99922721e-01 2.26738790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.44, Y:86.80, Z:2.27 [[ 8.85145516e-01 -4.65180682e-01 -1.11511327e-02 1.05437026e+02] [ 4.65148473e-01 8.85215693e-01 -5.48416371e-03 8.68034162e+01] [ 1.24222847e-02 -3.32649430e-04 9.99922785e-01 2.26801445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.46, Y:86.81, Z:2.27 [[ 8.85663447e-01 -4.64192225e-01 -1.12177214e-02 1.05459980e+02] [ 4.64161596e-01 8.85734363e-01 -5.35276789e-03 8.68145450e+01] [ 1.24206345e-02 -4.66084603e-04 9.99922752e-01 2.27003366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.48, Y:86.83, Z:2.27 [[ 8.84329518e-01 -4.66729256e-01 -1.11850201e-02 1.05484110e+02] [ 4.66698016e-01 8.84400145e-01 -5.41711646e-03 8.68290435e+01] [ 1.24203601e-02 -4.29510692e-04 9.99922772e-01 2.26720387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.51, Y:86.84, Z:2.27 [[ 8.85377390e-01 -4.64738926e-01 -1.11627769e-02 1.05508854e+02] [ 4.64706975e-01 8.85447687e-01 -5.46081056e-03 8.68414607e+01] [ 1.24219062e-02 -3.52542102e-04 9.99922783e-01 2.26798315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.53, Y:86.85, Z:2.27 [[ 8.86123528e-01 -4.63314917e-01 -1.11526093e-02 1.05534655e+02] [ 4.63282603e-01 8.86193653e-01 -5.48076346e-03 8.68536484e+01] [ 1.24226911e-02 -3.10176427e-04 9.99922787e-01 2.26957249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.55, Y:86.86, Z:2.27 [[ 8.88186536e-01 -4.59347372e-01 -1.11655238e-02 1.05549797e+02] [ 4.59315062e-01 8.88256670e-01 -5.45543208e-03 8.68624084e+01] [ 1.24237893e-02 -2.83051915e-04 9.99922782e-01 2.26900545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.58, Y:86.88, Z:2.27 [[ 8.85799463e-01 -4.63938032e-01 -1.09915146e-02 1.05582027e+02] [ 4.63901842e-01 8.85867654e-01 -5.79478941e-03 8.68794885e+01] [ 1.24254505e-02 3.40374597e-05 9.99922801e-01 2.26945531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.61, Y:86.89, Z:2.27 [[ 8.85965012e-01 -4.63618846e-01 -1.11158779e-02 1.05605231e+02] [ 4.63585663e-01 8.86034712e-01 -5.55183308e-03 8.68916546e+01] [ 1.24229881e-02 -2.34431754e-04 9.99922804e-01 2.26944081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.63, Y:86.90, Z:2.27 [[ 8.86330917e-01 -4.62919670e-01 -1.10853152e-02 1.05628230e+02] [ 4.62885684e-01 8.86400223e-01 -5.61147727e-03 8.69035673e+01] [ 1.24236891e-02 -1.57607924e-04 9.99922811e-01 2.26980680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.928040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:105.66, Y:86.92, Z:2.27 [[ 8.83471868e-01 -4.68353752e-01 -1.10554107e-02 1.05656149e+02] [ 4.68319462e-01 8.83541020e-01 -5.66978766e-03 8.69183138e+01] [ 1.24233751e-02 -1.68366081e-04 9.99922813e-01 2.26845816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.958040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:105.68, Y:86.93, Z:2.27 [[ 8.83046993e-01 -4.69153066e-01 -1.11089127e-02 1.05682100e+02] [ 4.69120148e-01 8.83116817e-01 -5.56546846e-03 8.69309609e+01] [ 1.24215242e-02 -2.96844581e-04 9.99922806e-01 2.26861296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.71, Y:86.94, Z:2.27 [[ 8.84455385e-01 -4.66492455e-01 -1.11112934e-02 1.05705876e+02] [ 4.66459385e-01 8.84525138e-01 -5.56082857e-03 8.69395804e+01] [ 1.24223029e-02 -2.64662327e-04 9.99922805e-01 2.26882967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.01804094199997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:105.73, Y:86.96, Z:2.27 [[ 8.81968465e-01 -4.71178008e-01 -1.10865681e-02 1.05730902e+02] [ 4.71144703e-01 8.82038099e-01 -5.60898917e-03 8.69558399e+01] [ 1.24216078e-02 -2.76426266e-04 9.99922811e-01 2.26860142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.76, Y:86.97, Z:2.27 [[ 8.83029560e-01 -4.69186300e-01 -1.10910993e-02 1.05756967e+02] [ 4.69152949e-01 8.83099173e-01 -5.60016774e-03 8.69666675e+01] [ 1.24220626e-02 -2.58308290e-04 9.99922810e-01 2.26765517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.07804094199997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:105.79, Y:86.98, Z:2.27 [[ 8.82724189e-01 -4.69760440e-01 -1.10966535e-02 1.05785919e+02] [ 4.69727269e-01 8.82793890e-01 -5.58936211e-03 8.69812555e+01] [ 1.24217191e-02 -2.78535624e-04 9.99922809e-01 2.26895798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10804094199997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:105.81, Y:86.99, Z:2.27 [[ 8.83048329e-01 -4.69149574e-01 -1.11501102e-02 1.05811852e+02] [ 4.69117665e-01 8.83118637e-01 -5.48538349e-03 8.69948790e+01] [ 1.24203354e-02 -3.86854920e-04 9.99922790e-01 2.27006082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.13804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.83, Y:87.00, Z:2.27 [[ 8.84249889e-01 -4.66880837e-01 -1.11543195e-02 1.05830303e+02] [ 4.66848850e-01 8.84320164e-01 -5.47720097e-03 8.70047184e+01] [ 1.24211898e-02 -3.64166869e-04 9.99922788e-01 2.27081927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16804094199998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:105.86, Y:87.02, Z:2.27 [[ 8.84146661e-01 -4.67078940e-01 -1.10428531e-02 1.05860215e+02] [ 4.67044256e-01 8.84215612e-01 -5.69340062e-03 8.70210231e+01] [ 1.24235306e-02 -1.23699954e-04 9.99922817e-01 2.26910687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.19804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.88, Y:87.03, Z:2.27 [[ 8.83059293e-01 -4.69129169e-01 -1.11403652e-02 1.05877645e+02] [ 4.69097021e-01 8.83129486e-01 -5.50416703e-03 8.70349546e+01] [ 1.24205503e-02 -3.65406287e-04 9.99922795e-01 2.27124343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.91, Y:87.05, Z:2.27 [[ 8.85608410e-01 -4.64301478e-01 -1.10399732e-02 1.05911525e+02] [ 4.64266512e-01 8.85677216e-01 -5.69865655e-03 8.70464414e+01] [ 1.24237474e-02 -7.87116732e-05 9.99922819e-01 2.26978071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.25804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.94, Y:87.06, Z:2.27 [[ 8.86200752e-01 -4.63167325e-01 -1.11470055e-02 1.05937111e+02] [ 4.63134869e-01 8.86270806e-01 -5.49105552e-03 8.70586309e+01] [ 1.24225430e-02 -2.96389382e-04 9.99922793e-01 2.27114465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.96, Y:87.07, Z:2.27 [[ 8.86123055e-01 -4.63315737e-01 -1.11561200e-02 1.05962085e+02] [ 4.63283515e-01 8.86193222e-01 -5.47338639e-03 8.70719843e+01] [ 1.24223840e-02 -3.18352637e-04 9.99922789e-01 2.27160695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.31804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.98, Y:87.09, Z:2.27 [[ 8.84677102e-01 -4.66070989e-01 -1.11470732e-02 1.05978335e+02] [ 4.66038765e-01 8.84747263e-01 -5.49091253e-03 8.70851664e+01] [ 1.24214975e-02 -3.37283650e-04 9.99922793e-01 2.27385848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.00, Y:87.10, Z:2.27 [[ 8.84741876e-01 -4.65950698e-01 -1.10345233e-02 1.06002615e+02] [ 4.65915738e-01 8.84810680e-01 -5.70847326e-03 8.70973530e+01] [ 1.24233311e-02 -9.06327018e-05 9.99922823e-01 2.27485182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.37804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.03, Y:87.11, Z:2.27 [[ 8.85487726e-01 -4.64531745e-01 -1.10338340e-02 1.06034164e+02] [ 4.64496657e-01 8.85556465e-01 -5.70980525e-03 8.71091450e+01] [ 1.24234688e-02 -6.92165388e-05 9.99922823e-01 2.27380356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.06, Y:87.12, Z:2.27 [[ 8.84843209e-01 -4.65756406e-01 -1.11115480e-02 1.06055491e+02] [ 4.65723295e-01 8.84912936e-01 -5.55947679e-03 8.71215248e+01] [ 1.24221145e-02 -2.55641448e-04 9.99922810e-01 2.27452349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.438040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.08, Y:87.13, Z:2.27 [[ 8.82695750e-01 -4.69814374e-01 -1.10754717e-02 1.06080726e+02] [ 4.69780707e-01 8.82765200e-01 -5.62924869e-03 8.71349374e+01] [ 1.24217429e-02 -2.34129009e-04 9.99922820e-01 2.27274390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.10, Y:87.15, Z:2.27 [[ 8.82493349e-01 -4.70194501e-01 -1.10734085e-02 1.06104524e+02] [ 4.70160814e-01 8.82562789e-01 -5.63323564e-03 8.71462742e+01] [ 1.24216947e-02 -2.34989743e-04 9.99922820e-01 2.27455384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.498040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.14, Y:87.16, Z:2.27 [[ 8.82783715e-01 -4.69650108e-01 -1.10312467e-02 1.06138184e+02] [ 4.69615359e-01 8.82852625e-01 -5.71462296e-03 8.71572362e+01] [ 1.24228384e-02 -1.35666774e-04 9.99922824e-01 2.27402319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.16, Y:87.17, Z:2.27 [[ 8.81624021e-01 -4.71821105e-01 -1.11324038e-02 1.06160666e+02] [ 4.71788983e-01 8.81694219e-01 -5.51907818e-03 8.71694473e+01] [ 1.24193936e-02 -3.86393551e-04 9.99922802e-01 2.27366228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.18, Y:87.18, Z:2.27 [[ 8.80179450e-01 -4.74511249e-01 -1.10999663e-02 1.06180480e+02] [ 4.74478551e-01 8.80249368e-01 -5.58172678e-03 8.71825140e+01] [ 1.24193304e-02 -3.53774704e-04 9.99922815e-01 2.27367275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.21, Y:87.19, Z:2.27 [[ 8.79699695e-01 -4.75401730e-01 -1.10291489e-02 1.06205344e+02] [ 4.75367385e-01 8.79768805e-01 -5.71831539e-03 8.71935511e+01] [ 1.24215982e-02 -2.12497387e-04 9.99922826e-01 2.27367165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.618040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:106.23, Y:87.20, Z:2.27 [[ 8.79502200e-01 -4.75767518e-01 -1.10067640e-02 1.06230711e+02] [ 4.75732662e-01 8.79571055e-01 -5.76145298e-03 8.72049658e+01] [ 1.24223432e-02 -1.69066583e-04 9.99922825e-01 2.27453355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.648040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:106.26, Y:87.22, Z:2.27 [[ 8.79708308e-01 -4.75386095e-01 -1.10160814e-02 1.06257568e+02] [ 4.75351434e-01 8.79777260e-01 -5.74349824e-03 8.72168989e+01] [ 1.24220771e-02 -1.83906977e-04 9.99922826e-01 2.27308248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.678040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.28, Y:87.23, Z:2.27 [[ 8.79992149e-01 -4.74860221e-01 -1.10267057e-02 1.06282708e+02] [ 4.74825775e-01 8.80061209e-01 -5.72302815e-03 8.72296943e+01] [ 1.24218144e-02 -1.99544235e-04 9.99922826e-01 2.27353080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.31, Y:87.24, Z:2.27 [[ 8.80328403e-01 -4.74236571e-01 -1.10262013e-02 1.06308007e+02] [ 4.74202064e-01 8.80397432e-01 -5.72399985e-03 8.72420533e+01] [ 1.24219694e-02 -1.89647753e-04 9.99922826e-01 2.27208008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.73804094199997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:106.33, Y:87.25, Z:2.27 [[ 8.80514608e-01 -4.73890794e-01 -1.10245806e-02 1.06333225e+02] [ 4.73856220e-01 8.80583604e-01 -5.72711960e-03 8.72542498e+01] [ 1.24220942e-02 -1.81253631e-04 9.99922826e-01 2.27381516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.36, Y:87.27, Z:2.27 [[ 8.80273833e-01 -4.74338138e-01 -1.10140678e-02 1.06360041e+02] [ 4.74303346e-01 8.80342720e-01 -5.74734179e-03 8.72664349e+01] [ 1.24223378e-02 -1.64774631e-04 9.99922826e-01 2.27261045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.79804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.39, Y:87.28, Z:2.27 [[ 8.79843490e-01 -4.75135950e-01 -1.10118778e-02 1.06385409e+02] [ 4.75101168e-01 8.79912382e-01 -5.75155227e-03 8.72789466e+01] [ 1.24222569e-02 -1.71290199e-04 9.99922826e-01 2.27293790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.40, Y:87.29, Z:2.27 [[ 8.77527986e-01 -4.79398749e-01 -1.10215056e-02 1.06402244e+02] [ 4.79364534e-01 8.77597160e-01 -5.73304496e-03 8.72945226e+01] [ 1.24208566e-02 -2.52411520e-04 9.99922826e-01 2.27108847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.85804094199997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:106.42, Y:87.31, Z:2.27 [[ 8.75319357e-01 -4.83421576e-01 -1.09363424e-02 1.06420368e+02] [ 4.83385620e-01 8.75387665e-01 -5.89725877e-03 8.73071652e+01] [ 1.24244013e-02 -1.24485894e-04 9.99922806e-01 2.26716398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.47, Y:87.31, Z:2.27 [[ 8.81736262e-01 -4.71618707e-01 -1.08148150e-02 1.06466558e+02] [ 4.71578954e-01 8.81802530e-01 -6.13098695e-03 8.73134253e+01] [ 1.24280193e-02 3.05874386e-04 9.99922722e-01 2.27108015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.91804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.48, Y:87.32, Z:2.27 [[ 8.81801027e-01 -4.71490898e-01 -1.11032323e-02 1.06484774e+02] [ 4.71458074e-01 8.81870869e-01 -5.57268082e-03 8.73244392e+01] [ 1.24190854e-02 -3.20712841e-04 9.99922829e-01 2.26966843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94804094199998 meters Centerline goodness : 0.993135 Centerline is valid? [True, True] Translation: X:106.51, Y:87.34, Z:2.27 [[ 8.79202264e-01 -4.76322042e-01 -1.09859625e-02 1.06509555e+02] [ 4.76286768e-01 8.79270888e-01 -5.79836549e-03 8.73415802e+01] [ 1.24215263e-02 -1.34532478e-04 9.99922841e-01 2.27219699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.97804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.54, Y:87.36, Z:2.27 [[ 8.79359426e-01 -4.76031364e-01 -1.10063865e-02 1.06539579e+02] [ 4.75996558e-01 8.79428286e-01 -5.75903987e-03 8.73553986e+01] [ 1.24208112e-02 -1.74736086e-04 9.99922843e-01 2.26924920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.56, Y:87.37, Z:2.27 [[ 8.78926195e-01 -4.76829061e-01 -1.10811080e-02 1.06558684e+02] [ 4.76796110e-01 8.78995976e-01 -5.61630400e-03 8.73673867e+01] [ 1.24182663e-02 -3.47112482e-04 9.99922830e-01 2.26901823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.03804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.59, Y:87.38, Z:2.27 [[ 8.81350075e-01 -4.72335697e-01 -1.10015772e-02 1.06592292e+02] [ 4.72300491e-01 8.81418730e-01 -5.76799718e-03 8.73795610e+01] [ 1.24214272e-02 -1.12425580e-04 9.99922845e-01 2.26975662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.61, Y:87.39, Z:2.27 [[ 8.80137882e-01 -4.74587952e-01 -1.11169135e-02 1.06608827e+02] [ 4.74555688e-01 8.80207999e-01 -5.54769533e-03 8.73936086e+01] [ 1.24180655e-02 -3.92857697e-04 9.99922816e-01 2.27033776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.09804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.63, Y:87.41, Z:2.27 [[ 8.80509408e-01 -4.73901035e-01 -1.09996562e-02 1.06633627e+02] [ 4.73865910e-01 8.80578101e-01 -5.77118406e-03 8.74071828e+01] [ 1.24210265e-02 -1.30780235e-04 9.99922848e-01 2.26970947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.66, Y:87.42, Z:2.27 [[ 8.81351425e-01 -4.72333262e-01 -1.09979759e-02 1.06657351e+02] [ 4.72297975e-01 8.81420036e-01 -5.77438434e-03 8.74207596e+01] [ 1.24212701e-02 -1.05059884e-04 9.99922848e-01 2.26937105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.68, Y:87.43, Z:2.27 [[ 8.81596018e-01 -4.71876595e-01 -1.09972489e-02 1.06682384e+02] [ 4.71841256e-01 8.81664601e-01 -5.77576858e-03 8.74345021e+01] [ 1.24213351e-02 -9.70611586e-05 9.99922848e-01 2.26932738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.71, Y:87.45, Z:2.27 [[ 8.82719448e-01 -4.69771725e-01 -1.09956010e-02 1.06706823e+02] [ 4.69736183e-01 8.82787926e-01 -5.77890399e-03 8.74479292e+01] [ 1.24215495e-02 -6.38807315e-05 9.99922848e-01 2.26883157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.73, Y:87.46, Z:2.27 [[ 8.83164666e-01 -4.68934223e-01 -1.09939455e-02 1.06731188e+02] [ 4.68898577e-01 8.83233091e-01 -5.78205179e-03 8.74609305e+01] [ 1.24216184e-02 -4.85415720e-05 9.99922848e-01 2.26901998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.75, Y:87.47, Z:2.27 [[ 8.83587126e-01 -4.68137757e-01 -1.09922928e-02 1.06754625e+02] [ 4.68102011e-01 8.83655498e-01 -5.78519210e-03 8.74739403e+01] [ 1.24216668e-02 -3.37930946e-05 9.99922848e-01 2.26884479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.78, Y:87.49, Z:2.27 [[ 8.84328776e-01 -4.66735267e-01 -1.09911697e-02 1.06778395e+02] [ 4.66699386e-01 8.84397077e-01 -5.78732512e-03 8.74890515e+01] [ 1.24217071e-02 -1.16739918e-05 9.99922848e-01 2.26708959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.80, Y:87.50, Z:2.27 [[ 8.84596085e-01 -4.66228480e-01 -1.09895347e-02 1.06802318e+02] [ 4.66192521e-01 8.84664345e-01 -5.79042810e-03 8.75029592e+01] [ 1.24217120e-02 -1.04885586e-06 9.99922848e-01 2.26662745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.83, Y:87.52, Z:2.27 [[ 8.84611852e-01 -4.66198603e-01 -1.09878644e-02 1.06826175e+02] [ 4.66162603e-01 8.84680090e-01 -5.79359581e-03 8.75165796e+01] [ 1.24217112e-02 2.95203153e-06 9.99922848e-01 2.26699389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.85, Y:87.53, Z:2.27 [[ 8.84217658e-01 -4.66945848e-01 -1.09867299e-02 1.06850673e+02] [ 4.66909879e-01 8.84285912e-01 -5.79574641e-03 8.75297047e+01] [ 1.24217102e-02 -5.11142798e-06 9.99922848e-01 2.26777113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.88, Y:87.54, Z:2.27 [[ 8.83343256e-01 -4.68597929e-01 -1.09851134e-02 1.06875318e+02] [ 4.68562049e-01 8.83411558e-01 -5.79880872e-03 8.75429399e+01] [ 1.24216859e-02 -2.48686767e-05 9.99922848e-01 2.26753705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.90, Y:87.56, Z:2.27 [[ 8.83209691e-01 -4.68849662e-01 -1.09834596e-02 1.06900547e+02] [ 4.68813762e-01 8.83277982e-01 -5.80193953e-03 8.75563613e+01] [ 1.24216854e-02 -2.48677928e-05 9.99922848e-01 2.26789085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.93, Y:87.57, Z:2.27 [[ 8.82866452e-01 -4.69495717e-01 -1.09818053e-02 1.06930873e+02] [ 4.69459829e-01 8.82934749e-01 -5.80506909e-03 8.75696762e+01] [ 1.24216726e-02 -3.04156732e-05 9.99922848e-01 2.27043666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.95, Y:87.58, Z:2.27 [[ 8.80410616e-01 -4.74083512e-01 -1.10440912e-02 1.06952430e+02] [ 4.74049453e-01 8.80479853e-01 -5.68719042e-03 8.75827367e+01] [ 1.24203030e-02 -2.28382565e-04 9.99922839e-01 2.26891003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.51804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.98, Y:87.60, Z:2.27 [[ 8.79324777e-01 -4.76095983e-01 -1.09795948e-02 1.06975928e+02] [ 4.76060557e-01 8.79393314e-01 -5.80909331e-03 8.75952883e+01] [ 1.24210683e-02 -1.18872339e-04 9.99922848e-01 2.26875602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.00, Y:87.61, Z:2.27 [[ 8.78245356e-01 -4.78084268e-01 -1.09784712e-02 1.07001765e+02] [ 4.78048970e-01 8.78313960e-01 -5.81121607e-03 8.76090931e+01] [ 1.24207955e-02 -1.44573318e-04 9.99922849e-01 2.26824776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.57804094199997 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:107.03, Y:87.62, Z:2.27 [[ 8.76925253e-01 -4.80501411e-01 -1.09770424e-02 1.07029317e+02] [ 4.80466269e-01 8.76993936e-01 -5.81391373e-03 8.76231551e+01] [ 1.24203934e-02 -1.75730827e-04 9.99922849e-01 2.26793449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60804094199997 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:107.05, Y:87.64, Z:2.27 [[ 8.76595334e-01 -4.81102301e-01 -1.10089669e-02 1.07054900e+02] [ 4.81067961e-01 8.76664424e-01 -5.75364106e-03 8.76369239e+01] [ 1.24192596e-02 -2.52446359e-04 9.99922846e-01 2.26766278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.63804094199998 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:107.08, Y:87.65, Z:2.27 [[ 8.76355144e-01 -4.81539564e-01 -1.10140756e-02 1.07076343e+02] [ 4.81505380e-01 8.76424313e-01 -5.74400086e-03 8.76513376e+01] [ 1.24189673e-02 -2.69551970e-04 9.99922845e-01 2.26527114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66804094199998 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:107.10, Y:87.67, Z:2.27 [[ 8.76456803e-01 -4.81355426e-01 -1.09738948e-02 1.07103903e+02] [ 4.81320277e-01 8.76525482e-01 -5.81976689e-03 8.76656717e+01] [ 1.24202748e-02 -1.81183813e-04 9.99922849e-01 2.26584929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.69804094199998 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:107.13, Y:87.68, Z:2.26 [[ 8.77022040e-01 -4.80323993e-01 -1.10092673e-02 1.07125680e+02] [ 4.80289599e-01 8.77091103e-01 -5.75307055e-03 8.76792634e+01] [ 1.24194682e-02 -2.42066899e-04 9.99922846e-01 2.26434146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72804094199998 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:107.15, Y:87.69, Z:2.26 [[ 8.77331137e-01 -4.79760031e-01 -1.09722205e-02 1.07149108e+02] [ 4.79724718e-01 8.77399732e-01 -5.82287895e-03 8.76929037e+01] [ 1.24206079e-02 -1.55052383e-04 9.99922849e-01 2.26443954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.75804094199998 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:107.17, Y:87.71, Z:2.26 [[ 8.77689901e-01 -4.79103396e-01 -1.09715032e-02 1.07173235e+02] [ 4.79068015e-01 8.77758461e-01 -5.82423024e-03 8.77068802e+01] [ 1.24207382e-02 -1.44228184e-04 9.99922849e-01 2.26443803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78804094199998 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:107.20, Y:87.72, Z:2.26 [[ 8.78132849e-01 -4.78291085e-01 -1.09698722e-02 1.07196436e+02] [ 4.78255602e-01 8.78201356e-01 -5.82730056e-03 8.77221270e+01] [ 1.24209025e-02 -1.29258786e-04 9.99922849e-01 2.26392180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.81804094199998 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:107.22, Y:87.74, Z:2.26 [[ 8.78338674e-01 -4.77913011e-01 -1.09693672e-02 1.07222393e+02] [ 4.77877487e-01 8.78407160e-01 -5.82825100e-03 8.77361520e+01] [ 1.24209677e-02 -1.22835368e-04 9.99922849e-01 2.26316202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84804094199998 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:107.22, Y:87.75, Z:2.26 [[ 8.70869654e-01 -4.91391120e-01 -1.09914917e-02 1.07216968e+02] [ 4.91357180e-01 8.70938940e-01 -5.78661665e-03 8.77544673e+01] [ 1.24164102e-02 -3.61359537e-04 9.99922848e-01 2.25740247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.87804094199998 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:107.27, Y:87.76, Z:2.26 [[ 8.79006074e-01 -4.76691827e-01 -1.06406536e-02 1.07272298e+02] [ 4.76648625e-01 8.79070276e-01 -6.44501678e-03 8.77619898e+01] [ 1.24261692e-02 5.93355966e-04 9.99922616e-01 2.26161529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90804094199999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:107.27, Y:87.78, Z:2.26 [[ 8.71966382e-01 -4.89442131e-01 -1.10013015e-02 1.07271515e+02] [ 4.89408315e-01 8.72035706e-01 -5.76448573e-03 8.77805842e+01] [ 1.24149099e-02 -3.57690682e-04 9.99922868e-01 2.25752608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.938040942 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:107.32, Y:87.79, Z:2.26 [[ 8.78667315e-01 -4.77314891e-01 -1.06884842e-02 1.07322376e+02] [ 4.77272868e-01 8.78732192e-01 -6.35178234e-03 8.77870535e+01] [ 1.24241155e-02 4.79780025e-04 9.99922703e-01 2.26241814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.968040942 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:107.35, Y:87.80, Z:2.26 [[ 8.79151534e-01 -4.76415716e-01 -1.09839144e-02 1.07349746e+02] [ 4.76380493e-01 8.79220135e-01 -5.79477737e-03 8.77992274e+01] [ 1.24180017e-02 -1.38035162e-04 9.99922884e-01 2.26226767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.998040942 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:107.37, Y:87.81, Z:2.26 [[ 8.79397524e-01 -4.75961107e-01 -1.10009102e-02 1.07373989e+02] [ 4.75926248e-01 8.79466314e-01 -5.76274672e-03 8.78110572e+01] [ 1.24177733e-02 -1.67876730e-04 9.99922882e-01 2.26267851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.028040942 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:107.40, Y:87.82, Z:2.26 [[ 8.78996854e-01 -4.76700834e-01 -1.09929863e-02 1.07397327e+02] [ 4.76665847e-01 8.79065577e-01 -5.77767298e-03 8.78243484e+01] [ 1.24177774e-02 -1.61424781e-04 9.99922883e-01 2.26465486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.058040942 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:107.42, Y:87.83, Z:2.26 [[ 8.81033009e-01 -4.72927645e-01 -1.09672219e-02 1.07422402e+02] [ 4.72891760e-01 8.81101265e-01 -5.82617215e-03 8.78345934e+01] [ 1.24185910e-02 -5.32588947e-05 9.99922885e-01 2.26493693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.088040942 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:107.45, Y:87.85, Z:2.27 [[ 8.81345028e-01 -4.72346421e-01 -1.09452747e-02 1.07448791e+02] [ 4.72309977e-01 8.81412990e-01 -5.86745312e-03 8.78480446e+01] [ 1.24187778e-02 1.68818785e-06 9.99922884e-01 2.26621760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.118040942 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:107.47, Y:87.86, Z:2.27 [[ 8.81620349e-01 -4.71831746e-01 -1.09709945e-02 1.07474822e+02] [ 4.71795864e-01 8.81688608e-01 -5.81909712e-03 8.78618575e+01] [ 1.24186356e-02 -4.58353734e-05 9.99922885e-01 2.26580227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.148040942 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:107.50, Y:87.88, Z:2.27 [[ 8.83030648e-01 -4.69186596e-01 -1.09915418e-02 1.07499447e+02] [ 4.69150989e-01 8.83099052e-01 -5.78047043e-03 8.78757576e+01] [ 1.24187394e-02 -5.23601484e-05 9.99922883e-01 2.26598163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.178040942 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:107.53, Y:87.89, Z:2.27 [[ 8.83485591e-01 -4.68329544e-01 -1.09839913e-02 1.07525192e+02] [ 4.68293695e-01 8.83553868e-01 -5.79464930e-03 8.78901358e+01] [ 1.24187535e-02 -2.42447058e-05 9.99922884e-01 2.26675490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.208040942 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:107.55, Y:87.91, Z:2.27 [[ 8.83024996e-01 -4.69197295e-01 -1.09887925e-02 1.07546686e+02] [ 4.69161625e-01 8.83093368e-01 -5.78564025e-03 8.79063816e+01] [ 1.24187365e-02 -4.66547731e-05 9.99922883e-01 2.26757328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.23804094199997 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:107.57, Y:87.92, Z:2.27 [[ 8.83574381e-01 -4.68162737e-01 -1.09528637e-02 1.07573654e+02] [ 4.68126150e-01 8.83642263e-01 -5.85299469e-03 8.79193113e+01] [ 1.24185673e-02 4.42342405e-05 9.99922886e-01 2.26832408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26804094199997 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:107.59, Y:87.93, Z:2.27 [[ 8.81525501e-01 -4.72008313e-01 -1.09974155e-02 1.07594136e+02] [ 4.71973062e-01 8.81594091e-01 -5.76948367e-03 8.79339606e+01] [ 1.24185008e-02 -1.04536885e-04 9.99922882e-01 2.26666999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.29804094199997 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:107.62, Y:87.95, Z:2.27 [[ 8.79275456e-01 -4.76187990e-01 -1.09394112e-02 1.07618537e+02] [ 4.76151711e-01 8.79343503e-01 -5.87808156e-03 8.79475119e+01] [ 1.24185720e-02 -4.03665120e-05 9.99922886e-01 2.26566027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32804094199997 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:107.64, Y:87.96, Z:2.27 [[ 8.78022941e-01 -4.78493524e-01 -1.09390480e-02 1.07643423e+02] [ 4.78457415e-01 8.78091079e-01 -5.87876145e-03 8.79608221e+01] [ 1.24184297e-02 -7.21811984e-05 9.99922886e-01 2.26600168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.35804094199997 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:107.67, Y:87.97, Z:2.27 [[ 8.75957118e-01 -4.82265017e-01 -1.09352515e-02 1.07668929e+02] [ 4.82229113e-01 8.76025364e-01 -5.88586509e-03 8.79743252e+01] [ 1.24181045e-02 -1.17531211e-04 9.99922885e-01 2.26524390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38804094199998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:107.69, Y:87.99, Z:2.27 [[ 8.75141199e-01 -4.83743740e-01 -1.09488053e-02 1.07694058e+02] [ 4.83708268e-01 8.75209670e-01 -5.86051050e-03 8.79875245e+01] [ 1.24174855e-02 -1.67253471e-04 9.99922886e-01 2.26545948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.41804094199998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:107.72, Y:88.00, Z:2.27 [[ 8.73511847e-01 -4.86679526e-01 -1.09586351e-02 1.07719077e+02] [ 4.86644515e-01 8.73580555e-01 -5.84212683e-03 8.80011826e+01] [ 1.24164941e-02 -2.29792668e-04 9.99922886e-01 2.26531518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44804094199998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:107.74, Y:88.01, Z:2.27 [[ 8.74028327e-01 -4.85751099e-01 -1.09705635e-02 1.07744987e+02] [ 4.85716294e-01 8.74097141e-01 -5.81982586e-03 8.80139737e+01] [ 1.24163250e-02 -2.41888808e-04 9.99922885e-01 2.26636823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.47804094199998 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:107.77, Y:88.03, Z:2.27 [[ 8.73263463e-01 -4.87124652e-01 -1.09771798e-02 1.07773685e+02] [ 4.87090110e-01 8.73332410e-01 -5.80746459e-03 8.80292524e+01] [ 1.24156861e-02 -2.75429077e-04 9.99922884e-01 2.26778267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50804094199998 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:107.80, Y:88.04, Z:2.27 [[ 8.72714474e-01 -4.88106386e-01 -1.10273372e-02 1.07798368e+02] [ 4.88073103e-01 8.72784051e-01 -5.71375217e-03 8.80447658e+01] [ 1.24134030e-02 -3.95672463e-04 9.99922872e-01 2.26903457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.53804094199998 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:107.81, Y:88.06, Z:2.26 [[ 8.67854179e-01 -4.96696544e-01 -1.10303155e-02 1.07807750e+02] [ 4.96664020e-01 8.67924114e-01 -5.70819174e-03 8.80629428e+01] [ 1.24087159e-02 -5.24482755e-04 9.99922871e-01 2.26130541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56804094199998 meters Centerline goodness : 0.997427 Centerline is valid? [True, True] Translation: X:107.84, Y:88.08, Z:2.27 [[ 8.69599867e-01 -4.93637634e-01 -1.08608151e-02 1.07838518e+02] [ 4.93600913e-01 8.69667678e-01 -6.02228378e-03 8.80775672e+01] [ 1.24181257e-02 -1.23931056e-04 9.99922884e-01 2.26737288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.59804094199998 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:107.86, Y:88.09, Z:2.26 [[ 8.68421612e-01 -4.95705733e-01 -1.09421378e-02 1.07858367e+02] [ 4.95671066e-01 8.68490484e-01 -5.87145301e-03 8.80935130e+01] [ 1.24136555e-02 -3.24804421e-04 9.99922895e-01 2.26300581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62804094199998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:107.89, Y:88.11, Z:2.27 [[ 8.70757288e-01 -4.91592843e-01 -1.08729936e-02 1.07888699e+02] [ 4.91556239e-01 8.70825162e-01 -6.00016511e-03 8.81060091e+01] [ 1.24181146e-02 -1.20000340e-04 9.99922885e-01 2.27114338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.65804094199999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:107.92, Y:88.12, Z:2.27 [[ 8.72463575e-01 -4.88556651e-01 -1.09411721e-02 1.07921494e+02] [ 4.88521398e-01 8.72532148e-01 -5.87315478e-03 8.81193541e+01] [ 1.24158932e-02 -2.20883083e-04 9.99922895e-01 2.27267643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.688040942 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:107.94, Y:88.14, Z:2.27 [[ 8.70089491e-01 -4.92770402e-01 -1.10276189e-02 1.07940273e+02] [ 4.92737513e-01 8.70159247e-01 -5.71206990e-03 8.81355760e+01] [ 1.24105236e-02 -4.63709523e-04 9.99922879e-01 2.26816656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.718040942 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:107.97, Y:88.15, Z:2.28 [[ 8.72125812e-01 -4.89159106e-01 -1.09515988e-02 1.07971922e+02] [ 4.89124147e-01 8.72194534e-01 -5.85349942e-03 8.81478470e+01] [ 1.24152172e-02 -2.51703510e-04 9.99922897e-01 2.27693629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.748040942 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:108.00, Y:88.16, Z:2.28 [[ 8.72668036e-01 -4.88189515e-01 -1.10225709e-02 1.07997047e+02] [ 