+ python -m lidar_slam --no-model /working/cf3633bb-4319-48e6-a195-9cfd55a72198 Lidar SLAM 0.0.15 ===================================================== The recording path: /working/cf3633bb-4319-48e6-a195-9cfd55a72198 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 0.027719421 Adjusted end_distance from 9.223372036854776e+18 to 174.917719421 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.027719421 meters Centerline goodness : 0.139176 Centerline is valid? [0, False] SLAMing on 0.057719421 meters Centerline goodness : 0.133574 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99986940e-01 5.10344365e-03 -2.73719042e-04 3.70010225e-03] [-5.10234722e-03 9.99979506e-01 3.86700466e-03 3.79304213e-03] [ 2.93448473e-04 -3.86555755e-03 9.99992486e-01 -2.38760162e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.08771942099999999 meters Centerline goodness : 0.142770 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.00 [[ 9.99982521e-01 5.86022838e-03 -7.83899051e-04 6.62965116e-03] [-5.85707258e-03 9.99974970e-01 3.96924340e-03 4.49132188e-03] [ 8.07140102e-04 -3.96458267e-03 9.99991815e-01 -4.05559208e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11771942099999999 meters Centerline goodness : 0.175415 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 0.99998051 0.00603012 -0.00161614 0.01399899] [-0.00602719 0.99998019 0.00181353 0.00758502] [ 0.00162704 -0.00180376 0.99999705 -0.00840456] [ 0. 0. 0. 1. ]] SLAMing on 0.147719421 meters Centerline goodness : 0.177739 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.01 [[ 0.99999215 0.00334452 -0.00212266 0.01671412] [-0.00334904 0.99999213 -0.00212843 0.01049127] [ 0.00211553 0.00213552 0.99999548 -0.00940867] [ 0. 0. 0. 1. ]] SLAMing on 0.177719421 meters Centerline goodness : 0.171079 Centerline is valid? [False, False] Translation: X:0.04, Y:0.02, Z:-0.01 [[ 0.99998076 -0.00103809 -0.00611586 0.03772635] [ 0.00101864 0.99999442 -0.00318295 0.01815086] [ 0.00611913 0.00317666 0.99997623 -0.00840316] [ 0. 0. 0. 1. ]] SLAMing on 0.207719421 meters Centerline goodness : 0.161672 Centerline is valid? [False, False] Translation: X:0.04, Y:0.02, Z:-0.01 [[ 0.99998007 -0.00145321 -0.00614338 0.038663 ] [ 0.00143136 0.99999264 -0.00356033 0.01970208] [ 0.00614851 0.00355146 0.99997479 -0.00930649] [ 0. 0. 0. 1. ]] SLAMing on 0.237719421 meters Centerline goodness : 0.179446 Centerline is valid? [False, False] Translation: X:0.05, Y:0.02, Z:-0.01 [[ 0.99995031 -0.00980231 -0.00181358 0.0495104 ] [ 0.00980464 0.99995111 0.00128026 0.02054119] [ 0.00180094 -0.00129798 0.99999754 -0.01336034] [ 0. 0. 0. 1. ]] SLAMing on 0.267719421 meters Centerline goodness : 0.133287 Centerline is valid? [False, False] Translation: X:0.05, Y:0.02, Z:-0.01 [[ 0.99989187 -0.01452578 -0.00229057 0.04950643] [ 0.01451804 0.99988896 -0.00336034 0.02227757] [ 0.00233912 0.00332672 0.99999173 -0.01172895] [ 0. 0. 0. 1. ]] SLAMing on 0.29771942100000004 meters Centerline goodness : 0.130876 Centerline is valid? [False, False] Translation: X:0.05, Y:0.02, Z:-0.01 [[ 0.99978161 -0.02073664 -0.00259427 0.04971709] [ 0.02071528 0.99975337 -0.00800519 0.02367181] [ 0.00275963 0.0079497 0.99996459 -0.01139127] [ 0. 0. 0. 1. ]] SLAMing on 0.327719421 meters Centerline goodness : 0.130429 Centerline is valid? [False, False] Translation: X:0.05, Y:0.02, Z:-0.01 [[ 0.99976638 -0.02143919 -0.00274831 0.05128831] [ 0.02141748 0.99974095 -0.00770215 0.02232999] [ 0.00291273 0.00764149 0.99996656 -0.01327546] [ 0. 0. 0. 1. ]] SLAMing on 0.357719421 meters Centerline goodness : 0.133015 Centerline is valid? [False, False] Translation: X:0.05, Y:0.02, Z:-0.02 [[ 0.99974856 -0.02220118 -0.00315104 0.05328143] [ 0.02217752 0.99972699 -0.00735554 0.02043349] [ 0.00331348 0.00728381 0.99996798 -0.01511811] [ 0. 0. 0. 1. ]] SLAMing on 0.387719421 meters Centerline goodness : 0.134422 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.02 [[ 0.99963058 -0.02692528 -0.00370459 0.05606226] [ 0.02688188 0.99957471 -0.01130346 0.02244001] [ 0.00400736 0.0111997 0.99992925 -0.01654965] [ 0. 0. 0. 1. ]] SLAMing on 0.41771942100000004 meters Centerline goodness : 0.137112 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.02 [[ 0.99960338 -0.0278991 -0.00383693 0.05715006] [ 0.02785271 0.99954408 -0.01165578 0.02469761] [ 0.00416037 0.01154429 0.99992471 -0.01696322] [ 0. 0. 0. 1. ]] SLAMing on 0.447719421 meters Centerline goodness : 0.134898 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.02 [[ 0.9996887 -0.02462917 -0.00398866 0.05864673] [ 0.02459823 0.99966831 -0.00762869 0.02362082] [ 0.00417522 0.0075282 0.99996295 -0.01878121] [ 0. 0. 0. 1. ]] SLAMing on 0.477719421 meters Centerline goodness : 0.136480 Centerline is valid? [False, False] Translation: X:0.06, Y:0.03, Z:-0.02 [[ 0.99975916 -0.02160456 -0.00385584 0.05933521] [ 0.02159011 0.99975988 -0.00374958 0.02549204] [ 0.00393593 0.00366543 0.99998554 -0.01974585] [ 0. 0. 0. 1. ]] SLAMing on 0.507719421 meters Centerline goodness : 0.138948 Centerline is valid? [False, False] Translation: X:0.06, Y:0.03, Z:-0.02 [[ 9.99821053e-01 -1.85380317e-02 -3.76869364e-03 6.02657574e-02] [ 1.85379056e-02 9.99828156e-01 -6.83800543e-05 2.51154315e-02] [ 3.76931365e-03 -1.49586912e-06 9.99992896e-01 -2.09560166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.537719421 meters Centerline goodness : 0.137675 Centerline is valid? [False, False] Translation: X:0.07, Y:0.03, Z:-0.02 [[ 0.99979293 -0.01988585 -0.00431838 0.06537393] [ 0.01988041 0.99980152 -0.00129755 0.02893964] [ 0.00434333 0.00121143 0.99998983 -0.02426589] [ 0. 0. 0. 1. ]] SLAMing on 0.5677194210000001 meters Centerline goodness : 0.850591 Centerline is valid? [False, False] Translation: X:0.08, Y:0.03, Z:-0.03 [[ 0.99978129 -0.02028098 -0.00510358 0.0761438 ] [ 0.02026485 0.99978955 -0.00319273 0.03082417] [ 0.00516725 0.00308861 0.99998188 -0.02973113] [ 0. 0. 0. 1. ]] SLAMing on 0.597719421 meters Centerline goodness : 0.134911 Centerline is valid? [False, False] Translation: X:0.08, Y:0.03, Z:-0.03 [[ 0.9997827 -0.02003741 -0.00574858 0.08095126] [ 0.02002168 0.99979568 -0.0027803 0.03179856] [ 0.00580312 0.0026646 0.99997961 -0.03278977] [ 0. 0. 0. 1. ]] SLAMing on 0.627719421 meters Centerline goodness : 0.139600 Centerline is valid? [False, False] Translation: X:0.09, Y:0.03, Z:-0.03 [[ 0.99978098 -0.0198935 -0.00649854 0.08521732] [ 0.01987883 0.99979972 -0.00231426 0.03328942] [ 0.00654328 0.00218457 0.99997621 -0.03495533] [ 0. 0. 0. 1. ]] SLAMing on 0.657719421 meters Centerline goodness : 0.130783 Centerline is valid? [False, False] Translation: X:0.10, Y:0.04, Z:-0.04 [[ 0.99976978 -0.01968122 -0.00854629 0.096623 ] [ 0.01965747 0.9998027 -0.00285385 0.03950743] [ 0.00860077 0.00268519 0.99995941 -0.03824761] [ 0. 0. 0. 1. ]] SLAMing on 0.6877194209999999 meters Centerline goodness : 0.129198 Centerline is valid? [False, False] Translation: X:0.10, Y:0.04, Z:-0.04 [[ 0.99977814 -0.01888741 -0.0093238 0.10162207] [ 0.0188619 0.99981813 -0.00281582 0.04173003] [ 0.00937529 0.00263933 0.99995257 -0.04071337] [ 0. 0. 0. 1. ]] SLAMing on 0.717719421 meters Centerline goodness : 0.143488 Centerline is valid? [False, False] Translation: X:0.12, Y:0.04, Z:-0.05 [[ 0.99983676 -0.015161 -0.00982791 0.1200929 ] [ 0.01510443 0.99986907 -0.00580447 0.0433012 ] [ 0.00991462 0.00565507 0.99993486 -0.04553402] [ 0. 0. 0. 1. ]] SLAMing on 0.747719421 meters Centerline goodness : 0.146623 Centerline is valid? [False, False] Translation: X:0.13, Y:0.05, Z:-0.05 [[ 0.99985924 -0.01329915 -0.01022898 0.12558275] [ 0.01324111 0.99989597 -0.00572039 0.04671276] [ 0.01030399 0.00558414 0.99993132 -0.04863174] [ 0. 0. 0. 1. ]] SLAMing on 0.777719421 meters Centerline goodness : 0.152394 Centerline is valid? [False, False] Translation: X:0.14, Y:0.05, Z:-0.05 [[ 0.99991719 -0.00563924 -0.01156734 0.14350389] [ 0.00559881 0.99997812 -0.00352429 0.05293453] [ 0.01158696 0.00345923 0.99992689 -0.05371957] [ 0. 0. 0. 1. ]] SLAMing on 0.807719421 meters Centerline goodness : 0.117122 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:-0.06 [[ 0.99989793 -0.00483226 -0.01344573 0.15021885] [ 0.00480567 0.99998643 -0.00200943 0.05860502] [ 0.01345526 0.00194461 0.99990758 -0.0566052 ] [ 0. 0. 0. 1. ]] SLAMing on 0.837719421 meters Centerline goodness : 0.117262 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:-0.06 [[ 0.99989333 -0.00516328 -0.013663 0.1509005 ] [ 0.00513465 0.99998455 -0.00212984 0.06147602] [ 0.01367379 0.00205946 0.99990439 -0.0568922 ] [ 0. 0. 0. 1. ]] SLAMing on 0.867719421 meters Centerline goodness : 0.116600 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:-0.06 [[ 0.9998845 -0.00597628 -0.01397405 0.15180005] [ 0.00594667 0.99997999 -0.00215943 0.06187506] [ 0.01398668 0.00207608 0.99990003 -0.05735692] [ 0. 0. 0. 1. ]] SLAMing on 0.897719421 meters Centerline goodness : 0.178665 Centerline is valid? [False, False] Translation: X:0.16, Y:0.06, Z:-0.06 [[ 0.99984351 -0.00877342 -0.01536198 0.16105963] [ 0.00867862 0.99994295 -0.00622678 0.06350281] [ 0.01541574 0.00609249 0.99986261 -0.06142536] [ 0. 0. 0. 1. ]] SLAMing on 0.9277194209999999 meters Centerline goodness : 0.179141 Centerline is valid? [False, False] Translation: X:0.17, Y:0.06, Z:-0.06 [[ 0.99979706 -0.01205557 -0.01613991 0.16556681] [ 0.0119 0.99988214 -0.00970059 0.06453153] [ 0.01625495 0.00950656 0.99982269 -0.06402596] [ 0. 0. 0. 1. ]] SLAMing on 0.957719421 meters Centerline goodness : 0.176361 Centerline is valid? [False, False] Translation: X:0.18, Y:0.07, Z:-0.07 [[ 0.99974312 -0.01350903 -0.01819888 0.17875854] [ 0.01330626 0.99984855 -0.01121716 0.06764927] [ 0.01834765 0.01097212 0.99977146 -0.07013999] [ 0. 0. 0. 1. ]] SLAMing on 0.987719421 meters Centerline goodness : 0.185885 Centerline is valid? [False, False] Translation: X:0.19, Y:0.07, Z:-0.07 [[ 0.99973976 -0.01239157 -0.01915349 0.19366811] [ 0.01214977 0.99984567 -0.01268937 0.07130683] [ 0.01930777 0.01245336 0.99973603 -0.07453367] [ 0. 0. 0. 1. ]] SLAMing on 1.017719421 meters Centerline goodness : 0.190085 Centerline is valid? [False, False] Translation: X:0.20, Y:0.07, Z:-0.08 [[ 0.99973228 -0.01286664 -0.01923063 0.19780152] [ 0.01259055 0.9998169 -0.01440974 0.07486112] [ 0.01941252 0.01416376 0.99971123 -0.07606747] [ 0. 0. 0. 1. ]] SLAMing on 1.047719421 meters Centerline goodness : 0.198423 Centerline is valid? [False, False] Translation: X:0.23, Y:0.08, Z:-0.08 [[ 0.99977433 -0.00747617 -0.0198846 0.22757862] [ 0.0070061 0.99969681 -0.02360519 0.07857078] [ 0.02005505 0.02346055 0.99952359 -0.07547888] [ 0. 0. 0. 1. ]] SLAMing on 1.077719421 meters Centerline goodness : 0.197613 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:-0.08 [[ 0.99976161 -0.00620345 -0.02093414 0.23634364] [ 0.00569919 0.99969422 -0.02406209 0.0815613 ] [ 0.02107701 0.02393705 0.99949126 -0.07988172] [ 0. 0. 0. 1. ]] SLAMing on 1.107719421 meters Centerline goodness : 0.203430 Centerline is valid? [False, False] Translation: X:0.27, Y:0.09, Z:-0.08 [[ 0.99962751 -0.00311917 -0.02711301 0.27020293] [ 0.00248052 0.99971941 -0.02355718 0.0886548 ] [ 0.02717888 0.02348115 0.99935476 -0.0780224 ] [ 0. 0. 0. 1. ]] SLAMing on 1.137719421 meters Centerline goodness : 0.203430 Centerline is valid? [False, False] Translation: X:0.27, Y:0.09, Z:-0.08 [[ 0.9996277 -0.00312592 -0.02710503 0.27018599] [ 0.00248764 0.99971956 -0.02355034 0.08863725] [ 0.02717104 0.02347414 0.99935514 -0.07802678] [ 0. 0. 0. 1. ]] SLAMing on 1.167719421 meters Centerline goodness : 0.180838 Centerline is valid? [False, False] Translation: X:0.27, Y:0.09, Z:-0.08 [[ 0.99961253 -0.0032511 -0.02764468 0.27305913] [ 0.00260641 0.99972454 -0.02332479 0.09092013] [ 0.0277129 0.0232437 0.99934565 -0.07957505] [ 0. 0. 0. 1. ]] SLAMing on 1.197719421 meters Centerline goodness : 0.185684 Centerline is valid? [False, False] Translation: X:0.28, Y:0.09, Z:-0.08 [[ 0.99959654 -0.00361509 -0.02817248 0.27533935] [ 0.00297656 0.99973848 -0.02267414 0.09125472] [ 0.02824708 0.02258114 0.99934588 -0.08110352] [ 0. 0. 0. 1. ]] SLAMing on 1.227719421 meters Centerline goodness : 0.270997 Centerline is valid? [False, False] Translation: X:0.28, Y:0.09, Z:-0.09 [[ 0.99955572 -0.00373834 -0.02956998 0.28279784] [ 0.00307602 0.99974408 -0.02241226 0.09470978] [ 0.0296462 0.02231135 0.99931142 -0.08556728] [ 0. 0. 0. 1. ]] SLAMing on 1.257719421 meters Centerline goodness : 0.284977 Centerline is valid? [False, False] Translation: X:0.29, Y:0.10, Z:-0.09 [[ 0.99949602 -0.00656129 -0.03105906 0.29387678] [ 0.00573566 0.99962977 -0.02659745 0.09711162] [ 0.03122207 0.0264059 0.99916361 -0.09178939] [ 0. 0. 0. 1. ]] SLAMing on 1.287719421 meters Centerline goodness : 0.324735 Centerline is valid? [False, False] Translation: X:0.30, Y:0.10, Z:-0.10 [[ 0.99947154 -0.00787446 -0.03153769 0.29980649] [ 0.00696115 0.99955618 -0.02896519 0.09919793] [ 0.03175177 0.02873034 0.99908278 -0.09582593] [ 0. 0. 0. 1. ]] SLAMing on 1.317719421 meters Centerline goodness : 0.390003 Centerline is valid? [False, False] Translation: X:0.31, Y:0.11, Z:-0.10 [[ 0.99948135 -0.00560205 -0.03171196 0.31112781] [ 0.00471105 0.99959396 -0.02810198 0.10503623] [ 0.03185651 0.027938 0.99910191 -0.10282981] [ 0. 0. 0. 1. ]] SLAMing on 1.3477194209999999 meters Centerline goodness : 0.418301 Centerline is valid? [False, False] Translation: X:0.31, Y:0.11, Z:-0.10 [[ 0.99946427 -0.00511303 -0.03232694 0.31492444] [ 0.00420916 0.99959999 -0.02796685 0.10991883] [ 0.032457 0.0278158 0.99908599 -0.10466062] [ 0. 0. 0. 1. ]] SLAMing on 1.3777194209999999 meters Centerline goodness : 0.385721 Centerline is valid? [False, False] Translation: X:0.31, Y:0.12, Z:-0.11 [[ 0.9997144 -0.01471884 -0.01882741 0.31199133] [ 0.01400848 0.99920513 -0.03732113 0.12302705] [ 0.01936177 0.03704673 0.99912595 -0.1061856 ] [ 0. 0. 0. 1. ]] SLAMing on 1.407719421 meters Centerline goodness : 0.421798 Centerline is valid? [False, False] Translation: X:0.33, Y:0.12, Z:-0.11 [[ 0.9996814 -0.01942817 -0.01611351 0.32555246] [ 0.01895242 0.99939476 -0.02917036 0.12231448] [ 0.01667049 0.02885568 0.99944457 -0.11283575] [ 0. 0. 0. 1. ]] SLAMing on 1.437719421 meters Centerline goodness : 0.531134 Centerline is valid? [False, False] Translation: X:0.33, Y:0.12, Z:-0.11 [[ 0.99950771 -0.02584059 -0.01779309 0.32973564] [ 0.02527646 0.99919253 -0.03123128 0.1239805 ] [ 0.01858575 0.03076616 0.9993538 -0.11376703] [ 0. 0. 0. 1. ]] SLAMing on 1.467719421 meters Centerline goodness : 0.569967 Centerline is valid? [False, False] Translation: X:0.33, Y:0.12, Z:-0.11 [[ 0.99934289 -0.03036603 -0.01979145 0.3344008 ] [ 0.02976239 0.99910332 -0.03011247 0.12449716] [ 0.0206881 0.02950364 0.99935056 -0.11428281] [ 0. 0. 0. 1. ]] SLAMing on 1.497719421 meters Centerline goodness : 0.592589 Centerline is valid? [False, False] Translation: X:0.34, Y:0.13, Z:-0.11 [[ 0.99891909 -0.04020905 -0.02332118 0.34003864] [ 0.03946746 0.99872635 -0.03143238 0.12644876] [ 0.02455534 0.03047797 0.99923377 -0.11188859] [ 0. 0. 0. 1. ]] SLAMing on 1.527719421 meters Centerline goodness : 0.606676 Centerline is valid? [False, False] Translation: X:0.34, Y:0.13, Z:-0.11 [[ 0.99874468 -0.04331159 -0.02516283 0.34384007] [ 0.04257632 0.99867061 -0.02905649 0.12711653] [ 0.02638787 0.02794868 0.999261 -0.11170772] [ 0. 0. 0. 1. ]] SLAMing on 1.557719421 meters Centerline goodness : 0.629771 Centerline is valid? [False, False] Translation: X:0.35, Y:0.13, Z:-0.11 [[ 0.99858637 -0.04615608 -0.02636066 0.34606909] [ 0.04547155 0.99862715 -0.02600283 0.12729991] [ 0.02752466 0.02476741 0.99931425 -0.11122994] [ 0. 0. 0. 1. ]] SLAMing on 1.587719421 meters Centerline goodness : 0.643230 Centerline is valid? [False, False] Translation: X:0.35, Y:0.13, Z:-0.11 [[ 0.99856947 -0.04693111 -0.02562187 0.34690359] [ 0.04625876 0.998585 -0.02623212 0.12834127] [ 0.02681671 0.02500936 0.99932747 -0.11226611] [ 0. 0. 0. 1. ]] SLAMing on 1.6177194209999999 meters Centerline goodness : 0.659875 Centerline is valid? [False, False] Translation: X:0.35, Y:0.13, Z:-0.12 [[ 0.99859283 -0.0467464 -0.02504267 0.35418929] [ 0.04607154 0.99857643 -0.02687994 0.13220492] [ 0.02626356 0.02568836 0.99932494 -0.1172364 ] [ 0. 0. 0. 1. ]] SLAMing on 1.647719421 meters Centerline goodness : 0.683015 Centerline is valid? [False, False] Translation: X:0.35, Y:0.14, Z:-0.12 [[ 0.99878894 -0.04257002 -0.02466686 0.35283766] [ 0.04194276 0.9987968 -0.02541185 0.13571995] [ 0.02571897 0.02434648 0.9993727 -0.11669365] [ 0. 0. 0. 1. ]] SLAMing on 1.677719421 meters Centerline goodness : 0.681295 Centerline is valid? [False, False] Translation: X:0.35, Y:0.14, Z:-0.11 [[ 0.99884899 -0.04093499 -0.02500036 0.35217348] [ 0.0403206 0.99888382 -0.02460406 0.13687022] [ 0.02597962 0.02356771 0.99938462 -0.11482546] [ 0. 0. 0. 1. ]] SLAMing on 1.707719421 meters Centerline goodness : 0.680454 Centerline is valid? [False, False] Translation: X:0.35, Y:0.14, Z:-0.11 [[ 0.99888069 -0.03949959 -0.02602214 0.35412938] [ 0.03897865 0.99903521 -0.02023128 0.13691253] [ 0.02679617 0.01919433 0.99945662 -0.11488188] [ 0. 0. 0. 1. ]] SLAMing on 1.737719421 meters Centerline goodness : 0.681955 Centerline is valid? [False, False] Translation: X:0.36, Y:0.14, Z:-0.11 [[ 0.99893169 -0.03701969 -0.02765912 0.35695765] [ 0.03666012 0.999238 -0.01339636 0.13724828] [ 0.02813398 0.01236806 0.99952764 -0.11455251] [ 0. 0. 0. 1. ]] SLAMing on 1.767719421 meters Centerline goodness : 0.686977 Centerline is valid? [False, False] Translation: X:0.36, Y:0.14, Z:-0.12 [[ 0.99891103 -0.03700195 -0.02841857 0.35956374] [ 0.03664955 0.99924591 -0.01282284 0.1388299 ] [ 0.02887161 0.01176735 0.99951386 -0.11612494] [ 0. 0. 0. 1. ]] SLAMing on 1.797719421 meters Centerline goodness : 0.662972 Centerline is valid? [False, False] Translation: X:0.36, Y:0.14, Z:-0.12 [[ 0.9988697 -0.03895923 -0.0272305 0.36033192] [ 0.03836472 0.99902105 -0.02202455 0.14486719] [ 0.0280619 0.02095497 0.99938652 -0.11969922] [ 0. 0. 0. 1. ]] SLAMing on 1.8277194209999998 meters Centerline goodness : 0.659072 Centerline is valid? [False, False] Translation: X:0.36, Y:0.15, Z:-0.12 [[ 0.99885721 -0.03950875 -0.02689487 0.36067452] [ 0.03879931 0.99889801 -0.02640812 0.14826973] [ 0.02790859 0.02533443 0.99928939 -0.12072401] [ 0. 0. 0. 1. ]] SLAMing on 1.8577194209999999 meters Centerline goodness : 0.658687 Centerline is valid? [False, False] Translation: X:0.36, Y:0.15, Z:-0.12 [[ 0.9989141 -0.0382001 -0.02667171 0.3621887 ] [ 0.03751221 0.99896223 -0.02583203 0.15294906] [ 0.02763082 0.02480347 0.99931043 -0.12348594] [ 0. 0. 0. 1. ]] SLAMing on 1.887719421 meters Centerline goodness : 0.651481 Centerline is valid? [False, False] Translation: X:0.37, Y:0.15, Z:-0.13 [[ 0.99892124 -0.03733546 -0.02761193 0.36594688] [ 0.03675088 0.99909564 -0.02138421 0.15262803] [ 0.02838535 0.02034637 0.99938996 -0.12643006] [ 0. 0. 0. 1. ]] SLAMing on 1.917719421 meters Centerline goodness : 0.643701 Centerline is valid? [False, False] Translation: X:0.37, Y:0.15, Z:-0.13 [[ 0.99888216 -0.03809387 -0.0279872 0.36680276] [ 0.0375179 0.99907894 -0.02082473 0.15115481] [ 0.02875472 0.01975143 0.99939134 -0.12593075] [ 0. 0. 0. 1. ]] SLAMing on 1.947719421 meters Centerline goodness : 0.643839 Centerline is valid? [False, False] Translation: X:0.37, Y:0.15, Z:-0.13 [[ 0.9988153 -0.03925977 -0.02875189 0.36882422] [ 0.03870609 0.99905904 -0.01956704 0.15077237] [ 0.02949303 0.01843099 0.99939505 -0.1264147 ] [ 0. 0. 0. 1. ]] SLAMing on 1.977719421 meters Centerline goodness : 0.597347 Centerline is valid? [False, False] Translation: X:0.38, Y:0.15, Z:-0.13 [[ 0.99859424 -0.04735952 -0.02380393 0.3824635 ] [ 0.04697705 0.99876169 -0.01637809 0.14909558] [ 0.02455012 0.01523682 0.99958248 -0.13061471] [ 0. 0. 0. 1. ]] SLAMing on 2.007719421 meters Centerline goodness : 0.613234 Centerline is valid? [False, False] Translation: X:0.39, Y:0.15, Z:-0.13 [[ 0.99811193 -0.05893528 -0.01729753 0.3906473 ] [ 0.05863794 0.99813076 -0.0172217 0.14970192] [ 0.01828016 0.0161749 0.99970206 -0.12901292] [ 0. 0. 0. 1. ]] SLAMing on 2.037719421 meters Centerline goodness : 0.590222 Centerline is valid? [False, False] Translation: X:0.40, Y:0.15, Z:-0.13 [[ 0.9977485 -0.06608931 -0.01140791 0.39894858] [ 0.0659487 0.99774732 -0.01229068 0.1485461 ] [ 0.0121945 0.01151067 0.99985939 -0.13028151] [ 0. 0. 0. 1. ]] SLAMing on 2.067719421 meters Centerline goodness : 0.584617 Centerline is valid? [False, False] Translation: X:0.41, Y:0.15, Z:-0.13 [[ 0.99679589 -0.07980401 -0.00540996 0.40941443] [ 0.07971283 0.99669929 -0.01537502 0.14732698] [ 0.0066191 0.01489452 0.99986716 -0.12904926] [ 0. 0. 0. 1. ]] SLAMing on 2.097719421 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 2.127719421 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 2.157719421 meters Centerline goodness : 0.640160 Centerline is valid? [False, False] Translation: X:0.44, Y:0.15, Z:-0.13 [[ 0.99660005 -0.08232971 0.00318869 0.4426522 ] [ 0.08237372 0.99644185 -0.01783859 0.14607359] [-0.00170869 0.0180406 0.99983579 -0.13118392] [ 0. 0. 0. 1. ]] SLAMing on 2.187719421 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 2.217719421 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 2.2477194209999998 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 2.277719421 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 2.307719421 meters Centerline goodness : 0.576618 Centerline is valid? [False, False] Translation: X:0.51, Y:0.14, Z:-0.12 [[ 0.99831904 -0.0569778 0.01061236 0.50567184] [ 0.05720348 0.99811259 -0.02233895 0.14025758] [-0.00931951 0.02290846 0.99969413 -0.1228124 ] [ 0. 0. 0. 1. ]] SLAMing on 2.337719421 meters Centerline goodness : 0.570600 Centerline is valid? [False, False] Translation: X:0.51, Y:0.14, Z:-0.12 [[ 0.99833947 -0.05689422 0.00901909 0.50918888] [ 0.05707919 0.99813196 -0.0217841 0.1371335 ] [-0.00776286 0.02226273 0.99972202 -0.12324467] [ 0. 0. 0. 1. ]] SLAMing on 2.367719421 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 2.397719421 meters Centerline goodness : 0.154282 Centerline is valid? [False, False] Translation: X:0.53, Y:0.13, Z:-0.13 [[ 0.9975533 -0.06895525 0.0115148 0.52621577] [ 0.06919667 0.99735866 -0.02208013 0.12761082] [-0.00996184 0.02282289 0.99968989 -0.12581273] [ 0. 0. 0. 1. ]] SLAMing on 2.427719421 meters Centerline goodness : 0.157087 Centerline is valid? [False, False] Translation: X:0.53, Y:0.12, Z:-0.13 [[ 0.99712459 -0.07510754 0.01007016 0.53344728] [ 0.07536259 0.99676473 -0.0279385 0.11975465] [-0.00793919 0.02861708 0.99955892 -0.12753207] [ 0. 0. 0. 1. ]] SLAMing on 2.4577194209999997 meters Centerline goodness : 0.483721 Centerline is valid? [False, False] Translation: X:0.54, Y:0.12, Z:-0.13 [[ 0.99714697 -0.07500008 0.00853864 0.53699847] [ 0.07520549 0.99680193 -0.0270194 0.11537741] [-0.00648487 0.02758447 0.99959844 -0.12845585] [ 0. 0. 0. 1. ]] SLAMing on 2.487719421 meters Centerline goodness : 0.484349 Centerline is valid? [False, False] Translation: X:0.54, Y:0.11, Z:-0.13 [[ 0.99690954 -0.07807382 0.00870902 0.53893434] [ 0.07829642 0.99650513 -0.02910653 0.10982888] [-0.00640612 0.02969847 0.99953837 -0.12773831] [ 0. 0. 0. 1. ]] SLAMing on 2.517719421 meters Centerline goodness : 0.516990 Centerline is valid? [False, False] Translation: X:0.54, Y:0.10, Z:-0.13 [[ 0.99697474 -0.07739252 0.00719553 0.54302912] [ 0.07756432 0.99659818 -0.02785392 0.10443993] [-0.00501536 0.02832777 0.99958611 -0.1291684 ] [ 0. 0. 0. 1. ]] SLAMing on 2.547719421 meters Centerline goodness : 0.437211 Centerline is valid? [False, False] Translation: X:0.55, Y:0.10, Z:-0.13 [[ 0.99691989 -0.07825566 0.00517535 0.55019907] [ 0.07837383 0.99649803 -0.0291415 0.09580745] [-0.00287674 0.02945735 0.9995619 -0.1299809 ] [ 0. 0. 0. 1. ]] SLAMing on 2.577719421 meters Centerline goodness : 0.445854 Centerline is valid? [False, False] Translation: X:0.55, Y:0.09, Z:-0.13 [[ 0.99700331 -0.07725858 0.00393877 0.5529139 ] [ 0.07733839 0.99661878 -0.02774477 0.09144906] [-0.00178193 0.02796624 0.99960728 -0.12997187] [ 0. 0. 0. 1. ]] SLAMing on 2.607719421 meters Centerline goodness : 0.703833 Centerline is valid? [False, False] Translation: X:0.55, Y:0.08, Z:-0.13 [[ 0.99682112 -0.0795881 0.00365987 0.55461125] [ 0.07966002 0.99641992 -0.02831299 0.08226611] [-0.00139339 0.02851453 0.99959241 -0.1291371 ] [ 0. 0. 0. 1. ]] SLAMing on 2.637719421 meters Centerline goodness : 0.728994 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:-0.13 [[ 9.96616056e-01 -8.21591216e-02 2.51290285e-03 5.58199165e-01] [ 8.21975422e-02 9.96149238e-01 -3.05001535e-02 7.71293087e-02] [ 2.63956237e-06 3.06034971e-02 9.99531603e-01 -1.29808434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6677194209999997 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 2.697719421 meters Centerline goodness : 0.745416 Centerline is valid? [False, False] Translation: X:0.57, Y:0.06, Z:-0.13 [[ 0.9955949 -0.09374643 -0.00154886 0.572891 ] [ 0.09362739 0.99493509 -0.03657971 0.05665854] [ 0.00497023 0.03627356 0.99932954 -0.13452307] [ 0. 0. 0. 1. ]] SLAMing on 2.7277194209999998 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 2.757719421 meters Centerline goodness : 0.747853 Centerline is valid? [False, False] Translation: X:0.61, Y:0.05, Z:-0.13 [[ 0.99630125 -0.08572723 0.00588746 0.6057485 ] [ 0.085913 0.99510151 -0.04890745 0.05381699] [-0.00166592 0.04923236 0.99878596 -0.13293514] [ 0. 0. 0. 1. ]] SLAMing on 2.787719421 meters Centerline goodness : 0.904917 Centerline is valid? [False, False] Translation: X:0.61, Y:0.05, Z:-0.14 [[ 9.96720333e-01 -8.08106215e-02 4.26868695e-03 6.09611256e-01] [ 8.09198269e-02 9.95777847e-01 -4.33412247e-02 5.06807654e-02] [-7.48232600e-04 4.35445013e-02 9.99051208e-01 -1.35029731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.817719421 meters Centerline goodness : 0.771512 Centerline is valid? [False, False] Translation: X:0.64, Y:0.05, Z:-0.12 [[ 0.99732341 -0.07245259 0.00983005 0.63939487] [ 0.07294289 0.9951803 -0.06554004 0.05420608] [-0.00503412 0.06608165 0.99780152 -0.12289147] [ 0. 0. 0. 1. ]] SLAMing on 2.847719421 meters Centerline goodness : 0.907344 Centerline is valid? [False, False] Translation: X:0.64, Y:0.05, Z:-0.12 [[ 0.99745008 -0.07084201 0.00864549 0.64391531] [ 0.07125233 0.99538744 -0.06424142 0.051767 ] [-0.00405463 0.06469362 0.99789694 -0.12491266] [ 0. 0. 0. 1. ]] SLAMing on 2.877719421 meters Centerline goodness : 0.898677 Centerline is valid? [False, False] Translation: X:0.64, Y:0.04, Z:-0.12 [[ 0.99815389 -0.06066918 0.00283806 0.63709678] [ 0.06071493 0.99550896 -0.07263332 0.04464125] [ 0.00158129 0.07267154 0.99735467 -0.12318894] [ 0. 0. 0. 1. ]] SLAMing on 2.907719421 meters Centerline goodness : 0.894864 Centerline is valid? [False, False] Translation: X:0.63, Y:0.04, Z:-0.12 [[ 0.99850151 -0.05450534 0.00488811 0.63352191] [ 0.05471459 0.9960016 -0.07061965 0.04090831] [-0.00101941 0.07078127 0.99749134 -0.12427342] [ 0. 0. 0. 1. ]] SLAMing on 2.9377194209999997 meters Centerline goodness : 0.915232 Centerline is valid? [False, False] Translation: X:0.64, Y:0.03, Z:-0.12 [[ 0.99905358 -0.04233311 -0.00999276 0.63671572] [ 0.04169328 0.99748472 -0.05732289 0.03216775] [ 0.01239429 0.05685201 0.99830568 -0.12078348] [ 0. 0. 0. 1. ]] SLAMing on 2.967719421 meters Centerline goodness : 0.908463 Centerline is valid? [False, False] Translation: X:0.64, Y:0.03, Z:-0.12 [[ 0.99912418 -0.04049751 -0.01052741 0.63698615] [ 0.03985711 0.99767855 -0.05521712 0.03046614] [ 0.01273913 0.05474916 0.99841887 -0.11976402] [ 0. 0. 0. 1. ]] SLAMing on 2.9977194209999998 meters Centerline goodness : 0.895405 Centerline is valid? [False, False] Translation: X:0.63, Y:0.02, Z:-0.12 [[ 0.99924293 -0.03363221 -0.01955618 0.63273741] [ 0.03264504 0.99827604 -0.04877765 0.01568916] [ 0.02116297 0.04810231 0.99861819 -0.11966545] [ 0. 0. 0. 1. ]] SLAMing on 3.027719421 meters Centerline goodness : 0.929620 Centerline is valid? [False, False] Translation: X:0.63, Y:0.01, Z:-0.12 [[ 0.99917879 -0.03552276 -0.01949035 0.63221963] [ 0.03453219 0.99820159 -0.04900107 0.0051417 ] [ 0.02119595 0.04828778 0.99860854 -0.11833946] [ 0. 0. 0. 1. ]] SLAMing on 3.057719421 meters Centerline goodness : 0.929620 Centerline is valid? [False, False] Translation: X:0.63, Y:0.01, Z:-0.12 [[ 0.99917879 -0.03552276 -0.01949035 0.63221963] [ 0.03453219 0.99820159 -0.04900107 0.0051417 ] [ 0.02119595 0.04828778 0.99860854 -0.11833946] [ 0. 0. 0. 1. ]] SLAMing on 3.087719421 meters Centerline goodness : 0.924364 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.00, Z:-0.12 [[ 9.99178068e-01 -3.50763398e-02 -2.03184523e-02 6.33413582e-01] [ 3.40840503e-02 9.98299956e-01 -4.72808171e-02 -1.81791980e-04] [ 2.19423481e-02 4.65494203e-02 9.98674965e-01 -1.18378127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.117719421 meters Centerline goodness : 0.930015 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.01, Z:-0.12 [[ 0.99883351 -0.04021572 -0.02672683 0.64286439] [ 0.03918421 0.99850697 -0.03805826 -0.01085016] [ 0.02821747 0.0369666 0.99891804 -0.1169553 ] [ 0. 0. 0. 1. ]] SLAMing on 3.147719421 meters Centerline goodness : 0.931129 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.02, Z:-0.12 [[ 0.99877702 -0.04404748 -0.02245632 0.65113371] [ 0.04342816 0.99868189 -0.02735834 -0.01680322] [ 0.02363178 0.02634964 0.99937342 -0.12120751] [ 0. 0. 0. 1. ]] SLAMing on 3.177719421 meters Centerline goodness : 0.930720 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.02, Z:-0.12 [[ 0.99861306 -0.04762926 -0.02243697 0.64973846] [ 0.04697285 0.99847724 -0.0289267 -0.02486916] [ 0.02378056 0.02783265 0.99932969 -0.1191039 ] [ 0. 0. 0. 1. ]] SLAMing on 3.2077194209999997 meters Centerline goodness : 0.928842 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.03, Z:-0.12 [[ 0.99859387 -0.04776133 -0.02300311 0.65036483] [ 0.04711348 0.99849908 -0.02792697 -0.02965793] [ 0.02430242 0.02680394 0.99934526 -0.1189113 ] [ 0. 0. 0. 1. ]] SLAMing on 3.237719421 meters Centerline goodness : 0.932118 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.04, Z:-0.12 [[ 0.9984593 -0.05039325 -0.02322827 0.650659 ] [ 0.04969614 0.99832357 -0.0296705 -0.03690637] [ 0.02468452 0.02847043 0.9992898 -0.11800454] [ 0. 0. 0. 1. ]] SLAMing on 3.267719421 meters Centerline goodness : 0.932668 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.04, Z:-0.12 [[ 0.99847322 -0.05184456 -0.01906255 0.6595987 ] [ 0.05151533 0.99852106 -0.01737448 -0.04071422] [ 0.01993513 0.01636594 0.99966732 -0.12229228] [ 0. 0. 0. 1. ]] SLAMing on 3.297719421 meters Centerline goodness : 0.932927 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.04, Z:-0.12 [[ 0.99847233 -0.05161385 -0.0197235 0.66047594] [ 0.05129449 0.99854942 -0.01636889 -0.0422499 ] [ 0.02053975 0.01533217 0.99967147 -0.12193594] [ 0. 0. 0. 1. ]] SLAMing on 3.327719421 meters Centerline goodness : 0.927195 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.05, Z:-0.12 [[ 0.99827292 -0.05485132 -0.02103597 0.66427451] [ 0.05446295 0.99834234 -0.01861095 -0.04567456] [ 0.02202194 0.01743313 0.99960548 -0.12368642] [ 0. 0. 0. 1. ]] SLAMing on 3.357719421 meters Centerline goodness : 0.926589 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.05, Z:-0.12 [[ 0.99806252 -0.05843553 -0.02136574 0.66605918] [ 0.05797077 0.99808107 -0.02176153 -0.04789802] [ 0.02259639 0.02048078 0.99953486 -0.12457625] [ 0. 0. 0. 1. ]] SLAMing on 3.387719421 meters Centerline goodness : 0.931189 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.05, Z:-0.12 [[ 0.99781507 -0.0625022 -0.02141411 0.66596711] [ 0.06195048 0.99775275 -0.02552638 -0.04965571] [ 0.02296144 0.02414399 0.99944477 -0.12363041] [ 0. 0. 0. 1. ]] SLAMing on 3.4177194209999997 meters Centerline goodness : 0.937037 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.05, Z:-0.12 [[ 0.99756117 -0.06810433 -0.01528127 0.66852434] [ 0.06783688 0.99754492 -0.0173866 -0.05253654] [ 0.01642786 0.01630757 0.99973206 -0.12220615] [ 0. 0. 0. 1. ]] SLAMing on 3.447719421 meters Centerline goodness : 0.938713 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.05, Z:-0.12 [[ 0.9975014 -0.06895705 -0.01535857 0.66660832] [ 0.06867795 0.99747623 -0.01801411 -0.05289453] [ 0.01656201 0.01691431 0.99971976 -0.11943127] [ 0. 0. 0. 1. ]] SLAMing on 3.4777194209999998 meters Centerline goodness : 0.942870 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.06, Z:-0.12 [[ 0.99746171 -0.06959962 -0.01503406 0.66450554] [ 0.06932519 0.99743057 -0.01806303 -0.05505732] [ 0.01625262 0.01697494 0.99972381 -0.11725612] [ 0. 0. 0. 1. ]] SLAMing on 3.507719421 meters Centerline goodness : 0.943839 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.06, Z:-0.12 [[ 0.99772913 -0.06560227 -0.01526193 0.66508096] [ 0.06540918 0.9977761 -0.01282518 -0.05878688] [ 0.01606935 0.01179779 0.99980127 -0.11860611] [ 0. 0. 0. 1. ]] SLAMing on 3.537719421 meters Centerline goodness : 0.942997 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.06, Z:-0.12 [[ 0.99779201 -0.06451594 -0.01577358 0.66768622] [ 0.06433987 0.99786262 -0.01142641 -0.06046216] [ 0.01647705 0.01038631 0.9998103 -0.12078727] [ 0. 0. 0. 1. ]] SLAMing on 3.567719421 meters Centerline goodness : 0.941764 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.06, Z:-0.12 [[ 0.99786867 -0.0632096 -0.01620718 0.67055093] [ 0.06306588 0.99796667 -0.009231 -0.0641813 ] [ 0.01675771 0.0081892 0.99982604 -0.12370344] [ 0. 0. 0. 1. ]] SLAMing on 3.597719421 meters Centerline goodness : 0.941400 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.07, Z:-0.13 [[ 0.99807027 -0.05976547 -0.01684687 0.67197031] [ 0.05969676 0.99820618 -0.00455294 -0.06692927] [ 0.01708875 0.00353845 0.99984772 -0.12512964] [ 0. 0. 0. 1. ]] SLAMing on 3.6277194209999997 meters Centerline goodness : 0.939074 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.07, Z:-0.13 [[ 0.99809979 -0.05911792 -0.01737493 0.67396942] [ 0.05906523 0.99824788 -0.00353066 -0.06776686] [ 0.01755321 0.00249769 0.99984281 -0.12649752] [ 0. 0. 0. 1. ]] SLAMing on 3.657719421 meters Centerline goodness : 0.931620 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.07, Z:-0.13 [[ 0.99806069 -0.05945512 -0.01843783 0.68040806] [ 0.05940536 0.9982287 -0.00323507 -0.06894432] [ 0.01859752 0.00213349 0.99982477 -0.1322925 ] [ 0. 0. 0. 1. ]] SLAMing on 3.6877194209999997 meters Centerline goodness : 0.930546 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.07, Z:-0.13 [[ 0.99808932 -0.0588533 -0.01881489 0.68252881] [ 0.05882088 0.99826597 -0.0022721 -0.07002511] [ 0.01891599 0.00116105 0.9998204 -0.13417597] [ 0. 0. 0. 1. ]] SLAMing on 3.717719421 meters Centerline goodness : 0.928219 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.07, Z:-0.13 [[ 0.99831029 -0.05493646 -0.01893521 0.68188094] [ 0.05496875 0.99848737 0.00118853 -0.06749478] [ 0.01884127 -0.00222737 0.99982001 -0.13353195] [ 0. 0. 0. 1. ]] SLAMing on 3.7477194209999998 meters Centerline goodness : 0.929009 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.06, Z:-0.13 [[ 0.99853877 -0.05062276 -0.01891199 0.68106216] [ 0.05071119 0.99870442 0.00422606 -0.06395869] [ 0.01867355 -0.00517894 0.99981222 -0.13256315] [ 0. 0. 0. 1. ]] SLAMing on 3.777719421 meters Centerline goodness : 0.925912 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.06, Z:-0.13 [[ 0.99859703 -0.04935166 -0.01919356 0.68306679] [ 0.04945296 0.99876473 0.0048396 -0.06307685] [ 0.01893101 -0.00578199 0.99980407 -0.13411584] [ 0. 0. 0. 1. ]] SLAMing on 3.807719421 meters Centerline goodness : 0.920563 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.06, Z:-0.14 [[ 0.99873029 -0.04634168 -0.01975485 0.68796891] [ 0.04648637 0.99889489 0.00692877 -0.06099461] [ 0.01941193 -0.0078383 0.99978084 -0.13868164] [ 0. 0. 0. 1. ]] SLAMing on 3.837719421 meters Centerline goodness : 0.919731 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.06, Z:-0.14 [[ 0.99875273 -0.04578083 -0.01992757 0.68893769] [ 0.04592915 0.99891982 0.00705 -0.0601399 ] [ 0.01958329 -0.00795646 0.99977657 -0.13933393] [ 0. 0. 0. 1. ]] SLAMing on 3.867719421 meters Centerline goodness : 0.915422 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.06, Z:-0.14 [[ 0.99878495 -0.04493571 -0.02023386 0.69034508] [ 0.04509867 0.99895309 0.00767085 -0.05996375] [ 0.01986798 -0.00857405 0.99976585 -0.14022372] [ 0. 0. 0. 1. ]] SLAMing on 3.8977194209999997 meters Centerline goodness : 0.919266 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.06, Z:-0.14 [[ 0.99895821 -0.04092231 -0.02019528 0.68864507] [ 0.04115795 0.99908769 0.0113932 -0.060126 ] [ 0.01971062 -0.01221253 0.99973114 -0.13833765] [ 0. 0. 0. 1. ]] SLAMing on 3.927719421 meters Centerline goodness : 0.922373 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.06, Z:-0.13 [[ 0.99916508 -0.03562309 -0.02000352 0.68423201] [ 0.03595962 0.99921331 0.01672329 -0.06280614] [ 0.01939205 -0.01742865 0.99966004 -0.13350263] [ 0. 0. 0. 1. ]] SLAMing on 3.9577194209999997 meters Centerline goodness : 0.925413 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.06, Z:-0.13 [[ 0.99919845 -0.03458132 -0.02016398 0.68380018] [ 0.03493582 0.99923629 0.01750196 -0.06405245] [ 0.01954334 -0.01819238 0.99964348 -0.13222405] [ 0. 0. 0. 1. ]] SLAMing on 3.987719421 meters Centerline goodness : 0.926577 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.07, Z:-0.13 [[ 0.99927207 -0.03212957 -0.02056724 0.68401616] [ 0.03253967 0.99927181 0.01992539 -0.06991853] [ 0.01991207 -0.02058014 0.9995899 -0.13086352] [ 0. 0. 0. 1. ]] SLAMing on 4.017719421 meters Centerline goodness : 0.928520 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.07, Z:-0.13 [[ 0.9992722 -0.03228134 -0.02032205 0.68288083] [ 0.03269353 0.99925948 0.02028859 -0.07392541] [ 0.01965206 -0.02093822 0.99958761 -0.12984069] [ 0. 0. 0. 1. ]] SLAMing on 4.047719420999999 meters Centerline goodness : 0.930961 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.08, Z:-0.13 [[ 0.99915842 -0.03593289 -0.01978081 0.68167378] [ 0.03628898 0.99918017 0.0179473 -0.08325531] [ 0.01911969 -0.01865002 0.99964324 -0.12854255] [ 0. 0. 0. 1. ]] SLAMing on 4.077719420999999 meters Centerline goodness : 0.927864 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.09, Z:-0.13 [[ 0.99904237 -0.03886684 -0.02009283 0.68346772] [ 0.03919082 0.99910379 0.0159902 -0.0878095 ] [ 0.01945333 -0.01676234 0.99967024 -0.12957953] [ 0. 0. 0. 1. ]] SLAMing on 4.107719421 meters Centerline goodness : 0.923865 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.10, Z:-0.13 [[ 0.99880007 -0.04427416 -0.02093377 0.6878839 ] [ 0.04453704 0.99893247 0.01226244 -0.09651514] [ 0.02036851 -0.01318005 0.99970566 -0.13233266] [ 0. 0. 0. 1. ]] SLAMing on 4.137719420999999 meters Centerline goodness : 0.922271 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.10, Z:-0.13 [[ 0.9987663 -0.04510608 -0.02076807 0.68822214] [ 0.04536649 0.99889539 0.01224292 -0.10160519] [ 0.0201929 -0.01316999 0.99970936 -0.13270421] [ 0. 0. 0. 1. ]] SLAMing on 4.167719420999999 meters Centerline goodness : 0.916160 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.11, Z:-0.13 [[ 0.99866267 -0.04704619 -0.02143682 0.69110532] [ 0.0472982 0.99881571 0.01140437 -0.10826053] [ 0.0208749 -0.01240305 0.99970516 -0.13407937] [ 0. 0. 0. 1. ]] SLAMing on 4.1977194209999995 meters Centerline goodness : 0.913590 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.11, Z:-0.14 [[ 0.99868052 -0.04655992 -0.02166569 0.69244119] [ 0.04683755 0.99882446 0.01248784 -0.1118774 ] [ 0.02105878 -0.01348613 0.99968728 -0.13509063] [ 0. 0. 0. 1. ]] SLAMing on 4.227719421 meters Centerline goodness : 0.910599 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.14 [[ 0.99869711 -0.0463494 -0.02134977 0.69412285] [ 0.04662918 0.99883028 0.01279835 -0.11745425] [ 0.0207316 -0.0137772 0.99969015 -0.1369285 ] [ 0. 0. 0. 1. ]] SLAMing on 4.257719420999999 meters Centerline goodness : 0.911770 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.14 [[ 0.99871082 -0.04607238 -0.02130809 0.69417599] [ 0.04635811 0.99883878 0.0131155 -0.11832181] [ 0.02067908 -0.0140864 0.99968693 -0.13697639] [ 0. 0. 0. 1. ]] SLAMing on 4.287719420999999 meters Centerline goodness : 0.918286 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.13 [[ 0.99868236 -0.04689696 -0.02083796 0.69054375] [ 0.04715748 0.99881307 0.01219145 -0.11863579] [ 0.02024148 -0.01315805 0.99970853 -0.13326063] [ 0. 0. 0. 1. ]] SLAMing on 4.317719421 meters Centerline goodness : 0.921577 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.13 [[ 0.99865625 -0.04744846 -0.02084089 0.68905362] [ 0.04769277 0.99879715 0.01138633 -0.11743559] [ 0.02027556 -0.01236499 0.99971796 -0.13122227] [ 0. 0. 0. 1. ]] SLAMing on 4.347719421 meters Centerline goodness : 0.927882 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.13 [[ 0.99860467 -0.0485554 -0.02076285 0.68496037] [ 0.04877944 0.99875519 0.01042337 -0.11613505] [ 0.02023089 -0.01142163 0.99973009 -0.12651033] [ 0. 0. 0. 1. ]] SLAMing on 4.377719420999999 meters Centerline goodness : 0.928480 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.12 [[ 0.99853851 -0.04997573 -0.0205734 0.68317463] [ 0.05018124 0.99869402 0.0095968 -0.11744709] [ 0.02006693 -0.01061517 0.99974229 -0.12470602] [ 0. 0. 0. 1. ]] SLAMing on 4.4077194209999995 meters Centerline goodness : 0.924494 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.12 [[ 0.99828598 -0.05474653 -0.02068639 0.6832895 ] [ 0.0548879 0.99847247 0.00632855 -0.1217598 ] [ 0.02030833 -0.00745313 0.99976598 -0.12417352] [ 0. 0. 0. 1. ]] SLAMing on 4.437719421 meters Centerline goodness : 0.927753 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.12 [[ 0.99827002 -0.05502225 -0.02072464 0.68380941] [ 0.05517921 0.99845137 0.00707937 -0.12482096] [ 0.02030302 -0.0082107 0.99976016 -0.12483422] [ 0. 0. 0. 1. ]] SLAMing on 4.467719420999999 meters Centerline goodness : 0.927024 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.13, Z:-0.13 [[ 0.99824877 -0.05535285 -0.02086773 0.68420194] [ 0.05552772 0.99842593 0.0078954 -0.12758534] [ 0.02039785 -0.00904031 0.99975107 -0.12515305] [ 0. 0. 0. 1. ]] SLAMing on 4.497719420999999 meters Centerline goodness : 0.925150 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.13, Z:-0.13 [[ 0.99825844 -0.05508929 -0.02110133 0.68521759] [ 0.05529888 0.99842483 0.00948079 -0.13232256] [ 0.0205458 -0.01063116 0.99973239 -0.12596822] [ 0. 0. 0. 1. ]] SLAMing on 4.527719421 meters Centerline goodness : 0.926260 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.13 [[ 0.99827713 -0.05471657 -0.02118674 0.68549091] [ 0.05494788 0.99843408 0.01049342 -0.13534248] [ 0.0205794 -0.01163951 0.99972047 -0.12602949] [ 0. 0. 0. 1. ]] SLAMing on 4.557719421 meters Centerline goodness : 0.920901 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.13 [[ 0.99829789 -0.05437919 -0.02107686 0.68529322] [ 0.05462656 0.99844241 0.01134387 -0.13812774] [ 0.02042717 -0.01247591 0.9997135 -0.1259098 ] [ 0. 0. 0. 1. ]] SLAMing on 4.587719420999999 meters Centerline goodness : 0.916954 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.13 [[ 0.9983755 -0.05283953 -0.02131542 0.68719864] [ 0.05312481 0.99850265 0.01304684 -0.14068048] [ 0.02059411 -0.01415802 0.99968767 -0.12749067] [ 0. 0. 0. 1. ]] SLAMing on 4.617719420999999 meters Centerline goodness : 0.919488 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.13 [[ 0.99846448 -0.05081907 -0.02204763 0.69056768] [ 0.0511494 0.99858303 0.01468606 -0.14112822] [ 0.02127005 -0.01579123 0.99964905 -0.12977349] [ 0. 0. 0. 1. ]] SLAMing on 4.647719421 meters Centerline goodness : 0.914412 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.13 [[ 0.99893685 -0.04064347 -0.02175482 0.68616128] [ 0.040898 0.99909846 0.01138537 -0.1420284 ] [ 0.02127246 -0.01226299 0.99969851 -0.13379787] [ 0. 0. 