4.88156137e-01 8.72737559e-01 -5.72177289e-03 8.81631919e+01] [ 1.24131211e-02 -3.87527296e-04 9.99922879e-01 2.28023023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.778040942 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:108.02, Y:88.18, Z:2.28 [[ 8.73173558e-01 -4.87284466e-01 -1.10357423e-02 1.08020382e+02] [ 4.87251324e-01 8.73243201e-01 -5.69733968e-03 8.81769016e+01] [ 1.24131120e-02 -4.02413675e-04 9.99922873e-01 2.28010419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.808040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.04, Y:88.19, Z:2.28 [[ 8.74900609e-01 -4.84176933e-01 -1.10282219e-02 1.08040205e+02] [ 4.84143368e-01 8.74970046e-01 -5.71129387e-03 8.81897554e+01] [ 1.24146406e-02 -3.42426010e-04 9.99922877e-01 2.27627593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.838040942 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:108.07, Y:88.21, Z:2.28 [[ 8.74718788e-01 -4.84506698e-01 -1.09681801e-02 1.08071568e+02] [ 4.84471760e-01 8.74787523e-01 -5.82260180e-03 8.82065330e+01] [ 1.24159167e-02 -2.20634330e-04 9.99922895e-01 2.27793110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.868040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:108.09, Y:88.22, Z:2.28 [[ 8.75119263e-01 -4.83780649e-01 -1.10706278e-02 1.08088622e+02] [ 4.83748047e-01 8.75189181e-01 -5.63254736e-03 8.82193148e+01] [ 1.24138110e-02 -4.26243856e-04 9.99922855e-01 2.27998963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.898040942 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:108.12, Y:88.23, Z:2.28 [[ 8.75114362e-01 -4.83791869e-01 -1.09672811e-02 1.08115901e+02] [ 4.83756857e-01 8.75183058e-01 -5.82399334e-03 8.82347713e+01] [ 1.24159792e-02 -2.08837232e-04 9.99922897e-01 2.27855770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.928040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:108.14, Y:88.25, Z:2.28 [[ 8.74101534e-01 -4.85618767e-01 -1.09964555e-02 1.08142165e+02] [ 4.85584576e-01 8.74170650e-01 -5.77004692e-03 8.82503143e+01] [ 1.24148217e-02 -2.96102309e-04 9.99922889e-01 2.28153112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.958040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:108.16, Y:88.27, Z:2.28 [[ 8.72117111e-01 -4.89173319e-01 -1.10094824e-02 1.08164777e+02] [ 4.89139713e-01 8.72186519e-01 -5.74598875e-03 8.82666484e+01] [ 1.24131065e-02 -3.73999947e-04 9.99922884e-01 2.28398773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98804094199997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:108.19, Y:88.28, Z:2.28 [[ 8.73060815e-01 -4.87487442e-01 -1.09912469e-02 1.08189317e+02] [ 4.87453278e-01 8.73129943e-01 -5.77964068e-03 8.82788176e+01] [ 1.24142890e-02 -3.11741523e-04 9.99922891e-01 2.28415443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.01804094199997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:108.21, Y:88.30, Z:2.29 [[ 8.71866917e-01 -4.89619566e-01 -1.09890557e-02 1.08213761e+02] [ 4.89585521e-01 8.71936103e-01 -5.78367986e-03 8.82952041e+01] [ 1.24135573e-02 -3.37483449e-04 9.99922892e-01 2.28564743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04804094199997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:108.24, Y:88.31, Z:2.29 [[ 8.73412182e-01 -4.86857795e-01 -1.09839736e-02 1.08239618e+02] [ 4.86823413e-01 8.73481199e-01 -5.79303124e-03 8.83107717e+01] [ 1.24146769e-02 -2.87551477e-04 9.99922894e-01 2.28860488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.07804094199997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:108.26, Y:88.32, Z:2.29 [[ 8.74935308e-01 -4.84114669e-01 -1.10088113e-02 1.08261339e+02] [ 4.84080645e-01 8.75004513e-01 -5.74734591e-03 8.83244170e+01] [ 1.24151340e-02 -3.00596609e-04 9.99922884e-01 2.28772660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10804094199997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.29, Y:88.34, Z:2.29 [[ 8.75440440e-01 -4.83201594e-01 -1.09661417e-02 1.08287594e+02] [ 4.83166516e-01 8.75509098e-01 -5.82562286e-03 8.83429028e+01] [ 1.24159071e-02 -1.98486655e-04 9.99922900e-01 2.28991730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.13804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.31, Y:88.36, Z:2.29 [[ 8.76630293e-01 -4.81038406e-01 -1.10173509e-02 1.08307809e+02] [ 4.81004336e-01 8.76699479e-01 -5.73169579e-03 8.83557905e+01] [ 1.24160716e-02 -2.74815374e-04 9.99922880e-01 2.28703809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16804094199998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:108.33, Y:88.37, Z:2.29 [[ 8.76029924e-01 -4.82132124e-01 -1.09629653e-02 1.08332816e+02] [ 4.82096889e-01 8.76098501e-01 -5.83144597e-03 8.83715796e+01] [ 1.24161649e-02 -1.76690271e-04 9.99922901e-01 2.28909403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.19804094199998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:108.36, Y:88.38, Z:2.29 [[ 8.76384802e-01 -4.81486729e-01 -1.09640137e-02 1.08356086e+02] [ 4.81451467e-01 8.76453365e-01 -5.82952359e-03 8.83839089e+01] [ 1.24162849e-02 -1.69734602e-04 9.99922901e-01 2.29026114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22804094199998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:108.38, Y:88.40, Z:2.29 [[ 8.75022975e-01 -4.83957338e-01 -1.09584942e-02 1.08383207e+02] [ 4.83922144e-01 8.75091571e-01 -5.83964233e-03 8.83989240e+01] [ 1.24158237e-02 -1.93236803e-04 9.99922902e-01 2.29120157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.25804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.41, Y:88.41, Z:2.29 [[ 8.74433327e-01 -4.85021249e-01 -1.09883735e-02 1.08412705e+02] [ 4.84986824e-01 8.74502324e-01 -5.78498661e-03 8.84140043e+01] [ 1.24151996e-02 -2.70631294e-04 9.99922892e-01 2.28959700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.43, Y:88.43, Z:2.28 [[ 8.72690600e-01 -4.88148507e-01 -1.10522165e-02 1.08426947e+02] [ 4.88115804e-01 8.72760468e-01 -5.66819205e-03 8.84274144e+01] [ 1.24128571e-02 -4.48183600e-04 9.99922857e-01 2.28478722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.31804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.46, Y:88.44, Z:2.29 [[ 8.74266001e-01 -4.85324669e-01 -1.09052834e-02 1.08457925e+02] [ 4.85288374e-01 8.74334007e-01 -5.93623931e-03 8.84414359e+01] [ 1.24158635e-02 -1.02355067e-04 9.99922915e-01 2.29022860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.48, Y:88.45, Z:2.29 [[ 8.74059233e-01 -4.85694809e-01 -1.10004086e-02 1.08482071e+02] [ 4.85660718e-01 8.74128400e-01 -5.76263264e-03 8.84548453e+01] [ 1.24146503e-02 -3.05584079e-04 9.99922889e-01 2.29063105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.37804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.51, Y:88.47, Z:2.29 [[ 8.72689088e-01 -4.88152435e-01 -1.09979770e-02 1.08505785e+02] [ 4.88118482e-01 8.72758322e-01 -5.76706754e-03 8.84704530e+01] [ 1.24137840e-02 -3.35458944e-04 9.99922890e-01 2.28939487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40804094199999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:108.53, Y:88.48, Z:2.29 [[ 8.72934527e-01 -4.87713393e-01 -1.09980924e-02 1.08529531e+02] [ 4.87679408e-01 8.73003745e-01 -5.76685736e-03 8.84848437e+01] [ 1.24139494e-02 -3.29454283e-04 9.99922890e-01 2.29061821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.55, Y:88.50, Z:2.29 [[ 8.72048280e-01 -4.89296703e-01 -1.09788097e-02 1.08554245e+02] [ 4.89262402e-01 8.72117331e-01 -5.80194670e-03 8.85009786e+01] [ 1.24136836e-02 -3.11941149e-04 9.99922899e-01 2.29015034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.468040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:108.58, Y:88.52, Z:2.29 [[ 8.71456793e-01 -4.90349343e-01 -1.09808436e-02 1.08579038e+02] [ 4.90315173e-01 8.71525910e-01 -5.79824755e-03 8.85153252e+01] [ 1.24132566e-02 -3.31152028e-04 9.99922898e-01 2.28920043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.498040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:108.60, Y:88.53, Z:2.29 [[ 8.71025678e-01 -4.91114549e-01 -1.09894756e-02 1.08600554e+02] [ 4.91080637e-01 8.71094926e-01 -5.78256284e-03 8.85291894e+01] [ 1.24127771e-02 -3.59957941e-04 9.99922894e-01 2.28957969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.63, Y:88.55, Z:2.29 [[ 8.69725513e-01 -4.93414435e-01 -1.09419675e-02 1.08632769e+02] [ 4.93379622e-01 8.69794291e-01 -5.86857777e-03 8.85463678e+01] [ 1.24129018e-02 -2.94491956e-04 9.99922914e-01 2.29011893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.65, Y:88.56, Z:2.29 [[ 8.68177933e-01 -4.96129805e-01 -1.10586745e-02 1.08647046e+02] [ 4.96097884e-01 8.68248171e-01 -5.65710390e-03 8.85601438e+01] [ 1.24083317e-02 -5.74812241e-04 9.99922848e-01 2.28993524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.67, Y:88.58, Z:2.29 [[ 8.66683908e-01 -4.98738094e-01 -1.09232116e-02 1.08673621e+02] [ 4.98703279e-01 8.66752677e-01 -5.90226748e-03 8.85761650e+01] [ 1.24114086e-02 -3.32041201e-04 9.99922920e-01 2.29059760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.70, Y:88.59, Z:2.29 [[ 8.66235534e-01 -4.99515641e-01 -1.09601440e-02 1.08697514e+02] [ 4.99481730e-01 8.66304767e-01 -5.83545797e-03 8.85907625e+01] [ 1.24097275e-02 -4.19510631e-04 9.99922908e-01 2.29173500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.72, Y:88.61, Z:2.30 [[ 8.65025962e-01 -5.01608010e-01 -1.09311203e-02 1.08722606e+02] [ 5.01573606e-01 8.65094938e-01 -5.88774579e-03 8.86082599e+01] [ 1.24097973e-02 -3.89708454e-04 9.99922920e-01 2.29556976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.74, Y:88.62, Z:2.30 [[ 8.66181005e-01 -4.99610524e-01 -1.09448642e-02 1.08744833e+02] [ 4.99576273e-01 8.66250063e-01 -5.86299378e-03 8.86212815e+01] [ 1.24102027e-02 -3.89380620e-04 9.99922915e-01 2.29500831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.76, Y:88.64, Z:2.29 [[ 8.67330568e-01 -4.97612516e-01 -1.09302313e-02 1.08764478e+02] [ 4.97577774e-01 8.67399374e-01 -5.88937297e-03 8.86378119e+01] [ 1.24115015e-02 -3.30606950e-04 9.99922920e-01 2.29465120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.73804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.79, Y:88.65, Z:2.30 [[ 8.68589596e-01 -4.95412397e-01 -1.08936255e-02 1.08791096e+02] [ 4.95376652e-01 8.68657877e-01 -5.95529470e-03 8.86528723e+01] [ 1.24131604e-02 -2.23740712e-04 9.99922929e-01 2.29526774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.81, Y:88.67, Z:2.30 [[ 8.68516235e-01 -4.95540284e-01 -1.09259909e-02 1.08813584e+02] [ 4.95505281e-01 8.68584908e-01 -5.89701622e-03 8.86692528e+01] [ 1.24123599e-02 -2.92231883e-04 9.99922921e-01 2.29523015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.79804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.84, Y:88.69, Z:2.30 [[ 8.67821261e-01 -4.96756858e-01 -1.09033575e-02 1.08840546e+02] [ 4.96721439e-01 8.67889714e-01 -5.93772811e-03 8.86881360e+01] [ 1.24125189e-02 -2.63044720e-04 9.99922927e-01 2.29570447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.86, Y:88.70, Z:2.30 [[ 8.68823886e-01 -4.94999719e-01 -1.09696506e-02 1.08860833e+02] [ 4.94965661e-01 8.68893053e-01 -5.81863835e-03 8.87005251e+01] [ 1.24116775e-02 -3.74228360e-04 9.99922902e-01 2.29658560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.85804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.88, Y:88.71, Z:2.30 [[ 8.69517619e-01 -4.93781970e-01 -1.08847351e-02 1.08883203e+02] [ 4.93745902e-01 8.69585725e-01 -5.97085361e-03 8.87131092e+01] [ 1.24135101e-02 -1.82530928e-04 9.99922933e-01 2.30079731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.91, Y:88.73, Z:2.30 [[ 8.69053060e-01 -4.94600108e-01 -1.08402734e-02 1.08907436e+02] [ 4.94563109e-01 8.69120661e-01 -6.05046922e-03 8.87294376e+01] [ 1.24140683e-02 -1.03020531e-04 9.99922937e-01 2.29929056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.91804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.93, Y:88.75, Z:2.30 [[ 8.68226876e-01 -4.96048584e-01 -1.08578822e-02 1.08932324e+02] [ 4.96012092e-01 8.68294752e-01 -6.01894218e-03 8.87456165e+01] [ 1.24135299e-02 -1.59833502e-04 9.99922936e-01 2.30101546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.95, Y:88.76, Z:2.30 [[ 8.65666447e-01 -5.00502989e-01 -1.08793639e-02 1.08952221e+02] [ 5.00467329e-01 8.65734767e-01 -5.98049266e-03 8.87627608e+01] [ 1.24118981e-02 -2.67654378e-04 9.99922934e-01 2.29649640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.97804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.98, Y:88.78, Z:2.30 [[ 8.67119426e-01 -4.97982326e-01 -1.08399482e-02 1.08983178e+02] [ 4.97945585e-01 8.67187166e-01 -6.05097162e-03 8.87776967e+01] [ 1.24135409e-02 -1.50789311e-04 9.99922938e-01 2.30109909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.01, Y:88.79, Z:2.30 [[ 8.67180435e-01 -4.97874034e-01 -1.09334078e-02 1.09006288e+02] [ 4.97839382e-01 8.67249290e-01 -5.88387214e-03 8.87912802e+01] [ 1.24114173e-02 -3.40702179e-04 9.99922917e-01 2.30012011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.03804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.03, Y:88.81, Z:2.30 [[ 8.65660036e-01 -5.00513559e-01 -1.09032040e-02 1.09029784e+02] [ 5.00478436e-01 8.65728639e-01 -5.93781942e-03 8.88070209e+01] [ 1.24111751e-02 -3.16685512e-04 9.99922928e-01 2.30210702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.05, Y:88.82, Z:2.30 [[ 8.66362933e-01 -4.99295870e-01 -1.09042271e-02 1.09053894e+02] [ 4.99260674e-01 8.66431500e-01 -5.93599275e-03 8.88203672e+01] [ 1.24115825e-02 -3.01327675e-04 9.99922928e-01 2.30042883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.09804094199998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:109.07, Y:88.84, Z:2.30 [[ 8.65214512e-01 -5.01283542e-01 -1.08930827e-02 1.09072800e+02] [ 5.01248253e-01 8.65283027e-01 -5.95586947e-03 8.88373790e+01] [ 1.24111789e-02 -3.07033964e-04 9.99922931e-01 2.30079240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12804094199998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:109.11, Y:88.85, Z:2.30 [[ 8.68666798e-01 -4.95278181e-01 -1.08405793e-02 1.09110137e+02] [ 4.95241248e-01 8.68734430e-01 -6.04942014e-03 8.88503253e+01] [ 1.24137303e-02 -1.13771587e-04 9.99922940e-01 2.30032157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.12, Y:88.87, Z:2.30 [[ 8.66217507e-01 -4.99546186e-01 -1.09926771e-02 1.09124569e+02] [ 4.99513007e-01 8.66287119e-01 -5.77787223e-03 8.88669522e+01] [ 1.24091286e-02 -4.86091130e-04 9.99922886e-01 2.30237087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.15, Y:88.88, Z:2.30 [[ 8.66995898e-01 -4.98197054e-01 -1.08539385e-02 1.09151582e+02] [ 4.98160654e-01 8.67063817e-01 -6.02503171e-03 8.88818490e+01] [ 1.24127104e-02 -1.83327344e-04 9.99922943e-01 2.29963236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.218040942 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:109.18, Y:88.89, Z:2.30 [[ 8.69156559e-01 -4.94416723e-01 -1.09077900e-02 1.09183320e+02] [ 4.94381230e-01 8.69224969e-01 -5.92894522e-03 8.88940156e+01] [ 1.24126931e-02 -2.39425024e-04 9.99922931e-01 2.29672422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.20, Y:88.91, Z:2.30 [[ 8.66513694e-01 -4.99032632e-01 -1.09749702e-02 1.09204175e+02] [ 4.98999014e-01 8.66583081e-01 -5.80928208e-03 8.89110329e+01] [ 1.24097448e-02 -4.42676819e-04 9.99922898e-01 2.30315232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.23, Y:88.92, Z:2.30 [[ 8.65665382e-01 -5.00504259e-01 -1.09056245e-02 1.09226009e+02] [ 5.00469205e-01 8.65734014e-01 -5.93228523e-03 8.89246927e+01] [ 1.24105041e-02 -3.22555258e-04 9.99922935e-01 2.30235705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.308040942 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:109.25, Y:88.94, Z:2.30 [[ 8.65684140e-01 -5.00472923e-01 -1.08546304e-02 1.09250292e+02] [ 5.00436732e-01 8.65752162e-01 -6.02254410e-03 8.89390150e+01] [ 1.24115400e-02 -2.18434839e-04 9.99922950e-01 2.30458113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.338040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:109.27, Y:88.95, Z:2.31 [[ 8.64927729e-01 -5.01779213e-01 -1.08464277e-02 1.09273251e+02] [ 5.01742943e-01 8.64995707e-01 -6.03705409e-03 8.89529388e+01] [ 1.24113816e-02 -2.20503054e-04 9.99922952e-01 2.30597553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.30, Y:88.97, Z:2.30 [[ 8.65635911e-01 -5.00556720e-01 -1.08369751e-02 1.09299478e+02] [ 5.00520145e-01 8.65703723e-01 -6.05376480e-03 8.89657402e+01] [ 1.24118623e-02 -1.83768128e-04 9.99922953e-01 2.30420880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.398040942 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:109.32, Y:88.98, Z:2.31 [[ 8.65208057e-01 -5.01295883e-01 -1.08376948e-02 1.09323884e+02] [ 5.01259382e-01 8.65275909e-01 -6.05249286e-03 8.89798110e+01] [ 1.24116860e-02 -1.95830612e-04 9.99922953e-01 2.30645484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.36, Y:88.99, Z:2.31 [[ 8.67780729e-01 -4.96829122e-01 -1.08365571e-02 1.09357945e+02] [ 4.96792246e-01 8.67848378e-01 -6.05450296e-03 8.89918488e+01] [ 1.24125419e-02 -1.29536544e-04 9.99922953e-01 2.30711436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.37, Y:89.01, Z:2.31 [[ 8.65799296e-01 -5.00271733e-01 -1.09440406e-02 1.09372104e+02] [ 5.00237529e-01 8.65868370e-01 -5.86340621e-03 8.90061313e+01] [ 1.24093950e-02 -3.98086871e-04 9.99922921e-01 2.30836361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.40, Y:89.02, Z:2.31 [[ 8.66432867e-01 -4.99177153e-01 -1.07822093e-02 1.09398938e+02] [ 4.99139264e-01 8.66499952e-01 -6.15046205e-03 8.90197293e+01] [ 1.24129540e-02 -5.28615528e-05 9.99922955e-01 2.30934570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.51804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.42, Y:89.03, Z:2.31 [[ 8.66750892e-01 -4.98624091e-01 -1.08123697e-02 1.09424154e+02] [ 4.98586825e-01 8.66818323e-01 -6.09697578e-03 8.90326988e+01] [ 1.24124591e-02 -1.06345859e-04 9.99922957e-01 2.30784527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54804094199997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:109.45, Y:89.04, Z:2.31 [[ 8.66492126e-01 -4.99073426e-01 -1.08217395e-02 1.09449110e+02] [ 4.99036403e-01 8.66559691e-01 -6.08036884e-03 8.90449556e+01] [ 1.24122338e-02 -1.31850242e-04 9.99922957e-01 2.31238544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.57804094199997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:109.47, Y:89.06, Z:2.31 [[ 8.65594788e-01 -5.00628437e-01 -1.08088101e-02 1.09473255e+02] [ 5.00591249e-01 8.65662262e-01 -6.10326674e-03 8.90583646e+01] [ 1.24122479e-02 -1.27839859e-04 9.99922957e-01 2.30969005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60804094199997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:109.50, Y:89.07, Z:2.31 [[ 8.66718746e-01 -4.98679879e-01 -1.08163546e-02 1.09502928e+02] [ 4.98642706e-01 8.66786228e-01 -6.08991305e-03 8.90708052e+01] [ 1.24123843e-02 -1.15254538e-04 9.99922957e-01 2.31272136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.63804094199998 meters Centerline goodness : 0.996911 Centerline is valid? [True, True] Translation: X:109.52, Y:89.08, Z:2.31 [[ 8.66268203e-01 -4.99460798e-01 -1.08771100e-02 1.09523694e+02] [ 4.99425038e-01 8.66336453e-01 -5.98182892e-03 8.90824218e+01] [ 1.24109259e-02 -2.50432895e-04 9.99922950e-01 2.30769287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66804094199998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:109.55, Y:89.10, Z:2.31 [[ 8.66035547e-01 -4.99865759e-01 -1.08006857e-02 1.09548652e+02] [ 4.99828333e-01 8.66102888e-01 -6.11756902e-03 8.90957368e+01] [ 1.24124683e-02 -1.00456483e-04 9.99922957e-01 2.30974809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.69804094199998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:109.58, Y:89.11, Z:2.31 [[ 8.68680429e-01 -4.95254818e-01 -1.08155993e-02 1.09580213e+02] [ 4.95217364e-01 8.68747755e-01 -6.09108774e-03 8.91062390e+01] [ 1.24126682e-02 -6.48638689e-05 9.99922958e-01 2.31412276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72804094199998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:109.61, Y:89.12, Z:2.31 [[ 8.70624259e-01 -4.91828076e-01 -1.08877343e-02 1.09607328e+02] [ 4.91791954e-01 8.70692321e-01 -5.96297415e-03 8.91182503e+01] [ 1.24126248e-02 -1.62990188e-04 9.99922947e-01 2.31365190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.75804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.63, Y:89.13, Z:2.31 [[ 8.71969303e-01 -4.89439104e-01 -1.09040257e-02 1.09634768e+02] [ 4.89403157e-01 8.72037463e-01 -5.93406824e-03 8.91315319e+01] [ 1.24130840e-02 -1.62139259e-04 9.99922942e-01 2.31354696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.65, Y:89.15, Z:2.31 [[ 8.70514820e-01 -4.92020767e-01 -1.09322166e-02 1.09650124e+02] [ 4.91985649e-01 8.70583425e-01 -5.88407236e-03 8.91457281e+01] [ 1.24124923e-02 -2.56321470e-04 9.99922929e-01 2.31342958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.81804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.69, Y:89.16, Z:2.31 [[ 8.74222024e-01 -4.85406074e-01 -1.08072396e-02 1.09685382e+02] [ 4.85367685e-01 8.74288817e-01 -6.10529999e-03 8.91571737e+01] [ 1.24121984e-02 9.19028497e-05 9.99922961e-01 2.31282979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.70, Y:89.17, Z:2.31 [[ 8.73802134e-01 -4.86158585e-01 -1.09389208e-02 1.09701425e+02] [ 4.86123159e-01 8.73870583e-01 -5.87185960e-03 8.91708768e+01] [ 1.24138560e-02 -1.86819278e-04 9.99922928e-01 2.31407005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.87804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.74, Y:89.18, Z:2.31 [[ 8.77462905e-01 -4.79522777e-01 -1.08054033e-02 1.09735885e+02] [ 4.79483907e-01 8.77529415e-01 -6.10805846e-03 8.91820967e+01] [ 1.24110124e-02 1.78577753e-04 9.99922964e-01 2.31453488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.76, Y:89.20, Z:2.31 [[ 8.77079512e-01 -4.80221209e-01 -1.09142513e-02 1.09761353e+02] [ 4.80184779e-01 8.77147415e-01 -5.91529423e-03 8.91959513e+01] [ 1.24140571e-02 -5.26739678e-05 9.99922941e-01 2.31359676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.78, Y:89.21, Z:2.32 [[ 8.75019773e-01 -4.83964239e-01 -1.09092469e-02 1.09778750e+02] [ 4.83927989e-01 8.75087771e-01 -5.92413859e-03 8.92100742e+01] [ 1.24136198e-02 -9.55515142e-05 9.99922943e-01 2.31532896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.80, Y:89.22, Z:2.32 [[ 8.74754237e-01 -4.84446522e-01 -1.07978138e-02 1.09804313e+02] [ 4.84407870e-01 8.74820868e-01 -6.12072281e-03 8.92191276e+01] [ 1.24113158e-02 1.23582208e-04 9.99922969e-01 2.31700858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.83, Y:89.23, Z:2.32 [[ 8.74236706e-01 -4.85380405e-01 -1.07723935e-02 1.09829674e+02] [ 4.85341272e-01 8.74303057e-01 -6.16552739e-03 8.92308318e+01] [ 1.24109627e-02 1.61843212e-04 9.99922968e-01 2.31774130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.86, Y:89.24, Z:2.32 [[ 8.74535196e-01 -4.84842483e-01 -1.07683171e-02 1.09860025e+02] [ 4.84803221e-01 8.74601472e-01 -6.17270745e-03 8.92405680e+01] [ 1.24107768e-02 1.77735099e-04 9.99922968e-01 2.31797188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.88, Y:89.25, Z:2.32 [[ 8.72597992e-01 -4.88318766e-01 -1.08409805e-02 1.09879870e+02] [ 4.88281352e-01 8.72665333e-01 -6.04470580e-03 8.92533336e+01] [ 1.24122911e-02 -1.88504677e-05 9.99922964e-01 2.31665362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.91, Y:89.26, Z:2.32 [[ 8.72008177e-01 -4.89372894e-01 -1.07660957e-02 1.09906400e+02] [ 4.89333930e-01 8.72074628e-01 -6.17645210e-03 8.92645142e+01] [ 1.24114272e-02 1.17700816e-04 9.99922968e-01 2.31592210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.93, Y:89.27, Z:2.32 [[ 8.70217086e-01 -4.92550286e-01 -1.07906778e-02 1.09932325e+02] [ 4.92512100e-01 8.70283986e-01 -6.13320272e-03 8.92726128e+01] [ 1.24118648e-02 2.26784182e-05 9.99922970e-01 2.31684509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.96, Y:89.28, Z:2.32 [[ 8.70628955e-01 -4.91822575e-01 -1.07599617e-02 1.09964397e+02] [ 4.91783664e-01 8.70695438e-01 -6.18722515e-03 8.92829099e+01] [ 1.24116666e-02 9.52039669e-05 9.99922968e-01 2.31538611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.99, Y:89.29, Z:2.32 [[ 8.68774438e-01 -4.95089289e-01 -1.08430657e-02 1.09993502e+02] [ 4.95052441e-01 8.68842093e-01 -6.04142340e-03 8.92921420e+01] [ 1.24119559e-02 -1.19251926e-04 9.99922962e-01 2.31598644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.01, Y:89.31, Z:2.32 [[ 8.66569432e-01 -4.98938347e-01 -1.08602914e-02 1.10012553e+02] [ 4.98902178e-01 8.66637457e-01 -6.01121855e-03 8.93053313e+01] [ 1.24111628e-02 -2.09084780e-04 9.99922957e-01 2.31770138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.23804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.04, Y:89.32, Z:2.32 [[ 8.66427215e-01 -4.99187057e-01 -1.07779233e-02 1.10037279e+02] [ 4.99149107e-01 8.66494247e-01 -6.15544190e-03 8.93196460e+01] [ 1.24117255e-02 -4.65484268e-05 9.99922970e-01 2.31800413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.07, Y:89.33, Z:2.32 [[ 8.66966967e-01 -4.98249087e-01 -1.07761683e-02 1.10068765e+02] [ 4.98211026e-01 8.67033936e-01 -6.15851286e-03 8.93289708e+01] [ 1.24117770e-02 -2.95786590e-05 9.99922970e-01 2.31589359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.29804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.09, Y:89.34, Z:2.32 [[ 8.67068793e-01 -4.98070536e-01 -1.08373804e-02 1.10094708e+02] [ 4.98033796e-01 8.67136505e-01 -6.05140620e-03 8.93404627e+01] [ 1.24115153e-02 -1.50396246e-04 9.99922963e-01 2.31591502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.12, Y:89.35, Z:2.31 [[ 8.66181079e-01 -4.99613155e-01 -1.08181789e-02 1.10124148e+02] [ 4.99576116e-01 8.66248623e-01 -6.08497917e-03 8.93522703e+01] [ 1.24113682e-02 -1.33809969e-04 9.99922967e-01 2.31448188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.35804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.15, Y:89.36, Z:2.32 [[ 8.64843969e-01 -5.01923234e-01 -1.08617270e-02 1.10148405e+02] [ 5.01887330e-01 8.64912136e-01 -6.00883923e-03 8.93594277e+01] [ 1.24104155e-02 -2.54654782e-04 9.99922955e-01 2.31513455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.17, Y:89.37, Z:2.32 [[ 8.62995220e-01 -5.05096322e-01 -1.08146339e-02 1.10170184e+02] [ 5.05059635e-01 8.63062955e-01 -6.09107377e-03 8.93739489e+01] [ 1.24102889e-02 -2.05467519e-04 9.99922968e-01 2.31698522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.41804094199998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:110.20, Y:89.38, Z:2.32 [[ 8.62738583e-01 -5.05535548e-01 -1.07678805e-02 1.10197210e+02] [ 5.05497876e-01 8.62805769e-01 -6.17263309e-03 8.93838228e+01] [ 1.24110749e-02 -1.17772013e-04 9.99922973e-01 2.31515769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.23, Y:89.39, Z:2.31 [[ 8.65683779e-01 -5.00475434e-01 -1.07673345e-02 1.10231070e+02] [ 5.00437357e-01 8.65750737e-01 -6.17358533e-03 8.93941520e+01] [ 1.24115556e-02 -4.40037728e-05 9.99922973e-01 2.31493223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.47804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.25, Y:89.41, Z:2.32 [[ 8.63774209e-01 -5.03761960e-01 -1.08629275e-02 1.10248354e+02] [ 5.03726226e-01 8.63842467e-01 -6.00678369e-03 8.94101722e+01] [ 1.24098473e-02 -2.83436669e-04 9.99922955e-01 2.31634194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50804094199998 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:110.27, Y:89.42, Z:2.32 [[ 8.66066170e-01 -4.99813475e-01 -1.07647285e-02 1.10270634e+02] [ 4.99775294e-01 8.66133067e-01 -6.17789199e-03 8.94244548e+01] [ 1.24114810e-02 -2.94821138e-05 9.99922974e-01 2.31517939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.53804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.30, Y:89.44, Z:2.32 [[ 8.66830106e-01 -4.98487862e-01 -1.07432563e-02 1.10296119e+02] [ 4.98449115e-01 8.66896678e-01 -6.21528621e-03 8.94398867e+01] [ 1.24115380e-02 3.26305917e-05 9.99922973e-01 2.31543247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.32, Y:89.46, Z:2.32 [[ 8.68924619e-01 -4.94827419e-01 -1.07624744e-02 1.10318900e+02] [ 4.94788806e-01 8.68991267e-01 -6.18182785e-03 8.94554422e+01] [ 1.24114342e-02 4.63905484e-05 9.99922974e-01 2.31548572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.59804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.35, Y:89.47, Z:2.31 [[ 8.71173048e-01 -4.90858131e-01 -1.07617351e-02 1.10351618e+02] [ 4.90819198e-01 8.71239510e-01 -6.18311459e-03 8.94686880e+01] [ 1.24110809e-02 1.04496588e-04 9.99922974e-01 2.31432330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.37, Y:89.48, Z:2.31 [[ 8.70588104e-01 -4.91892626e-01 -1.08626722e-02 1.10373378e+02] [ 4.91855955e-01 8.70655863e-01 -6.00730733e-03 8.94829298e+01] [ 1.24125994e-02 -1.12979698e-04 9.99922954e-01 2.31484859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.40, Y:89.50, Z:2.31 [[ 8.70612084e-01 -4.91850933e-01 -1.08286196e-02 1.10401159e+02] [ 4.91813519e-01 8.70679423e-01 -6.06669367e-03 8.94969868e+01] [ 1.24121652e-02 -4.39246687e-05 9.99922965e-01 2.31491356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.42, Y:89.51, Z:2.31 [[ 8.68375090e-01 -4.95789107e-01 -1.08565322e-02 1.10422360e+02] [ 4.95752606e-01 8.68442938e-01 -6.01802812e-03 8.95119700e+01] [ 1.24119515e-02 -1.56248422e-04 9.99922957e-01 2.31361847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.45, Y:89.53, Z:2.31 [[ 8.67331677e-01 -4.97612800e-01 -1.08288282e-02 1.10446990e+02] [ 4.97575839e-01 8.67399265e-01 -6.06628184e-03 8.95263137e+01] [ 1.24115771e-02 -1.26684861e-04 9.99922965e-01 2.31328593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.47, Y:89.54, Z:2.32 [[ 8.65297224e-01 -5.01142194e-01 -1.08266477e-02 1.10466348e+02] [ 5.01105460e-01 8.65364936e-01 -6.07007648e-03 8.95413062e+01] [ 1.24109727e-02 -1.72871936e-04 9.99922966e-01 2.31640638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.49, Y:89.55, Z:2.32 [[ 8.63555706e-01 -5.04138686e-01 -1.07577047e-02 1.10490571e+02] [ 5.04100690e-01 8.63622707e-01 -6.18989585e-03 8.95542500e+01] [ 1.24111640e-02 -7.76464966e-05 9.99922976e-01 2.31582803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.52, Y:89.57, Z:2.31 [[ 8.63649283e-01 -5.03978375e-01 -1.07570047e-02 1.10521214e+02] [ 5.03940352e-01 8.63716268e-01 -6.19111219e-03 8.95670490e+01] [ 1.24111866e-02 -7.39391069e-05 9.99922976e-01 2.31278888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.55, Y:89.58, Z:2.31 [[ 8.62259484e-01 -5.06351178e-01 -1.08197432e-02 1.10545478e+02] [ 5.06314703e-01 8.62327333e-01 -6.08207644e-03 8.95796704e+01] [ 1.24098269e-02 -2.33866982e-04 9.99922968e-01 2.31200852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.56, Y:89.60, Z:2.32 [[ 8.61107075e-01 -5.08308542e-01 -1.08180885e-02 1.10564647e+02] [ 5.08272186e-01 8.61174987e-01 -6.08495121e-03 8.95950592e+01] [ 1.24092999e-02 -2.58738923e-04 9.99922968e-01 2.31503163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.59, Y:89.61, Z:2.31 [[ 8.61014480e-01 -5.08466731e-01 -1.07539739e-02 1.10586731e+02] [ 5.08428993e-01 8.61081626e-01 -6.19622664e-03 8.96105274e+01] [ 1.24106244e-02 -1.32591246e-04 9.99922976e-01 2.31418691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.61, Y:89.63, Z:2.31 [[ 8.60854018e-01 -5.08738368e-01 -1.07532949e-02 1.10610726e+02] [ 5.08700636e-01 8.60921167e-01 -6.19740477e-03 8.96253517e+01] [ 1.24105968e-02 -1.35147158e-04 9.99922976e-01 2.31451766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.63, Y:89.64, Z:2.32 [[ 8.60522861e-01 -5.09298346e-01 -1.07517544e-02 1.10634551e+02] [ 5.09260624e-01 8.60590016e-01 -6.20007620e-03 8.96393566e+01] [ 1.24105410e-02 -1.40137842e-04 9.99922976e-01 