0. 1. ]] SLAMing on 4.677719420999999 meters Centerline goodness : 0.911939 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.14 [[ 0.99916053 -0.03464009 -0.02186995 0.68814513] [ 0.03501395 0.99924308 0.01694955 -0.14452457] [ 0.02126627 -0.01770107 0.99961714 -0.13590852] [ 0. 0. 0. 1. ]] SLAMing on 4.707719420999999 meters Centerline goodness : 0.911976 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.14 [[ 0.99917714 -0.03413445 -0.02190599 0.6883891 ] [ 0.03452007 0.99925124 0.01747337 -0.14570509] [ 0.02129315 -0.01821519 0.99960733 -0.13596951] [ 0. 0. 0. 1. ]] SLAMing on 4.7377194209999995 meters Centerline goodness : 0.910906 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.14 [[ 0.99917713 -0.03404358 -0.02204783 0.68883793] [ 0.03444247 0.99924507 0.0179722 -0.14762815] [ 0.02141935 -0.01871679 0.99959536 -0.13607163] [ 0. 0. 0. 1. ]] SLAMing on 4.767719421 meters Centerline goodness : 0.912291 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.14 [[ 0.99904239 -0.03765547 -0.0222795 0.68926613] [ 0.03800389 0.99915849 0.01542771 -0.15171788] [ 0.02167982 -0.01625965 0.99963274 -0.13556686] [ 0. 0. 0. 1. ]] SLAMing on 4.797719420999999 meters Centerline goodness : 0.909128 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.14 [[ 0.99889833 -0.04122304 -0.02242302 0.68987704] [ 0.0415048 0.99906323 0.01224831 -0.15368346] [ 0.0218971 -0.01316548 0.99967354 -0.13539317] [ 0. 0. 0. 1. ]] SLAMing on 4.827719420999999 meters Centerline goodness : 0.912259 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:-0.14 [[ 0.99864864 -0.04984238 -0.01471844 0.69665521] [ 0.05004921 0.99864813 0.01403537 -0.15838105] [ 0.01399899 -0.01475305 0.99979317 -0.13618898] [ 0. 0. 0. 1. ]] SLAMing on 4.857719421 meters Centerline goodness : 0.921031 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:-0.13 [[ 0.99844919 -0.05371737 -0.01461729 0.69602254] [ 0.05387403 0.99849207 0.01054361 -0.16005687] [ 0.01402888 -0.01131475 0.99983757 -0.13495543] [ 0. 0. 0. 1. ]] SLAMing on 4.887719420999999 meters Centerline goodness : 0.917782 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:-0.13 [[ 0.99819231 -0.0583484 -0.01440736 0.69567646] [ 0.05845986 0.99826203 0.00744042 -0.16421828] [ 0.01394819 -0.00826923 0.99986853 -0.13430918] [ 0. 0. 0. 1. ]] SLAMing on 4.917719420999999 meters Centerline goodness : 0.917705 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.13 [[ 0.99816813 -0.05871952 -0.01457383 0.69615471] [ 0.05884166 0.99823449 0.00809766 -0.16655635] [ 0.01407261 -0.00894037 0.99986101 -0.1345425 ] [ 0. 0. 0. 1. ]] SLAMing on 4.9477194209999995 meters Centerline goodness : 0.917705 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.13 [[ 0.99816813 -0.05871952 -0.01457383 0.69615471] [ 0.05884166 0.99823449 0.00809766 -0.16655635] [ 0.01407261 -0.00894037 0.99986101 -0.1345425 ] [ 0. 0. 0. 1. ]] SLAMing on 4.977719421 meters Centerline goodness : 0.924649 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.13 [[ 0.99782116 -0.06442929 -0.01420546 0.69462477] [ 0.06449236 0.99791008 0.00402691 -0.16956277] [ 0.01391632 -0.00493428 0.99989099 -0.13264231] [ 0. 0. 0. 1. ]] SLAMing on 5.007719420999999 meters Centerline goodness : 0.922121 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.13 [[ 9.97550589e-01 -6.85123577e-02 -1.41024791e-02 6.94935073e-01] [ 6.85256743e-02 9.97649246e-01 4.62663092e-04 -1.70935244e-01] [ 1.40376295e-02 -1.42791173e-03 9.99900448e-01 -1.32455250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.037719420999999 meters Centerline goodness : 0.921599 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.14 [[ 0.99696248 -0.07721045 -0.01021541 0.7060885 ] [ 0.07726003 0.99700059 0.00455106 -0.17474014] [ 0.00983338 -0.00532648 0.99993746 -0.13639247] [ 0. 0. 0. 1. ]] SLAMing on 5.067719421 meters Centerline goodness : 0.922161 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.14 [[ 0.99689334 -0.07808118 -0.01034406 0.70667942] [ 0.07813273 0.996932 0.00467563 -0.17658688] [ 0.00994724 -0.00546931 0.99993557 -0.13678229] [ 0. 0. 0. 1. ]] SLAMing on 5.097719420999999 meters Centerline goodness : 0.927742 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.14 [[ 0.9967713 -0.07968279 -0.00988067 0.70482793] [ 0.07972084 0.99681102 0.00351778 -0.17605316] [ 0.00956886 -0.00429412 0.999945 -0.13538898] [ 0. 0. 0. 1. ]] SLAMing on 5.127719420999999 meters Centerline goodness : 0.934225 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.13 [[ 0.99701562 -0.0765642 -0.00988839 0.70334775] [ 0.07662373 0.99704328 0.00578802 -0.17106924] [ 0.009416 -0.00652844 0.99993436 -0.13425737] [ 0. 0. 0. 1. ]] SLAMing on 5.1577194209999995 meters Centerline goodness : 0.925041 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.13 [[ 0.99729337 -0.07280749 -0.01024727 0.70390302] [ 0.07290283 0.99729606 0.00925962 -0.16867462] [ 0.00954539 -0.00998161 0.99990462 -0.13486669] [ 0. 0. 0. 1. ]] SLAMing on 5.187719421 meters Centerline goodness : 0.923457 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.14 [[ 0.99753175 -0.06942319 -0.01052794 0.7048299 ] [ 0.06955102 0.9975025 0.01230517 -0.16597371] [ 0.00964738 -0.01300702 0.99986886 -0.13602188] [ 0. 0. 0. 1. ]] SLAMing on 5.217719420999999 meters Centerline goodness : 0.915373 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:-0.14 [[ 0.99795951 -0.06192588 -0.01555666 0.70265482] [ 0.06202685 0.99805588 0.00609385 -0.16016668] [ 0.01514904 -0.00704634 0.99986042 -0.13886673] [ 0. 0. 0. 1. ]] SLAMing on 5.247719420999999 meters Centerline goodness : 0.915337 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.14 [[ 0.99812636 -0.05910696 -0.01581588 0.70568105] [ 0.05924365 0.9982089 0.00831776 -0.15847729] [ 0.01529591 -0.00923917 0.99984032 -0.14204635] [ 0. 0. 0. 1. ]] SLAMing on 5.277719421 meters Centerline goodness : 0.916833 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.15, Z:-0.15 [[ 0.99867099 -0.04989908 -0.01289677 0.70074375] [ 0.04997042 0.9987368 0.00526949 -0.15349106] [ 0.01261754 -0.00590694 0.99990295 -0.14691276] [ 0. 0. 0. 1. ]] SLAMing on 5.307719420999999 meters Centerline goodness : 0.915566 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.15, Z:-0.15 [[ 0.9990811 -0.04068826 -0.01346907 0.70272344] [ 0.0408593 0.99908449 0.01267683 -0.14791375] [ 0.01294094 -0.01321552 0.99982893 -0.14867926] [ 0. 0. 0. 1. ]] SLAMing on 5.337719420999999 meters Centerline goodness : 0.914830 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.15 [[ 0.99923623 -0.03660247 -0.01368245 0.70288533] [ 0.03681889 0.99919521 0.01591517 -0.14482466] [ 0.01308891 -0.01640679 0.99977972 -0.14860195] [ 0. 0. 0. 1. ]] SLAMing on 5.367719420999999 meters Centerline goodness : 0.917409 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.15 [[ 0.9993681 -0.03280528 -0.01368281 0.70241148] [ 0.03306381 0.9992704 0.01911692 -0.14250517] [ 0.01304569 -0.01955724 0.99972362 -0.14823602] [ 0. 0. 0. 1. ]] SLAMing on 5.397719421 meters Centerline goodness : 0.918846 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.15 [[ 0.99942507 -0.0311601 -0.01336323 0.70202848] [ 0.03141511 0.99931973 0.01931761 -0.14023642] [ 0.0127522 -0.01972631 0.99972409 -0.14783639] [ 0. 0. 0. 1. ]] SLAMing on 5.427719420999999 meters Centerline goodness : 0.919646 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.15 [[ 0.99943372 -0.03084692 -0.0134424 0.70260451] [ 0.03110603 0.99932561 0.0195127 -0.14091321] [ 0.01283143 -0.01991979 0.99971924 -0.14823885] [ 0. 0. 0. 1. ]] SLAMing on 5.457719420999999 meters Centerline goodness : 0.921407 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.15 [[ 0.99944932 -0.03037219 -0.01336351 0.7032161 ] [ 0.03063597 0.99933054 0.01999782 -0.14199183] [ 0.01274719 -0.02039621 0.99971071 -0.14906483] [ 0. 0. 0. 1. ]] SLAMing on 5.4877194209999995 meters Centerline goodness : 0.918367 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.15 [[ 0.99936514 -0.03283993 -0.01381538 0.70484568] [ 0.03307644 0.99930388 0.01725396 -0.14207705] [ 0.01323915 -0.01769997 0.99975569 -0.14942118] [ 0. 0. 0. 1. ]] SLAMing on 5.517719421 meters Centerline goodness : 0.918049 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.15 [[ 0.99925518 -0.03592581 -0.01408636 0.70625176] [ 0.03612662 0.99924533 0.01427015 -0.14294401] [ 0.01356306 -0.01476842 0.99979895 -0.15002383] [ 0. 0. 0. 1. ]] SLAMing on 5.547719420999999 meters Centerline goodness : 0.917795 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.15 [[ 0.99904132 -0.0414439 -0.0141015 0.7052317 ] [ 0.04159143 0.99908125 0.01033469 -0.14737596] [ 0.01366024 -0.01091128 0.99984716 -0.14835098] [ 0. 0. 0. 1. ]] SLAMing on 5.577719420999999 meters Centerline goodness : 0.919432 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.15 [[ 0.998859 -0.04562706 -0.01410216 0.70531081] [ 0.04572871 0.99892957 0.00697167 -0.14961872] [ 0.01376897 -0.00760859 0.99987625 -0.14798304] [ 0. 0. 0. 1. ]] SLAMing on 5.607719421 meters Centerline goodness : 0.920074 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.16, Z:-0.15 [[ 0.99827054 -0.05813351 -0.00874206 0.7151968 ] [ 0.0581994 0.99827695 0.00748116 -0.1554697 ] [ 0.00829209 -0.007977 0.9999338 -0.15123282] [ 0. 0. 0. 1. ]] SLAMing on 5.637719420999999 meters Centerline goodness : 0.924379 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.16, Z:-0.15 [[ 0.99800492 -0.06253413 -0.0086979 0.71564904] [ 0.06257184 0.99803191 0.00413204 -0.15829588] [ 0.00842239 -0.00466804 0.99995364 -0.15127957] [ 0. 0. 0. 1. ]] SLAMing on 5.667719420999999 meters Centerline goodness : 0.927103 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.16, Z:-0.15 [[ 0.99743987 -0.07103514 -0.0082287 0.71541929] [ 0.07100813 0.99746949 -0.00352919 -0.16077385] [ 0.00845857 0.00293585 0.99995992 -0.15058083] [ 0. 0. 0. 1. ]] SLAMing on 5.6977194209999995 meters Centerline goodness : 0.925393 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.16, Z:-0.15 [[ 0.99737318 -0.07195384 -0.00832926 0.71603773] [ 0.07192972 0.9974047 -0.0031605 -0.16358298] [ 0.00853505 0.00255307 0.99996032 -0.15125773] [ 0. 0. 0. 1. ]] SLAMing on 5.727719421 meters Centerline goodness : 0.924625 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.16, Z:-0.15 [[ 0.9974072 -0.07144374 -0.00864097 0.71775231] [ 0.0714264 0.99744322 -0.00229956 -0.16470932] [ 0.00878317 0.00167641 0.99996002 -0.15269235] [ 0. 0. 0. 1. ]] SLAMing on 5.757719420999999 meters Centerline goodness : 0.922757 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.15 [[ 9.97440849e-01 -7.09444138e-02 -8.86809020e-03 7.19513352e-01] [ 7.09357498e-02 9.97480055e-01 -1.28813700e-03 -1.66205467e-01] [ 8.93712923e-03 6.55775836e-04 9.99959848e-01 -1.54464042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.787719420999999 meters Centerline goodness : 0.922111 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.15 [[ 0.99767753 -0.06750544 -0.00908603 0.71967146] [ 0.06753482 0.99771251 0.00296588 -0.16832317] [ 0.00886503 -0.00357261 0.99995432 -0.1548536 ] [ 0. 0. 0. 1. ]] SLAMing on 5.817719421 meters Centerline goodness : 0.926359 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.15 [[ 0.9979538 -0.0632316 -0.00948555 0.71999944] [ 0.06330401 0.99796582 0.0075377 -0.1697243 ] [ 0.00898964 -0.00812275 0.9999266 -0.15492273] [ 0. 0. 0. 1. ]] SLAMing on 5.847719420999999 meters Centerline goodness : 0.923962 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.15 [[ 0.99820546 -0.05908636 -0.00972935 0.71986325] [ 0.05919869 0.99817773 0.01169294 -0.17018541] [ 0.00902073 -0.01224793 0.9998843 -0.15465511] [ 0. 0. 0. 1. ]] SLAMing on 5.877719420999999 meters Centerline goodness : 0.927017 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.15 [[ 0.99867069 -0.05050185 -0.010316 0.72009201] [ 0.05069665 0.99852203 0.01958601 -0.16862302] [ 0.00931162 -0.02008296 0.99975495 -0.1545077 ] [ 0. 0. 0. 1. ]] SLAMing on 5.9077194209999995 meters Centerline goodness : 0.929373 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.15 [[ 0.99887612 -0.04617929 -0.01067599 0.72023907] [ 0.04641658 0.99865355 0.02316417 -0.16654072] [ 0.00959191 -0.02363368 0.99967467 -0.15424568] [ 0. 0. 0. 1. ]] SLAMing on 5.937719421 meters Centerline goodness : 0.934579 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.16, Z:-0.15 [[ 0.99924361 -0.0373978 -0.01065852 0.71918632] [ 0.03770476 0.9988318 0.03022243 -0.1623889 ] [ 0.00951581 -0.03060145 0.99948637 -0.1532451 ] [ 0. 0. 0. 1. ]] SLAMing on 5.967719420999999 meters Centerline goodness : 0.936600 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.16, Z:-0.15 [[ 0.99938467 -0.03336774 -0.01081079 0.7190873 ] [ 0.03371353 0.99886787 0.03356146 -0.16034125] [ 0.00967869 -0.03390527 0.99937818 -0.15301298] [ 0. 0. 0. 1. ]] SLAMing on 5.997719420999999 meters Centerline goodness : 0.932127 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.16, Z:-0.15 [[ 0.99969509 -0.02119299 -0.01267216 0.73426041] [ 0.02138199 0.99965929 0.0149704 -0.15683297] [ 0.01235058 -0.0152368 0.99980763 -0.14962364] [ 0. 0. 0. 1. ]] SLAMing on 6.027719421 meters Centerline goodness : 0.929068 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.16, Z:-0.15 [[ 0.9997208 -0.01989451 -0.012749 0.73618777] [ 0.02009456 0.99967387 0.01575978 -0.15694389] [ 0.0124313 -0.01601157 0.99979453 -0.15161422] [ 0. 0. 0. 1. ]] SLAMing on 6.057719420999999 meters Centerline goodness : 0.927707 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.16, Z:-0.15 [[ 0.9997551 -0.01797318 -0.01291144 0.73830076] [ 0.01818998 0.99969213 0.01687484 -0.15582393] [ 0.01260417 -0.01710557 0.99977424 -0.15354973] [ 0. 0. 0. 1. ]] SLAMing on 6.087719420999999 meters Centerline goodness : 0.931019 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.15, Z:-0.15 [[ 0.99975522 -0.01773848 -0.013223 0.73868981] [ 0.01795633 0.99970192 0.01654225 -0.15360002] [ 0.01292563 -0.01677564 0.99977573 -0.15314322] [ 0. 0. 0. 1. ]] SLAMing on 6.117719420999999 meters Centerline goodness : 0.927941 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.15, Z:-0.15 [[ 0.99970595 -0.02014702 -0.01349466 0.74029311] [ 0.02033295 0.99969822 0.01378516 -0.15266888] [ 0.01321286 -0.01405549 0.99981391 -0.15411814] [ 0. 0. 0. 1. ]] SLAMing on 6.147719421 meters Centerline goodness : 0.928930 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.16, Z:-0.16 [[ 0.9996214 -0.02379669 -0.01381208 0.74219253] [ 0.0239473 0.99965442 0.01084329 -0.15622635] [ 0.01354928 -0.01116995 0.99984581 -0.15555837] [ 0. 0. 0. 1. ]] SLAMing on 6.177719420999999 meters Centerline goodness : 0.927239 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.16, Z:-0.16 [[ 0.99951976 -0.02774064 -0.01380989 0.74217332] [ 0.02784033 0.99958731 0.00707964 -0.15725615] [ 0.0136078 -0.00746072 0.99987958 -0.15518136] [ 0. 0. 0. 1. ]] SLAMing on 6.207719420999999 meters Centerline goodness : 0.930784 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.16, Z:-0.16 [[ 0.99930149 -0.036658 -0.00726101 0.748653 ] [ 0.03673118 0.99927297 0.01021486 -0.15972318] [ 0.00688127 -0.01047443 0.99992146 -0.15615927] [ 0. 0. 0. 1. ]] SLAMing on 6.2377194209999995 meters Centerline goodness : 0.932042 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.16, Z:-0.15 [[ 0.99911502 -0.04145665 -0.00710833 0.74747936] [ 0.04149845 0.99912151 0.00583808 -0.15985905] [ 0.00686006 -0.0061279 0.99995769 -0.15449787] [ 0. 0. 0. 1. ]] SLAMing on 6.267719421 meters Centerline goodness : 0.933647 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.16, Z:-0.15 [[ 0.99891044 -0.04615208 -0.00692187 0.74659666] [ 0.04616465 0.99893245 0.00166651 -0.16051111] [ 0.00683757 -0.00198424 0.99997465 -0.15324096] [ 0. 0. 0. 1. ]] SLAMing on 6.297719420999999 meters Centerline goodness : 0.935850 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.16, Z:-0.16 [[ 0.99850329 -0.05465851 -0.00190613 0.75561883] [ 0.05466909 0.99848633 0.006029 -0.16407033] [ 0.00157371 -0.00612419 0.99998001 -0.15619802] [ 0. 0. 0. 1. ]] SLAMing on 6.327719420999999 meters Centerline goodness : 0.937635 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.17, Z:-0.16 [[ 0.99845046 -0.05561783 -0.00182505 0.75522989] [ 0.05562793 0.99843327 0.0060445 -0.16582258] [ 0.00148601 -0.00613666 0.99998007 -0.15598354] [ 0. 0. 0. 1. ]] SLAMing on 6.357719421 meters Centerline goodness : 0.935641 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.17, Z:-0.16 [[ 0.99847592 -0.05514849 -0.00211885 0.75644603] [ 0.05516138 0.9984556 0.00660649 -0.16627267] [ 0.00175124 -0.0067133 0.99997593 -0.15684603] [ 0. 0. 0. 1. ]] SLAMing on 6.387719420999999 meters Centerline goodness : 0.935465 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.17, Z:-0.16 [[ 0.99852098 -0.0543091 -0.0025258 0.75881742] [ 0.05432718 0.99849315 0.00774532 -0.16725393] [ 0.00210136 -0.00787108 0.99996681 -0.1590103 ] [ 0. 0. 0. 1. ]] SLAMing on 6.417719420999999 meters Centerline goodness : 0.937463 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.17, Z:-0.16 [[ 0.99853167 -0.05410077 -0.00275724 0.75980268] [ 0.05412161 0.9985011 0.00814899 -0.16731303] [ 0.00231224 -0.00828625 0.999963 -0.159739 ] [ 0. 0. 0. 1. ]] SLAMing on 6.4477194209999995 meters Centerline goodness : 0.938028 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.17, Z:-0.16 [[ 0.99848036 -0.05503487 -0.00285165 0.75968331] [ 0.05505526 0.99845403 0.00764596 -0.16641277] [ 0.00242645 -0.00779134 0.9999667 -0.15942126] [ 0. 0. 0. 1. ]] SLAMing on 6.477719421 meters Centerline goodness : 0.939164 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.17, Z:-0.16 [[ 0.99846993 -0.05522096 -0.00290471 0.75981568] [ 0.05524223 0.9984422 0.00783971 -0.16725038] [ 0.00246727 -0.00798818 0.99996505 -0.15948257] [ 0. 0. 0. 1. ]] SLAMing on 6.507719420999999 meters Centerline goodness : 0.939184 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.17, Z:-0.16 [[ 0.99841444 -0.05621102 -0.00298616 0.75978685] [ 0.05623241 0.99838848 0.00763983 -0.16923168] [ 0.00255191 -0.00779563 0.99996636 -0.15924848] [ 0. 0. 0. 1. ]] SLAMing on 6.537719420999999 meters Centerline goodness : 0.940435 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.17, Z:-0.16 [[ 0.99841253 -0.05623909 -0.00309639 0.76023648] [ 0.05626135 0.99838683 0.00764159 -0.16883736] [ 0.00266164 -0.00780366 0.99996601 -0.15951157] [ 0. 0. 0. 1. ]] SLAMing on 6.567719421 meters Centerline goodness : 0.941955 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.16, Z:-0.16 [[ 0.99863691 -0.05209182 -0.00328139 0.76090441] [ 0.05212514 0.9985794 0.01105204 -0.16477574] [ 0.00270101 -0.01120802 0.99993354 -0.16034333] [ 0. 0. 0. 1. ]] SLAMing on 6.597719420999999 meters Centerline goodness : 0.942241 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.16, Z:-0.16 [[ 0.99887607 -0.04725212 -0.00372014 0.7627229 ] [ 0.04730327 0.99876593 0.01513362 -0.16220053] [ 0.00300045 -0.01529259 0.99987856 -0.16200344] [ 0. 0. 0. 1. ]] SLAMing on 6.627719420999999 meters Centerline goodness : 0.939050 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.16, Z:-0.17 [[ 0.99945069 -0.03255473 -0.0062054 0.76012801] [ 0.03264053 0.99936533 0.01426624 -0.15580292] [ 0.00573702 -0.01446095 0.99987898 -0.16556387] [ 0. 0. 0. 1. ]] SLAMing on 6.6577194209999995 meters Centerline goodness : 0.936118 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.15, Z:-0.17 [[ 0.99961905 -0.02680879 -0.00656003 0.76287347] [ 0.02692765 0.99946139 0.01875716 -0.15328634] [ 0.00605364 -0.01892666 0.99980255 -0.168214 ] [ 0. 0. 0. 1. ]] SLAMing on 6.687719421 meters Centerline goodness : 0.934872 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.15, Z:-0.17 [[ 0.99985264 -0.01518104 -0.00801512 0.76005305] [ 0.01529934 0.99977178 0.01491062 -0.14869601] [ 0.00778693 -0.01503104 0.99985671 -0.17213866] [ 0. 0. 0. 1. ]] SLAMing on 6.717719420999999 meters Centerline goodness : 0.934882 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.15, Z:-0.17 [[ 0.99987026 -0.01387081 -0.00818985 0.76154501] [ 0.01399391 0.99978701 0.01516902 -0.14640987] [ 0.0079777 -0.01528166 0.9998514 -0.17330243] [ 0. 0. 0. 1. ]] SLAMing on 6.747719420999999 meters Centerline goodness : 0.935996 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.14, Z:-0.17 [[ 0.99987097 -0.01374452 -0.00831428 0.76141846] [ 0.01386417 0.99979863 0.01450835 -0.14341447] [ 0.0081132 -0.01462175 0.99986018 -0.17260166] [ 0. 0. 0. 1. ]] SLAMing on 6.777719421 meters Centerline goodness : 0.937312 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.14, Z:-0.17 [[ 0.9998637 -0.01417053 -0.0084722 0.76151226] [ 0.01429129 0.99979465 0.01436735 -0.14400716] [ 0.00826686 -0.01448648 0.99986089 -0.17234173] [ 0. 0. 0. 1. ]] SLAMing on 6.807719420999999 meters Centerline goodness : 0.936683 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.15, Z:-0.17 [[ 0.99979886 -0.01806149 -0.00871895 0.76204306] [ 0.01816234 0.99976742 0.01162939 -0.14831237] [ 0.00850688 -0.01178541 0.99989436 -0.17231023] [ 0. 0. 0. 1. ]] SLAMing on 6.837719420999999 meters Centerline goodness : 0.936454 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.15, Z:-0.17 [[ 0.99973349 -0.02123795 -0.00904974 0.76284833] [ 0.02131722 0.99973443 0.00875525 -0.15051051] [ 0.00886139 -0.00894583 0.99992072 -0.17210961] [ 0. 0. 0. 1. ]] SLAMing on 6.867719420999999 meters Centerline goodness : 0.936454 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.15, Z:-0.17 [[ 0.99973349 -0.02123795 -0.00904974 0.76284833] [ 0.02131722 0.99973443 0.00875525 -0.15051051] [ 0.00886139 -0.00894583 0.99992072 -0.17210961] [ 0. 0. 0. 1. ]] SLAMing on 6.897719421 meters Centerline goodness : 0.943446 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.16, Z:-0.17 [[ 0.99969953 -0.02283471 -0.0089119 0.75999272] [ 0.0229111 0.99970081 0.00856611 -0.15517438] [ 0.00871363 -0.00876772 0.9999236 -0.16847257] [ 0. 0. 0. 1. ]] SLAMing on 6.927719420999999 meters Centerline goodness : 0.943954 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.16, Z:-0.17 [[ 0.99970245 -0.02257361 -0.00924369 0.75971997] [ 0.02265767 0.99970193 0.00909279 -0.15650894] [ 0.00903568 -0.00929952 0.99991593 -0.16716222] [ 0. 0. 0. 1. ]] SLAMing on 6.957719420999999 meters Centerline goodness : 0.948267 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.16, Z:-0.17 [[ 0.9997245 -0.02143954 -0.00955313 0.75934903] [ 0.02153602 0.99971691 0.01011402 -0.15904303] [ 0.00933359 -0.01031697 0.99990322 -0.16545936] [ 0. 0. 0. 1. ]] SLAMing on 6.9877194209999995 meters Centerline goodness : 0.948239 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.16, Z:-0.17 [[ 0.99980243 -0.01772602 -0.0089936 0.75889842] [ 0.01784526 0.99975156 0.01335545 -0.16300678] [ 0.00875463 -0.0135133 0.99987037 -0.16556883] [ 0. 0. 0. 1. ]] SLAMing on 7.017719420999999 meters Centerline goodness : 0.947652 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.16, Z:-0.17 [[ 0.99982649 -0.01608452 -0.00939604 0.76058194] [ 0.0162158 0.99976956 0.01406652 -0.16280605] [ 0.00916762 -0.01421644 0.99985691 -0.16634524] [ 0. 0. 0. 1. ]] SLAMing on 7.047719420999999 meters Centerline goodness : 0.948036 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.16, Z:-0.17 [[ 0.99997166 -0.00595679 -0.00460378 0.75873843] [ 0.00599208 0.99995247 0.00769076 -0.16423127] [ 0.00455775 -0.00771812 0.99995983 -0.16828378] [ 0. 0. 0. 1. ]] SLAMing on 7.077719420999999 meters Centerline goodness : 0.946511 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.17, Z:-0.17 [[ 0.99997659 -0.00453819 -0.00512186 0.76121057] [ 0.00458385 0.99994954 0.00893913 -0.16542548] [ 0.00508103 -0.0089624 0.99994693 -0.17003127] [ 0. 0. 0. 1. ]] SLAMing on 7.107719421 meters Centerline goodness : 0.941197 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.17, Z:-0.17 [[ 0.99997786 -0.00347213 -0.00567628 0.76318047] [ 0.0035315 0.99993882 0.0104822 -0.16821904] [ 0.00563953 -0.01050201 0.99992895 -0.1710958 ] [ 0. 0. 0. 1. ]] SLAMing on 7.137719420999999 meters Centerline goodness : 0.943012 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.17, Z:-0.17 [[ 0.99997496 -0.00416431 -0.00572221 0.76186212] [ 0.00422286 0.99993846 0.01025923 -0.17037206] [ 0.00567914 -0.01028314 0.999931 -0.16935255] [ 0. 0. 0. 1. ]] SLAMing on 7.167719420999999 meters Centerline goodness : 0.945381 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.18, Z:-0.17 [[ 0.99995361 -0.0074516 -0.00610342 0.76127846] [ 0.00750163 0.99993811 0.00821558 -0.17697174] [ 0.00604183 -0.00826098 0.99994762 -0.16750771] [ 0. 0. 0. 1. ]] SLAMing on 7.1977194209999995 meters Centerline goodness : 0.943986 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.18, Z:-0.17 [[ 0.99992297 -0.01055443 -0.0065316 0.76291929] [ 0.0105904 0.99992881 0.00549629 -0.17935894] [ 0.00647312 -0.00556504 0.99996356 -0.16832651] [ 0. 0. 0. 1. ]] SLAMing on 7.227719420999999 meters Centerline goodness : 0.943480 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.18, Z:-0.17 [[ 0.99987611 -0.01412573 -0.006945 0.76490264] [ 0.01415101 0.99989337 0.00360463 -0.18471598] [ 0.00689334 -0.00370247 0.99996939 -0.16997141] [ 0. 0. 0. 1. ]] SLAMing on 7.257719420999999 meters Centerline goodness : 0.944678 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.19, Z:-0.17 [[ 0.99987493 -0.01417592 -0.00701244 0.76501576] [ 0.0142079 0.99988879 0.0045315 -0.18762401] [ 0.00694743 -0.00463057 0.99996514 -0.1699806 ] [ 0. 0. 0. 1. ]] SLAMing on 7.287719420999999 meters Centerline goodness : 0.946427 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.19, Z:-0.17 [[ 0.9998133 -0.01802677 -0.00695704 0.76436151] [ 0.01803945 0.99983572 0.00176471 -0.19162849] [ 0.00692409 -0.00188988 0.99997424 -0.16905882] [ 0. 0. 0. 1. ]] SLAMing on 7.317719421 meters Centerline goodness : 0.944013 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.19, Z:-0.17 [[ 0.99980967 -0.01812077 -0.00722885 0.76551993] [ 0.0181406 0.99983183 0.00268705 -0.19472728] [ 0.00717895 -0.00281768 0.99997026 -0.17001795] [ 0. 0. 0. 1. ]] SLAMing on 7.347719420999999 meters Centerline goodness : 0.938219 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.17 [[ 9.99728405e-01 -2.19425225e-02 -7.85124211e-03 7.69072364e-01] [ 2.19458172e-02 9.99759106e-01 3.33733220e-04 -1.98693865e-01] [ 7.84202785e-03 -5.05944504e-04 9.99969123e-01 -1.73335050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.377719420999999 meters Centerline goodness : 0.935564 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.17 [[ 0.99971823 -0.02229298 -0.00815358 0.77054661] [ 0.02230235 0.99975071 0.00106058 -0.20114854] [ 0.00812791 -0.00124212 0.9999662 -0.17468323] [ 0. 0. 0. 1. ]] SLAMing on 7.4077194209999995 meters Centerline goodness : 0.935637 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.18 [[ 0.99960464 -0.02685466 -0.00832974 0.77141869] [ 0.02683336 0.99963639 -0.0026579 -0.20212444] [ 0.00839809 0.00243333 0.99996177 -0.17523992] [ 0. 0. 0. 1. ]] SLAMing on 7.437719421 meters Centerline goodness : 0.938195 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.17 [[ 0.99946568 -0.03166574 -0.00810168 0.77015999] [ 0.03160941 0.99947586 -0.00698923 -0.20237679] [ 0.00831875 0.00672941 0.99994276 -0.1737032 ] [ 0. 0. 0. 1. ]] SLAMing on 7.467719420999999 meters Centerline goodness : 0.940579 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.17 [[ 0.99945267 -0.03204301 -0.00822251 0.76977648] [ 0.03198549 0.99946358 -0.00703381 -0.2027686 ] [ 0.00844349 0.00676695 0.99994146 -0.17287125] [ 0. 0. 0. 1. ]] SLAMing on 7.497719420999999 meters Centerline goodness : 0.942685 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.17 [[ 0.99943115 -0.03271174 -0.00820427 0.76886987] [ 0.03264978 0.99943814 -0.00757559 -0.20217377] [ 0.00844747 0.00730341 0.99993765 -0.17165685] [ 0. 0. 0. 1. ]] SLAMing on 7.527719421 meters Centerline goodness : 0.942912 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.17 [[ 0.99943576 -0.0325484 -0.00829253 0.76884507] [ 0.03248791 0.99944527 -0.0073278 -0.20273903] [ 0.00852644 0.00705426 0.99993877 -0.17138338] [ 0. 0. 0. 1. ]] SLAMing on 7.557719420999999 meters Centerline goodness : 0.948030 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.17 [[ 0.999549 -0.02886977 -0.00826643 0.76793179] [ 0.02884235 0.99957813 -0.00341749 -0.20342695] [ 0.0083616 0.00317753 0.99995999 -0.17051258] [ 0. 0. 0. 1. ]] SLAMing on 7.587719420999999 meters Centerline goodness : 0.950616 Centerline is valid? [False, True] Translation: X:0.77, Y:-0.20, Z:-0.17 [[ 9.99652937e-01 -2.50126411e-02 -8.26886515e-03 7.67567172e-01] [ 2.50181095e-02 9.99686842e-01 5.58528527e-04 -2.03321948e-01] [ 8.25230541e-03 -7.65206056e-04 9.99965656e-01 -1.70290367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.617719420999999 meters Centerline goodness : 0.951578 Centerline is valid? [True, True] Translation: X:0.80, Y:-0.20, Z:-0.17 [[ 9.99808262e-01 -1.77595833e-02 -8.24837496e-03 7.97340968e-01] [ 1.77583912e-02 9.99842284e-01 -2.17746642e-04 -1.99922282e-01] [ 8.25094114e-03 7.12270221e-05 9.99965958e-01 -1.69492089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.647719421 meters Centerline goodness : 0.947886 Centerline is valid? [True, False] Translation: X:0.80, Y:-0.20, Z:-0.17 [[ 0.99990481 -0.01099333 -0.00833764 0.80051833] [ 0.01104007 0.99992349 0.00558004 -0.19805115] [ 0.00827566 -0.00567155 0.99994967 -0.17303813] [ 0. 0. 0. 1. ]] SLAMing on 7.677719420999999 meters Centerline goodness : 0.948631 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.20, Z:-0.17 [[ 0.99992103 -0.00902168 -0.00874866 0.80301844] [ 0.00908194 0.99993514 0.00687322 -0.19647849] [ 0.00868608 -0.00695213 0.99993811 -0.17484337] [ 0. 0. 0. 1. ]] SLAMing on 7.707719420999999 meters Centerline goodness : 0.948315 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.20, Z:-0.17 [[ 0.99994861 -0.00500601 -0.00881524 0.80275054] [ 0.00509969 0.99993043 0.01063643 -0.19628298] [ 0.00876138 -0.01068084 0.99990457 -0.17432204] [ 0. 0. 0. 1. ]] SLAMing on 7.7377194209999995 meters Centerline goodness : 0.947386 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.20, Z:-0.17 [[ 0.99994746 -0.00491923 -0.00899362 0.80290749] [ 0.00501425 0.99993154 0.01057273 -0.19628857] [ 0.00894099 -0.01061727 0.99990366 -0.1740502 ] [ 0. 0. 0. 1. ]] SLAMing on 7.767719420999999 meters Centerline goodness : 0.947289 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.20, Z:-0.17 [[ 0.99994632 -0.00483969 -0.00916163 0.80329475] [ 0.00493515 0.99993347 0.0104259 -0.19611832] [ 0.00911056 -0.01047055 0.99990368 -0.17406574] [ 0. 0. 0. 1. ]] SLAMing on 7.797719420999999 meters Centerline goodness : 0.949822 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.20, Z:-0.17 [[ 0.99994628 -0.00452243 -0.00932603 0.80352986] [ 0.00461884 0.99993585 0.01034273 -0.19542467] [ 0.00927866 -0.01038525 0.99990302 -0.17378915] [ 0. 0. 0. 1. ]] SLAMing on 7.827719420999999 meters Centerline goodness : 0.947376 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.20, Z:-0.18 [[ 0.99994167 -0.00547859 -0.0093079 0.80568454] [ 0.00556478 0.99994165 0.00925889 -0.19593037] [ 0.00925663 -0.00931015 0.99991381 -0.17609186] [ 0. 0. 0. 1. ]] SLAMing on 7.857719421 meters Centerline goodness : 0.945570 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.20, Z:-0.18 [[ 0.99992983 -0.00674398 -0.00973878 0.8092106 ] [ 0.00682242 0.99994437 0.00804386 -0.19709375] [ 0.00968399 -0.00810973 0.99992022 -0.1791479 ] [ 0. 0. 0. 1. ]] SLAMing on 7.887719420999999 meters Centerline goodness : 0.942093 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.20, Z:-0.18 [[ 0.99990435 -0.00925426 -0.01027829 0.81259933] [ 0.00931314 0.99994041 0.00569584 -0.19812796] [ 0.01022496 -0.00579101 0.99993095 -0.18183107] [ 0. 0. 0. 1. ]] SLAMing on 7.917719420999999 meters Centerline goodness : 0.941525 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.20, Z:-0.18 [[ 0.99990373 -0.00911209 -0.01046434 0.81306604] [ 0.00917753 0.99993852 0.0062228 -0.19942884] [ 0.01040699 -0.00631823 0.99992588 -0.18195689] [ 0. 0. 0. 1. ]] SLAMing on 7.9477194209999995 meters Centerline goodness : 0.942861 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.20, Z:-0.18 [[ 0.99990122 -0.00927258 -0.0105624 0.8127433 ] [ 0.00934525 0.99993286 0.00685182 -0.20184225] [ 0.01049816 -0.00694985 0.99992074 -0.18134133] [ 0. 0. 0. 1. ]] SLAMing on 7.977719420999999 meters Centerline goodness : 0.943362 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.20, Z:-0.18 [[ 0.99989879 -0.00919678 -0.01085466 0.81321958] [ 0.00927244 0.99993292 0.00694103 -0.20130044] [ 0.0107901 -0.00704098 0.999917 -0.18111463] [ 0. 0. 0. 1. ]] SLAMing on 8.007719421 meters Centerline goodness : 0.944061 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.20, Z:-0.18 [[ 0.99989786 -0.00918586 -0.01094919 0.81298307] [ 0.00925947 0.99993474 0.00669118 -0.19961754] [ 0.01088701 -0.00679188 0.99991767 -0.18045193] [ 0. 0. 0. 1. ]] SLAMing on 8.037719421 meters Centerline goodness : 0.944355 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.20, Z:-0.18 [[ 0.9998941 -0.00921859 -0.01126086 0.81323762] [ 0.00929206 0.99993577 0.00648889 -0.19925676] [ 0.01120032 -0.00659284 0.99991554 -0.17990625] [ 0. 0. 0. 1. ]] SLAMing on 8.067719421 meters Centerline goodness : 0.947572 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.20, Z:-0.18 [[ 0.99989017 -0.0095717 -0.01131486 0.81352942] [ 0.00964247 0.99993418 0.00621701 -0.19969357] [ 0.01125461 -0.00632543 0.99991666 -0.18015889] [ 0. 0. 0. 1. ]] SLAMing on 8.097719421 meters Centerline goodness : 0.946865 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.20, Z:-0.18 [[ 0.99988354 -0.010324 -0.0112391 0.81326034] [ 0.01038596 0.99993111 0.00546823 -0.1986124 ] [ 0.01118188 -0.00558433 0.99992189 -0.18002589] [ 0. 0. 0. 1. ]] SLAMing on 8.127719421 meters Centerline goodness : 0.948415 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.20, Z:-0.18 [[ 9.99816228e-01 -1.56928123e-02 -1.10112052e-02 8.12729186e-01] [ 1.56956736e-02 9.99876800e-01 1.73481679e-04 -1.95839258e-01] [ 1.10071262e-02 -3.46278080e-04 9.99939360e-01 -1.79819808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.157719421 meters Centerline goodness : 0.947277 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.20, Z:-0.18 [[ 9.99793193e-01 -1.70354196e-02 -1.11069951e-02 8.12755947e-01] [ 1.70349880e-02 9.99854885e-01 -1.33468092e-04 -1.97017173e-01] [ 1.11076569e-02 -5.57670370e-05 9.99938307e-01 -1.79906665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.187719421 meters Centerline goodness : 0.951109 Centerline is valid? [False, True] Translation: X:0.82, Y:-0.20, Z:-0.18 [[ 9.99572823e-01 -2.87407712e-02 -5.30460442e-03 8.18801273e-01] [ 2.87460156e-02 9.99586329e-01 9.15052326e-04 -1.97324314e-01] [ 5.27611075e-03 -1.06714768e-03 9.99985512e-01 -1.80786789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.217719421 meters Centerline goodness : 0.953837 Centerline is valid? [True, True] Translation: X:0.85, Y:-0.19, Z:-0.18 [[ 9.99323166e-01 -3.64038759e-02 -5.28850892e-03 8.51288637e-01] [ 3.64039350e-02 9.99337153e-01 -8.51204759e-05 -1.94925713e-01] [ 5.28810217e-03 -1.07459672e-04 9.99986012e-01 -1.77843403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.247719421 meters Centerline goodness : 0.953018 Centerline is valid? [True, True] Translation: X:0.88, Y:-0.19, Z:-0.18 [[ 9.98865961e-01 -4.73161984e-02 -5.28851606e-03 8.83783055e-01] [ 4.73164126e-02 9.98879948e-01 -8.46747398e-05 -1.90305697e-01] [ 5.28659913e-03 -1.65654893e-04 9.99986012e-01 -1.78115717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.277719421 meters Centerline goodness : 0.952980 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.19, Z:-0.18 [[ 9.98776039e-01 -4.91778010e-02 -5.28852318e-03 9.15921624e-01] [ 4.91780436e-02 9.98790024e-01 -8.42275634e-05 -1.86248090e-01] [ 5.28626632e-03 -1.75954752e-04 9.99986012e-01 -1.79181834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.307719421 meters Centerline goodness : 0.952926 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.18, Z:-0.18 [[ 9.98846234e-01 -4.77308352e-02 -5.28853017e-03 9.48421912e-01] [ 4.77310599e-02 9.98860220e-01 -8.37865776e-05 -1.82404667e-01] [ 5.28650161e-03 -1.68737243e-04 9.99986012e-01 -1.78551916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.337719421000001 meters Centerline goodness : 0.953761 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.17, Z:-0.18 [[ 9.99175121e-01 -4.02630005e-02 -5.28853719e-03 9.79055146e-01] [ 4.02631230e-02 9.99189108e-01 -8.33411170e-05 -1.73381280e-01] [ 5.28760432e-03 -1.29660653e-04 9.99986012e-01 -1.79051235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.367719421 meters Centerline goodness : 0.955342 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.17, Z:-0.18 [[ 9.99370156e-01 -3.50901985e-02 -5.28854239e-03 1.01098038e+00] [ 3.50902504e-02 9.99384144e-01 -8.30093361e-05 -1.67417818e-01] [ 5.28819823e-03 -1.02619224e-04 9.99986012e-01 -1.76358747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.397719421 meters Centerline goodness : 0.955272 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.16, Z:-0.18 [[ 9.99727384e-01 -2.27417995e-02 -5.28854946e-03 1.04232622e+00] [ 2.27416810e-02 9.99741371e-01 -8.25570445e-05 -1.58197347e-01] [ 5.28905918e-03 -3.77359665e-05 9.99986012e-01 -1.78024787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.427719421 meters Centerline goodness : 0.952826 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.15, Z:-0.18 [[ 9.99850783e-01 -1.64451758e-02 -5.28855470e-03 1.07471984e+00] [ 1.64449710e-02 9.99864769e-01 -8.22198764e-05 -1.54451792e-01] [ 5.28919164e-03 -4.76252073e-06 9.99986012e-01 -1.80581402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.457719421 meters Centerline goodness : 0.949845 Centerline is valid? [True, False] Translation: X:1.07, Y:-0.15, Z:-0.19 [[ 0.99997585 -0.00555914 -0.00417132 1.07403296] [ 0.00555057 0.99998247 -0.00206362 -0.14849308] [ 0.00418272 0.00204042 0.99998917 -0.18850911] [ 0. 0. 0. 1. ]] SLAMing on 8.487719421 meters Centerline goodness : 0.947985 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.15, Z:-0.19 [[ 0.99998935 -0.00153624 -0.00435294 1.07514631] [ 0.00154211 0.99999791 0.0013457 -0.14609227] [ 0.00435086 -0.0013524 0.99998962 -0.18948014] [ 0. 0. 0. 1. ]] SLAMing on 8.517719421 meters Centerline goodness : 0.942075 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.14, Z:-0.19 [[ 0.99997392 0.00514396 -0.00506945 1.07990928] [-0.00510868 0.99996281 0.00694816 -0.14072307] [ 0.005105 -0.00692208 0.99996301 -0.19349795] [ 0. 0. 0. 1. ]] SLAMing on 8.547719421 meters Centerline goodness : 0.935300 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.14, Z:-0.20 [[ 0.99996617 0.00595967 -0.00566949 1.0835938 ] [-0.00592136 0.99995969 0.00675018 -0.13650471] [ 0.00570949 -0.00671638 0.99996115 -0.19640531] [ 0. 0. 0. 1. ]] SLAMing on 8.577719421 meters Centerline goodness : 0.933560 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.14, Z:-0.20 [[ 0.99996573 0.00586964 -0.00583781 1.08472257] [-0.00583183 0.99996204 0.0064732 -0.13562056] [ 0.00587559 -0.00643894 0.99996201 -0.1974149 ] [ 0. 0. 0. 1. ]] SLAMing on 8.607719421 meters Centerline goodness : 0.934732 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.13, Z:-0.20 [[ 0.99997996 0.00181989 -0.00606321 1.08569439] [-0.00180583 0.99999567 0.0023243 -0.13481236] [ 0.00606741 -0.00231331 0.99997892 -0.19806542] [ 0. 0. 0. 1. ]] SLAMing on 8.637719421 meters Centerline goodness : 0.934770 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.13, Z:-0.20 [[ 0.99997806 -0.00200867 -0.00631216 1.08633452] [ 0.0019994 0.99999691 -0.00147502 -0.13498621] [ 0.0063151 0.00146236 0.99997899 -0.19819112] [ 0. 0. 0. 1. ]] SLAMing on 8.667719421000001 meters Centerline goodness : 0.938944 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.14, Z:-0.20 [[ 0.99995462 -0.00730118 -0.00612011 1.08432062] [ 0.00726361 0.99995478 -0.00613847 -0.13558549] [ 0.00616466 0.00609373 0.99996243 -0.19602126] [ 0. 0. 0. 1. ]] SLAMing on 8.697719421 meters Centerline goodness : 0.946253 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.13, Z:-0.19 [[ 0.99995296 -0.00771473 -0.0058793 1.07981026] [ 0.00768077 0.99995381 -0.00577737 -0.13462679] [ 0.0059236 0.00573194 0.99996603 -0.19129288] [ 0. 0. 0. 1. ]] SLAMing on 8.727719421 meters Centerline goodness : 0.948097 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.14, Z:-0.19 [[ 0.99997179 -0.00458266 -0.00595129 1.07941828] [ 0.00457117 0.99998767 -0.00194222 -0.13530306] [ 0.00596012 0.00191496 0.9999804 -0.1909653 ] [ 0. 0. 0. 1. ]] SLAMing on 8.757719421000001 meters Centerline goodness : 0.947318 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.13, Z:-0.19 [[ 0.99997217 -0.00418428 -0.0061765 1.08062515] [ 0.0041737 0.9999898 -0.00172487 -0.13456056] [ 0.00618365 0.00169905 0.99997944 -0.19183521] [ 0. 0. 0. 1. ]] SLAMing on 8.787719421 meters Centerline goodness : 0.947318 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.13, Z:-0.19 [[ 0.99997217 -0.00418428 -0.0061765 1.08062515] [ 0.0041737 0.9999898 -0.00172487 -0.13456056] [ 0.00618365 0.00169905 0.99997944 -0.19183521] [ 0. 0. 0. 1. ]] SLAMing on 8.817719421 meters Centerline goodness : 0.941855 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.13, Z:-0.20 [[ 0.999973 -0.00367836 -0.00636097 1.08360661] [ 0.00367118 0.99999261 -0.00113927 -0.13434891] [ 0.00636511 0.00111589 0.99997912 -0.19526525] [ 0. 0. 0. 1. ]] SLAMing on 8.847719421 meters Centerline goodness : 0.940337 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.13, Z:-0.20 [[ 9.99972717e-01 -3.48047081e-03 -6.51553546e-03 1.08520434e+00] [ 3.47425865e-03 9.99993500e-01 -9.64514235e-04 -1.33644581e-01] [ 6.51885007e-03 9.41851264e-04 9.99978309e-01 -1.96889657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.877719421 meters Centerline goodness : 0.944881 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.13, Z:-0.20 [[ 0.99996643 -0.00523049 -0.00630799 1.08400278] [ 0.0052118 0.99998199 -0.00297601 -0.12949581] [ 0.00632344 0.00294303 0.99997568 -0.19586891] [ 0. 0. 0. 1. ]] SLAMing on 8.907719421 meters Centerline goodness : 0.947404 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.13, Z:-0.19 [[ 0.99996059 -0.00628212 -0.00627325 1.08311943] [ 0.00625657 0.99997208 -0.00408528 -0.12748573] [ 0.00629873 0.00404587 0.99997198 -0.19476363] [ 0. 0. 0. 1. ]] SLAMing on 8.937719421 meters Centerline goodness : 0.955030 Centerline is valid? [False, True] Translation: X:1.08, Y:-0.12, Z:-0.19 [[ 0.99992807 -0.01065872 -0.00550026 1.07769529] [ 0.01061221 0.99990827 -0.00841652 -0.12040119] [ 0.00558946 0.00835755 0.99994945 -0.19003271] [ 0. 0. 0. 