2.31546495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.66, Y:89.65, Z:2.32 [[ 8.59607022e-01 -5.10842638e-01 -1.07502197e-02 1.10660021e+02] [ 5.10805004e-01 8.59674225e-01 -6.20273605e-03 8.96534326e+01] [ 1.24103088e-02 -1.59350548e-04 9.99922976e-01 2.31766967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.01804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.68, Y:89.66, Z:2.32 [[ 8.62656171e-01 -5.05676570e-01 -1.07488764e-02 1.10675000e+02] [ 5.05638504e-01 8.62723131e-01 -6.20506299e-03 8.96610767e+01] [ 1.24110593e-02 -8.22099077e-05 9.99922976e-01 2.31887373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.71, Y:89.68, Z:2.32 [[ 8.58996135e-01 -5.11872711e-01 -1.05814774e-02 1.10713758e+02] [ 5.11831538e-01 8.59061291e-01 -6.49426948e-03 8.96809611e+01] [ 1.24143770e-02 1.62618524e-04 9.99922925e-01 2.31606428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.07804094199997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:110.74, Y:89.70, Z:2.32 [[ 8.57808366e-01 -5.13856505e-01 -1.07842589e-02 1.10737846e+02] [ 5.13819840e-01 8.57876110e-01 -6.14431230e-03 8.96975894e+01] [ 1.24088529e-02 -2.70523696e-04 9.99922971e-01 2.31958291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10804094199997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:110.77, Y:89.71, Z:2.32 [[ 8.58700959e-01 -5.12363617e-01 -1.07789765e-02 1.10765473e+02] [ 5.12326720e-01 8.58768576e-01 -6.15342094e-03 8.97121453e+01] [ 1.24094353e-02 -2.38409234e-04 9.99922972e-01 2.31802808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.13804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.79, Y:89.73, Z:2.32 [[ 8.58290850e-01 -5.13049575e-01 -1.08143543e-02 1.10788816e+02] [ 5.13013498e-01 8.58358918e-01 -6.09252123e-03 8.97287338e+01] [ 1.24083629e-02 -3.18754503e-04 9.99922963e-01 2.31923506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.81, Y:89.74, Z:2.32 [[ 8.58784770e-01 -5.12222915e-01 -1.07890696e-02 1.10812350e+02] [ 5.12186226e-01 8.58852502e-01 -6.13600353e-03 8.97424381e+01] [ 1.24092211e-02 -2.56506485e-04 9.99922970e-01 2.31892609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.19804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.83, Y:89.76, Z:2.32 [[ 8.59528116e-01 -5.10974600e-01 -1.07877360e-02 1.10833358e+02] [ 5.10937784e-01 8.59595778e-01 -6.13829739e-03 8.97565631e+01] [ 1.24096064e-02 -2.35822751e-04 9.99922970e-01 2.32128108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.86, Y:89.77, Z:2.32 [[ 8.61464582e-01 -5.07704354e-01 -1.07267331e-02 1.10862057e+02] [ 5.07665972e-01 8.61531360e-01 -6.24311106e-03 8.97692687e+01] [ 1.24110716e-02 -6.73783282e-05 9.99922977e-01 2.31918985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.25804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.88, Y:89.78, Z:2.32 [[ 8.62130585e-01 -5.06571355e-01 -1.07849664e-02 1.10883384e+02] [ 5.06534134e-01 8.62198025e-01 -6.14305409e-03 8.97830416e+01] [ 1.24106720e-02 -1.66838817e-04 9.99922971e-01 2.32185619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.91, Y:89.80, Z:2.32 [[ 8.63381366e-01 -5.04437922e-01 -1.07238106e-02 1.10907491e+02] [ 5.04399227e-01 8.63447962e-01 -6.24801928e-03 8.97964403e+01] [ 1.24111903e-02 -1.46583753e-05 9.99922978e-01 2.32155755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.31804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.93, Y:89.81, Z:2.32 [[ 8.64054695e-01 -5.03284054e-01 -1.07072084e-02 1.10932805e+02] [ 5.03244917e-01 8.64121033e-01 -6.27648446e-03 8.98108691e+01] [ 1.24111786e-02 3.48776549e-05 9.99922978e-01 2.31999059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.96, Y:89.82, Z:2.32 [[ 8.65023274e-01 -5.01617462e-01 -1.07078374e-02 1.10957552e+02] [ 5.01578210e-01 8.65089544e-01 -6.27540634e-03 8.98237964e+01] [ 1.24110915e-02 5.75546457e-05 9.99922978e-01 2.32276214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.37804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.98, Y:89.84, Z:2.32 [[ 8.65411632e-01 -5.00946893e-01 -1.07199434e-02 1.10981474e+02] [ 5.00907847e-01 8.65478023e-01 -6.25465770e-03 8.98358337e+01] [ 1.24111267e-02 4.31497769e-05 9.99922978e-01 2.32340056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.01, Y:89.85, Z:2.33 [[ 8.65579729e-01 -5.00656401e-01 -1.07191891e-02 1.11007244e+02] [ 5.00617316e-01 8.65646097e-01 -6.25595012e-03 8.98474287e+01] [ 1.24111057e-02 4.88119412e-05 9.99922978e-01 2.32620450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.03, Y:89.86, Z:2.33 [[ 8.65345243e-01 -5.01061620e-01 -1.07174116e-02 1.11031445e+02] [ 5.01022529e-01 8.65411608e-01 -6.25899377e-03 8.98610844e+01] [ 1.24111139e-02 4.65258361e-05 9.99922978e-01 2.32681715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.06, Y:89.88, Z:2.33 [[ 8.64899888e-01 -5.01830011e-01 -1.07156367e-02 1.11055814e+02] [ 5.01790941e-01 8.64966265e-01 -6.26203095e-03 8.98754529e+01] [ 1.24111393e-02 3.90204423e-05 9.99922978e-01 2.32719863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.08, Y:89.89, Z:2.33 [[ 8.63581135e-01 -5.04096058e-01 -1.07138605e-02 1.11079492e+02] [ 5.04057124e-01 8.63647593e-01 -6.26506838e-03 8.98904454e+01] [ 1.24111961e-02 9.99713425e-06 9.99922978e-01 2.32833583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.10, Y:89.91, Z:2.33 [[ 8.62782904e-01 -5.05461088e-01 -1.07120916e-02 1.11103669e+02] [ 5.05422222e-01 8.62849401e-01 -6.26809153e-03 8.99052238e+01] [ 1.24111981e-02 -6.12690037e-06 9.99922978e-01 2.32891339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.558040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.13, Y:89.92, Z:2.33 [[ 8.61226876e-01 -5.08107820e-01 -1.07103308e-02 1.11127663e+02] [ 5.08069121e-01 8.61293470e-01 -6.27109871e-03 8.99197759e+01] [ 1.24111323e-02 -4.07496013e-05 9.99922978e-01 2.32957504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.15, Y:89.93, Z:2.33 [[ 8.60433560e-01 -5.09450111e-01 -1.07085790e-02 1.11151924e+02] [ 5.09411479e-01 8.60500192e-01 -6.27408864e-03 8.99344941e+01] [ 1.24110695e-02 -5.66366502e-05 9.99922978e-01 2.33052402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.18, Y:89.95, Z:2.33 [[ 8.58907371e-01 -5.12019177e-01 -1.07000067e-02 1.11175135e+02] [ 5.11980562e-01 8.58974014e-01 -6.28871259e-03 8.99495681e+01] [ 1.24109692e-02 -7.67738616e-05 9.99922978e-01 2.33117006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.20, Y:89.96, Z:2.33 [[ 8.59530172e-01 -5.10972849e-01 -1.07065891e-02 1.11201181e+02] [ 5.10934293e-01 8.59596848e-01 -6.27748601e-03 8.99639869e+01] [ 1.24109752e-02 -7.46748947e-05 9.99922978e-01 2.32979667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.22, Y:89.98, Z:2.33 [[ 8.57781948e-01 -5.13901736e-01 -1.07301292e-02 1.11221600e+02] [ 5.13863909e-01 8.57849042e-01 -6.23734035e-03 8.99814261e+01] [ 1.24102111e-02 -1.63548171e-04 9.99922977e-01 2.33137907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.25, Y:90.00, Z:2.33 [[ 8.57218544e-01 -5.14841703e-01 -1.06952731e-02 1.11245875e+02] [ 5.14803207e-01 8.57285256e-01 -6.29673801e-03 8.99973229e+01] [ 1.24107233e-02 -1.08280300e-04 9.99922978e-01 2.33062916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.73804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.27, Y:90.01, Z:2.33 [[ 8.56848582e-01 -5.15457035e-01 -1.07029463e-02 1.11269274e+02] [ 5.15418750e-01 8.56915415e-01 -6.28366831e-03 9.00123937e+01] [ 1.24104807e-02 -1.32346918e-04 9.99922978e-01 2.33051017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.29, Y:90.03, Z:2.33 [[ 8.56208537e-01 -5.16519506e-01 -1.07023869e-02 1.11292849e+02] [ 5.16481292e-01 8.56275411e-01 -6.28462084e-03 9.00274842e+01] [ 1.24103200e-02 -1.46636621e-04 9.99922978e-01 2.33036247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.79804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.32, Y:90.04, Z:2.33 [[ 8.56238508e-01 -5.16469833e-01 -1.07018326e-02 1.11319954e+02] [ 5.16431604e-01 8.56305372e-01 -6.28556473e-03 9.00424590e+01] [ 1.24103413e-02 -1.44821989e-04 9.99922978e-01 2.33246080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.34, Y:90.06, Z:2.33 [[ 8.54654681e-01 -5.19085564e-01 -1.07495473e-02 1.11339980e+02] [ 5.19048559e-01 8.54722236e-01 -6.20430856e-03 9.00582547e+01] [ 1.24084441e-02 -2.76995693e-04 9.99922974e-01 2.33217961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.85804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.36, Y:90.07, Z:2.33 [[ 8.54182554e-01 -5.19863147e-01 -1.06991726e-02 1.11363459e+02] [ 5.19825128e-01 8.54249538e-01 -6.28999519e-03 9.00735555e+01] [ 1.24096999e-02 -1.88894606e-04 9.99922979e-01 2.33297028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.38, Y:90.09, Z:2.33 [[ 8.51476018e-01 -5.24284423e-01 -1.06973703e-02 1.11381263e+02] [ 5.24246713e-01 8.51543176e-01 -6.29305884e-03 9.00908003e+01] [ 1.24086254e-02 -2.49672545e-04 9.99922979e-01 2.32837489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.91804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.41, Y:90.10, Z:2.34 [[ 8.52927989e-01 -5.21920649e-01 -1.06151776e-02 1.11411528e+02] [ 5.21881010e-01 8.52994040e-01 -6.43261213e-03 9.01038355e+01] [ 1.24119963e-02 -5.33046798e-05 9.99922967e-01 2.33609155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.43, Y:90.12, Z:2.33 [[ 8.51465370e-01 -5.24301749e-01 -1.06957844e-02 1.11431910e+02] [ 5.24264008e-01 8.51532510e-01 -6.29566856e-03 9.01192361e+01] [ 1.24086382e-02 -2.46871048e-04 9.99922979e-01 2.33240684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.97804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.46, Y:90.14, Z:2.33 [[ 8.50106664e-01 -5.26502770e-01 -1.06533330e-02 1.11456802e+02] [ 5.26464297e-01 8.50173391e-01 -6.36775021e-03 9.01353287e+01] [ 1.24098184e-02 -1.95332576e-04 9.99922976e-01 2.33297697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.48, Y:90.15, Z:2.33 [[ 8.48992280e-01 -5.28297250e-01 -1.06828736e-02 1.11479779e+02] [ 5.28259548e-01 8.49059443e-01 -6.31758251e-03 9.01510573e+01] [ 1.24079562e-02 -2.79751210e-04 9.99922979e-01 2.33307873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.03804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.50, Y:90.17, Z:2.33 [[ 8.48937463e-01 -5.28385714e-01 -1.06640175e-02 1.11501506e+02] [ 5.28347617e-01 8.49004404e-01 -6.34959777e-03 9.01667582e+01] [ 1.24088346e-02 -2.43896827e-04 9.99922978e-01 2.33213038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.53, Y:90.18, Z:2.33 [[ 8.48184306e-01 -5.29594558e-01 -1.06295503e-02 1.11526140e+02] [ 5.29555823e-01 8.48250887e-01 -6.40807276e-03 9.01830339e+01] [ 1.24102059e-02 -1.93713510e-04 9.99922972e-01 2.33229198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.09804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.55, Y:90.20, Z:2.33 [[ 8.49292840e-01 -5.27814465e-01 -1.06565323e-02 1.11550035e+02] [ 5.27776164e-01 8.49359666e-01 -6.36229838e-03 9.01982983e+01] [ 1.24093418e-02 -2.20809268e-04 9.99922977e-01 2.33155790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.57, Y:90.21, Z:2.33 [[ 8.49468926e-01 -5.27530937e-01 -1.06608430e-02 1.11571561e+02] [ 5.27492706e-01 8.49535791e-01 -6.35498723e-03 9.02133831e+01] [ 1.24092201e-02 -2.25152768e-04 9.99922977e-01 2.33198923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.60, Y:90.23, Z:2.33 [[ 8.49491187e-01 -5.27495836e-01 -1.06239000e-02 1.11595208e+02] [ 5.27456817e-01 8.49557603e-01 -6.41760599e-03 9.02273774e+01] [ 1.24108755e-02 -1.51948760e-04 9.99922971e-01 2.33230732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.62, Y:90.24, Z:2.33 [[ 8.49611698e-01 -5.27301713e-01 -1.06238132e-02 1.11621017e+02] [ 5.27262678e-01 8.49678104e-01 -6.41775311e-03 9.02433868e+01] [ 1.24109137e-02 -1.48942099e-04 9.99922971e-01 2.33305895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.64, Y:90.26, Z:2.33 [[ 8.50887752e-01 -5.25239346e-01 -1.06612628e-02 1.11644400e+02] [ 5.25200944e-01 8.50954518e-01 -6.35425728e-03 9.02587047e+01] [ 1.24097557e-02 -1.92545587e-04 9.99922977e-01 2.33252557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.67, Y:90.27, Z:2.33 [[ 8.52290149e-01 -5.22960455e-01 -1.06707342e-02 1.11671530e+02] [ 5.22922075e-01 8.52356927e-01 -6.33820015e-03 9.02733547e+01] [ 1.24099023e-02 -1.77976944e-04 9.99922978e-01 2.33439152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.69, Y:90.29, Z:2.33 [[ 8.51952711e-01 -5.23509114e-01 -1.07138193e-02 1.11690723e+02] [ 5.23471693e-01 8.52020032e-01 -6.26516576e-03 9.02888891e+01] [ 1.24082600e-02 -2.70756153e-04 9.99922978e-01 2.33278240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.72, Y:90.30, Z:2.33 [[ 8.53827506e-01 -5.20446728e-01 -1.06674046e-02 1.11716234e+02] [ 5.20408081e-01 8.53894130e-01 -6.34376420e-03 9.03020021e+01] [ 1.24104255e-02 -1.34923180e-04 9.99922979e-01 2.33461921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.338040942 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:111.74, Y:90.32, Z:2.34 [[ 8.53424986e-01 -5.21106285e-01 -1.06785828e-02 1.11738901e+02] [ 5.21067927e-01 8.53491776e-01 -6.32484499e-03 9.03169902e+01] [ 1.24099991e-02 -1.66486251e-04 9.99922979e-01 2.33893706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.76, Y:90.33, Z:2.34 [[ 8.53323017e-01 -5.21273753e-01 -1.06538105e-02 1.11764099e+02] [ 5.21234884e-01 8.53389513e-01 -6.36674388e-03 9.03339515e+01] [ 1.24106666e-02 -1.20248586e-04 9.99922977e-01 2.34295438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.79, Y:90.35, Z:2.34 [[ 8.55133747e-01 -5.18297352e-01 -1.06831632e-02 1.11794406e+02] [ 5.18258871e-01 8.55200466e-01 -6.31710408e-03 9.03487815e+01] [ 1.24103845e-02 -1.34675233e-04 9.99922979e-01 2.34075757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.82, Y:90.36, Z:2.34 [[ 8.56414347e-01 -5.16176643e-01 -1.07768243e-02 1.11819483e+02] [ 5.16139982e-01 8.56482102e-01 -6.15860539e-03 9.03643349e+01] [ 1.24090854e-02 -2.88031887e-04 9.99922963e-01 2.34160455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.84, Y:90.38, Z:2.34 [[ 8.55543973e-01 -5.17617867e-01 -1.07821018e-02 1.11836049e+02] [ 5.17581433e-01 8.55611852e-01 -6.14968085e-03 9.03789376e+01] [ 1.24084788e-02 -3.19293325e-04 9.99922961e-01 2.34498355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.86, Y:90.39, Z:2.34 [[ 8.58731491e-01 -5.12314563e-01 -1.06777761e-02 1.11864654e+02] [ 5.12275509e-01 8.58797873e-01 -6.32578085e-03 9.03911852e+01] [ 1.24108410e-02 -3.78159572e-05 9.99922982e-01 2.34375845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.51804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.89, Y:90.40, Z:2.34 [[ 8.61100113e-01 -5.08322298e-01 -1.07255561e-02 1.11887734e+02] [ 5.08283939e-01 8.61166904e-01 -6.24511020e-03 9.04048038e+01] [ 1.24110227e-02 -7.39628324e-05 9.99922978e-01 2.34418338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.91, Y:90.42, Z:2.35 [[ 8.61581318e-01 -5.07506400e-01 -1.07184941e-02 1.11907023e+02] [ 5.07467829e-01 8.61647986e-01 -6.25702760e-03 9.04217397e+01] [ 1.24110504e-02 -4.83528655e-05 9.99922979e-01 2.34875578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.57804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.93, Y:90.44, Z:2.35 [[ 8.63072381e-01 -5.04967438e-01 -1.06747894e-02 1.11929497e+02] [ 5.04927758e-01 8.63138390e-01 -6.33072218e-03 9.04366096e+01] [ 1.24106291e-02 7.38740041e-05 9.99922982e-01 2.34861586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.96, Y:90.45, Z:2.35 [[ 8.65218696e-01 -5.01281033e-01 -1.06740007e-02 1.11958467e+02] [ 5.01241055e-01 8.65284525e-01 -6.33205168e-03 9.04517964e+01] [ 1.24101850e-02 1.28362137e-04 9.99922982e-01 2.34586902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.63804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.98, Y:90.47, Z:2.35 [[ 8.67445192e-01 -4.97416429e-01 -1.07579934e-02 1.11981066e+02] [ 4.97377908e-01 8.67511900e-01 -6.19038890e-03 9.04657828e+01] [ 1.24118885e-02 1.90348256e-05 9.99922969e-01 2.34525595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.01, Y:90.48, Z:2.35 [[ 8.68093938e-01 -4.96283856e-01 -1.07354310e-02 1.12007061e+02] [ 4.96244777e-01 8.68160312e-01 -6.22841861e-03 9.04824166e+01] [ 1.24111388e-02 7.94508673e-05 9.99922976e-01 2.34664801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.69804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.03, Y:90.50, Z:2.35 [[ 8.68307845e-01 -4.95908467e-01 -1.07832353e-02 1.12030868e+02] [ 4.95870357e-01 8.68374800e-01 -6.14785095e-03 9.04978062e+01] [ 1.24126611e-02 -8.85951755e-06 9.99922960e-01 2.34757345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.06, Y:90.51, Z:2.35 [[ 8.68553357e-01 -4.95478632e-01 -1.07699502e-02 1.12055649e+02] [ 4.95440212e-01 8.68620127e-01 -6.17021858e-03 9.05115683e+01] [ 1.24122070e-02 2.32976445e-05 9.99922965e-01 2.34890120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.75804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.07, Y:90.53, Z:2.35 [[ 8.66928021e-01 -4.98316814e-01 -1.07777250e-02 1.12072147e+02] [ 4.98278776e-01 8.66995012e-01 -6.15713808e-03 9.05268454e+01] [ 1.24124392e-02 -3.25160779e-05 9.99922962e-01 2.35115310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.10, Y:90.54, Z:2.35 [[ 8.68524756e-01 -4.95531068e-01 -1.06634157e-02 1.12103691e+02] [ 4.95490446e-01 8.68590184e-01 -6.34912229e-03 9.05413325e+01] [ 1.24083256e-02 2.30749293e-04 9.99922987e-01 2.34713551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.81804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.12, Y:90.56, Z:2.35 [[ 8.66563173e-01 -4.98951400e-01 -1.07595147e-02 1.12123722e+02] [ 4.98913032e-01 8.66629968e-01 -6.18759536e-03 9.05550244e+01] [ 1.24118273e-02 -6.11983959e-06 9.99922970e-01 2.34777798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.15, Y:90.57, Z:2.35 [[ 8.64410296e-01 -5.02673638e-01 -1.06795663e-02 1.12149124e+02] [ 5.02633895e-01 8.64476260e-01 -6.32171563e-03 9.05707043e+01] [ 1.24099913e-02 9.66440740e-05 9.99922988e-01 2.34824102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.87804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.17, Y:90.59, Z:2.35 [[ 8.62245189e-01 -5.06378142e-01 -1.06963055e-02 1.12170190e+02] [ 5.06339030e-01 8.62311531e-01 -6.29364332e-03 9.05857629e+01] [ 1.24105110e-02 1.07066987e-05 9.99922987e-01 2.35330908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.19, Y:90.60, Z:2.35 [[ 8.60999406e-01 -5.08494302e-01 -1.06567898e-02 1.12194530e+02] [ 5.08454531e-01 8.61065353e-01 -6.35985728e-03 9.06003730e+01] [ 1.24101437e-02 5.73402770e-05 9.99922990e-01 2.35343352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.22, Y:90.61, Z:2.35 [[ 8.60010505e-01 -5.10165072e-01 -1.06550450e-02 1.12222402e+02] [ 5.10125394e-01 8.60076507e-01 -6.36277916e-03 9.06127042e+01] [ 1.24102216e-02 3.66479067e-05 9.99922990e-01 2.34938188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.25, Y:90.63, Z:2.35 [[ 8.58095139e-01 -5.13379527e-01 -1.06861354e-02 1.12249245e+02] [ 5.13340742e-01 8.58161673e-01 -6.31078622e-03 9.06289027e+01] [ 1.24102603e-02 -7.03736898e-05 9.99922987e-01 2.35120120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.28, Y:90.65, Z:2.35 [[ 8.55139866e-01 -5.18286422e-01 -1.07235342e-02 1.12275638e+02] [ 5.18248802e-01 8.55207073e-01 -6.24824596e-03 9.06452285e+01] [ 1.24092234e-02 -2.14334559e-04 9.99922980e-01 2.35028573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.29, Y:90.66, Z:2.35 [[ 8.53089019e-01 -5.21653829e-01 -1.07892830e-02 1.12294307e+02] [ 5.21617860e-01 8.53157154e-01 -6.13828914e-03 9.06590455e+01] [ 1.24070160e-02 -3.91375660e-04 9.99922953e-01 2.35030863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.32, Y:90.68, Z:2.35 [[ 8.50327625e-01 -5.26144507e-01 -1.07185958e-02 1.12318884e+02] [ 5.26107408e-01 8.50395117e-01 -6.25621080e-03 9.06762311e+01] [ 1.24067125e-02 -3.19303767e-04 9.99922983e-01 2.34965562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.34, Y:90.69, Z:2.35 [[ 8.47551540e-01 -5.30604818e-01 -1.07198088e-02 1.12342750e+02] [ 5.30568099e-01 8.47619241e-01 -6.25418823e-03 9.06913480e+01] [ 1.24048186e-02 -3.86841709e-04 9.99922982e-01 2.35046302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.37, Y:90.71, Z:2.35 [[ 8.46353757e-01 -5.32513368e-01 -1.07159241e-02 1.12366143e+02] [ 5.32476719e-01 8.46421495e-01 -6.26066012e-03 9.07060640e+01] [ 1.24040737e-02 -4.07246891e-04 9.99922984e-01 2.35078754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.39, Y:90.72, Z:2.35 [[ 8.43770286e-01 -5.36597521e-01 -1.07146712e-02 1.12385623e+02] [ 5.36561174e-01 8.43838186e-01 -6.26274603e-03 9.07230570e+01] [ 1.24020227e-02 -4.64757556e-04 9.99922984e-01 2.34830285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.41, Y:90.74, Z:2.35 [[ 8.43020591e-01 -5.37775883e-01 -1.06481277e-02 1.12409219e+02] [ 5.37738231e-01 8.43087762e-01 -6.37336516e-03 9.07389119e+01] [ 1.24047482e-02 -3.53027294e-04 9.99922996e-01 2.34796767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.43, Y:90.76, Z:2.35 [[ 8.41162074e-01 -5.40678360e-01 -1.06431728e-02 1.12429467e+02] [ 5.40640836e-01 8.41229316e-01 -6.38159700e-03 9.07557816e+01] [ 1.24037404e-02 -3.86176501e-04 9.99922996e-01 2.34535295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.23804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.46, Y:90.77, Z:2.34 [[ 8.43318690e-01 -5.37309380e-01 -1.05932675e-02 1.12456027e+02] [ 5.37270545e-01 8.43385187e-01 -6.46443633e-03 9.07719458e+01] [ 1.24076071e-02 -2.39870612e-04 9.99922994e-01 2.34316931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.47, Y:90.79, Z:2.34 [[ 8.40486863e-01 -5.41727600e-01 -1.06320242e-02 1.12474386e+02] [ 5.41689926e-01 8.40554021e-01 -6.40010242e-03 9.07870772e+01] [ 1.24039028e-02 -3.80058403e-04 9.99922996e-01 2.34449324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.29804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.50, Y:90.80, Z:2.35 [[ 8.43405762e-01 -5.37173160e-01 -1.05696006e-02 1.12504481e+02] [ 5.37133823e-01 8.43471967e-01 -6.50361586e-03 9.08036418e+01] [ 1.24087297e-02 -1.92102891e-04 9.99922990e-01 2.34605202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.53, Y:90.82, Z:2.35 [[ 8.43348258e-01 -5.37261552e-01 -1.06649635e-02 1.12532475e+02] [ 5.37224212e-01 8.43415605e-01 -6.34539654e-03 9.08197937e+01] [ 1.24041342e-02 -3.78097502e-04 9.99922994e-01 2.35001743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.35804094199997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:112.55, Y:90.84, Z:2.35 [[ 8.42916598e-01 -5.37937411e-01 -1.07214732e-02 1.12552575e+02] [ 5.37901311e-01 8.42984635e-01 -6.25185075e-03 9.08378967e+01] [ 1.24011416e-02 -4.97305711e-04 9.99922979e-01 2.35029272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.58, Y:90.85, Z:2.34 [[ 8.43947547e-01 -5.36319765e-01 -1.06605449e-02 1.12581010e+02] [ 5.36282260e-01 8.44014800e-01 -6.35257884e-03 9.08534276e+01] [ 1.24046713e-02 -3.55817788e-04 9.99922996e-01 2.34255442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.41804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.60, Y:90.87, Z:2.35 [[ 8.44007000e-01 -5.36225101e-01 -1.07156695e-02 1.12601231e+02] [ 5.36188741e-01 8.44074895e-01 -6.26145140e-03 9.08690771e+01] [ 1.24023750e-02 -4.60912505e-04 9.99922981e-01 2.35392077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.62, Y:90.88, Z:2.35 [[ 8.43853044e-01 -5.36468031e-01 -1.06813885e-02 1.12618342e+02] [ 5.36430973e-01 8.43920549e-01 -6.31807400e-03 9.08829543e+01] [ 1.24036880e-02 -3.98301667e-04 9.99922992e-01 2.34885850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.47804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.64, Y:90.90, Z:2.35 [[ 8.42818938e-01 -5.38093203e-01 -1.05802985e-02 1.12639724e+02] [ 5.38054175e-01 8.42885314e-01 -6.48470682e-03 9.08999337e+01] [ 1.24073549e-02 -2.27340053e-04 9.99923000e-01 2.35168594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.66, Y:90.92, Z:2.35 [[ 8.43794415e-01 -5.36562651e-01 -1.05596996e-02 1.12663168e+02] [ 5.36523078e-01 8.43860471e-01 -6.51867091e-03 9.09175582e+01] [ 1.24085884e-02 -1.65104414e-04 9.99922997e-01 2.35057896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.53804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.69, Y:90.93, Z:2.35 [[ 8.44151820e-01 -5.36000036e-01 -1.05672089e-02 1.12687254e+02] [ 5.35960574e-01 8.44217941e-01 -6.50629229e-03 9.09337344e+01] [ 1.24084003e-02 -1.71308894e-04 9.99922998e-01 2.35052464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.71, Y:90.95, Z:2.35 [[ 8.45479560e-01 -5.33903043e-01 -1.05761354e-02 1.12713457e+02] [ 5.33863600e-01 8.45545691e-01 -6.49158311e-03 9.09499711e+01] [ 1.24084817e-02 -1.57712872e-04 9.99922999e-01 2.35363875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.59804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.74, Y:90.97, Z:2.36 [[ 8.47277284e-01 -5.31044775e-01 -1.06137579e-02 1.12742887e+02] [ 5.31005884e-01 8.47343739e-01 -6.42959571e-03 9.09676923e+01] [ 1.24079045e-02 -1.88317524e-04 9.99923001e-01 2.35699487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.77, Y:90.98, Z:2.35 [[ 8.46378998e-01 -5.32473470e-01 -1.07049113e-02 1.12766113e+02] [ 5.32436583e-01 8.46446605e-01 -6.27935240e-03 9.09837444e+01] [ 1.24047244e-02 -3.84974417e-04 9.99922984e-01 2.35088730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.79, Y:91.00, Z:2.36 [[ 8.47401225e-01 -5.30845305e-01 -1.06970088e-02 1.12789879e+02] [ 5.30808123e-01 8.47468668e-01 -6.29236564e-03 9.09980141e+01] [ 1.24056525e-02 -3.45900803e-04 9.99922987e-01 2.35754519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.81, Y:91.01, Z:2.36 [[ 8.46868864e-01 -5.31694352e-01 -1.06884741e-02 1.12812398e+02] [ 5.31657061e-01 8.46936243e-01 -6.30641017e-03 9.10129112e+01] [ 1.24055387e-02 -3.41900301e-04 9.99922990e-01 2.35731281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.84, Y:91.03, Z:2.36 [[ 8.46203246e-01 -5.32753404e-01 -1.06713110e-02 1.12837792e+02] [ 5.32715841e-01 8.46270468e-01 -6.33462517e-03 9.10294652e+01] [ 1.24056084e-02 -3.24396012e-04 9.99922995e-01 2.35703346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.86, Y:91.05, Z:2.36 [[ 8.45665867e-01 -5.33605636e-01 -1.06895758e-02 1.12862707e+02] [ 5.33568520e-01 8.45733342e-01 -6.30462193e-03 9.10450030e+01] [ 1.24047125e-02 -3.72017594e-04 9.99922989e-01 2.35751730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.89, Y:91.06, Z:2.36 [[ 8.45270549e-01 -5.34231605e-01 -1.06906910e-02 1.12886838e+02] [ 5.34194561e-01 8.45338066e-01 -6.30279217e-03 9.10593124e+01] [ 1.24043989e-02 -3.83344402e-04 9.99922989e-01 2.35790037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.91, Y:91.07, Z:2.36 [[ 8.44237094e-01 -5.35863392e-01 -1.06842571e-02 1.12905893e+02] [ 5.35826346e-01 8.44304607e-01 -6.31333983e-03 9.10733495e+01] [ 1.24038552e-02 -3.94950757e-04 9.99922991e-01 2.35607435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.93, Y:91.09, Z:2.36 [[ 8.45045207e-01 -5.34589415e-01 -1.06186551e-02 1.12931348e+02] [ 5.34550913e-01 8.45111883e-01 -6.42075357e-03 9.10881738e+01] [ 1.24064185e-02 -2.50384743e-04 9.99923006e-01 2.35814191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.95, Y:91.10, Z:2.35 [[ 8.45232603e-01 -5.34292607e-01 -1.06421983e-02 1.12954368e+02] [ 5.34254567e-01 8.45299548e-01 -6.38220993e-03 9.11027740e+01] [ 1.24058130e-02 -2.91191144e-04 9.99923003e-01 2.35261206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.98, Y:91.12, Z:2.36 [[ 8.47843362e-01 -5.30140380e-01 -1.06212972e-02 1.12981827e+02] [ 5.30101583e-01 8.47909866e-01 -6.41641954e-03 9.11167850e+01] [ 1.24075058e-02 -1.90247747e-04 9.99923006e-01 2.36009516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.928040942 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:113.01, Y:91.13, Z:2.35 [[ 8.50464120e-01 -5.25925156e-01 -1.06541265e-02 1.13008413e+02] [ 5.25886701e-01 8.50530830e-01 -6.36272604e-03 9.11317480e+01] [ 1.24079807e-02 -1.91593225e-04 9.99923000e-01 2.35329203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.03, Y:91.14, Z:2.36 [[ 8.49565555e-01 -5.27374911e-01 -1.06803821e-02 1.13030710e+02] [ 5.27337108e-01 8.49632647e-01 -6.31979581e-03 9.11445115e+01] [ 1.24073031e-02 -2.63081005e-04 9.99922992e-01 2.36285680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.06, Y:91.16, Z:2.36 [[ 8.51033786e-01 -5.25002970e-01 -1.06478005e-02 1.13058827e+02] [ 5.24964314e-01 8.51100378e-01 -6.37303003e-03 9.11582340e+01] [ 1.24082067e-02 -1.66051392e-04 9.99923001e-01 2.36442087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.01804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.08, Y:91.17, Z:2.37 [[ 8.52123577e-01 -5.23231604e-01 -1.06816536e-02 1.13083406e+02] [ 5.23193501e-01 8.52190499e-01 -6.31773437e-03 9.11712061e+01] [ 1.24084420e-02 -2.05081355e-04 9.99922991e-01 2.36546045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.11, Y:91.19, Z:2.37 [[ 8.51900257e-01 -5.23595308e-01 -1.06726753e-02 1.13106818e+02] [ 5.23557050e-01 8.51967086e-01 -6.33238433e-03 9.11858367e+01] [ 1.24083748e-02 -1.93194545e-04 9.99922994e-01 2.36579818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.07804094199997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:113.13, Y:91.20, Z:2.37 [[ 8.51418065e-01 -5.24379140e-01 -1.06675837e-02 1.13127440e+02] [ 5.24340839e-01 8.51484868e-01 -6.34070768e-03 9.12005882e+01] [ 1.24082210e-02 -1.94856737e-04 9.99922996e-01 2.36579015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.16, Y:91.21, Z:2.37 [[ 8.53818552e-01 -5.20462636e-01 -1.06077594e-02 1.13157329e+02] [ 5.20422811e-01 8.53884444e-01 -6.43841438e-03 9.12124202e+01] [ 1.24087549e-02 -2.32823229e-05 9.99923008e-01 2.36798944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.13804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.18, Y:91.23, Z:2.37 [[ 8.53819282e-01 -5.20460394e-01 -1.06588805e-02 1.13184652e+02] [ 5.20421603e-01 8.53885803e-01 -6.35540491e-03 9.12268074e+01] [ 1.24092033e-02 -1.20744437e-04 9.99922996e-01 2.36923775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.21, Y:91.24, Z:2.37 [[ 8.54703338e-01 -5.19006908e-01 -1.06786632e-02 1.13210541e+02] [ 5.18968405e-01 8.54770034e-01 -6.32330440e-03 9.12385779e+01] [ 1.24096400e-02 -1.37339443e-04 9.99922988e-01 2.36789705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.19804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.24, Y:91.25, Z:2.37 [[ 8.53369346e-01 -5.21197192e-01 -1.06886561e-02 1.13236765e+02] [ 5.21159063e-01 8.53436261e-01 -6.30708354e-03 9.12502123e+01] [ 1.24093209e-02 -1.88218256e-04 9.99922984e-01 2.37009247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.26, Y:91.26, Z:2.37 [[ 8.51792446e-01 -5.23770626e-01 -1.06751591e-02 1.13258353e+02] [ 5.23732425e-01 8.51859314e-01 -6.32896000e-03 9.12638351e+01] [ 1.24086571e-02 -1.99966657e-04 9.99922990e-01 2.37182606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.25804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.28, Y:91.28, Z:2.36 [[ 8.49206866e-01 -5.27953274e-01 -1.06320476e-02 1.13284182e+02] [ 5.27914526e-01 8.49273401e-01 -6.39876067e-03 9.12764028e+01] [ 1.24077619e-02 -1.78940887e-04 9.99923005e-01 2.36221110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.31, Y:91.29, Z:2.38 [[ 8.50282123e-01 -5.26219722e-01 -1.06355559e-02 1.13312039e+02] [ 5.26180910e-01 8.50348621e-01 -6.39309804e-03 9.12883535e+01] [ 1.24081045e-02 -1.60289487e-04 9.99923004e-01 2.37513282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.31804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.33, Y:91.30, Z:2.37 [[ 8.49184459e-01 -5.27988938e-01 -1.06506535e-02 1.13334643e+02] [ 5.27950570e-01 8.49251220e-01 -6.36874138e-03 9.13006198e+01] [ 1.24077055e-02 -2.14782401e-04 9.99922998e-01 2.37343059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.36, Y:91.31, Z:2.37 [[ 8.45827102e-01 -5.33351508e-01 -1.06151673e-02 1.13356786e+02] [ 5.33312844e-01 8.45893680e-01 -6.42595530e-03 9.13112278e+01] [ 1.24065958e-02 -2.25957891e-04 9.99923010e-01 2.36690391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.37804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.39, Y:91.32, Z:2.37 [[ 8.45561359e-01 -5.33774188e-01 -1.05405873e-02 1.13385459e+02] [ 5.33734055e-01 8.45627050e-01 -6.54604584e-03 9.13221373e+01] [ 1.24075160e-02 -9.07869733e-05 9.99923020e-01 2.37367916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40804094199999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:113.41, Y:91.34, Z:2.37 [[ 8.44150052e-01 -5.36002828e-01 -1.05668387e-02 1.13410165e+02] [ 5.35963396e-01 8.44216168e-01 -6.50382793e-03 9.13363693e+01] [ 1.24067662e-02 -1.73232043e-04 9.99923018e-01 2.37284288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.438040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.43, Y:91.35, Z:2.37 [[ 8.43650791e-01 -5.36788463e-01 -1.05588537e-02 1.13434528e+02] [ 5.36748932e-01 8.43716847e-01 -6.51666235e-03 9.13478742e+01] [ 1.24067519e-02 -1.69666084e-04 9.99923019e-01 2.37359731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.46, Y:91.36, Z:2.38 [[ 8.42309194e-01 -5.38891393e-01 -1.05493515e-02 1.13462526e+02] [ 5.38851836e-01 8.42375233e-01 -6.53192840e-03 9.13586306e+01] [ 1.24065124e-02 -1.82634054e-04 9.99923020e-01 2.37749005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.49, Y:91.37, Z:2.38 [[ 8.42407031e-01 -5.38738223e-01 -1.05603345e-02 1.13486786e+02] [ 5.38698875e-01 8.42473196e-01 -6.51429405e-03 9.13708483e+01] [ 1.24062980e-02 -2.01153218e-04 9.99923019e-01 2.37845830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.52, Y:91.39, Z:2.37 [[ 8.41469868e-01 -5.40201051e-01 -1.05492059e-02 1.13517439e+02] [ 5.40161593e-01 8.41535967e-01 -6.53215567e-03 9.13853733e+01] [ 1.24062135e-02 -2.01663690e-04 9.99923020e-01 2.37418407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.54, Y:91.40, Z:2.38 [[ 8.43870212e-01 -5.36441635e-01 -1.06507361e-02 1.13540956e+02] [ 5.36403930e-01 8.43937354e-01 -6.36912692e-03 9.13950014e+01] [ 1.24052189e-02 -3.38380211e-04 9.99922995e-01 2.38170923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.56, Y:91.41, Z:2.38 [[ 8.44147324e-01 -5.36006816e-01 -1.05825072e-02 1.13564701e+02] [ 5.35967700e-01 8.44213630e-01 -6.47854965e-03 9.14080568e+01] [ 1.24064435e-02 -2.03031675e-04 9.99923017e-01 2.38117498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.59, Y:91.42, Z:2.38 [[ 8.44588468e-01 -5.35311829e-01 -1.05625021e-02 1.13592384e+02] [ 5.35272258e-01 8.44654499e-01 -6.51058126e-03 9.14213835e+01] [ 1.24068561e-02 -1.55052487e-04 9.99923020e-01 2.38238730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.62, Y:91.43, Z:2.38 [[ 8.45351696e-01 -5.34105340e-01 -1.05828271e-02 1.13616959e+02] [ 5.34066082e-01 8.45417917e-01 -6.47805095e-03 9.14337657e+01] [ 1.24068733e-02 -1.75697661e-04 9.99923016e-01 2.38373127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.678040942 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:113.65, Y:91.45, Z:2.39 [[ 8.45508615e-01 -5.33856780e-01 -1.05886924e-02 1.13645135e+02] [ 5.33817620e-01 8.45574896e-01 -6.46866834e-03 9.14454419e+01] [ 1.24068749e-02 -1.83115783e-04 9.99923015e-01 2.38500352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.67, Y:91.46, Z:2.38 [[ 8.44896173e-01 -5.34825059e-01 -1.06119433e-02 1.13668473e+02] [ 5.34786441e-01 8.44962779e-01 -6.43150556e-03 9.14582098e+01] [ 1.24064274e-02 -2.41168941e-04 9.99923008e-01 2.38483000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.73804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.70, Y:91.47, Z:2.39 [[ 8.46132220e-01 -5.32868085e-01 -1.05768697e-02 1.13701189e+02] [ 5.32828612e-01 8.46198311e-01 -6.48749434e-03 9.14680642e+01] [ 1.24071079e-02 -1.46380800e-04 9.99923018e-01 2.38598929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.72, Y:91.49, Z:2.38 [[ 8.43162466e-01 -5.37553297e-01 -1.06540417e-02 1.13723546e+02] [ 5.37515742e-01 8.43229698e-01 -6.36428937e-03 9.14863488e+01] [ 1.24049491e-02 -3.60585202e-04 9.99922991e-01 2.37908420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.79804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.75, Y:91.49, Z:2.39 [[ 8.45256897e-01 -5.34253377e-01 -1.06821127e-02 1.13747277e+02] [ 5.34216127e-01 8.45324314e-01 -6.31931795e-03 9.14905438e+01] [ 1.24059665e-02 -3.65109794e-04 9.99922976e-01 2.38923847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.77, Y:91.50, Z:2.38 [[ 8.46805635e-01 -5.31797067e-01 -1.05875363e-02 1.13770561e+02] [ 5.31757724e-01 8.46871806e-01 -6.47044434e-03 9.15001098e+01] [ 1.24072493e-02 -1.50795456e-04 9.99923016e-01 2.38346314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.85804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.79, Y:91.52, Z:2.38 [[ 8.45615088e-01 -5.33689588e-01 -1.05141260e-02 1.13794243e+02] [ 5.33648931e-01 8.45680449e-01 -6.58761062e-03 9.15151079e+01] [ 1.24073300e-02 -4.02691850e-05 9.99923025e-01 2.38076557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88804094199998 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:113.83, Y:91.53, Z:2.39 [[ 8.46254225e-01 -5.32675561e-01 -1.05135359e-02 1.13826679e+02] [ 5.32634813e-01 8.46319530e-01 -6.58855235e-03 9.15312657e+01] [ 1.24073716e-02 -2.42849543e-05 9.99923025e-01 2.39012797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.91804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.84, Y:91.55, Z:2.39 [[ 8.45078583e-01 -5.34536076e-01 -1.06476567e-02 1.13843866e+02] [ 5.34498154e-01 8.45145603e-01 -6.37437597e-03 9.15457664e+01] [ 1.24061541e-02 -3.04304227e-04 9.99922994e-01 2.38739319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.87, Y:91.56, Z:2.39 [[ 8.47273903e-01 -5.31051907e-01 -1.05263590e-02 1.13870529e+02] [ 5.31011293e-01 8.47339289e-01 -6.56775072e-03 9.15590630e+01] [ 1.24072141e-02 -2.49317221e-05 9.99923027e-01 2.39384878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.97804094199998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:113.90, Y:91.57, Z:2.39 [[ 8.46592374e-01 -5.32136843e-01 -1.05704153e-02 1.13895324e+02] [ 5.32097187e-01 8.46658352e-01 -6.49755021e-03 9.15744797e+01] [ 1.24071162e-02 -1.23711770e-04 9.99923021e-01 2.39362393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.92, Y:91.59, Z:2.39 [[ 8.46637948e-01 -5.32064162e-01 -1.05788175e-02 1.13917267e+02] [ 5.32024668e-01 8.46704026e-01 -6.48417086e-03 9.15894787e+01] [ 1.24071223e-02 -1.38446733e-04 9.99923019e-01 2.39439688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.03804094199998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:113.94, Y:91.60, Z:2.39 [[ 8.45458835e-01 -5.33936163e-01 -1.05609165e-02 1.13941883e+02] [ 5.33896459e-01 8.45524782e-01 -6.51263838e-03 9.16047359e+01] [ 1.24068498e-02 -1.32268269e-04 9.99923023e-01 2.39470366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.97, Y:91.62, Z:2.40 [[ 8.44624913e-01 -5.35254230e-01 -1.05671663e-02 1.13968031e+02] [ 5.35214754e-01 8.44690998e-01 -6.50270520e-03 9.16200601e+01] [ 1.24065907e-02 -1.63356477e-04 9.99923022e-01 2.39762296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.09804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.99, Y:91.64, Z:2.40 [[ 8.43707858e-01 -5.36698162e-01 -1.05892829e-02 1.13991855e+02] [ 5.36659239e-01 8.43774278e-01 -6.46756594e-03 9.16354260e+01] [ 1.24060953e-02 -2.26100282e-04 9.99923016e-01 2.39723238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.01, Y:91.65, Z:2.40 [[ 8.42157021e-01 -5.39128569e-01 -1.05800954e-02 1.14012974e+02] [ 5.39089654e-01 8.42223442e-01 -6.48215132e-03 9.16503907e+01] [ 1.24055173e-02 -2.44630736e-04 9.99923019e-01 2.39761133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.04, Y:91.67, Z:2.40 [[ 8.40257114e-01 -5.42085580e-01 -1.05454400e-02 1.14035463e+02] [ 5.42046208e-01 8.40323256e-01 -6.53712851e-03 9.16658249e+01] [ 1.24052615e-02 -2.23247005e-04 9.99923027e-01 2.39565935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.06, Y:91.68, Z:2.40 [[ 8.38467045e-01 -5.44850579e-01 -1.05291043e-02 1.14055238e+02] [ 5.44811100e-01 8.38533119e-01 -6.56303019e-03 9.16783479e+01] [ 1.24048735e-02 -2.33488360e-04 9.99923029e-01 2.39580203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.08, Y:91.70, Z:2.39 [[ 8.35703109e-01 -5.49081974e-01 -1.04546559e-02 1.14081817e+02] [ 5.49041349e-01 8.35768486e-01 -6.68095294e-03 9.16982234e+01] [ 1.24060627e-02 -1.56745219e-04 9.99923030e-01 2.39372447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.248040942 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:114.10, Y:91.71, Z:2.39 [[ 8.36190024e-01 -5.48338765e-01 -1.05281957e-02 1.14102086e+02] [ 5.48299544e-01 8.36256252e-01 -6.56443974e-03 9.17116983e+01] [ 1.24038063e-02 -2.83485888e-04 9.99923030e-01 2.39267817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.13, Y:91.73, Z:2.40 [[ 8.35762098e-01 -5.48992074e-01 -1.04603049e-02 1.14127830e+02] [ 5.48951556e-01 8.35827539e-01 -6.67191347e-03 9.17285028e+01] [ 1.24058385e-02 -1.66068247e-04 9.99923031e-01 2.39555229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.15, Y:91.74, Z:2.39 [[ 8.35468966e-01 -5.49437413e-01 -1.04945806e-02 1.14152803e+02] [ 5.49397609e-01 8.35534843e-01 -6.61764522e-03 9.17438906e+01] [ 1.24045696e-02 -2.36860299e-04 9.99923032e-01 2.39490336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.18, Y:91.76, Z:2.40 [[ 8.35097803e-01 -5.50001089e-01 -1.05101246e-02 1.14175420e+02] [ 5.49961639e-01 8.35163893e-01 -6.59303459e-03 9.17584752e+01] [ 1.24038528e-02 -2.74336677e-04 9.99923032e-01 2.39586722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.20, Y:91.77, Z:2.40 [[ 8.36833033e-01 -5.47357595e-01 -1.04946940e-02 1.14198546e+02] [ 5.47317631e-01 8.36898811e-01 -6.61744849e-03 9.17739993e+01] [ 1.24051076e-02 -2.06231580e-04 9.99923032e-01 2.39785033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.22, Y:91.79, Z:2.40 [[ 8.36582537e-01 -5.47740548e-01 -1.04857205e-02 1.14222218e+02] [ 5.47700436e-01 8.36648226e-01 -6.63164061e-03 9.17906538e+01] [ 1.24052780e-02 -1.95118984e-04 9.99923033e-01 2.39676825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.25, Y:91.81, Z:2.40 [[ 8.35649013e-01 -5.49163684e-01 -1.04869251e-02 1.14247977e+02] [ 5.49123708e-01 8.35714784e-01 -6.62973593e-03 9.18077638e+01] [ 1.24048886e-02 -2.18486909e-04 9.99923033e-01 2.39641425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.458040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:114.27, Y:91.82, Z:2.39 [[ 8.40984467e-01 -5.40956722e-01 -1.05333256e-02 1.14273264e+02] [ 5.40917019e-01 8.41050409e-01 -6.55649346e-03 9.18169825e+01] [ 1.24058370e-02 -1.83745926e-04 9.99923028e-01 2.39408237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.30, Y:91.83, Z:2.40 [[ 8.41724395e-01 -5.39805765e-01 -1.04775179e-02 1.14297795e+02] [ 5.39764874e-01 8.41789601e-01 -6.64449518e-03 9.18314475e+01] [ 1.24066024e-02 -6.25624425e-05 9.99923033e-01 2.39656785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.51804094199997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:114.32, Y:91.85, Z:2.40 [[ 8.40739444e-01 -5.41338570e-01 -1.04757353e-02 1.14320883e+02] [ 5.41297762e-01 8.40804702e-01 -6.64730446e-03 9.18499423e+01] [ 1.24064898e-02 -8.18410120e-05 9.99923033e-01 2.39770612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54804094199997 meters Centerline goodness : 0.995545 Centerline is valid? [True, True] Translation: X:114.34, Y:91.87, Z:2.41 [[ 8.37734189e-01 -5.45977476e-01 -1.04892396e-02 1.14341008e+02] [ 5.45937296e-01 8.37799836e-01 -6.62600723e-03 9.18676588e+01] [ 1.24055340e-02 -1.75634340e-04 9.99923033e-01 2.40703070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.57804094199997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:114.37, Y:91.88, Z:2.41 [[ 8.38742040e-01 -5.44428857e-01 -1.04407926e-02 1.14369765e+02] [ 5.44387603e-01 8.38807020e-01 -6.70231976e-03 9.18845871e+01] [ 1.24067464e-02 -6.23207045e-05 9.99923031e-01 2.40730019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60804094199997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:114.39, Y:91.90, Z:2.41 [[ 8.37527200e-01 -5.46293706e-01 -1.05534707e-02 1.14392661e+02] [ 5.46254808e-01 8.37593635e-01 -6.52597934e-03 9.19008350e+01] [ 1.24046213e-02 -2.99198874e-04 9.99923015e-01 2.40593034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.63804094199998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:114.42, Y:91.92, Z:2.41 [[ 8.37401464e-01 -5.46486638e-01 -1.05424373e-02 1.14416271e+02] [ 5.46447537e-01 8.37467776e-01 -6.54323529e-03 9.19150881e+01] [ 1.24047421e-02 -2.81574070e-04 9.99923019e-01 2.40966885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.44, Y:91.93, Z:2.41 [[ 8.35193624e-01 -5.49854773e-01 -1.05517428e-02 1.14436330e+02] [ 5.49816123e-01 8.35260203e-01 -6.52870065e-03 9.19302057e+01] [ 1.24032880e-02 -3.48789148e-04 9.99923015e-01 2.40555610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.69804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.46, Y:91.95, Z:2.41 [[ 8.34327680e-01 -5.51169257e-01 -1.04772664e-02 1.14460478e+02] [ 5.51129249e-01 8.34393431e-01 -6.64478868e-03 9.19454586e+01] [ 1.24045655e-02 -2.30396816e-04 9.99923034e-01 2.40614795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:114.48, Y:91.96, Z:2.40 [[ 8.34999121e-01 -5.50151456e-01 -1.04806297e-02 1.14483520e+02] [ 5.50111435e-01 8.35064863e-01 -6.63954807e-03 9.19578837e+01] [ 1.24047627e-02 -2.21497453e-04 9.99923033e-01 2.39769789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.75804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.50, Y:91.98, Z:2.40 [[ 8.31945328e-01 -5.54759384e-01 -1.04401817e-02 1.14504083e+02] [ 5.54718935e-01 8.32010805e-01 -6.70251423e-03 9.19755493e+01] [ 1.24046266e-02 -2.15241075e-04 9.99923037e-01 2.40483468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.53, Y:91.99, Z:2.41 [[ 8.30906938e-01 -5.56313897e-01 -1.04167183e-02 1.14531657e+02] [ 5.56273112e-01 8.30972208e-01 -6.73903331e-03 9.19919699e+01] [ 1.24050213e-02 -1.95030784e-04 9.99923036e-01 2.40572368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.81804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.56, Y:92.01, Z:2.40 [[ 8.30941558e-01 -5.56261172e-01 -1.04707450e-02 1.14557798e+02] [ 5.56221439e-01 8.31007474e-01 -6.65497764e-03 9.20077599e+01] [ 1.24031730e-02 -2.94155351e-04 9.99923034e-01 2.40428166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84804094199998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:114.58, Y:92.02, Z:2.41 [[ 8.30870907e-01 -5.56366204e-01 -1.04967774e-02 1.14579368e+02] [ 5.56326990e-01 8.30937139e-01 -6.61448634e-03 9.20226097e+01] [ 1.24022389e-02 -3.43856343e-04 9.99923030e-01 2.40719745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.87804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:114.60, Y:92.04, Z:2.41 [[ 8.31325548e-01 -5.55687484e-01 -1.04524150e-02 1.14603029e+02] [ 5.55647348e-01 8.31391217e-01 -6.68342022e-03 9.20375254e+01] [ 1.24039390e-02 -2.51758720e-04 9.99923037e-01 2.40671553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:114.63, Y:92.05, Z:2.40 [[ 8.31429695e-01 -5.55531558e-01 -1.04570864e-02 1.14626477e+02] [ 5.55491500e-01 8.31495413e-01 -6.67616340e-03 9.20519064e+01] [ 1.24038389e-02 -2.58062136e-04 9.99923036e-01 2.40483996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.938040942 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:114.66, Y:92.07, Z:2.41 [[ 8.35293682e-01 -5.49704528e-01 -1.04592584e-02 1.14659218e+02] [ 5.49664055e-01 8.35359145e-01 -6.67279141e-03 9.20661202e+01] [ 1.24053008e-02 -1.75337889e-04 9.99923036e-01 2.41310003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.968040942 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:114.68, Y:92.08, Z:2.41 [[ 8.34922466e-01 -5.50265875e-01 -1.05803271e-02 1.14683292e+02] [ 5.50227815e-01 8.34989402e-01 -6.48466086e-03 9.20818028e+01] [ 1.24027486e-02 -4.07401248e-04 9.99923000e-01 2.41353993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.70, Y:92.10, Z:2.41 [[ 8.33552244e-01 -5.52339395e-01 -1.05758760e-02 1.14698593e+02] [ 5.52301413e-01 8.33619223e-01 -6.49157008e-03 9.20976839e+01] [ 1.24018034e-02 -4.30008427e-04 9.99923002e-01 2.40903890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.72, Y:92.11, Z:2.41 [[ 8.34350633e-01 -5.51134765e-01 -1.04638401e-02 1.14721511e+02] [ 5.51094500e-01 8.34416221e-01 -6.66507635e-03 9.21114613e+01] [ 1.24045532e-02 -2.05554038e-04 9.99923039e-01 2.40649352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.058040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:114.75, Y:92.13, Z:2.41 [[ 8.36541954e-01 -5.47803569e-01 -1.04311295e-02 1.14753538e+02] [ 5.47762411e-01 8.36606981e-01 -6.71570563e-03 9.21253961e+01] [ 1.24056432e-02 -9.58111254e-05 9.99923042e-01 2.41372479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.77, Y:92.14, Z:2.41 [[ 8.33785369e-01 -5.51987481e-01 -1.05725461e-02 1.14768135e+02] [ 5.51949410e-01 8.33852292e-01 -6.49646167e-03 9.21418129e+01] [ 1.24019073e-02 -4.18855895e-04 9.99923006e-01 2.41107861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.118040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:114.80, Y:92.16, Z:2.40 [[ 8.30615325e-01 -5.56748722e-01 -1.04423665e-02 1.14797526e+02] [ 5.56708490e-01 8.30680924e-01 -6.69775452e-03 9.21628680e+01] [ 1.24032409e-02 -2.50096547e-04 9.99923046e-01 2.40374591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.81, Y:92.17, Z:2.41 [[ 8.35749774e-01 -5.49008424e-01 -1.05860910e-02 1.14811649e+02] [ 5.48970381e-01 8.35816721e-01 -6.47537628e-03 9.21661145e+01] [ 1.24030680e-02 -3.99656123e-04 9.99922999e-01 2.40599940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.178040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:114.84, Y:92.19, Z:2.41 [[ 8.32269603e-01 -5.54274884e-01 -1.03276833e-02 1.14836536e+02] [ 5.54232260e-01 8.32333679e-01 -6.87378279e-03 9.21888128e+01] [ 1.24060438e-02 -3.09479555e-06 9.99923042e-01 2.41403768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.86, Y:92.20, Z:2.41 [[ 8.31842374e-01 -5.54914126e-01 -1.04200851e-02 1.14858575e+02] [ 5.54873329e-01 8.31907615e-01 -6.73121771e-03 9.22039419e+01] [ 1.24037959e-02 -1.82515193e-04 9.99923053e-01 2.41305931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.23804094199997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:114.88, Y:92.22, Z:2.41 [[ 8.31288071e-01 -5.55744500e-01 -1.04016394e-02 1.14883671e+02] [ 5.55703412e-01 8.31353129e-01 -6.75966465e-03 9.22204336e+01] [ 1.24040819e-02 -1.60997911e-04 9.99923053e-01 2.41309644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.90, Y:92.24, Z:2.42 [[ 8.31017952e-01 -5.56147768e-01 -1.04318473e-02 1.14904586e+02] [ 5.56107295e-01 8.31083396e-01 -6.71308685e-03 9.22352551e+01] [ 1.24032033e-02 -2.22530688e-04 9.99923053e-01 2.41584026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.29804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.93, Y:92.25, Z:2.42 [[ 8.29871513e-01 -5.57857717e-01 -1.03941886e-02 1.14927997e+02] [ 5.57816651e-01 8.29936586e-01 -6.77112007e-03 9.22512082e+01] [ 1.24038390e-02 -1.78891817e-04 9.99923053e-01 2.41587446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.95, Y:92.27, Z:2.42 [[ 8.29602993e-01 -5.58257085e-01 -1.03874843e-02 1.14949700e+02] [ 5.58215922e-01 8.29668004e-01 -6.78144590e-03 9.22654266e+01] [ 1.24039536e-02 -1.72551328e-04 9.99923053e-01 2.41554205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.35804094199997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:114.98, Y:92.28, Z:2.42 [[ 8.28743082e-01 -5.59533300e-01 -1.03629585e-02 1.14975109e+02] [ 5.59491764e-01 8.28807858e-01 -6.81921386e-03 9.22818036e+01] [ 1.24044787e-02 -1.46613627e-04 9.99923051e-01 2.41623093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.00, Y:92.30, Z:2.42 [[ 8.29270360e-01 -5.58751078e-01 -1.03876010e-02 1.14999429e+02] [ 5.58709956e-01 8.29335397e-01 -6.78126429e-03 9.22953239e+01] [ 1.24038439e-02 -1.80154620e-04 9.99923053e-01 2.41864138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.41804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.02, Y:92.31, Z:2.42 [[ 8.28253606e-01 -5.60257231e-01 -1.03826580e-02 1.15019075e+02] [ 5.60216131e-01 8.28318657e-01 -6.78887218e-03 9.23110569e+01] [ 1.24036641e-02 -1.93624636e-04 9.99923053e-01 2.41874404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.04, Y:92.33, Z:2.42 [[ 8.26312374e-01 -5.63117291e-01 -1.03333366e-02 1.15042035e+02] [ 5.63075467e-01 8.26376969e-01 -6.86464617e-03 9.23289798e+01] [ 1.24048324e-02 -1.46106275e-04 9.99923046e-01 2.41927409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.47804094199998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:115.07, Y:92.34, Z:2.42 [[ 8.27250427e-01 -5.61738172e-01 -1.03420203e-02 1.15068052e+02] [ 5.61696407e-01 8.27315059e-01 -6.85131155e-03 9.23436859e+01] [ 1.24047524e-02 -1.41325254e-04 9.99923048e-01 2.41884905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.09, Y:92.36, Z:2.42 [[ 8.27323972e-01 -5.61629116e-01 -1.03817702e-02 1.15092311e+02] [ 5.61588107e-01 8.27389081e-01 -6.79022556e-03 9.23587968e+01] [ 1.24033517e-02 -2.12562277e-04 9.99923053e-01 2.41917458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.53804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.12, Y:92.37, Z:2.42 [[ 8.27898455e-01 -5.60781806e-01 -1.03881296e-02 1.15115044e+02] [ 5.60740853e-01 8.27963599e-01 -6.78045628e-03 9.23728524e+01] [ 1.24033497e-02 -2.11519369e-04 9.99923053e-01 2.41990471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56804094199998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:115.14, Y:92.39, Z:2.43 [[ 8.28122583e-01 -5.60450957e-01 -1.03784405e-02 1.15139567e+02] [ 5.60409791e-01 8.28187593e-01 -6.79533407e-03 9.23894005e+01] [ 1.24037472e-02 -1.88810090e-04 9.99923053e-01 2.42613542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.59804094199998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:115.16, Y:92.41, Z:2.42 [[ 8.28676481e-01 -5.59631344e-01 -1.03946159e-02 1.15158838e+02] [ 5.59590425e-01 8.28741646e-01 -6.77050037e-03 9.24052601e+01] [ 1.24034353e-02 -2.06173105e-04 9.99923053e-01 2.42199230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62804094199998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:115.18, Y:92.42, Z:2.43 [[ 8.30473152e-01 -5.56962686e-01 -1.03397104e-02 1.15182548e+02] [ 5.56920507e-01 8.30537514e-01 -6.85467602e-03 9.24208430e+01] [ 1.24053161e-02 -6.57723495e-05 9.99923049e-01 2.42640810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.65804094199999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:115.21, Y:92.44, Z:2.42 [[ 8.30474676e-01 -5.56960665e-01 -1.03261702e-02 1.15207094e+02] [ 5.56918228e-01 8.30538871e-01 -6.87542062e-03 9.24375251e+01] [ 1.24056246e-02 -4.09696823e-05 9.99923046e-01 2.42467407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.23, Y:92.46, Z:2.42 [[ 8.29017464e-01 -5.59126370e-01 -1.03801036e-02 1.15228298e+02] [ 5.59085132e-01 8.29082428e-01 -6.79276782e-03 9.24585184e+01] [ 1.24039771e-02 -1.72038440e-04 9.99923053e-01 2.41623544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.718040942 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:115.26, Y:92.47, Z:2.42 [[ 8.34031454e-01 -5.51619394e-01 -1.03720000e-02 1.15261363e+02] [ 5.51577417e-01 8.34095943e-01 -6.80518465e-03 9.24696099e+01] [ 1.24051150e-02 -4.52229528e-05 9.99923053e-01 2.42407507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.748040942 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:115.28, Y:92.49, Z:2.42 [[ 8.33749136e-01 -5.52044390e-01 -1.04579841e-02 1.15283576e+02] [ 5.52004093e-01 8.33814697e-01 -6.67335542e-03 9.24851365e+01] [ 1.24040093e-02 -2.08945705e-04 9.99923045e-01 2.42378697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.778040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:115.30, Y:92.50, Z:2.42 [[ 8.32519093e-01 -5.53897738e-01 -1.04525423e-02 1.15304448e+02] [ 5.53857482e-01 8.32584677e-01 -6.68169158e-03 9.25013136e+01] [ 1.24036004e-02 -2.26582950e-04 9.99923047e-01 2.42495388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.808040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:115.33, Y:92.52, Z:2.42 [[ 8.32621485e-01 -5.53744565e-01 -1.04124379e-02 1.15328084e+02] [ 5.53703528e-01 8.32686576e-01 -6.74306682e-03 9.25164157e+01] [ 1.24042339e-02 -1.50981300e-04 9.99923053e-01 2.42446197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.838040942 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:115.35, Y:92.53, Z:2.42 [[ 8.31629173e-01 -5.55233608e-01 -1.04191962e-02 1.15347312e+02] [ 5.55192817e-01 8.31694419e-01 -6.73272901e-03 9.25330981e+01] [ 1.24038248e-02 -1.85529045e-04 9.99923052e-01 2.41980465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.868040942 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:115.37, Y:92.55, Z:2.42 [[ 8.30934845e-01 -5.56273281e-01 -1.03595958e-02 1.15369765e+02] [ 5.56231433e-01 8.30999416e-01 -6.82380296e-03 9.25491779e+01] [ 1.24047173e-02 -9.21971782e-05 9.99923054e-01 2.42060246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.898040942 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:115.40, Y:92.56, Z:2.42 [[ 8.32178858e-01 -5.54410589e-01 -1.03559726e-02 1.15397213e+02] [ 5.54368528e-01 8.32243291e-01 -6.82933620e-03 9.25648467e+01] [ 1.24049450e-02 -5.77960631e-05 9.99923054e-01 2.42266178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.928040942 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:115.42, Y:92.58, Z:2.42 [[ 8.30543857e-01 -5.56855933e-01 -1.04101707e-02 1.15416683e+02] [ 5.56815096e-01 8.30609074e-01 -6.74655151e-03 9.25809864e+01] [ 1.24036395e-02 -1.93233272e-04 9.99923053e-01 2.41894244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.958040942 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:115.45, Y:92.60, Z:2.42 [[ 8.31935742e-01 -5.54775605e-01 -1.03415891e-02 1.15446657e+02] [ 5.54733300e-01 8.32000016e-01 -6.85121629e-03 9.25957952e+01] [ 1.24050899e-02 -3.70521180e-05 9.99923053e-01 2.42138908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98804094199997 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:115.47, Y:92.61, Z:2.42 [[ 8.32119595e-01 -5.54498425e-01 -1.04152105e-02 1.15470060e+02] [ 5.54457500e-01 8.32184757e-01 -6.73881443e-03 9.26109876e+01] [ 1.24040414e-02 -1.67292050e-04 9.99923053e-01 2.41996538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.01804094199997 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:115.49, Y:92.63, Z:2.42 [[ 8.31591628e-01 -5.55289846e-01 -1.04187919e-02 1.15490752e+02] [ 5.55249052e-01 8.31656872e-01 -6.73334932e-03 9.26275906e+01] [ 1.24038204e-02 -1.85627423e-04 9.99923052e-01 2.42172420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04804094199997 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:115.50, Y:92.65, Z:2.41 [[ 8.25754062e-01 -5.63934961e-01 -1.03725439e-02 1.15496011e+02] [ 5.63893962e-01 8.25819173e-01 -6.80385493e-03 9.26477012e+01] [ 1.24027773e-02 -2.30704048e-04 9.99923056e-01 2.41245108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.07804094199997 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:115.52, Y:92.66, Z:2.41 [[ 8.24885157e-01 -5.65209047e-01 -1.01592585e-02 1.15516655e+02] [ 5.65164112e-01 8.24947704e-01 -7.12830237e-03 9.26639384e+01] [ 1.24098379e-02 1.38382528e-04 9.99922985e-01 2.41274822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10804094199997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.56, Y:92.67, Z:2.42 [[ 8.31960395e-01 -5.54742900e-01 -1.01102033e-02 1.15562673e+02] [ 5.54696270e-01 8.32021735e-01 -7.20285738e-03 9.26733496e+01] [ 1.24076429e-02 3.84400003e-04 9.99922948e-01 2.41981264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.13804094199998 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:115.57, Y:92.69, Z:2.41 [[ 8.25567444e-01 -5.64208148e-01 -1.03711519e-02 1.15566215e+02] [ 5.64167155e-01 8.25632552e-01 -6.80517170e-03 9.26947670e+01] [ 1.24022939e-02 -2.32935032e-04 9.99923061e-01 2.41073802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16804094199998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:115.61, Y:92.71, Z:2.41 [[ 8.31127788e-01 -5.55988659e-01 -1.01593121e-02 1.15612276e+02] [ 5.55943044e-01 8.31189831e-01 -7.12717870e-03 9.27058356e+01] [ 1.24069475e-02 2.75597350e-04 9.99922993e-01 2.41453753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.19804094199998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:115.63, Y:92.72, Z:2.41 [[ 8.31854484e-01 -5.54895965e-01 -1.04204201e-02 1.15633069e+02] [ 5.54855192e-01 8.31919728e-01 -6.72918452e-03 9.27218897e+01] [ 1.24029504e-02 -1.84121902e-04 9.99923064e-01 2.41223061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22804094199998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:115.65, Y:92.74, Z:2.41 [[ 8.28471451e-01 -5.59934960e-01 -1.03872803e-02 1.15646602e+02] [ 5.59893950e-01 8.28536542e-01 -6.77966711e-03 9.27424377e+01] [ 1.24024139e-02 -1.99014743e-04 9.99923067e-01 2.40704697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.25804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.68, Y:92.75, Z:2.41 [[ 8.32705545e-01 -5.53620295e-01 -1.02977466e-02 1.15678855e+02] [ 5.53577099e-01 8.32769215e-01 -6.91593194e-03 9.27544305e+01] [ 1.24044466e-02 5.83381832e-05 9.99923060e-01 2.41089239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28804094199998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:115.69, Y:92.78, Z:2.41 [[ 8.29650705e-01 -5.58186677e-01 -1.03605534e-02 1.15693355e+02] [ 5.58145021e-01 8.29715384e-01 -6.82030530e-03 9.27758787e+01] [ 1.24033141e-02 -1.24220180e-04 9.99923068e-01 2.40836573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.31804094199998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:115.72, Y:92.79, Z:2.41 [[ 8.30610746e-01 -5.56758132e-01 -1.03039533e-02 1.15717795e+02] [ 5.56715292e-01 8.30674655e-01 -6.90657366e-03 9.27907361e+01] [ 1.24045239e-02 3.05916439e-07 9.99923061e-01 2.41076449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34804094199998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:115.74, Y:92.81, Z:2.41 [[ 8.30786623e-01 -5.56495558e-01 -1.03092854e-02 1.15743963e+02] [ 5.56452799e-01 8.30850584e-01 -6.89844831e-03 9.28065651e+01] [ 1.24044317e-02 -5.49215453e-06 9.99923062e-01 2.40617983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.37804094199998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:115.77, Y:92.82, Z:2.41 [[ 8.30212060e-01 -5.57351586e-01 -1.03510890e-02 1.15768688e+02] [ 5.57309686e-01 8.30276581e-01 -6.83473157e-03 9.28219579e+01] [ 1.24036153e-02 -9.44855867e-05 9.99923068e-01 2.40752721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40804094199999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:115.79, Y:92.84, Z:2.41 [[ 8.29807676e-01 -5.57953190e-01 -1.03662147e-02 1.15791202e+02] [ 5.57911624e-01 8.29872412e-01 -6.81167351e-03 9.28364801e+01] [ 1.24032306e-02 -1.31052704e-04 9.99923068e-01 2.40517768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.438040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.82, Y:92.85, Z:2.41 [[ 8.29152746e-01 -5.58926832e-01 -1.03208314e-02 1.15815550e+02] [ 5.58884480e-01 8.29216976e-01 -6.88081621e-03 9.28525076e+01] [ 1.24040814e-02 -6.29048219e-05 9.99923064e-01 2.40777830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.84, Y:92.87, Z:2.41 [[ 8.29662414e-01 -5.58169496e-01 -1.03485977e-02 1.15841207e+02] [ 5.58127612e-01 8.29726945e-01 -6.83852623e-03 9.28665700e+01] [ 1.24035671e-02 -1.02169948e-04 9.99923068e-01 2.40803338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.86, Y:92.88, Z:2.41 [[ 8.26645239e-01 -5.62627882e-01 -1.03689967e-02 1.15858397e+02] [ 5.62586735e-01 8.26710242e-01 -6.80745493e-03 9.28848798e+01] [ 1.24022197e-02 -2.06109772e-04 9.99923068e-01 2.40678054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.528040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.89, Y:92.90, Z:2.41 [[ 8.28427432e-01 -5.60002251e-01 -1.02697645e-02 1.15889783e+02] [ 5.59959018e-01 8.28491085e-01 -6.95840473e-03 9.28986678e+01] [ 1.24051307e-02 1.38861073e-05 9.99923053e-01 2.40908639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.91, Y:92.91, Z:2.41 [[ 8.27381208e-01 -5.61544983e-01 -1.03715352e-02 1.15913288e+02] [ 5.61503801e-01 8.27446188e-01 -6.80346658e-03 9.29142275e+01] [ 1.24023398e-02 -1.94596054e-04 9.99923069e-01 2.40782236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.94, Y:92.93, Z:2.41 [[ 8.26015260e-01 -5.63552481e-01 -1.03629508e-02 1.15937945e+02] [ 5.63511293e-01 8.26080237e-01 -6.81653053e-03 9.29307177e+01] [ 1.24021015e-02 -2.09081570e-04 9.99923069e-01 2.40504401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.618040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:115.95, Y:92.95, Z:2.40 [[ 8.25154095e-01 -5.64811851e-01 -1.04064111e-02 1.15954604e+02] [ 5.64771594e-01 8.25219655e-01 -6.75040046e-03 9.29464421e+01] [ 1.24002812e-02 -3.07124812e-04 9.99923066e-01 2.40327178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.648040942 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:115.98, Y:92.96, Z:2.41 [[ 8.25464726e-01 -5.64359677e-01 -1.03024310e-02 1.15983424e+02] [ 5.64317403e-01 8.25529008e-01 -6.90845164e-03 9.29621128e+01] [ 1.24038072e-02 -1.11157978e-04 9.99923064e-01 2.40701905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.01, Y:92.98, Z:2.41 [[ 8.25438279e-01 -5.64397043e-01 -1.03743059e-02 1.16005328e+02] [ 5.64356139e-01 8.25503434e-01 -6.79915607e-03 9.29774617e+01] [ 1.24014487e-02 -2.42519548e-04 9.99923070e-01 2.40637919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.03, Y:92.99, Z:2.41 [[ 8.25496524e-01 -5.64312069e-01 -1.03622778e-02 1.16027256e+02] [ 5.64270930e-01 8.25561530e-01 -6.81743846e-03 9.29947803e+01] [ 1.24018607e-02 -2.19360345e-04 9.99923070e-01 2.40554760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.73804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.04, Y:93.01, Z:2.40 [[ 8.24120817e-01 -5.66319182e-01 -1.03664162e-02 1.16042521e+02] [ 5.66278280e-01 8.24185973e-01 -6.81115206e-03 9.30125114e+01] [ 1.24011409e-02 -2.57064121e-04 9.99923070e-01 2.40369017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.07, Y:93.03, Z:2.40 [[ 8.26362677e-01 -5.63044971e-01 -1.02511996e-02 1.16072703e+02] [ 5.63001631e-01 8.26426258e-01 -6.98595260e-03 9.30278715e+01] [ 1.24052660e-02 1.48838729e-06 9.99923052e-01 2.40409603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.79804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.10, Y:93.04, Z:2.40 [[ 8.27170470e-01 -5.61855587e-01 -1.03592066e-02 1.16095811e+02] [ 5.61814198e-01 8.27235316e-01 -6.82194306e-03 9.30442901e+01] [ 1.24024484e-02 -1.77039500e-04 9.99923071e-01 2.40360750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.11, Y:93.06, Z:2.40 [[ 8.25588992e-01 -5.64176847e-01 -1.03586070e-02 1.16108919e+02] [ 5.64135629e-01 8.25653947e-01 -6.82285347e-03 9.30615392e+01] [ 1.24019207e-02 -2.10786531e-04 9.99923071e-01 2.40163158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.85804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.13, Y:93.08, Z:2.40 [[ 8.25708491e-01 -5.64004628e-01 -1.02111244e-02 1.16131791e+02] [ 5.63960611e-01 8.25771625e-01 -7.04653621e-03 9.30766641e+01] [ 1.24063358e-02 5.97128184e-05 9.99923037e-01 2.40188185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.15, Y:93.09, Z:2.40 [[ 8.26209197e-01 -5.63270600e-01 -1.02271148e-02 1.16154342e+02] [ 5.63226828e-01 8.26272491e-01 -7.02219718e-03 9.30934718e+01] [ 1.24057808e-02 4.16184691e-05 9.99923044e-01 2.40224297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.91804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.19, Y:93.11, Z:2.40 [[ 8.29370907e-01 -5.58604864e-01 -1.02227347e-02 1.16188017e+02] [ 5.58560654e-01 8.29433898e-01 -7.02886242e-03 9.31070954e+01] [ 1.24054395e-02 1.19516594e-04 9.99923042e-01 2.40496485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.20, Y:93.12, Z:2.41 [[ 8.28801940e-01 -5.59445996e-01 -1.03692778e-02 1.16201173e+02] [ 5.59404623e-01 8.28866788e-01 -6.80558398e-03 9.31230339e+01] [ 1.24021067e-02 -1.60140742e-04 9.99923078e-01 2.40613479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.23, Y:93.14, Z:2.40 [[ 8.27823355e-01 -5.60895869e-01 -1.02135571e-02 1.16225230e+02] [ 5.60851664e-01 8.27886353e-01 -7.04250040e-03 9.31423326e+01] [ 1.24057739e-02 1.01655806e-04 9.99923040e-01 2.40440462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.25, Y:93.16, Z:2.41 [[ 8.28641196e-01 -5.59686362e-01 -1.02442202e-02 1.16245617e+02] [ 5.59642642e-01 8.28704515e-01 -6.99575951e-03 9.31585314e+01] [ 1.24048627e-02 6.38720750e-05 9.99923055e-01 2.40602534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.28, Y:93.17, Z:2.40 [[ 8.30748565e-01 -5.56554751e-01 -1.01799504e-02 1.16281699e+02] [ 5.56509589e-01 8.30810904e-01 -7.09367192e-03 9.31731907e+01] [ 1.24056306e-02 2.27817767e-04 9.99923021e-01 2.40496065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.29, Y:93.19, Z:2.41 [[ 8.25593015e-01 -5.64170659e-01 -1.03750256e-02 1.16288208e+02] [ 5.64129779e-01 8.25658167e-01 -6.79585809e-03 9.31920209e+01] [ 1.24002484e-02 -2.42247924e-04 9.99923085e-01 2.41203923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.09804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.33, Y:93.20, Z:2.41 [[ 8.30947974e-01 -5.56257423e-01 -1.01559996e-02 1.16329343e+02] [ 5.56211802e-01 8.31009990e-01 -7.12932717e-03 9.32047418e+01] [ 1.24054783e-02 2.75213097e-04 9.99923011e-01 2.40736336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.35, Y:93.22, Z:2.41 [[ 8.30709678e-01 -5.56609228e-01 -1.03729564e-02 1.16352249e+02] [ 5.56567725e-01 8.30774428e-01 -6.79829244e-03 9.32206168e+01] [ 1.24015792e-02 -1.25845427e-04 9.99923090e-01 2.40784220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.15804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.36, Y:93.24, Z:2.41 [[ 8.27245582e-01 -5.61744771e-01 -1.03710655e-02 1.16357413e+02] [ 5.61703633e-01 8.27310566e-01 -6.80117589e-03 9.32375855e+01] [ 1.24006170e-02 -1.99222452e-04 9.99923090e-01 2.40773227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.39, Y:93.25, Z:2.41 [[ 8.28201093e-01 -5.60340094e-01 -1.00960144e-02 1.16386542e+02] [ 5.60293676e-01 8.28262564e-01 -7.21951113e-03 9.32545097e+01] [ 1.24075323e-02 3.22474009e-04 9.99922972e-01 2.41015654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.42, Y:93.27, Z:2.41 [[ 8.27116150e-01 -5.61938894e-01 -1.01760923e-02 1.16420853e+02] [ 5.61894089e-01 8.27178733e-01 -7.09765276e-03 9.32722853e+01] [ 1.24058942e-02 1.52697137e-04 9.99923032e-01 2.40803099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.44, Y:93.29, Z:2.41 [[ 8.25408316e-01 -5.64440934e-01 -1.03703726e-02 1.16440923e+02] [ 5.64400005e-01 8.25473425e-01 -6.80142818e-03 9.32891655e+01] [ 1.23994715e-02 -2.39082978e-04 9.99923095e-01 2.41060498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.46, Y:93.30, Z:2.41 [[ 8.26950888e-01 -5.62179080e-01 -1.03397951e-02 1.16457291e+02] [ 5.62137389e-01 8.27015514e-01 -6.84803626e-03 9.33004461e+01] [ 1.24009937e-02 -1.49395781e-04 9.99923094e-01 2.41034003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.49, Y:93.32, Z:2.41 [[ 8.24080998e-01 -5.66380301e-01 -1.01913085e-02 1.16489759e+02] [ 5.66336124e-01 8.24144011e-01 -7.07414325e-03 9.33216241e+01] [ 1.24057613e-02 5.79608549e-05 9.99923044e-01 2.41161928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.51, Y:93.33, Z:2.41 [[ 8.25425963e-01 -5.64415023e-01 -1.03760012e-02 1.16509074e+02] [ 5.64374205e-01 8.25491138e-01 -6.79242927e-03 9.33346621e+01] [ 1.23990461e-02 -2.49299937e-04 9.99923098e-01 2.41097746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.53, Y:93.36, Z:2.41 [[ 8.22282886e-01 -5.68986134e-01 -1.02778891e-02 1.16533976e+02] [ 5.68943802e-01 8.22347104e-01 -6.94189960e-03 9.33563842e+01] [ 1.24018369e-02 -1.39336066e-04 9.99923085e-01 2.41076125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.398040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:116.55, Y:93.37, Z:2.41 [[ 8.20328081e-01 -5.71799184e-01 -1.03698401e-02 1.16552021e+02] [ 5.71758835e-01 8.20393547e-01 -6.80171210e-03 9.33742849e+01] [ 1.23965633e-02 -3.49412251e-04 9.99923099e-01 2.41487889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.428040942 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:116.58, Y:93.39, Z:2.41 [[ 8.21877382e-01 -5.69571030e-01 -1.03155547e-02 1.16579200e+02] [ 5.69529464e-01 8.21942087e-01 -6.88441554e-03 9.33913690e+01] [ 1.23999522e-02 -2.16866944e-04 9.99923094e-01 2.41221461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.458040942 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:116.60, Y:93.40, Z:2.41 [[ 8.23318016e-01 -5.67485638e-01 -1.03679748e-02 1.16597208e+02] [ 5.67444911e-01 8.23383247e-01 -6.80454406e-03 9.34049980e+01] [ 1.23982978e-02 -2.80950813e-04 9.99923099e-01 2.41397222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48804094199997 meters Centerline goodness : 0.998542 Centerline is valid? [True, True] Translation: X:116.63, Y:93.42, Z:2.41 [[ 8.22524903e-01 -5.68636824e-01 -1.02443022e-02 1.16625474e+02] [ 5.68593833e-01 8.22588692e-01 -6.99261899e-03 9.34244752e+01] [ 1.24031078e-02 -7.32438126e-05 9.99923076e-01 2.41462818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.51804094199997 meters Centerline goodness : 0.997980 Centerline is valid? [True, True] Translation: X:116.65, Y:93.44, Z:2.41 [[ 8.24038793e-01 -5.66438546e-01 -1.03653846e-02 1.16646333e+02] [ 5.66397688e-01 8.24103941e-01 -6.80827538e-03 9.34400955e+01] [ 1.23986239e-02 -2.60646868e-04 9.99923100e-01 2.41423629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54804094199997 meters Centerline goodness : 0.997924 Centerline is valid? [True, True] Translation: X:116.67, Y:93.46, Z:2.42 [[ 8.25919431e-01 -5.63693808e-01 -1.03142802e-02 1.16668034e+02] [ 5.63651762e-01 8.25983822e-01 -6.88593754e-03 9.34577393e+01] [ 1.24009889e-02 -1.26432586e-04 9.99923097e-01 2.41929918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.57804094199997 meters Centerline goodness : 0.997274 Centerline is valid? [True, True] Translation: X:116.69, Y:93.48, Z:2.42 [[ 8.26794044e-01 -5.62410880e-01 -1.02767255e-02 1.16689933e+02] [ 5.62368024e-01 8.26857909e-01 -6.94298336e-03 9.34760717e+01] [ 1.24022011e-02 -3.88845121e-05 9.99923089e-01 2.41697365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60804094199997 meters Centerline goodness : 0.996503 Centerline is valid? [True, True] Translation: X:116.72, Y:93.49, Z:2.42 [[ 8.27279990e-01 -5.61695940e-01 -1.02708245e-02 1.16715280e+02] [ 5.61652918e-01 8.27343744e-01 -6.95194464e-03 9.34924681e+01] [ 1.24023815e-02 -1.74338611e-05 9.99923087e-01 2.41738744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.63804094199998 meters Centerline goodness : 0.996615 Centerline is valid? [True, True] Translation: X:116.74, Y:93.51, Z:2.42 [[ 8.27580478e-01 -5.61252423e-01 -1.03088011e-02 1.16736487e+02] [ 5.61210083e-01 8.27644677e-01 -6.89424945e-03 9.35093837e+01] [ 1.24014386e-02 -7.98568880e-05 9.99923096e-01 2.41774556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66804094199998 meters Centerline goodness : 0.997292 Centerline is valid? [True, True] Translation: X:116.77, Y:93.53, Z:2.42 [[ 8.32162670e-01 -5.54436467e-01 -1.02710662e-02 1.16770987e+02] [ 5.54392890e-01 8.32226049e-01 -6.95175905e-03 9.35252587e+01] [ 1.24021576e-02 9.07882947e-05 9.99923086e-01 2.42036018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.69804094199998 meters Centerline goodness : 0.995038 Centerline is valid? [True, True] Translation: X:116.79, Y:93.54, Z:2.42 [[ 8.31954889e-01 -5.54745194e-01 -1.04322576e-02 1.16794917e+02] [ 5.54704702e-01 8.32020268e-01 -6.70579793e-03 9.35424391e+01] [ 1.23998590e-02 -2.07900988e-04 9.99923097e-01 2.41838153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72804094199998 meters Centerline goodness : 0.997473 Centerline is valid? [True, True] Translation: X:116.81, Y:93.56, Z:2.42 [[ 8.31587266e-01 -5.55295843e-01 -1.04472500e-02 1.16813237e+02] [ 5.55255682e-01 8.31652852e-01 -6.68287595e-03 9.35576345e+01] [ 1.23994585e-02 -2.43500398e-04 9.99923094e-01 2.42464767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75804094199998 meters Centerline goodness : 0.995194 Centerline is valid? [True, True] Translation: X:116.84, Y:93.58, Z:2.42 [[ 8.32250008e-01 -5.54304063e-01 -1.03406927e-02 1.16844728e+02] [ 5.54261792e-01 8.32314247e-01 -6.84552639e-03 9.35750512e+01] [ 1.24012089e-02 -3.42614702e-05 9.99923101e-01 2.42091762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78804094199998 meters Centerline goodness : 0.996126 Centerline is valid? [True, True] Translation: X:116.87, Y:93.59, Z:2.42 [[ 8.32007545e-01 -5.54665447e-01 -1.04731702e-02 1.16867157e+02] [ 5.54625726e-01 8.32073412e-01 -6.64390319e-03 9.35900771e+01] [ 1.23995900e-02 -2.80912047e-04 9.99923083e-01 2.42321689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.81804094199998 meters Centerline goodness : 0.994455 Centerline is valid? [True, True] Translation: X:116.89, Y:93.61, Z:2.42 [[ 8.31011704e-01 -5.56156559e-01 -1.04608776e-02 1.16892122e+02] [ 5.56116720e-01 8.31077496e-01 -6.66258876e-03 9.36072918e+01] [ 1.23992424e-02 -2.80779674e-04 9.99923087e-01 2.42301571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84804094199998 meters Centerline goodness : 0.992902 Centerline is valid? [True, True] Translation: X:116.92, Y:93.62, Z:2.42 [[ 8.30600982e-01 -5.56769522e-01 -1.04741822e-02 1.16915375e+02] [ 5.56729987e-01 8.30666961e-01 -6.64238402e-03 9.36242421e+01] [ 1.23988340e-02 -3.14120610e-04 9.99923082e-01 2.42238915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.87804094199998 meters Centerline goodness : 0.994102 Centerline is valid? [True, True] Translation: X:116.93, Y:93.64, Z:2.43 [[ 8.30095757e-01 -5.57522323e-01 -1.04830732e-02 1.16931521e+02] [ 5.57483018e-01 8.30161878e-01 -6.62885657e-03 9.36391786e+01] [ 1.23983832e-02 -3.41549579e-04 9.99923079e-01 2.42587281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90804094199999 meters Centerline goodness : 0.993254 Centerline is valid? [True, True] Translation: X:116.96, Y:93.66, Z:2.42 [[ 8.31857141e-01 -5.54892914e-01 -1.03707099e-02 1.16962191e+02] [ 5.54851261e-01 8.31921778e-01 -6.79955417e-03 9.36550614e+01] [ 1.24006438e-02 -9.79437612e-05 9.99923104e-01 2.42441002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.938040942 meters Centerline goodness : 0.993063 Centerline is valid? [True, True] Translation: X:116.99, Y:93.67, Z:2.42 [[ 8.33182668e-01 -5.52898423e-01 -1.04869032e-02 1.16989044e+02] [ 5.52858827e-01 8.33248616e-01 -6.62282088e-03 9.36697314e+01] [ 1.23999448e-02 -2.79757398e-04 9.99923079e-01 2.42491892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.968040942 meters Centerline goodness : 0.984074 Centerline is valid? [True, True] Translation: X:117.00, Y:93.69, Z:2.41 [[ 8.28794209e-01 -5.59454222e-01 -1.05419370e-02 1.17003671e+02] [ 5.59416209e-01 8.28861113e-01 -6.53908555e-03 9.36917220e+01] [ 1.23961206e-02 -4.77774175e-04 9.99923051e-01 2.41354750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.998040942 meters Centerline goodness : 0.985223 Centerline is valid? [True, True] Translation: X:117.02, Y:93.71, Z:2.42 [[ 8.29158930e-01 -5.58915263e-01 -1.04497977e-02 1.17024952e+02] [ 5.58875442e-01 8.29224721e-01 -6.67857698e-03 9.37067961e+01] [ 1.23979892e-02 -3.02533549e-04 9.99923096e-01 2.41624416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.028040942 meters Centerline goodness : 0.982046 Centerline is valid? [True, True] Translation: X:117.05, Y:93.73, Z:2.41 [[ 8.26276769e-01 -5.63168082e-01 -1.04121416e-02 1.17048300e+02] [ 5.63127878e-01 8.26342316e-01 -6.73567644e-03 9.37272704e+01] [ 1.23973112e-02 -2.97834257e-04 9.99923106e-01 2.41344932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.058040942 meters Centerline goodness : 0.988594 Centerline is valid? [True, True] Translation: X:117.07, Y:93.74, Z:2.42 [[ 8.27591861e-01 -5.61232952e-01 -1.04539531e-02 1.17073140e+02] [ 5.61193395e-01 8.27657812e-01 -6.67226485e-03 9.37409697e+01] [ 1.23969909e-02 -3.44777356e-04 9.99923095e-01 2.42017010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.088040942 meters Centerline goodness : 0.982055 Centerline is valid? [True, True] Translation: X:117.10, Y:93.76, Z:2.41 [[ 8.28997255e-01 -5.59155058e-01 -1.04485367e-02 1.17100675e+02] [ 5.59115233e-01 8.29063043e-01 -6.68044080e-03 9.37578565e+01] [ 1.23978979e-02 -3.03868930e-04 9.99923097e-01 2.41371160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.118040942 meters Centerline goodness : 0.989890 Centerline is valid? [True, True] Translation: X:117.12, Y:93.78, Z:2.43 [[ 8.22821684e-01 -5.68202356e-01 -1.05146778e-02 1.17115913e+02] [ 5.68164524e-01 8.22888674e-01 -6.58057129e-03 9.37758805e+01] [ 1.23915054e-02 -5.59430161e-04 9.99923066e-01 2.42607108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.148040942 meters Centerline goodness : 0.990967 Centerline is valid? [True, True] Translation: X:117.14, Y:93.79, Z:2.43 [[ 8.21587954e-01 -5.69986619e-01 -1.04157416e-02 1.17136755e+02] [ 5.69947031e-01 8.21653874e-01 -6.73003714e-03 9.37921652e+01] [ 1.23941655e-02 -4.07103552e-04 9.99923107e-01 2.42776532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.178040942 meters Centerline goodness : 0.978174 Centerline is valid? [True, True] Translation: X:117.15, Y:93.81, Z:2.41 [[ 8.18291661e-01 -5.74708974e-01 -1.04093068e-02 1.17148393e+02] [ 5.74669643e-01 8.18357732e-01 -6.73975299e-03 9.38099307e+01] [ 1.23919332e-02 -4.66828928e-04 9.99923108e-01 2.41381563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.208040942 meters Centerline goodness : 0.981207 Centerline is valid? [True, True] Translation: X:117.17, Y:93.83, Z:2.42 [[ 8.15541504e-01 -5.78608176e-01 -1.02290735e-02 1.17168597e+02] [ 5.78565717e-01 8.15605627e-01 -7.01230296e-03 9.38283281e+01] [ 1.24002657e-02 -1.99367124e-04 9.99923094e-01 2.41694690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.23804094199997 meters Centerline goodness : 0.979827 Centerline is valid? [True, True] Translation: X:117.20, Y:93.84, Z:2.42 [[ 8.17841050e-01 -5.75353596e-01 -1.02106371e-02 1.17202235e+02] [ 5.75310533e-01 8.17904778e-01 -7.04016971e-03 9.38434751e+01] [ 1.24019158e-02 -1.16547267e-04 9.99923087e-01 2.41686503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26804094199997 meters Centerline goodness : 0.982887 Centerline is valid? [True, True] Translation: X:117.24, Y:93.86, Z:2.42 [[ 8.22686855e-01 -5.68400439e-01 -1.03575953e-02 1.17239382e+02] [ 5.68359618e-01 8.22752006e-01 -6.81767510e-03 9.38594690e+01] [ 1.23969019e-02 -2.78027229e-04 9.99923117e-01 2.41767925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.29804094199997 meters Centerline goodness : 0.983880 Centerline is valid? [True, True] Translation: X:117.25, Y:93.88, Z:2.42 [[ 8.17870377e-01 -5.75305342e-01 -1.05740755e-02 1.17247211e+02] [ 5.75269266e-01 8.17938361e-01 -6.48914174e-03 9.38784657e+01] [ 1.23821799e-02 -7.75663861e-04 9.99923037e-01 2.42078250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32804094199997 meters Centerline goodness : 0.979462 Centerline is valid? [True, True] Translation: X:117.26, Y:93.90, Z:2.41 [[ 8.16785556e-01 -5.76848200e-01 -1.03686627e-02 1.17258806e+02] [ 5.76808279e-01 8.16851255e-01 -6.79979672e-03 9.38986200e+01] [ 1.23921057e-02 -4.26754766e-04 9.99923124e-01 2.41374139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.35804094199997 meters Centerline goodness : 0.984358 Centerline is valid? [True, True] Translation: X:117.28, Y:93.92, Z:2.42 [[ 8.16868117e-01 -5.76733537e-01 -1.02424070e-02 1.17277644e+02] [ 5.76691204e-01 8.16932303e-01 -6.99047487e-03 9.39151370e+01] [ 1.23989944e-02 -1.96409986e-04 9.99923110e-01 2.41927623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38804094199998 meters Centerline goodness : 0.983575 Centerline is valid? [True, True] Translation: X:117.28, Y:93.93, Z:2.42 [[ 8.13072494e-01 -5.82073678e-01 -1.01662050e-02 1.17280103e+02] [ 5.82030324e-01 8.13136036e-01 -7.10553281e-03 9.39327049e+01] [ 1.24024513e-02 -1.39726302e-04 9.99923077e-01 2.41688035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.41804094199998 meters Centerline goodness : 0.987468 Centerline is valid? [True, True] Translation: X:117.31, Y:93.95, Z:2.42 [[ 8.15290335e-01 -5.78967948e-01 -9.88859781e-03 1.17314369e+02] [ 5.78919201e-01 8.15350199e-01 -7.52407583e-03 9.39526292e+01] [ 1.24188689e-02 4.09607162e-04 9.99922799e-01 2.42115345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44804094199998 meters Centerline goodness : 0.988072 Centerline is valid? [True, True] Translation: X:117.34, Y:93.97, Z:2.42 [[ 8.15020947e-01 -5.79343921e-01 -1.00736137e-02 1.17335092e+02] [ 5.79298624e-01 8.15083196e-01 -7.24483238e-03 9.39692341e+01] [ 1.24080829e-02 6.90595796e-05 9.99923014e-01 2.42305005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.47804094199998 meters Centerline goodness : 0.982942 Centerline is valid? [True, True] Translation: X:117.36, Y:93.99, Z:2.42 [[ 8.15956737e-01 -5.78025648e-01 -1.00475632e-02 1.17356231e+02] [ 5.77979765e-01 8.16018586e-01 -7.28418299e-03 9.39878808e+01] [ 1.24094429e-02 1.36289971e-04 9.99922991e-01 2.41561182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50804094199998 meters Centerline goodness : 0.985746 Centerline is valid? [True, True] Translation: X:117.39, Y:94.00, Z:2.42 [[ 8.20901099e-01 -5.70981614e-01 -1.00688849e-02 1.17390800e+02] [ 5.70935599e-01 8.20962822e-01 -7.25170860e-03 9.40006597e+01] [ 1.24067724e-02 2.04250728e-04 9.99923012e-01 2.42196532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.53804094199998 meters Centerline goodness : 0.988167 Centerline is valid? [True, True] Translation: X:117.40, Y:94.02, Z:2.42 [[ 8.15026462e-01 -5.79333853e-01 -1.02055340e-02 1.17401082e+02] [ 5.79291063e-01 8.15090337e-01 -7.04321695e-03 9.40222165e+01] [ 1.23988062e-02 -1.71566458e-04 9.99923117e-01 2.42347380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56804094199998 meters Centerline goodness : 0.990593 Centerline is valid? [True, True] Translation: X:117.44, Y:94.03, Z:2.43 [[ 8.21598003e-01 -5.69978468e-01 -1.00631541e-02 1.17438028e+02] [ 5.69932269e-01 8.21659597e-01 -7.26057121e-03 9.40333584e+01] [ 1.24068564e-02 2.29954550e-04 9.99923006e-01 2.42855018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.59804094199998 meters Centerline goodness : 0.990793 Centerline is valid? [True, True] Translation: X:117.46, Y:94.05, Z:2.43 [[ 8.20852489e-01 -5.71048686e-01 -1.02268985e-02 1.17461968e+02] [ 5.71005668e-01 8.20916190e-01 -7.00974283e-03 9.40488996e+01] [ 1.23983310e-02 -8.56521589e-05 9.99923134e-01 2.42916192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62804094199998 meters Centerline goodness : 0.989252 Centerline is valid? [True, True] Translation: X:117.49, Y:94.06, Z:2.43 [[ 8.20307939e-01 -5.71830435e-01 -1.02391272e-02 1.17486139e+02] [ 5.71787711e-01 8.20371830e-01 -6.99100464e-03 9.40647271e+01] [ 1.23975608e-02 -1.19830526e-04 9.99923140e-01 2.42722419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.65804094199999 meters Centerline goodness : 0.989336 Centerline is valid? [True, True] Translation: X:117.51, Y:94.08, Z:2.43 [[ 8.19697473e-01 -5.72705217e-01 -1.02365354e-02 1.17513358e+02] [ 5.72662512e-01 8.19761379e-01 -6.99497567e-03 9.40802526e+01] [ 1.23975754e-02 -1.28316186e-04 9.99923139e-01 2.42838412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.688040942 meters Centerline goodness : 0.992881 Centerline is valid? [True, True] Translation: X:117.54, Y:94.10, Z:2.43 [[ 8.21102712e-01 -5.70687572e-01 -1.02971460e-02 1.17538622e+02] [ 5.70645871e-01 8.21167249e-01 -6.90207298e-03 9.40951449e+01] [ 1.23946064e-02 -2.08713031e-04 9.99923162e-01 2.43431581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.718040942 meters Centerline goodness : 0.993356 Centerline is valid? [True, True] Translation: X:117.56, Y:94.11, Z:2.44 [[ 8.22089607e-01 -5.69264954e-01 -1.03000476e-02 1.17564758e+02] [ 5.69223197e-01 8.22154107e-01 -6.89762519e-03 9.41107551e+01] [ 1.23948027e-02 -1.92560032e-04 9.99923163e-01 2.43549305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.748040942 meters Centerline goodness : 0.992082 Centerline is valid? [True, True] Translation: X:117.59, Y:94.12, Z:2.43 [[ 8.23599544e-01 -5.67077704e-01 -1.03281062e-02 1.17593606e+02] [ 5.67036313e-01 8.23664272e-01 -6.85462387e-03 9.41242192e+01] [ 1.23939964e-02 -2.10946164e-04 9.99923169e-01 2.43462859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.778040942 meters Centerline goodness : 0.992082 Centerline is valid? [True, True] Translation: X:117.62, Y:94.14, Z:2.43 [[ 8.23566812e-01 -5.67124491e-01 -1.03690811e-02 1.17617334e+02] [ 5.67083893e-01 8.23632035e-01 -6.79182332e-03 9.41397130e+01] [ 1.23921167e-02 -2.86618575e-04 9.99923174e-01 2.43499917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.808040942 meters Centerline goodness : 0.985666 Centerline is valid? [True, True] Translation: X:117.64, Y:94.15, Z:2.42 [[ 8.28619920e-01 -5.59715572e-01 -1.03685746e-02 1.17635727e+02] [ 5.59674381e-01 8.28684770e-01 -6.79259949e-03 9.41493178e+01] [ 1.23942036e-02 -1.74542312e-04 9.99923174e-01 2.42471004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.838040942 meters Centerline goodness : 0.994767 Centerline is valid? [True, True] Translation: X:117.67, Y:94.17, Z:2.44 [[ 8.27384786e-01 -5.61542210e-01 -1.02353482e-02 1.17667937e+02] [ 5.61498625e-01 8.27448092e-01 -6.99637264e-03 9.41727339e+01] [ 1.23979779e-02 4.15583681e-05 9.99923141e-01 2.43514294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.868040942 meters Centerline goodness : 0.989891 Centerline is valid? [True, True] Translation: X:117.68, Y:94.18, Z:2.43 [[ 8.31278767e-01 -5.55757844e-01 -1.04321704e-02 1.17681921e+02] [ 5.55717565e-01 8.31344192e-01 -6.69500228e-03 9.41804011e+01] [ 1.23935243e-02 -2.31927071e-04 9.99923170e-01 2.42632998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.898040942 meters Centerline goodness : 0.994798 Centerline is valid? [True, True] Translation: X:117.72, Y:94.20, Z:2.43 [[ 8.30641076e-01 -5.56714496e-01 -1.02162910e-02 1.17716516e+02] [ 5.56670196e-01 8.30703887e-01 -7.02458051e-03 9.42016046e+01] [ 1.23973985e-02 1.47800376e-04 9.99923138e-01 2.43362917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.928040942 meters Centerline goodness : 0.993767 Centerline is valid? [True, True] Translation: X:117.73, Y:94.22, Z:2.43 [[ 8.27363293e-01 -5.61569946e-01 -1.04487756e-02 1.17728223e+02] [ 5.61530450e-01 8.27429196e-01 -6.66928797e-03 9.42186609e+01] [ 1.23908937e-02 -3.49381634e-04 9.99923169e-01 2.43259330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.958040942 meters Centerline goodness : 0.994185 Centerline is valid? [True, True] Translation: X:117.76, Y:94.23, Z:2.43 [[ 8.29669797e-01 -5.58160021e-01 -1.02673646e-02 1.17761386e+02] [ 5.58116802e-01 8.29733324e-01 -6.94591514e-03 9.42318871e+01] [ 1.23961067e-02 3.24273307e-05 9.99923165e-01 2.43360932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98804094199997 meters Centerline goodness : 0.994206 Centerline is valid? [True, True] Translation: X:117.79, Y:94.25, Z:2.43 [[ 8.30555141e-01 -5.56839700e-01 -1.03781515e-02 1.17787634e+02] [ 5.56798482e-01 8.30619965e-01 -6.77679956e-03 9.42456308e+01] [ 1.23938909e-02 -1.50033305e-04 9.99923182e-01 2.43258132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.01804094199997 meters Centerline goodness : 0.994280 Centerline is valid? [True, True] Translation: X:117.81, Y:94.26, Z:2.43 [[ 8.29753435e-01 -5.58032946e-01 -1.04148059e-02 1.17812974e+02] [ 5.57992521e-01 8.29818761e-01 -6.72084976e-03 9.42585948e+01] [ 1.23928569e-02 -2.34735618e-04 9.99923178e-01 2.43231623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04804094199997 meters Centerline goodness : 0.994915 Centerline is valid? [True, True] Translation: X:117.84, Y:94.27, Z:2.43 [[ 8.28587415e-01 -5.59763021e-01 -1.04046255e-02 1.17839018e+02] [ 5.59722538e-01 8.28652703e-01 -6.73635760e-03 9.42743515e+01] [ 1.23925850e-02 -2.42042293e-04 9.99923180e-01 2.43308672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.07804094199997 meters Centerline goodness : 0.997025 Centerline is valid? [True, True] Translation: X:117.86, Y:94.29, Z:2.44 [[ 8.28136436e-01 -5.60429729e-01 -1.04193085e-02 1.17863068e+02] [ 5.60389580e-01 8.28201933e-01 -6.71399417e-03 9.42885435e+01] [ 1.23920134e-02 -2.78768706e-04 9.99923177e-01 2.43574059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10804094199997 meters Centerline goodness : 0.990834 Centerline is valid? [True, True] Translation: X:117.89, Y:94.30, Z:2.42 [[ 8.24395735e-01 -5.65917865e-01 -1.04231742e-02 1.17888010e+02] [ 5.65878226e-01 8.24461542e-01 -6.70810637e-03 9.43039398e+01] [ 1.23897435e-02 -3.68113045e-04 9.99923176e-01 2.42105928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.13804094199998 meters Centerline goodness : 0.995026 Centerline is valid? [True, True] Translation: X:117.91, Y:94.31, Z:2.43 [[ 8.25152527e-01 -5.64813897e-01 -1.04196350e-02 1.17913942e+02] [ 5.64774102e-01 8.25218239e-01 -6.71349340e-03 9.43146734e+01] [ 1.23903472e-02 -3.45083949e-04 9.99923177e-01 2.43002831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16804094199998 meters Centerline goodness : 0.995482 Centerline is valid? [True, True] Translation: X:117.94, Y:94.33, Z:2.43 [[ 8.24223833e-01 -5.66168424e-01 -1.04109964e-02 1.17936417e+02] [ 5.66128571e-01 8.24289508e-01 -6.72665229e-03 9.43291182e+01] [ 1.23900932e-02 -3.49695390e-04 9.99923179e-01 2.43217499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.19804094199998 meters Centerline goodness : 0.996854 Centerline is valid? [True, True] Translation: X:117.96, Y:94.34, Z:2.44 [[ 8.23238637e-01 -5.67600317e-01 -1.03936126e-02 1.17962323e+02] [ 5.67560244e-01 8.23304175e-01 -6.75308543e-03 9.43446311e+01] [ 1.23901581e-02 -3.39600487e-04 9.99923181e-01 2.43501088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22804094199998 meters Centerline goodness : 0.996641 Centerline is valid? [True, True] Translation: X:117.99, Y:94.36, Z:2.43 [[ 8.22214654e-01 -5.69082240e-01 -1.04147350e-02 1.17989276e+02] [ 5.69042691e-01 8.22280514e-01 -6.72098867e-03 9.43581457e+01] [ 1.23886289e-02 -4.00333457e-04 9.99923178e-01 2.43394673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.25804094199998 meters Centerline goodness : 0.995488 Centerline is valid? [True, True] Translation: X:118.01, Y:94.37, Z:2.43 [[ 8.21968504e-01 -5.69437500e-01 -1.04264727e-02 1.18014722e+02] [ 5.69398205e-01 8.22034519e-01 -6.70319104e-03 9.43727375e+01] [ 1.23879688e-02 -4.27002945e-04 9.99923175e-01 2.43078067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28804094199998 meters