1. ]] SLAMing on 8.967719421 meters Centerline goodness : 0.956577 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.12, Z:-0.19 [[ 9.99875147e-01 -1.48380476e-02 -5.43340281e-03 1.10876239e+00] [ 1.48385006e-02 9.99889902e-01 4.30650103e-05 -1.18911524e-01] [ 5.43216561e-03 -1.23683184e-04 9.99985238e-01 -1.91127685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.997719421 meters Centerline goodness : 0.960087 Centerline is valid? [True, True] Translation: X:1.14, Y:-0.11, Z:-0.19 [[ 9.99768956e-01 -2.07969409e-02 -5.43340009e-03 1.14134968e+00] [ 2.07974836e-02 9.99783708e-01 4.34053801e-05 -1.11601133e-01] [ 5.43132219e-03 -1.56396401e-04 9.99985238e-01 -1.88594077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.027719421 meters Centerline goodness : 0.962048 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.11, Z:-0.19 [[ 9.99732802e-01 -2.24678243e-02 -5.43339642e-03 1.17336486e+00] [ 2.24683942e-02 9.99747553e-01 4.38603978e-05 -1.08002345e-01] [ 5.43103933e-03 -1.65928371e-04 9.99985238e-01 -1.87895212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.057719421 meters Centerline goodness : 0.961359 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.10, Z:-0.19 [[ 9.99758832e-01 -2.12780494e-02 -5.43339271e-03 1.20487555e+00] [ 2.12786042e-02 9.99773584e-01 4.43148528e-05 -9.70754805e-02] [ 5.43121957e-03 -1.59919179e-04 9.99985238e-01 -1.86395522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.087719421000001 meters Centerline goodness : 0.961646 Centerline is valid? [True, True] Translation: X:1.24, Y:-0.09, Z:-0.19 [[ 9.99804998e-01 -1.89853756e-02 -5.43338729e-03 1.23728542e+00] [ 1.89859001e-02 9.99819751e-01 4.49696027e-05 -9.07174981e-02] [ 5.43155416e-03 -1.48118582e-04 9.99985238e-01 -1.86287229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.117719421 meters Centerline goodness : 0.959663 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.08, Z:-0.19 [[ 9.99906378e-01 -1.25583713e-02 -5.43338354e-03 1.26989380e+00] [ 1.25588034e-02 9.99921134e-01 4.54181056e-05 -7.73911619e-02] [ 5.43238466e-03 -1.13650649e-04 9.99985238e-01 -1.85304465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.147719421 meters Centerline goodness : 0.959362 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.07, Z:-0.19 [[ 9.99952247e-01 -8.12288429e-03 -5.43337963e-03 1.30153106e+00] [ 8.12325347e-03 9.99967005e-01 4.58817337e-05 -6.91684029e-02] [ 5.43282766e-03 -9.00162627e-05 9.99985238e-01 -1.87707215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.177719421 meters Centerline goodness : 0.956983 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.07, Z:-0.19 [[ 9.99956789e-01 -7.54309150e-03 -5.43337307e-03 1.33285205e+00] [ 7.54345627e-03 9.99971547e-01 4.66453045e-05 -6.68725263e-02] [ 5.43286663e-03 -8.76297011e-05 9.99985238e-01 -1.91287562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.207719421 meters Centerline goodness : 0.956012 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.06, Z:-0.20 [[ 9.99928665e-01 -1.06368819e-02 -5.43337112e-03 1.36290308e+00] [ 1.06372936e-02 9.99943421e-01 4.68722561e-05 -5.86015873e-02] [ 5.43256513e-03 -1.04665276e-04 9.99985238e-01 -1.95093886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.237719421 meters Centerline goodness : 0.954888 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.05, Z:-0.19 [[ 9.99901791e-01 -1.29184732e-02 -5.43337015e-03 1.39504981e+00] [ 1.29189192e-02 9.99916546e-01 4.69845131e-05 -5.37342537e-02] [ 5.43230974e-03 -1.17173168e-04 9.99985238e-01 -1.93580124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.267719421 meters Centerline goodness : 0.952182 Centerline is valid? [True, True] Translation: X:1.43, Y:-0.05, Z:-0.19 [[ 9.99884914e-01 -1.41646772e-02 -5.43336622e-03 1.42696162e+00] [ 1.41651440e-02 9.99899668e-01 4.74337795e-05 -4.63963268e-02] [ 5.43214920e-03 -1.24392735e-04 9.99985238e-01 -1.92635440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.297719421 meters Centerline goodness : 0.950522 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.04, Z:-0.19 [[ 9.99906002e-01 -1.25883505e-02 -5.43336222e-03 1.45864717e+00] [ 1.25887965e-02 9.99920757e-01 4.78885130e-05 -4.27983233e-02] [ 5.43232882e-03 -1.16283503e-04 9.99985238e-01 -1.94534160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.327719421 meters Centerline goodness : 0.947810 Centerline is valid? [True, False] Translation: X:1.46, Y:-0.04, Z:-0.20 [[ 0.9999701 -0.00510891 -0.00580553 1.46200359] [ 0.00514399 0.9999685 0.00604407 -0.03728806] [ 0.00577446 -0.00607375 0.99996488 -0.19727998] [ 0. 0. 0. 1. ]] SLAMing on 9.357719421 meters Centerline goodness : 0.944950 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.03, Z:-0.20 [[ 0.99995854 0.00682587 -0.00602762 1.46573222] [-0.00673229 0.99985858 0.01541107 -0.02967424] [ 0.00613196 -0.01536985 0.99986307 -0.20038772] [ 0. 0. 0. 1. ]] SLAMing on 9.387719421 meters Centerline goodness : 0.943599 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.03, Z:-0.20 [[ 0.99990976 0.01179915 -0.00642201 1.46820014] [-0.01167613 0.99975381 0.01886776 -0.02543277] [ 0.00664305 -0.01879108 0.99980136 -0.20190381] [ 0. 0. 0. 1. ]] SLAMing on 9.417719421 meters Centerline goodness : 0.942846 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.02, Z:-0.20 [[ 0.99974721 0.02156301 -0.00636883 1.47119204] [-0.02138328 0.99940522 0.02705465 -0.02193478] [ 0.00694842 -0.02691162 0.99961367 -0.2047095 ] [ 0. 0. 0. 1. ]] SLAMing on 9.447719421 meters Centerline goodness : 0.944251 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.02, Z:-0.20 [[ 0.99973232 0.02212954 -0.00675051 1.47236998] [-0.02194559 0.9994157 0.02620417 -0.0181451 ] [ 0.00732645 -0.02604902 0.99963382 -0.20454336] [ 0. 0. 0. 1. ]] SLAMing on 9.477719421 meters Centerline goodness : 0.944764 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.01, Z:-0.20 [[ 0.99973396 0.02190237 -0.00723179 1.47215766] [-0.02172339 0.99947678 0.02396365 -0.01165327] [ 0.00775287 -0.02380018 0.99968667 -0.20190545] [ 0. 0. 0. 1. ]] SLAMing on 9.507719421000001 meters Centerline goodness : 0.945698 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.01, Z:-0.20 [[ 9.99829897e-01 1.83998032e-02 -1.27460589e-03 1.48190791e+00] [-1.83541240e-02 9.99394767e-01 2.95503928e-02 -1.03625859e-02] [ 1.81755587e-03 -2.95219719e-02 9.99562479e-01 -2.03411100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.537719421 meters Centerline goodness : 0.950151 Centerline is valid? [False, True] Translation: X:1.50, Y:-0.01, Z:-0.20 [[ 9.99961241e-01 8.79478237e-03 -4.09245387e-04 1.49900766e+00] [-8.77208400e-03 9.99198206e-01 3.90640004e-02 -8.85629407e-03] [ 7.52476638e-04 -3.90588964e-02 9.99236627e-01 -2.01121351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.567719421 meters Centerline goodness : 0.948194 Centerline is valid? [True, False] Translation: X:1.50, Y:-0.01, Z:-0.20 [[ 9.99966269e-01 8.18093247e-03 -7.30466729e-04 1.49904320e+00] [-8.14608184e-03 9.99200735e-01 3.91348110e-02 -8.85238469e-03] [ 1.05004214e-03 -3.91275405e-02 9.99233673e-01 -2.00014667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.597719421 meters Centerline goodness : 0.947130 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.00, Z:-0.20 [[ 9.99968200e-01 7.86050134e-03 -1.34621784e-03 1.50105417e+00] [-7.80514158e-03 9.99280800e-01 3.71074380e-02 -4.54732062e-03] [ 1.63693271e-03 -3.70957506e-02 9.99310375e-01 -2.01770164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.627719421 meters Centerline goodness : 0.944059 Centerline is valid? [False, False] Translation: X:1.50, Y:0.00, Z:-0.20 [[ 9.99926077e-01 1.08022379e-02 -5.58149846e-03 1.49542894e+00] [-1.06653552e-02 9.99655111e-01 2.39981281e-02 2.21170557e-04] [ 5.83880695e-03 -2.39368254e-02 9.99696422e-01 -1.98048527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.657719421 meters Centerline goodness : 0.941389 Centerline is valid? [False, False] Translation: X:1.50, Y:0.01, Z:-0.20 [[ 0.99995624 0.00685894 0.00636118 1.49626497] [-0.00695845 0.99985166 0.01575561 0.01197719] [-0.00625217 -0.01579919 0.99985564 -0.20264355] [ 0. 0. 0. 1. ]] SLAMing on 9.687719421 meters Centerline goodness : 0.942600 Centerline is valid? [False, False] Translation: X:1.50, Y:0.01, Z:-0.20 [[ 0.999945 0.00827448 0.00644396 1.49563967] [-0.00836942 0.99985474 0.0148474 0.01475898] [-0.00632017 -0.01490052 0.99986901 -0.20247328] [ 0. 0. 0. 1. ]] SLAMing on 9.717719421 meters Centerline goodness : 0.939849 Centerline is valid? [False, False] Translation: X:1.50, Y:0.02, Z:-0.20 [[ 0.99990818 0.01179781 0.00666587 1.49613013] [-0.01189037 0.99983101 0.01402019 0.01836682] [-0.00649934 -0.01409817 0.99987949 -0.20445248] [ 0. 0. 0. 1. ]] SLAMing on 9.747719421 meters Centerline goodness : 0.945405 Centerline is valid? [False, False] Translation: X:1.50, Y:0.02, Z:-0.21 [[ 0.99989587 0.01279196 0.00667893 1.49626518] [-0.01287786 0.99983283 0.01298005 0.01975281] [-0.00651178 -0.01306471 0.99989345 -0.205064 ] [ 0. 0. 0. 1. ]] SLAMing on 9.777719421 meters Centerline goodness : 0.939189 Centerline is valid? [False, False] Translation: X:1.50, Y:0.02, Z:-0.21 [[ 0.9998491 0.01602099 0.00671676 1.4965862 ] [-0.01613001 0.99973368 0.01650432 0.01988799] [-0.00645056 -0.01661017 0.99984123 -0.20536252] [ 0. 0. 0. 1. ]] SLAMing on 9.807719421 meters Centerline goodness : 0.942430 Centerline is valid? [False, False] Translation: X:1.50, Y:0.02, Z:-0.20 [[ 0.99985632 0.01581032 0.00611323 1.49652927] [-0.01591392 0.99972392 0.0172867 0.01952308] [-0.00583824 -0.0173815 0.99983189 -0.20337027] [ 0. 0. 0. 1. ]] SLAMing on 9.837719421000001 meters Centerline goodness : 0.942638 Centerline is valid? [False, False] Translation: X:1.50, Y:0.02, Z:-0.20 [[ 0.99991641 0.01222312 0.00421481 1.49968003] [-0.01229989 0.99974957 0.01869539 0.01770226] [-0.00398524 -0.01874567 0.99981634 -0.20178879] [ 0. 0. 0. 1. ]] SLAMing on 9.867719421 meters Centerline goodness : 0.941895 Centerline is valid? [False, False] Translation: X:1.50, Y:0.02, Z:-0.20 [[ 9.99994230e-01 7.25478463e-04 3.31870047e-03 1.50178189e+00] [-7.48563037e-04 9.99975499e-01 6.95996233e-03 1.65549509e-02] [-3.31356986e-03 -6.96240643e-03 9.99970272e-01 -2.01967273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.897719421 meters Centerline goodness : 0.938073 Centerline is valid? [False, False] Translation: X:1.50, Y:0.01, Z:-0.20 [[ 0.99998754 -0.00385214 0.00317377 1.50172398] [ 0.00384219 0.99998771 0.00313383 0.01435396] [-0.0031858 -0.00312159 0.99999005 -0.20178397] [ 0. 0. 0. 1. ]] SLAMing on 9.927719421 meters Centerline goodness : 0.942398 Centerline is valid? [False, False] Translation: X:1.50, Y:0.01, Z:-0.20 [[ 0.9998856 -0.01467546 0.00366291 1.49748657] [ 0.01469672 0.99987492 -0.00584412 0.01171287] [-0.00357669 0.00589729 0.99997621 -0.19798715] [ 0. 0. 0. 1. ]] SLAMing on 9.957719421 meters Centerline goodness : 0.942305 Centerline is valid? [False, False] Translation: X:1.50, Y:0.01, Z:-0.20 [[ 0.99980613 -0.01939716 0.00338558 1.49703322] [ 0.0194285 0.99976628 -0.00948253 0.00908685] [-0.00320085 0.00954647 0.99994931 -0.19695993] [ 0. 0. 0. 1. ]] SLAMing on 9.987719421 meters Centerline goodness : 0.937294 Centerline is valid? [False, False] Translation: X:1.50, Y:0.00, Z:-0.20 [[ 0.99959538 -0.02831956 0.0026616 1.49844102] [ 0.02835848 0.9994707 -0.01594108 0.00313275] [-0.00220874 0.0160101 0.99986939 -0.19812427] [ 0. 0. 0. 1. ]] SLAMing on 10.017719421 meters Centerline goodness : 0.937535 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.01, Z:-0.19 [[ 0.99954001 -0.02810977 -0.01138448 1.50121272] [ 0.0279207 0.99947494 -0.01644003 -0.00615451] [ 0.01184063 0.01611461 0.99980004 -0.19321948] [ 0. 0. 0. 1. ]] SLAMing on 10.047719421 meters Centerline goodness : 0.935611 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.01, Z:-0.19 [[ 0.99951601 -0.02853869 -0.01238097 1.50328492] [ 0.02835135 0.99948469 -0.01505161 -0.0068902 ] [ 0.01280414 0.01469331 0.99981006 -0.19296981] [ 0. 0. 0. 1. ]] SLAMing on 10.077719421 meters Centerline goodness : 0.939270 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.01, Z:-0.19 [[ 0.99956114 -0.02621331 -0.01379806 1.50576812] [ 0.02608175 0.99961343 -0.00962988 -0.00815791] [ 0.01404516 0.00926578 0.99985843 -0.19228037] [ 0. 0. 0. 1. ]] SLAMing on 10.107719421 meters Centerline goodness : 0.940484 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.01, Z:-0.20 [[ 9.99740944e-01 -2.27605019e-02 -6.59037497e-05 1.50680179e+00] [ 2.27599529e-02 9.99730235e-01 -4.63063250e-03 -7.52887589e-03] [ 1.71281491e-04 4.62793294e-03 9.99989276e-01 -1.98927534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.137719421 meters Centerline goodness : 0.936024 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.01, Z:-0.20 [[ 9.99808680e-01 -1.95504306e-02 -6.19842445e-04 1.51107727e+00] [ 1.95488275e-02 9.99805791e-01 -2.49469906e-03 -5.33649257e-03] [ 6.68494507e-04 2.48210458e-03 9.99996696e-01 -2.02143550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.167719421 meters Centerline goodness : 0.934815 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.00, Z:-0.20 [[ 9.99827075e-01 -1.85603860e-02 -1.15447639e-03 1.51356975e+00] [ 1.85581373e-02 9.99825922e-01 -1.92891450e-03 -4.42167935e-03] [ 1.19007682e-03 1.90715601e-03 9.99997473e-01 -2.03685299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.197719421 meters Centerline goodness : 0.938682 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.00, Z:-0.20 [[ 9.99764604e-01 -2.16670771e-02 -1.12898055e-03 1.51416361e+00] [ 2.16586261e-02 9.99740738e-01 -7.02573346e-03 -1.14083766e-03] [ 1.28091496e-03 6.99962746e-03 9.99974682e-01 -2.02375734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.227719421 meters Centerline goodness : 0.938880 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.00, Z:-0.20 [[ 9.99761683e-01 -2.18028794e-02 -1.10078492e-03 1.51388821e+00] [ 2.17945903e-02 9.99737602e-01 -7.05139564e-03 -9.58735050e-04] [ 1.25423681e-03 7.02572402e-03 9.99974533e-01 -2.02034756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.257719421000001 meters Centerline goodness : 0.943033 Centerline is valid? [False, False] Translation: X:1.51, Y:0.00, Z:-0.20 [[ 9.99734277e-01 -2.30317897e-02 -9.55160734e-04 1.51266975e+00] [ 2.30239340e-02 9.99706403e-01 -7.55018847e-03 1.56952021e-04] [ 1.12877466e-03 7.52619065e-03 9.99971041e-01 -2.01286178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.287719421 meters Centerline goodness : 0.939605 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.00, Z:-0.20 [[ 9.99707559e-01 -2.41639070e-02 -9.50180946e-04 1.51293056e+00] [ 2.41564461e-02 9.99682223e-01 -7.20548818e-03 -1.20896921e-03] [ 1.12399175e-03 7.18042801e-03 9.99973589e-01 -2.02597358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.317719421 meters Centerline goodness : 0.940655 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.00, Z:-0.20 [[ 9.99707207e-01 -2.41787406e-02 -9.42642861e-04 1.51382227e+00] [ 2.41721754e-02 9.99687034e-01 -6.44521205e-03 -3.03946884e-03] [ 1.09818496e-03 6.42053921e-03 9.99978785e-01 -2.04141846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.347719421 meters Centerline goodness : 0.935054 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.00, Z:-0.21 [[ 9.99622165e-01 -2.74564432e-02 -1.29261466e-03 1.51726325e+00] [ 2.74429032e-02 9.99577931e-01 -9.53136873e-03 -2.94088832e-03] [ 1.55376657e-03 9.49229435e-03 9.99953740e-01 -2.07448102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.377719421 meters Centerline goodness : 0.932006 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.00, Z:-0.21 [[ 0.99963401 -0.02700721 -0.00156808 1.5195204 ] [ 0.02699243 0.99959703 -0.00878554 -0.00284674] [ 0.00180473 0.00874 0.99996018 -0.20978319] [ 0. 0. 0. 1. ]] SLAMing on 10.407719421 meters Centerline goodness : 0.927373 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.00, Z:-0.21 [[ 0.99964764 -0.02647112 -0.00197023 1.52188014] [ 0.02645402 0.99961599 -0.00824965 -0.00197442] [ 0.00218785 0.00819462 0.99996403 -0.21181448] [ 0. 0. 0. 1. ]] SLAMing on 10.437719421 meters Centerline goodness : 0.922797 Centerline is valid? [False, False] Translation: X:1.53, Y:0.00, Z:-0.22 [[ 0.99972922 -0.02314145 -0.00244175 1.52686445] [ 0.02312754 0.99971696 -0.00557867 0.00188886] [ 0.00257016 0.00552069 0.99998146 -0.21667508] [ 0. 0. 0. 1. ]] SLAMing on 10.467719421 meters Centerline goodness : 0.923577 Centerline is valid? [False, False] Translation: X:1.53, Y:0.00, Z:-0.22 [[ 9.99824488e-01 -1.85513443e-02 -2.61548701e-03 1.52880900e+00] [ 1.85491133e-02 9.99827568e-01 -8.74682307e-04 1.82166784e-03] [ 2.63126255e-03 8.26013825e-04 9.99996197e-01 -2.19036216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.497719421 meters Centerline goodness : 0.921164 Centerline is valid? [False, False] Translation: X:1.53, Y:0.01, Z:-0.22 [[ 0.99990897 -0.01317843 -0.00289379 1.53055115] [ 0.01318441 0.99991096 0.00205843 0.00730077] [ 0.00286641 -0.00209639 0.99999369 -0.21894047] [ 0. 0. 0. 1. ]] SLAMing on 10.527719421 meters Centerline goodness : 0.932329 Centerline is valid? [False, False] Translation: X:1.53, Y:0.02, Z:-0.21 [[ 9.99958558e-01 -8.73524797e-03 -2.56486180e-03 1.52982990e+00] [ 8.73502686e-03 9.99961844e-01 -9.73953336e-05 1.65683943e-02] [ 2.56561470e-03 7.49871606e-05 9.99996706e-01 -2.10996168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.557719421 meters Centerline goodness : 0.933377 Centerline is valid? [False, False] Translation: X:1.53, Y:0.02, Z:-0.21 [[ 9.99965522e-01 -7.63284363e-03 -3.27011674e-03 1.53129472e+00] [ 7.63082831e-03 9.99970687e-01 -6.28318690e-04 2.03651335e-02] [ 3.27481675e-03 6.03343327e-04 9.99994456e-01 -2.09829397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.587719421 meters Centerline goodness : 0.930850 Centerline is valid? [False, False] Translation: X:1.53, Y:0.02, Z:-0.21 [[ 9.99970090e-01 -6.76466467e-03 -3.74939812e-03 1.53248774e+00] [ 6.76129710e-03 9.99976728e-01 -9.10111703e-04 2.35499690e-02] [ 3.75546747e-03 8.84733687e-04 9.99992557e-01 -2.09331547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.617719421 meters Centerline goodness : 0.937402 Centerline is valid? [False, False] Translation: X:1.53, Y:0.03, Z:-0.21 [[ 0.99997324 -0.00617018 -0.00393085 1.53258115] [ 0.00616035 0.99997788 -0.00250725 0.02706388] [ 0.00394623 0.00248297 0.99998913 -0.20676011] [ 0. 0. 0. 1. ]] SLAMing on 10.647719421 meters Centerline goodness : 0.940531 Centerline is valid? [False, False] Translation: X:1.53, Y:0.03, Z:-0.21 [[ 0.99997985 -0.0046688 -0.00430065 1.53459495] [ 0.00465837 0.99998619 -0.00243264 0.02858779] [ 0.00431195 0.00241256 0.99998779 -0.20700394] [ 0. 0. 0. 1. ]] SLAMing on 10.677719421 meters Centerline goodness : 0.940258 Centerline is valid? [False, False] Translation: X:1.54, Y:0.03, Z:-0.21 [[ 0.99998187 -0.00332828 -0.00501865 1.53706914] [ 0.00331705 0.99999198 -0.00224552 0.03015209] [ 0.00502608 0.00222884 0.99998489 -0.20737849] [ 0. 0. 0. 1. ]] SLAMing on 10.707719421 meters Centerline goodness : 0.940258 Centerline is valid? [False, False] Translation: X:1.54, Y:0.03, Z:-0.21 [[ 0.99998187 -0.00332828 -0.00501865 1.53706914] [ 0.00331705 0.99999198 -0.00224552 0.03015209] [ 0.00502608 0.00222884 0.99998489 -0.20737849] [ 0. 0. 0. 1. ]] SLAMing on 10.737719421 meters Centerline goodness : 0.925991 Centerline is valid? [False, False] Translation: X:1.54, Y:0.03, Z:-0.21 [[ 0.99997964 0.00252246 -0.00586083 1.54045787] [-0.00250954 0.99999441 0.00221005 0.03115755] [ 0.00586637 -0.0021953 0.99998038 -0.20833537] [ 0. 0. 0. 1. ]] SLAMing on 10.767719421 meters Centerline goodness : 0.937119 Centerline is valid? [False, False] Translation: X:1.54, Y:0.03, Z:-0.21 [[ 0.99996631 0.00454681 -0.00683353 1.54397194] [-0.00452908 0.99998634 0.00260775 0.03245674] [ 0.00684529 -0.00257671 0.99997325 -0.20891732] [ 0. 0. 0. 1. ]] SLAMing on 10.797719421 meters Centerline goodness : 0.922757 Centerline is valid? [False, False] Translation: X:1.55, Y:0.03, Z:-0.21 [[ 0.99989216 0.01221067 -0.00815861 1.54954932] [-0.01214383 0.9998927 0.00819249 0.03311355] [ 0.00825777 -0.00809253 0.99993316 -0.210513 ] [ 0. 0. 0. 1. ]] SLAMing on 10.827719421 meters Centerline goodness : 0.934532 Centerline is valid? [False, False] Translation: X:1.55, Y:0.03, Z:-0.21 [[ 0.99986577 0.01362036 -0.00910604 1.55277608] [-0.01354114 0.99987042 0.00870575 0.03384589] [ 0.00922343 -0.00858127 0.99992064 -0.21149276] [ 0. 0. 0. 1. ]] SLAMing on 10.857719421 meters Centerline goodness : 0.934470 Centerline is valid? [False, False] Translation: X:1.56, Y:0.03, Z:-0.21 [[ 0.99985908 0.01316621 -0.01041541 1.55857912] [-0.01309438 0.99989022 0.00693479 0.03266254] [ 0.01050558 -0.00679742 0.99992171 -0.21398786] [ 0. 0. 0. 1. ]] SLAMing on 10.887719421 meters Centerline goodness : 0.934712 Centerline is valid? [False, False] Translation: X:1.56, Y:0.03, Z:-0.21 [[ 9.99909485e-01 6.86738496e-03 -1.15698630e-02 1.56158467e+00] [-6.87505206e-03 9.99976172e-01 -6.23035421e-04 3.16588057e-02] [ 1.15653087e-02 7.02522437e-04 9.99932873e-01 -2.13356493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.917719421 meters Centerline goodness : 0.935732 Centerline is valid? [False, False] Translation: X:1.56, Y:0.03, Z:-0.21 [[ 0.99991451 0.0037684 -0.01252103 1.56377732] [-0.00382545 0.9999824 -0.00453588 0.03147929] [ 0.01250371 0.00458339 0.99991132 -0.2129368 ] [ 0. 0. 0. 1. ]] SLAMing on 10.947719421 meters Centerline goodness : 0.928918 Centerline is valid? [False, False] Translation: X:1.57, Y:0.03, Z:-0.22 [[ 0.99989802 0.0024988 -0.01406061 1.56962449] [-0.00259379 0.99997391 -0.0067417 0.02794075] [ 0.0140434 0.00677748 0.99987842 -0.21510403] [ 0. 0. 0. 1. ]] SLAMing on 10.977719421 meters Centerline goodness : 0.927345 Centerline is valid? [False, False] Translation: X:1.57, Y:0.03, Z:-0.22 [[ 9.99887505e-01 5.27352872e-04 -1.49899669e-02 1.57304345e+00] [-6.77675697e-04 9.99949520e-01 -1.00249195e-02 2.78670415e-02] [ 1.49839235e-02 1.00339500e-02 9.99837388e-01 -2.15737681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.007719421000001 meters Centerline goodness : 0.929698 Centerline is valid? [False, False] Translation: X:1.58, Y:0.03, Z:-0.22 [[ 9.99874254e-01 -6.68019154e-04 -1.58439016e-02 1.57616018e+00] [ 4.57434350e-04 9.99911564e-01 -1.32911232e-02 2.74259673e-02] [ 1.58513792e-02 1.32822043e-02 9.99786136e-01 -2.15010659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.037719421 meters Centerline goodness : 0.930850 Centerline is valid? [False, False] Translation: X:1.58, Y:0.03, Z:-0.21 [[ 0.99985693 -0.00380348 -0.01648197 1.57721173] [ 0.00351212 0.9998377 -0.01767025 0.02851358] [ 0.01654651 0.01760984 0.99970801 -0.21323962] [ 0. 0. 0. 1. ]] SLAMing on 11.067719421 meters Centerline goodness : 0.932667 Centerline is valid? [False, False] Translation: X:1.58, Y:0.03, Z:-0.21 [[ 0.99982584 -0.00754244 -0.01707061 1.57754073] [ 0.00716287 0.99972815 -0.0221884 0.02855938] [ 0.01723333 0.02206226 0.99960806 -0.2109815 ] [ 0. 0. 0. 1. ]] SLAMing on 11.097719421 meters Centerline goodness : 0.932482 Centerline is valid? [False, False] Translation: X:1.58, Y:0.02, Z:-0.21 [[ 0.99978082 -0.01169828 -0.01736279 1.57685462] [ 0.01125977 0.99962047 -0.02514226 0.02288036] [ 0.01765032 0.02494125 0.99953309 -0.20961208] [ 0. 0. 0. 1. ]] SLAMing on 11.127719421 meters Centerline goodness : 0.934735 Centerline is valid? [False, False] Translation: X:1.59, Y:0.02, Z:-0.21 [[ 0.99979184 -0.01668199 -0.01174652 1.58665599] [ 0.01646843 0.99970147 -0.01804863 0.01912112] [ 0.0120441 0.01785142 0.99976811 -0.21394406] [ 0. 0. 0. 1. ]] SLAMing on 11.157719421 meters Centerline goodness : 0.938942 Centerline is valid? [False, False] Translation: X:1.60, Y:0.01, Z:-0.22 [[ 0.99967511 -0.02481587 -0.00581786 1.59502494] [ 0.02474043 0.99961326 -0.01269846 0.01227918] [ 0.00613073 0.0125504 0.99990245 -0.21777296] [ 0. 0. 0. 1. ]] SLAMing on 11.187719421 meters Centerline goodness : 0.940686 Centerline is valid? [False, False] Translation: X:1.60, Y:0.01, Z:-0.22 [[ 0.99958577 -0.0281307 -0.00607803 1.59619866] [ 0.02803278 0.9994847 -0.01563615 0.0094032 ] [ 0.00651475 0.01545929 0.99985927 -0.21809517] [ 0. 0. 0. 1. ]] SLAMing on 11.217719421 meters Centerline goodness : 0.939257 Centerline is valid? [False, False] Translation: X:1.60, Y:0.00, Z:-0.22 [[ 0.99950828 -0.03059624 -0.00686118 1.59976528] [ 0.03047517 0.99938915 -0.01710544 0.00397707] [ 0.00738035 0.01688793 0.99983015 -0.22066957] [ 0. 0. 0. 1. ]] SLAMing on 11.247719421 meters Centerline goodness : 0.938411 Centerline is valid? [False, False] Translation: X:1.60, Y:0.00, Z:-0.22 [[ 0.99952369 -0.02995381 -0.00742773 1.60175853] [ 0.02983246 0.99942778 -0.01594192 0.00261338] [ 0.007901 0.01571274 0.99984533 -0.22198112] [ 0. 0. 0. 1. ]] SLAMing on 11.277719421 meters Centerline goodness : 0.934039 Centerline is valid? [False, False] Translation: X:1.61, Y:0.00, Z:-0.22 [[ 0.99953513 -0.02924287 -0.00862391 1.60500368] [ 0.0291089 0.99945959 -0.01527068 0.0026611 ] [ 0.00906581 0.01501255 0.99984621 -0.22284232] [ 0. 0. 0. 1. ]] SLAMing on 11.307719421 meters Centerline goodness : 0.930748 Centerline is valid? [False, False] Translation: X:1.61, Y:0.00, Z:-0.23 [[ 9.99584654e-01 -2.70837972e-02 -9.84825026e-03 1.60997060e+00] [ 2.69480413e-02 9.99543422e-01 -1.36656564e-02 1.60637392e-03] [ 1.02138716e-02 1.33945894e-02 9.99858121e-01 -2.25518891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.337719421 meters Centerline goodness : 0.928360 Centerline is valid? [False, False] Translation: X:1.61, Y:0.00, Z:-0.23 [[ 0.99960467 -0.0259996 -0.01070199 1.61343383] [ 0.02585438 0.99957467 -0.01349181 0.00297721] [ 0.01104822 0.01320979 0.99985171 -0.22711765] [ 0. 0. 0. 1. ]] SLAMing on 11.367719421 meters Centerline goodness : 0.926321 Centerline is valid? [False, False] Translation: X:1.62, Y:0.01, Z:-0.23 [[ 0.9998359 -0.01590896 -0.00866498 1.62405938] [ 0.01565771 0.99947599 -0.02832978 0.00799504] [ 0.00911114 0.02818946 0.99956107 -0.22715755] [ 0. 0. 0. 1. ]] SLAMing on 11.397719421 meters Centerline goodness : 0.927334 Centerline is valid? [False, False] Translation: X:1.63, Y:0.01, Z:-0.23 [[ 0.99984793 -0.01510331 -0.00871804 1.62510363] [ 0.01483987 0.99945373 -0.02952984 0.01077351] [ 0.00915928 0.02939598 0.99952588 -0.22634437] [ 0. 0. 0. 1. ]] SLAMing on 11.427719421 meters Centerline goodness : 0.936159 Centerline is valid? [False, False] Translation: X:1.62, Y:0.02, Z:-0.22 [[ 0.99990803 -0.01086332 -0.008119 1.62317269] [ 0.01062474 0.99952664 -0.02887215 0.01706946] [ 0.0084288 0.02878323 0.99955014 -0.22171921] [ 0. 0. 0. 1. ]] SLAMing on 11.457719421 meters Centerline goodness : 0.940746 Centerline is valid? [False, False] Translation: X:1.62, Y:0.02, Z:-0.22 [[ 0.99994221 -0.00781815 -0.00737887 1.62022303] [ 0.00762146 0.99962457 -0.026318 0.0176787 ] [ 0.00758186 0.02626024 0.99962639 -0.21874289] [ 0. 0. 0. 1. ]] SLAMing on 11.487719421 meters Centerline goodness : 0.939602 Centerline is valid? [False, False] Translation: X:1.62, Y:0.02, Z:-0.22 [[ 0.99994057 -0.00817785 -0.00720964 1.61926009] [ 0.0079859 0.99962317 -0.02626284 0.01587033] [ 0.0074217 0.0262037 0.99962907 -0.21788748] [ 0. 0. 0. 1. ]] SLAMing on 11.517719421 meters Centerline goodness : 0.941595 Centerline is valid? [False, False] Translation: X:1.62, Y:0.01, Z:-0.22 [[ 0.99993946 -0.00871922 -0.00671271 1.61765144] [ 0.0085417 0.99962453 -0.02603551 0.01369548] [ 0.0069372 0.0259766 0.99963848 -0.21709348] [ 0. 0. 0. 1. ]] SLAMing on 11.547719421 meters Centerline goodness : 0.942694 Centerline is valid? [False, False] Translation: X:1.62, Y:0.01, Z:-0.22 [[ 0.99990164 -0.01230547 -0.00672975 1.61746064] [ 0.01209714 0.99947169 -0.03016617 0.01356736] [ 0.0070974 0.03008179 0.99952224 -0.21570835] [ 0. 0. 0. 1. ]] SLAMing on 11.577719421 meters Centerline goodness : 0.946125 Centerline is valid? [False, False] Translation: X:1.62, Y:0.01, Z:-0.21 [[ 0.99985258 -0.01587285 -0.00654752 1.61692275] [ 0.01563882 0.99928692 -0.0343669 0.01306118] [ 0.00708835 0.03425943 0.99938784 -0.21375768] [ 0. 0. 0. 1. ]] SLAMing on 11.607719421 meters Centerline goodness : 0.948500 Centerline is valid? [False, False] Translation: X:1.61, Y:0.01, Z:-0.21 [[ 0.99989835 -0.01282534 -0.00622951 1.61490464] [ 0.01262364 0.99942706 -0.03140363 0.01291271] [ 0.0066287 0.0313218 0.99948737 -0.21135838] [ 0. 0. 0. 1. ]] SLAMing on 11.637719421 meters Centerline goodness : 0.947201 Centerline is valid? [False, False] Translation: X:1.61, Y:0.01, Z:-0.21 [[ 0.99990125 -0.01255028 -0.00632279 1.61453336] [ 0.01233895 0.99939815 -0.03242033 0.01427054] [ 0.00672587 0.03233912 0.99945432 -0.20925075] [ 0. 0. 0. 1. ]] SLAMing on 11.667719421 meters Centerline goodness : 0.947413 Centerline is valid? [False, False] Translation: X:1.62, Y:0.01, Z:-0.21 [[ 0.99995408 -0.006497 -0.00704511 1.61770944] [ 0.00629985 0.99959771 -0.02765376 0.0143617 ] [ 0.00722194 0.02760811 0.99959274 -0.21066582] [ 0. 0. 0. 1. ]] SLAMing on 11.697719421 meters Centerline goodness : 0.946453 Centerline is valid? [False, False] Translation: X:1.61, Y:0.01, Z:-0.21 [[ 9.99902300e-01 -1.58036559e-04 -1.39773305e-02 1.61165768e+00] [-3.02218899e-04 9.99457929e-01 -3.29204683e-02 1.36143787e-02] [ 1.39749564e-02 3.29214761e-02 9.99360234e-01 -2.09053553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.727719421 meters Centerline goodness : 0.942925 Centerline is valid? [False, False] Translation: X:1.61, Y:0.01, Z:-0.21 [[ 0.99972706 0.00847511 -0.02177088 1.60751312] [-0.00917456 0.99943833 -0.03223134 0.01027071] [ 0.02148549 0.03242228 0.9992433 -0.21318206] [ 0. 0. 0. 1. ]] SLAMing on 11.757719421000001 meters Centerline goodness : 0.950294 Centerline is valid? [False, True] Translation: X:1.61, Y:0.01, Z:-0.21 [[ 0.9996422 0.01127395 -0.02425623 1.61305512] [-0.01189089 0.99960557 -0.02544237 0.01095902] [ 0.02395983 0.0257217 0.99938197 -0.21337937] [ 0. 0. 0. 1. ]] SLAMing on 11.787719421 meters Centerline goodness : 0.945460 Centerline is valid? [True, False] Translation: X:1.61, Y:0.02, Z:-0.22 [[ 0.99993529 0.00315804 -0.01092881 1.61359654] [-0.00347051 0.99958231 -0.02869086 0.01666043] [ 0.01083364 0.02872693 0.99952859 -0.21933515] [ 0. 0. 0. 1. ]] SLAMing on 11.817719421 meters Centerline goodness : 0.939310 Centerline is valid? [False, False] Translation: X:1.62, Y:0.01, Z:-0.22 [[ 0.99991956 0.00215587 -0.01249937 1.62025931] [-0.00252631 0.99955576 -0.02969683 0.01361695] [ 0.01242979 0.02972602 0.9994808 -0.22365622] [ 0. 0. 0. 1. ]] SLAMing on 11.847719421 meters Centerline goodness : 0.937831 Centerline is valid? [False, False] Translation: X:1.63, Y:0.01, Z:-0.23 [[ 9.99935694e-01 3.38453136e-05 -1.13405300e-02 1.63084939e+00] [-2.19304395e-04 9.99866260e-01 -1.63528077e-02 1.00091097e-02] [ 1.13384598e-02 1.63542431e-02 9.99801969e-01 -2.30003153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.877719421 meters Centerline goodness : 0.939118 Centerline is valid? [False, False] Translation: X:1.64, Y:0.01, Z:-0.24 [[ 0.99996818 -0.00198511 -0.0077271 1.63991264] [ 0.00195558 0.99999076 -0.0038276 0.00660135] [ 0.00773463 0.00381237 0.99996282 -0.235451 ] [ 0. 0. 0. 1. ]] SLAMing on 11.907719421 meters Centerline goodness : 0.947851 Centerline is valid? [False, False] Translation: X:1.65, Y:0.00, Z:-0.24 [[ 9.99974960e-01 -6.88994470e-03 -1.61518127e-03 1.64786657e+00] [ 6.89589432e-03 9.99969350e-01 3.70739535e-03 2.22838599e-03] [ 1.58958802e-03 -3.71844064e-03 9.99991823e-01 -2.38359596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.937719421 meters Centerline goodness : 0.948123 Centerline is valid? [False, False] Translation: X:1.65, Y:0.00, Z:-0.24 [[ 9.99947683e-01 -9.94188771e-03 -2.40633167e-03 1.64762535e+00] [ 9.94698074e-03 9.99948293e-01 2.11387655e-03 8.09769240e-04] [ 2.38519132e-03 -2.13770170e-03 9.99994871e-01 -2.35378658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.967719421 meters Centerline goodness : 0.946363 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.00, Z:-0.23 [[ 9.99893916e-01 -1.41081820e-02 -3.62145901e-03 1.65030136e+00] [ 1.41137937e-02 9.99899227e-01 1.52869452e-03 -4.03831557e-03] [ 3.59952696e-03 -1.57964487e-03 9.99992274e-01 -2.34746901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.997719421 meters Centerline goodness : 0.946232 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.01, Z:-0.23 [[ 9.99804509e-01 -1.91323487e-02 -4.98973181e-03 1.65358694e+00] [ 1.91381491e-02 9.99816225e-01 1.11730046e-03 -9.95971567e-03] [ 4.96743824e-03 -1.21257627e-03 9.99986927e-01 -2.34688276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.027719421 meters Centerline goodness : 0.950776 Centerline is valid? [False, True] Translation: X:1.65, Y:-0.01, Z:-0.23 [[ 0.9997619 -0.02092823 -0.00617709 1.65476597] [ 0.02094842 0.99977537 0.00322188 -0.01404997] [ 0.00610827 -0.00335052 0.99997573 -0.23221097] [ 0. 0. 0. 1. ]] SLAMing on 12.057719421 meters Centerline goodness : 0.951686 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.01, Z:-0.23 [[ 9.99687311e-01 -2.42597271e-02 -6.06177776e-03 1.68681399e+00] [ 2.42589355e-02 9.99705688e-01 -2.04092572e-04 -1.36669801e-02] [ 6.06494494e-03 5.69764792e-05 9.99981606e-01 -2.27861561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.087719421 meters Centerline goodness : 0.951093 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.02, Z:-0.23 [[ 9.99527290e-01 -3.01405161e-02 -6.06179388e-03 1.71797092e+00] [ 3.01398355e-02 9.99545671e-01 -2.03612848e-04 -1.71985206e-02] [ 6.06517683e-03 2.08151275e-05 9.99981606e-01 -2.29324157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.117719421 meters Centerline goodness : 0.947437 Centerline is valid? [True, False] Translation: X:1.72, Y:-0.02, Z:-0.23 [[ 0.99924524 -0.03822676 -0.00690353 1.71939348] [ 0.03818152 0.99924922 -0.00657054 -0.01925344] [ 0.00714952 0.006302 0.99995458 -0.22762408] [ 0. 0. 0. 1. ]] SLAMing on 12.147719421 meters Centerline goodness : 0.947261 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.02, Z:-0.23 [[ 0.99920976 -0.03900019 -0.00767068 1.72101492] [ 0.03895202 0.99922102 -0.00633237 -0.02042251] [ 0.00791167 0.00602858 0.99995053 -0.22739575] [ 0. 0. 0. 1. ]] SLAMing on 12.177719421 meters Centerline goodness : 0.947389 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.03, Z:-0.22 [[ 9.99299621e-01 -3.07411292e-02 -2.13365838e-02 1.72296028e+00] [ 3.07053845e-02 9.99526476e-01 -2.00095205e-03 -2.61044382e-02] [ 2.13879920e-02 1.34440261e-03 9.99770347e-01 -2.23873966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.207719421 meters Centerline goodness : 0.945842 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.03, Z:-0.23 [[ 9.99398635e-01 -2.68911715e-02 -2.18913805e-02 1.72767039e+00] [ 2.69211580e-02 9.99636981e-01 1.07618127e-03 -2.94904264e-02] [ 2.18544938e-02 -1.66487541e-03 9.99759776e-01 -2.27429923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.237719421 meters Centerline goodness : 0.949287 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.03, Z:-0.23 [[ 0.99950981 -0.02191592 -0.02235711 1.72947463] [ 0.02205501 0.99973879 0.00599372 -0.03129207] [ 0.02221992 -0.00648387 0.99973208 -0.22866957] [ 0. 0. 0. 1. ]] SLAMing on 12.267719421 meters Centerline goodness : 0.947298 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.03, Z:-0.23 [[ 0.99962112 -0.01493496 -0.02312079 1.73208343] [ 0.01521811 0.99981075 0.01211922 -0.03240908] [ 0.02293541 -0.01246648 0.99965922 -0.22947122] [ 0. 0. 0. 1. ]] SLAMing on 12.297719421 meters Centerline goodness : 0.950179 Centerline is valid? [False, True] Translation: X:1.73, Y:-0.04, Z:-0.23 [[ 0.99961565 -0.01476496 -0.02346378 1.73059588] [ 0.01506433 0.99980671 0.01263362 -0.03674366] [ 0.02327271 -0.01298223 0.99964486 -0.22652082] [ 0. 0. 0. 1. ]] SLAMing on 12.327719421 meters Centerline goodness : 0.953690 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.04, Z:-0.22 [[ 9.99602798e-01 -1.64311683e-02 -2.28967937e-02 1.75928857e+00] [ 1.64135157e-02 9.99864830e-01 -9.58693141e-04 -3.75405713e-02] [ 2.29094512e-02 5.82495462e-04 9.99737374e-01 -2.17935359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.357719421 meters Centerline goodness : 0.957467 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.05, Z:-0.22 [[ 9.99510332e-01 -2.13271454e-02 -2.28965072e-02 1.78837230e+00] [ 2.13106209e-02 9.99772437e-01 -9.65489159e-04 -5.30560975e-02] [ 2.29118879e-02 4.77077605e-04 9.99737374e-01 -2.15206637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.387719421 meters Centerline goodness : 0.957346 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.06, Z:-0.21 [[ 9.99498399e-01 -2.18795318e-02 -2.28962164e-02 1.81814999e+00] [ 2.18629953e-02 9.99760503e-01 -9.72336862e-04 -5.89835562e-02] [ 2.29120071e-02 4.71269265e-04 9.99737374e-01 -2.14263495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.417719421 meters Centerline goodness : 0.959575 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.07, Z:-0.21 [[ 9.99517895e-01 -2.09700455e-02 -2.28961749e-02 1.84814501e+00] [ 2.09532482e-02 9.99779983e-01 -9.73312678e-04 -6.69320967e-02] [ 2.29115477e-02 4.93094203e-04 9.99737374e-01 -2.13003304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.447719421 meters Centerline goodness : 0.959225 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.07, Z:-0.21 [[ 9.99550546e-01 -1.93512713e-02 -2.28961543e-02 1.87749060e+00] [ 1.93340385e-02 9.99812606e-01 -9.73796880e-04 -6.83395697e-02] [ 2.29107079e-02 5.30684075e-04 9.99737374e-01 -2.08988918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.477719421 meters Centerline goodness : 0.957672 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.07, Z:-0.21 [[ 9.99637621e-01 -1.41560789e-02 -2.28961128e-02 1.90619167e+00] [ 1.41374620e-02 9.99899586e-01 -9.74772085e-04 -7.32312720e-02] [ 2.29076126e-02 6.50725923e-04 9.99737374e-01 -2.05966346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.507719421000001 meters Centerline goodness : 0.958176 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.08, Z:-0.21 [[ 9.99667896e-01 -1.18270707e-02 -2.28958190e-02 1.93449243e+00] [ 1.18076868e-02 9.99929805e-01 -9.81625224e-04 -7.83810881e-02] [ 2.29058215e-02 7.10952563e-04 9.99737374e-01 -2.06455966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.537719421 meters Centerline goodness : 0.956367 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.09, Z:-0.21 [[ 9.99701305e-01 -8.54915391e-03 -2.28957140e-02 1.96338387e+00] [ 8.52885546e-03 9.99963144e-01 -9.84065992e-04 -9.11647113e-02] [ 2.29032831e-02 7.88497820e-04 9.99737374e-01 -2.10416953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.567719421 meters Centerline goodness : 0.956367 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.09, Z:-0.21 [[ 9.99698334e-01 -8.89059561e-03 -2.28953767e-02 1.99170473e+00] [ 8.87020847e-03 9.99960167e-01 -9.91852642e-04 -8.96854688e-02] [ 2.29032829e-02 7.88466669e-04 9.99737374e-01 -2.09764395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.597719421 meters Centerline goodness : 0.956027 Centerline is valid? [True, True] Translation: X:2.02, Y:-0.09, Z:-0.21 [[ 9.99699282e-01 -8.78424991e-03 -2.28950354e-02 2.02066730e+00] [ 8.76365609e-03 9.99961099e-01 -9.99670278e-04 -9.22599304e-02] [ 2.29029261e-02 7.98725443e-04 9.99737375e-01 -2.10454428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.627719421 meters Centerline goodness : 0.953591 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.09, Z:-0.21 [[ 9.99686309e-01 -1.01545324e-02 -2.28947327e-02 2.04944918e+00] [ 1.01341400e-02 9.99948142e-01 -1.00655496e-03 -9.05815183e-02] [ 2.29037665e-02 7.74220785e-04 9.99737375e-01 -2.10109195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.657719421 meters Centerline goodness : 0.952023 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.09, Z:-0.21 [[ 9.99663130e-01 -1.22254602e-02 -2.28946470e-02 2.07755187e+00] [ 1.22055657e-02 9.99925001e-01 -1.00850096e-03 -8.86651624e-02] [ 2.29052593e-02 7.28719112e-04 9.99737375e-01 -2.09212815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.687719421 meters Centerline goodness : 0.952104 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.09, Z:-0.21 [[ 9.99626025e-01 -1.49553228e-02 -2.28943004e-02 2.10539513e+00] [ 1.49359649e-02 9.99887936e-01 -1.01630795e-03 -8.87787711e-02] [ 2.29069340e-02 6.73979414e-04 9.99737375e-01 -2.05677134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.717719421 meters Centerline goodness : 0.951262 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.10, Z:-0.21 [[ 9.99458357e-01 -2.36402107e-02 -2.28939343e-02 2.13337045e+00] [ 2.36229418e-02 9.99720414e-01 -1.02449039e-03 -9.81242255e-02] [ 2.29117526e-02 4.83113406e-04 9.99737375e-01 -2.09468993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.747719421 meters Centerline goodness : 0.951919 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.11, Z:-0.21 [[ 9.99054470e-01 -3.69599586e-02 -2.28938216e-02 2.16195933e+00] [ 3.69461267e-02 9.99316731e-01 -1.02700076e-03 -1.05624282e-01] [ 2.29161369e-02 1.80191663e-04 9.99737375e-01 -2.14743492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.777719421 meters Centerline goodness : 0.953101 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.11, Z:-0.21 [[ 9.98722648e-01 -4.50438690e-02 -2.28937129e-02 2.19276572e+00] [ 4.50321045e-02 9.98985010e-01 -1.02941919e-03 -1.05408788e-01] [ 2.29168450e-02 -2.84781259e-06 9.99737375e-01 -2.10131366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.807719421 meters Centerline goodness : 0.949642 Centerline is valid? [True, False] Translation: X:2.20, Y:-0.11, Z:-0.21 [[ 0.99820484 -0.05647883 -0.01993073 2.20098712] [ 0.05655463 0.99839419 0.00325944 -0.10866796] [ 0.01971464 -0.00438077 0.99979605 -0.21157186] [ 0. 0. 0. 1. ]] SLAMing on 12.837719421 meters Centerline goodness : 0.948079 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.11, Z:-0.21 [[ 9.97954322e-01 -6.06763131e-02 -2.01384024e-02 2.20204140e+00] [ 6.06891950e-02 9.98156712e-01 2.85685380e-05 -1.10678281e-01] [ 2.00995481e-02 -1.25069353e-03 9.99797201e-01 -2.11849585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.867719421 meters Centerline goodness : 0.944540 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.11, Z:-0.21 [[ 9.97715434e-01 -6.44563835e-02 -2.02308510e-02 2.20358063e+00] [ 6.44103592e-02 9.97919228e-01 -2.91905546e-03 -1.13163930e-01] [ 2.03769069e-02 1.60931030e-03 9.99791074e-01 -2.12871339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.897719421 meters Centerline goodness : 0.946909 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.12, Z:-0.21 [[ 0.99745475 -0.06839835 -0.02014173 2.20465682] [ 0.06829834 0.99764915 -0.00561285 -0.1194895 ] [ 0.02047829 0.00422291 0.99978138 -0.21355062] [ 0. 0. 0. 1. ]] SLAMing on 12.927719421 meters Centerline goodness : 0.951270 Centerline is valid? [False, True] Translation: X:2.21, Y:-0.12, Z:-0.22 [[ 0.99753151 -0.06865883 -0.01472591 2.2144779 ] [ 0.06874194 0.99762085 0.00521341 -0.1245849 ] [ 0.01433293 -0.00621283 0.99987798 -0.21682438] [ 0. 0. 0. 1. ]] SLAMing on 12.957719421 meters Centerline goodness : 0.955670 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.12, Z:-0.21 [[ 9.97689816e-01 -6.63628123e-02 -1.45261327e-02 2.24660868e+00] [ 6.63624451e-02 9.97795454e-01 -5.07830266e-04 -1.18852875e-01] [ 1.45278102e-02 -4.57332601e-04 9.99894361e-01 -2.11217238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.987719421 meters Centerline goodness : 0.962081 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.11, Z:-0.20 [[ 9.98417431e-01 -5.43288521e-02 -1.45261732e-02 2.27774358e+00] [ 5.43272281e-02 9.98523057e-01 -5.06668969e-04 -1.08556529e-01] [ 1.45322456e-02 -2.83299596e-04 9.99894361e-01 -2.00713417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.017719421 meters Centerline goodness : 0.962421 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.10, Z:-0.20 [[ 9.98837413e-01 -4.59653221e-02 -1.45262046e-02 2.30990145e+00] [ 4.59628267e-02 9.98943023e-01 -5.05767099e-04 -1.04270350e-01] [ 1.45340985e-02 -1.62486325e-04 9.99894361e-01 -1.98984060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.047719421 meters Centerline goodness : 0.961106 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.10, Z:-0.20 [[ 9.99487268e-01 -2.85340124e-02 -1.45262464e-02 2.34102565e+00] [ 2.85296925e-02 9.99592818e-01 -5.04564700e-04 -9.97042840e-02] [ 1.45347288e-02 8.98766506e-05 9.99894361e-01 -2.02453658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.077719421 meters Centerline goodness : 0.959361 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.10, Z:-0.21 [[ 9.99698359e-01 -1.98034448e-02 -1.45263177e-02 2.37217414e+00] [ 1.97982332e-02 9.99803869e-01 -5.02502267e-04 -9.62209118e-02] [ 1.45334200e-02 2.14755266e-04 9.99894361e-01 -2.05421194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.107719421 meters Centerline goodness : 0.957796 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.09, Z:-0.21 [[ 9.99880861e-01 -5.22002167e-03 -1.45263381e-02 2.40127415e+00] [ 5.21328024e-03 9.99986285e-01 -5.01911756e-04 -9.05634788e-02] [ 1.45287589e-02 4.26122087e-04 9.99894361e-01 -2.08543311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.137719421 meters Centerline goodness : 0.959045 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.09, Z:-0.21 [[ 9.99894368e-01 -4.89060145e-04 -1.45263425e-02 2.43002996e+00] [ 4.81821815e-04 9.99999758e-01 -5.01785471e-04 -8.65990966e-02] [ 1.45265844e-02 4.94733358e-04 9.99894361e-01 -2.06270122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.167719421 meters Centerline goodness : 0.960632 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.08, Z:-0.20 [[ 9.99891518e-01 2.43762485e-03 -1.45261957e-02 2.45868830e+00] [-2.44523278e-03 9.99996882e-01 -5.06000817e-04 -8.08174866e-02] [ 1.45249169e-02 5.41465855e-04 9.99894361e-01 -2.02004373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.197719421 meters Centerline goodness : 0.961068 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.08, Z:-0.20 [[ 9.99892831e-01 1.82235506e-03 -1.45260427e-02 2.48602271e+00] [-1.82996132e-03 9.99998195e-01 -5.10353977e-04 -7.94722233e-02] [ 1.45250865e-02 5.36881379e-04 9.99894361e-01 -2.03260314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.227719421 meters Centerline goodness : 0.961636 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.08, Z:-0.20 [[ 9.99894203e-01 7.60867761e-04 -1.45259885e-02 2.51468491e+00] [-7.68384459e-04 9.99999574e-01 -5.11891471e-04 -7.98793732e-02] [ 1.45255929e-02 5.22998858e-04 9.99894361e-01 -2.02017313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.257719421 meters Centerline goodness : 0.954466 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.08, Z:-0.21 [[ 9.99894222e-01 -7.35828499e-04 -1.45259455e-02 2.54407417e+00] [ 7.28451860e-04 9.99999603e-01 -5.13109533e-04 -8.24339590e-02] [ 1.45263173e-02 5.02473805e-04 9.99894361e-01 -2.06765187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.287719421 meters Centerline goodness : 0.948891 Centerline is valid? [True, False] Translation: X:2.55, Y:-0.08, Z:-0.21 [[ 9.99884797e-01 -1.46078055e-03 -1.51082492e-02 2.54872849e+00] [ 1.45078262e-03 9.99998721e-01 -6.72692273e-04 -8.39502955e-02] [ 1.51092125e-02 6.50695991e-04 9.99885638e-01 -2.11015086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.317719421 meters Centerline goodness : 0.946146 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.08, Z:-0.21 [[ 9.99884606e-01 -1.04980831e-03 -1.51549415e-02 2.54975425e+00] [ 1.05103087e-03 9.99999445e-01 7.27060234e-05 -8.49144045e-02] [ 1.51548568e-02 -8.86259450e-05 9.99885155e-01 -2.12092659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.347719421 meters Centerline goodness : 0.945147 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.09, Z:-0.21 [[ 9.99875570e-01 -2.36840156e-03 -1.55960212e-02 2.55201999e+00] [ 2.34758793e-03 9.99996329e-01 -1.35272017e-03 -8.73982441e-02] [ 1.55991677e-02 1.31593882e-03 9.99877460e-01 -2.13125934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.377719421 meters Centerline goodness : 0.947713 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.09, Z:-0.21 [[ 9.99877409e-01 -1.87461233e-03 -1.55451629e-02 2.55222468e+00] [ 1.87016678e-03 9.99998206e-01 -3.00508573e-04 -9.05955235e-02] [ 1.55456983e-02 2.71399686e-04 9.99879121e-01 -2.13393814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.407719421 meters Centerline goodness : 0.949327 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.10, Z:-0.21 [[ 9.99873633e-01 -7.04167291e-04 -1.58815078e-02 2.55324770e+00] [ 7.27587244e-04 9.99998656e-01 1.46893836e-03 -9.57586970e-02] [ 1.58804520e-02 -1.48030791e-03 9.99872802e-01 -2.13592505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.437719421 meters Centerline goodness : 0.948022 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.10, Z:-0.21 [[ 9.99870494e-01 1.17900028e-04 -1.60929009e-02 2.55466771e+00] [-7.79476995e-05 9.99996914e-01 2.48321046e-03 -9.81155681e-02] [ 1.60931440e-02 -2.48163447e-03 9.99867417e-01 -2.14681018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.467719421 meters Centerline goodness : 0.946333 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.10, Z:-0.22 [[ 9.99867074e-01 1.02572706e-03 -1.62721303e-02 2.55615936e+00] [-9.69079009e-04 9.99993445e-01 3.48879571e-03 -1.00399698e-01] [ 1.62756022e-02 -3.47256298e-03 9.99861513e-01 -2.15916317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.497719421 meters Centerline goodness : 0.947205 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.10, Z:-0.22 [[ 0.99984875 0.0041298 -0.01689432 2.55869158] [-0.00402854 0.99997374 0.00602359 -0.10378541] [ 0.01691875 -0.00595462 0.99983914 -0.21667832] [ 0. 0. 0. 1. ]] SLAMing on 13.527719421 meters Centerline goodness : 0.950110 Centerline is valid? [False, True] Translation: X:2.56, Y:-0.11, Z:-0.21 [[ 0.99982342 0.00830601 -0.01685627 2.5566244 ] [-0.00813526 0.99991516 0.01017292 -0.10528651] [ 0.01693933 -0.010034 0.99980617 -0.21370994] [ 0. 0. 0. 1. ]] SLAMing on 13.557719421 meters Centerline goodness : 0.950738 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.10, Z:-0.21 [[ 9.99808146e-01 1.07500521e-02 -1.63739778e-02 2.58394105e+00] [-1.07633796e-02 9.99941810e-01 -7.26032341e-04 -1.02363088e-01] [ 1.63652201e-02 9.02132387e-04 9.99865674e-01 -2.11708250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.587719421 meters Centerline goodness : 0.949211 Centerline is valid? [True, False] Translation: X:2.59, Y:-0.11, Z:-0.21 [[ 9.99820723e-01 9.16159366e-03 -1.65706398e-02 2.58588603e+00] [-9.19370471e-03 9.99956002e-01 -1.86268797e-03 -1.08854152e-01] [ 1.65528455e-02 2.01469960e-03 9.99860962e-01 -2.13191960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.617719421 meters Centerline goodness : 0.947299 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.11, Z:-0.22 [[ 0.99990444 0.00506236 -0.01286394 2.59681507] [-0.00499035 0.99997173 0.00562403 -0.11356565] [ 0.01289205 -0.0055593 0.99990144 -0.2169113 ] [ 0. 0. 0. 1. ]] SLAMing on 13.647719421 meters Centerline goodness : 0.947311 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.12, Z:-0.22 [[ 0.99996602 -0.00287974 -0.00772398 2.60803465] [ 0.00295445 0.99994879 0.00967919 -0.12206543] [ 0.00769571 -0.00970168 0.99992332 -0.22113056] [ 0. 0. 0. 1. ]] SLAMing on 13.677719421 meters Centerline goodness : 0.946620 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.12, Z:-0.22 [[ 0.99994874 -0.00640668 -0.00784032 2.6086874 ] [ 0.00646059 0.99995553 0.00686998 -0.12488914] [ 0.00779596 -0.00692028 0.99994566 -0.22140006] [ 0. 0. 0. 1. ]] SLAMing on 13.707719421 meters Centerline goodness : 0.945942 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.13, Z:-0.22 [[ 9.99874913e-01 -1.33344863e-02 -8.50590119e-03 2.61175522e+00] [ 1.33421402e-02 9.99910634e-01 8.43720512e-04 -1.28556333e-01] [ 8.49389047e-03 -9.57101899e-04 9.99963468e-01 -2.23232349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.737719421 meters Centerline goodness : 0.942205 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.13, Z:-0.23 [[ 9.99868794e-01 -1.34554989e-02 -9.01911721e-03 2.61405090e+00] [ 1.34728943e-02 9.99907486e-01 1.87074218e-03 -1.32072152e-01] [ 8.99311105e-03 -1.99201034e-03 9.99957577e-01 -2.25100459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.767719421 meters Centerline goodness : 0.941409 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.13, Z:-0.23 [[ 9.99822525e-01 -1.62394097e-02 -9.54991481e-03 2.61634823e+00] [ 1.62314448e-02 9.99867846e-01 -9.10945588e-04 -1.33329523e-01] [ 9.56344597e-03 7.55775003e-04 9.99953984e-01 -2.26246360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.797719421 meters Centerline goodness : 0.945187 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.14, Z:-0.22 [[ 0.99976917 -0.01913857 -0.00976362 2.61538665] [ 0.01910491 0.99981125 -0.00352948 -0.13619485] [ 0.00982932 0.00334214 0.99994611 -0.22410575] [ 0. 0. 0. 1. ]] SLAMing on 13.827719421 meters Centerline goodness : 0.947690 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.14, Z:-0.22 [[ 0.99975576 -0.01964643 -0.01012081 2.61540654] [ 0.01961202 0.99980158 -0.00348808 -0.13733538] [ 0.01018733 0.00328874 0.9999427 -0.2230981 ] [ 0. 0. 0. 1. ]] SLAMing on 13.857719421 meters Centerline goodness : 0.948766 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.14, Z:-0.22 [[ 0.99975297 -0.01967221 -0.01034394 2.61580904] [ 0.01964141 0.99980237 -0.00307087 -0.1387247 ] [ 0.01040231 0.00286695 0.99994178 -0.22289939] [ 0. 0. 0. 1. ]] SLAMing on 13.887719421 meters Centerline goodness : 0.949221 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.14, Z:-0.22 [[ 0.99973004 -0.02068823 -0.01057569 2.61609204] [ 0.02065831 0.9997823 -0.0029299 -0.14167234] [ 0.010634 0.00271063 0.99993978 -0.22265234] [ 0. 0. 0. 1. ]] SLAMing on 13.917719421 meters Centerline goodness : 0.950020 Centerline is valid? [False, True] Translation: X:2.62, Y:-0.14, Z:-0.22 [[ 9.99730129e-01 -2.05360129e-02 -1.08600397e-02 2.61703567e+00] [ 2.05100632e-02 9.99786532e-01 -2.49547396e-03 -1.42213118e-01] [ 1.09089685e-02 2.27206041e-03 9.99937914e-01 -2.23017258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.947719421 meters Centerline goodness : 0.951585 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.14, Z:-0.22 [[ 9.99690338e-01 -2.23550511e-02 -1.09306973e-02 2.64842750e+00] [ 2.23524307e-02 9.99750088e-01 -3.61857063e-04 -1.41325775e-01] [ 1.09360549e-02 1.17417357e-04 9.99940193e-01 -2.17061242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.977719421 meters Centerline goodness : 0.952260 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.14, Z:-0.22 [[ 9.99681817e-01 -2.27328887e-02 -1.09307127e-02 2.67991701e+00] [ 2.27302959e-02 9.99741568e-01 -3.61392022e-04 -1.40471842e-01] [ 1.09361033e-02 1.12818699e-04 9.99940193e-01 -2.15783639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.007719421 meters Centerline goodness : 0.952910 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.14, Z:-0.22 [[ 9.99682623e-01 -2.26974221e-02 -1.09307282e-02 2.71011131e+00] [ 2.26948324e-02 9.99742374e-01 -3.60922457e-04 -1.39136115e-01] [ 1.09361041e-02 1.12736865e-04 9.99940193e-01 -2.16595827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.037719421 meters Centerline goodness : 0.952157 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.13, Z:-0.22 [[ 9.99706024e-01 -2.16421981e-02 -1.09307358e-02 2.74114378e+00] [ 2.16395478e-02 9.99765773e-01 -3.60690499e-04 -1.33878518e-01] [ 1.09359817e-02 1.24048284e-04 9.99940193e-01 -2.16460110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.067719421 meters Centerline goodness : 0.952522 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.13, Z:-0.22 [[ 9.99738729e-01 -2.00746747e-02 -1.09307509e-02 2.77167703e+00] [ 2.00719357e-02 9.99798474e-01 -3.60233172e-04 -1.34209075e-01] [ 1.09357796e-02 1.40737725e-04 9.99940193e-01 -2.20507917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.097719421 meters Centerline goodness : 0.950195 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.14, Z:-0.22 [[ 9.99742816e-01 -1.98701106e-02 -1.09307584e-02 2.80314031e+00] [ 1.98673618e-02 9.99802560e-01 -3.60006362e-04 -1.36387192e-01] [ 1.09357535e-02 1.42748442e-04 9.99940193e-01 -2.19256630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.127719421 meters Centerline goodness : 0.951106 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.14, Z:-0.22 [[ 9.99737092e-01 -2.01559942e-02 -1.09307730e-02 2.83333272e+00] [ 2.01532674e-02 9.99796838e-01 -3.59559740e-04 -1.39758735e-01] [ 1.09357996e-02 1.39174417e-04 9.99940193e-01 -2.21117824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.157719421 meters Centerline goodness : 0.950280 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.14, Z:-0.22 [[ 9.99750504e-01 -1.94794136e-02 -1.09307986e-02 2.86358389e+00] [ 1.94766549e-02 9.99810248e-01 -3.58781979e-04 -1.36760041e-01] [ 1.09357133e-02 1.45797072e-04 9.99940193e-01 -2.21475390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.187719421 meters Centerline goodness : 0.948307 Centerline is valid? [True, False] Translation: X:2.87, Y:-0.13, Z:-0.22 [[ 0.99987036 -0.01115486 -0.01161155 2.86561772] [ 0.01123903 0.99991085 0.00720881 -0.13188189] [ 0.01153011 -0.00733838 0.9999066 -0.22230393] [ 0. 0. 0. 1. ]] SLAMing on 14.217719421 meters Centerline goodness : 0.947310 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.13, Z:-0.22 [[ 0.9999051 -0.00674735 -0.01201121 2.8664089 ] [ 0.00687653 0.99991861 0.01074633 -0.129403 ] [ 0.01193773 -0.01082791 0.99987012 -0.22213112] [ 0. 0. 0. 1. ]] SLAMing on 14.247719421 meters Centerline goodness : 0.946375 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.13, Z:-0.22 [[ 9.99958663e-01 4.56129093e-03 -7.86558030e-03 2.86877417e+00] [-4.54563793e-03 9.99987655e-01 2.00679330e-03 -1.27107135e-01] [ 7.87463676e-03 -1.97095626e-03 9.99967052e-01 -2.23891545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.277719421 meters Centerline goodness : 0.948455 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.13, Z:-0.23 [[ 9.99948027e-01 6.17619979e-03 -8.11161273e-03 2.87088574e+00] [-6.15637639e-03 9.99978007e-01 2.46653026e-03 -1.26722597e-01] [ 8.12666811e-03 -2.41646392e-03 9.99964058e-01 -2.25384500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.307719421 meters Centerline goodness : 0.948446 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.12, Z:-0.23 [[ 0.99989692 0.01168248 -0.00834709 2.87385284] [-0.01162628 0.99990963 0.00674955 -0.12367806] [ 0.00842519 -0.0066518 0.99994238 -0.22787283] [ 0. 0. 0. 1. ]] SLAMing on 14.337719421 meters Centerline goodness : 0.949153 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.12, Z:-0.23 [[ 0.99988906 0.01207079 -0.00872676 2.87454427] [-0.01201661 0.99990836 0.00623438 -0.11961528] [ 0.00880121 -0.00612882 0.99994249 -0.22743564] [ 0. 0. 0. 1. ]] SLAMing on 14.367719421 meters Centerline goodness : 0.950588 Centerline is valid? [False, True] Translation: X:2.87, Y:-0.12, Z:-0.22 [[ 0.99988909 0.01182357 -0.009056 2.87369413] [-0.01177937 0.99991852 0.00491855 -0.1152465 ] [ 0.00911341 -0.00481133 0.9999469 -0.22473891] [ 0. 0. 0. 1. ]] SLAMing on 14.397719421 meters Centerline goodness : 0.949821 Centerline is valid? [True, False] Translation: X:2.88, Y:-0.12, Z:-0.23 [[ 9.99914788e-01 8.68871679e-03 -9.74286890e-03 2.87598539e+00] [-8.67449146e-03 9.99961249e-01 1.50138513e-03 -1.15681803e-01] [ 9.75553646e-03 -1.41674276e-03 9.99951410e-01 -2.25743685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.427719420999999 meters Centerline goodness : 0.941040 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.12, Z:-0.23 [[ 9.99925844e-01 1.55532197e-03 -1.20783741e-02 2.88558767e+00] [-1.62426647e-03 9.99982434e-01 -5.70038444e-03 -1.23793681e-01] [ 1.20692960e-02 5.71958022e-03 9.99910805e-01 -2.31348991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.457719421 meters Centerline goodness : 0.939883 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.13, Z:-0.24 [[ 9.99954601e-01 -3.87267951e-03 -8.70623963e-03 2.89804927e+00] [ 3.88139661e-03 9.99991983e-01 9.84574268e-04 -1.28601737e-01] [ 8.70235689e-03 -1.01832194e-03 9.99961615e-01 -2.36450496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.487719421 meters Centerline goodness : 0.939883 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.13, Z:-0.24 [[ 9.99954601e-01 -3.87267951e-03 -8.70623963e-03 2.89804927e+00] [ 3.88139661e-03 9.99991983e-01 9.84574268e-04 -1.28601737e-01] [ 8.70235689e-03 -1.01832194e-03 9.99961615e-01 -2.36450496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.517719421 meters Centerline goodness : 0.943425 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.13, Z:-0.23 [[ 0.99986412 -0.01311899 -0.0099813 2.90215393] [ 0.0131818 0.99989357 0.00625268 -0.13116137] [ 0.00989821 -0.0063834 0.99993064 -0.23095589] [ 0. 0. 0. 1. ]] SLAMing on 14.547719421 meters Centerline goodness : 0.945266 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.13, Z:-0.23 [[ 0.99982237 -0.01849096 -0.00364917 2.91024235] [ 0.01853398 0.99975463 0.01213122 -0.13231739] [ 0.00342395 -0.0121967 0.99991976 -0.23245547] [ 0. 0. 0. 1. ]] SLAMing on 14.577719421 meters Centerline goodness : 0.944350 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.13, Z:-0.23 [[ 0.99972716 -0.02297856 -0.0041937 2.91083281] [ 0.02301439 0.99969725 0.00870348 -0.13478964] [ 0.00399243 -0.00879762 0.99995333 -0.23143746] [ 0. 0. 0. 1. ]] SLAMing on 14.607719421 meters Centerline goodness : 0.942397 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.15, Z:-0.24 [[ 9.99286556e-01 -3.77421068e-02 -1.38300322e-03 2.92855759e+00] [ 3.77474193e-02 9.99279142e-01 4.04084057e-03 -1.47486582e-01] [ 1.22949643e-03 -4.09016246e-03 9.99990879e-01 -2.37021863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.637719421 meters Centerline goodness : 0.943765 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.16, Z:-0.24 [[ 9.98860426e-01 -4.76834723e-02 -2.03386021e-03 2.93284064e+00] [ 4.76720194e-02 9.98848714e-01 -5.35015407e-03 -1.55084777e-01] [ 2.28663258e-03 5.24709895e-03 9.99983619e-01 -2.38659946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.667719421 meters Centerline goodness : 0.945032 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.16, Z:-0.24 [[ 9.98843721e-01 -4.80167734e-02 -2.36862375e-03 2.93370876e+00] [ 4.80051590e-02 9.98835849e-01 -4.73820585e-03 -1.57357345e-01] [ 2.59337967e-03 4.61902101e-03 9.99985969e-01 -2.38838031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.697719421 meters Centerline goodness : 0.942865 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.16, Z:-0.24 [[ 0.99880507 -0.04875581 -0.0033633 2.9359668 ] [ 0.04874316 0.99880432 -0.00374544 -0.15960739] [ 0.00354189 0.00357703 0.99998733 -0.2394487 ] [ 0. 0. 0. 1. ]] SLAMing on 14.727719421 meters Centerline goodness : 0.940644 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.16, Z:-0.24 [[ 9.98833437e-01 -4.81213358e-02 -4.01267849e-03 2.93840989e+00] [ 4.81109901e-02 9.98838517e-01 -2.63614957e-03 -1.60467498e-01] [ 4.13487287e-03 2.44002040e-03 9.99988474e-01 -2.40882403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.757719421 meters Centerline goodness : 0.940904 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.16, Z:-0.24 [[ 9.99026886e-01 -4.38417112e-02 -4.81504539e-03 2.94010783e+00] [ 4.38542144e-02 9.99034757e-01 2.52250851e-03 -1.63555865e-01] [ 4.69980661e-03 -2.73121385e-03 9.99985226e-01 -2.41419587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.787719421 meters Centerline goodness : 0.943349 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.16, Z:-0.24 [[ 0.99906477 -0.04290676 -0.00534736 2.9415801 ] [ 0.04292425 0.99907321 0.0031993 -0.16459522] [ 0.00520513 -0.00342584 0.99998058 -0.24173727] [ 0. 0. 0. 1. ]] SLAMing on 14.817719421 meters Centerline goodness : 0.946521 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.17, Z:-0.24 [[ 0.99923867 -0.0386295 -0.00546353 2.94172125] [ 0.0386691 0.99922512 0.00733918 -0.16631573] [ 0.00517579 -0.00754486 0.99995814 -0.24148123] [ 0. 0. 0. 1. ]] SLAMing on 14.847719421 meters Centerline goodness : 0.948569 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.17, Z:-0.24 [[ 0.99930446 -0.03681141 -0.00595897 2.94380302] [ 0.03686285 0.99928189 0.00876568 -0.16517425] [ 0.00563201 -0.00897925 0.99994383 -0.24271617] [ 0. 0. 0. 1. ]] SLAMing on 14.877719421 meters Centerline goodness : 0.947660 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.16, Z:-0.24 [[ 0.99944722 -0.03264836 -0.00627241 2.94523922] [ 0.03272493 0.99938598 0.01251934 -0.16331811] [ 0.00585983 -0.01271768 0.99990196 -0.24374207] [ 0. 0. 0. 1. ]] SLAMing on 14.907719421 meters Centerline goodness : 0.946940 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.16, Z:-0.25 [[ 0.99947543 -0.03168333 -0.00671088 2.94726392] [ 0.03177104 0.99940543 0.01339337 -0.16229633] [ 0.00628254 -0.01359956 0.99988778 -0.24505767] [ 0. 0. 0. 1. ]] SLAMing on 14.937719421 meters Centerline goodness : 0.946319 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.16, Z:-0.25 [[ 0.99948536 -0.03126494 -0.00717712 2.94887443] [ 0.03136158 0.99941321 0.01377245 -0.16198054] [ 0.00674231 -0.01399045 0.9998794 -0.245782 ] [ 0. 0. 0. 1. ]] SLAMing on 14.967719421 meters Centerline goodness : 0.943154 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.16, Z:-0.25 [[ 0.9994874 -0.03091512 -0.00831818 2.95452706] [ 0.0310266 0.99942569 0.01362475 -0.1645659 ] [ 0.00789219 -0.01387585 0.99987258 -0.24916889] [ 0. 0. 0. 1. ]] SLAMing on 14.997719421 meters Centerline goodness : 0.939463 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.17, Z:-0.25 [[ 0.99948479 -0.03078512 -0.00907948 2.9599596 ] [ 0.03090232 0.99943704 0.01306317 -0.16722333] [ 0.00867222 -0.01333702 0.99987345 -0.25305626] [ 0. 0. 0. 1. ]] SLAMing on 15.027719421 meters Centerline goodness : 0.940942 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.17, Z:-0.25 [[ 0.99949332 -0.03033426 -0.0096406 2.96127185] [ 0.03046081 0.99944797 0.01326251 -0.16652228] [ 0.00923297 -0.01354945 0.99986557 -0.25314579] [ 0. 0. 0. 1. ]] SLAMing on 15.057719421 meters Centerline goodness : 0.939223 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.17, Z:-0.25 [[ 0.99960166 -0.02620932 -0.01046834 2.9630058 ] [ 0.02638604 0.99950528 0.01711646 -0.16570786] [ 0.01001455 -0.01738586 0.9997987 -0.25319213] [ 0. 0. 0. 1. ]] SLAMing on 15.087719421 meters Centerline goodness : 0.936863 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.16, Z:-0.26 [[ 0.99963351 -0.02464869 -0.01119351 2.96628706] [ 0.02484751 0.99952945 0.01798544 -0.16470655] [ 0.01074492 -0.01825698 0.99977559 -0.25533909] [ 0. 0. 0. 1. ]] SLAMing on 15.117719421 meters Centerline goodness : 0.935107 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.16, Z:-0.26 [[ 0.999676 -0.02250831 -0.01188599 2.96994007] [ 0.02273432 0.99955649 0.01923478 -0.16330169] [ 0.01144778 -0.01949877 0.99974434 -0.25791269] [ 0. 0. 0. 1. ]] SLAMing on 15.147719421 meters Centerline goodness : 0.933269 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.16, Z:-0.26 [[ 0.99983208 -0.01265067 -0.0132577 2.96868899] [ 0.01282228 0.99983406 0.01294004 -0.16034466] [ 0.0130918 -0.01310786 0.99982838 -0.26014065] [ 0. 0. 0. 1. ]] SLAMing on 15.177719420999999 meters Centerline goodness : 0.935062 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.16, Z:-0.26 [[ 0.9998847 -0.00549793 -0.01415468 2.97162125] [ 0.0057563 0.99981637 0.01827802 -0.16009096] [ 0.01405159 -0.01835739 0.99973274 -0.26061781] [ 0. 0. 0. 1. ]] SLAMing on 15.207719421 meters Centerline goodness : 0.935249 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.16, Z:-0.26 [[ 0.99988402 -0.00386503 -0.01473124 2.97395538] [ 0.00414644 0.99980858 0.01912088 -0.15875032] [ 0.01465451 -0.01917974 0.99970865 -0.26176149] [ 0. 0. 0. 1. ]] SLAMing on 15.237719421 meters Centerline goodness : 0.928776 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.16, Z:-0.26 [[ 9.99879625e-01 -1.13578289e-04 -1.55152636e-02 2.97800190e+00] [ 4.62086721e-04 9.99747623e-01 2.24605577e-02 -1.57555692e-01] [ 1.55087969e-02 -2.24650234e-02 9.99627331e-01 -2.64509233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.267719421 meters Centerline goodness : 0.928649 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.16, Z:-0.26 [[ 9.99873572e-01 2.70850952e-04 -1.58986137e-02 2.97917740e+00] [ 9.21383253e-05 9.99739441e-01 2.28263334e-02 -1.58152796e-01] [ 1.59006537e-02 -2.28249124e-02 9.99613021e-01 -2.64881472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.297719421 meters Centerline goodness : 0.934316 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.16, Z:-0.26 [[ 9.99972734e-01 -2.47307565e-03 -6.95816364e-03 2.98290492e+00] [ 2.55965878e-03 9.99919069e-01 1.24621223e-02 -1.60037875e-01] [ 6.92678073e-03 -1.24795930e-02 9.99898135e-01 -2.64964947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.327719421 meters Centerline goodness : 0.940095 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.16, Z:-0.26 [[ 0.99995762 -0.00581591 -0.00713735 2.98232562] [ 0.00588295 0.99993843 0.00940889 -0.16317554] [ 0.00708218 -0.00945048 0.99993026 -0.26346967] [ 0. 0. 0. 1. ]] SLAMing on 15.357719421 meters Centerline goodness : 0.938985 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.17, Z:-0.26 [[ 0.9999326 -0.00886462 -0.00749779 2.98338276] [ 0.0089175 0.99993539 0.0070496 -0.16754346] [ 0.00743482 -0.00711599 0.99994704 -0.26369395] [ 0. 0. 0. 1. ]] SLAMing on 15.387719421 meters Centerline goodness : 0.939336 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.18, Z:-0.27 [[ 9.99848838e-01 -1.52539019e-02 -8.34386356e-03 2.98674554e+00] [ 1.52751005e-02 9.99880246e-01 2.48281998e-03 -1.75826660e-01] [ 8.30499166e-03 -2.60989803e-03 9.99962107e-01 -2.65828835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.417719421 meters Centerline goodness : 0.934850 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.18, Z:-0.27 [[ 0.99981255 -0.01643482 -0.01023556 2.99117493] [ 0.01647886 0.99985525 0.00423313 -0.17936875] [ 0.0101645 -0.00440101 0.99993866 -0.26822189] [ 0. 0. 0. 1. ]] SLAMing on 15.447719421 meters Centerline goodness : 0.934796 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.18, Z:-0.27 [[ 0.99980737 -0.01638074 -0.01081131 2.99254734] [ 0.01643572 0.99985234 0.00501619 -0.18022141] [ 0.01072755 -0.00519292 0.99992897 -0.26862892] [ 0. 0. 0. 1. ]] SLAMing on 15.477719421 meters Centerline goodness : 0.930885 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.18, Z:-0.27 [[ 0.99974586 -0.01936534 -0.01154126 2.99560486] [ 0.01940167 0.99980713 0.00304454 -0.18419089] [ 0.01148007 -0.00326769 0.99992876 -0.27048852] [ 0. 0. 0. 1. ]] SLAMing on 15.507719421 meters Centerline goodness : 0.927902 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.19, Z:-0.27 [[ 9.99680480e-01 -2.22369123e-02 -1.20190545e-02 2.99847751e+00] [ 2.22471705e-02 9.99752241e-01 7.20454438e-04 -1.87963164e-01] [ 1.20000560e-02 -9.87614193e-04 9.99927509e-01 -2.72685404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.537719421 meters Centerline goodness : 0.928634 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.19, Z:-0.27 [[ 9.99600561e-01 -2.53684088e-02 -1.24563855e-02 3.00072047e+00] [ 2.53477949e-02 9.99677054e-01 -1.81001594e-03 -1.92118489e-01] [ 1.24982800e-02 1.49355105e-03 9.99920778e-01 -2.74135529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.567719421 meters Centerline goodness : 0.932063 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.20, Z:-0.28 [[ 9.99464431e-01 -3.17158533e-02 -8.05946495e-03 3.01332118e+00] [ 3.17395501e-02 9.99492168e-01 2.82951531e-03 -1.97050778e-01] [ 7.96563161e-03 -3.08380370e-03 9.99963519e-01 -2.78194529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.597719421 meters Centerline goodness : 0.929995 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.19, Z:-0.28 [[ 9.99403738e-01 -3.34121008e-02 -8.70627004e-03 3.01432339e+00] [ 3.34316256e-02 9.99438786e-01 2.10677378e-03 -1.94793633e-01] [ 8.63099223e-03 -2.39658236e-03 9.99959880e-01 -2.77982153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.627719421 meters Centerline goodness : 0.931588 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.19, Z:-0.28 [[ 9.99385751e-01 -3.38575476e-02 -9.04360778e-03 3.01493668e+00] [ 3.38746211e-02 9.99424573e-01 1.74141157e-03 -1.93227014e-01] [ 8.97944392e-03 -2.04669070e-03 9.99957589e-01 -2.77842214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.657719421 meters Centerline goodness : 0.931045 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.19, Z:-0.28 [[ 9.99347887e-01 -3.48177880e-02 -9.56671997e-03 3.01589407e+00] [ 3.48299525e-02 9.99392639e-01 1.10784955e-03 -1.92524028e-01] [ 9.52233665e-03 -1.44033551e-03 9.99953624e-01 -2.77514461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.687719421 meters Centerline goodness : 0.931744 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.19, Z:-0.28 [[ 9.99341390e-01 -3.48690366e-02 -1.00466800e-02 3.01749819e+00] [ 3.48837068e-02 9.99390547e-01 1.28863200e-03 -1.93233983e-01] [ 9.99562365e-03 -1.63824873e-03 9.99948701e-01 -2.78350297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.717719421 meters Centerline goodness : 0.930748 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.19, Z:-0.28 [[ 9.99327753e-01 -3.49995583e-02 -1.09120860e-02 3.02101726e+00] [ 3.50123349e-02 9.99386398e-01 9.81978029e-04 -1.92143871e-01] [ 1.08710215e-02 -1.36337550e-03 9.99939979e-01 -2.80611796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.747719421 meters Centerline goodness : 0.932860 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.19, Z:-0.28 [[ 9.99323744e-01 -3.50097751e-02 -1.12414223e-02 3.02212794e+00] [ 3.50189035e-02 9.99386460e-01 6.16169775e-04 -1.90154453e-01] [ 1.12129532e-02 -1.00941537e-03 9.99936623e-01 -2.81082116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.777719421 meters Centerline goodness : 0.936122 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.18, Z:-0.28 [[ 0.99932034 -0.03667248 -0.00373881 3.03140975] [ 0.03669404 0.9993093 0.00587056 -0.18464992] [ 0.00352094 -0.00600376 0.99997578 -0.28232745] [ 0. 0. 0. 1. ]] SLAMing on 15.807719421 meters Centerline goodness : 0.935590 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.18, Z:-0.28 [[ 0.99927545 -0.03784168 -0.00407286 3.03180123] [ 0.03786053 0.99927219 0.00465475 -0.18159631] [ 0.00389375 -0.00480558 0.99998087 -0.28166612] [ 0. 0. 0. 1. ]] SLAMing on 15.837719421 meters Centerline goodness : 0.935532 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.18, Z:-0.28 [[ 9.99148241e-01 -4.10160106e-02 -4.52550860e-03 3.03436751e+00] [ 4.10220948e-02 9.99157445e-01 1.25985970e-03 -1.81801014e-01] [ 4.47002120e-03 -1.44443245e-03 9.99988966e-01 -2.83272208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.867719421 meters Centerline goodness : 0.934118 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.18, Z:-0.29 [[ 9.99003162e-01 -4.43753607e-02 -4.84874532e-03 3.03688660e+00] [ 4.43675348e-02 9.99013813e-01 -1.70988795e-03 -1.83739567e-01] [ 4.91984045e-03 1.49305659e-03 9.99986783e-01 -2.85220050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.897719421 meters Centerline goodness : 0.934799 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.19, Z:-0.29 [[ 9.98555469e-01 -5.36014974e-02 -3.72232813e-03 3.05628785e+00] [ 5.36558482e-02 9.98423471e-01 1.64809776e-02 -1.88545368e-01] [ 2.83305469e-03 -1.66568950e-02 9.99857251e-01 -2.90097492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.927719420999999 meters Centerline goodness : 0.935071 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.19, Z:-0.29 [[ 9.98473474e-01 -5.52208284e-02 -1.17568502e-03 3.06470500e+00] [ 5.52317461e-02 9.98056565e-01 2.88538957e-02 -1.88906989e-01] [-4.19935873e-04 -2.88747846e-02 9.99582948e-01 -2.91329323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.957719421 meters Centerline goodness : 0.930686 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.18, Z:-0.29 [[ 9.98258960e-01 -5.87914691e-02 -4.75519923e-03 3.07031158e+00] [ 5.89045357e-02 9.97847379e-01 2.88247109e-02 -1.83922523e-01] [ 3.05031599e-03 -2.90546287e-02 9.99573171e-01 -2.89251705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.987719421 meters Centerline goodness : 0.931886 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.18, Z:-0.29 [[ 0.99812911 -0.06074788 -0.00692703 3.07357071] [ 0.06091912 0.99774993 0.02799886 -0.17965954] [ 0.00521057 -0.02836846 0.99958395 -0.28793278] [ 0. 0. 0. 1. ]] SLAMing on 16.017719421 meters Centerline goodness : 0.932218 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.18, Z:-0.29 [[ 0.99811047 -0.0610123 -0.00727875 3.07345874] [ 0.06118869 0.99775683 0.02715232 -0.17761504] [ 0.00560579 -0.0275464 0.99960481 -0.28695928] [ 0. 0. 0. 1. ]] SLAMing on 16.047719421 meters Centerline goodness : 0.938921 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.17, Z:-0.29 [[ 0.99843339 -0.05557636 -0.00648276 3.07132166] [ 0.05573829 0.99804517 0.02826794 -0.17290484] [ 0.00489906 -0.028585 0.99957936 -0.28696818] [ 0. 0. 0. 1. ]] SLAMing on 16.077719421 meters Centerline goodness : 0.939474 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.17, Z:-0.29 [[ 0.99863667 -0.05173529 -0.00694769 3.07256249] [ 0.05192489 0.99818059 0.03064822 -0.16795717] [ 0.00534946 -0.03096719 0.99950609 -0.2878133 ] [ 0. 0. 0. 1. ]] SLAMing on 16.107719421 meters Centerline goodness : 0.942338 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.15, Z:-0.29 [[ 0.99919693 -0.03917922 -0.00839562 3.07656861] [ 0.03947373 0.99848318 0.03838173 -0.15350933] [ 0.00687912 -0.03868232 0.99922788 -0.29140454] [ 0. 0. 0. 1. ]] SLAMing on 16.137719421 meters Centerline goodness : 0.938713 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.15, Z:-0.29 [[ 0.99944839 -0.03202003 -0.00881095 3.07780356] [ 0.03237836 0.99850309 0.04408193 -0.14673971] [ 0.00738625 -0.0443429 0.99898906 -0.29257583] [ 0. 0. 0. 1. ]] SLAMing on 16.167719421 meters Centerline goodness : 0.937002 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.13, Z:-0.29 [[ 0.99964047 -0.02226793 -0.01493542 3.09220266] [ 0.02281662 0.99903111 0.03763292 -0.13241713] [ 0.01408294 -0.03796017 0.99918001 -0.29036112] [ 0. 0. 0. 1. ]] SLAMing on 16.197719421 meters Centerline goodness : 0.935730 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.13, Z:-0.29 [[ 0.9996473 -0.02154915 -0.01552136 3.09523755] [ 0.02211295 0.9990662 0.03711807 -0.1290164 ] [ 0.014707 -0.0374482 0.99919034 -0.29255469] [ 0. 0. 0. 1. ]] SLAMing on 16.227719421 meters Centerline goodness : 0.934004 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.12, Z:-0.30 [[ 0.99961933 -0.02226873 -0.01628779 3.09928591] [ 0.02282849 0.99912553 0.03502916 -0.12444921] [ 0.01549349 -0.03538765 0.99925355 -0.29535424] [ 0. 0. 0. 1. ]] SLAMing on 16.257719421 meters Centerline goodness : 0.934795 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.12, Z:-0.30 [[ 0.999606 -0.02266426 -0.01655826 3.09964793] [ 0.0232201 0.99914574 0.03418509 -0.12225888] [ 0.01576934 -0.03455611 0.99927834 -0.29500911] [ 0. 0. 0. 1. ]] SLAMing on 16.287719421 meters Centerline goodness : 0.941271 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.12, Z:-0.29 [[ 0.99964202 -0.02125578 -0.01624879 3.09624485] [ 0.02181674 0.99914343 0.03516289 -0.11608099] [ 0.01548746 -0.0355048 0.99924949 -0.29140372] [ 0. 0. 0. 1. ]] SLAMing on 16.317719421 meters Centerline goodness : 0.941607 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.11, Z:-0.29 [[ 0.99961947 -0.02208476 -0.01652806 3.09545294] [ 0.02263066 0.99917896 0.03360431 -0.11207299] [ 0.01577235 -0.03396557 0.99929854 -0.28942329] [ 0. 0. 0. 1. ]] SLAMing on 16.347719421 meters Centerline goodness : 0.942116 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.11, Z:-0.29 [[ 0.99960447 -0.02238069 -0.01702968 3.09642441] [ 0.02293041 0.99919886 0.03279994 -0.10989147] [ 0.01628195 -0.03317747 0.99931684 -0.28900726] [ 0. 0. 0. 1. ]] SLAMing on 16.377719421 meters Centerline goodness : 0.942116 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.11, Z:-0.29 [[ 0.99960447 -0.02238069 -0.01702968 3.09642441] [ 0.02293041 0.99919886 0.03279994 -0.10989147] [ 0.01628195 -0.03317747 0.99931684 -0.28900726] [ 0. 0. 0. 1. ]] SLAMing on 16.407719421 meters Centerline goodness : 0.941187 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.11, Z:-0.29 [[ 0.99952656 -0.02515568 -0.01771589 3.09989122] [ 0.02566844 0.99923996 0.02933653 -0.10929135] [ 0.01696445 -0.02977738 0.99941258 -0.2911222 ] [ 0. 0. 0. 1. ]] SLAMing on 16.437719421 meters Centerline goodness : 0.940183 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.11, Z:-0.29 [[ 0.99943541 -0.02825745 -0.01817656 3.10318897] [ 0.02871177 0.99926904 0.02523931 -0.10821593] [ 0.01745008 -0.02574694 0.99951618 -0.29323884] [ 0. 0. 0. 1. ]] SLAMing on 16.467719420999998 meters Centerline goodness : 0.944422 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.11, Z:-0.29 [[ 0.99931944 -0.03194921 -0.01843632 3.10386401] [ 0.03232627 0.9992665 0.02052986 -0.10567327] [ 0.01776688 -0.02111187 0.99961924 -0.29273119] [ 0. 0. 0. 1. ]] SLAMing on 16.497719421 meters Centerline goodness : 0.944572 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.10, Z:-0.29 [[ 0.99919753 -0.03521035 -0.01909241 3.10607156] [ 0.03553026 0.99922932 0.0166842 -0.10435125] [ 0.01849024 -0.01734917 0.99967851 -0.29324931] [ 0. 0. 0. 1. ]] SLAMing on 16.527719421 meters Centerline goodness : 0.939217 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.11, Z:-0.29 [[ 0.99905289 -0.03851847 -0.0202399 3.10981766] [ 0.03880185 0.99915163 0.0138 -0.10589084] [ 0.01969117 -0.01457227 0.99969991 -0.29469249] [ 0. 0. 0. 1. ]] SLAMing on 16.557719421 meters Centerline goodness : 0.938786 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.11, Z:-0.30 [[ 0.99904147 -0.03853159 -0.02077158 3.11177504] [ 0.03883526 0.99914158 0.01441989 -0.10702151] [ 0.02019813 -0.01521274 0.99968025 -0.29583053] [ 0. 0. 0. 1. ]] SLAMing on 16.587719421 meters Centerline goodness : 0.934545 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.11, Z:-0.30 [[ 0.99889611 -0.04169391 -0.02163755 3.11514112] [ 0.04194904 0.99905386 0.01147408 -0.10655166] [ 0.02113867 -0.01236909 0.99970004 -0.29744356] [ 0. 0. 0. 1. ]] SLAMing on 16.617719421 meters Centerline goodness : 0.935363 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.11, Z:-0.30 [[ 0.99873726 -0.0477244 -0.01569284 3.12707782] [ 0.04795555 0.99874132 0.01469846 -0.10915794] [ 0.01497162 -0.01543246 0.99976882 -0.30059555] [ 0. 0. 0. 1. ]] SLAMing on 16.647719421 meters Centerline goodness : 0.939911 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.11, Z:-0.30 [[ 0.99855363 -0.05133304 -0.01598673 3.12784462] [ 0.05150977 0.99861359 0.01084647 -0.10884872] [ 0.01540779 -0.01165426 0.99981337 -0.30004701] [ 0. 0. 0. 1. ]] SLAMing on 16.677719421 meters Centerline goodness : 0.942211 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.11, Z:-0.30 [[ 0.9984955 -0.05232188 -0.01640587 3.12808473] [ 0.05250215 0.99856288 0.0107564 -0.10984885] [ 0.0158195 -0.01160156 0.99980756 -0.2992737 ] [ 0. 0. 0. 1. ]] SLAMing on 16.707719421 meters Centerline goodness : 0.939950 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.11, Z:-0.30 [[ 0.99851601 -0.051785 -0.01685499 3.13049866] [ 0.05198419 0.99858051 0.01160183 -0.11045056] [ 0.01623027 -0.0124608 0.99979063 -0.30118449] [ 0. 0. 0. 1. ]] SLAMing on 16.737719421 meters Centerline goodness : 0.935155 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.11, Z:-0.31 [[ 0.9986046 -0.04981352 -0.01753499 3.13532671] [ 0.05004736 0.99866015 0.01315952 -0.10987374] [ 0.01685597 -0.01401873 0.99975965 -0.30533469] [ 0. 0. 0. 1. ]] SLAMing on 16.767719421 meters Centerline goodness : 0.936785 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.11, Z:-0.31 [[ 0.99867973 -0.04800309 -0.01828928 3.13781563] [ 0.04825889 0.99873937 0.01381141 -0.10845384] [ 0.01760324 -0.01467579 0.99973734 -0.30614188] [ 0. 0. 0. 1. ]] SLAMing on 16.797719421 meters Centerline goodness : 0.937432 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.11, Z:-0.31 [[ 0.99933099 -0.03275975 -0.01625947 3.1370642 ] [ 0.03292561 0.99940737 0.01004029 -0.10565328] [ 0.01592092 -0.01056892 0.99981739 -0.30657821] [ 0. 0. 0. 1. ]] SLAMing on 16.827719421 meters Centerline goodness : 0.938011 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.10, Z:-0.31 [[ 0.9994942 -0.02713882 -0.01657807 3.13826148] [ 0.02737311 0.99952622 0.01407272 -0.10305476] [ 0.0161883 -0.01451939 0.99976354 -0.30690174] [ 0. 0. 0. 1. ]] SLAMing on 16.857719421 meters Centerline goodness : 0.947929 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.09, Z:-0.30 [[ 0.99984054 -0.010084 -0.01473788 3.14739685] [ 0.01031686 0.99982179 0.01581002 -0.09389724] [ 0.01457583 -0.01595954 0.99976639 -0.30026267] [ 0. 0. 0. 1. ]] SLAMing on 16.887719421 meters Centerline goodness : 0.947619 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.09, Z:-0.30 [[ 0.99986776 -0.00559366 -0.01526971 3.14823317] [ 0.00588401 0.99980147 0.0190366 -0.09104662] [ 0.0151602 -0.01912393 0.99970218 -0.29958362] [ 0. 0. 0. 1. ]] SLAMing on 16.917719421 meters Centerline goodness : 0.947496 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.09, Z:-0.30 [[ 9.99932676e-01 6.91180155e-04 -1.15830163e-02 3.15182215e+00] [-5.93958422e-04 9.99964587e-01 8.39481200e-03 -8.95426420e-02] [ 1.15884084e-02 -8.38736700e-03 9.99897675e-01 -3.01827355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.947719421 meters Centerline goodness : 0.946353 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.09, Z:-0.30 [[ 9.99926327e-01 -1.89583386e-03 -1.19894462e-02 3.15447602e+00] [ 1.95552907e-03 9.99985741e-01 4.96921763e-03 -8.79925826e-02] [ 1.19798544e-02 -4.99229724e-03 9.99915776e-01 -3.03592191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.977719421 meters Centerline goodness : 0.943996 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.08, Z:-0.30 [[ 9.99917385e-01 -2.72514912e-03 -1.25616951e-02 3.15684829e+00] [ 2.77133362e-03 9.99989460e-01 3.66067394e-03 -8.23136918e-02] [ 1.25515868e-02 -3.69518416e-03 9.99914398e-01 -3.04734043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.007719421 meters Centerline goodness : 0.945331 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.08, Z:-0.30 [[ 9.99912778e-01 -2.86069311e-03 -1.28939088e-02 3.15763843e+00] [ 2.89689686e-03 9.99991912e-01 2.79001634e-03 -7.83933312e-02] [ 1.28858231e-02 -2.82712532e-03 9.99912978e-01 -3.04604974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.037719421 meters Centerline goodness : 0.943965 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.07, Z:-0.31 [[ 9.99903259e-01 5.13795117e-04 -1.38999426e-02 3.16191853e+00] [-4.47327195e-04 9.99988454e-01 4.78457111e-03 -7.44569834e-02] [ 1.39022404e-02 -4.77789043e-03 9.99891944e-01 -3.06763608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.067719421 meters Centerline goodness : 0.943807 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.07, Z:-0.31 [[ 9.99893567e-01 1.13536045e-03 -1.45453051e-02 3.16424352e+00] [-1.06691540e-03 9.99988327e-01 4.71254174e-03 -7.36055300e-02] [ 1.45504858e-02 -4.69652156e-03 9.99883106e-01 -3.07827215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.097719421 meters Centerline goodness : 0.949014 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.07, Z:-0.31 [[ 9.99889686e-01 1.85384560e-03 -1.47369638e-02 3.16467468e+00] [-1.79774337e-03 9.99991091e-01 3.81924138e-03 -7.16748126e-02] [ 1.47439128e-02 -3.79232678e-03 9.99884111e-01 -3.06753131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.127719421 meters Centerline goodness : 0.951025 Centerline is valid? [False, True] Translation: X:3.16, Y:-0.07, Z:-0.31 [[ 9.99885897e-01 1.99638464e-03 -1.49735596e-02 3.16471462e+00] [-1.94575755e-03 9.99992344e-01 3.39490636e-03 -7.05387749e-02] [ 1.49802225e-02 -3.36538407e-03 9.99882127e-01 -3.05787016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.157719421 meters Centerline goodness : 0.950124 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.07, Z:-0.31 [[ 9.99884934e-01 2.88681883e-03 -1.48924422e-02 3.19284129e+00] [-2.89198163e-03 9.99995765e-01 -3.25148786e-04 -6.92756017e-02] [ 1.48914405e-02 3.68180042e-04 9.99889049e-01 -3.05973945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.187719421 meters Centerline goodness : 0.941091 Centerline is valid? [True, False] Translation: X:3.20, Y:-0.07, Z:-0.31 [[ 9.99862945e-01 2.13969836e-03 -1.64168591e-02 3.19999185e+00] [-2.14960877e-03 9.99997518e-01 -5.86050084e-04 -7.16301391e-02] [ 1.64155644e-02 6.21259587e-04 9.99865063e-01 -3.11411757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.217719420999998 meters Centerline goodness : 0.939478 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.07, Z:-0.31 [[ 9.99847731e-01 2.85701948e-03 -1.72149134e-02 3.20296735e+00] [-2.85005993e-03 9.99995847e-01 4.28794203e-04 -7.27666657e-02] [ 1.72160670e-02 -3.79665375e-04 9.99851720e-01 -3.13090215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.247719421 meters Centerline goodness : 0.941340 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.07, Z:-0.31 [[ 9.99839954e-01 2.67905341e-03 -1.76886658e-02 3.20327025e+00] [-2.66755623e-03 9.99996215e-01 6.73537067e-04 -7.40589438e-02] [ 1.76904033e-02 -6.26243760e-04 9.99843316e-01 -3.11839246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.277719421 meters Centerline goodness : 0.946022 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.08, Z:-0.31 [[ 9.99841417e-01 2.14609306e-03 -1.76786391e-02 3.20236293e+00] [-2.14095737e-03 9.99997660e-01 3.09423940e-04 -7.51143413e-02] [ 1.76792618e-02 -2.71525659e-04 9.99843673e-01 -3.10552805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.307719421 meters Centerline goodness : 0.950429 Centerline is valid? [False, True] Translation: X:3.21, Y:-0.08, Z:-0.31 [[ 9.99936688e-01 -2.64842727e-03 -1.09364344e-02 3.21279684e+00] [ 2.68872407e-03 9.99989645e-01 3.67158001e-03 -7.79582777e-02] [ 1.09265972e-02 -3.70075260e-03 9.99933455e-01 -3.12311387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.337719421 meters Centerline goodness : 0.948921 Centerline is valid? [True, False] Translation: X:3.21, Y:-0.08, Z:-0.31 [[ 0.99993153 -0.00334158 -0.01121492 3.21328173] [ 0.0033843 0.99998709 0.00379159 -0.07998129] [ 0.0112021 -0.00382929 0.99992992 -0.31244223] [ 0. 