Centerline goodness : 0.995061 Centerline is valid? [True, True] Translation: X:118.04, Y:94.39, Z:2.43 [[ 8.23264138e-01 -5.67562779e-01 -1.04235427e-02 1.18042104e+02] [ 5.67523278e-01 8.23330029e-01 -6.70763043e-03 9.43859406e+01] [ 1.23890171e-02 -3.93451561e-04 9.99923176e-01 2.43096540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.31804094199998 meters Centerline goodness : 0.994908 Centerline is valid? [True, True] Translation: X:118.07, Y:94.40, Z:2.43 [[ 8.23725541e-01 -5.66892556e-01 -1.04433174e-02 1.18067368e+02] [ 5.66853380e-01 8.23791633e-01 -6.67768252e-03 9.44008733e+01] [ 1.23886460e-02 -4.19252103e-04 9.99923170e-01 2.43019869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34804094199998 meters Centerline goodness : 0.989351 Centerline is valid? [True, True] Translation: X:118.11, Y:94.43, Z:2.41 [[ 8.19291200e-01 -5.73282786e-01 -1.04296324e-02 1.18105270e+02] [ 5.73243862e-01 8.19357435e-01 -6.69835361e-03 9.44251096e+01] [ 1.23856477e-02 -4.90820587e-04 9.99923174e-01 2.41259491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.37804094199998 meters Centerline goodness : 0.994185 Centerline is valid? [True, True] Translation: X:118.12, Y:94.43, Z:2.43 [[ 8.24256119e-01 -5.66115347e-01 -1.07361456e-02 1.18121467e+02] [ 5.66081794e-01 8.24325502e-01 -6.23452727e-03 9.44308210e+01] [ 1.23795402e-02 -9.38689332e-04 9.99922930e-01 2.42916773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40804094199999 meters Centerline goodness : 0.993876 Centerline is valid? [True, True] Translation: X:118.14, Y:94.45, Z:2.43 [[ 8.23546267e-01 -5.67152497e-01 -1.04686203e-02 1.18142307e+02] [ 5.67113848e-01 8.23612666e-01 -6.63775038e-03 9.44457812e+01] [ 1.23867050e-02 -4.70405010e-04 9.99923171e-01 2.42635294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.438040942 meters Centerline goodness : 0.997795 Centerline is valid? [True, True] Translation: X:118.17, Y:94.46, Z:2.44 [[ 8.22671529e-01 -5.68421274e-01 -1.04312085e-02 1.18165652e+02] [ 5.68382012e-01 8.22737551e-01 -6.69410920e-03 9.44581209e+01] [ 1.23872210e-02 -4.21858227e-04 9.99923186e-01 2.44337156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.468040942 meters Centerline goodness : 0.995203 Centerline is valid? [True, True] Translation: X:118.19, Y:94.47, Z:2.43 [[ 8.21848837e-01 -5.69610491e-01 -1.04104050e-02 1.18190163e+02] [ 5.69570928e-01 8.21914671e-01 -6.72543728e-03 9.44727161e+01] [ 1.23873442e-02 -4.02171205e-04 9.99923193e-01 2.43486798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.498040942 meters Centerline goodness : 0.994963 Centerline is valid? [True, True] Translation: X:118.22, Y:94.49, Z:2.44 [[ 8.21975883e-01 -5.69427432e-01 -1.03945483e-02 1.18216761e+02] [ 5.69387553e-01 8.22041521e-01 -6.74928888e-03 9.44872319e+01] [ 1.23879806e-02 -3.70773762e-04 9.99923197e-01 2.43539467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.528040942 meters Centerline goodness : 0.995407 Centerline is valid? [True, True] Translation: X:118.23, Y:94.50, Z:2.44 [[ 8.20438291e-01 -5.71640166e-01 -1.04178431e-02 1.18234500e+02] [ 5.71600908e-01 8.20504309e-01 -6.71425342e-03 9.45012137e+01] [ 1.23860221e-02 -4.46217985e-04 9.99923191e-01 2.43776781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.558040942 meters Centerline goodness : 0.995513 Centerline is valid? [True, True] Translation: X:118.27, Y:94.52, Z:2.44 [[ 8.24701739e-01 -5.65473822e-01 -1.03149597e-02 1.18274735e+02] [ 5.65432129e-01 8.24766226e-01 -6.86875600e-03 9.45155816e+01] [ 1.23915321e-02 -1.67734622e-04 9.99923208e-01 2.43728232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.588040942 meters Centerline goodness : 0.994412 Centerline is valid? [True, True] Translation: X:118.30, Y:94.53, Z:2.43 [[ 8.24821736e-01 -5.65293999e-01 -1.05735225e-02 1.18297280e+02] [ 5.65257222e-01 8.24889262e-01 -6.47905393e-03 9.45304068e+01] [ 1.23845555e-02 -6.32695464e-04 9.99923108e-01 2.43457760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.618040942 meters Centerline goodness : 0.995927 Centerline is valid? [True, True] Translation: X:118.32, Y:94.55, Z:2.44 [[ 8.25324061e-01 -5.64561084e-01 -1.05345602e-02 1.18322418e+02] [ 5.64523498e-01 8.25391106e-01 -6.53769830e-03 9.45461946e+01] [ 1.23860623e-02 -5.51287072e-04 9.99923138e-01 2.43933194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.648040942 meters Centerline goodness : 0.995622 Centerline is valid? [True, True] Translation: X:118.35, Y:94.56, Z:2.44 [[ 8.25446768e-01 -5.64381792e-01 -1.05273509e-02 1.18348719e+02] [ 5.64344054e-01 8.25513722e-01 -6.54850887e-03 9.45625132e+01] [ 1.23863318e-02 -5.35602424e-04 9.99923143e-01 2.43890447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.678040942 meters Centerline goodness : 0.995901 Centerline is valid? [True, True] Translation: X:118.36, Y:94.58, Z:2.44 [[ 8.22258632e-01 -5.69016022e-01 -1.05597728e-02 1.18356578e+02] [ 5.68979284e-01 8.22326168e-01 -6.49991544e-03 9.45776949e+01] [ 1.23821335e-02 -6.63680391e-04 9.99923118e-01 2.44119182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.708040942 meters Centerline goodness : 0.995918 Centerline is valid? [True, True] Translation: X:118.38, Y:94.59, Z:2.44 [[ 8.22658926e-01 -5.68441983e-01 -1.02958011e-02 1.18380915e+02] [ 5.68400203e-01 8.22723331e-01 -6.89413699e-03 9.45936587e+01] [ 1.23895127e-02 -1.80612118e-04 9.99923231e-01 2.44065289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.73804094199997 meters Centerline goodness : 0.996810 Centerline is valid? [True, True] Translation: X:118.41, Y:94.61, Z:2.44 [[ 8.25771529e-01 -5.63910821e-01 -1.02940824e-02 1.18413108e+02] [ 5.63868656e-01 8.25835682e-01 -6.89670235e-03 9.46071259e+01] [ 1.23903457e-02 -1.09409963e-04 9.99923231e-01 2.43964091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76804094199997 meters Centerline goodness : 0.996768 Centerline is valid? [True, True] Translation: X:118.44, Y:94.62, Z:2.44 [[ 8.26166112e-01 -5.63330559e-01 -1.04036871e-02 1.18440811e+02] [ 5.63290396e-01 8.26231561e-01 -6.73331418e-03 9.46236334e+01] [ 1.23889363e-02 -2.97461040e-04 9.99923210e-01 2.43662099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.79804094199997 meters Centerline goodness : 0.997176 Centerline is valid? [True, True] Translation: X:118.45, Y:94.64, Z:2.44 [[ 8.23373120e-01 -5.67404188e-01 -1.04495025e-02 1.18453124e+02] [ 5.67365212e-01 8.23439307e-01 -6.66504960e-03 9.46400837e+01] [ 1.23863082e-02 -4.40861537e-04 9.99923190e-01 2.43979164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82804094199997 meters Centerline goodness : 0.997856 Centerline is valid? [True, True] Translation: X:118.48, Y:94.66, Z:2.44 [[ 8.23452603e-01 -5.67291901e-01 -1.02815135e-02 1.18478159e+02] [ 5.67249773e-01 8.23516776e-01 -6.91482991e-03 9.46552216e+01] [ 1.23897259e-02 -1.38151511e-04 9.99923235e-01 2.43959659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.85804094199997 meters Centerline goodness : 0.997619 Centerline is valid? [True, True] Translation: X:118.51, Y:94.67, Z:2.44 [[ 8.26348295e-01 -5.63065557e-01 -1.02798139e-02 1.18513438e+02] [ 5.63023069e-01 8.26412230e-01 -6.91735566e-03 9.46697126e+01] [ 1.23902886e-02 -7.16273176e-05 9.99923235e-01 2.43594088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88804094199998 meters Centerline goodness : 0.998435 Centerline is valid? [True, True] Translation: X:118.53, Y:94.69, Z:2.44 [[ 8.22745385e-01 -5.68314143e-01 -1.04434363e-02 1.18526781e+02] [ 5.68275129e-01 8.22811544e-01 -6.67382743e-03 9.46853529e+01] [ 1.23858105e-02 -4.43884404e-04 9.99923194e-01 2.43942680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.91804094199998 meters Centerline goodness : 0.998546 Centerline is valid? [True, True] Translation: X:118.56, Y:94.70, Z:2.44 [[ 8.24669230e-01 -5.65521912e-01 -1.02775760e-02 1.18558921e+02] [ 5.65479580e-01 8.24733264e-01 -6.92015828e-03 9.46997100e+01] [ 1.23897600e-02 -1.04917779e-04 9.99923238e-01 2.43753534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94804094199998 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:118.57, Y:94.72, Z:2.44 [[ 8.22539049e-01 -5.68613774e-01 -1.03869792e-02 1.18573964e+02] [ 5.68573724e-01 8.22604556e-01 -6.75754072e-03 9.47160497e+01] [ 1.23868072e-02 -3.47422338e-04 9.99923220e-01 2.43872872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.97804094199998 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:118.60, Y:94.73, Z:2.44 [[ 8.22534207e-01 -5.68622804e-01 -1.02754488e-02 1.18598513e+02] [ 5.68580677e-01 8.22598374e-01 -6.92307803e-03 9.47312777e+01] [ 1.23891876e-02 -1.47953168e-04 9.99923240e-01 2.43744523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00804094199998 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:118.62, Y:94.75, Z:2.44 [[ 8.22675093e-01 -5.68418984e-01 -1.02737506e-02 1.18622977e+02] [ 5.68376809e-01 8.22739229e-01 -6.92559722e-03 9.47469442e+01] [ 1.23892586e-02 -1.41845273e-04 9.99923240e-01 2.43738361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.03804094199998 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:118.65, Y:94.76, Z:2.44 [[ 8.23005077e-01 -5.67941131e-01 -1.02720597e-02 1.18646626e+02] [ 5.67898888e-01 8.23069167e-01 -6.92810426e-03 9.47609716e+01] [ 1.23893710e-02 -1.31626331e-04 9.99923240e-01 2.43771621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06804094199998 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:118.67, Y:94.78, Z:2.44 [[ 8.23155500e-01 -5.67723105e-01 -1.02712214e-02 1.18669923e+02] [ 5.67680830e-01 8.23219570e-01 -6.92934695e-03 9.47762070e+01] [ 1.23894208e-02 -1.26845418e-04 9.99923240e-01 2.43832636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.09804094199998 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:118.69, Y:94.79, Z:2.44 [[ 8.23241581e-01 -5.67598290e-01 -1.02703331e-02 1.18693721e+02] [ 5.67555989e-01 8.23305633e-01 -6.93066331e-03 9.47917431e+01] [ 1.23894557e-02 -1.23378815e-04 9.99923240e-01 2.43781454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12804094199998 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:118.71, Y:94.81, Z:2.44 [[ 8.21445019e-01 -5.70195265e-01 -1.02684281e-02 1.18712877e+02] [ 5.70153131e-01 8.21509181e-01 -6.93348452e-03 9.48075736e+01] [ 1.23890480e-02 -1.59100117e-04 9.99923240e-01 2.43993365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.15804094199999 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:118.74, Y:94.82, Z:2.44 [[ 8.23569465e-01 -5.67124019e-01 -1.01825197e-02 1.18742731e+02] [ 5.67080068e-01 8.23632409e-01 -7.06057053e-03 9.48221648e+01] [ 1.23908723e-02 4.05663403e-05 9.99923229e-01 2.43768398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.188040942 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:118.76, Y:94.84, Z:2.44 [[ 8.20279289e-01 -5.71871032e-01 -1.02669351e-02 1.18758437e+02] [ 5.71829002e-01 8.20343519e-01 -6.93560880e-03 9.48390646e+01] [ 1.23886874e-02 -1.81794987e-04 9.99923241e-01 2.43865192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.218040942 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:118.79, Y:94.85, Z:2.44 [[ 8.22997845e-01 -5.67953994e-01 -1.01394114e-02 1.18790798e+02] [ 5.67909321e-01 8.23060295e-01 -7.12413638e-03 9.48534757e+01] [ 1.23915287e-02 1.04882614e-04 9.99923217e-01 2.43818033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.248040942 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:118.81, Y:94.87, Z:2.44 [[ 8.22445276e-01 -5.68751584e-01 -1.02666279e-02 1.18813756e+02] [ 5.68709308e-01 8.22509342e-01 -6.93582723e-03 9.48675962e+01] [ 1.23891601e-02 -1.34388492e-04 9.99923242e-01 2.43837676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.278040942 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:118.83, Y:94.88, Z:2.44 [[ 8.20235066e-01 -5.71934480e-01 -1.02657731e-02 1.18833263e+02] [ 5.71892437e-01 8.20299285e-01 -6.93709213e-03 9.48846757e+01] [ 1.23885685e-02 -1.80871779e-04 9.99923242e-01 2.44013577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.308040942 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:118.86, Y:94.90, Z:2.44 [[ 8.19678575e-01 -5.72732986e-01 -1.01961255e-02 1.18858837e+02] [ 5.72689720e-01 8.19741985e-01 -7.04007171e-03 9.49006341e+01] [ 1.23902734e-02 -6.86203076e-05 9.99923235e-01 2.43876020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.338040942 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:118.88, Y:94.92, Z:2.44 [[ 8.20128955e-01 -5.72087289e-01 -1.02289756e-02 1.18884564e+02] [ 5.72044578e-01 8.20192734e-01 -6.99149031e-03 9.49155271e+01] [ 1.23894742e-02 -1.17506386e-04 9.99923241e-01 2.43829532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.368040942 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:118.91, Y:94.93, Z:2.44 [[ 8.19566852e-01 -5.72891631e-01 -1.02642226e-02 1.18908113e+02] [ 5.72849635e-01 8.19631101e-01 -6.93935539e-03 9.49312309e+01] [ 1.23883747e-02 -1.92590510e-04 9.99923243e-01 2.43859471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.398040942 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:118.94, Y:94.95, Z:2.44 [[ 8.19748984e-01 -5.72631024e-01 -1.02622713e-02 1.18935649e+02] [ 5.72588971e-01 8.19813196e-01 -6.94223993e-03 9.49469408e+01] [ 1.23884874e-02 -1.85169204e-04 9.99923243e-01 2.43969811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.96, Y:94.96, Z:2.44 [[ 8.18219773e-01 -5.74812931e-01 -1.03197738e-02 1.18955496e+02] [ 5.74772117e-01 8.18284786e-01 -6.85721723e-03 9.49641300e+01] [ 1.23861310e-02 -3.20807484e-04 9.99923237e-01 2.44127339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.458040942 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:118.98, Y:94.98, Z:2.44 [[ 8.18563550e-01 -5.74324135e-01 -1.02714272e-02 1.18976700e+02] [ 5.74282385e-01 8.18627960e-01 -6.92862475e-03 9.49807512e+01] [ 1.23877539e-02 -2.27180037e-04 9.99923243e-01 2.43962025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48804094199997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:119.00, Y:95.00, Z:2.44 [[ 8.18658719e-01 -5.74188702e-01 -1.02584769e-02 1.18998463e+02] [ 5.74146702e-01 8.18722965e-01 -6.94774616e-03 9.49963814e+01] [ 1.23881679e-02 -2.02037694e-04 9.99923243e-01 2.44029428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.51804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.02, Y:95.01, Z:2.44 [[ 8.17001958e-01 -5.76543651e-01 -1.02576449e-02 1.19016152e+02] [ 5.76501820e-01 8.17066315e-01 -6.94897423e-03 9.50147939e+01] [ 1.23875631e-02 -2.36225411e-04 9.99923243e-01 2.44194796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.04, Y:95.03, Z:2.44 [[ 8.20235998e-01 -5.71934595e-01 -1.01846306e-02 1.19044679e+02] [ 5.71891061e-01 8.20299225e-01 -7.05664674e-03 9.50321363e+01] [ 1.23903849e-02 -3.63834940e-05 9.99923236e-01 2.44177526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.57804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.07, Y:95.05, Z:2.44 [[ 8.20876182e-01 -5.71014109e-01 -1.02557931e-02 1.19066652e+02] [ 5.70971811e-01 8.20940232e-01 -6.95166068e-03 9.50482989e+01] [ 1.23888895e-02 -1.49316109e-04 9.99923244e-01 2.44238144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60804094199997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.09, Y:95.07, Z:2.45 [[ 8.20989724e-01 -5.70850864e-01 -1.02549774e-02 1.19089964e+02] [ 5.70808538e-01 8.21053756e-01 -6.95286388e-03 9.50671320e+01] [ 1.23889360e-02 -1.45398843e-04 9.99923244e-01 2.44563061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.63804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.11, Y:95.08, Z:2.44 [[ 8.21341468e-01 -5.70344497e-01 -1.02638964e-02 1.19112553e+02] [ 5.70302297e-01 8.21405582e-01 -6.93971322e-03 9.50824949e+01] [ 1.23888490e-02 -1.53649429e-04 9.99923243e-01 2.44283750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.14, Y:95.10, Z:2.44 [[ 8.21190003e-01 -5.70562753e-01 -1.02529793e-02 1.19136125e+02] [ 5.70520369e-01 8.21253996e-01 -6.95580515e-03 9.50986248e+01] [ 1.23890236e-02 -1.37495878e-04 9.99923244e-01 2.44318544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.69804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:95.11, Z:2.44 [[ 8.20779301e-01 -5.71153441e-01 -1.02511316e-02 1.19158815e+02] [ 5.71111068e-01 8.20843302e-01 -6.95852717e-03 9.51146103e+01] [ 1.23889594e-02 -1.43119643e-04 9.99923244e-01 2.44346989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.18, Y:95.13, Z:2.44 [[ 8.19375549e-01 -5.73165475e-01 -1.02492929e-02 1.19181678e+02] [ 5.73123226e-01 8.19439631e-01 -6.96123433e-03 9.51298028e+01] [ 1.23886160e-02 -1.70242606e-04 9.99923244e-01 2.44354865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.75804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.20, Y:95.15, Z:2.44 [[ 8.18321961e-01 -5.74668726e-01 -1.02480427e-02 1.19204512e+02] [ 5.74626572e-01 8.18386106e-01 -6.96307434e-03 9.51451575e+01] [ 1.23883168e-02 -1.90760993e-04 9.99923244e-01 2.44396578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.23, Y:95.16, Z:2.44 [[ 8.16290392e-01 -5.77550863e-01 -1.02468020e-02 1.19225876e+02] [ 5.77508912e-01 8.16354670e-01 -6.96489964e-03 9.51609870e+01] [ 1.23876085e-02 -2.32238823e-04 9.99923244e-01 2.44432244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.81804094199998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:119.25, Y:95.18, Z:2.44 [[ 8.16038755e-01 -5.77906657e-01 -1.02296259e-02 1.19251599e+02] [ 5.77864418e-01 8.16102844e-01 -6.99015649e-03 9.51763853e+01] [ 1.23880848e-02 -2.07098232e-04 9.99923243e-01 2.44409401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.27, Y:95.19, Z:2.44 [[ 8.15569709e-01 -5.78568143e-01 -1.02447386e-02 1.19273359e+02] [ 5.78526234e-01 8.15634014e-01 -6.96793681e-03 9.51916011e+01] [ 1.23873835e-02 -2.44011851e-04 9.99923244e-01 2.44431902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.87804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.30, Y:95.21, Z:2.44 [[ 8.15318367e-01 -5.78922293e-01 -1.02439693e-02 1.19296259e+02] [ 5.78880398e-01 8.15382681e-01 -6.96906767e-03 9.52083533e+01] [ 1.23873038e-02 -2.48024146e-04 9.99923244e-01 2.44278920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.32, Y:95.22, Z:2.45 [[ 8.15520636e-01 -5.78637360e-01 -1.02420132e-02 1.19318895e+02] [ 5.78595406e-01 8.15584912e-01 -6.97194124e-03 9.52243844e+01] [ 1.23874571e-02 -2.40219822e-04 9.99923244e-01 2.44531172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.34, Y:95.24, Z:2.44 [[ 8.16233064e-01 -5.77631976e-01 -1.02414085e-02 1.19341092e+02] [ 5.77589932e-01 8.16297281e-01 -6.97282942e-03 9.52409717e+01] [ 1.23877631e-02 -2.23880492e-04 9.99923244e-01 2.44303089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.36, Y:95.26, Z:2.44 [[ 8.16654656e-01 -5.77035811e-01 -1.02394366e-02 1.19363922e+02] [ 5.76993684e-01 8.16718818e-01 -6.97572380e-03 9.52576728e+01] [ 1.23879830e-02 -2.11332959e-04 9.99923244e-01 2.44297658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.38, Y:95.28, Z:2.44 [[ 8.14240671e-01 -5.80437184e-01 -1.02374375e-02 1.19381480e+02] [ 5.80395288e-01 8.14304984e-01 -6.97865646e-03 9.52769595e+01] [ 1.23870681e-02 -2.59454581e-04 9.99923244e-01 2.44397718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.028040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.40, Y:95.29, Z:2.44 [[ 8.14427542e-01 -5.80176287e-01 -1.01614862e-02 1.19404621e+02] [ 5.80132977e-01 8.14490922e-01 -7.08995258e-03 9.52939673e+01] [ 1.23898606e-02 -1.20760589e-04 9.99923235e-01 2.44424450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.43, Y:95.31, Z:2.44 [[ 8.16579368e-01 -5.77143665e-01 -1.01649223e-02 1.19433377e+02] [ 5.77100183e-01 8.16642629e-01 -7.08491817e-03 9.53085827e+01] [ 1.23901245e-02 -8.07805272e-05 9.99923236e-01 2.44332938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.46, Y:95.32, Z:2.44 [[ 8.15746747e-01 -5.78318687e-01 -1.02342961e-02 1.19456195e+02] [ 5.78276567e-01 8.15810914e-01 -6.98324758e-03 9.53244306e+01] [ 1.23877931e-02 -2.21692133e-04 9.99923244e-01 2.44454423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.48, Y:95.34, Z:2.44 [[ 8.15094988e-01 -5.79236945e-01 -1.02333720e-02 1.19479369e+02] [ 5.79194880e-01 8.15159191e-01 -6.98460156e-03 9.53402401e+01] [ 1.23875665e-02 -2.34002940e-04 9.99923244e-01 2.44409412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.148040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.50, Y:95.36, Z:2.44 [[ 8.14757847e-01 -5.79711109e-01 -1.02314215e-02 1.19502898e+02] [ 5.79669045e-01 8.14822051e-01 -6.98745756e-03 9.53557442e+01] [ 1.23874946e-02 -2.37752462e-04 9.99923244e-01 2.44386329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.52, Y:95.37, Z:2.44 [[ 8.14716187e-01 -5.79769690e-01 -1.02294429e-02 1.19524949e+02] [ 5.79727595e-01 8.14780370e-01 -6.99035302e-03 9.53715223e+01] [ 1.23875441e-02 -2.35136573e-04 9.99923244e-01 2.44369477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.208040942 meters Centerline goodness : 0.996599 Centerline is valid? [True, True] Translation: X:119.52, Y:95.39, Z:2.44 [[ 8.04148127e-01 -5.94340951e-01 -1.02285852e-02 1.19515395e+02] [ 5.94300002e-01 8.04213047e-01 -6.99160775e-03 9.53884227e+01] [ 1.23813605e-02 -4.56559954e-04 9.99923244e-01 2.44082498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.23804094199997 meters Centerline goodness : 0.996956 Centerline is valid? [True, True] Translation: X:119.54, Y:95.41, Z:2.44 [[ 8.05679971e-01 -5.92270762e-01 -9.75342754e-03 1.19540721e+02] [ 5.92221058e-01 8.05738899e-01 -7.68410127e-03 9.54065188e+01] [ 1.24097845e-02 4.14741310e-04 9.99922910e-01 2.44136836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26804094199997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.59, Y:95.42, Z:2.44 [[ 8.17088106e-01 -5.76430217e-01 -9.75870475e-03 1.19589405e+02] [ 5.76379465e-01 8.17146122e-01 -7.67641113e-03 9.54178026e+01] [ 1.23992031e-02 6.47587209e-04 9.99922917e-01 2.44173782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.29804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.61, Y:95.43, Z:2.44 [[ 8.17636437e-01 -5.75645560e-01 -1.01412855e-02 1.19610957e+02] [ 5.75601562e-01 8.17699326e-01 -7.11710964e-03 9.54344466e+01] [ 1.23894549e-02 -1.81316022e-05 9.99923248e-01 2.44403448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.64, Y:95.45, Z:2.44 [[ 8.16551632e-01 -5.77183288e-01 -1.01431970e-02 1.19637533e+02] [ 5.77139443e-01 8.16614628e-01 -7.11431588e-03 9.54539007e+01] [ 1.23893473e-02 -4.48328125e-05 9.99923248e-01 2.44422840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.35804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.66, Y:95.47, Z:2.44 [[ 8.16805572e-01 -5.76822401e-01 -1.02261601e-02 1.19660100e+02] [ 5.76780041e-01 8.16869563e-01 -6.99299557e-03 9.54700915e+01] [ 1.23871554e-02 -1.86327280e-04 9.99923259e-01 2.44444829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38804094199998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.68, Y:95.49, Z:2.45 [[ 8.18299833e-01 -5.74700660e-01 -1.02242350e-02 1.19680775e+02] [ 5.74658099e-01 8.18363689e-01 -6.99580901e-03 9.54859318e+01] [ 1.23876388e-02 -1.50770118e-04 9.99923259e-01 2.44546401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.41804094199998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.70, Y:95.50, Z:2.45 [[ 8.18720812e-01 -5.74101689e-01 -1.01726483e-02 1.19702806e+02] [ 5.74058142e-01 8.18784006e-01 -7.07113918e-03 9.55017145e+01] [ 1.23887547e-02 -5.04027755e-05 9.99923255e-01 2.44564099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.73, Y:95.52, Z:2.44 [[ 8.17177528e-01 -5.76296447e-01 -1.01633007e-02 1.19728011e+02] [ 5.76252901e-01 8.17240724e-01 -7.08478532e-03 9.55190348e+01] [ 1.23887998e-02 -6.71041589e-05 9.99923254e-01 2.44415867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.47804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.75, Y:95.53, Z:2.44 [[ 8.16431293e-01 -5.77352112e-01 -1.02216877e-02 1.19750766e+02] [ 5.77309711e-01 8.16495257e-01 -6.99952055e-03 9.55348420e+01] [ 1.23871475e-02 -1.86451943e-04 9.99923259e-01 2.44422134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.77, Y:95.55, Z:2.44 [[ 8.15499363e-01 -5.78667733e-01 -1.02197784e-02 1.19774022e+02] [ 5.78625401e-01 8.15563372e-01 -7.00230713e-03 9.55513094e+01] [ 1.23868861e-02 -2.03046364e-04 9.99923259e-01 2.44414024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.53804094199998 meters Centerline goodness : 0.994169 Centerline is valid? [True, True] Translation: X:119.75, Y:95.57, Z:2.44 [[ 8.03412185e-01 -5.95335582e-01 -1.02178618e-02 1.19752607e+02] [ 5.95294541e-01 8.03477030e-01 -7.00510278e-03 9.55651778e+01] [ 1.23802042e-02 -4.54652403e-04 9.99923259e-01 2.44175570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.82, Y:95.58, Z:2.44 [[ 8.13116182e-01 -5.82022263e-01 -9.59998732e-03 1.19817016e+02] [ 5.81969250e-01 8.13172421e-01 -7.89974921e-03 9.55806538e+01] [ 1.24042748e-02 8.36516496e-04 9.99922714e-01 2.44463472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.59804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.84, Y:95.60, Z:2.45 [[ 8.12392549e-01 -5.83021447e-01 -1.02146546e-02 1.19838199e+02] [ 5.82979445e-01 8.12456720e-01 -7.00323120e-03 9.55957857e+01] [ 1.23819987e-02 -2.65560797e-04 9.99923305e-01 2.44544560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.86, Y:95.61, Z:2.44 [[ 8.10751531e-01 -5.85302252e-01 -1.01601719e-02 1.19863524e+02] [ 5.85259434e-01 8.10815165e-01 -7.08262707e-03 9.56143033e+01] [ 1.23834990e-02 -2.04085693e-04 9.99923301e-01 2.44451306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.65804094199999 meters Centerline goodness : 0.994201 Centerline is valid? [True, True] Translation: X:119.84, Y:95.63, Z:2.44 [[ 7.98530800e-01 -6.01867313e-01 -1.02126522e-02 1.19843660e+02] [ 6.01826787e-01 7.98595913e-01 -7.00612785e-03 9.56318573e+01] [ 1.23725417e-02 -5.51638805e-04 9.99923305e-01 2.44427869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.688040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.90, Y:95.64, Z:2.44 [[ 8.13314568e-01 -5.81742935e-01 -9.72473411e-03 1.19904048e+02] [ 5.81692046e-01 8.13372468e-01 -7.71963870e-03 9.56432876e+01] [ 1.24006763e-02 6.21694138e-04 9.99922915e-01 2.44495884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.718040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.93, Y:95.66, Z:2.45 [[ 8.13535887e-01 -5.81424539e-01 -1.02404091e-02 1.19925716e+02] [ 5.81382940e-01 8.13600284e-01 -6.96103644e-03 9.56593615e+01] [ 1.23789171e-02 -2.90546174e-04 9.99923336e-01 2.44758242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.748040942 meters Centerline goodness : 0.993677 Centerline is valid? [True, True] Translation: X:119.90, Y:95.68, Z:2.45 [[ 8.01761464e-01 -5.97556454e-01 -1.02391149e-02 1.19903293e+02] [ 5.97516125e-01 8.01826663e-01 -6.96293957e-03 9.56785640e+01] [ 1.23707448e-02 -5.35419623e-04 9.99923336e-01 2.44596676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.778040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.97, Y:95.69, Z:2.45 [[ 8.15313913e-01 -5.78938947e-01 -9.63943399e-03 1.19965728e+02] [ 5.78886455e-01 8.15370492e-01 -7.83794097e-03 9.56924753e+01] [ 1.23973993e-02 8.10244554e-04 9.99922821e-01 2.44692589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.99, Y:95.71, Z:2.45 [[ 8.15488560e-01 -5.78683019e-01 -1.02162940e-02 1.19987625e+02] [ 5.78640835e-01 8.15552524e-01 -6.99036454e-03 9.57091869e+01] [ 1.23771296e-02 -2.11002597e-04 9.99923378e-01 2.44767140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.01, Y:95.73, Z:2.45 [[ 8.14547618e-01 -5.80006988e-01 -1.02015567e-02 1.20011235e+02] [ 5.79964637e-01 8.14611473e-01 -7.01200561e-03 9.57268528e+01] [ 1.23773174e-02 -2.04929684e-04 9.99923377e-01 2.44759610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.03, Y:95.74, Z:2.45 [[ 8.14375162e-01 -5.80248584e-01 -1.02311262e-02 1.20031987e+02] [ 5.80206797e-01 8.14439385e-01 -6.96859245e-03 9.57431631e+01] [ 1.23761480e-02 -2.61120356e-04 9.99923378e-01 2.44958417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.05, Y:95.76, Z:2.45 [[ 8.13181186e-01 -5.81921144e-01 -1.02049508e-02 1.20053670e+02] [ 5.81879006e-01 8.13245181e-01 -7.00699709e-03 9.57615073e+01] [ 1.23766468e-02 -2.40088407e-04 9.99923378e-01 2.44787116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.928040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.07, Y:95.78, Z:2.45 [[ 8.12609886e-01 -5.82718954e-01 -1.01879510e-02 1.20074754e+02] [ 5.82676566e-01 8.12673718e-01 -7.03193008e-03 9.57783614e+01] [ 1.23771190e-02 -2.22064435e-04 9.99923376e-01 2.44918351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.10, Y:95.80, Z:2.45 [[ 8.11720936e-01 -5.83956846e-01 -1.01746953e-02 1.20097172e+02] [ 5.83914312e-01 8.11784673e-01 -7.05136718e-03 9.57971285e+01] [ 1.23773558e-02 -2.17407825e-04 9.99923374e-01 2.44750059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98804094199997 meters Centerline goodness : 0.998595 Centerline is valid? [True, True] Translation: X:120.10, Y:95.82, Z:2.45 [[ 8.05025078e-01 -5.93153466e-01 -1.01778838e-02 1.20096327e+02] [ 5.93111718e-01 8.05089333e-01 -7.04669237e-03 9.58191250e+01] [ 1.23738757e-02 -3.63858074e-04 9.99923374e-01 2.45149231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.01804094199997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.14, Y:95.84, Z:2.45 [[ 8.09960171e-01 -5.86401383e-01 -9.89644445e-03 1.20142954e+02] [ 5.86353990e-01 8.10020593e-01 -7.45906265e-03 9.58362215e+01] [ 1.23903285e-02 2.38723967e-04 9.99923208e-01 2.44669681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.16, Y:95.86, Z:2.45 [[ 8.10671225e-01 -5.85412162e-01 -1.02355195e-02 1.20161642e+02] [ 5.85370885e-01 8.10735764e-01 -6.96044806e-03 9.58553422e+01] [ 1.23730326e-02 -3.48940131e-04 9.99923390e-01 2.44682620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.07804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.18, Y:95.87, Z:2.45 [[ 8.10508778e-01 -5.85637778e-01 -1.01938310e-02 1.20184852e+02] [ 5.85595748e-01 8.10572832e-01 -7.02170090e-03 9.58749137e+01] [ 1.23750158e-02 -2.78313859e-04 9.99923388e-01 2.44862651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.21, Y:95.89, Z:2.45 [[ 8.11928895e-01 -5.83666638e-01 -1.02335007e-02 1.20206512e+02] [ 5.83625185e-01 8.11993322e-01 -6.96340185e-03 9.58931982e+01] [ 1.23738396e-02 -3.18741565e-04 9.99923390e-01 2.44859712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.13804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.23, Y:95.92, Z:2.45 [[ 8.13605628e-01 -5.81327406e-01 -1.02141992e-02 1.20227281e+02] [ 5.81285412e-01 8.13669703e-01 -6.99176495e-03 9.59156105e+01] [ 1.23754890e-02 -2.48825691e-04 9.99923390e-01 2.44894385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16804094199998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.25, Y:95.93, Z:2.45 [[ 8.14539163e-01 -5.80018317e-01 -1.02324820e-02 1.20246854e+02] [ 5.79976557e-01 8.14603390e-01 -6.96490482e-03 9.59340317e+01] [ 1.23751869e-02 -2.61411942e-04 9.99923390e-01 2.44940712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.19804094199998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:120.25, Y:95.96, Z:2.45 [[ 8.12098121e-01 -5.83431204e-01 -1.02309701e-02 1.20254296e+02] [ 5.83389686e-01 8.12162504e-01 -6.96712494e-03 9.59591911e+01] [ 1.23740484e-02 -3.10653386e-04 9.99923390e-01 2.45290992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.27, Y:95.98, Z:2.45 [[ 8.10925909e-01 -5.85062150e-01 -1.00722650e-02 1.20271912e+02] [ 5.85017845e-01 8.10988457e-01 -7.20027693e-03 9.59784481e+01] [ 1.23811001e-02 -5.35636415e-05 9.99923350e-01 