0. 0. 1. ]] SLAMing on 17.367719421 meters Centerline goodness : 0.948783 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.08, Z:-0.31 [[ 9.99907590e-01 -6.81771379e-03 -1.17613819e-02 3.21524539e+00] [ 6.82451006e-03 9.99976568e-01 5.37808671e-04 -8.08695121e-02] [ 1.17574397e-02 -6.18024642e-04 9.99930688e-01 -3.13335934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.397719421 meters Centerline goodness : 0.946958 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.08, Z:-0.32 [[ 9.99851267e-01 -1.13779173e-02 -1.29609834e-02 3.21924943e+00] [ 1.13525472e-02 9.99933499e-01 -2.02932140e-03 -8.30076262e-02] [ 1.29832109e-02 1.88187940e-03 9.99913944e-01 -3.16565705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.427719421 meters Centerline goodness : 0.940890 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.08, Z:-0.32 [[ 0.999798 -0.01454405 -0.01387192 3.22361927] [ 0.01448312 0.99988507 -0.00448208 -0.08406187] [ 0.01393552 0.00428027 0.99989373 -0.31984204] [ 0. 0. 0. 1. ]] SLAMing on 17.457719421 meters Centerline goodness : 0.937809 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.09, Z:-0.32 [[ 9.99804790e-01 -1.32856935e-02 -1.46243823e-02 3.22698343e+00] [ 1.32480433e-02 9.99908680e-01 -2.66836179e-03 -8.74135179e-02] [ 1.46584978e-02 2.47409645e-03 9.99889498e-01 -3.22305014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.487719421 meters Centerline goodness : 0.935916 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.09, Z:-0.33 [[ 9.99824369e-01 -9.68263940e-03 -1.60460961e-02 3.23292671e+00] [ 9.69137343e-03 9.99952929e-01 4.66636928e-04 -9.37962758e-02] [ 1.60408225e-02 -6.22063682e-04 9.99871144e-01 -3.25404599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.517719421 meters Centerline goodness : 0.937935 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.09, Z:-0.33 [[ 9.99830272e-01 -7.44247073e-03 -1.68534168e-02 3.23545124e+00] [ 7.46891708e-03 9.99970972e-01 1.50679832e-03 -9.31339473e-02] [ 1.68417133e-02 -1.63241935e-03 9.99856836e-01 -3.25758831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.547719421 meters Centerline goodness : 0.947922 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.09, Z:-0.32 [[ 0.99989181 0.00345606 -0.01429751 3.23501277] [-0.00339942 0.99998629 0.00398359 -0.08974029] [ 0.01431108 -0.00393456 0.99988985 -0.31769301] [ 0. 0. 0. 1. ]] SLAMing on 17.577719421 meters Centerline goodness : 0.947821 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.09, Z:-0.32 [[ 0.99986308 0.00791499 -0.01453153 3.23481543] [-0.00779907 0.99993746 0.00801618 -0.08967466] [ 0.01459407 -0.00790175 0.99986228 -0.31648758] [ 0. 0. 0. 1. ]] SLAMing on 17.607719421 meters Centerline goodness : 0.948123 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.09, Z:-0.32 [[ 0.99980206 0.01307247 -0.01499854 3.23915475] [-0.01289199 0.99984407 0.01206799 -0.09156357] [ 0.01515396 -0.01187224 0.99981469 -0.31952597] [ 0. 0. 0. 1. ]] SLAMing on 17.637719421 meters Centerline goodness : 0.948261 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.09, Z:-0.32 [[ 0.99977357 0.01445181 -0.01561888 3.24246252] [-0.0142426 0.99980845 0.01342435 -0.09345765] [ 0.0158099 -0.01319886 0.9997879 -0.32204587] [ 0. 0. 0. 1. ]] SLAMing on 17.667719421 meters Centerline goodness : 0.938883 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.10, Z:-0.33 [[ 0.99976 0.01366973 -0.01711957 3.2522831 ] [-0.0134739 0.99984306 0.01150219 -0.09644247] [ 0.01727412 -0.01126876 0.99978729 -0.32932075] [ 0. 0. 0. 1. ]] SLAMing on 17.697719421 meters Centerline goodness : 0.935231 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.10, Z:-0.33 [[ 0.99977504 0.01127736 -0.01796349 3.25636744] [-0.01111268 0.99989555 0.00924109 -0.09834807] [ 0.01806583 -0.00903939 0.99979594 -0.33229919] [ 0. 0. 0. 1. ]] SLAMing on 17.727719421 meters Centerline goodness : 0.933404 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.10, Z:-0.34 [[ 0.99988506 0.00479564 -0.01438306 3.26898896] [-0.00459661 0.99989367 0.01383896 -0.10299472] [ 0.0144479 -0.01377125 0.99980079 -0.33548635] [ 0. 0. 0. 1. ]] SLAMing on 17.757719421 meters Centerline goodness : 0.932663 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.10, Z:-0.33 [[ 9.99886638e-01 6.30361359e-04 -1.50437220e-02 3.26888456e+00] [-4.79822621e-04 9.99949801e-01 1.00082604e-02 -1.04746124e-01] [ 1.50492757e-02 -9.99990756e-03 9.99836747e-01 -3.33481679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.787719421 meters Centerline goodness : 0.939071 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.11, Z:-0.33 [[ 0.99990624 -0.00988582 -0.00947519 3.27848096] [ 0.00997972 0.99990105 0.00991452 -0.1140658 ] [ 0.00937624 -0.01000815 0.99990596 -0.33276929] [ 0. 0. 0. 1. ]] SLAMing on 17.817719421 meters Centerline goodness : 0.941321 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.12, Z:-0.33 [[ 0.99985388 -0.01404927 -0.00973865 3.27835486] [ 0.01411788 0.99987575 0.00701261 -0.11869112] [ 0.00963891 -0.00714908 0.99992799 -0.33178253] [ 0. 0. 0. 1. ]] SLAMing on 17.847719421 meters Centerline goodness : 0.946471 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.12, Z:-0.33 [[ 0.99976179 -0.01956306 -0.00967752 3.27671155] [ 0.01959706 0.99980207 0.00343105 -0.12311073] [ 0.00960848 -0.00361988 0.99994729 -0.32944522] [ 0. 0. 0. 1. ]] SLAMing on 17.877719421 meters Centerline goodness : 0.947068 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.13, Z:-0.33 [[ 0.99975274 -0.01980369 -0.01011281 3.27786756] [ 0.01984615 0.99979457 0.00411594 -0.125244 ] [ 0.01002922 -0.00431562 0.99994039 -0.33007483] [ 0. 0. 0. 1. ]] SLAMing on 17.907719421 meters Centerline goodness : 0.946996 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.13, Z:-0.33 [[ 9.99685770e-01 -2.26495964e-02 -1.07404312e-02 3.28182956e+00] [ 2.26723466e-02 9.99740946e-01 2.00115831e-03 -1.28423131e-01] [ 1.06923234e-02 -2.24404026e-03 9.99940317e-01 -3.33515665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.937719421 meters Centerline goodness : 0.945883 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.13, Z:-0.34 [[ 9.99696617e-01 -2.20284853e-02 -1.10190929e-02 3.28365381e+00] [ 2.20602060e-02 9.99752819e-01 2.76547585e-03 -1.29219544e-01] [ 1.09554499e-02 -3.00772031e-03 9.99935464e-01 -3.35118349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.967719420999998 meters Centerline goodness : 0.947049 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.13, Z:-0.34 [[ 0.99974141 -0.01935192 -0.01194247 3.28774553] [ 0.01941578 0.99979769 0.00525456 -0.12773911] [ 0.01183837 -0.00548507 0.99991488 -0.33790586] [ 0. 0. 0. 1. ]] SLAMing on 17.997719421 meters Centerline goodness : 0.944715 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.13, Z:-0.34 [[ 0.99975122 -0.01836658 -0.01265532 3.29014281] [ 0.01844557 0.99981093 0.00615389 -0.12794334] [ 0.0125399 -0.0063858 0.99990098 -0.33909693] [ 0. 0. 0. 1. ]] SLAMing on 18.027719421 meters Centerline goodness : 0.943443 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.13, Z:-0.34 [[ 0.99976378 -0.01690094 -0.01366526 3.29374412] [ 0.01700731 0.99982567 0.00770591 -0.13107831] [ 0.01353264 -0.0079365 0.99987693 -0.34095611] [ 0. 0. 0. 1. ]] SLAMing on 18.057719420999998 meters Centerline goodness : 0.947933 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.13, Z:-0.34 [[ 0.99980536 -0.01405208 -0.01384884 3.29299569] [ 0.01420051 0.99984215 0.01067819 -0.13335187] [ 0.0136966 -0.01087277 0.99984708 -0.33945967] [ 0. 0. 0. 1. ]] SLAMing on 18.087719421 meters Centerline goodness : 0.950181 Centerline is valid? [False, True] Translation: X:3.29, Y:-0.13, Z:-0.34 [[ 0.9998044 -0.01351903 -0.01443631 3.29374142] [ 0.01367489 0.99984868 0.0107526 -0.13214257] [ 0.01428876 -0.01094791 0.99983797 -0.33872103] [ 0. 0. 0. 1. ]] SLAMing on 18.117719421 meters Centerline goodness : 0.949973 Centerline is valid? [True, False] Translation: X:3.29, Y:-0.13, Z:-0.34 [[ 0.9998038 -0.01311163 -0.01484748 3.2945064 ] [ 0.0132707 0.99985505 0.01066627 -0.13029579] [ 0.01470548 -0.01086122 0.99983288 -0.33843299] [ 0. 0. 0. 1. ]] SLAMing on 18.147719421 meters Centerline goodness : 0.947101 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.13, Z:-0.34 [[ 0.99983077 -0.00965593 -0.01565876 3.29821344] [ 0.00987194 0.99985636 0.013777 -0.12906807] [ 0.01552348 -0.01392925 0.99978248 -0.34075213] [ 0. 0. 0. 1. ]] SLAMing on 18.177719421 meters Centerline goodness : 0.944608 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.13, Z:-0.34 [[ 9.99941864e-01 -3.08646237e-03 -1.03316331e-02 3.29919834e+00] [ 3.14268945e-03 9.99980317e-01 5.43042282e-03 -1.29199567e-01] [ 1.03146689e-02 -5.46257623e-03 9.99931882e-01 -3.42445997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.207719421 meters Centerline goodness : 0.946063 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.13, Z:-0.34 [[ 9.99940359e-01 -2.48903223e-03 -1.06340609e-02 3.30042306e+00] [ 2.55251611e-03 9.99978979e-01 5.96046753e-03 -1.31235488e-01] [ 1.06190016e-02 -5.98725566e-03 9.99925692e-01 -3.43119001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.237719421 meters Centerline goodness : 0.951138 Centerline is valid? [False, True] Translation: X:3.30, Y:-0.13, Z:-0.34 [[ 9.99940186e-01 -2.21526538e-03 -1.07105989e-02 3.30031604e+00] [ 2.28103313e-03 9.99978597e-01 6.13212451e-03 -1.32932724e-01] [ 1.06967854e-02 -6.15618895e-03 9.99923837e-01 -3.42475007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.267719421 meters Centerline goodness : 0.950493 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.13, Z:-0.34 [[ 9.99942136e-01 -1.92883065e-03 -1.05832455e-02 3.32830615e+00] [ 1.92668661e-03 9.99998121e-01 -2.12780061e-04 -1.28987481e-01] [ 1.05836360e-02 1.92377151e-04 9.99943973e-01 -3.39473400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.297719421 meters Centerline goodness : 0.950493 Centerline is valid? [True, True] Translation: X:3.36, Y:-0.13, Z:-0.34 [[ 9.99941436e-01 -2.26287154e-03 -1.05832107e-02 3.35668359e+00] [ 2.26072805e-03 9.99997422e-01 -2.14496129e-04 -1.28158497e-01] [ 1.05836688e-02 1.90557806e-04 9.99943973e-01 -3.39172430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.327719421 meters Centerline goodness : 0.949217 Centerline is valid? [True, False] Translation: X:3.36, Y:-0.13, Z:-0.34 [[ 9.99938071e-01 -1.88235106e-03 -1.09685929e-02 3.35775623e+00] [ 1.88519193e-03 9.99998192e-01 2.48667657e-04 -1.28176865e-01] [ 1.09681050e-02 -2.69330160e-04 9.99939812e-01 -3.39531147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.357719421 meters Centerline goodness : 0.945128 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.13, Z:-0.34 [[ 9.99927612e-01 -1.85950821e-03 -1.18875284e-02 3.36351516e+00] [ 1.87210870e-03 9.99997697e-01 1.04893554e-03 -1.31075077e-01] [ 1.18855505e-02 -1.07111435e-03 9.99928791e-01 -3.44403600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.387719421 meters Centerline goodness : 0.941720 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.14, Z:-0.35 [[ 9.99924453e-01 -1.14326863e-03 -1.22385181e-02 3.36686284e+00] [ 1.17583689e-03 9.99995786e-01 2.65426326e-03 -1.37005076e-01] [ 1.22354320e-02 -2.66845324e-03 9.99921584e-01 -3.47551701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.417719421 meters Centerline goodness : 0.940755 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.14, Z:-0.35 [[ 9.99920142e-01 -8.98505300e-04 -1.26056424e-02 3.36777175e+00] [ 9.40374060e-04 9.99994060e-01 3.31589615e-03 -1.39061855e-01] [ 1.26025882e-02 -3.32748537e-03 9.99915048e-01 -3.47753191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.447719421 meters Centerline goodness : 0.946489 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.14, Z:-0.34 [[ 9.99910253e-01 -3.44016407e-03 -1.29480297e-02 3.36630415e+00] [ 3.46155236e-03 9.99992681e-01 1.62980825e-03 -1.42844840e-01] [ 1.29423282e-02 -1.67448226e-03 9.99914842e-01 -3.44881298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.477719421 meters Centerline goodness : 0.951242 Centerline is valid? [False, True] Translation: X:3.37, Y:-0.15, Z:-0.35 [[ 0.99994831 -0.00836072 -0.00578578 3.37352866] [ 0.00840046 0.99994106 0.0068783 -0.14605094] [ 0.00572793 -0.00692655 0.99995961 -0.34579617] [ 0. 0. 0. 1. ]] SLAMing on 18.507719421 meters Centerline goodness : 0.953443 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.15, Z:-0.34 [[ 9.99891417e-01 -1.36142868e-02 -5.63969692e-03 3.40433667e+00] [ 1.36138385e-02 9.99907320e-01 -1.17869775e-04 -1.46915858e-01] [ 5.64077895e-03 4.10790535e-05 9.99984090e-01 -3.41008538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.537719421 meters Centerline goodness : 0.953538 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.16, Z:-0.34 [[ 9.99632122e-01 -2.65294863e-02 -5.63969692e-03 3.43614197e+00] [ 2.65292435e-02 9.99648031e-01 -1.17869775e-04 -1.55744780e-01] [ 5.64083894e-03 -3.17904791e-05 9.99984090e-01 -3.40464497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.567719421 meters Centerline goodness : 0.952554 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.16, Z:-0.34 [[ 9.99464476e-01 -3.22328240e-02 -5.63970150e-03 3.46823326e+00] [ 3.22326732e-02 9.99480385e-01 -1.17650087e-04 -1.59544895e-01] [ 5.64056322e-03 -6.41955730e-05 9.99984090e-01 -3.40013705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.597719421 meters Centerline goodness : 0.950065 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.16, Z:-0.35 [[ 9.99160845e-01 -4.05684457e-02 -5.63971117e-03 3.49926275e+00] [ 4.05684302e-02 9.99176756e-01 -1.17184777e-04 -1.64363126e-01] [ 5.63982231e-03 -1.11707788e-04 9.99984090e-01 -3.47198443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.627719421 meters Centerline goodness : 0.942579 Centerline is valid? [True, False] Translation: X:3.51, Y:-0.17, Z:-0.35 [[ 9.99170655e-01 -4.01001055e-02 -7.06987018e-03 3.50597465e+00] [ 4.01112967e-02 9.99194169e-01 1.44825560e-03 -1.66532955e-01] [ 7.00609786e-03 -1.73063615e-03 9.99973959e-01 -3.52458203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.657719421 meters Centerline goodness : 0.940896 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.17, Z:-0.35 [[ 0.99933232 -0.03573531 -0.00760953 3.5075633 ] [ 0.03578581 0.99933765 0.00660621 -0.16918165] [ 0.00736842 -0.00687411 0.99994923 -0.35352974] [ 0. 0. 0. 1. ]] SLAMing on 18.687719421 meters Centerline goodness : 0.944504 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.17, Z:-0.35 [[ 0.99940734 -0.033431 -0.00820606 3.50827174] [ 0.03350031 0.99940291 0.00845926 -0.17188853] [ 0.00791836 -0.00872915 0.99993055 -0.35228768] [ 0. 0. 0. 1. ]] SLAMing on 18.717719420999998 meters Centerline goodness : 0.949384 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.17, Z:-0.35 [[ 0.99954341 -0.0290067 -0.0084605 3.50842278] [ 0.02911673 0.99948905 0.01318566 -0.17443485] [ 0.0080737 -0.01342598 0.99987727 -0.35190859] [ 0. 0. 0. 1. ]] SLAMing on 18.747719421 meters Centerline goodness : 0.947705 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.18, Z:-0.35 [[ 0.99971372 -0.02205203 -0.00928342 3.51152654] [ 0.02222694 0.99956895 0.01918014 -0.17506512] [ 0.00885646 -0.01938099 0.99977294 -0.35338874] [ 0. 0. 0. 1. ]] SLAMing on 18.777719421 meters Centerline goodness : 0.950252 Centerline is valid? [False, True] Translation: X:3.51, Y:-0.17, Z:-0.35 [[ 0.99981516 -0.01668261 -0.0095575 3.51199864] [ 0.01690539 0.99957563 0.02372291 -0.17465865] [ 0.00915769 -0.0238801 0.99967289 -0.35286506] [ 0. 0. 0. 1. ]] SLAMing on 18.807719420999998 meters Centerline goodness : 0.953755 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.17, Z:-0.35 [[ 9.99882175e-01 -1.25185692e-02 -8.88373758e-03 3.54185574e+00] [ 1.25168365e-02 9.99921630e-01 -2.50621018e-04 -1.65206275e-01] [ 8.88617877e-03 1.39395198e-04 9.99960507e-01 -3.45017389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.837719421 meters Centerline goodness : 0.952467 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.16, Z:-0.34 [[ 9.99921699e-01 -8.81331956e-03 -8.88373758e-03 3.57154381e+00] [ 8.81144063e-03 9.99961147e-01 -2.50621018e-04 -1.64908870e-01] [ 8.88560122e-03 1.72322868e-04 9.99960507e-01 -3.43983141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.867719421 meters Centerline goodness : 0.951906 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.17, Z:-0.35 [[ 9.99958020e-01 -2.24456746e-03 -8.88372714e-03 3.60089375e+00] [ 2.24242615e-03 9.99997454e-01 -2.50990529e-04 -1.67666829e-01] [ 8.88426789e-03 2.31058890e-04 9.99960507e-01 -3.47373854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.897719421 meters Centerline goodness : 0.950013 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.17, Z:-0.35 [[ 9.99960538e-01 3.92859447e-05 -8.88371676e-03 3.62971623e+00] [-4.15205686e-05 9.99999968e-01 -2.51357263e-04 -1.67281963e-01] [ 8.88370660e-03 2.51716201e-04 9.99960507e-01 -3.49067658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.927719421 meters Centerline goodness : 0.949470 Centerline is valid? [True, False] Translation: X:3.63, Y:-0.17, Z:-0.35 [[ 9.99958874e-01 9.92896066e-04 -9.01472961e-03 3.63029591e+00] [-9.92967594e-04 9.99999507e-01 -3.45882915e-06 -1.65316793e-01] [ 9.01472173e-03 1.24100213e-05 9.99959366e-01 -3.48813180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.957719421 meters Centerline goodness : 0.949127 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.17, Z:-0.35 [[ 9.99954225e-01 1.20157545e-03 -9.49233101e-03 3.63130754e+00] [-1.19738513e-03 9.99999183e-01 4.47113242e-04 -1.66341172e-01] [ 9.49286049e-03 -4.35726799e-04 9.99954847e-01 -3.48771332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.987719421 meters Centerline goodness : 0.944154 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.17, Z:-0.35 [[ 9.99948003e-01 -2.49114092e-03 -9.88868985e-03 3.63247995e+00] [ 2.47454534e-03 9.99995510e-01 -1.69011887e-03 -1.73084325e-01] [ 9.89285578e-03 1.66556098e-03 9.99949677e-01 -3.49292045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.017719421 meters Centerline goodness : 0.941678 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.18, Z:-0.36 [[ 0.99991321 -0.01061143 -0.00780829 3.64505308] [ 0.01065392 0.99992855 0.00542107 -0.18164572] [ 0.0077502 -0.00550379 0.99995482 -0.35526038] [ 0. 0. 0. 1. ]] SLAMing on 19.047719421 meters Centerline goodness : 0.942873 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.18, Z:-0.36 [[ 9.99869157e-01 -1.39250335e-02 -8.23183042e-03 3.64722856e+00] [ 1.39486851e-02 9.99898728e-01 2.82278748e-03 -1.83865544e-01] [ 8.19168936e-03 -2.93724135e-03 9.99962134e-01 -3.56707301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.077719421 meters Centerline goodness : 0.940492 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.19, Z:-0.36 [[ 9.99807581e-01 -1.76581614e-02 -8.54341487e-03 3.64865376e+00] [ 1.76648194e-02 9.99843717e-01 7.04467582e-04 -1.89150824e-01] [ 8.52964007e-03 -8.55249910e-04 9.99963256e-01 -3.57476907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.107719421 meters Centerline goodness : 0.944218 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.19, Z:-0.36 [[ 9.99808668e-01 -1.74996106e-02 -8.74021728e-03 3.64900440e+00] [ 1.75133418e-02 9.99845509e-01 1.49696862e-03 -1.91315632e-01] [ 8.71267063e-03 -1.64975261e-03 9.99960683e-01 -3.57249687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.137719421 meters Centerline goodness : 0.946812 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.19, Z:-0.36 [[ 9.99803231e-01 -1.77020641e-02 -8.95192154e-03 3.64835534e+00] [ 1.77196522e-02 9.99841210e-01 1.88923986e-03 -1.93323187e-01] [ 8.91705662e-03 -2.04749305e-03 9.99958146e-01 -3.55549925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.167719421 meters Centerline goodness : 0.948174 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.20, Z:-0.36 [[ 9.99806921e-01 -1.73902049e-02 -9.14885747e-03 3.64906929e+00] [ 1.74156367e-02 9.99844670e-01 2.70748468e-03 -1.95843198e-01] [ 9.10035267e-03 -2.86629510e-03 9.99954483e-01 -3.55843244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.197719421 meters Centerline goodness : 0.949869 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.20, Z:-0.36 [[ 9.99743811e-01 -2.07096166e-02 -9.13362774e-03 3.65064483e+00] [ 2.07096172e-02 9.99785528e-01 -9.45176186e-05 -1.98601250e-01] [ 9.13362626e-03 -9.46605304e-05 9.99958283e-01 -3.57355287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.227719421 meters Centerline goodness : 0.948942 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.20, Z:-0.36 [[ 9.99738440e-01 -2.08761445e-02 -9.34012535e-03 3.65139518e+00] [ 2.08811490e-02 9.99781869e-01 4.38602707e-04 -2.00568947e-01] [ 9.32893164e-03 -6.33520535e-04 9.99956284e-01 -3.57738934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.257719421 meters Centerline goodness : 0.945178 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.20, Z:-0.36 [[ 9.99731937e-01 -2.09198996e-02 -9.92030234e-03 3.65356673e+00] [ 2.09376382e-02 9.99779359e-01 1.68762224e-03 -2.04630559e-01] [ 9.88280863e-03 -1.89487755e-03 9.99949368e-01 -3.59032255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.287719421 meters Centerline goodness : 0.946016 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.21, Z:-0.36 [[ 9.99736849e-01 -2.05494637e-02 -1.01957397e-02 3.65510056e+00] [ 2.05758247e-02 9.99785201e-01 2.48735830e-03 -2.06079687e-01] [ 1.01424358e-02 -2.69648951e-03 9.99944928e-01 -3.60136636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.317719421 meters Centerline goodness : 0.950189 Centerline is valid? [False, True] Translation: X:3.65, Y:-0.20, Z:-0.36 [[ 0.99979581 -0.01744663 -0.01019567 3.65458196] [ 0.01750675 0.9998297 0.00583766 -0.20377668] [ 0.01009209 -0.00601496 0.99993098 -0.35929726] [ 0. 0. 0. 1. ]] SLAMing on 19.347719421 meters Centerline goodness : 0.950283 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.20, Z:-0.35 [[ 9.99835106e-01 -1.50598641e-02 -1.01469948e-02 3.68528882e+00] [ 1.50597899e-02 9.99886591e-01 -8.37213859e-05 -1.99085774e-01] [ 1.01471048e-02 -6.91040290e-05 9.99948514e-01 -3.54815004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.377719421 meters Centerline goodness : 0.946779 Centerline is valid? [True, False] Translation: X:3.69, Y:-0.20, Z:-0.36 [[ 9.99895087e-01 -1.03757696e-02 -1.01073692e-02 3.68855081e+00] [ 1.04133261e-02 9.99939044e-01 3.67023447e-03 -2.00135096e-01] [ 1.00686716e-02 -3.77510075e-03 9.99942184e-01 -3.58062347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.407719421 meters Centerline goodness : 0.947270 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.20, Z:-0.36 [[ 0.99994111 -0.00407854 -0.01005646 3.6919083 ] [ 0.00416821 0.9999516 0.00891188 -0.20048796] [ 0.01001962 -0.00895327 0.99990972 -0.36160986] [ 0. 0. 0. 1. ]] SLAMing on 19.437719421 meters Centerline goodness : 0.948323 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.20, Z:-0.36 [[ 9.99947809e-01 -3.06255592e-05 -1.02165626e-02 3.69208987e+00] [ 1.57197618e-04 9.99923249e-01 1.23883354e-02 -1.98432956e-01] [ 1.02153991e-02 -1.23892949e-02 9.99871067e-01 -3.61258924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.467719420999998 meters Centerline goodness : 0.955252 Centerline is valid? [False, True] Translation: X:3.69, Y:-0.19, Z:-0.36 [[ 0.99993955 0.00719897 -0.00831094 3.69293795] [-0.00710733 0.9999142 0.01100353 -0.19143735] [ 0.00838944 -0.01094379 0.99990492 -0.35557409] [ 0. 0. 0. 1. ]] SLAMing on 19.497719421 meters Centerline goodness : 0.954944 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.19, Z:-0.35 [[ 9.99920981e-01 9.60058210e-03 -8.11551245e-03 3.72189388e+00] [-9.60205592e-03 9.99953889e-01 -1.42659610e-04 -1.86134164e-01] [ 8.11376862e-03 2.20573942e-04 9.99967059e-01 -3.50958723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.527719421 meters Centerline goodness : 0.950574 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.19, Z:-0.36 [[ 9.99894163e-01 1.20748404e-02 -8.11550108e-03 3.75062905e+00] [-1.20764008e-02 9.99927067e-01 -1.43303288e-04 -1.92137192e-01] [ 8.11317883e-03 2.41294166e-04 9.99967059e-01 -3.55138484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.557719420999998 meters Centerline goodness : 0.949582 Centerline is valid? [True, False] Translation: X:3.75, Y:-0.19, Z:-0.36 [[ 9.99913095e-01 1.00126569e-02 -8.57609940e-03 3.75424817e+00] [-1.00335810e-02 9.99946782e-01 -2.40028030e-03 -1.93789878e-01] [ 8.55160981e-03 2.48612069e-03 9.99960344e-01 -3.58287195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.587719421 meters Centerline goodness : 0.941115 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.20, Z:-0.36 [[ 9.99917581e-01 9.11692563e-03 -9.03954548e-03 3.75949311e+00] [-9.14386913e-03 9.99953861e-01 -2.94378908e-03 -1.97147198e-01] [ 9.01229009e-03 3.02620288e-03 9.99954809e-01 -3.63197261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.617719421 meters Centerline goodness : 0.938120 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.20, Z:-0.36 [[ 9.99909971e-01 9.65562043e-03 -9.31762411e-03 3.76140568e+00] [-9.67303819e-03 9.99951548e-01 -1.82608122e-03 -1.99622109e-01] [ 9.29954070e-03 1.91604656e-03 9.99954923e-01 -3.64857897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.647719421 meters Centerline goodness : 0.940975 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.21, Z:-0.37 [[ 9.99965546e-01 7.49729555e-03 -3.56345672e-03 3.77024376e+00] [-7.47006273e-03 9.99943255e-01 7.59508467e-03 -2.06837259e-01] [ 3.62019710e-03 -7.56820374e-03 9.99964808e-01 -3.67585246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.677719421 meters Centerline goodness : 0.942771 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.21, Z:-0.37 [[ 0.99996685 0.00721568 -0.00377366 3.76989615] [-0.00718386 0.9999391 0.00837778 -0.21088507] [ 0.00383388 -0.00835039 0.99995779 -0.36653439] [ 0. 0. 0. 1. ]] SLAMing on 19.707719421 meters Centerline goodness : 0.949308 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.22, Z:-0.36 [[ 9.99984102e-01 4.28589310e-03 -3.66415674e-03 3.76846641e+00] [-4.26202517e-03 9.99969811e-01 6.49707432e-03 -2.17393162e-01] [ 3.69189189e-03 -6.48135430e-03 9.99972181e-01 -3.64324120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.737719421 meters Centerline goodness : 0.949877 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.22, Z:-0.36 [[ 9.99986571e-01 3.74539370e-03 -3.58177402e-03 3.76708592e+00] [-3.72286625e-03 9.99973378e-01 6.27558886e-03 -2.20055079e-01] [ 3.60518322e-03 -6.26217012e-03 9.99973894e-01 -3.62712367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.767719421 meters Centerline goodness : 0.950554 Centerline is valid? [False, True] Translation: X:3.77, Y:-0.23, Z:-0.36 [[ 9.99990115e-01 2.47878173e-03 -3.69136816e-03 3.76823746e+00] [-2.45994809e-03 9.99983980e-01 5.09790770e-03 -2.25813382e-01] [ 3.70394562e-03 -5.08877673e-03 9.99980192e-01 -3.63230089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.797719421 meters Centerline goodness : 0.950850 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.23, Z:-0.36 [[ 9.99986115e-01 3.89386238e-03 -3.55063593e-03 3.79744407e+00] [-3.89422861e-03 9.99992413e-01 -9.62351714e-05 -2.25232256e-01] [ 3.55023426e-03 1.10060823e-04 9.99993692e-01 -3.63352671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.827719421 meters Centerline goodness : 0.948077 Centerline is valid? [True, False] Translation: X:3.80, Y:-0.22, Z:-0.37 [[ 9.99977319e-01 5.59946821e-03 -3.74273724e-03 3.80105430e+00] [-5.59516298e-03 9.99983674e-01 1.15977188e-03 -2.23838447e-01] [ 3.74917025e-03 -1.13880435e-03 9.99992323e-01 -3.66949034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.857719421 meters Centerline goodness : 0.944993 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.22, Z:-0.37 [[ 9.99977710e-01 5.35360314e-03 -3.98969990e-03 3.80228597e+00] [-5.34976837e-03 9.99985218e-01 9.71220908e-04 -2.23237392e-01] [ 3.99484046e-03 -9.49855290e-04 9.99991569e-01 -3.67833559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.887719421 meters Centerline goodness : 0.946173 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.22, Z:-0.37 [[ 9.99991403e-01 9.50255559e-04 -4.03618120e-03 3.80231570e+00] [-9.62026411e-04 9.99995287e-01 -2.91539427e-03 -2.23853720e-01] [ 4.03339181e-03 2.91925212e-03 9.99987605e-01 -3.67475488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.917719421 meters Centerline goodness : 0.946361 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.23, Z:-0.37 [[ 9.99986095e-01 -3.15450194e-03 -4.22589003e-03 3.80272229e+00] [ 3.12710942e-03 9.99974160e-01 -6.47307276e-03 -2.25295913e-01] [ 4.24620015e-03 6.45976793e-03 9.99970120e-01 -3.67412905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.947719421 meters Centerline goodness : 0.948362 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.23, Z:-0.37 [[ 9.99892338e-01 -1.46731932e-02 -9.54203240e-05 3.81252476e+00] [ 1.46724154e-02 9.99876245e-01 -5.67580434e-03 -2.26529037e-01] [ 1.78690689e-04 5.67379322e-03 9.99983888e-01 -3.70107770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.977719421 meters Centerline goodness : 0.949076 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.23, Z:-0.37 [[ 9.99792255e-01 -1.98344260e-02 4.69483790e-03 3.82195806e+00] [ 1.98300542e-02 9.99802889e-01 9.75921039e-04 -2.28009457e-01] [-4.71326932e-03 -8.82619407e-04 9.99988503e-01 -3.73210661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.007719421 meters Centerline goodness : 0.950923 Centerline is valid? [False, True] Translation: X:3.82, Y:-0.23, Z:-0.37 [[ 0.99966127 -0.02556947 0.00485173 3.82171985] [ 0.0255882 0.9996652 -0.00383909 -0.2294503 ] [-0.00475194 0.00396193 0.99998086 -0.37262697] [ 0. 0. 0. 1. ]] SLAMing on 20.037719421 meters Centerline goodness : 0.950315 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.23, Z:-0.37 [[ 9.99613554e-01 -2.73834056e-02 4.78463627e-03 3.85342487e+00] [ 2.73833272e-02 9.99625003e-01 8.19141168e-05 -2.30223136e-01] [-4.78508513e-03 4.91367990e-05 9.99988550e-01 -3.71397010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.067719421 meters Centerline goodness : 0.951531 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.23, Z:-0.38 [[ 9.99666617e-01 -2.53724552e-02 4.78464698e-03 3.88480452e+00] [ 2.53723568e-02 9.99678067e-01 8.12839768e-05 -2.25090198e-01] [-4.78516901e-03 4.01408919e-05 9.99988550e-01 -3.75348092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.097719421 meters Centerline goodness : 0.951198 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.22, Z:-0.37 [[ 9.99833840e-01 -1.75897568e-02 4.78465198e-03 3.91701670e+00] [ 1.75895706e-02 9.99845288e-01 8.09882059e-05 -2.18404434e-01] [-4.78533630e-03 3.18522518e-06 9.99988550e-01 -3.72691476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.127719421 meters Centerline goodness : 0.951542 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.22, Z:-0.37 [[ 9.99923053e-01 -1.14453044e-02 4.78465863e-03 3.94937269e+00] [ 1.14450498e-02 9.99934500e-01 8.05938755e-05 -2.16104166e-01] [-4.78526765e-03 -2.58270179e-05 9.99988550e-01 -3.72198430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.157719421 meters Centerline goodness : 0.952153 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.21, Z:-0.37 [[ 9.99985977e-01 2.26979039e-03 4.78466520e-03 3.98186862e+00] [-2.27020010e-03 9.99997420e-01 8.02013980e-05 -2.13374626e-01] [-4.78447082e-03 -9.10624208e-05 9.99988550e-01 -3.72003523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.187719421 meters Centerline goodness : 0.952153 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.21, Z:-0.37 [[ 9.99985881e-01 2.31164843e-03 4.78467189e-03 4.01369694e+00] [-2.31205671e-03 9.99997324e-01 7.98005637e-05 -2.12897729e-01] [-4.78447461e-03 -9.08618698e-05 9.99988550e-01 -3.72155788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.217719420999998 meters Centerline goodness : 0.953844 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.21, Z:-0.37 [[ 9.99945563e-01 9.27240724e-03 4.78467522e-03 4.04464233e+00] [-9.27289419e-03 9.99957003e-01 7.96002906e-05 -2.10365057e-01] [-4.78373141e-03 -1.23963745e-04 9.99988550e-01 -3.73603905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.247719421 meters Centerline goodness : 0.952639 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.21, Z:-0.38 [[ 9.99782337e-01 2.03072795e-02 4.78468018e-03 4.07494092e+00] [-2.03078912e-02 9.99793770e-01 7.93010768e-05 -2.05216620e-01] [-4.78208305e-03 -1.76450581e-04 9.99988550e-01 -3.76533521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.277719421 meters Centerline goodness : 0.951022 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.20, Z:-0.38 [[ 9.99717709e-01 2.32725154e-02 4.78468018e-03 4.10513008e+00] [-2.32731611e-02 9.99729140e-01 7.93010768e-05 -2.04767821e-01] [-4.78153867e-03 -1.90633323e-04 9.99988550e-01 -3.78773604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.307719420999998 meters Centerline goodness : 0.948237 Centerline is valid? [True, False] Translation: X:4.11, Y:-0.21, Z:-0.38 [[ 9.99754857e-01 2.16791041e-02 4.49921324e-03 4.10777714e+00] [-2.16703888e-02 9.99763215e-01 -1.97687624e-03 -2.06436663e-01] [-4.54100480e-03 1.87889192e-03 9.99987924e-01 -3.81246098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.337719421 meters Centerline goodness : 0.950851 Centerline is valid? [False, True] Translation: X:4.11, Y:-0.21, Z:-0.38 [[ 9.99758433e-01 2.15533251e-02 4.30464181e-03 4.10796793e+00] [-2.15448383e-02 9.99765866e-01 -2.00829990e-03 -2.05922367e-01] [-4.34691949e-03 1.91507195e-03 9.99988718e-01 -3.80766346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.367719421 meters Centerline goodness : 0.952260 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.21, Z:-0.38 [[ 9.99765833e-01 2.12159252e-02 4.26185021e-03 4.13711468e+00] [-2.12164887e-02 9.99774901e-01 8.70550866e-05 -2.05034361e-01] [-4.25904392e-03 -1.77456198e-04 9.99990914e-01 -3.77310122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.397719421 meters Centerline goodness : 0.948318 Centerline is valid? [True, False] Translation: X:4.14, Y:-0.21, Z:-0.38 [[ 9.99819676e-01 1.86501736e-02 3.57582977e-03 4.13948438e+00] [-1.86421796e-02 9.99823674e-01 -2.25601442e-03 -2.09054924e-01] [-3.61727432e-03 2.18894635e-03 9.99991062e-01 -3.78772968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.427719421 meters Centerline goodness : 0.947861 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.21, Z:-0.38 [[ 9.99863283e-01 1.62743274e-02 2.92607359e-03 4.14235491e+00] [-1.62615147e-02 9.99858308e-01 -4.35055344e-03 -2.13055540e-01] [-2.99646132e-03 4.30237625e-03 9.99986255e-01 -3.80970751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.457719421 meters Centerline goodness : 0.949078 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.22, Z:-0.38 [[ 9.99908641e-01 1.11314108e-02 7.66824700e-03 4.15426084e+00] [-1.11400615e-02 9.99937358e-01 1.08632537e-03 -2.19107259e-01] [-7.65567431e-03 -1.17165087e-03 9.99970008e-01 -3.84844862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.487719421 meters Centerline goodness : 0.953156 Centerline is valid? [False, True] Translation: X:4.15, Y:-0.22, Z:-0.38 [[ 9.99940352e-01 8.03624113e-03 7.39668275e-03 4.15342426e+00] [-8.02502339e-03 9.99966605e-01 -1.54502383e-03 -2.20938106e-01] [-7.40885192e-03 1.48557312e-03 9.99971451e-01 -3.83075741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.517719421 meters Centerline goodness : 0.954607 Centerline is valid? [True, True] Translation: X:4.19, Y:-0.23, Z:-0.38 [[ 9.99972987e-01 4.32358323e-06 7.35016840e-03 4.18591328e+00] [-5.76714004e-06 9.99999981e-01 1.96376604e-04 -2.29396656e-01] [-7.35016741e-03 -1.96413688e-04 9.99972968e-01 -3.79709419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.547719421 meters Centerline goodness : 0.953637 Centerline is valid? [True, True] Translation: X:4.22, Y:-0.24, Z:-0.38 [[ 9.99902830e-01 -1.18450437e-02 7.35022760e-03 4.21740766e+00] [ 1.18439366e-02 9.99929839e-01 1.94135212e-04 -2.36456560e-01] [-7.35201144e-03 -1.07060718e-04 9.99972968e-01 -3.84991717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.577719421 meters Centerline goodness : 0.954554 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.24, Z:-0.38 [[ 9.99796127e-01 -1.88063067e-02 7.35026099e-03 4.24924707e+00] [ 1.88053970e-02 9.99823144e-01 1.92862647e-04 -2.40038955e-01] [-7.35258809e-03 -5.45987516e-05 9.99972968e-01 -3.81369140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.607719421 meters Centerline goodness : 0.955294 Centerline is valid? [True, True] Translation: X:4.28, Y:-0.25, Z:-0.38 [[ 9.99536777e-01 -2.95331021e-02 7.35027333e-03 4.28127376e+00] [ 2.95324858e-02 9.99563803e-01 1.92391202e-04 -2.50195442e-01] [-7.35274907e-03 2.47697603e-05 9.99972968e-01 -3.79027990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.637719421 meters Centerline goodness : 0.956269 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.25, Z:-0.38 [[ 9.99439048e-01 -3.26735815e-02 7.35028594e-03 4.31338201e+00] [ 3.26730537e-02 9.99466075e-01 1.91908410e-04 -2.53303845e-01] [-7.35263177e-03 4.83555281e-05 9.99972968e-01 -3.78724338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.667719421 meters Centerline goodness : 0.957134 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.25, Z:-0.38 [[ 9.99239440e-01 -3.82951006e-02 7.35030269e-03 4.34461389e+00] [ 3.82947295e-02 9.99266470e-01 1.91264742e-04 -2.52068930e-01] [-7.35223552e-03 9.03585801e-05 9.99972968e-01 -3.79951685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.697719421 meters Centerline goodness : 0.957390 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.25, Z:-0.38 [[ 9.99194527e-01 -3.94495771e-02 7.35031512e-03 4.37562535e+00] [ 3.94492408e-02 9.99221558e-01 1.90785709e-04 -2.49696858e-01] [-7.35211974e-03 9.93323148e-05 9.99972968e-01 -3.79829944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.727719421 meters Centerline goodness : 0.958916 Centerline is valid? [True, True] Translation: X:4.41, Y:-0.25, Z:-0.38 [[ 9.99115674e-01 -4.13985812e-02 7.35032724e-03 4.40773748e+00] [ 4.13983011e-02 9.99142705e-01 1.90317553e-04 -2.48028312e-01] [-7.35190472e-03 1.14141810e-04 9.99972968e-01 -3.77226904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.757719421 meters Centerline goodness : 0.959216 Centerline is valid? [True, True] Translation: X:4.44, Y:-0.25, Z:-0.38 [[ 9.99075872e-01 -4.23482465e-02 7.35034346e-03 4.44006287e+00] [ 4.23479967e-02 9.99102903e-01 1.89688923e-04 -2.48224266e-01] [-7.35178249e-03 1.21758695e-04 9.99972968e-01 -3.76086389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.787719421 meters Centerline goodness : 0.958701 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.25, Z:-0.38 [[ 9.98939708e-01 -4.54470163e-02 7.35035962e-03 4.47095496e+00] [ 4.54468550e-02 9.98966740e-01 1.89060688e-04 -2.48008844e-01] [-7.35135704e-03 1.45190499e-04 9.99972968e-01 -3.78029382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.817719421 meters Centerline goodness : 0.956845 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.24, Z:-0.38 [[ 9.98776578e-01 -4.89011256e-02 7.35037157e-03 4.50294185e+00] [ 4.89010612e-02 9.98803610e-01 1.88595026e-04 -2.43197221e-01] [-7.35080017e-03 1.71076676e-04 9.99972968e-01 -3.81231518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.847719421 meters Centerline goodness : 0.954565 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.24, Z:-0.38 [[ 9.98808429e-01 -4.82461715e-02 7.35038723e-03 4.53488151e+00] [ 4.82460938e-02 9.98835461e-01 1.87982779e-04 -2.39179552e-01] [-7.35089687e-03 1.66868687e-04 9.99972968e-01 -3.83925486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.877719421 meters Centerline goodness : 0.947365 Centerline is valid? [True, False] Translation: X:4.53, Y:-0.23, Z:-0.38 [[ 9.99121732e-01 -4.18976005e-02 -5.97048766e-04 4.53232848e+00] [ 4.18945128e-02 9.99111982e-01 -4.48295306e-03 -2.34829773e-01] [ 7.84343553e-04 4.45400276e-03 9.99989773e-01 -3.84206234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.907719421 meters Centerline goodness : 0.947104 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.23, Z:-0.38 [[ 9.99124736e-01 -4.18163997e-02 -1.07238267e-03 4.53339743e+00] [ 4.18102816e-02 9.99112015e-01 -5.20404825e-03 -2.32625985e-01] [ 1.28904497e-03 5.15465671e-03 9.99985884e-01 -3.84643230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.937719421 meters Centerline goodness : 0.949591 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.23, Z:-0.38 [[ 9.99233417e-01 -3.91109153e-02 -1.70747451e-03 4.53337423e+00] [ 3.91070806e-02 9.99232550e-01 -2.22425459e-03 -2.29525613e-01] [ 1.79315674e-03 2.15577518e-03 9.99996069e-01 -3.83177814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.967719420999998 meters Centerline goodness : 0.950982 Centerline is valid? [False, True] Translation: X:4.53, Y:-0.23, Z:-0.38 [[ 9.99211427e-01 -3.96520994e-02 -2.05797382e-03 4.53362905e+00] [ 3.96461260e-02 9.99209672e-01 -2.86647227e-03 -2.27596856e-01] [ 2.17000899e-03 2.78262116e-03 9.99993774e-01 -3.82556514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.997719421 meters Centerline goodness : 0.951552 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.23, Z:-0.38 [[ 9.98928464e-01 -4.62331431e-02 -2.10260718e-03 4.56487484e+00] [ 4.62331757e-02 9.98930674e-01 -3.31157293e-05 -2.25327692e-01] [ 2.10188985e-03 -6.41299625e-05 9.99997789e-01 -3.82182534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.027719421 meters Centerline goodness : 0.950615 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.22, Z:-0.38 [[ 9.98723086e-01 -5.04754970e-02 -2.10260857e-03 4.59669524e+00] [ 5.04755392e-02 9.98725297e-01 -3.30275258e-05 -2.23644476e-01] [ 2.10159545e-03 -7.31449485e-05 9.99997789e-01 -3.84553386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.057719420999998 meters Centerline goodness : 0.946280 Centerline is valid? [True, False] Translation: X:4.60, Y:-0.22, Z:-0.39 [[ 9.98411959e-01 -5.62133897e-02 -3.68979852e-03 4.60207421e+00] [ 5.61936430e-02 9.98406068e-01 -5.25343057e-03 -2.19511455e-01] [ 3.97923037e-03 5.03774469e-03 9.99979393e-01 -3.87241753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.087719421 meters Centerline goodness : 0.946826 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.21, Z:-0.39 [[ 0.99827107 -0.05859446 -0.00464337 4.60324254] [ 0.05855951 0.99825696 -0.00733636 -0.2140203 ] [ 0.00506515 0.00705176 0.99996231 -0.38615466] [ 0. 