2.44849942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.25804094199998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:120.29, Y:96.00, Z:2.45 [[ 8.10830479e-01 -5.85195672e-01 -9.99795292e-03 1.20292670e+02] [ 5.85150025e-01 8.10892113e-01 -7.30947063e-03 9.59969578e+01] [ 1.23847318e-02 7.64391723e-05 9.99923303e-01 2.44732194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28804094199998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.32, Y:96.02, Z:2.45 [[ 8.13263556e-01 -5.81809770e-01 -9.98901407e-03 1.20320472e+02] [ 5.81763704e-01 8.13324887e-01 -7.32263018e-03 9.60166531e+01] [ 1.23846915e-02 1.43982431e-04 9.99923296e-01 2.44620604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.31804094199998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.36, Y:96.03, Z:2.44 [[ 8.17327247e-01 -5.76085471e-01 -1.00846695e-02 1.20356182e+02] [ 5.76040708e-01 8.17389458e-01 -7.18164337e-03 9.60326569e+01] [ 1.23803429e-02 6.05726360e-05 9.99923359e-01 2.44291073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34804094199998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:120.38, Y:96.05, Z:2.45 [[ 8.18671952e-01 -5.74169230e-01 -1.02922971e-02 1.20384505e+02] [ 5.74128137e-01 8.18736598e-01 -6.87495387e-03 9.60499006e+01] [ 1.23740673e-02 -2.80765481e-04 9.99923399e-01 2.44640468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.37804094199998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:120.42, Y:96.07, Z:2.45 [[ 8.21070227e-01 -5.70732904e-01 -1.03746705e-02 1.20416365e+02] [ 5.70693072e-01 8.21135684e-01 -6.75329260e-03 9.60695609e+01] [ 1.23733384e-02 -3.75825060e-04 9.99923377e-01 2.44824927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40804094199999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:120.44, Y:96.09, Z:2.45 [[ 8.19943287e-01 -5.72348272e-01 -1.05100589e-02 1.20438458e+02] [ 5.72311108e-01 8.20010393e-01 -6.55374207e-03 9.60887543e+01] [ 1.23693805e-02 -6.41326670e-04 9.99923291e-01 2.44729181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.44, Y:96.11, Z:2.44 [[ 8.14593280e-01 -5.79937678e-01 -1.04917785e-02 1.20440299e+02] [ 5.79900793e-01 8.14660522e-01 -6.58063981e-03 9.61104356e+01] [ 1.23635987e-02 -7.23645694e-04 9.99923306e-01 2.44022966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.46, Y:96.13, Z:2.44 [[ 8.15059341e-01 -5.79287266e-01 -1.02241403e-02 1.20460947e+02] [ 5.79245346e-01 8.15123430e-01 -6.97306252e-03 9.61278633e+01] [ 1.23733426e-02 -2.38825919e-04 9.99923419e-01 2.43983018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.48, Y:96.15, Z:2.44 [[ 8.15616286e-01 -5.78502868e-01 -1.02228174e-02 1.20482177e+02] [ 5.78460861e-01 8.15680318e-01 -6.97500129e-03 9.61459625e+01] [ 1.23736092e-02 -2.24575132e-04 9.99923419e-01 2.43962178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.51, Y:96.17, Z:2.44 [[ 8.15751393e-01 -5.78312371e-01 -1.02208902e-02 1.20506449e+02] [ 5.78270314e-01 8.15815392e-01 -6.97782426e-03 9.61674102e+01] [ 1.23737216e-02 -2.18267523e-04 9.99923419e-01 2.43873828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.52, Y:96.18, Z:2.44 [[ 8.16745118e-01 -5.76906774e-01 -1.02950171e-02 1.20524706e+02] [ 5.76865970e-01 8.16809933e-01 -6.86919084e-03 9.61827674e+01] [ 1.23719549e-02 -3.28466930e-04 9.99923410e-01 2.43885106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.55, Y:96.20, Z:2.44 [[ 8.16583999e-01 -5.77136169e-01 -1.02183928e-02 1.20548175e+02] [ 5.77093976e-01 8.16647907e-01 -6.98134371e-03 9.61989981e+01] [ 1.23740151e-02 -1.96119388e-04 9.99923420e-01 2.43917852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.618040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:120.57, Y:96.22, Z:2.44 [[ 8.15734387e-01 -5.78336437e-01 -1.02164428e-02 1.20573744e+02] [ 5.78294302e-01 8.15798334e-01 -6.98419623e-03 9.62182706e+01] [ 1.23737722e-02 -2.10861626e-04 9.99923420e-01 2.43834458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.59, Y:96.23, Z:2.44 [[ 8.16569601e-01 -5.77155205e-01 -1.02934951e-02 1.20593000e+02] [ 5.77114393e-01 8.16634411e-01 -6.87148864e-03 9.62329750e+01] [ 1.23719377e-02 -3.29475439e-04 9.99923410e-01 2.43782527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.678040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.61, Y:96.25, Z:2.44 [[ 8.13074505e-01 -5.82070077e-01 -1.02114881e-02 1.20610159e+02] [ 5.82028147e-01 8.13138585e-01 -6.99126871e-03 9.62533096e+01] [ 1.23727633e-02 -2.58951169e-04 9.99923421e-01 2.44192480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.64, Y:96.27, Z:2.44 [[ 8.18069779e-01 -5.75029628e-01 -1.01371983e-02 1.20639603e+02] [ 5.74985798e-01 8.18132585e-01 -7.09966904e-03 9.62674959e+01] [ 1.23760923e-02 -2.07203468e-05 9.99923413e-01 2.43627182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.73804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.66, Y:96.28, Z:2.44 [[ 8.18660086e-01 -5.74187622e-01 -1.02097030e-02 1.20661384e+02] [ 5.74145042e-01 8.18723736e-01 -6.99382561e-03 9.62827539e+01] [ 1.23746943e-02 -1.36284482e-04 9.99923421e-01 2.43633404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.68, Y:96.30, Z:2.44 [[ 8.19901267e-01 -5.72413916e-01 -1.02088518e-02 1.20684822e+02] [ 5.72371183e-01 8.19964815e-01 -6.99506782e-03 9.62982634e+01] [ 1.23749735e-02 -1.07987634e-04 9.99923421e-01 2.43583802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.79804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.71, Y:96.31, Z:2.44 [[ 8.20498391e-01 -5.71557704e-01 -1.02069354e-02 1.20707978e+02] [ 5.71514871e-01 8.20561870e-01 -6.99786315e-03 9.63135649e+01] [ 1.23751046e-02 -9.16798883e-05 9.99923421e-01 2.43612528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.73, Y:96.33, Z:2.44 [[ 8.20866535e-01 -5.71028887e-01 -1.02050206e-02 1.20731707e+02] [ 5.70985978e-01 8.20929963e-01 -7.00065431e-03 9.63287857e+01] [ 1.23751830e-02 -8.03208301e-05 9.99923421e-01 2.43611524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.85804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.76, Y:96.34, Z:2.44 [[ 8.21703207e-01 -5.69824279e-01 -1.02044279e-02 1.20755696e+02] [ 5.69781266e-01 8.21766565e-01 -7.00151824e-03 9.63427718e+01] [ 1.23752927e-02 -6.11218257e-05 9.99923421e-01 2.43594359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88804094199998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:120.78, Y:96.36, Z:2.44 [[ 8.21949195e-01 -5.69469428e-01 -1.02025368e-02 1.20778483e+02] [ 5.69426354e-01 8.22012511e-01 -7.00427275e-03 9.63578353e+01] [ 1.23753321e-02 -5.24369978e-05 9.99923421e-01 2.43622950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.91804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.80, Y:96.37, Z:2.44 [[ 8.22340848e-01 -5.68903730e-01 -1.02017171e-02 1.20802108e+02] [ 5.68860598e-01 8.22404124e-01 -7.00546653e-03 9.63715800e+01] [ 1.23753702e-02 -4.24735713e-05 9.99923421e-01 2.43651388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.83, Y:96.39, Z:2.44 [[ 8.20572270e-01 -5.71451741e-01 -1.02009050e-02 1.20831248e+02] [ 5.71408790e-01 8.20635669e-01 -7.00664872e-03 9.63896899e+01] [ 1.23751882e-02 -7.94251640e-05 9.99923421e-01 2.43698202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.97804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.85, Y:96.40, Z:2.44 [[ 8.21999736e-01 -5.69394814e-01 -1.02946604e-02 1.20850400e+02] [ 5.69353407e-01 8.22064170e-01 -6.87006793e-03 9.63999539e+01] [ 1.23746525e-02 -2.14105961e-04 9.99923408e-01 2.43671351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.88, Y:96.41, Z:2.44 [[ 8.20433811e-01 -5.71650554e-01 -1.01983265e-02 1.20875284e+02] [ 5.71607574e-01 8.20497190e-01 -7.01021301e-03 9.64115025e+01] [ 1.23750904e-02 -7.80249074e-05 9.99923423e-01 2.43650557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.03804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.90, Y:96.43, Z:2.44 [[ 8.19163743e-01 -5.73469068e-01 -1.01975430e-02 1.20900070e+02] [ 5.73426215e-01 8.19227207e-01 -7.01135264e-03 9.64257767e+01] [ 1.23748985e-02 -1.04092586e-04 9.99923423e-01 2.43688490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.92, Y:96.44, Z:2.44 [[ 8.18184480e-01 -5.74865379e-01 -1.01957278e-02 1.20923790e+02] [ 5.74822601e-01 8.18247995e-01 -7.01399120e-03 9.64397154e+01] [ 1.23747346e-02 -1.21996046e-04 9.99923423e-01 2.43775422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.09804094199998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.95, Y:96.45, Z:2.44 [[ 8.17017258e-01 -5.76523089e-01 -1.01944933e-02 1.20947590e+02] [ 5.76480418e-01 8.17080845e-01 -7.01578499e-03 9.64538671e+01] [ 1.23744873e-02 -1.44908360e-04 9.99923423e-01 2.43823686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.98, Y:96.47, Z:2.44 [[ 8.14896780e-01 -5.79516424e-01 -1.01957291e-02 1.20976152e+02] [ 5.79474009e-01 8.14960537e-01 -7.01398970e-03 9.64729605e+01] [ 1.23738391e-02 -1.92482419e-04 9.99923423e-01 2.43752559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.00, Y:96.48, Z:2.44 [[ 8.17289974e-01 -5.76134812e-01 -1.02848374e-02 1.20995771e+02] [ 5.76093755e-01 8.17354629e-01 -6.88447047e-03 9.64824516e+01] [ 1.23727426e-02 -2.98421913e-04 9.99923410e-01 2.43978617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.02, Y:96.50, Z:2.44 [[ 8.17869270e-01 -5.75313824e-01 -1.01911964e-02 1.21020658e+02] [ 5.75271001e-01 8.17932753e-01 -7.02040507e-03 9.64973610e+01] [ 1.23746494e-02 -1.20926199e-04 9.99923424e-01 2.43890143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.04, Y:96.51, Z:2.44 [[ 8.18192971e-01 -5.74853424e-01 -1.01883701e-02 1.21044557e+02] [ 5.74810515e-01 8.18256395e-01 -7.02450689e-03 9.65120239e+01] [ 1.23747608e-02 -1.08980096e-04 9.99923424e-01 2.43985483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.07, Y:96.53, Z:2.44 [[ 8.19561514e-01 -5.72900600e-01 -1.01895898e-02 1.21069209e+02] [ 5.72857561e-01 8.19624851e-01 -7.02273718e-03 9.65262807e+01] [ 1.23749714e-02 -8.16184401e-05 9.99923424e-01 2.43945056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.09, Y:96.54, Z:2.44 [[ 8.19682745e-01 -5.72727368e-01 -1.01764472e-02 1.21094226e+02] [ 5.72684079e-01 8.19745911e-01 -7.04179356e-03 9.65422707e+01] [ 1.23751288e-02 -5.58525949e-05 9.99923424e-01 2.43980169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.12, Y:96.56, Z:2.44 [[ 8.21587426e-01 -5.69990824e-01 -1.02255525e-02 1.21115014e+02] [ 5.69948209e-01 8.21651051e-01 -6.97056689e-03 9.65555967e+01] [ 1.23749951e-02 -1.01105224e-04 9.99923422e-01 2.44087925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.14, Y:96.57, Z:2.44 [[ 8.23452134e-01 -5.67294450e-01 -1.01779488e-02 1.21141189e+02] [ 5.67250771e-01 8.23515031e-01 -7.03954803e-03 9.65685649e+01] [ 1.23751903e-02 2.32815536e-05 9.99923424e-01 2.44028927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.17, Y:96.58, Z:2.44 [[ 8.23955286e-01 -5.66563297e-01 -1.01841766e-02 1.21165246e+02] [ 5.66519675e-01 8.24018222e-01 -7.03052660e-03 9.65824337e+01] [ 1.23751854e-02 2.33031386e-05 9.99923424e-01 2.44021713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.19, Y:96.59, Z:2.44 [[ 8.24343616e-01 -5.65998167e-01 -1.01821772e-02 1.21188991e+02] [ 5.65954466e-01 8.24406498e-01 -7.03342113e-03 9.65934834e+01] [ 1.23751565e-02 3.53071622e-05 9.99923424e-01 2.44144106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.22, Y:96.61, Z:2.44 [[ 8.22930533e-01 -5.68051394e-01 -1.01465382e-02 1.21215343e+02] [ 5.68007212e-01 8.22993080e-01 -7.08497610e-03 9.66088558e+01] [ 1.23751612e-02 6.71362992e-05 9.99923423e-01 2.44167774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.24, Y:96.62, Z:2.44 [[ 8.22020678e-01 -5.69366660e-01 -1.01789819e-02 1.21239761e+02] [ 5.69323159e-01 8.22083698e-01 -7.03805347e-03 9.66234744e+01] [ 1.23752081e-02 -9.70464833e-06 9.99923424e-01 2.44240836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.26, Y:96.64, Z:2.44 [[ 8.20495016e-01 -5.71563083e-01 -1.01769431e-02 1.21263741e+02] [ 5.71519714e-01 8.20558128e-01 -7.04100031e-03 9.66361703e+01] [ 1.23751492e-02 -3.92179522e-05 9.99923424e-01 2.44363321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.51804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.29, Y:96.65, Z:2.44 [[ 8.20068389e-01 -5.72175069e-01 -1.01749152e-02 1.21287910e+02] [ 5.72131711e-01 8.20131507e-01 -7.04392962e-03 9.66498252e+01] [ 1.23751294e-02 -4.48876257e-05 9.99923424e-01 2.44419316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.32, Y:96.66, Z:2.44 [[ 8.19516804e-01 -5.72964849e-01 -1.01729323e-02 1.21315473e+02] [ 5.72921517e-01 8.19579940e-01 -7.04679218e-03 9.66625591e+01] [ 1.23750955e-02 -5.33271879e-05 9.99923424e-01 2.44492621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.57804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.34, Y:96.68, Z:2.44 [[ 8.19904966e-01 -5.72408858e-01 -1.01954600e-02 1.21337806e+02] [ 5.72365886e-01 8.19968349e-01 -7.01428183e-03 9.66754765e+01] [ 1.23749916e-02 -8.44890019e-05 9.99923423e-01 2.44382772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.36, Y:96.69, Z:2.44 [[ 8.18503228e-01 -5.74411926e-01 -1.01687925e-02 1.21361225e+02] [ 5.74368631e-01 8.18566390e-01 -7.05273465e-03 9.66901737e+01] [ 1.23750066e-02 -6.79493312e-05 9.99923424e-01 2.44482093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.63804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.39, Y:96.70, Z:2.44 [[ 8.18263131e-01 -5.74753906e-01 -1.01684159e-02 1.21385770e+02] [ 5.74710631e-01 8.18326306e-01 -7.05327753e-03 9.67044192e+01] [ 1.23749810e-02 -7.24597683e-05 9.99923424e-01 2.44464465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.41, Y:96.72, Z:2.44 [[ 8.17998359e-01 -5.75130687e-01 -1.01674767e-02 1.21411657e+02] [ 5.75087424e-01 8.18061543e-01 -7.05463117e-03 9.67170452e+01] [ 1.23749565e-02 -7.65112618e-05 9.99923424e-01 2.44307372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.69804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.44, Y:96.73, Z:2.44 [[ 8.18139077e-01 -5.74930529e-01 -1.01654881e-02 1.21437618e+02] [ 5.74887215e-01 8.18202226e-01 -7.05749549e-03 9.67304185e+01] [ 1.23749946e-02 -6.99963007e-05 9.99923424e-01 2.43705808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.46, Y:96.74, Z:2.44 [[ 8.18162869e-01 -5.74896316e-01 -1.01855172e-02 1.21462648e+02] [ 5.74853358e-01 8.18226261e-01 -7.02866611e-03 9.67447099e+01] [ 1.23748119e-02 -1.04585145e-04 9.99923424e-01 2.43753295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.75804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.49, Y:96.76, Z:2.44 [[ 8.17489161e-01 -5.75853782e-01 -1.01927892e-02 1.21485024e+02] [ 5.75811028e-01 8.17552692e-01 -7.01820371e-03 9.67576039e+01] [ 1.23746014e-02 -1.31814961e-04 9.99923423e-01 2.44305282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.51, Y:96.77, Z:2.44 [[ 8.17151862e-01 -5.76332911e-01 -1.01592454e-02 1.21508406e+02] [ 5.76289594e-01 8.17215008e-01 -7.06642891e-03 9.67706194e+01] [ 1.23749033e-02 -8.03218492e-05 9.99923425e-01 2.44328190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.81804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.54, Y:96.78, Z:2.44 [[ 8.16952512e-01 -5.76615470e-01 -1.01583940e-02 1.21537794e+02] [ 5.76572160e-01 8.17015662e-01 -7.06765261e-03 9.67826187e+01] [ 1.23748848e-02 -8.31106256e-05 9.99923425e-01 2.43945020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.57, Y:96.79, Z:2.44 [[ 8.16542702e-01 -5.77194967e-01 -1.01973376e-02 1.21565016e+02] [ 5.77152399e-01 8.16606358e-01 -7.01168974e-03 9.67947692e+01] [ 1.23743228e-02 -1.60073770e-04 9.99923422e-01 2.44009502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.87804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.59, Y:96.81, Z:2.44 [[ 8.16278085e-01 -5.77569064e-01 -1.02012339e-02 1.21589953e+02] [ 5.77526595e-01 8.16341808e-01 -7.00609278e-03 9.68087783e+01] [ 1.23741962e-02 -1.72563879e-04 9.99923422e-01 2.44029626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.61, Y:96.82, Z:2.44 [[ 8.16177033e-01 -5.77711694e-01 -1.02102570e-02 1.21614569e+02] [ 5.77669399e-01 8.16240873e-01 -6.99313769e-03 9.68223132e+01] [ 1.23740465e-02 -1.90514667e-04 9.99923420e-01 2.44009014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.64, Y:96.84, Z:2.45 [[ 8.14599267e-01 -5.79934332e-01 -1.02080537e-02 1.21636164e+02] [ 5.79892171e-01 8.14663195e-01 -6.99630144e-03 9.68367597e+01] [ 1.23735211e-02 -2.20388406e-04 9.99923421e-01 2.44662436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.67, Y:96.85, Z:2.45 [[ 8.15025846e-01 -5.79335658e-01 -1.01521370e-02 1.21672262e+02] [ 5.79292448e-01 8.15089064e-01 -7.07652091e-03 9.68486267e+01] [ 1.23745768e-02 -1.13508877e-04 9.99923426e-01 2.44628795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.70, Y:96.86, Z:2.45 [[ 8.13667423e-01 -5.81239516e-01 -1.02932139e-02 1.21696080e+02] [ 5.81198998e-01 8.13732433e-01 -6.87393406e-03 9.68626597e+01] [ 1.23713241e-02 -3.89309404e-04 9.99923396e-01 2.44682489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.72, Y:96.88, Z:2.45 [[ 8.12074395e-01 -5.83463372e-01 -1.02796001e-02 1.21721165e+02] [ 5.83422785e-01 8.12139356e-01 -6.89348227e-03 9.68772749e+01] [ 1.23705622e-02 -3.99332468e-04 9.99923402e-01 2.44910538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.74, Y:96.89, Z:2.45 [[ 8.09928896e-01 -5.86437712e-01 -1.02953697e-02 1.21739451e+02] [ 5.86397650e-01 8.09994190e-01 -6.87084382e-03 9.68948612e+01] [ 1.23685116e-02 -4.72285664e-04 9.99923396e-01 2.44731555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.76, Y:96.91, Z:2.45 [[ 8.08170558e-01 -5.88859537e-01 -1.02368959e-02 1.21755300e+02] [ 5.88818608e-01 8.08235287e-01 -6.95468596e-03 9.69117759e+01] [ 1.23691537e-02 -4.07102360e-04 9.99923416e-01 2.45333728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.79, Y:96.93, Z:2.45 [[ 8.09918920e-01 -5.86454093e-01 -1.01459893e-02 1.21785853e+02] [ 5.86411334e-01 8.09982440e-01 -7.08487040e-03 9.69299136e+01] [ 1.23730244e-02 -2.11552511e-04 9.99923429e-01 2.45172425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.79, Y:96.95, Z:2.45 [[ 8.03797730e-01 -5.94813809e-01 -1.02830942e-02 1.21792214e+02] [ 5.94774204e-01 8.03863295e-01 -6.88835553e-03 9.69495197e+01] [ 1.23634910e-02 -5.79274621e-04 9.99923401e-01 2.45122484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.83, Y:96.97, Z:2.45 [[ 8.07536706e-01 -5.89731693e-01 -1.00498092e-02 1.21828031e+02] [ 5.89687479e-01 8.07599233e-01 -7.22188595e-03 9.69652697e+01] [ 1.23751932e-02 -9.43086584e-05 9.99923420e-01 2.45372729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.208040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.84, Y:96.98, Z:2.45 [[ 8.02200753e-01 -5.96966681e-01 -1.02339459e-02 1.21835642e+02] [ 5.96926359e-01 8.02265856e-01 -6.95825650e-03 9.69831465e+01] [ 1.23641927e-02 -5.26993455e-04 9.99923422e-01 2.45138050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.23804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.87, Y:97.00, Z:2.46 [[ 8.05856345e-01 -5.92026598e-01 -1.00029493e-02 1.21868944e+02] [ 5.91981735e-01 8.05918424e-01 -7.28834240e-03 9.69984172e+01] [ 1.23764537e-02 -4.82063185e-05 9.99923408e-01 2.45897250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.89, Y:97.02, Z:2.45 [[ 8.05387863e-01 -5.92661389e-01 -1.01423581e-02 1.21893275e+02] [ 5.92619069e-01 8.05451667e-01 -7.08888520e-03 9.70174452e+01] [ 1.23704878e-02 -3.01252690e-04 9.99923437e-01 2.45258062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.29804094199997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.92, Y:97.04, Z:2.45 [[ 8.04912212e-01 -5.93306611e-01 -1.01781905e-02 1.21916174e+02] [ 5.93264989e-01 8.04976475e-01 -7.03761703e-03 9.70350921e+01] [ 1.23686687e-02 -3.73700204e-04 9.99923435e-01 2.45318631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.93, Y:97.05, Z:2.45 [[ 8.00876348e-01 -5.98743184e-01 -1.01820642e-02 1.21928682e+02] [ 5.98702068e-01 8.00940937e-01 -7.03207700e-03 9.70544666e+01] [ 1.23656402e-02 -4.64198757e-04 9.99923435e-01 2.45213567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.35804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.96, Y:97.07, Z:2.46 [[ 8.03539940e-01 -5.95166215e-01 -1.00370400e-02 1.21960560e+02] [ 5.95122209e-01 8.03602608e-01 -7.23905885e-03 9.70721869e+01] [ 1.23742348e-02 -1.56392506e-04 9.99923424e-01 2.45553582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.98, Y:97.09, Z:2.46 [[ 8.02620859e-01 -5.96402773e-01 -1.01729663e-02 1.21983805e+02] [ 5.96361304e-01 8.02685220e-01 -7.04500522e-03 9.70897880e+01] [ 1.23673503e-02 -4.12295292e-04 9.99923436e-01 2.45627868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.41804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.00, Y:97.10, Z:2.46 [[ 8.04101584e-01 -5.94404919e-01 -1.01703028e-02 1.22004099e+02] [ 5.94363243e-01 8.04165810e-01 -7.04880521e-03 9.71035458e+01] [ 1.23684543e-02 -3.76898716e-04 9.99923437e-01 2.45855232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.02, Y:97.12, Z:2.47 [[ 8.03001753e-01 -5.95890927e-01 -1.01088045e-02 1.22023892e+02] [ 5.95848265e-01 8.03065326e-01 -7.13642999e-03 9.71226650e+01] [ 1.23705643e-02 -2.92747837e-04 9.99923439e-01 2.46544149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.47804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.05, Y:97.14, Z:2.47 [[ 8.02912024e-01 -5.96012358e-01 -1.00772846e-02 1.22047210e+02] [ 5.95969141e-01 8.02975225e-01 -7.18132638e-03 9.71390935e+01] [ 1.23719692e-02 -2.39777362e-04 9.99923436e-01 2.46577946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.07, Y:97.16, Z:2.47 [[ 8.02384377e-01 -5.96722535e-01 -1.00760885e-02 1.22071047e+02] [ 5.96679352e-01 8.02447603e-01 -7.18302956e-03 9.71593225e+01] [ 1.23718087e-02 -2.48643265e-04 9.99923435e-01 2.46712827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.53804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.09, Y:97.18, Z:2.46 [[ 8.02505435e-01 -5.96558860e-01 -1.01268268e-02 1.22092179e+02] [ 5.96516573e-01 8.02569259e-01 -7.11077051e-03 9.71776569e+01] [ 1.23694730e-02 -3.34388053e-04 9.99923439e-01 2.46490943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56804094199998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.12, Y:97.20, Z:2.47 [[ 8.03608695e-01 -5.95072281e-01 -1.01017835e-02 1.22115965e+02] [ 5.95029428e-01 8.03672140e-01 -7.14639415e-03 9.71961275e+01] [ 1.23711430e-02 -2.67953955e-04 9.99923439e-01 2.46978215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.59804094199998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:122.14, Y:97.21, Z:2.47 [[ 8.03647309e-01 -5.95019945e-01 -1.01127393e-02 1.22137777e+02] [ 5.94977284e-01 8.03710883e-01 -7.13081537e-03 9.72135336e+01] [ 1.23706960e-02 -2.86189579e-04 9.99923439e-01 2.47025028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.16, Y:97.23, Z:2.47 [[ 8.03681425e-01 -5.94973738e-01 -1.01202006e-02 1.22160180e+02] [ 5.94931207e-01 8.03745085e-01 -7.12021028e-03 9.72326514e+01] [ 1.23703997e-02 -2.98442443e-04 9.99923439e-01 2.47109879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.18, Y:97.25, Z:2.47 [[ 8.03451846e-01 -5.95283171e-01 -1.01527004e-02 1.22181366e+02] [ 5.95241246e-01 8.03515910e-01 -7.07400975e-03 9.72501736e+01] [ 1.23688952e-02 -3.59679817e-04 9.99923438e-01 2.47399432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.20, Y:97.27, Z:2.47 [[ 8.03401072e-01 -5.95351972e-01 -1.01364034e-02 1.22200117e+02] [ 5.95309761e-01 8.03464946e-01 -7.09715161e-03 9.72684643e+01] [ 1.23695480e-02 -3.32440675e-04 9.99923439e-01 2.47157592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.23, Y:97.29, Z:2.47 [[ 8.03881653e-01 -5.94703797e-01 -1.00837713e-02 1.22225606e+02] [ 5.94660596e-01 8.03944862e-01 -7.17182231e-03 9.72859410e+01] [ 1.23719061e-02 -2.31125112e-04 9.99923438e-01 2.47448786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.748040942 meters Centerline goodness : 0.998564 Centerline is valid? [True, True] Translation: X:122.24, Y:97.30, Z:2.48 [[ 8.04555707e-01 -5.93790519e-01 -1.01456334e-02 1.22243837e+02] [ 5.93748351e-01 8.04619609e-01 -7.08390872e-03 9.73008651e+01] [ 1.23697334e-02 -3.24553924e-04 9.99923439e-01 2.48173847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.778040942 meters Centerline goodness : 0.997361 Centerline is valid? [True, True] Translation: X:122.26, Y:97.32, Z:2.48 [[ 8.05012945e-01 -5.93172056e-01 -1.00534008e-02 1.22263574e+02] [ 5.93128200e-01 8.05075703e-01 -7.21461113e-03 9.73218411e+01] [ 1.23732544e-02 -1.55100162e-04 9.99923436e-01 2.47906794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.808040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.29, Y:97.34, Z:2.48 [[ 8.04849386e-01 -5.93393665e-01 -1.00709724e-02 1.22286479e+02] [ 5.93350138e-01 8.04912369e-01 -7.18969057e-03 9.73415124e+01] [ 1.23725671e-02 -1.88994825e-04 9.99923439e-01 2.47665315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.31, Y:97.36, Z:2.48 [[ 8.06679621e-01 -5.90902480e-01 -1.01117880e-02 1.22314025e+02] [ 5.90859481e-01 8.06742964e-01 -7.13182057e-03 9.73595799e+01] [ 1.23718243e-02 -2.21551513e-04 9.99923442e-01 2.47756836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.868040942 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:122.33, Y:97.38, Z:2.48 [[ 8.05782008e-01 -5.92124550e-01 -1.01918200e-02 1.22327606e+02] [ 5.92083077e-01 8.05846371e-01 -7.01830463e-03 9.73798786e+01] [ 1.23687517e-02 -3.79180555e-04 9.99923432e-01 2.47603387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.898040942 meters Centerline goodness : 0.996690 Centerline is valid? [True, True] Translation: X:122.35, Y:97.40, Z:2.48 [[ 8.05441929e-01 -5.92588683e-01 -1.00970676e-02 1.22348610e+02] [ 5.92545559e-01 8.05505185e-01 -7.15244664e-03 9.73983431e+01] [ 1.23716993e-02 -2.22092164e-04 9.99923443e-01 2.47633232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.37, Y:97.42, Z:2.48 [[ 8.03094523e-01 -5.95766507e-01 -1.00725120e-02 1.22369913e+02] [ 5.95723197e-01 8.03157654e-01 -7.18718983e-03 9.74190608e+01] [ 1.23717021e-02 -2.28436292e-04 9.99923441e-01 2.47503592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.39, Y:97.44, Z:2.47 [[ 8.02362577e-01 -5.96751285e-01 -1.01093335e-02 1.22392062e+02] [ 5.96708707e-01 8.02426202e-01 -7.13509465e-03 9.74364828e+01] [ 1.23698710e-02 -3.07394372e-04 9.99923443e-01 2.47415170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98804094199997 meters Centerline goodness : 0.998500 Centerline is valid? [True, True] Translation: X:122.41, Y:97.46, Z:2.48 [[ 8.00610322e-01 -5.99100197e-01 -1.01027699e-02 1.22412597e+02] [ 5.99057689e-01 8.00673993e-01 -7.14437606e-03 9.74551882e+01] [ 1.23692222e-02 -3.32280773e-04 9.99923443e-01 2.47626142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.01804094199997 meters Centerline goodness : 0.997751 Centerline is valid? [True, True] Translation: X:122.43, Y:97.47, Z:2.48 [[ 8.00656035e-01 -5.99039140e-01 -1.01006048e-02 1.22433278e+02] [ 5.98996588e-01 8.00719677e-01 -7.14743584e-03 9.74710184e+01] [ 1.23693468e-02 -3.27590143e-04 9.99923443e-01 2.47843246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04804094199997 meters Centerline goodness : 0.997880 Centerline is valid? [True, True] Translation: X:122.46, Y:97.49, Z:2.48 [[ 7.99598745e-01 -6.00450260e-01 -1.00664401e-02 1.22455380e+02] [ 6.00407212e-01 7.99662055e-01 -7.19571930e-03 9.74895869e+01] [ 1.23704217e-02 -2.90275096e-04 9.99923441e-01 2.47845208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.07804094199997 meters Centerline goodness : 0.998551 Centerline is valid? [True, True] Translation: X:122.48, Y:97.51, Z:2.48 [[ 7.98673899e-01 -6.01679713e-01 -1.00760040e-02 1.22475599e+02] [ 6.01636933e-01 7.98737389e-01 -7.18220795e-03 9.75089220e+01] [ 1.23694699e-02 -3.25854097e-04 9.99923442e-01 2.48162583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10804094199997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:122.49, Y:97.53, Z:2.48 [[ 7.97532199e-01 -6.03192173e-01 -1.00794359e-02 1.22493614e+02] [ 6.03149574e-01 7.97595810e-01 -7.17735745e-03 9.75265750e+01] [ 1.23686417e-02 -3.55233780e-04 9.99923442e-01 2.47924746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.13804094199998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.52, Y:97.54, Z:2.48 [[ 8.01598824e-01 -5.97778693e-01 -9.99799016e-03 1.22523690e+02] [ 5.97734216e-01 8.01661161e-01 -7.29314516e-03 9.75447725e+01] [ 1.23746872e-02 -1.29964226e-04 9.99923422e-01 2.47848207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16804094199998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:122.55, Y:97.56, Z:2.48 [[ 8.02276305e-01 -5.96867012e-01 -1.01242702e-02 1.22546131e+02] [ 5.96824716e-01 8.02340113e-01 -7.11341583e-03 9.75623937e+01] [ 1.23688713e-02 -3.35489723e-04 9.99923446e-01 2.47813400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.19804094199998 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:122.57, Y:97.58, Z:2.48 [[ 8.02478495e-01 -5.96595176e-01 -1.01223012e-02 1.22568318e+02] [ 5.96552824e-01 8.02542266e-01 -7.11621661e-03 9.75812589e+01] [ 1.23690750e-02 -3.27876561e-04 9.99923446e-01 2.48052827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22804094199998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:122.59, Y:97.60, Z:2.48 [[ 8.02256799e-01 -5.96893419e-01 -1.01131278e-02 1.22585784e+02] [ 5.96850925e-01 8.02320476e-01 -7.12926172e-03 9.76003268e+01] [ 1.23693789e-02 -3.16530999e-04 9.99923446e-01 2.48293866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.25804094199998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:122.61, Y:97.62, Z:2.48 [[ 8.04290560e-01 -5.94151539e-01 -1.00321204e-02 1.22614701e+02] [ 5.94107390e-01 8.04353113e-01 -7.24420224e-03 9.76169369e+01] [ 1.23735212e-02 -1.33713373e-04 9.99923436e-01 2.48102566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28804094199998 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:122.64, Y:97.64, Z:2.49 [[ 8.05041017e-01 -5.93132898e-01 -1.01155992e-02 1.22636680e+02] [ 5.93090152e-01 8.05104525e-01 -7.12569633e-03 9.76353013e+01] [ 1.23705996e-02 -2.62984465e-04 9.99923447e-01 2.48686955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.31804094199998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:122.66, Y:97.65, Z:2.48 [[ 8.04620730e-01 -5.93702978e-01 -1.01121635e-02 1.22655537e+02] [ 5.93660215e-01 8.04684226e-01 -7.13057158e-03 9.76525809e+01] [ 1.23705400e-02 -2.65783432e-04 9.99923447e-01 2.48448839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34804094199998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:122.68, Y:97.67, Z:2.48 [[ 8.06577520e-01 -5.91042898e-01 -1.00497356e-02 1.22684218e+02] [ 5.90998819e-01 8.06640117e-01 -7.21923741e-03 9.76690341e+01] [ 1.23733989e-02 -1.16507276e-04 9.99923440e-01 2.48361452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.37804094199998 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:122.70, Y:97.69, Z:2.49 [[ 8.04369703e-01 -5.94042918e-01 -1.01189094e-02 1.22697198e+02] [ 5.94000303e-01 8.04433299e-01 -7.12094115e-03 9.76878731e+01] [ 1.23701323e-02 -2.82765931e-04 9.99923447e-01 2.48877184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40804094199999 meters Centerline goodness : 0.997746 Centerline is valid? [True, True] Translation: X:122.73, Y:97.71, Z:2.49 [[ 8.05790387e-01 -5.92116868e-01 -9.97328853e-03 1.22725041e+02] [ 5.92071546e-01 8.05852105e-01 -7.32596901e-03 9.77062720e+01] [ 1.23748254e-02 -1.70495552e-06 9.99923429e-01 2.49069983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.438040942 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:122.74, Y:97.72, Z:2.49 [[ 8.06246285e-01 -5.91494082e-01 -1.00835783e-02 1.22741025e+02] [ 5.91450645e-01 8.06309319e-01 -7.17055899e-03 9.77197841e+01] [ 1.23718264e-02 -1.82702363e-04 9.99923449e-01 2.48797137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.468040942 meters Centerline goodness : 0.997045 Centerline is valid? [True, True] Translation: X:122.77, Y:97.74, Z:2.49 [[ 8.07007714e-01 -5.90457069e-01 -9.94983012e-03 1.22769254e+02] [ 5.90411213e-01 8.07069047e-01 -7.35889805e-03 9.77377329e+01] [ 1.23753133e-02 6.41962264e-05 9.99923421e-01 2.49415287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.498040942 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:122.79, Y:97.75, Z:2.49 [[ 8.06931871e-01 -5.90559148e-01 -1.00422893e-02 1.22790050e+02] [ 5.90514914e-01 8.06994351e-01 -7.22865122e-03 9.77529001e+01] [ 1.23730169e-02 -9.70925685e-05 9.99923447e-01 2.48816686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.528040942 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:122.81, Y:97.77, Z:2.49 [[ 8.07155657e-01 -5.90253982e-01 -9.99912684e-03 1.22814479e+02] [ 5.90208964e-01 8.07217589e-01 -7.28990834e-03 9.77690173e+01] [ 1.23743685e-02 -1.74835333e-05 9.99923434e-01 2.48809833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.558040942 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:122.82, Y:97.79, Z:2.50 [[ 8.02088511e-01 -5.97121381e-01 -1.00038144e-02 1.22822811e+02] [ 5.97076976e-01 8.02150883e-01 -7.28325555e-03 9.77862609e+01] [ 1.23735562e-02 -1.31231680e-04 9.99923436e-01 2.49979817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.588040942 meters Centerline goodness : 0.998194 Centerline is valid? [True, True] Translation: X:122.86, Y:97.81, Z:2.50 [[ 8.04167838e-01 -5.94321738e-01 -9.78569831e-03 1.22858017e+02] [ 5.94273379e-01 8.04227325e-01 -7.58685930e-03 9.78065502e+01] [ 1.23789614e-02 2.85728245e-04 9.99923337e-01 2.49945153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.618040942 meters Centerline goodness : 0.997980 Centerline is valid? [True, True] Translation: X:122.88, Y:97.82, Z:2.50 [[ 8.05066019e-01 -5.93100164e-01 -1.00449422e-02 1.22880990e+02] [ 5.93056173e-01 8.05128670e-01 -7.22501399e-03 9.78217743e+01] [ 1.23726280e-02 -1.40601733e-04 9.99923446e-01 2.50029243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.648040942 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:122.90, Y:97.84, Z:2.49 [[ 8.04562942e-01 -5.93782617e-01 -1.00337336e-02 1.22901653e+02] [ 5.93738483e-01 8.04625495e-01 -7.24065292e-03 9.78382171e+01] [ 1.23727717e-02 -1.31852731e-04 9.99923446e-01 2.49402557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.678040942 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:122.93, Y:97.85, Z:2.50 [[ 8.06242666e-01 -5.91500350e-01 -1.00049460e-02 1.22927107e+02] [ 5.91455540e-01 8.06304740e-01 -7.28083562e-03 9.78520001e+01] [ 1.23736522e-02 -4.73604316e-05 9.99923442e-01 2.50138694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.708040942 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:122.95, Y:97.87, Z:2.49 [[ 8.05755663e-01 -5.92163545e-01 -1.00073829e-02 1.22949704e+02] [ 5.92118828e-01 8.05817803e-01 -7.27743356e-03 9.78682583e+01] [ 1.23735582e-02 -6.17265559e-05 9.99923443e-01 2.49442229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.73804094199997 meters Centerline goodness : 0.998471 Centerline is valid? [True, True] Translation: X:122.97, Y:97.88, Z:2.51 [[ 8.06165858e-01 -5.91605203e-01 -9.99466845e-03 1.22974126e+02] [ 5.91560224e-01 8.06227811e-01 -7.29515751e-03 9.78846766e+01] [ 1.23738328e-02 -3.13413958e-05 9.99923441e-01 2.50583961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76804094199997 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:123.00, Y:97.90, Z:2.50 [[ 8.06810352e-01 -5.90725854e-01 -1.00010620e-02 1.22999505e+02] [ 5.90680917e-01 8.06872335e-01 -7.28624353e-03 9.79005918e+01] [ 1.23737527e-02 -2.88197571e-05 9.99923442e-01 2.50153899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.79804094199997 meters Centerline goodness : 0.997219 Centerline is valid? [True, True] Translation: X:123.02, Y:97.92, Z:2.51 [[ 8.06745491e-01 -5.90814091e-01 -1.00211208e-02 1.23023884e+02] [ 5.90769508e-01 8.06807725e-01 -7.25828580e-03 9.79174169e+01] [ 1.23734152e-02 -6.45832867e-05 9.99923444e-01 2.51000883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82804094199997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:123.05, Y:97.93, Z:2.51 [[ 8.06702913e-01 -5.90872073e-01 -1.00301305e-02 1.23047046e+02] [ 5.90827650e-01 8.06765262e-01 -7.24573011e-03 9.79326198e+01] [ 1.23732604e-02 -8.09268215e-05 9.99923445e-01 2.50584233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.85804094199997 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:123.07, Y:97.95, Z:2.50 [[ 8.06521786e-01 -5.91119151e-01 -1.00378093e-02 1.23072022e+02] [ 5.91074881e-01 8.06584242e-01 -7.23502666e-03 9.79471028e+01] [ 1.23731016e-02 -9.78903231e-05 9.99923445e-01 2.50282653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88804094199998 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:123.10, Y:97.96, Z:2.50 [[ 8.07453701e-01 -5.89845649e-01 -1.00314965e-02 1.23100563e+02] [ 5.89801171e-01 8.07516010e-01 -7.24382815e-03 9.79616240e+01] [ 1.23733346e-02 -6.75325595e-05 9.99923445e-01 2.50231176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.91804094199998 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:123.13, Y:97.98, Z:2.50 [[ 8.07419113e-01 -5.89891849e-01 -1.00986324e-02 1.23125567e+02] [ 5.89848541e-01 8.07482243e-01 -7.15022311e-03 9.79769701e+01] [ 1.23723247e-02 -1.83436794e-04 9.99923443e-01 2.50289227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94804094199998 meters Centerline goodness : 0.997969 Centerline is valid? [True, True] Translation: X:123.15, Y:97.99, Z:2.50 [[ 8.06261040e-01 -5.91473685e-01 -1.01002853e-02 1.23151544e+02] [ 5.91430530e-01 8.06324275e-01 -7.14792014e-03 9.79922284e+01] [ 1.23719119e-02 -2.10527590e-04 9.99923443e-01 2.50310972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.97804094199998 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:123.18, Y:98.01, Z:2.51 [[ 8.06121034e-01 -5.91664287e-01 -1.01118351e-02 1.23177334e+02] [ 5.91621349e-01 8.06184419e-01 -7.13183136e-03 9.80065792e+01] [ 1.23716538e-02 -2.33258254e-04 9.99923441e-01 2.51025089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00804094199998 meters Centerline goodness : 0.997306 Centerline is valid? [True, True] Translation: X:123.21, Y:98.02, Z:2.50 [[ 8.07213439e-01 -5.90172476e-01 -1.01445657e-02 1.23208187e+02] [ 5.90129992e-01 8.07277138e-01 -7.08623742e-03 9.80215936e+01] [ 1.23715783e-02 -2.66506420e-04 9.99923434e-01 2.50276366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.03804094199998 meters Centerline goodness : 0.995618 Centerline is valid? [True, True] Translation: X:123.22, Y:98.04, Z:2.51 [[ 8.01398776e-01 -5.98043227e-01 -1.02127723e-02 1.23221136e+02] [ 5.98002572e-01 8.01463689e-01 -6.99137705e-03 9.80362140e+01] [ 1.23663118e-02 -5.04383086e-04 9.99923407e-01 2.50524091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06804094199998 meters Centerline goodness : 0.995744 Centerline is valid? [True, True] Translation: X:123.25, Y:98.05, Z:2.51 [[ 8.00291921e-01 -5.99527032e-01 -1.00089495e-02 1.23246381e+02] [ 5.99482927e-01 8.00354488e-01 -7.27421343e-03 9.80520973e+01] [ 1.23717952e-02 -1.78700077e-04 9.99923450e-01 2.51113012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.09804094199998 meters Centerline goodness : 0.995689 Centerline is valid? [True, True] Translation: X:123.27, Y:98.07, Z:2.51 [[ 7.99454155e-01 -6.00643378e-01 -1.00292787e-02 1.23270430e+02] [ 6.00599714e-01 7.99517029e-01 -7.24601103e-03 9.80681902e+01] [ 1.23708476e-02 -2.30728284e-04 9.99923452e-01 2.51331991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12804094199998 meters Centerline goodness : 0.994621 Centerline is valid? [True, True] Translation: X:123.29, Y:98.08, Z:2.51 [[ 7.98454794e-01 -6.01971110e-01 -1.00361692e-02 1.23294744e+02] [ 6.01927670e-01 7.98517823e-01 -7.23645467e-03 9.80825221e+01] [ 1.23701966e-02 -2.63066007e-04 9.99923452e-01 2.51329504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.15804094199999 meters Centerline goodness : 0.992504 Centerline is valid? [True, True] Translation: X:123.33, Y:98.10, Z:2.51 [[ 8.01227937e-01 -5.98275497e-01 -1.00111451e-02 1.23328700e+02] [ 5.98231333e-01 8.01290461e-01 -7.27114048e-03 9.80978587e+01] [ 1.23719803e-02 -1.63139820e-04 9.99923451e-01 2.51287549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.188040942 meters Centerline goodness : 0.991743 Centerline is valid? [True, True] Translation: X:123.34, Y:98.12, Z:2.51 [[ 7.97724370e-01 -6.02936928e-01 -1.01434340e-02 1.23343921e+02] [ 6.02895444e-01 7.97788724e-01 -7.08777334e-03 9.81160469e+01] [ 1.23657975e-02 -4.61340612e-04 9.99923434e-01 2.51142934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.218040942 meters Centerline goodness : 0.990247 Centerline is valid? [True, True] Translation: X:123.37, Y:98.13, Z:2.52 [[ 8.00943652e-01 -5.98655740e-01 -1.00285466e-02 1.23374154e+02] [ 5.98611910e-01 8.01006408e-01 -7.24676241e-03 9.81310232e+01] [ 1.23712460e-02 -1.98959113e-04 9.99923453e-01 2.51872180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.248040942 meters Centerline goodness : 0.987964 Centerline is valid? [True, True] Translation: X:123.40, Y:98.15, Z:2.51 [[ 7.99664080e-01 -6.00362466e-01 -1.01128217e-02 1.23398902e+02] [ 6.00320237e-01 7.99727937e-01 -7.13021333e-03 9.81489795e+01] [ 1.23682185e-02 -3.69156057e-04 9.99923443e-01 2.51376987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.278040942 meters Centerline goodness : 0.987190 Centerline is valid? [True, True] Translation: X:123.41, Y:98.17, Z:2.52 [[ 7.95082163e-01 -6.06417173e-01 -1.01275196e-02 1.23414601e+02] [ 6.06375688e-01 7.95146511e-01 -7.10989837e-03 9.81675279e+01] [ 1.23644263e-02 -4.88128268e-04 9.99923438e-01 2.51657553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.308040942 meters Centerline goodness : 0.985939 Centerline is valid? [True, True] Translation: X:123.44, Y:98.18, Z:2.52 [[ 7.94367014e-01 -6.07355805e-01 -9.99869322e-03 1.23437780e+02] [ 6.07312147e-01 7.94429888e-01 -7.28767785e-03 9.81844936e+01] [ 1.23694742e-02 -2.83236953e-04 9.99923455e-01 2.51569898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.338040942 meters Centerline goodness : 0.984347 Centerline is valid? [True, True] Translation: X:123.46, Y:98.20, Z:2.51 [[ 7.94613456e-01 -6.07033017e-01 -1.00185588e-02 1.23464358e+02] [ 6.06989678e-01 7.94676550e-01 -7.26026498e-03 9.82026747e+01] [ 1.23687343e-02 -3.12057541e-04 9.99923456e-01 2.50781876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.368040942 meters Centerline goodness : 0.983858 Centerline is valid? [True, True] Translation: X:123.49, Y:98.22, Z:2.52 [[ 7.95453849e-01 -6.05930421e-01 -1.00746761e-02 1.23486730e+02] [ 6.05887972e-01 7.95517550e-01 -7.18279686e-03 9.82200851e+01] [ 1.23668568e-02 -3.90541666e-04 9.99923451e-01 2.51903998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.398040942 meters Centerline goodness : 0.983858 Centerline is valid? [True, True] Translation: X:123.51, Y:98.24, Z:2.52 [[ 7.95208954e-01 -6.06251816e-01 -1.00725143e-02 1.23509712e+02] [ 6.06209355e-01 7.95272647e-01 -7.18578285e-03 9.82369249e+01] [ 1.23667890e-02 -3.91853513e-04 9.99923452e-01 2.51939163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.428040942 meters Centerline goodness : 0.984766 Centerline is valid? [True, True] Translation: X:123.53, Y:98.25, Z:2.52 [[ 7.95028022e-01 -6.06489100e-01 -1.00704866e-02 1.23531436e+02] [ 6.06446623e-01 7.95091704e-01 -7.18858155e-03 9.82541430e+01] [ 1.23667567e-02 -3.92088823e-04 9.99923452e-01 2.52319517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.458040942 meters Centerline goodness : 0.982583 Centerline is valid? [True, True] Translation: X:123.55, Y:98.28, Z:2.52 [[ 7.94971215e-01 -6.06563389e-01 -1.00807544e-02 1.23550985e+02] [ 6.06521098e-01 7.95035022e-01 -7.17442285e-03 9.82752523e+01] [ 1.23662950e-02 -4.10730549e-04 9.99923450e-01 2.51812810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48804094199997 meters Centerline goodness : 0.983392 Centerline is valid? [True, True] Translation: X:123.56, Y:98.29, Z:2.53 [[ 7.92260641e-01 -6.10100005e-01 -1.00528872e-02 1.23561607e+02] [ 6.10057511e-01 7.92324308e-01 -7.21281831e-03 9.82945604e+01] [ 1.23656874e-02 -4.18407302e-04 9.99923454e-01 2.52801898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.51804094199997 meters Centerline goodness : 0.982754 Centerline is valid? [True, True] Translation: X:123.59, Y:98.31, Z:2.52 [[ 7.94715041e-01 -6.06902177e-01 -9.88691858e-03 1.23589074e+02] [ 6.06856563e-01 7.94776534e-01 -7.44128995e-03 9.83125713e+01] [ 1.23740260e-02 -8.62363774e-05 9.99923435e-01 2.51827460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54804094199997 meters Centerline goodness : 0.983401 Centerline is valid? [True, True] Translation: X:123.62, Y:98.33, Z:2.52 [[ 7.98112105e-01 -6.02426780e-01 -9.95202672e-03 1.23615350e+02] [ 6.02381934e-01 7.98174141e-01 -7.35162475e-03 9.83298801e+01] [ 1.23722660e-02 -1.27500395e-04 9.99923452e-01 2.52201848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.57804094199997 meters Centerline goodness : 0.982193 Centerline is valid? [True, True] Translation: X:123.64, Y:98.35, Z:2.52 [[ 7.98660602e-01 -6.01698417e-01 -1.00128450e-02 1.23637272e+02] [ 6.01654562e-01 7.98723336e-01 -7.26783589e-03 9.83468569e+01] [ 1.23705383e-02 -2.19739707e-04 9.99923458e-01 2.52009413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60804094199997 meters Centerline goodness : 0.979887 Centerline is valid? [True, True] Translation: X:123.67, Y:98.36, Z:2.51 [[ 8.03698305e-01 -5.94952787e-01 -1.00107646e-02 1.23672611e+02] [ 5.94908370e-01 8.03760641e-01 -7.27070042e-03 9.83628508e+01] [ 1.23719820e-02 -1.12038033e-04 9.99923458e-01 2.51119262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.63804094199998 meters Centerline goodness : 0.981018 Centerline is valid? [True, True] Translation: X:123.69, Y:98.38, Z:2.52 [[ 8.02463540e-01 -5.96614399e-01 -1.01747673e-02 1.23691721e+02] [ 5.96572952e-01 8.02527934e-01 -7.04467472e-03 9.83801591e+01] [ 1.23684894e-02 -4.16896367e-04 9.99923420e-01 2.51609671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66804094199998 meters Centerline goodness : 0.984291 Centerline is valid? [True, True] Translation: X:123.71, Y:98.40, Z:2.52 [[ 8.00869483e-01 -5.98753461e-01 -1.01175072e-02 1.23707454e+02] [ 5.98711188e-01 8.00933311e-01 -7.12351665e-03 9.83972936e+01] [ 1.23686788e-02 -3.52457633e-04 9.99923443e-01 2.52460734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.69804094199998 meters Centerline goodness : 0.990097 Centerline is valid? [True, True] Translation: X:123.73, Y:98.41, Z:2.54 [[ 8.01703358e-01 -5.97638357e-01 -1.00059875e-02 1.23730949e+02] [ 5.97594072e-01 8.01765784e-01 -7.27686115e-03 9.84141387e+01] [ 1.23713898e-02 -1.45634817e-04 9.99923461e-01 2.54494511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72804094199998 meters Centerline goodness : 0.992496 Centerline is valid? [True, True] Translation: X:123.75, Y:98.43, Z:2.55 [[ 8.01775329e-01 -5.97541830e-01 -1.00041868e-02 1.23751931e+02] [ 5.97497506e-01 8.01837728e-01 -7.27933596e-03 9.84318806e+01] [ 1.23714421e-02 -1.41084679e-04 9.99923461e-01 2.55140903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.75804094199998 meters Centerline goodness : 0.988736 Centerline is valid? [True, True] Translation: X:123.78, Y:98.45, Z:2.53 [[ 8.01734223e-01 -5.97597150e-01 -9.99406471e-03 1.23775266e+02] [ 5.97552657e-01 8.01796502e-01 -7.29323975e-03 9.84490750e+01] [ 1.23716254e-02 -1.24740020e-04 9.99923461e-01 2.52815077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78804094199998 meters Centerline goodness : 0.983465 Centerline is valid? [True, True] Translation: X:123.80, Y:98.47, Z:2.51 [[ 8.02033567e-01 -5.97195406e-01 -9.99019229e-03 1.23804110e+02] [ 5.97150815e-01 8.02095777e-01 -7.29856011e-03 9.84655901e+01] [ 1.23717576e-02 -1.11961269e-04 9.99923461e-01 2.51129811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.81804094199998 meters Centerline goodness : 0.991896 Centerline is valid? [True, True] Translation: X:123.82, Y:98.48, Z:2.55 [[ 8.00554480e-01 -5.99175654e-01 -1.00528695e-02 1.23824317e+02] [ 5.99132297e-01 8.00617558e-01 -7.21224422e-03 9.84832336e+01] [ 1.23699050e-02 -2.49204358e-04 9.99923459e-01 2.54719357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84804094199998 meters Centerline goodness : 0.988931 Centerline is valid? [True, True] Translation: X:123.85, Y:98.50, Z:2.52 [[ 8.00177094e-01 -5.99680297e-01 -1.00079479e-02 1.23846498e+02] [ 5.99636206e-01 8.00239657e-01 -7.27404927e-03 9.85021388e+01] [ 1.23708608e-02 -1.80600317e-04 9.99923462e-01 2.51821534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.87804094199998 meters Centerline goodness : 0.989588 Centerline is valid? [True, True] Translation: X:123.87, Y:98.52, Z:2.50 [[ 7.97214499e-01 -6.03613083e-01 -1.00144012e-02 1.23866192e+02] [ 6.03569412e-01 7.97277356e-01 -7.26517937e-03 9.85221470e+01] [ 1.23696126e-02 -2.52479908e-04 9.99923462e-01 2.50461275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90804094199999 meters Centerline goodness : 0.991003 Centerline is valid? [True, True] Translation: X:123.89, Y:98.54, Z:2.50 [[ 7.96256660e-01 -6.04876614e-01 -9.98067005e-03 1.23885295e+02] [ 6.04832461e-01 7.96319180e-01 -7.31152457e-03 9.85402701e+01] [ 1.23703692e-02 -2.14783097e-04 9.99923461e-01 2.50354015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.938040942 meters Centerline goodness : 0.993617 Centerline is valid? [True, True] Translation: X:123.91, Y:98.56, Z:2.50 [[ 7.97354468e-01 -6.03429487e-01 -9.93510452e-03 1.23913466e+02] [ 6.03384439e-01 7.97416354e-01 -7.37411142e-03 9.85591627e+01] [ 1.23721711e-02 -1.14906780e-04 9.99923455e-01 2.50279137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.968040942 meters Centerline goodness : 0.995182 Centerline is valid? [True, True] Translation: X:123.93, Y:98.58, Z:2.50 [[ 7.97317996e-01 -6.03476293e-01 -1.00188005e-02 1.23933440e+02] [ 6.03432688e-01 7.97380898e-01 -7.25907395e-03 9.85789217e+01] [ 1.23694792e-02 -2.57881411e-04 9.99923462e-01 2.50320729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.998040942 meters Centerline goodness : 0.995657 Centerline is valid? [True, True] Translation: X:123.95, Y:98.60, Z:2.51 [[ 7.97625711e-01 -6.03069791e-01 -1.00025970e-02 1.23954567e+02] [ 6.03025874e-01 7.97688396e-01 -7.28133320e-03 9.85972989e+01] [ 1.23701077e-02 -2.24046227e-04 9.99923462e-01 2.51174367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.028040942 meters Centerline goodness : 0.995910 Centerline is valid? [True, True] Translation: X:123.98, Y:98.62, Z:2.50 [[ 7.99228564e-01 -6.00944005e-01 -1.00002925e-02 1.23977153e+02] [ 6.00899882e-01 7.99291104e-01 -7.28449856e-03 9.86168860e+01] [ 1.23707206e-02 -1.87195277e-04 9.99923462e-01 2.50440069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.058040942 meters Centerline goodness : 0.998350 Centerline is valid? [True, True] Translation: X:124.00, Y:98.64, Z:2.50 [[ 8.00157598e-01 -5.99706418e-01 -1.00015453e-02 1.23995696e+02] [ 5.99662219e-01 8.00220085e-01 -7.28277809e-03 9.86394437e+01] [ 1.23709662e-02 -1.70178643e-04 9.99923462e-01 2.49986585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.088040942 meters Centerline goodness : 0.998291 Centerline is valid? [True, True] Translation: X:124.02, Y:98.66, Z:2.50 [[ 7.99777728e-01 -6.00212933e-01 -1.00010601e-02 1.24017706e+02] [ 6.00168766e-01 7.99840236e-01 -7.28344435e-03 9.86592861e+01] [ 1.23708678e-02 -1.77187328e-04 9.99923462e-01 2.49520877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.118040942 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:124.04, Y:98.68, Z:2.50 [[ 7.99274201e-01 -6.00883298e-01 -1.00006879e-02 1.24038927e+02] [ 6.00839177e-01 7.99336742e-01 -7.28395545e-03 9.86778753e+01] [ 1.23707244e-02 -1.86927385e-04 9.99923462e-01 2.49560074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.148040942 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:124.05, Y:98.70, Z:2.50 [[ 7.98295590e-01 -6.02182819e-01 -1.00001953e-02 1.24054888e+02] [ 6.02138791e-01 7.98358197e-01 -7.28463162e-03 9.86975619e+01] [ 1.23704179e-02 -2.06216213e-04 9.99923462e-01 2.50462378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.178040942 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:124.08, Y:98.72, Z:2.49 [[ 7.98083335e-01 -6.02465364e-01 -9.92347532e-03 1.24082653e+02] [ 6.02420045e-01 7.98145024e-01 -7.38989356e-03 9.87163785e+01] [ 1.23725274e-02 -8.03495453e-05 9.99923454e-01 2.49250121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.208040942 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:124.10, Y:98.73, Z:2.51 [[ 7.97708323e-01 -6.02960551e-01 -1.00002399e-02 1.24101410e+02] [ 6.02916586e-01 7.97770973e-01 -7.28451072e-03 9.87317263e+01] [ 1.23701737e-02 -2.18395648e-04 9.99923463e-01 2.51024934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.23804094199997 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:124.12, Y:98.75, Z:2.51 [[ 7.97737132e-01 -6.02923528e-01 -9.93418320e-03 1.24123996e+02] [ 6.02878428e-01 7.97798978e-01 -7.37514965e-03 9.87492873e+01] [ 1.23721324e-02 -1.05674020e-04 9.99923457e-01 2.51491841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26804094199997 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:124.15, Y:98.77, Z:2.50 [[ 7.97512682e-01 -6.03220008e-01 -9.95712074e-03 1.24148183e+02] [ 6.03175323e-01 7.97574824e-01 -7.34367652e-03 9.87698095e+01] [ 1.23714014e-02 -1.49214357e-04 9.99923460e-01 2.49893426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.29804094199997 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:124.17, Y:98.79, Z:2.50 [[ 7.97846079e-01 -6.02778284e-01 -9.99870243e-03 1.24169109e+02] [ 6.02734279e-01 7.97908701e-01 -7.28661814e-03 9.87890257e+01] [ 1.23702668e-02 -2.12960984e-04 9.99923463e-01 2.50132068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32804094199997 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:124.19, Y:98.81, Z:2.52 [[ 7.99550676e-01 -6.00515425e-01 -9.99702861e-03 1.24186112e+02] [ 6.00471214e-01 7.99613152e-01 -7.28891386e-03 9.88082076e+01] [ 1.23708608e-02 -1.75071900e-04 9.99923463e-01 2.52134124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.35804094199997 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:124.21, Y:98.83, Z:2.52 [[ 8.00063833e-01 -5.99832429e-01 -9.94587393e-03 1.24208025e+02] [ 5.99787290e-01 8.00125647e-01 -7.35906643e-03 9.88264391e+01] [ 1.23721555e-02 -7.76858729e-05 9.99923459e-01 2.52052483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38804094199998 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:124.23, Y:98.84, Z:2.52 [[ 8.00463728e-01 -5.99298733e-01 -9.94224980e-03 1.24228974e+02] [ 5.99253491e-01 8.00525468e-01 -7.36403585e-03 9.88446897e+01] [ 1.23722815e-02 -6.32843096e-05 9.99923458e-01 2.52090709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.41804094199998 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:124.25, Y:98.87, Z:2.51 [[ 8.01298210e-01 -5.98182795e-01 -9.92585015e-03 1.24254911e+02] [ 5.98137188e-01 8.01359684e-01 -7.38651964e-03 9.88657110e+01] [ 1.23726651e-02 -1.82151316e-05 9.99923455e-01 2.50947121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44804094199998 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:124.28, Y:98.88, Z:2.51 [[ 8.01127926e-01 -5.98409638e-01 -9.99756886e-03 1.24276626e+02] [ 5.98365271e-01 8.01190293e-01 -7.28813903e-03 9.88840335e+01] [ 1.23712478e-02 -1.43466300e-04 9.99923463e-01 2.51009481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47804094199998 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:124.30, Y:98.90, Z:2.50 [[ 8.00533985e-01 -5.99203972e-01 -9.99697328e-03 1.24299168e+02] [ 5.99159658e-01 8.00596388e-01 -7.28895589e-03 9.89026750e+01] [ 1.23711120e-02 -1.54726186e-04 9.99923463e-01 2.50313033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50804094199998 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:124.32, Y:98.92, Z:2.50 [[ 8.00079440e-01 -5.99810793e-01 -9.99514166e-03 1.24321266e+02] [ 5.99766494e-01 8.00141854e-01 -7.29146667e-03 9.89215919e+01] [ 1.23710316e-02 -1.60998500e-04 9.99923463e-01 2.50312600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53804094199998 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:124.34, Y:98.94, Z:2.51 [[ 8.00105749e-01 -5.99775704e-01 -9.99475047e-03 1.24342491e+02] [ 5.99731396e-01 8.00168157e-01 -7.29200285e-03 9.89386642e+01] [ 1.23710472e-02 -1.59792242e-04 9.99923463e-01 2.50996629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56804094199998 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:124.37, Y:98.96, Z:2.50 [[ 8.00092046e-01 -5.99794002e-01 -9.99361623e-03 1.24365019e+02] [ 5.99749676e-01 8.00154441e-01 -7.29355699e-03 9.89573418e+01] [ 1.23710681e-02 -1.58151167e-04 9.99923463e-01 2.50359065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.59804094199998 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:124.39, Y:98.98, Z:2.50 [[ 7.99423669e-01 -6.00684578e-01 -9.99179345e-03 1.24386756e+02] [ 6.00640290e-01 7.99486091e-01 -7.29605324e-03 9.89773475e+01] [ 1.23709265e-02 -1.68836066e-04 9.99923463e-01 2.50267193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62804094199998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:124.41, Y:99.00, Z:2.50 [[ 7.98804619e-01 -6.01507566e-01 -9.99140255e-03 1.24409100e+02] [ 6.01463336e-01 7.98867082e-01 -7.29658851e-03 9.89955720e+01] [ 1.23707558e-02 -1.80913703e-04 9.99923463e-01 2.50140608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.65804094199999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:124.43, Y:99.01, Z:2.50 [[ 7.98263032e-01 -6.02226154e-01 -9.98958191e-03 1.24430703e+02] [ 6.02181949e-01 7.98325513e-01 -7.29908026e-03 9.90139292e+01] [ 1.23706351e-02 -1.88959966e-04 9.99923463e-01 2.50117724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.45, Y:99.03, Z:2.53 [[ 7.98099640e-01 -6.02442683e-01 -9.98893712e-03 1.24448881e+02] [ 6.02398484e-01 7.98162125e-01 -7.29996255e-03 9.90342127e+01] [ 1.23706003e-02 -1.91223099e-04 9.99923463e-01 2.52763001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.47, Y:99.05, Z:2.52 [[ 7.97277515e-01 -6.03531149e-01 -9.93559174e-03 1.24468529e+02] [ 6.03486123e-01 7.97339413e-01 -7.37295187e-03 9.90537401e+01] [ 1.23718450e-02 -1.17702992e-04 9.99923459e-01 2.52366917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.49, Y:99.08, Z:2.52 [[ 7.97700618e-01 -6.02972728e-01 -9.87996555e-03 1.24486165e+02] [ 6.02926714e-01 7.97761800e-01 -7.44902719e-03 9.90754841e+01] [ 1.23734193e-02 -1.48015758e-05 9.99923446e-01 2.52042808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.51, Y:99.09, Z:2.53 [[ 8.00486104e-01 -5.99270422e-01 -9.84680269e-03 1.24514185e+02] [ 5.99223566e-01 8.00546658e-01 -7.49437855e-03 9.90940274e+01] [ 1.23739844e-02 9.87096598e-05 9.99923434e-01 2.52511951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.808040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:124.53, Y:99.11, Z:2.52 [[ 7.99700132e-01 -6.00317578e-01 -9.92492732e-03 1.24533241e+02] [ 6.00272123e-01 7.99761717e-01 -7.38747882e-03 9.91128841e+01] [ 1.23724103e-02 -4.98894031e-05 9.99923458e-01 2.52335923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.55, Y:99.13, Z:2.52 [[ 7.98734005e-01 -6.01603110e-01 -9.88369411e-03 1.24550468e+02] [ 6.01557055e-01 7.98795154e-01 -7.44387609e-03 9.91343515e+01] [ 1.23733060e-02 7.10472298e-08 9.99923448e-01 2.51901217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.57, Y:99.15, Z:2.51 [[ 7.98915999e-01 -6.01362005e-01 -9.84714463e-03 1.24572332e+02] [ 6.01315314e-01 7.98976680e-01 -7.49386467e-03 9.91538673e+01] [ 1.23741644e-02 6.57295126e-05 9.99923435e-01 2.50912644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.60, Y:99.17, Z:2.52 [[ 8.00750431e-01 -5.98917259e-01 -9.84192136e-03 1.24600572e+02] [ 5.98870296e-01 8.00810904e-01 -7.50100864e-03 9.91730384e+01] [ 1.23740015e-02 1.12401550e-04 9.99923433e-01 2.51947036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.928040942 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:124.63, Y:99.19, Z:2.52 [[ 8.02237762e-01 -5.96921978e-01 -9.93607586e-03 1.24626746e+02] [ 5.96876454e-01 8.02299291e-01 -7.37206348e-03 9.91942697e+01] [ 1.23722533e-02 -1.64620182e-05 9.99923461e-01 2.51794796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.958040942 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:124.64, Y:99.22, Z:2.50 [[ 7.97682099e-01 -6.02995002e-01 -1.00148367e-02 1.24640820e+02] [ 6.02951295e-01 7.97744927e-01 -7.26414746e-03 9.92171146e+01] [ 1.23695298e-02 -2.43978359e-04 9.99923465e-01 2.49640779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98804094199997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:124.68, Y:99.24, Z:2.51 [[ 8.01284440e-01 -5.98201570e-01 -9.90597576e-03 1.24683650e+02] [ 5.98155636e-01 8.01345669e-01 -7.41310221e-03 9.92415532e+01] [ 1.23726402e-02 1.46882181e-05 9.99923456e-01 2.51234845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.01804094199997 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:124.69, Y:99.26, Z:2.49 [[ 7.94110489e-01 -6.07685540e-01 -1.03351732e-02 1.24694490e+02] [ 6.07647835e-01 7.94177274e-01 -6.82391386e-03 9.92607377e+01] [ 1.23547534e-02 -8.61204033e-04 9.99923306e-01 2.49386231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04804094199997 meters Centerline goodness : 0.997181 Centerline is valid? [True, True] Translation: X:124.71, Y:99.28, Z:2.50 [[ 7.89210701e-01 -6.14039157e-01 -1.01184603e-02 1.24707612e+02] [ 6.13998155e-01 7.89275340e-01 -7.12065434e-03 9.92794904e+01] [ 1.23586118e-02 -5.93019334e-04 9.99923454e-01 2.49854495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.07804094199997 meters Centerline goodness : 0.997820 Centerline is valid? [True, True] Translation: X:124.74, Y:99.30, Z:2.50 [[ 7.90520646e-01 -6.12353889e-01 -9.99108592e-03 1.24739319e+02] [ 6.12310539e-01 7.90583703e-01 -7.29474912e-03 9.93011050e+01] [ 1.23657577e-02 -3.50997409e-04 9.99923479e-01 2.49892987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10804094199997 meters Centerline goodness : 0.995853 Centerline is valid? [True, True] Translation: X:124.75, Y:99.32, Z:2.50 [[ 7.85518500e-01 -6.18754513e-01 -1.01754001e-02 1.24747222e+02] [ 6.18714904e-01 7.85584031e-01 -7.04255822e-03 9.93247814e+01] [ 1.23512465e-02 -7.63611908e-04 9.99923429e-01 2.49735432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.13804094199998 meters Centerline goodness : 0.995572 Centerline is valid? [True, True] Translation: X:124.77, Y:99.35, Z:2.50 [[ 7.84303692e-01 -6.20296799e-01 -9.98001392e-03 1.24765179e+02] [ 6.20253901e-01 7.84367052e-01 -7.30933551e-03 9.93487828e+01] [ 1.23619515e-02 -4.57403739e-04 9.99923484e-01 2.49879873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16804094199998 meters Centerline goodness : 0.285793 Centerline is valid? [True, False] Translation: X:124.14, Y:98.27, Z:2.44 [[ 9.44598437e-02 9.82064329e-01 -1.63177790e-01 1.24143401e+02] [-9.46611147e-01 3.78547470e-02 -3.20147394e-01 9.82657606e+01] [-3.08228282e-01 1.84706988e-01 9.33208795e-01 2.43736552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 5752.13 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%| | 0/6632 [00:00