0. 0. 1. ]] SLAMing on 21.117719421 meters Centerline goodness : 0.948354 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.21, Z:-0.38 [[ 9.98430767e-01 -5.57504872e-02 -5.28076386e-03 4.60330228e+00] [ 5.57315498e-02 9.98439052e-01 -3.66794764e-03 -2.13153742e-01] [ 5.47701073e-03 3.36788662e-03 9.99979330e-01 -3.84790653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.147719420999998 meters Centerline goodness : 0.954645 Centerline is valid? [False, True] Translation: X:4.60, Y:-0.21, Z:-0.38 [[ 9.98597810e-01 -5.26112222e-02 -5.87139012e-03 4.60295083e+00] [ 5.26106631e-02 9.98615069e-01 -2.49734635e-04 -2.11387497e-01] [ 5.87639749e-03 -5.95132679e-05 9.99982732e-01 -3.83144853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.177719421 meters Centerline goodness : 0.953794 Centerline is valid? [True, True] Translation: X:4.64, Y:-0.20, Z:-0.38 [[ 9.98789764e-01 -4.88317057e-02 -5.87128290e-03 4.63545072e+00] [ 4.88325621e-02 9.98806979e-01 2.50021236e-06 -2.01223823e-01] [ 5.86415624e-03 -2.89206973e-04 9.99982764e-01 -3.83037624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.207719421 meters Centerline goodness : 0.948822 Centerline is valid? [True, False] Translation: X:4.63, Y:-0.19, Z:-0.38 [[ 9.99111248e-01 -3.97137985e-02 -1.41254529e-02 4.63349132e+00] [ 3.96643533e-02 9.99205972e-01 -3.76363839e-03 -1.92339421e-01] [ 1.42637053e-02 3.20001649e-03 9.99893148e-01 -3.82939622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.237719421 meters Centerline goodness : 0.948594 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.19, Z:-0.38 [[ 9.99251767e-01 -3.58480145e-02 -1.45198596e-02 4.63475819e+00] [ 3.58391574e-02 9.99357192e-01 -8.69825923e-04 -1.88273022e-01] [ 1.45417076e-02 3.48795558e-04 9.99894203e-01 -3.83853789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.267719421 meters Centerline goodness : 0.949927 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.18, Z:-0.38 [[ 9.99434314e-01 -3.03965108e-02 -1.43911006e-02 4.63486969e+00] [ 3.04438161e-02 9.99531736e-01 3.07948957e-03 -1.78526407e-01] [ 1.42907560e-02 -3.51586756e-03 9.99891701e-01 -3.84594178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.297719421 meters Centerline goodness : 0.950819 Centerline is valid? [False, True] Translation: X:4.64, Y:-0.17, Z:-0.39 [[ 0.99950837 -0.02774247 -0.01460698 4.63578875] [ 0.02781873 0.99960026 0.00504367 -0.17307458] [ 0.01446121 -0.00544754 0.99988059 -0.3853526 ] [ 0. 0. 0. 1. ]] SLAMing on 21.327719421 meters Centerline goodness : 0.946575 Centerline is valid? [True, False] Translation: X:4.64, Y:-0.16, Z:-0.39 [[ 0.99961023 -0.02380003 -0.01459281 4.63639033] [ 0.02391362 0.99968469 0.00765951 -0.16119822] [ 0.01440591 -0.0080055 0.99986418 -0.38651724] [ 0. 0. 0. 1. ]] SLAMing on 21.357719421 meters Centerline goodness : 0.946561 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.16, Z:-0.39 [[ 0.99964584 -0.02209094 -0.01483892 4.63869429] [ 0.0222223 0.99971479 0.00874702 -0.15728029] [ 0.01464146 -0.00907367 0.99985164 -0.38873483] [ 0. 0. 0. 1. ]] SLAMing on 21.387719421 meters Centerline goodness : 0.945980 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.15, Z:-0.39 [[ 0.99969319 -0.01972095 -0.01498724 4.64071971] [ 0.01985703 0.99976245 0.00898578 -0.14909211] [ 0.01480647 -0.00928063 0.99984731 -0.39049959] [ 0. 0. 0. 1. ]] SLAMing on 21.417719421 meters Centerline goodness : 0.946457 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.14, Z:-0.39 [[ 0.99975122 -0.01642518 -0.01509028 4.64040764] [ 0.01659474 0.99979979 0.01118031 -0.14476891] [ 0.01490362 -0.01142795 0.99982363 -0.38982923] [ 0. 0. 0. 1. ]] SLAMing on 21.447719421 meters Centerline goodness : 0.948302 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.13, Z:-0.39 [[ 0.99984493 -0.00935628 -0.014919 4.64011497] [ 0.00958823 0.99983307 0.01555296 -0.13444883] [ 0.01477099 -0.01569359 0.99976774 -0.38927057] [ 0. 0. 0. 1. ]] SLAMing on 21.477719421 meters Centerline goodness : 0.950385 Centerline is valid? [False, True] Translation: X:4.64, Y:-0.12, Z:-0.39 [[ 9.99896400e-01 4.08965854e-05 -1.43940045e-02 4.63790311e+00] [ 2.84715955e-04 9.99744126e-01 2.26186243e-02 -1.21635446e-01] [ 1.43912464e-02 -2.26203792e-02 9.99640541e-01 -3.87293875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.507719421 meters Centerline goodness : 0.953303 Centerline is valid? [True, True] Translation: X:4.67, Y:-0.11, Z:-0.38 [[ 9.99888455e-01 2.62447653e-03 -1.47034067e-02 4.66568901e+00] [-2.62181182e-03 9.99996543e-01 2.00503620e-04 -1.07746072e-01] [ 1.47038821e-02 -1.61931689e-04 9.99891879e-01 -3.81610669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.537719421 meters Centerline goodness : 0.955740 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.10, Z:-0.38 [[ 9.99882104e-01 4.42569563e-03 -1.47034327e-02 4.69421876e+00] [-4.42325389e-03 9.99990198e-01 1.98582328e-04 -1.02856817e-01] [ 1.47041674e-02 -1.33521900e-04 9.99891879e-01 -3.78258657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.567719421 meters Centerline goodness : 0.956215 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.10, Z:-0.38 [[ 9.99880649e-01 4.74295539e-03 -1.47034491e-02 4.72349695e+00] [-4.74056593e-03 9.99988744e-01 1.97359172e-04 -9.97559969e-02] [ 1.47042197e-02 -1.27632948e-04 9.99891879e-01 -3.77156109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.597719421 meters Centerline goodness : 0.957896 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.09, Z:-0.38 [[ 9.99870610e-01 6.52463460e-03 -1.47034653e-02 4.75238163e+00] [-6.52245558e-03 9.99978709e-01 1.96147424e-04 -9.10215253e-02] [ 1.47044320e-02 -1.00219346e-04 9.99891879e-01 -3.76856297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.627719421 meters Centerline goodness : 0.956525 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.09, Z:-0.38 [[ 9.99859986e-01 7.98853954e-03 -1.47034811e-02 4.78084425e+00] [-7.98653638e-03 9.99968088e-01 1.94950743e-04 -8.73672996e-02] [ 1.47045693e-02 -7.74935598e-05 9.99891879e-01 -3.78067239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.657719421 meters Centerline goodness : 0.957350 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.08, Z:-0.38 [[ 9.99737208e-01 1.75875528e-02 -1.47034975e-02 4.80834884e+00] [-1.75866059e-02 9.99845325e-01 1.93708456e-04 -8.06563302e-02] [ 1.47046301e-02 6.49270641e-05 9.99891879e-01 -3.78995264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.687719421 meters Centerline goodness : 0.956189 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.08, Z:-0.38 [[ 9.99619743e-01 2.33275645e-02 -1.47035177e-02 4.83756444e+00] [-2.33272610e-02 9.99727864e-01 1.92164651e-04 -7.66190879e-02] [ 1.47039990e-02 1.50901216e-04 9.99891879e-01 -3.75606487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.717719420999998 meters Centerline goodness : 0.956515 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.07, Z:-0.38 [[ 9.99332482e-01 3.34424401e-02 -1.47035337e-02 4.86681303e+00] [-3.34432490e-02 9.99440600e-01 1.90928346e-04 -7.12241815e-02] [ 1.47016937e-02 3.00933042e-04 9.99891879e-01 -3.77465461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.747719421 meters Centerline goodness : 0.953850 Centerline is valid? [True, True] Translation: X:4.89, Y:-0.07, Z:-0.38 [[ 9.99175673e-01 3.78388589e-02 -1.47035497e-02 4.89472071e+00] [-3.78401618e-02 9.99283787e-01 1.89688056e-04 -7.13500788e-02] [ 1.47001964e-02 3.66853009e-04 9.99891879e-01 -3.83377366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.777719421 meters Centerline goodness : 0.955542 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.07, Z:-0.38 [[ 9.99014133e-01 4.18875564e-02 -1.47035695e-02 4.92311529e+00] [-4.18893201e-02 9.99122240e-01 1.88143297e-04 -7.10844979e-02] [ 1.46985441e-02 4.27964716e-04 9.99891879e-01 -3.78830625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.807719420999998 meters Centerline goodness : 0.958908 Centerline is valid? [True, True] Translation: X:4.95, Y:-0.07, Z:-0.38 [[ 9.98994817e-01 4.23457329e-02 -1.47035856e-02 4.95130745e+00] [-4.23475649e-02 9.99102922e-01 1.86873094e-04 -7.04644318e-02] [ 1.46983087e-02 4.35975794e-04 9.99891879e-01 -3.76318996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.837719421 meters Centerline goodness : 0.959388 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.07, Z:-0.37 [[ 9.99036231e-01 4.13571496e-02 -1.47036055e-02 4.97875025e+00] [-4.13588978e-02 9.99144338e-01 1.85293812e-04 -6.92680494e-02] [ 1.46986874e-02 4.23009688e-04 9.99891879e-01 -3.74144173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.867719421 meters Centerline goodness : 0.957672 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.07, Z:-0.37 [[ 9.99085655e-01 4.01454559e-02 -1.47036246e-02 5.00793294e+00] [-4.01470953e-02 9.99193763e-01 1.83769556e-04 -7.04211916e-02] [ 1.46991475e-02 4.06706291e-04 9.99891879e-01 -3.73946421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.897719420999998 meters Centerline goodness : 0.954546 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.07, Z:-0.38 [[ 9.99218228e-01 3.66978910e-02 -1.47036742e-02 5.03648125e+00] [-3.66992172e-02 9.99326341e-01 1.79707198e-04 -7.43574497e-02] [ 1.47003638e-02 3.60046626e-04 9.99891879e-01 -3.78370312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.927719421 meters Centerline goodness : 0.954465 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.08, Z:-0.38 [[ 9.99349377e-01 3.29336231e-02 -1.47036894e-02 5.06566247e+00] [-3.29345604e-02 9.99457494e-01 1.78458228e-04 -7.79397739e-02] [ 1.47015898e-02 3.05917428e-04 9.99891879e-01 -3.79150164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.957719421 meters Centerline goodness : 0.956472 Centerline is valid? [True, True] Translation: X:5.09, Y:-0.08, Z:-0.38 [[ 9.99423495e-01 3.06019464e-02 -1.47037044e-02 5.09295270e+00] [-3.06026499e-02 9.99531614e-01 1.77209256e-04 -7.98785068e-02] [ 1.47022404e-02 2.72865225e-04 9.99891879e-01 -3.77270118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.987719421 meters Centerline goodness : 0.958935 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.08, Z:-0.38 [[ 9.99487136e-01 2.84475965e-02 -1.47037267e-02 5.12096545e+00] [-2.84480942e-02 9.99595256e-01 1.75346669e-04 -8.20432110e-02] [ 1.47027636e-02 2.43036261e-04 9.99891879e-01 -3.76743366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.017719421 meters Centerline goodness : 0.959384 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.09, Z:-0.37 [[ 9.99626602e-01 2.30316217e-02 -1.47037446e-02 5.14914779e+00] [-2.30315559e-02 9.99734723e-01 1.73827215e-04 -8.52142538e-02] [ 1.47038476e-02 1.64887808e-04 9.99891879e-01 -3.71801355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.047719421 meters Centerline goodness : 0.958044 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.09, Z:-0.37 [[ 9.99689972e-01 2.00937530e-02 -1.47037625e-02 5.17694755e+00] [-2.00933920e-02 9.99798093e-01 1.72298102e-04 -8.60435861e-02] [ 1.47042559e-02 1.23203780e-04 9.99891879e-01 -3.74320679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.077719421 meters Centerline goodness : 0.955333 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.09, Z:-0.38 [[ 9.99791979e-01 1.41349795e-02 -1.47037801e-02 5.20537813e+00] [-1.41339963e-02 9.99900096e-01 1.70789640e-04 -8.68363706e-02] [ 1.47047252e-02 3.70690602e-05 9.99891879e-01 -3.76734538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.107719421 meters Centerline goodness : 0.955333 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.09, Z:-0.38 [[ 9.99793646e-01 1.40165382e-02 -1.47037935e-02 5.23382308e+00] [-1.40155593e-02 9.99901763e-01 1.69625633e-04 -8.70067409e-02] [ 1.47047266e-02 3.64912590e-05 9.99891879e-01 -3.76315873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.137719421 meters Centerline goodness : 0.956239 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.09, Z:-0.37 [[ 9.99835200e-01 1.06476147e-02 -1.47038134e-02 5.26273073e+00] [-1.06462971e-02 9.99943312e-01 1.67883797e-04 -8.84896952e-02] [ 1.47047674e-02 -1.13149641e-05 9.99891879e-01 -3.73733287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.167719421 meters Centerline goodness : 0.958151 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.09, Z:-0.37 [[ 9.99823567e-01 1.16889557e-02 -1.47038267e-02 5.29182239e+00] [-1.16877680e-02 9.99931682e-01 1.66708446e-04 -8.95959093e-02] [ 1.47047708e-02 5.17588199e-06 9.99891879e-01 -3.72054910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.197719421 meters Centerline goodness : 0.953769 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.09, Z:-0.37 [[ 9.99731559e-01 1.79054939e-02 -1.47038405e-02 5.32107369e+00] [-1.79049964e-02 9.99839679e-01 1.65486601e-04 -8.97961119e-02] [ 1.47044462e-02 9.78300329e-05 9.99891879e-01 -3.74567890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.227719421 meters Centerline goodness : 0.953797 Centerline is valid? [True, True] Translation: X:5.35, Y:-0.09, Z:-0.37 [[ 9.99636088e-01 2.26160988e-02 -1.47038848e-02 5.35035392e+00] [-2.26161702e-02 9.99744209e-01 1.61451402e-04 -8.96494568e-02] [ 1.47037750e-02 1.71152912e-04 9.99891879e-01 -3.74580937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.257719421 meters Centerline goodness : 0.953719 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.09, Z:-0.37 [[ 9.99354843e-01 3.27672648e-02 -1.47038951e-02 5.37774642e+00] [-3.27684481e-02 9.99462957e-01 1.60503936e-04 -9.02464115e-02] [ 1.47012578e-02 3.21423438e-04 9.99891879e-01 -3.72660264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.287719421 meters Centerline goodness : 0.955161 Centerline is valid? [True, True] Translation: X:5.41, Y:-0.09, Z:-0.37 [[ 9.99194785e-01 3.73306476e-02 -1.47039121e-02 5.40627828e+00] [-3.73323478e-02 9.99302892e-01 1.58928801e-04 -9.16858872e-02] [ 1.46995948e-02 3.90130733e-04 9.99891879e-01 -3.71828644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.317719421 meters Centerline goodness : 0.955280 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.10, Z:-0.37 [[ 9.98897036e-01 4.45926623e-02 -1.47039255e-02 5.43317766e+00] [-4.45951666e-02 9.99005128e-01 1.57681833e-04 -9.58716940e-02] [ 1.46963284e-02 4.98216091e-04 9.99891879e-01 -3.72344036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.347719421 meters Centerline goodness : 0.955962 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.10, Z:-0.37 [[ 9.98799926e-01 4.67172473e-02 -1.47039485e-02 5.46152767e+00] [-4.67200135e-02 9.98908012e-01 1.55508810e-04 -9.89996285e-02] [ 1.46951569e-02 5.31646483e-04 9.99891879e-01 -3.73066266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.377719421 meters Centerline goodness : 0.956146 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.10, Z:-0.37 [[ 9.98769984e-01 4.73530704e-02 -1.47039614e-02 5.49049596e+00] [-4.73559234e-02 9.98878067e-01 1.54280964e-04 -1.04486832e-01] [ 1.46947702e-02 5.42228472e-04 9.99891879e-01 -3.69959542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.407719421 meters Centerline goodness : 0.958529 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.11, Z:-0.37 [[ 9.98782978e-01 4.70781827e-02 -1.47039746e-02 5.51965042e+00] [-4.70810247e-02 9.98891062e-01 1.53007173e-04 -1.06395135e-01] [ 1.46948721e-02 5.39457232e-04 9.99891879e-01 -3.68461012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.437719421 meters Centerline goodness : 0.959106 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.11, Z:-0.37 [[ 9.98840042e-01 4.58515385e-02 -1.47039877e-02 5.54771718e+00] [-4.58542665e-02 9.98948128e-01 1.51735484e-04 -1.11298853e-01] [ 1.46954783e-02 5.22681096e-04 9.99891879e-01 -3.68275289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.467719420999998 meters Centerline goodness : 0.960157 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.12, Z:-0.37 [[ 9.98895885e-01 4.46184193e-02 -1.47040038e-02 5.57636707e+00] [-4.46210370e-02 9.99003974e-01 1.50162120e-04 -1.15360242e-01] [ 1.46960582e-02 5.06111575e-04 9.99891879e-01 -3.67403921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.497719421 meters Centerline goodness : 0.957716 Centerline is valid? [True, True] Translation: X:5.60, Y:-0.13, Z:-0.37 [[ 9.99042174e-01 4.12131805e-02 -1.47040160e-02 5.60495228e+00] [-4.12154475e-02 9.99150271e-01 1.48956743e-04 -1.26014568e-01] [ 1.46976606e-02 4.57218531e-04 9.99891879e-01 -3.68076159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.527719421 meters Centerline goodness : 0.957830 Centerline is valid? [True, True] Translation: X:5.63, Y:-0.13, Z:-0.37 [[ 9.99205218e-01 3.70503013e-02 -1.47040287e-02 5.63242556e+00] [-3.70521364e-02 9.99313323e-01 1.47696742e-04 -1.33244466e-01] [ 1.46994040e-02 3.97236321e-04 9.99891879e-01 -3.71167830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.557719420999998 meters Centerline goodness : 0.957137 Centerline is valid? [True, True] Translation: X:5.66, Y:-0.13, Z:-0.37 [[ 9.99299650e-01 3.44093047e-02 -1.47040442e-02 5.66159039e+00] [-3.44108769e-02 9.99407760e-01 1.46139621e-04 -1.34903549e-01] [ 1.47003644e-02 3.59941782e-04 9.99891879e-01 -3.68600696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.587719421 meters Centerline goodness : 0.954923 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.14, Z:-0.37 [[ 9.99398528e-01 3.14065665e-02 -1.47040534e-02 5.68907269e+00] [-3.14078276e-02 9.99506642e-01 1.45208016e-04 -1.35782706e-01] [ 1.47013595e-02 3.16701695e-04 9.99891879e-01 -3.71167999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.617719421 meters Centerline goodness : 0.955131 Centerline is valid? [True, True] Translation: X:5.72, Y:-0.14, Z:-0.37 [[ 9.99506504e-01 2.77585698e-02 -1.47040683e-02 5.71782637e+00] [-2.77594588e-02 9.99614622e-01 1.43680369e-04 -1.42585523e-01] [ 1.47023900e-02 2.64567514e-04 9.99891879e-01 -3.67477011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.647719420999998 meters Centerline goodness : 0.956749 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.15, Z:-0.37 [[ 9.99584856e-01 2.47771196e-02 -1.47040801e-02 5.74672488e+00] [-2.47777040e-02 9.99692975e-01 1.42460439e-04 -1.47661507e-01] [ 1.47030953e-02 2.21932046e-04 9.99891879e-01 -3.66247885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.677719421 meters Centerline goodness : 0.956642 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.16, Z:-0.37 [[ 9.99683083e-01 2.04333782e-02 -1.47040918e-02 5.77437019e+00] [-2.04335106e-02 9.99791204e-01 1.41246280e-04 -1.55702312e-01] [ 1.47039078e-02 1.59254698e-04 9.99891879e-01 -3.67409011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.707719421 meters Centerline goodness : 0.956086 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.16, Z:-0.36 [[ 9.99736149e-01 1.76471398e-02 -1.47041061e-02 5.80326032e+00] [-1.76469931e-02 9.99844270e-01 1.39734685e-04 -1.56517142e-01] [ 1.47042822e-02 1.19785444e-04 9.99891879e-01 -3.64578599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.737719421 meters Centerline goodness : 0.953992 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.16, Z:-0.36 [[ 9.99790790e-01 1.42184883e-02 -1.47041180e-02 5.83252980e+00] [-1.42179893e-02 9.99898910e-01 1.38477520e-04 -1.55705739e-01] [ 1.47046005e-02 7.06144435e-05 9.99891879e-01 -3.64778443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.767719421 meters Centerline goodness : 0.949700 Centerline is valid? [True, False] Translation: X:5.84, Y:-0.16, Z:-0.37 [[ 9.99815553e-01 1.15797813e-02 -1.53221547e-02 5.83612754e+00] [-1.16101855e-02 9.99930800e-01 -1.89686215e-03 -1.57981720e-01] [ 1.52991292e-02 2.07440534e-03 9.99880810e-01 -3.67843019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.797719421 meters Centerline goodness : 0.947358 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.16, Z:-0.37 [[ 9.99831931e-01 9.01461321e-03 -1.59638979e-02 5.83932641e+00] [-9.08332642e-03 9.99949769e-01 -4.23702260e-03 -1.60114716e-01] [ 1.59249009e-02 4.38131578e-03 9.99863591e-01 -3.70279427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.827719421 meters Centerline goodness : 0.943357 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.16, Z:-0.37 [[ 0.99983972 0.006639 -0.0166272 5.84273437] [-0.00674713 0.9999564 -0.00645563 -0.16180084] [ 0.01658362 0.00656678 0.99984092 -0.37287244] [ 0. 0. 0. 1. ]] SLAMing on 22.857719421 meters Centerline goodness : 0.938743 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.16, Z:-0.38 [[ 9.99839463e-01 5.16690346e-03 -1.71566828e-02 5.84636491e+00] [-5.30045602e-03 9.99955936e-01 -7.74796135e-03 -1.63003570e-01] [ 1.71158938e-02 7.83765576e-03 9.99822793e-01 -3.75725482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.887719421 meters Centerline goodness : 0.943833 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.16, Z:-0.38 [[ 9.99934920e-01 5.46511789e-03 -1.00144335e-02 5.85334464e+00] [-5.44345323e-03 9.99982788e-01 2.18932526e-03 -1.63636720e-01] [ 1.00262261e-02 -2.13466968e-03 9.99947458e-01 -3.76835340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.917719421 meters Centerline goodness : 0.945396 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.16, Z:-0.38 [[ 9.99932946e-01 5.60447164e-03 -1.01338086e-02 5.85310370e+00] [-5.58391252e-03 9.99982296e-01 2.05592302e-03 -1.62893964e-01] [ 1.01451516e-02 -1.99919886e-03 9.99946538e-01 -3.75986655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.947719421 meters Centerline goodness : 0.950056 Centerline is valid? [False, True] Translation: X:5.85, Y:-0.16, Z:-0.37 [[ 9.99936095e-01 5.65876272e-03 -9.78690346e-03 5.85197594e+00] [-5.64386109e-03 9.99982873e-01 1.54955896e-03 -1.61638831e-01] [ 9.79550442e-03 -1.49422401e-03 9.99950906e-01 -3.74735017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.977719421 meters Centerline goodness : 0.951827 Centerline is valid? [True, True] Translation: X:5.88, Y:-0.16, Z:-0.37 [[ 9.99933763e-01 6.04986944e-03 -9.79130117e-03 5.88041191e+00] [-6.04988303e-03 9.99981699e-01 2.82307943e-05 -1.61804971e-01] [ 9.79129277e-03 3.10073024e-05 9.99952064e-01 -3.73382902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.007719421 meters Centerline goodness : 0.951316 Centerline is valid? [True, True] Translation: X:5.91, Y:-0.17, Z:-0.38 [[ 9.99933838e-01 6.03736086e-03 -9.79130321e-03 5.90820874e+00] [-6.03738096e-03 9.99981774e-01 2.75043862e-05 -1.65630593e-01] [ 9.79129081e-03 3.16112611e-05 9.99952064e-01 -3.76950180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.037719421 meters Centerline goodness : 0.950695 Centerline is valid? [True, True] Translation: X:5.94, Y:-0.17, Z:-0.37 [[ 9.99936274e-01 5.61939175e-03 -9.79130583e-03 5.93710957e+00] [-5.61940129e-03 9.99984211e-01 2.65378666e-05 -1.67183829e-01] [ 9.79130035e-03 2.84851011e-05 9.99952064e-01 -3.71085642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.067719421 meters Centerline goodness : 0.949769 Centerline is valid? [True, False] Translation: X:5.94, Y:-0.17, Z:-0.37 [[ 9.99931958e-01 5.83611263e-03 -1.01004256e-02 5.93833090e+00] [-5.82940574e-03 9.99982769e-01 6.93333962e-04 -1.68572932e-01] [ 1.01042979e-02 -6.34407307e-04 9.99948749e-01 -3.71877563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.097719421 meters Centerline goodness : 0.950338 Centerline is valid? [False, True] Translation: X:5.95, Y:-0.17, Z:-0.38 [[ 9.99982449e-01 2.74749365e-03 -5.24900120e-03 5.94796987e+00] [-2.69637915e-03 9.99949121e-01 9.72033081e-03 -1.72426803e-01] [ 5.27544069e-03 -9.70600692e-03 9.99938980e-01 -3.75129919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.127719421 meters Centerline goodness : 0.952821 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.17, Z:-0.37 [[ 9.99985687e-01 8.46298965e-04 -5.28287241e-03 5.97715993e+00] [-8.46214055e-04 9.99999642e-01 1.83078995e-05 -1.72199317e-01] [ 5.28288601e-03 -1.38371966e-05 9.99986045e-01 -3.71691307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.157719421 meters Centerline goodness : 0.952932 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.17, Z:-0.37 [[ 9.99985999e-01 3.05083512e-04 -5.28287385e-03 6.00477340e+00] [-3.04993304e-04 9.99999953e-01 1.78813434e-05 -1.74775689e-01] [ 5.28287906e-03 -1.62698519e-05 9.99986045e-01 -3.70448020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.187719421 meters Centerline goodness : 0.959298 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.18, Z:-0.36 [[ 9.99985523e-01 -1.02239399e-03 -5.28287559e-03 6.03439367e+00] [ 1.02249992e-03 9.99999477e-01 1.73516220e-05 -1.79576239e-01] [ 5.28285509e-03 -2.27531106e-05 9.99986045e-01 -3.62514584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.217719420999998 meters Centerline goodness : 0.959598 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.18, Z:-0.36 [[ 9.99984330e-01 -1.85246606e-03 -5.28287630e-03 6.06301795e+00] [ 1.85258242e-03 9.99998284e-01 1.71317831e-05 -1.80559831e-01] [ 5.28283550e-03 -2.69184784e-05 9.99986045e-01 -3.61510470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.247719421 meters Centerline goodness : 0.958111 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.18, Z:-0.36 [[ 9.99973393e-01 -5.03042214e-03 -5.28287768e-03 6.09143445e+00] [ 5.03058054e-03 9.99987346e-01 1.66957631e-05 -1.79873953e-01] [ 5.28272685e-03 -4.32712606e-05 9.99986045e-01 -3.64333554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.277719421 meters Centerline goodness : 0.956959 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.18, Z:-0.36 [[ 9.99939806e-01 -9.61639355e-03 -5.28287869e-03 6.12099005e+00] [ 9.61661423e-03 9.99953759e-01 1.63714834e-05 -1.77552498e-01] [ 5.28247697e-03 -6.71739043e-05 9.99986045e-01 -3.62804935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.307719420999998 meters Centerline goodness : 0.955909 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.18, Z:-0.36 [[ 9.99923227e-01 -1.12085355e-02 -5.28287937e-03 6.15142173e+00] [ 1.12087772e-02 9.99937180e-01 1.61462745e-05 -1.76166004e-01] [ 5.28236652e-03 -7.53596527e-05 9.99986045e-01 -3.64320351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.337719421 meters Centerline goodness : 0.957181 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.17, Z:-0.37 [[ 9.99908500e-01 -1.24532536e-02 -5.28287903e-03 6.18189613e+00] [ 1.24535133e-02 9.99922452e-01 1.62580691e-05 -1.74895751e-01] [ 5.28226689e-03 -8.20469857e-05 9.99986045e-01 -3.65497287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.367719421 meters Centerline goodness : 0.959356 Centerline is valid? [True, True] Translation: X:6.21, Y:-0.17, Z:-0.36 [[ 9.99902263e-01 -1.29443378e-02 -5.28287870e-03 6.21270077e+00] [ 1.29446049e-02 9.99916215e-01 1.63651367e-05 -1.72042322e-01] [ 5.28222424e-03 -8.47483145e-05 9.99986045e-01 -3.63295203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.397719420999998 meters Centerline goodness : 0.959173 Centerline is valid? [True, True] Translation: X:6.24, Y:-0.17, Z:-0.37 [[ 9.99884962e-01 -1.42180635e-02 -5.28287836e-03 6.24292991e+00] [ 1.42183489e-02 9.99898914e-01 1.64749779e-05 -1.66855945e-01] [ 5.28211009e-03 -9.15868902e-05 9.99986045e-01 -3.65300809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.427719421 meters Centerline goodness : 0.958480 Centerline is valid? [True, True] Translation: X:6.27, Y:-0.16, Z:-0.37 [[ 9.99863766e-01 -1.56378073e-02 -5.28287722e-03 6.27421435e+00] [ 1.56381144e-02 9.99877717e-01 1.68314146e-05 -1.64156339e-01] [ 5.28196801e-03 -9.94433600e-05 9.99986045e-01 -3.66292712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.457719421 meters Centerline goodness : 0.961468 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.16, Z:-0.37 [[ 9.99847134e-01 -1.66673249e-02 -5.28287653e-03 6.30600460e+00] [ 1.66676475e-02 9.99861085e-01 1.70452803e-05 -1.58106331e-01] [ 5.28185856e-03 -1.05095798e-04 9.99986045e-01 -3.65273754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.487719421 meters Centerline goodness : 0.959478 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.15, Z:-0.36 [[ 9.99873252e-01 -1.50189962e-02 -5.28287583e-03 6.33702321e+00] [ 1.50192970e-02 9.99887204e-01 1.72581341e-05 -1.54787821e-01] [ 5.28202075e-03 -9.66010277e-05 9.99986045e-01 -3.62530026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.517719421 meters Centerline goodness : 0.960208 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.15, Z:-0.36 [[ 9.99966027e-01 -6.32740864e-03 -5.28287511e-03 6.36795846e+00] [ 6.32758926e-03 9.99979980e-01 1.74773999e-05 -1.46783699e-01] [ 5.28265876e-03 -5.09046699e-05 9.99986045e-01 -3.60932534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.547719421 meters Centerline goodness : 0.958088 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.14, Z:-0.36 [[ 9.99968767e-01 5.87852118e-03 -5.28287437e-03 6.39829459e+00] [-5.87850972e-03 9.99982721e-01 1.76973631e-05 -1.42969453e-01] [ 5.28288712e-03 1.33586180e-05 9.99986045e-01 -3.64133325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.577719421 meters Centerline goodness : 0.956356 Centerline is valid? [True, True] Translation: X:6.43, Y:-0.14, Z:-0.37 [[ 9.99931867e-01 1.04092504e-02 -5.28287437e-03 6.42751351e+00] [-1.04093022e-02 9.99945822e-01 1.76973631e-05 -1.42647121e-01] [ 5.28277237e-03 3.72948784e-05 9.99986045e-01 -3.66991167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.607719421 meters Centerline goodness : 0.955806 Centerline is valid? [True, True] Translation: X:6.46, Y:-0.14, Z:-0.37 [[ 9.99811241e-01 1.86968767e-02 -5.28287890e-03 6.45527135e+00] [-1.86970519e-02 9.99825195e-01 1.62239545e-05 -1.38657503e-01] [ 5.28225876e-03 8.25533688e-05 9.99986045e-01 -3.68792884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.637719421 meters Centerline goodness : 0.957666 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.13, Z:-0.37 [[ 9.99766085e-01 2.09730111e-02 -5.28288056e-03 6.48371292e+00] [-2.09732211e-02 9.99780038e-01 1.56618353e-05 -1.34639343e-01] [ 5.28204700e-03 9.51408503e-05 9.99986045e-01 -3.65977552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.667719421 meters Centerline goodness : 0.958942 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.13, Z:-0.36 [[ 9.99695460e-01 2.41055508e-02 -5.28288186e-03 6.51209560e+00] [-2.41058068e-02 9.99709413e-01 1.52130816e-05 -1.28930070e-01] [ 5.28171344e-03 1.12139681e-04 9.99986045e-01 -3.62106106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.697719421 meters Centerline goodness : 0.955170 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.13, Z:-0.36 [[ 9.99673997e-01 2.49797914e-02 -5.28288373e-03 6.54065966e+00] [-2.49800632e-02 9.99687949e-01 1.45322657e-05 -1.29163536e-01] [ 5.28159821e-03 1.17439241e-04 9.99986045e-01 -3.63388569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.727719421 meters Centerline goodness : 0.952298 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.13, Z:-0.37 [[ 9.99683378e-01 2.46015066e-02 -5.28288492e-03 6.56944047e+00] [-2.46017755e-02 9.99697330e-01 1.40845162e-05 -1.30744004e-01] [ 5.28163245e-03 1.15888292e-04 9.99986045e-01 -3.66414819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.757719421 meters Centerline goodness : 0.947342 Centerline is valid? [True, False] Translation: X:6.57, Y:-0.13, Z:-0.37 [[ 9.99798457e-01 1.91584639e-02 -5.99995083e-03 6.57367925e+00] [-1.91904857e-02 9.99801661e-01 -5.32569360e-03 -1.32812908e-01] [ 5.89672870e-03 5.43976221e-03 9.99967818e-01 -3.69981561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.787719421 meters Centerline goodness : 0.951697 Centerline is valid? [False, True] Translation: X:6.58, Y:-0.13, Z:-0.37 [[ 9.99939750e-01 1.09101708e-02 -1.21003452e-03 6.57863011e+00] [-1.09106744e-02 9.99940393e-01 -4.10368118e-04 -1.32595432e-01] [ 1.20548521e-03 4.23545686e-04 9.99999184e-01 -3.69915616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.817719421 meters Centerline goodness : 0.956201 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.13, Z:-0.37 [[ 9.99981100e-01 6.02803371e-03 -1.20901776e-03 6.60780960e+00] [-6.02803452e-03 9.99981831e-01 2.97431467e-06 -1.31522516e-01] [ 1.20901372e-03 4.31374234e-06 9.99999269e-01 -3.65489191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.847719421 meters Centerline goodness : 0.958449 Centerline is valid? [True, True] Translation: X:6.64, Y:-0.13, Z:-0.36 [[ 9.99991690e-01 -3.89344578e-03 -1.20901795e-03 6.63695740e+00] [ 3.89345213e-03 9.99992420e-01 2.89519318e-06 -1.34762378e-01] [ 1.20899751e-03 -7.60242262e-06 9.99999269e-01 -3.60089033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.877719421 meters Centerline goodness : 0.956729 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.14, Z:-0.36 [[ 9.99961514e-01 -8.68954569e-03 -1.20901786e-03 6.66711457e+00] [ 8.68955559e-03 9.99962245e-01 2.93221446e-06 -1.38854858e-01] [ 1.20894673e-03 -1.34379295e-05 9.99999269e-01 -3.59980398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.907719421 meters Centerline goodness : 0.958033 Centerline is valid? [True, True] Translation: X:6.70, Y:-0.14, Z:-0.36 [[ 9.99831082e-01 -1.83397352e-02 -1.20901786e-03 6.69807551e+00] [ 1.83397521e-02 9.99831813e-01 2.93221446e-06 -1.44822085e-01] [ 1.20876074e-03 -2.51048070e-05 9.99999269e-01 -3.61964544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.937719421 meters Centerline goodness : 0.957309 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.15, Z:-0.36 [[ 9.99786367e-01 -2.06339006e-02 -1.20901773e-03 6.72981998e+00] [ 2.06339193e-02 9.99787098e-01 2.98271435e-06 -1.45562735e-01] [ 1.20869879e-03 -2.79288515e-05 9.99999269e-01 -3.62645689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.967719420999998 meters Centerline goodness : 0.953755 Centerline is valid? [True, True] Translation: X:6.76, Y:-0.15, Z:-0.37 [[ 9.99828111e-01 -1.85010170e-02 -1.20901748e-03 6.76042012e+00] [ 1.85010342e-02 9.99828841e-01 3.08341614e-06 -1.45246614e-01] [ 1.20875350e-03 -2.54509599e-05 9.99999269e-01 -3.67086597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.997719421 meters Centerline goodness : 0.953755 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.15, Z:-0.37 [[ 9.99829580e-01 -1.84214583e-02 -1.20901735e-03 6.79309690e+00] [ 1.84214756e-02 9.99830310e-01 3.13345548e-06 -1.45435205e-01] [ 1.20875447e-03 -2.54048050e-05 9.99999269e-01 -3.67047102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.027719421 meters Centerline goodness : 0.951128 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.15, Z:-0.37 [[ 9.99896739e-01 -1.43195457e-02 -1.20901709e-03 6.82555554e+00] [ 1.43195601e-02 9.99897470e-01 3.22965971e-06 -1.45442396e-01] [ 1.20884688e-03 -2.05419191e-05 9.99999269e-01 -3.65034383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.057719420999998 meters Centerline goodness : 0.950855 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.15, Z:-0.36 [[ 9.99997753e-01 -1.74107357e-03 -1.20901681e-03 6.85673652e+00] [ 1.74107888e-03 9.99998484e-01 3.33275817e-06 -1.46417176e-01] [ 1.20900917e-03 -5.43774430e-06 9.99999269e-01 -3.61963234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.087719421 meters Centerline goodness : 0.955434 Centerline is valid? [True, True] Translation: X:6.89, Y:-0.15, Z:-0.36 [[ 9.99987304e-01 4.89191344e-03 -1.20901666e-03 6.88742341e+00] [-4.89191292e-03 9.99988035e-01 3.38469862e-06 -1.46908478e-01] [ 1.20901875e-03 2.52974858e-06 9.99999269e-01 -3.59742529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.117719421 meters Centerline goodness : 0.957968 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.15, Z:-0.36 [[ 9.99872813e-01 1.59027089e-02 -1.20901666e-03 6.91661292e+00] [-1.59027164e-02 9.99873544e-01 3.38469862e-06 -1.46856643e-01] [ 1.20891760e-03 1.58423810e-05 9.99999269e-01 -3.55965574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.147719420999998 meters Centerline goodness : 0.960819 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.15, Z:-0.36 [[ 9.99796851e-01 2.01195105e-02 -1.20901687e-03 6.94580929e+00] [-2.01195212e-02 9.99797582e-01 3.30726447e-06 -1.45706859e-01] [ 1.20883869e-03 2.10182480e-05 9.99999269e-01 -3.55439474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.177719421 meters Centerline goodness : 0.955719 Centerline is valid? [True, True] Translation: X:6.98, Y:-0.14, Z:-0.36 [[ 9.99643230e-01 2.66824057e-02 -1.20901715e-03 6.97519334e+00] [-2.66824213e-02 9.99643961e-01 3.20402424e-06 -1.44661312e-01] [ 1.20867218e-03 2.90566237e-05 9.99999269e-01 -3.59544093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.207719421 meters Centerline goodness : 0.948968 Centerline is valid? [True, False] Translation: X:6.98, Y:-0.15, Z:-0.37 [[ 9.99623554e-01 2.73866259e-02 -1.64996572e-03 6.98114073e+00] [-2.73864029e-02 9.99624910e-01 1.57626437e-04 -1.45303778e-01] [ 1.65366369e-03 -1.12380473e-04 9.99998626e-01 -3.65339469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.237719421 meters Centerline goodness : 0.945875 Centerline is valid? [False, False] Translation: X:6.98, Y:-0.15, Z:-0.37 [[ 9.99597300e-01 2.83080035e-02 -1.97354592e-03 6.98339665e+00] [-2.83060477e-02 9.99598791e-01 1.01203703e-03 -1.46096858e-01] [ 2.00140286e-03 -9.55766202e-04 9.99997540e-01 -3.67267543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.267719421 meters Centerline goodness : 0.943281 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.15, Z:-0.37 [[ 9.99569150e-01 2.92543781e-02 -2.38647500e-03 6.98541080e+00] [-2.92504254e-02 9.99570712e-01 1.67471999e-03 -1.46304754e-01] [ 2.43444340e-03 -1.60419303e-03 9.99995750e-01 -3.68503890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.297719421 meters Centerline goodness : 0.943746 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.15, Z:-0.37 [[ 9.99630559e-01 2.70009430e-02 -3.11368913e-03 6.98586400e+00] [-2.70035313e-02 9.99635024e-01 -7.92215347e-04 -1.46106405e-01] [ 3.09116215e-03 8.76003272e-04 9.99994839e-01 -3.67574424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.327719421 meters Centerline goodness : 0.944522 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.15, Z:-0.37 [[ 9.99763424e-01 2.12429347e-02 4.67263415e-03 6.99330160e+00] [-2.12515507e-02 9.99772536e-01 1.80206883e-03 -1.50153225e-01] [-4.63329006e-03 -1.90094323e-03 9.99987459e-01 -3.68001865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.357719421 meters Centerline goodness : 0.951142 Centerline is valid? [False, True] Translation: X:6.99, Y:-0.15, Z:-0.37 [[ 9.99812633e-01 1.88063570e-02 4.58472144e-03 6.99108846e+00] [-1.88045119e-02 9.99823080e-01 -4.45226414e-04 -1.51885659e-01] [-4.59228340e-03 3.58929544e-04 9.99989391e-01 -3.65089142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.387719421 meters Centerline goodness : 0.958293 Centerline is valid? [True, True] Translation: X:7.02, Y:-0.15, Z:-0.36 [[ 9.99912611e-01 1.24016300e-02 4.57930568e-03 7.02169865e+00] [-1.24019894e-02 9.99923091e-01 5.00764182e-05 -1.53799333e-01] [-4.57833246e-03 -1.06864542e-04 9.99989514e-01 -3.55930143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.417719421 meters Centerline goodness : 0.958923 Centerline is valid? [True, True] Translation: X:7.05, Y:-0.15, Z:-0.36 [[ 9.99958628e-01 7.85949558e-03 4.57930568e-03 7.05124608e+00] [-7.85980729e-03 9.99969110e-01 5.00764182e-05 -1.53903756e-01] [-4.57877065e-03 -8.60668066e-05 9.99989514e-01 -3.55179487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.447719421 meters Centerline goodness : 0.953920 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.16, Z:-0.36 [[ 9.99982930e-01 -3.62911761e-03 4.57930356e-03 7.08170021e+00] [ 3.62892545e-03 9.99993414e-01 5.02696249e-05 -1.59484038e-01] [-4.57945584e-03 -3.36508155e-05 9.99989514e-01 -3.61154112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.477719421 meters Centerline goodness : 0.945663 Centerline is valid? [True, False] Translation: X:7.10, Y:-0.17, Z:-0.37 [[ 9.99855981e-01 -1.68194149e-02 -2.26370726e-03 7.09773080e+00] [ 1.68181700e-02 9.99858403e-01 -5.67859780e-04 -1.65599070e-01] [ 2.27293779e-03 5.29706584e-04 9.99997277e-01 -3.66990345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.507719421 meters Centerline goodness : 0.943582 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.17, Z:-0.37 [[ 9.99791766e-01 -2.02572039e-02 -2.46387662e-03 7.09973486e+00] [ 2.02488929e-02 9.99789349e-01 -3.35253739e-03 -1.67652382e-01] [ 2.53127063e-03 3.30194850e-03 9.99991345e-01 -3.68796573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.537719421 meters Centerline goodness : 0.941140 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.17, Z:-0.37 [[ 9.99730392e-01 -2.30368629e-02 -2.90635881e-03 7.10304769e+00] [ 2.30207849e-02 9.99720136e-01 -5.44922007e-03 -1.69047090e-01] [ 3.03107836e-03 5.38084425e-03 9.99980929e-01 -3.71530028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.567719421 meters Centerline goodness : 0.940437 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.17, Z:-0.37 [[ 9.99809401e-01 -1.92489978e-02 -3.26144427e-03 7.10417894e+00] [ 1.92463245e-02 9.99814412e-01 -8.49068256e-04 -1.71053946e-01] [ 3.27718270e-03 7.86135610e-04 9.99994321e-01 -3.72417469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.597719421 meters Centerline goodness : 0.941048 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.17, Z:-0.37 [[ 9.99900811e-01 -1.36025549e-02 -3.65221429e-03 7.10602142e+00] [ 1.36192442e-02 9.99896745e-01 4.58431174e-03 -1.72034038e-01] [ 3.58947883e-03 -4.63359743e-03 9.99982823e-01 -3.73571386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.627719421 meters Centerline goodness : 0.940059 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.17, Z:-0.37 [[ 9.99948727e-01 -9.45124979e-03 -3.63559001e-03 7.10585351e+00] [ 9.48226973e-03 9.99917958e-01 8.61185065e-03 -1.72307561e-01] [ 3.55389899e-03 -8.64588274e-03 9.99956308e-01 -3.73342247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.657719421 meters Centerline goodness : 0.945209 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.17, Z:-0.37 [[ 9.99997711e-01 -2.11120688e-03 -3.48019821e-04 7.10872218e+00] [ 2.11323335e-03 9.99980190e-01 5.92913318e-03 -1.68509988e-01] [ 3.35495299e-04 -5.92985505e-03 9.99982362e-01 -3.69414780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.687719421 meters Centerline goodness : 0.947352 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.17, Z:-0.37 [[ 9.99998009e-01 1.95811339e-03 -3.85471378e-04 7.10884513e+00] [-1.95438043e-03 9.99953368e-01 9.45736734e-03 -1.66806575e-01] [ 4.03972001e-04 -9.45659515e-03 9.99955204e-01 -3.69181845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.717719420999998 meters Centerline goodness : 0.947205 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.16, Z:-0.37 [[ 9.99974681e-01 7.09781365e-03 -5.07563828e-04 7.10919604e+00] [-7.09065190e-03 9.99891119e-01 1.29411602e-02 -1.63014764e-01] [ 5.99362507e-04 -1.29372335e-02 9.99916131e-01 -3.68514627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.747719421 meters Centerline goodness : 0.949490 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.16, Z:-0.37 [[ 9.99960589e-01 8.86239992e-03 -5.27618377e-04 7.11097230e+00] [-8.85443490e-03 9.99868913e-01 1.35556889e-02 -1.61539481e-01] [ 6.47685148e-04 -1.35504829e-02 9.99907978e-01 -3.70100165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.777719421 meters Centerline goodness : 0.948447 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.16, Z:-0.37 [[ 9.99958241e-01 9.10933311e-03 -7.32949693e-04 7.11205604e+00] [-9.09856666e-03 9.99866773e-01 1.35518067e-02 -1.61506897e-01] [ 8.56299967e-04 -1.35445720e-02 9.99907901e-01 -3.70815498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.807719420999998 meters Centerline goodness : 0.950205 Centerline is valid? [False, True] Translation: X:7.11, Y:-0.16, Z:-0.37 [[ 9.99958487e-01 9.08057680e-03 -7.53171540e-04 7.11229347e+00] [-9.06964623e-03 9.99868687e-01 1.34294566e-02 -1.61817886e-01] [ 8.75019851e-04 -1.34220681e-02 9.99909537e-01 -3.70800411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.837719421 meters Centerline goodness : 0.951298 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.16, Z:-0.36 [[ 9.99956019e-01 9.36706780e-03 -4.67819249e-04 7.14129884e+00] [-9.36707347e-03 9.99956128e-01 -9.93445890e-06 -1.56345835e-01] [ 4.67705668e-04 1.43161192e-05 9.99999891e-01 -3.64888542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.867719421 meters Centerline goodness : 0.954403 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.16, Z:-0.36 [[ 9.99951139e-01 9.87420780e-03 -4.67818370e-04 7.17047260e+00] [-9.87421355e-03 9.99951249e-01 -9.97566287e-06 -1.55836971e-01] [ 4.67697061e-04 1.45945139e-05 9.99999891e-01 -3.62589911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.897719420999998 meters Centerline goodness : 0.952989 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.16, Z:-0.36 [[ 9.99948641e-01 1.01240862e-02 -4.67817492e-04 7.19956537e+00] [-1.01240920e-02 9.99948750e-01 -1.00166650e-05 -1.56740225e-01] [ 4.67692107e-04 1.47523778e-05 9.99999891e-01 -3.63218322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.927719421 meters Centerline goodness : 0.948531 Centerline is valid? [True, False] Translation: X:7.20, Y:-0.16, Z:-0.37 [[ 9.99969653e-01 7.72809561e-03 -9.84588230e-04 7.20331325e+00] [-7.72991818e-03 9.99968392e-01 -1.86093791e-03 -1.60498734e-01] [ 9.70175603e-04 1.86849222e-03 9.99997784e-01 -3.66532497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.957719421 meters Centerline goodness : 0.945973 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.16, Z:-0.37 [[ 9.99997946e-01 1.51254401e-03 -1.34907023e-03 7.20682711e+00] [-1.52212842e-03 9.99973409e-01 -7.13195222e-03 -1.64303154e-01] [ 1.33824696e-03 7.13399103e-03 9.99973657e-01 -3.69981942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.987719421 meters Centerline goodness : 0.946217 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.17, Z:-0.37 [[ 9.99998434e-01 9.63145042e-04 -1.48462473e-03 7.20730967e+00] [-9.72455357e-04 9.99979787e-01 -6.28324473e-03 -1.68523409e-01] [ 1.47854305e-03 6.28467862e-03 9.99979158e-01 -3.70407078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.017719421 meters Centerline goodness : 0.948378 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.17, Z:-0.37 [[ 9.99995655e-01 -2.49819863e-03 -1.56467510e-03 7.20794801e+00] [ 2.48537608e-03 9.99963748e-01 -8.14404186e-03 -1.74850280e-01] [ 1.58496382e-03 8.14011767e-03 9.99965613e-01 -3.70875460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.047719421 meters Centerline goodness : 0.946344 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.18, Z:-0.37 [[ 9.99996183e-01 -2.03049339e-03 -1.87365009e-03 7.20974322e+00] [ 2.01807256e-03 9.99976134e-01 -6.60746109e-03 -1.78582088e-01] [ 1.88702178e-03 6.60365471e-03 9.99976415e-01 -3.72383780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.077719421 meters Centerline goodness : 0.944567 Centerline is valid? [False, False] Translation: X:7.22, Y:-0.19, Z:-0.38 [[ 9.99988332e-01 -4.77676002e-03 7.19807292e-04 7.22202449e+00] [ 4.77472577e-03 9.99984676e-01 2.80180990e-03 -1.86387966e-01] [-7.33179835e-04 -2.79834032e-03 9.99995816e-01 -3.77046655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.107719421 meters Centerline goodness : 0.946291 Centerline is valid? [False, False] Translation: X:7.22, Y:-0.19, Z:-0.38 [[ 9.99990823e-01 -4.23896462e-03 6.19818202e-04 7.22252441e+00] [ 4.23633408e-03 9.99982267e-01 4.18549505e-03 -1.90655390e-01] [-6.37549376e-04 -4.18283089e-03 9.99991049e-01 -3.77262085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.137719421 meters Centerline goodness : 0.952223 Centerline is valid? [False, True] Translation: X:7.22, Y:-0.20, Z:-0.37 [[ 9.99987443e-01 -4.89225880e-03 1.08629272e-03 7.22040896e+00] [ 4.88725208e-03 9.99977639e-01 4.56478528e-03 -1.96782322e-01] [-1.10860054e-03 -4.55941897e-03 9.99988991e-01 -3.74922274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.167719421 meters Centerline goodness : 0.953802 Centerline is valid? [True, True] Translation: X:7.25, Y:-0.20, Z:-0.37 [[ 9.99980729e-01 -6.09911873e-03 1.15869421e-03 7.25133916e+00] [ 6.09910144e-03 9.99981400e-01 1.84494302e-05 -1.95255917e-01] [-1.15878519e-03 -1.13820812e-05 9.99999329e-01 -3.69334311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.197719421 meters Centerline goodness : 0.954856 Centerline is valid? [True, True] Translation: X:7.28, Y:-0.19, Z:-0.37 [[ 9.99939802e-01 -1.09110209e-02 1.15869502e-03 7.28264742e+00] [ 1.09110069e-02 9.99940473e-01 1.83985991e-05 -1.94888697e-01] [-1.15882679e-03 -5.75496221e-06 9.99999329e-01 -3.72701774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.227719421 meters Centerline goodness : 0.951746 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.20, Z:-0.38 [[ 9.99824369e-01 -1.87053045e-02 1.15870011e-03 7.31485467e+00] [ 1.87052961e-02 9.99825040e-01 1.80718452e-05 -2.00520309e-01] [-1.15883543e-03 3.60515747e-06 9.99999329e-01 -3.75063933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.257719421 meters Centerline goodness : 0.951597 Centerline is valid? [True, True] Translation: X:7.35, Y:-0.20, Z:-0.38 [[ 9.99724457e-01 -2.34449990e-02 1.15870507e-03 7.34691550e+00] [ 2.34449941e-02 9.99725128e-01 1.77486360e-05 -2.03548620e-01] [-1.15880269e-03 9.42208803e-06 9.99999329e-01 -3.75288695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.287719421 meters Centerline goodness : 0.953513 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.21, Z:-0.38 [[ 9.99585097e-01 -2.87800444e-02 1.15870647e-03 7.37847290e+00] [ 2.87800433e-02 9.99585769e-01 1.76566067e-05 -2.05036242e-01] [-1.15873465e-03 1.56983414e-05 9.99999329e-01 -3.75540125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.317719421 meters Centerline goodness : 0.956508 Centerline is valid? [True, True] Translation: X:7.41, Y:-0.20, Z:-0.37 [[ 9.99310950e-01 -3.70982758e-02 1.15870751e-03 7.40944703e+00] [ 3.70982804e-02 9.99311622e-01 1.75881786e-05 -2.02557870e-01] [-1.15856237e-03 2.54099964e-05 9.99999329e-01 -3.72144999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.347719421 meters Centerline goodness : 0.961588 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.20, Z:-0.37 [[ 9.99236658e-01 -3.90481619e-02 1.15870938e-03 7.44097493e+00] [ 3.90481679e-02 9.99237329e-01 1.74636939e-05 -2.00664248e-01] [-1.15850759e-03 2.77951154e-05 9.99999329e-01 -3.66852553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.377719421 meters Centerline goodness : 0.961535 Centerline is valid? [True, True] Translation: X:7.47, Y:-0.20, Z:-0.36 [[ 9.99276602e-01 -3.80122386e-02 1.15871114e-03 7.47322525e+00] [ 3.80122441e-02 9.99277273e-01 1.73461202e-05 -2.00857010e-01] [-1.15853308e-03 2.67116387e-05 9.99999329e-01 -3.60550482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.407719421 meters Centerline goodness : 0.961973 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.20, Z:-0.36 [[ 9.99371608e-01 -3.54266474e-02 1.15871262e-03 7.50396622e+00] [ 3.54266512e-02 9.99372279e-01 1.72467135e-05 -2.00903128e-01] [-1.15859627e-03 2.38134322e-05 9.99999329e-01 -3.60017107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.437719421 meters Centerline goodness : 0.960327 Centerline is valid? [True, True] Translation: X:7.54, Y:-0.20, Z:-0.36 [[ 9.99443782e-01 -3.33284206e-02 1.15871372e-03 7.53573493e+00] [ 3.33284231e-02 9.99444454e-01 1.71726746e-05 -1.99035825e-01] [-1.15864234e-03 2.14549782e-05 9.99999329e-01 -3.61823886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.467719420999998 meters Centerline goodness : 0.957081 Centerline is valid? [True, True] Translation: X:7.57, Y:-0.19, Z:-0.37 [[ 9.99675883e-01 -2.54319826e-02 1.15871516e-03 7.56692364e+00] [ 2.54319799e-02 9.99676555e-01 1.70746637e-05 -1.92819586e-01] [-1.15877463e-03 1.23992912e-05 9.99999329e-01 -3.66577116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.497719421 meters Centerline goodness : 0.955309 Centerline is valid? [True, True] Translation: X:7.60, Y:-0.19, Z:-0.37 [[ 9.99799904e-01 -1.99702184e-02 1.15871784e-03 7.59907940e+00] [ 1.99702123e-02 9.99800575e-01 1.68911405e-05 -1.89297120e-01] [-1.15882408e-03 6.25208061e-06 9.99999329e-01 -3.68052733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.527719421 meters Centerline goodness : 0.953699 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.19, Z:-0.37 [[ 9.99955148e-01 -9.39992303e-03 1.15871925e-03 7.63126561e+00] [ 9.39990988e-03 9.99955820e-01 1.67939624e-05 -1.85385706e-01] [-1.15882592e-03 -5.90135263e-06 9.99999329e-01 -3.70074115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.557719420999998 meters Centerline goodness : 0.950988 Centerline is valid? [True, True] Translation: X:7.66, Y:-0.19, Z:-0.37 [[ 9.99986546e-01 -5.05613529e-03 1.15872068e-03 7.66303284e+00] [ 5.05611934e-03 9.99987218e-01 1.66946048e-05 -1.85021584e-01] [-1.15879028e-03 -1.08357502e-05 9.99999329e-01 -3.71341412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.587719421 meters Centerline goodness : 0.951122 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.18, Z:-0.37 [[ 9.99998046e-01 1.60190032e-03 1.15872140e-03 7.69342323e+00] [-1.60192069e-03 9.99998717e-01 1.66445278e-05 -1.83671645e-01] [-1.15869325e-03 -1.85006751e-05 9.99999329e-01 -3.74514076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.617719421 meters Centerline goodness : 0.949996 Centerline is valid? [True, False] Translation: X:7.69, Y:-0.18, Z:-0.38 [[ 9.99982463e-01 5.84138530e-03 9.75632412e-04 7.69489630e+00] [-5.84495278e-03 9.99976093e-01 3.69466011e-03 -1.80795356e-01] [-9.54027154e-04 -3.70029784e-03 9.99992699e-01 -3.75490398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.647719420999998 meters Centerline goodness : 0.948689 Centerline is valid? [False, False] Translation: X:7.70, Y:-0.18, Z:-0.38 [[ 9.99979440e-01 6.37161836e-03 7.22749094e-04 7.69601487e+00] [-6.37410839e-03 9.99973571e-01 3.49688299e-03 -1.78621222e-01] [-7.00449189e-04 -3.50141797e-03 9.99993625e-01 -3.76086987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.677719421 meters Centerline goodness : 0.945753 Centerline is valid? [False, False] Translation: X:7.70, Y:-0.18, Z:-0.38 [[ 9.99962253e-01 8.67550255e-03 4.78560016e-04 7.69882445e+00] [-8.67779121e-03 9.99949808e-01 5.00781629e-03 -1.78429163e-01] [-4.35090673e-04 -5.01178010e-03 9.99987346e-01 -3.78333333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.707719421 meters Centerline goodness : 0.945073 Centerline is valid? [False, False] Translation: X:7.70, Y:-0.18, Z:-0.38 [[ 9.99959724e-01 8.97224636e-03 2.20246498e-04 7.69965761e+00] [-8.97326199e-03 9.99946472e-01 5.15101504e-03 -1.78818704e-01] [-1.74018533e-04 -5.15278391e-03 9.99986709e-01 -3.78546835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.737719420999998 meters Centerline goodness : 0.950605 Centerline is valid? [False, True] Translation: X:7.70, Y:-0.18, Z:-0.38 [[ 9.99973124e-01 7.31930489e-03 4.23132373e-04 7.69707361e+00] [-7.32071713e-03 9.99967292e-01 3.43838369e-03 -1.79046839e-01] [-3.97951955e-04 -3.44138891e-03 9.99993999e-01 -3.75218825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.767719421 meters Centerline goodness : 0.952807 Centerline is valid? [True, True] Translation: X:7.73, Y:-0.18, Z:-0.37 [[ 9.99986667e-01 5.13937682e-03 5.02461694e-04 7.72685786e+00] [-5.13938331e-03 9.99986793e-01 1.16315565e-05 -1.77062120e-01] [-5.02395280e-04 -1.42137447e-05 9.99999874e-01 -3.72191980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.797719421 meters Centerline goodness : 0.953766 Centerline is valid? [True, True] Translation: X:7.76, Y:-0.18, Z:-0.37 [[ 9.99998304e-01 1.77197472e-03 5.02461214e-04 7.75655483e+00] [-1.77198080e-03 9.99998430e-01 1.16522880e-05 -1.78726664e-01] [-5.02439777e-04 -1.25426198e-05 9.99999874e-01 -3.69931809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.827719421 meters Centerline goodness : 0.951902 Centerline is valid? [True, True] Translation: X:7.79, Y:-0.18, Z:-0.37 [[ 9.99999811e-01 -3.54570413e-04 5.02460714e-04 7.78682219e+00] [ 3.54564592e-04 9.99999937e-01 1.16737993e-05 -1.80983693e-01] [-5.02464821e-04 -1.14956423e-05 9.99999874e-01 -3.70852254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.857719421 meters Centerline goodness : 0.951919 Centerline is valid? [True, True] Translation: X:7.82, Y:-0.18, Z:-0.37 [[ 9.99962415e-01 -8.65543603e-03 5.02460714e-04 7.81708923e+00] [ 8.65543126e-03 9.99962541e-01 1.16737993e-05 -1.82434366e-01] [-5.02542934e-04 -7.32434632e-06 9.99999874e-01 -3.72402624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.887719421 meters Centerline goodness : 0.951900 Centerline is valid? [True, True] Translation: X:7.85, Y:-0.18, Z:-0.37 [[ 9.99799323e-01 -2.00265218e-02 5.02460714e-04 7.84879043e+00] [ 2.00265184e-02 9.99799449e-01 1.16737993e-05 -1.82881884e-01] [-5.02593730e-04 -1.60891784e-06 9.99999874e-01 -3.70818435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.917719421 meters Centerline goodness : 0.951900 Centerline is valid? [True, True] Translation: X:7.88, Y:-0.18, Z:-0.37 [[ 9.99801070e-01 -1.99391174e-02 5.02461222e-04 7.88145694e+00] [ 1.99391141e-02 9.99801196e-01 1.16518669e-05 -1.82229543e-01] [-5.02593659e-04 -1.63091736e-06 9.99999874e-01 -3.70834852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.947719421 meters Centerline goodness : 0.949343 Centerline is valid? [True, False] Translation: X:7.88, Y:-0.19, Z:-0.37 [[ 9.99722598e-01 -2.35502405e-02 3.35996196e-04 7.88327014e+00] [ 2.35510680e-02 9.99718939e-01 -2.71845116e-03 -1.85053787e-01] [-2.71881582e-04 2.72561012e-03 9.99996249e-01 -3.72366013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.977719421 meters Centerline goodness : 0.946126 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.19, Z:-0.37 [[ 9.99639943e-01 -2.68323774e-02 9.27130698e-05 7.88596720e+00] [ 2.68325062e-02 9.99627520e-01 -4.98374914e-03 -1.88819190e-01] [ 4.10473017e-05 4.98444243e-03 9.99987577e-01 -3.74930422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.007719421 meters Centerline goodness : 0.939555 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.19, Z:-0.38 [[ 9.99292276e-01 -3.72429957e-02 -5.28259756e-03 7.90568319e+00] [ 3.72258837e-02 9.99301423e-01 -3.30150797e-03 -1.94730825e-01] [ 5.40186531e-03 3.10252205e-03 9.99980597e-01 -3.83215431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.037719421 meters Centerline goodness : 0.939345 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.20, Z:-0.39 [[ 9.99057068e-01 -4.34156944e-02 -2.27835732e-04 7.91788721e+00] [ 4.34160925e-02 9.99054634e-01 2.20913425e-03 -1.99720969e-01] [ 1.31709246e-04 -2.21694292e-03 9.99997534e-01 -3.88472801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.067719421 meters Centerline goodness : 0.941783 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.20, Z:-0.39 [[ 9.98942972e-01 -4.56106503e-02 5.71024051e-03 7.92729207e+00] [ 4.55485685e-02 9.98906234e-01 1.05670718e-02 -2.01762265e-01] [-6.18596586e-03 -1.02958089e-02 9.99927862e-01 -3.91234755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.097719421 meters Centerline goodness : 0.948093 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.20, Z:-0.39 [[ 9.99014726e-01 -4.40767277e-02 5.17875413e-03 7.92646989e+00] [ 4.40000710e-02 9.98932227e-01 1.40854215e-02 -2.02201299e-01] [-5.79406368e-03 -1.38436779e-02 9.99887384e-01 -3.88085809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.127719421 meters Centerline goodness : 0.952913 Centerline is valid? [False, True] Translation: X:7.92, Y:-0.20, Z:-0.38 [[ 9.99122796e-01 -4.15033100e-02 5.57795398e-03 7.92260893e+00] [ 4.14010926e-02 9.98992176e-01 1.73372718e-02 -1.98392165e-01] [-6.29188655e-03 -1.70911301e-02 9.99834139e-01 -3.82905320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.157719421 meters Centerline goodness : 0.954559 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.19, Z:-0.38 [[ 9.99251719e-01 -3.82421155e-02 5.79161336e-03 7.95377855e+00] [ 3.82423437e-02 9.99268491e-01 7.13795057e-05 -1.87854597e-01] [-5.79010645e-03 1.50158775e-04 9.99983226e-01 -3.79787022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.187719421 meters Centerline goodness : 0.951600 Centerline is valid? [True, True] Translation: X:7.99, Y:-0.19, Z:-0.38 [[ 9.99356207e-01 -3.54066183e-02 5.79162181e-03 7.98547802e+00] [ 3.54068029e-02 9.99372980e-01 7.06866565e-05 -1.86289731e-01] [-5.79049313e-03 1.34421663e-04 9.99983226e-01 -3.81736138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.217719420999998 meters Centerline goodness : 0.948935 Centerline is valid? [True, False] Translation: X:7.99, Y:-0.18, Z:-0.39 [[ 9.99478038e-01 -3.18116711e-02 5.62757779e-03 7.99034311e+00] [ 3.17992379e-02 9.99491664e-01 2.28521007e-03 -1.82018480e-01] [-5.69741344e-03 -2.10506459e-03 9.99981554e-01 -3.87135516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.247719421 meters Centerline goodness : 0.948548 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.18, Z:-0.39 [[ 9.99570834e-01 -2.87724543e-02 5.50388229e-03 7.99226429e+00] [ 2.87462313e-02 9.99575286e-01 4.78568523e-03 -1.78924001e-01] [-5.63924062e-03 -4.62541551e-03 9.99973402e-01 -3.89167533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.277719421 meters Centerline goodness : 0.949249 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.17, Z:-0.39 [[ 9.99727857e-01 -2.26525317e-02 5.57455255e-03 7.99125878e+00] [ 2.25976244e-02 9.99697359e-01 9.72301462e-03 -1.71113128e-01] [-5.79311636e-03 -9.59439692e-03 9.99937192e-01 -3.88161526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.307719420999998 meters Centerline goodness : 0.951833 Centerline is valid? [False, True] Translation: X:7.99, Y:-0.17, Z:-0.39 [[ 9.99787898e-01 -1.98320818e-02 5.55413135e-03 7.99048125e+00] [ 1.97634356e-02 9.99730819e-01 1.21530562e-02 -1.68023289e-01] [-5.79365668e-03 -1.20407098e-02 9.99910723e-01 -3.87153547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.337719421 meters Centerline goodness : 0.956167 Centerline is valid? [True, True] Translation: X:8.02, Y:-0.16, Z:-0.38 [[ 9.99808203e-01 -1.87447721e-02 5.67366400e-03 8.02135616e+00] [ 1.87447569e-02 9.99824300e-01 5.58668771e-05 -1.57623268e-01] [-5.67371435e-03 5.04952903e-05 9.99983903e-01 -3.79942018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.367719421 meters Centerline goodness : 0.956771 Centerline is valid? [True, True] Translation: X:8.05, Y:-0.16, Z:-0.38 [[ 9.99795389e-01 -1.94162258e-02 5.67366748e-03 8.05377628e+00] [ 1.94162234e-02 9.99811486e-01 5.55115022e-05 -1.55093285e-01] [-5.67367574e-03 5.46610514e-05 9.99983903e-01 -3.78195636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.397719420999998 meters Centerline goodness : 0.955432 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.15, Z:-0.38 [[ 9.99719154e-01 -2.30092002e-02 5.67367214e-03 8.08597269e+00] [ 2.30092583e-02 9.99735250e-01 5.50308061e-05 -1.51456828e-01] [-5.67343626e-03 7.55316372e-05 9.99983903e-01 -3.81536761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.427719421 meters Centerline goodness : 0.954933 Centerline is valid? [True, True] Translation: X:8.12, Y:-0.15, Z:-0.38 [[ 9.99649981e-01 -2.58403872e-02 5.67367669e-03 8.11842826e+00] [ 2.58404936e-02 9.99666077e-01 5.45577642e-05 -1.49293532e-01] [-5.67319192e-03 9.20719385e-05 9.99983903e-01 -3.83602951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.457719421 meters Centerline goodness : 0.956473 Centerline is valid? [True, True] Translation: X:8.15, Y:-0.14, Z:-0.38 [[ 9.99517522e-01 -3.05374080e-02 5.67368118e-03 8.15012854e+00] [ 3.05375927e-02 9.99533617e-01 5.40866821e-05 -1.42693157e-01] [-5.67268674e-03 1.19199979e-04 9.99983903e-01 -3.82298332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.487719420999998 meters Centerline goodness : 0.956485 Centerline is valid? [True, True] Translation: X:8.18, Y:-0.14, Z:-0.38 [[ 9.99521390e-01 -3.04105360e-02 5.67368568e-03 8.18251655e+00] [ 3.04107214e-02 9.99537486e-01 5.36110743e-05 -1.38975285e-01] [-5.67269186e-03 1.18955459e-04 9.99983903e-01 -3.80634472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.517719421 meters Centerline goodness : 0.955576 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.13, Z:-0.38 [[ 9.99694257e-01 -2.40666272e-02 5.67369013e-03 8.21409844e+00] [ 2.40667131e-02 9.99710353e-01 5.31352326e-05 -1.34963685e-01] [-5.67332555e-03 8.34280858e-05 9.99983903e-01 -3.83641774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.547719421 meters Centerline goodness : 0.953637 Centerline is valid? [True, True] Translation: X:8.25, Y:-0.13, Z:-0.39 [[ 9.99894216e-01 -1.33927919e-02 5.67369342e-03 8.24560875e+00] [ 1.33927080e-02 9.99910312e-01 5.27822801e-05 -1.30088316e-01] [-5.67389146e-03 2.32094227e-05 9.99983903e-01 -3.89585209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.577719421 meters Centerline goodness : 0.955173 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.13, Z:-0.39 [[ 9.99954935e-01 -7.61163416e-03 5.67369769e-03 8.27816807e+00] [ 7.61145983e-03 9.99971031e-01 5.23185504e-05 -1.25370517e-01] [-5.67393156e-03 -9.13107063e-06 9.99983903e-01 -3.90180844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.607719421 meters Centerline goodness : 0.954104 Centerline is valid? [True, True] Translation: X:8.31, Y:-0.12, Z:-0.39 [[ 9.99976681e-01 3.80098646e-03 5.67370193e-03 8.30993996e+00] [-3.80134185e-03 9.99992774e-01 5.18550424e-05 -1.17795457e-01] [-5.67346383e-03 -7.34215137e-05 9.99983903e-01 -3.87431786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.637719421 meters Centerline goodness : 0.954098 Centerline is valid? [True, True] Translation: X:8.34, Y:-0.12, Z:-0.39 [[ 9.99945186e-01 8.79960988e-03 5.67370632e-03 8.34075336e+00] [-8.80004296e-03 9.99961278e-01 5.13703589e-05 -1.15858581e-01] [-5.67303458e-03 -1.01296402e-04 9.99983903e-01 -3.90549079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.667719421 meters Centerline goodness : 0.953347 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.12, Z:-0.39 [[ 9.99813684e-01 1.84500777e-02 5.67370883e-03 8.37077667e+00] [-1.84506645e-02 9.99829771e-01 5.10910177e-05 -1.17437911e-01] [-5.67180037e-03 -1.55765197e-04 9.99983903e-01 -3.90494474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.697719421 meters Centerline goodness : 0.954369 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.12, Z:-0.39 [[ 9.99696631e-01 2.39677709e-02 5.67370775e-03 8.39937953e+00] [-2.39684471e-02 9.99712714e-01 5.12114983e-05 -1.20645648e-01] [-5.67085034e-03 -1.87185926e-04 9.99983903e-01 -3.93023840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.727719421 meters Centerline goodness : 0.954757 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.12, Z:-0.39 [[ 9.99651518e-01 2.57808388e-02 5.67370339e-03 8.42815977e+00] [-2.57815469e-02 9.99667599e-01 5.16892789e-05 -1.21151420e-01] [-5.67048486e-03 -1.97948116e-04 9.99983903e-01 -3.93275983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.757719421 meters Centerline goodness : 0.955677 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.12, Z:-0.39 [[ 9.99620633e-01 2.69517928e-02 5.67369891e-03 8.45549668e+00] [-2.69525225e-02 9.99636713e-01 5.21767679e-05 -1.21391493e-01] [-5.67023147e-03 -2.05077471e-04 9.99983903e-01 -3.93537446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.787719421 meters Centerline goodness : 0.953467 Centerline is valid? [True, True] Translation: X:8.48, Y:-0.12, Z:-0.40 [[ 9.99622667e-01 2.68762572e-02 5.67369332e-03 8.48284140e+00] [-2.68769891e-02 9.99638747e-01 5.27782150e-05 -1.23396733e-01] [-5.67022520e-03 -2.05250093e-04 9.99983903e-01 -3.95361725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.817719421 meters Centerline goodness : 0.953999 Centerline is valid? [True, True] Translation: X:8.51, Y:-0.13, Z:-0.40 [[ 9.99696019e-01 2.39933004e-02 5.67368777e-03 8.51174711e+00] [-2.39939892e-02 9.99712101e-01 5.33675467e-05 -1.33537732e-01] [-5.67077386e-03 -1.89485727e-04 9.99983903e-01 -3.97991224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.847719421 meters Centerline goodness : 0.953626 Centerline is valid? [True, True] Translation: X:8.54, Y:-0.14, Z:-0.40 [[ 9.99744216e-01 2.18931793e-02 5.67368329e-03 8.53948457e+00] [-2.18938371e-02 9.99760300e-01 5.38402940e-05 -1.39093743e-01] [-5.67114457e-03 -1.78045220e-04 9.99983903e-01 -3.99418307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.877719421 meters Centerline goodness : 0.955373 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.15, Z:-0.40 [[ 9.99838639e-01 1.70441928e-02 5.67367766e-03 8.56843794e+00] [-1.70447759e-02 9.99854726e-01 5.44262607e-05 -1.45767843e-01] [-5.67192577e-03 -1.51124043e-04 9.99983903e-01 -3.98481969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.907719421 meters Centerline goodness : 0.956534 Centerline is valid? [True, True] Translation: X:8.60, Y:-0.15, Z:-0.40 [[ 9.99870051e-01 1.50894441e-02 5.67367435e-03 8.59766599e+00] [-1.50899977e-02 9.99886138e-01 5.47698611e-05 -1.46870116e-01] [-5.67220189e-03 -1.40378477e-04 9.99983903e-01 -3.97698715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.937719421 meters Centerline goodness : 0.956549 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.15, Z:-0.40 [[ 9.99931192e-01 1.02674942e-02 5.67367215e-03 8.62766960e+00] [-1.02679715e-02 9.99947281e-01 5.49964853e-05 -1.52930794e-01] [-5.67280837e-03 -1.13249805e-04 9.99983903e-01 -3.99295043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.967719420999998 meters Centerline goodness : 0.953735 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.16, Z:-0.40 [[ 9.99952979e-01 7.86444268e-03 5.67367106e-03 8.65869593e+00] [-7.86488192e-03 9.99969070e-01 5.51092796e-05 -1.58668391e-01] [-5.67306216e-03 -9.97294412e-05 9.99983903e-01 -3.97080638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.997719421 meters Centerline goodness : 0.956224 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.17, Z:-0.40 [[ 9.99979888e-01 2.83441129e-03 5.67367106e-03 8.68883364e+00] [-2.83476959e-03 9.99995981e-01 5.51092796e-05 -1.67411221e-01] [-5.67349205e-03 -7.11917213e-05 9.99983903e-01 -3.99454654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.027719421 meters Centerline goodness : 0.957072 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.17, Z:-0.40 [[ 9.99983324e-01 1.07770874e-03 5.67367222e-03 8.72074051e+00] [-1.07803808e-03 9.99999417e-01 5.49888253e-05 -1.69954317e-01] [-5.67360966e-03 -6.11043430e-05 9.99983903e-01 -3.96951862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.057719420999998 meters Centerline goodness : 0.958520 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.17, Z:-0.40 [[ 9.99982588e-01 -1.62280480e-03 5.67367673e-03 8.75226544e+00] [ 1.62252159e-03 9.99998682e-01 5.45200304e-05 -1.73776970e-01] [-5.67375773e-03 -4.53134181e-05 9.99983903e-01 -4.00017251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.087719421 meters Centerline goodness : 0.955678 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.18, Z:-0.40 [[ 9.99977665e-01 -3.53256332e-03 5.67369128e-03 8.78488983e+00] [ 3.53231969e-03 9.99993760e-01 5.29613532e-05 -1.75307328e-01] [-5.67384296e-03 -3.29188789e-05 9.99983903e-01 -3.99138216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.117719421 meters Centerline goodness : 0.955800 Centerline is valid? [True, True] Translation: X:8.82, Y:-0.18, Z:-0.40 [[ 9.99951144e-01 -8.09441229e-03 5.67370646e-03 8.81597751e+00] [ 8.09425161e-03 9.99967240e-01 5.12819871e-05 -1.80548823e-01] [-5.67393568e-03 -5.35507400e-06 9.99983903e-01 -4.00874132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.147719420999998 meters Centerline goodness : 0.957073 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.18, Z:-0.40 [[ 9.99926326e-01 -1.07308339e-02 5.67372003e-03 8.84682850e+00] [ 1.07307244e-02 9.99942423e-01 4.97333032e-05 -1.83422314e-01] [-5.67392703e-03 1.11534870e-05 9.99983903e-01 -4.00347805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.177719421 meters Centerline goodness : 0.959352 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.19, Z:-0.40 [[ 9.99884001e-01 -1.41348113e-02 5.67372307e-03 8.87852267e+00] [ 1.41347586e-02 9.99900098e-01 4.93838398e-05 -1.87704791e-01] [-5.67385429e-03 3.08185948e-05 9.99983903e-01 -3.97657691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.207719421 meters Centerline goodness : 0.959490 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.19, Z:-0.40 [[ 9.99878287e-01 -1.45334353e-02 5.67372942e-03 8.90949704e+00] [ 1.45333932e-02 9.99894383e-01 4.86431394e-05 -1.87350329e-01] [-5.67383714e-03 3.38213220e-05 9.99983903e-01 -3.99133538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.237719420999998 meters Centerline goodness : 0.959351 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.19, Z:-0.40 [[ 9.99861627e-01 -1.56376241e-02 5.67373250e-03 8.94159666e+00] [ 1.56376019e-02 9.99877724e-01 4.82817727e-05 -1.86548380e-01] [-5.67379375e-03 4.04484783e-05 9.99983903e-01 -3.99711257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.267719421 meters Centerline goodness : 0.958664 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.19, Z:-0.40 [[ 9.99847183e-01 -1.65353756e-02 5.67373643e-03 8.97322186e+00] [ 1.65353705e-02 9.99863280e-01 4.78148425e-05 -1.87828733e-01] [-5.67375136e-03 4.60097983e-05 9.99983903e-01 -4.01984505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.297719421 meters Centerline goodness : 0.958177 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.19, Z:-0.40 [[ 9.99797351e-01 -1.93149111e-02 5.67373935e-03 9.00544906e+00] [ 1.93149527e-02 9.99813448e-01 4.74664709e-05 -1.88266395e-01] [-5.67359771e-03 6.21311554e-05 9.99983903e-01 -4.01127196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.327719421 meters Centerline goodness : 0.959772 Centerline is valid? [True, True] Translation: X:9.04, Y:-0.18, Z:-0.40 [[ 9.99678742e-01 -2.47026439e-02 5.67374307e-03 9.03754475e+00] [ 2.47027748e-02 9.99694839e-01 4.70170405e-05 -1.80568120e-01] [-5.67317311e-03 9.31552617e-05 9.99983903e-01 -3.99362638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.357719421 meters Centerline goodness : 0.958629 Centerline is valid? [True, True] Translation: X:9.07, Y:-0.18, Z:-0.40 [[ 9.99570840e-01 -2.87392320e-02 5.67374695e-03 9.06978005e+00] [ 2.87394306e-02 9.99586936e-01 4.65442235e-05 -1.77210821e-01] [-5.67274098e-03 1.16536008e-04 9.99983903e-01 -3.99839920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.387719421 meters Centerline goodness : 0.957129 Centerline is valid? [True, True] Translation: X:9.10, Y:-0.18, Z:-0.40 [[ 9.99259114e-01 -3.80661574e-02 5.67375079e-03 9.10169036e+00] [ 3.80665088e-02 9.99275207e-01 4.60711149e-05 -1.75075501e-01] [-5.67139225e-03 1.69942903e-04 9.99983903e-01 -4.02912821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.417719421 meters Centerline goodness : 0.956092 Centerline is valid? [True, True] Translation: X:9.13, Y:-0.17, Z:-0.40 [[ 9.99052895e-01 -4.31407255e-02 5.67375461e-03 9.13433096e+00] [ 4.31411614e-02 9.99068986e-01 4.55962616e-05 -1.73670923e-01] [-5.67043932e-03 1.99219286e-04 9.99983903e-01 -4.02936054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.447719421 meters Centerline goodness : 0.956856 Centerline is valid? [True, True] Translation: X:9.17, Y:-0.17, Z:-0.40 [[ 9.98554780e-01 -5.34430491e-02 5.67375836e-03 9.16518718e+00] [ 5.34436536e-02 9.98570866e-01 4.51246546e-05 -1.69151594e-01] [-5.66806140e-03 2.58166937e-04 9.99983903e-01 -4.03534609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.477719421 meters Centerline goodness : 0.956431 Centerline is valid? [True, True] Translation: X:9.20, Y:-0.17, Z:-0.40 [[ 9.98276051e-01 -5.84186115e-02 5.67376112e-03 9.19779598e+00] [ 5.84192981e-02 9.98292133e-01 4.47744715e-05 -1.65859288e-01] [-5.66668676e-03 2.86759860e-04 9.99983903e-01 -4.04164142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.507719421 meters Centerline goodness : 0.956036 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.16, Z:-0.40 [[ 9.98035104e-01 -6.23998314e-02 5.67376473e-03 9.23116724e+00] [ 6.24005848e-02 9.98051184e-01 4.43124578e-05 -1.62326993e-01] [-5.66547270e-03 3.09820849e-04 9.99983903e-01 -4.03475339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.537719421 meters Centerline goodness : 0.958852 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.15, Z:-0.40 [[ 9.97650546e-01 -6.82729522e-02 5.67377018e-03 9.26201002e+00] [ 6.82738042e-02 9.97666621e-01 4.36035297e-05 -1.53228546e-01] [-5.66350806e-03 3.43868789e-04 9.99983903e-01 -4.01092273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.567719421 meters Centerline goodness : 0.958650 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.14, Z:-0.40 [[ 9.97282718e-01 -7.34505824e-02 5.67377284e-03 9.29424739e+00] [ 7.34515199e-02 9.97298788e-01 4.32542309e-05 -1.43397426e-01] [-5.66162383e-03 3.73610542e-04 9.99983903e-01 -3.98576121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.597719421 meters Centerline goodness : 0.958159 Centerline is valid? [True, True] Translation: X:9.33, Y:-0.14, Z:-0.40 [[ 9.97154182e-01 -7.51754279e-02 5.67377632e-03 9.32719405e+00] [ 7.51763957e-02 9.97170250e-01 4.27928763e-05 -1.39986519e-01] [-5.66093793e-03 3.83862958e-04 9.99983903e-01 -3.99352476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.627719421 meters Centerline goodness : 0.954963 Centerline is valid? [True, True] Translation: X:9.36, Y:-0.13, Z:-0.40 [[ 9.97010427e-01 -7.70585243e-02 5.67378145e-03 9.35825470e+00] [ 7.70595264e-02 9.97026493e-01 4.21017783e-05 -1.33290684e-01] [-5.66015472e-03 3.95243000e-04 9.99983903e-01 -4.03710014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.657719421 meters Centerline goodness : 0.956006 Centerline is valid? [True, True] Translation: X:9.39, Y:-0.13, Z:-0.40 [[ 9.97050985e-01 -7.65319616e-02 5.67378397e-03 9.38978614e+00] [ 7.65329571e-02 9.97067051e-01 4.17589721e-05 -1.27415433e-01] [-5.66033895e-03 3.92595641e-04 9.99983903e-01 -4.04457420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.687719421 meters Centerline goodness : 0.954988 Centerline is valid? [True, True] Translation: X:9.42, Y:-0.11, Z:-0.41 [[ 9.97061806e-01 -7.63908554e-02 5.67378804e-03 9.42194983e+00] [ 7.63918519e-02 9.97077872e-01 4.11991028e-05 -1.12591638e-01] [-5.66035574e-03 3.92353123e-04 9.99983903e-01 -4.05445991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.717719420999998 meters Centerline goodness : 0.953068 Centerline is valid? [True, True] Translation: X:9.45, Y:-0.11, Z:-0.41 [[ 9.97001699e-01 -7.71713676e-02 5.67379123e-03 9.45464200e+00] [ 7.71723792e-02 9.97017764e-01 4.07545294e-05 -1.05807813e-01] [-5.66001573e-03 3.97227633e-04 9.99983903e-01 -4.07911783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.747719421 meters Centerline goodness : 0.950233 Centerline is valid? [True, True] Translation: X:9.49, Y:-0.10, Z:-0.41 [[ 9.96957971e-01 -7.77342462e-02 5.67379514e-03 9.48651954e+00] [ 7.77352699e-02 9.96974035e-01 4.02027028e-05 -9.58188907e-02] [-5.65975156e-03 4.00973592e-04 9.99983903e-01 -4.11479979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.777719421 meters Centerline goodness : 0.948855 Centerline is valid? [True, False] Translation: X:9.49, Y:-0.09, Z:-0.41 [[ 9.96845017e-01 -7.91900799e-02 5.37989819e-03 9.48757640e+00] [ 7.92066841e-02 9.96853861e-01 -2.94642822e-03 -9.04336110e-02] [-5.12964439e-03 3.36325618e-03 9.99981187e-01 -4.12632684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.807719420999998 meters Centerline goodness : 0.948855 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.09, Z:-0.41 [[ 9.96845017e-01 -7.91900799e-02 5.37989819e-03 9.48757640e+00] [ 7.92066841e-02 9.96853861e-01 -2.94642822e-03 -9.04336110e-02] [-5.12964439e-03 3.36325618e-03 9.99981187e-01 -4.12632684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.837719421 meters Centerline goodness : 0.951501 Centerline is valid? [False, True] Translation: X:9.49, Y:-0.08, Z:-0.41 [[ 9.96841688e-01 -7.93570477e-02 3.01788473e-03 9.49106167e+00] [ 7.93622862e-02 9.96844462e-01 -1.65742144e-03 -8.30828685e-02] [-2.87683361e-03 1.89169302e-03 9.99994073e-01 -4.11812909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.867719421 meters Centerline goodness : 0.952292 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.07, Z:-0.41 [[ 9.96630918e-01 -8.19618185e-02 3.01236322e-03 9.52219562e+00] [ 8.19621604e-02 9.96635442e-01 9.98283725e-06 -7.27967726e-02] [-3.00304616e-03 2.36950593e-04 9.99995463e-01 -4.13619376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.897719420999998 meters Centerline goodness : 0.953253 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.07, Z:-0.41 [[ 9.96524122e-01 -8.32502216e-02 3.01236563e-03 9.55488124e+00] [ 8.32505717e-02 9.96528646e-01 9.19249071e-06 -6.68175167e-02] [-3.00267392e-03 2.41620622e-04 9.99995463e-01 -4.10626579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.927719421 meters Centerline goodness : 0.955005 Centerline is valid? [True, True] Translation: X:9.59, Y:-0.06, Z:-0.41 [[ 9.96485920e-01 -8.37062507e-02 3.01236653e-03 9.58572631e+00] [ 8.37066038e-02 9.96490444e-01 8.88824719e-06 -6.08871136e-02] [-3.00253846e-03 2.43297958e-04 9.99995463e-01 -4.10881694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.957719421 meters Centerline goodness : 0.960252 Centerline is valid? [True, True] Translation: X:9.62, Y:-0.05, Z:-0.41 [[ 9.96551163e-01 -8.29259040e-02 3.01236774e-03 9.61762419e+00] [ 8.29262549e-02 9.96555686e-01 8.45605933e-06 -4.89054411e-02] [-3.00269343e-03 2.41377479e-04 9.99995463e-01 -4.08037566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.987719420999998 meters Centerline goodness : 0.960985 Centerline is valid? [True, True] Translation: X:9.65, Y:-0.04, Z:-0.41 [[ 9.96697175e-01 -8.11521164e-02 3.01236837e-03 9.65019373e+00] [ 8.11524599e-02 9.96701700e-01 8.22384870e-06 -4.23159315e-02] [-3.00310006e-03 2.36264417e-04 9.99995463e-01 -4.08116000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.017719421 meters Centerline goodness : 0.960225 Centerline is valid? [True, True] Translation: X:9.68, Y:-0.03, Z:-0.41 [[ 9.97277630e-01 -7.36766873e-02 3.01236900e-03 9.68211695e+00] [ 7.36769976e-02 9.97282157e-01 7.98841195e-06 -2.91287804e-02] [-3.00477041e-03 2.13975639e-04 9.99995463e-01 -4.09235976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.047719421 meters Centerline goodness : 0.961699 Centerline is valid? [True, True] Translation: X:9.71, Y:-0.02, Z:-0.41 [[ 9.97814392e-01 -6.60103380e-02 3.01236963e-03 9.71341967e+00] [ 6.60106142e-02 9.97818921e-01 7.74247029e-06 -1.77094955e-02] [-3.00631050e-03 1.91122821e-04 9.99995463e-01 -4.10123961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.077719421 meters Centerline goodness : 0.965491 Centerline is valid? [True, True] Translation: X:9.75, Y:-0.01, Z:-0.41 [[ 9.98055295e-01 -6.22619833e-02 3.01237146e-03 9.74508795e+00] [ 6.22622449e-02 9.98059824e-01 6.95052307e-06 -1.14941805e-02] [-3.00695968e-03 1.80620003e-04 9.99995463e-01 -4.06973337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.107719421 meters Centerline goodness : 0.963276 Centerline is valid? [True, True] Translation: X:9.78, Y:0.00, Z:-0.40 [[ 9.98512034e-01 -5.44485421e-02 3.01237241e-03 9.77685024e+00] [ 5.44487696e-02 9.98516565e-01 6.50992452e-06 3.92109020e-03] [-3.00825821e-03 1.57519733e-04 9.99995463e-01 -4.04750445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.137719421 meters Centerline goodness : 0.964539 Centerline is valid? [True, True] Translation: X:9.81, Y:0.01, Z:-0.40 [[ 9.98812906e-01 -4.86179513e-02 3.01237403e-03 9.80862633e+00] [ 4.86181549e-02 9.98817438e-01 5.64417741e-06 9.11642620e-03] [-3.00908612e-03 1.40818590e-04 9.99995463e-01 -4.02875842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.167719421 meters Centerline goodness : 0.960201 Centerline is valid? [True, True] Translation: X:9.84, Y:0.02, Z:-0.41 [[ 9.99283299e-01 -3.77334531e-02 3.01237457e-03 9.84068002e+00] [ 3.77336082e-02 9.99287834e-01 5.34022119e-06 1.58402467e-02] [-3.01043076e-03 1.08331368e-04 9.99995463e-01 -4.07544260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.197719421 meters Centerline goodness : 0.960883 Centerline is valid? [True, True] Translation: X:9.87, Y:0.02, Z:-0.41 [[ 9.99476151e-01 -3.22234322e-02 3.01237499e-03 9.87305765e+00] [ 3.22235631e-02 9.99480686e-01 5.09297337e-06 2.00973861e-02] [-3.01097473e-03 9.19791501e-05 9.99995463e-01 -4.07211581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.227719421 meters Centerline goodness : 0.958108 Centerline is valid? [True, True] Translation: X:9.90, Y:0.03, Z:-0.41 [[ 9.99757444e-01 -2.18169242e-02 3.01237539e-03 9.90456681e+00] [ 2.18170086e-02 9.99761981e-01 4.84572552e-06 3.00069829e-02] [-3.01176410e-03 6.08764694e-05 9.99995463e-01 -4.10100718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.257719421 meters Centerline goodness : 0.955669 Centerline is valid? [True, True] Translation: X:9.94, Y:0.04, Z:-0.41 [[ 9.99932933e-01 -1.11828018e-02 3.01237576e-03 9.93591769e+00] [ 1.11828387e-02 9.99937470e-01 4.60168608e-06 4.08951572e-02] [-3.01223885e-03 2.90855348e-05 9.99995463e-01 -4.11461064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.287719421 meters Centerline goodness : 0.957756 Centerline is valid? [True, True] Translation: X:9.96, Y:0.05, Z:-0.41 [[ 9.99959779e-01 -8.44788127e-03 3.01237603e-03 9.96101926e+00] [ 8.44790629e-03 9.99964316e-01 4.41864208e-06 4.99745703e-02] [-3.01230586e-03 2.10298060e-05 9.99995463e-01 -4.11807426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.317719421 meters Centerline goodness : 0.953962 Centerline is valid? [True, True] Translation: X:10.00, Y:0.05, Z:-0.41 [[ 9.99995377e-01 -4.16009812e-04 3.01226190e-03 9.99702279e+00] [ 4.15826957e-04 9.99999912e-01 6.13296854e-05 5.05110831e-02] [-3.01228714e-03 -6.00768221e-05 9.99995461e-01 -4.14064969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.347719421 meters Centerline goodness : 0.949940 Centerline is valid? [True, False] Translation: X:10.00, Y:0.05, Z:-0.42 [[ 9.99990928e-01 3.13434901e-03 2.88430444e-03 1.00011308e+01] [-3.13950423e-03 9.99993479e-01 1.78454638e-03 5.24128408e-02] [-2.87869225e-03 -1.79358547e-03 9.99994248e-01 -4.17210352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.377719421 meters Centerline goodness : 0.953476 Centerline is valid? [False, True] Translation: X:10.00, Y:0.05, Z:-0.42 [[ 9.99990427e-01 3.41743932e-03 2.73270424e-03 1.00018367e+01] [-3.42138286e-03 9.99993111e-01 1.43971936e-03 5.33097759e-02] [-2.72776526e-03 -1.44905520e-03 9.99995230e-01 -4.17316456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.407719421 meters Centerline goodness : 0.959730 Centerline is valid? [True, True] Translation: X:10.03, Y:0.06, Z:-0.41 [[ 9.99991910e-01 2.94248476e-03 2.74260673e-03 1.00326125e+01] [-2.94254825e-03 9.99995671e-01 1.91122828e-05 6.41953046e-02] [-2.74253862e-03 -2.71823808e-05 9.99996239e-01 -4.09892221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.437719421 meters Centerline goodness : 0.956670 Centerline is valid? [True, True] Translation: X:10.06, Y:0.06, Z:-0.41 [[ 9.99946066e-01 1.00171744e-02 2.74260645e-03 1.00627800e+01] [-1.00172646e-02 9.99949826e-01 1.91518924e-05 6.42792396e-02] [-2.74227700e-03 -4.66242740e-05 9.99996239e-01 -4.08765654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.467719420999998 meters Centerline goodness : 0.955156 Centerline is valid? [True, True] Translation: X:10.09, Y:0.06, Z:-0.41 [[ 9.99916488e-01 1.26291224e-02 2.74260599e-03 1.00936740e+01] [-1.26292226e-02 9.99920248e-01 1.92173348e-05 6.37358414e-02] [-2.74214457e-03 -5.38527114e-05 9.99996239e-01 -4.12128831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.497719421 meters Centerline goodness : 0.952963 Centerline is valid? [True, True] Translation: X:10.12, Y:0.06, Z:-0.41 [[ 9.99844586e-01 1.74150150e-02 2.74260593e-03 1.01237513e+01] [-1.74151332e-02 9.99848345e-01 1.92269125e-05 5.53756984e-02] [-2.74185516e-03 -6.69867720e-05 9.99996239e-01 -4.14047159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.527719421 meters Centerline goodness : 0.957517 Centerline is valid? [True, True] Translation: X:10.15, Y:0.06, Z:-0.41 [[ 9.99859623e-01 1.65291610e-02 2.74260589e-03 1.01516939e+01] [-1.65292759e-02 9.99863382e-01 1.92317407e-05 5.56004343e-02] [-2.74191332e-03 -6.45623306e-05 9.99996239e-01 -4.13588380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.557719420999998 meters Centerline goodness : 0.956379 Centerline is valid? [True, True] Translation: X:10.18, Y:0.05, Z:-0.41 [[ 9.99769006e-01 2.13169529e-02 2.74257614e-03 1.01811158e+01] [-2.13170972e-02 9.99772765e-01 2.33741499e-05 4.91078737e-02] [-2.74145466e-03 -8.18325127e-05 9.99996239e-01 -4.14894797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.587719421 meters Centerline goodness : 0.949882 Centerline is valid? [True, False] Translation: X:10.18, Y:0.05, Z:-0.42 [[ 9.99816697e-01 1.89686292e-02 2.60070552e-03 1.01821711e+01] [-1.89609693e-02 9.99815905e-01 -2.93898671e-03 4.85388869e-02] [-2.65597529e-03 2.88913608e-03 9.99992299e-01 -4.15223414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.617719421 meters Centerline goodness : 0.952461 Centerline is valid? [False, True] Translation: X:10.18, Y:0.04, Z:-0.42 [[ 9.99863056e-01 1.64042251e-02 2.18433588e-03 1.01836115e+01] [-1.63930383e-02 9.99852900e-01 -5.04440834e-03 4.40160758e-02] [-2.26676418e-03 5.00790963e-03 9.99984891e-01 -4.15817363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.647719420999998 meters Centerline goodness : 0.950326 Centerline is valid? [True, True] Translation: X:10.21, Y:0.04, Z:-0.42 [[ 9.99863297e-01 1.64019084e-02 2.08919099e-03 1.02125574e+01] [-1.64020259e-02 9.99865477e-01 3.91130999e-05 3.74366322e-02] [-2.08826842e-03 -7.33747178e-05 9.99997817e-01 -4.17929560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.677719421 meters Centerline goodness : 0.947445 Centerline is valid? [True, False] Translation: X:10.21, Y:0.03, Z:-0.42 [[ 9.99922311e-01 1.22710568e-02 2.18931071e-03 1.02139988e+01] [-1.22627617e-02 9.99917729e-01 -3.76290623e-03 3.04381817e-02] [-2.23530543e-03 3.73576690e-03 9.99990524e-01 -4.19503823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.707719421 meters Centerline goodness : 0.948589 Centerline is valid? [False, False] Translation: X:10.22, Y:0.03, Z:-0.42 [[ 9.99951165e-01 9.69551238e-03 1.91431548e-03 1.02158390e+01] [-9.68402752e-03 9.99935583e-01 -5.92025040e-03 2.69047078e-02] [-1.97159203e-03 5.90142300e-03 9.99980643e-01 -4.21022422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.737719420999998 meters Centerline goodness : 0.948603 Centerline is valid? [False, False] Translation: X:10.22, Y:0.02, Z:-0.42 [[ 9.99974411e-01 7.01858450e-03 1.38469040e-03 1.02181055e+01] [-7.00861143e-03 9.99950373e-01 -7.08035548e-03 1.91740534e-02] [-1.43431576e-03 7.07046954e-03 9.99973975e-01 -4.22808681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.767719421 meters Centerline goodness : 0.947154 Centerline is valid? [False, False] Translation: X:10.22, Y:0.02, Z:-0.42 [[ 9.99991060e-01 4.11091388e-03 9.90594715e-04 1.02197214e+01] [-4.10149865e-03 9.99948098e-01 -9.32624889e-03 1.58048540e-02] [-1.02888271e-03 9.32210259e-03 9.99956019e-01 -4.23812112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.797719421 meters Centerline goodness : 0.943421 Centerline is valid? [False, False] Translation: X:10.23, Y:0.00, Z:-0.42 [[ 9.99982802e-01 -5.71305454e-03 -1.32508257e-03 1.02276178e+01] [ 5.70993676e-03 9.99980949e-01 -2.34486090e-03 4.86141260e-03] [ 1.33845364e-03 2.33725444e-03 9.99996373e-01 -4.23590067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.827719420999998 meters Centerline goodness : 0.940421 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.00, Z:-0.42 [[ 9.99954720e-01 -9.37107055e-03 -1.65580212e-03 1.02285586e+01] [ 9.36313745e-03 9.99944951e-01 -4.73559359e-03 -1.25078736e-04] [ 1.70008855e-03 4.71987566e-03 9.99987416e-01 -4.24017525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.857719421 meters Centerline goodness : 0.938311 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.01, Z:-0.42 [[ 9.99847303e-01 -1.73562325e-02 -2.03262758e-03 1.02294264e+01] [ 1.73336941e-02 9.99793300e-01 -1.06254875e-02 -9.34079776e-03] [ 2.21662587e-03 1.05886321e-02 9.99941482e-01 -4.23908064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.887719421 meters Centerline goodness : 0.939908 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.02, Z:-0.42 [[ 9.99631102e-01 -2.68183919e-02 4.29351406e-03 1.02367189e+01] [ 2.68509194e-02 9.99609742e-01 -7.70656590e-03 -2.11478068e-02] [-4.08516077e-03 7.81900777e-03 9.99961087e-01 -4.24683184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.917719421 meters Centerline goodness : 0.940829 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.03, Z:-0.42 [[ 9.99541121e-01 -2.99802201e-02 4.32829791e-03 1.02371809e+01] [ 3.00216626e-02 9.99500711e-01 -9.85028657e-03 -2.63174832e-02] [-4.03082307e-03 9.97570918e-03 9.99942117e-01 -4.24881538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.947719421 meters Centerline goodness : 0.942409 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.03, Z:-0.43 [[ 9.99433421e-01 -3.33526345e-02 4.52099555e-03 1.02376112e+01] [ 3.34011745e-02 9.99380120e-01 -1.11237127e-02 -3.47474337e-02] [-4.14718795e-03 1.12684168e-02 9.99927909e-01 -4.25409830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.977719421 meters Centerline goodness : 0.939983 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.04, Z:-0.43 [[ 9.99442885e-01 -3.30712164e-02 4.49595624e-03 1.02379258e+01] [ 3.31137598e-02 9.99404103e-01 -9.74259510e-03 -3.87209446e-02] [-4.17107764e-03 9.88604537e-03 9.99942432e-01 -4.25659119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.007719421 meters Centerline goodness : 0.939957 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.05, Z:-0.43 [[ 9.99450849e-01 -3.28299544e-02 4.49381252e-03 1.02382965e+01] [ 3.28658498e-02 9.99426448e-01 -8.16161304e-03 -4.60730897e-02] [-4.22328969e-03 8.30482405e-03 9.99956596e-01 -4.25765426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.037719421 meters Centerline goodness : 0.940258 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.05, Z:-0.43 [[ 9.99485560e-01 -3.17904087e-02 4.24081546e-03 1.02398487e+01] [ 3.18172700e-02 9.99473055e-01 -6.42448280e-03 -4.97520066e-02] [-4.03434385e-03 6.55610896e-03 9.99970370e-01 -4.27013114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.067719421 meters Centerline goodness : 0.937397 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.06, Z:-0.43 [[ 9.99534802e-01 -3.02409032e-02 3.95812116e-03 1.02421177e+01] [ 3.02553600e-02 9.99535556e-01 -3.64498948e-03 -5.66022741e-02] [-3.84605506e-03 3.76304822e-03 9.99985524e-01 -4.28997528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.097719421 meters Centerline goodness : 0.939413 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.06, Z:-0.43 [[ 9.99554633e-01 -2.95960306e-02 3.82231838e-03 1.02438768e+01] [ 2.96042796e-02 9.99559449e-01 -2.11984561e-03 -6.02474604e-02] [-3.75789544e-03 2.23205848e-03 9.99990448e-01 -4.30821177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.127719421 meters Centerline goodness : 0.935800 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.06, Z:-0.43 [[ 9.99569990e-01 -2.90789452e-02 3.77495150e-03 1.02455943e+01] [ 2.90809972e-02 9.99576938e-01 -4.89829645e-04 -6.35003644e-02] [-3.75911073e-03 5.99398367e-04 9.99992755e-01 -4.32640991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.157719421 meters Centerline goodness : 0.937371 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.07, Z:-0.43 [[ 9.99657811e-01 -2.59198546e-02 3.52449052e-03 1.02463022e+01] [ 2.59063533e-02 9.99657061e-01 3.82389781e-03 -6.50112278e-02] [-3.62239671e-03 -3.73128262e-03 9.99986478e-01 -4.33316417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.187719421 meters Centerline goodness : 0.936721 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.06, Z:-0.43 [[ 9.99663376e-01 -2.57263302e-02 3.36000909e-03 1.02470321e+01] [ 2.57126302e-02 9.99661136e-01 4.05881655e-03 -6.47016548e-02] [-3.46328896e-03 -3.97105559e-03 9.99986118e-01 -4.33265362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.217719420999998 meters Centerline goodness : 0.937286 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.06, Z:-0.43 [[ 9.99680065e-01 -2.50947798e-02 3.16543452e-03 1.02479633e+01] [ 2.50806071e-02 9.99675571e-01 4.44027798e-03 -6.46524553e-02] [-3.27583536e-03 -4.35946636e-03 9.99985132e-01 -4.33737851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.247719421 meters Centerline goodness : 0.936137 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.06, Z:-0.44 [[ 9.99717065e-01 -2.36027379e-02 2.94963304e-03 1.02499589e+01] [ 2.35865960e-02 9.99707254e-01 5.39244198e-03 -6.39389887e-02] [-3.07604595e-03 -5.32134446e-03 9.99981110e-01 -4.35355198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.277719421 meters Centerline goodness : 0.937316 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.06, Z:-0.44 [[ 9.99833076e-01 -1.80151509e-02 3.04538658e-03 1.02515525e+01] [ 1.79860130e-02 9.99794624e-01 9.33882771e-03 -6.07611436e-02] [-3.21300152e-03 -9.28249447e-03 9.99951755e-01 -4.36931117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.307719420999998 meters Centerline goodness : 0.937760 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.06, Z:-0.44 [[ 9.99955332e-01 -9.01467376e-03 2.84062117e-03 1.02531325e+01] [ 8.96437499e-03 9.99811050e-01 1.72482934e-02 -5.90843341e-02] [-2.99557217e-03 -1.72220585e-02 9.99847202e-01 -4.38011819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.337719421 meters Centerline goodness : 0.942425 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.06, Z:-0.44 [[ 9.99984674e-01 -4.79623764e-03 2.76532483e-03 1.02535472e+01] [ 4.73735913e-03 9.99769951e-01 2.09189687e-02 -5.72913336e-02] [-2.86502101e-03 -2.09055477e-02 9.99777350e-01 -4.38143837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.367719421 meters Centerline goodness : 0.938012 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.06, Z:-0.44 [[ 9.99995845e-01 -1.28577675e-04 2.87988728e-03 1.02535272e+01] [ 5.69472623e-05 9.99690967e-01 2.48589294e-02 -5.52185715e-02] [-2.88219361e-03 -2.48586621e-02 9.99686821e-01 -4.37865592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.397719420999998 meters Centerline goodness : 0.937719 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.06, Z:-0.44 [[ 9.99994436e-01 -2.25176553e-03 2.46120540e-03 1.02556668e+01] [ 2.19689898e-03 9.99753961e-01 2.20724159e-02 -5.57018639e-02] [-2.51030175e-03 -2.20668861e-02 9.99753345e-01 -4.39068212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.427719421 meters Centerline goodness : 0.935455 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.06, Z:-0.44 [[ 9.99991002e-01 -3.70184602e-03 2.07178513e-03 1.02592949e+01] [ 3.65790152e-03 9.99776397e-01 2.08272927e-02 -6.20083298e-02] [-2.14842130e-03 -2.08195269e-02 9.99780942e-01 -4.41913150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.457719421 meters Centerline goodness : 0.937839 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.06, Z:-0.44 [[ 9.99978060e-01 -6.33241557e-03 1.94430398e-03 1.02599285e+01] [ 6.29590154e-03 9.99813734e-01 1.82443975e-02 -6.46340950e-02] [-2.05947293e-03 -1.82317560e-02 9.99831667e-01 -4.41769752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.487719420999998 meters Centerline goodness : 0.938510 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.06, Z:-0.44 [[ 9.99961774e-01 -8.59933409e-03 1.58197836e-03 1.02613377e+01] [ 8.57380547e-03 9.99843229e-01 1.54921481e-02 -6.40617409e-02] [-1.71495251e-03 -1.54779923e-02 9.99878738e-01 -4.42051352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.517719421 meters Centerline goodness : 0.937536 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.07, Z:-0.44 [[ 9.99964521e-01 -8.30649085e-03 1.39965395e-03 1.02618708e+01] [ 8.28310745e-03 9.99838365e-01 1.59572690e-02 -6.52155593e-02] [-1.53197663e-03 -1.59451094e-02 9.99871695e-01 -4.42036619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.547719421 meters Centerline goodness : 0.936059 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.07, Z:-0.44 [[ 9.99949886e-01 -9.94023909e-03 1.19046718e-03 1.02641052e+01] [ 9.92201563e-03 9.99846458e-01 1.44434516e-02 -6.98282453e-02] [-1.33385575e-03 -1.44309159e-02 9.99894979e-01 -4.43430857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.577719420999998 meters Centerline goodness : 0.930909 Centerline is valid? [False, False] Translation: X:10.27, Y:-0.07, Z:-0.45 [[ 9.99924773e-01 -1.22393260e-02 8.03948974e-04 1.02666413e+01] [ 1.22285036e-02 9.99849414e-01 1.23131599e-02 -7.26931356e-02] [-9.54532688e-04 -1.23024025e-02 9.99923867e-01 -4.45318948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.607719421 meters Centerline goodness : 0.932296 Centerline is valid? [False, False] Translation: X:10.27, Y:-0.08, Z:-0.45 [[ 9.99833805e-01 -1.82287650e-02 2.72200145e-04 1.02702820e+01] [ 1.82261775e-02 9.99805128e-01 7.58373440e-03 -7.97958764e-02] [-4.10389213e-04 -7.57751285e-03 9.99971206e-01 -4.48079686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.637719421 meters Centerline goodness : 0.933502 Centerline is valid? [False, False] Translation: X:10.27, Y:-0.08, Z:-0.45 [[ 9.99773194e-01 -2.12969108e-02 -3.86516426e-05 1.02724826e+01] [ 2.12968037e-02 9.99758246e-01 5.46774973e-03 -8.36649488e-02] [-7.78038798e-05 -5.46733277e-03 9.99985051e-01 -4.49837463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.667719421 meters Centerline goodness : 0.929222 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.09, Z:-0.45 [[ 9.99566400e-01 -2.89344656e-02 5.45973964e-03 1.02824464e+01] [ 2.88787408e-02 9.99532667e-01 1.00232992e-02 -9.01309183e-02] [-5.74720692e-03 -9.86128267e-03 9.99934860e-01 -4.53254323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.697719421 meters Centerline goodness : 0.930365 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.09, Z:-0.45 [[ 9.99543835e-01 -2.97279620e-02 5.32645565e-03 1.02825007e+01] [ 2.96705688e-02 9.99504073e-01 1.05482735e-02 -9.32087006e-02] [-5.63739278e-03 -1.03854228e-02 9.99930179e-01 -4.52982507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.727719421 meters Centerline goodness : 0.930365 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.09, Z:-0.45 [[ 9.99543835e-01 -2.97279620e-02 5.32645565e-03 1.02825007e+01] [ 2.96705688e-02 9.99504073e-01 1.05482735e-02 -9.32087006e-02] [-5.63739278e-03 -1.03854228e-02 9.99930179e-01 -4.52982507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.757719421 meters Centerline goodness : 0.928093 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.10, Z:-0.45 [[ 9.99281329e-01 -3.75231206e-02 5.37037876e-03 1.02833381e+01] [ 3.75007498e-02 9.99287742e-01 4.20740062e-03 -9.87798079e-02] [-5.52442847e-03 -4.00298366e-03 9.99976728e-01 -4.52872193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.787719421 meters Centerline goodness : 0.930695 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.10, Z:-0.45 [[ 9.99147861e-01 -4.09429966e-02 5.21759621e-03 1.02848940e+01] [ 4.09349450e-02 9.99160467e-01 1.64077218e-03 -1.02744381e-01] [-5.28039399e-03 -1.42579200e-03 9.99985042e-01 -4.54041204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.817719421 meters Centerline goodness : 0.930605 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.11, Z:-0.46 [[ 9.98879488e-01 -4.70858221e-02 4.76373102e-03 1.02892534e+01] [ 4.71018255e-02 9.98884626e-01 -3.30489365e-03 -1.07652224e-01] [-4.60280404e-03 3.52557091e-03 9.99983192e-01 -4.57664789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.847719421 meters Centerline goodness : 0.928065 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.11, Z:-0.46 [[ 9.98882834e-01 -4.70423616e-02 4.48321570e-03 1.02901800e+01] [ 4.70531450e-02 9.98889668e-01 -2.33088423e-03 -1.10359858e-01] [-4.36858754e-03 2.53922964e-03 9.99987234e-01 -4.58159276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.877719421 meters Centerline goodness : 0.927909 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.11, Z:-0.46 [[ 9.98886340e-01 -4.69772792e-02 4.38349079e-03 1.02898342e+01] [ 4.69833021e-02 9.98894853e-01 -1.28121979e-03 -1.13644993e-01] [-4.31845817e-03 1.48574382e-03 9.99989572e-01 -4.57033754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.907719421 meters Centerline goodness : 0.931613 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.12, Z:-0.46 [[ 9.98918622e-01 -4.62965617e-02 4.26781518e-03 1.02896706e+01] [ 4.62984641e-02 9.98927591e-01 -3.47991857e-04 -1.15689705e-01] [-4.24712751e-03 5.45208834e-04 9.99990832e-01 -4.56070181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.937719421 meters Centerline goodness : 0.932688 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.12, Z:-0.46 [[ 9.99082671e-01 -4.26434573e-02 3.91826971e-03 1.02904834e+01] [ 4.26276025e-02 9.99082844e-01 4.04455194e-03 -1.17338842e-01] [-4.08714972e-03 -3.87381531e-03 9.99984144e-01 -4.56725926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.967719420999998 meters Centerline goodness : 0.929484 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.12, Z:-0.46 [[ 9.99244939e-01 -3.86827277e-02 3.63304199e-03 1.02914702e+01] [ 3.86507213e-02 9.99216616e-01 8.50156947e-03 -1.18667746e-01] [-3.95905981e-03 -8.35473057e-03 9.99957261e-01 -4.57646922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.997719421 meters Centerline goodness : 0.931135 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.12, Z:-0.46 [[ 9.99355914e-01 -3.57371865e-02 3.25739987e-03 1.02943856e+01] [ 3.57008822e-02 9.99306363e-01 1.05943570e-02 -1.18237929e-01] [-3.63375293e-03 -1.04712413e-02 9.99938573e-01 -4.59786288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.027719421 meters Centerline goodness : 0.932042 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.12, Z:-0.46 [[ 9.99401566e-01 -3.44704897e-02 2.88026294e-03 1.02960937e+01] [ 3.44356769e-02 9.99342243e-01 1.13694664e-02 -1.17722571e-01] [-3.27027950e-03 -1.12634787e-02 9.99931217e-01 -4.60773830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.057719420999998 meters Centerline goodness : 0.930426 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.12, Z:-0.46 [[ 9.99533831e-01 -3.04067023e-02 2.74824056e-03 1.02963819e+01] [ 3.03625885e-02 9.99428246e-01 1.48759937e-02 -1.15769286e-01] [-3.19899915e-03 -1.47856153e-02 9.99885569e-01 -4.60719229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.087719421 meters Centerline goodness : 0.936058 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.12, Z:-0.46 [[ 9.99600336e-01 -2.81740506e-02 2.32199346e-03 1.02991832e+01] [ 2.81321833e-02 9.99469147e-01 1.64317894e-02 -1.15024050e-01] [-2.78371089e-03 -1.63598995e-02 9.99862293e-01 -4.62680196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.117719421 meters Centerline goodness : 0.933766 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.11, Z:-0.46 [[ 9.99622951e-01 -2.73675553e-02 2.23007575e-03 1.02998683e+01] [ 2.73269475e-02 9.99489330e-01 1.65625107e-02 -1.13688168e-01] [-2.68221235e-03 -1.64953246e-02 9.99860345e-01 -4.63061440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.147719420999998 meters Centerline goodness : 0.931950 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.11, Z:-0.46 [[ 9.99758398e-01 -2.19158509e-02 1.68575118e-03 1.03025333e+01] [ 2.18756019e-02 9.99539586e-01 2.10255761e-02 -1.11329914e-01] [-2.14576843e-03 -2.09836194e-02 9.99777517e-01 -4.64984734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.177719421 meters Centerline goodness : 0.934095 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.11, Z:-0.47 [[ 9.99776163e-01 -2.11004975e-02 1.54679656e-03 1.03035862e+01] [ 2.10638353e-02 9.99562200e-01 2.07779676e-02 -1.09259136e-01] [-1.98454483e-03 -2.07407353e-02 9.99782918e-01 -4.65640072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.207719421 meters Centerline goodness : 0.940874 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.11, Z:-0.47 [[ 9.99882498e-01 -1.27030291e-02 8.58042442e-03 1.03036771e+01] [ 1.25785129e-02 9.99817007e-01 1.44129952e-02 -1.06428680e-01] [-8.76194295e-03 -1.43033726e-02 9.99859311e-01 -4.66770672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.237719420999998 meters Centerline goodness : 0.940829 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.10, Z:-0.47 [[ 9.99895729e-01 -1.18076283e-02 8.31333925e-03 1.03042939e+01] [ 1.16880785e-02 9.99829648e-01 1.42851229e-02 -1.04488589e-01] [-8.48059648e-03 -1.41864664e-02 9.99863402e-01 -4.66513061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.267719421 meters Centerline goodness : 0.936078 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.10, Z:-0.47 [[ 9.99963909e-01 -6.42761637e-03 5.55567868e-03 1.02984913e+01] [ 6.39087599e-03 9.99957759e-01 6.60576806e-03 -1.03611512e-01] [-5.59790335e-03 -6.57002400e-03 9.99962748e-01 -4.66438707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.297719421 meters Centerline goodness : 0.930080 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.10, Z:-0.47 [[ 9.99965727e-01 -6.33873505e-03 5.32598610e-03 1.03017947e+01] [ 6.30291265e-03 9.99957583e-01 6.71604351e-03 -1.04660386e-01] [-5.36833141e-03 -6.68224411e-03 9.99963264e-01 -4.69621490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.327719420999998 meters Centerline goodness : 0.928430 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.11, Z:-0.47 [[ 9.99963233e-01 -7.19086695e-03 4.67162804e-03 1.03066972e+01] [ 7.16079789e-03 9.99953741e-01 6.42167985e-03 -1.09442173e-01] [-4.71758938e-03 -6.38799116e-03 9.99968468e-01 -4.73954358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.357719421 meters Centerline goodness : 0.928506 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.12, Z:-0.48 [[ 9.99941487e-01 -9.90198323e-03 4.35592578e-03 1.03085710e+01] [ 9.88082005e-03 9.99939405e-01 4.85346210e-03 -1.15535752e-01] [-4.40372073e-03 -4.81013799e-03 9.99978735e-01 -4.75298421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.387719421 meters Centerline goodness : 0.931876 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.12, Z:-0.48 [[ 9.99909770e-01 -1.27891706e-02 4.10966188e-03 1.03096679e+01] [ 1.27787629e-02 9.99915100e-01 2.54884853e-03 -1.19126843e-01] [-4.14191063e-03 -2.49610215e-03 9.99988307e-01 -4.75783909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.417719421 meters Centerline goodness : 0.932327 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.13, Z:-0.48 [[ 9.99803922e-01 -1.94284264e-02 3.82794930e-03 1.03108897e+01] [ 1.94387126e-02 9.99807489e-01 -2.66849757e-03 -1.25310047e-01] [-3.77536767e-03 2.74238475e-03 9.99989113e-01 -4.76171437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.447719421 meters Centerline goodness : 0.929221 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.13, Z:-0.48 [[ 9.99804965e-01 -1.94545700e-02 3.39864192e-03 1.03126232e+01] [ 1.94591373e-02 9.99809787e-01 -1.31599796e-03 -1.29113190e-01] [-3.37239328e-03 1.38187594e-03 9.99993359e-01 -4.77467527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.477719421 meters Centerline goodness : 0.927064 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.13, Z:-0.48 [[ 9.99733467e-01 -2.28830414e-02 3.05962038e-03 1.03147593e+01] [ 2.28931576e-02 9.99732427e-01 -3.31327585e-03 -1.34336915e-01] [-2.98298388e-03 3.38243713e-03 9.99989830e-01 -4.79051558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.507719421 meters Centerline goodness : 0.925735 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.14, Z:-0.48 [[ 9.99735951e-01 -2.28102966e-02 2.77829130e-03 1.03159493e+01] [ 2.28164386e-02 9.99737252e-01 -2.19944364e-03 -1.38320903e-01] [-2.72739135e-03 2.26225359e-03 9.99993722e-01 -4.79926391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.537719421 meters Centerline goodness : 0.921614 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.14, Z:-0.48 [[ 9.99605541e-01 -2.79971585e-02 2.21861232e-03 1.03209077e+01] [ 2.80110304e-02 9.99586548e-01 -6.48968842e-03 -1.42023961e-01] [-2.03600219e-03 6.54927412e-03 9.99976481e-01 -4.84447780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.567719421 meters Centerline goodness : 0.919393 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.14, Z:-0.49 [[ 9.99587772e-01 -2.86401814e-02 2.00641863e-03 1.03221673e+01] [ 2.86516760e-02 9.99571713e-01 -5.95576772e-03 -1.44777154e-01] [-1.83498504e-03 6.01079985e-03 9.99980251e-01 -4.85628787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.597719421 meters Centerline goodness : 0.923873 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.15, Z:-0.49 [[ 9.99296841e-01 -3.67039026e-02 7.65818387e-03 1.03317601e+01] [ 3.67222823e-02 9.99322924e-01 -2.27331127e-03 -1.49732755e-01] [-7.56955930e-03 2.55293876e-03 9.99968092e-01 -4.88334133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.627719421 meters Centerline goodness : 0.926479 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.15, Z:-0.49 [[ 9.99136794e-01 -4.08060459e-02 7.78028908e-03 1.03313523e+01] [ 4.08531208e-02 9.99147203e-01 -5.99071203e-03 -1.51096269e-01] [-7.52919681e-03 6.30338990e-03 9.99951788e-01 -4.87317126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.657719421 meters Centerline goodness : 0.924599 Centerline is valid? [False, False] Translation: X:10.34, Y:-0.15, Z:-0.49 [[ 9.98856974e-01 -4.63016136e-02 1.18704153e-02 1.03428532e+01] [ 4.63015086e-02 9.98927470e-01 2.83818394e-04 -1.54416370e-01] [-1.18708251e-02 2.66124151e-04 9.99929504e-01 -4.90982577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.687719421 meters Centerline goodness : 0.924166 Centerline is valid? [False, False] Translation: X:10.35, Y:-0.16, Z:-0.50 [[ 9.98679991e-01 -4.87779993e-02 1.60929542e-02 1.03535053e+01] [ 4.86238299e-02 9.98768728e-01 9.83624426e-03 -1.57546185e-01] [-1.65529317e-02 -9.04075926e-03 9.99822117e-01 -4.95282860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.717719420999998 meters Centerline goodness : 0.928149 Centerline is valid? [False, False] Translation: X:10.35, Y:-0.16, Z:-0.49 [[ 9.98492194e-01 -5.24373719e-02 1.62376251e-02 1.03536608e+01] [ 5.23197503e-02 9.98601570e-01 7.58606615e-03 -1.60356242e-01] [-1.66127113e-02 -6.72507934e-03 9.99839383e-01 -4.94320492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.747719421 meters Centerline goodness : 0.933801 Centerline is valid? [False, False] Translation: X:10.35, Y:-0.16, Z:-0.49 [[ 9.98502641e-01 -5.23651589e-02 1.58229612e-02 1.03539421e+01] [ 5.22379411e-02 9.98599762e-01 8.34945584e-03 -1.60857934e-01] [-1.62380259e-02 -7.51039479e-03 9.99839947e-01 -4.93163021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.777719421 meters Centerline goodness : 0.933504 Centerline is valid? [False, False] Translation: X:10.35, Y:-0.16, Z:-0.49 [[ 0.99860036 -0.05072437 0.01497842 10.35323495] [ 0.05054731 0.9986499 0.01197239 -0.16023736] [-0.01556549 -0.01119852 0.99981614 -0.48966159] [ 0. 0. 0. 1. ]] SLAMing on 30.807719420999998 meters Centerline goodness : 0.932866 Centerline is valid? [False, False] Translation: X:10.35, Y:-0.16, Z:-0.49 [[ 0.99860906 -0.0506689 0.0145809 10.35400526] [ 0.05049804 0.99865378 0.01185669 -0.15925396] [-0.01516204 -0.01110389 0.99982339 -0.48965338] [ 0. 0. 0. 1. ]] SLAMing on 30.837719421 meters Centerline goodness : 0.935247 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.16, Z:-0.49 [[ 0.9986202 -0.05055499 0.01420891 10.35507537] [ 0.05039064 0.99866109 0.01169675 -0.15849757] [-0.01478121 -0.01096461 0.99983063 -0.49008463] [ 0. 0. 0. 1. ]] SLAMing on 30.867719421 meters Centerline goodness : 0.930716 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.16, Z:-0.49 [[ 9.98601950e-01 -5.09819552e-02 1.39637350e-02 1.03555864e+01] [ 5.08350283e-02 9.98649931e-01 1.06825081e-02 -1.56416364e-01] [-1.44894981e-02 -9.95772653e-03 9.99845437e-01 -4.90298373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.897719420999998 meters Centerline goodness : 0.935999 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.15, Z:-0.49 [[ 0.99875623 -0.04807167 0.01323277 10.35634197] [ 0.04790151 0.99876891 0.01288869 -0.15216711] [-0.01383606 -0.01223879 0.99982937 -0.49016378] [ 0. 0. 0. 1. ]] SLAMing on 30.927719421 meters Centerline goodness : 0.936254 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.15, Z:-0.49 [[ 0.99893115 -0.04433678 0.01306966 10.35714853] [ 0.04413581 0.99890863 0.0152835 -0.14722161] [-0.01373302 -0.01469033 0.99979778 -0.49096927] [ 0. 0. 0. 1. ]] SLAMing on 30.957719421 meters Centerline goodness : 0.935435 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.14, Z:-0.49 [[ 0.99899784 -0.04295557 0.01257543 10.35983921] [ 0.0427538 0.99895917 0.01589641 -0.14449459] [-0.01324519 -0.01534283 0.99979456 -0.49321814] [ 0. 0. 0. 1. ]] SLAMing on 30.987719420999998 meters Centerline goodness : 0.930452 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.14, Z:-0.50 [[ 0.99902696 -0.04241434 0.01208929 10.36306276] [ 0.04222522 0.99898802 0.01549112 -0.13829307] [-0.0127341 -0.01496557 0.99980692 -0.49624589] [ 0. 0. 0. 1. ]] SLAMing on 31.017719421 meters Centerline goodness : 0.931681 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.14, Z:-0.50 [[ 0.99902576 -0.04248886 0.01192558 10.36380712] [ 0.04230761 0.99899111 0.01506095 -0.13595512] [-0.01255347 -0.01454173 0.99981546 -0.49673366] [ 0. 0. 0. 1. ]] SLAMing on 31.047719421 meters Centerline goodness : 0.932406 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.13, Z:-0.50 [[ 0.99899841 -0.04320773 0.01163046 10.36448945] [ 0.04304816 0.99897992 0.01363724 -0.13003066] [-0.01220783 -0.01312291 0.99983937 -0.49676249] [ 0. 0. 0. 1. ]] SLAMing on 31.077719420999998 meters Centerline goodness : 0.930482 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.13, Z:-0.50 [[ 0.99899176 -0.04344254 0.0113228 10.36547552] [ 0.0432994 0.99898276 0.01259387 -0.12653908] [-0.01185839 -0.0120909 0.99985658 -0.49720492] [ 0. 0. 0. 1. ]] SLAMing on 31.107719421 meters Centerline goodness : 0.934082 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.12, Z:-0.50 [[ 0.99911123 -0.04057254 0.01142886 10.36486769] [ 0.04041625 0.99909052 0.01358899 -0.11988828] [-0.0119698 -0.013115 0.99984235 -0.49638404] [ 0. 0. 0. 1. ]] SLAMing on 31.137719421 meters Centerline goodness : 0.937384 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.12, Z:-0.50 [[ 0.99924499 -0.03713788 0.01141211 10.36455518] [ 0.03695212 0.99918767 0.01607892 -0.11635599] [-0.01199998 -0.01564508 0.9998056 -0.49611361] [ 0. 0. 0. 1. ]] SLAMing on 31.167719421 meters Centerline goodness : 0.939754 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.11, Z:-0.50 [[ 0.99952425 -0.02871755 0.01125033 10.3653538 ] [ 0.02846518 0.999353 0.02198445 -0.10705587] [-0.01187439 -0.02165375 0.99969501 -0.4969655 ] [ 0. 0. 0. 1. ]] SLAMing on 31.197719421 meters Centerline goodness : 0.940182 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.10, Z:-0.50 [[ 0.99962135 -0.02520609 0.01103638 10.36608914] [ 0.02492962 0.99938871 0.02450958 -0.10212556] [-0.01164743 -0.02422516 0.99963867 -0.49762606] [ 0. 0. 0. 1. ]] SLAMing on 31.227719421 meters Centerline goodness : 0.935635 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.09, Z:-0.50 [[ 0.99974541 -0.01974991 0.01091148 10.36724396] [ 0.01943062 0.99940118 0.02863083 -0.09473935] [-0.01147041 -0.02841152 0.9995305 -0.4989148 ] [ 0. 0. 0. 1. ]] SLAMing on 31.257719421 meters Centerline goodness : 0.937323 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.09, Z:-0.50 [[ 0.99975571 -0.01944969 0.01049912 10.36843916] [ 0.01914803 0.99942154 0.02810597 -0.09262292] [-0.0110397 -0.02789806 0.99954981 -0.49930835] [ 0. 0. 0. 1. ]] SLAMing on 31.287719421 meters Centerline goodness : 0.935541 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.09, Z:-0.50 [[ 0.99976094 -0.01910149 0.01063901 10.36879311] [ 0.01880121 0.99944104 0.02764271 -0.09141836] [-0.01116108 -0.02743608 0.99956125 -0.49969963] [ 0. 0. 0. 1. ]] SLAMing on 31.317719421 meters Centerline goodness : 0.935760 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.09, Z:-0.50 [[ 0.99976495 -0.01898854 0.01046348 10.36937102] [ 0.01869536 0.99944865 0.02743879 -0.09106826] [-0.01097874 -0.02723672 0.99956872 -0.49982846] [ 0. 0. 0. 1. ]] SLAMing on 31.347719421 meters Centerline goodness : 0.938142 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.09, Z:-0.50 [[ 9.99846945e-01 -1.54153416e-02 8.27368128e-03 1.03626096e+01] [ 1.52655531e-02 9.99723741e-01 1.78718885e-02 -8.89048882e-02] [-8.54689687e-03 -1.77428508e-02 9.99806052e-01 -4.98792655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.377719421 meters Centerline goodness : 0.935127 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.09, Z:-0.50 [[ 9.99931713e-01 -1.01188024e-02 5.84630444e-03 1.03568581e+01] [ 1.00561523e-02 9.99892741e-01 1.06480021e-02 -8.79621527e-02] [-5.95342241e-03 -1.05884837e-02 9.99926218e-01 -4.98393796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.407719421 meters Centerline goodness : 0.933252 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.09, Z:-0.50 [[ 9.99943129e-01 -9.16350469e-03 5.45602198e-03 1.03584586e+01] [ 9.09863308e-03 9.99889001e-01 1.17983241e-02 -8.99613471e-02] [-5.56353037e-03 -1.17480108e-02 9.99915512e-01 -4.99319231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.437719421 meters Centerline goodness : 0.935722 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.10, Z:-0.50 [[ 9.99927805e-01 -1.08448405e-02 5.17430164e-03 1.03600299e+01] [ 1.07896487e-02 9.99885840e-01 1.05778030e-02 -9.59124944e-02] [-5.28842553e-03 -1.05212104e-02 9.99930666e-01 -5.00049162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.467719420999998 meters Centerline goodness : 0.937139 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.10, Z:-0.50 [[ 9.99915082e-01 -1.20765683e-02 4.89746713e-03 1.03621654e+01] [ 1.20309831e-02 9.99884997e-01 9.23294889e-03 -9.77487129e-02] [-5.00840625e-03 -9.17324350e-03 9.99945382e-01 -5.01540771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.497719421 meters Centerline goodness : 0.939008 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.10, Z:-0.50 [[ 9.99931464e-01 -1.07164229e-02 4.71446123e-03 1.03637396e+01] [ 1.06628655e-02 9.99879949e-01 1.12423617e-02 -1.02471195e-01] [-4.83437316e-03 -1.11913215e-02 9.99925689e-01 -5.02824367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.527719421 meters Centerline goodness : 0.938127 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.10, Z:-0.51 [[ 9.99929227e-01 -1.10527320e-02 4.40203959e-03 1.03670545e+01] [ 1.10038932e-02 9.99879297e-01 1.09684268e-02 -1.04364559e-01] [-4.52273933e-03 -1.09192110e-02 9.99930155e-01 -5.05727695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.557719420999998 meters Centerline goodness : 0.934121 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.11, Z:-0.51 [[ 9.99904739e-01 -1.32502953e-02 3.86545128e-03 1.03703844e+01] [ 1.32115168e-02 9.99863805e-01 9.89079784e-03 -1.09379711e-01] [-3.99598082e-03 -9.83878716e-03 9.99943614e-01 -5.08600518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.587719421 meters Centerline goodness : 0.937709 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.11, Z:-0.51 [[ 9.99845922e-01 -1.71379018e-02 3.79794217e-03 1.03705670e+01] [ 1.71086827e-02 9.99824776e-01 7.59678633e-03 -1.14820720e-01] [-3.92746966e-03 -7.53063805e-03 9.99963932e-01 -5.08298267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.617719421 meters Centerline goodness : 0.937709 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.11, Z:-0.51 [[ 9.99845922e-01 -1.71379018e-02 3.79794217e-03 1.03705670e+01] [ 1.71086827e-02 9.99824776e-01 7.59678633e-03 -1.14820720e-01] [-3.92746966e-03 -7.53063805e-03 9.99963932e-01 -5.08298267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.647719420999998 meters Centerline goodness : 0.936122 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.12, Z:-0.51 [[ 9.99783246e-01 -2.05141208e-02 3.55406399e-03 1.03715476e+01] [ 2.04967471e-02 9.99778118e-01 4.85775512e-03 -1.17925444e-01] [-3.65292798e-03 -4.78385544e-03 9.99981885e-01 -5.08601948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.677719421 meters Centerline goodness : 0.934390 Centerline is valid? [False, False] Translation: X:10.39, Y:-0.13, Z:-0.51 [[ 9.99607159e-01 -2.72210497e-02 6.67399732e-03 1.03871125e+01] [ 2.71614810e-02 9.99591800e-01 8.85934207e-03 -1.29027790e-01] [-6.91243359e-03 -8.67458611e-03 9.99938483e-01 -5.13868752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.707719421 meters Centerline goodness : 0.934871 Centerline is valid? [False, False] Translation: X:10.39, Y:-0.13, Z:-0.51 [[ 9.99520670e-01 -3.02766857e-02 6.46165338e-03 1.03886454e+01] [ 3.02342835e-02 9.99521300e-01 6.56194290e-03 -1.32784583e-01] [-6.65723407e-03 -6.36343410e-03 9.99957593e-01 -5.14865343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.737719420999998 meters Centerline goodness : 0.939162 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.14, Z:-0.52 [[ 0.99939393 -0.0324053 0.01271467 10.39727338] [ 0.0322096 0.99936394 0.01530546 -0.13887599] [-0.01320256 -0.01488665 0.99980202 -0.51625395] [ 0. 0. 0. 1. ]] SLAMing on 31.767719421 meters Centerline goodness : 0.944224 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.14, Z:-0.52 [[ 0.99940919 -0.03199256 0.01256009 10.39709917] [ 0.03179184 0.99936855 0.01586734 -0.13983185] [-0.0130598 -0.01545865 0.99979521 -0.51536974] [ 0. 0. 0. 1. ]] SLAMing on 31.797719421 meters Centerline goodness : 0.942382 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.14, Z:-0.52 [[ 0.99944202 -0.03106571 0.01227081 10.39820239] [ 0.03085153 0.99937469 0.01727478 -0.14364951] [-0.01279979 -0.01688657 0.99977548 -0.51576252] [ 0. 0. 0. 1. ]] SLAMing on 31.827719420999998 meters Centerline goodness : 0.942811 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.15, Z:-0.52 [[ 0.99946675 -0.03033627 0.01207987 10.40023708] [ 0.03011342 0.99938039 0.01822115 -0.14528116] [-0.01262515 -0.01784767 0.999761 -0.51779902] [ 0. 0. 0. 1. ]] SLAMing on 31.857719421 meters Centerline goodness : 0.935861 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.14, Z:-0.53 [[ 0.99962619 -0.02514223 0.01073973 10.40077091] [ 0.02501576 0.99961797 0.0117524 -0.14474716] [-0.01103111 -0.01147934 0.99987326 -0.52523627] [ 0. 0. 0. 1. ]] SLAMing on 31.887719421 meters Centerline goodness : 0.933781 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.14, Z:-0.53 [[ 9.99684316e-01 -2.30341788e-02 1.00347127e-02 1.04045007e+01] [ 2.28961520e-02 9.99644532e-01 1.36592649e-02 -1.44992756e-01] [-1.03457756e-02 -1.34251965e-02 9.99856354e-01 -5.28182751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.917719421 meters Centerline goodness : 0.933764 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.15, Z:-0.53 [[ 9.99741455e-01 -2.07452026e-02 9.30909548e-03 1.04065361e+01] [ 2.05962352e-02 9.99662663e-01 1.58226234e-02 -1.48891280e-01] [-9.63419871e-03 -1.56268003e-02 9.99831478e-01 -5.28680283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.947719421 meters Centerline goodness : 0.936119 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.15, Z:-0.53 [[ 9.99758606e-01 -2.00732431e-02 8.93275624e-03 1.04070725e+01] [ 1.99213231e-02 9.99660680e-01 1.67829050e-02 -1.51522330e-01] [-9.26661251e-03 -1.66009014e-02 9.99819254e-01 -5.28241651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.977719421 meters Centerline goodness : 0.940063 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.15, Z:-0.53 [[ 9.99781481e-01 -1.90763394e-02 8.54888523e-03 1.04066514e+01] [ 1.89233519e-02 9.99665440e-01 1.76327639e-02 -1.52109041e-01] [-8.88239371e-03 -1.74671373e-02 9.99807983e-01 -5.26467813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.007719421 meters Centerline goodness : 0.940873 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.15, Z:-0.53 [[ 9.99794568e-01 -1.84591204e-02 8.37158634e-03 1.04069147e+01] [ 1.83073574e-02 9.99672941e-01 1.78564330e-02 -1.51450076e-01] [-8.69846238e-03 -1.76995031e-02 9.99805513e-01 -5.26167564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.037719421 meters Centerline goodness : 0.943150 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.15, Z:-0.52 [[ 0.99983211 -0.01150429 0.01426221 10.40577806] [ 0.01134456 0.99987258 0.01123028 -0.15237817] [-0.01438959 -0.0110666 0.99983522 -0.52486325] [ 0. 0. 0. 1. ]] SLAMing on 32.067719421 meters Centerline goodness : 0.944411 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.15, Z:-0.53 [[ 9.99876151e-01 -6.72077307e-03 1.42307342e-02 1.04066969e+01] [ 6.49288666e-03 9.99850914e-01 1.59997769e-02 -1.54416430e-01] [-1.43361434e-02 -1.59053968e-02 9.99770720e-01 -5.25836016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.097719421 meters Centerline goodness : 0.943407 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.15, Z:-0.53 [[ 9.99911594e-01 -4.25026480e-03 1.25991680e-02 1.04008812e+01] [ 4.17102240e-03 9.99971398e-01 6.30911266e-03 -1.53619143e-01] [-1.26256230e-02 -6.25600348e-03 9.99900723e-01 -5.27281622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.127719421 meters Centerline goodness : 0.939872 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.15, Z:-0.53 [[ 9.99915643e-01 -4.09420172e-03 1.23265567e-02 1.04027089e+01] [ 4.01385642e-03 9.99970586e-01 6.53576428e-03 -1.54293458e-01] [-1.23529529e-02 -6.48573591e-03 9.99902665e-01 -5.28965143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.157719420999996 meters Centerline goodness : 0.941853 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.16, Z:-0.53 [[ 9.99917280e-01 -4.20341480e-03 1.21558427e-02 1.04031428e+01] [ 4.12307559e-03 9.99969544e-01 6.62662816e-03 -1.55024998e-01] [-1.21833269e-02 -6.57596055e-03 9.99904157e-01 -5.29028620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.187719421 meters Centerline goodness : 0.946497 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.16, Z:-0.53 [[ 9.99910345e-01 -5.07585563e-03 1.23910490e-02 1.04005339e+01] [ 4.99890559e-03 9.99968078e-01 6.23322391e-03 -1.57903634e-01] [-1.24222924e-02 -6.17072339e-03 9.99903800e-01 -5.26092530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.217719421 meters Centerline goodness : 0.945829 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.16, Z:-0.53 [[ 9.99915716e-01 -5.03694338e-03 1.19661653e-02 1.04012117e+01] [ 4.95482104e-03 9.99964039e-01 6.88264007e-03 -1.60689421e-01] [-1.20004025e-02 -6.82276977e-03 9.99904716e-01 -5.25862885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.247719421 meters Centerline goodness : 0.946956 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.17, Z:-0.53 [[ 9.99904067e-01 -7.72813807e-03 1.14948850e-02 1.04019945e+01] [ 7.66964468e-03 9.99957459e-01 5.12405260e-03 -1.66390589e-01] [-1.15339954e-02 -5.03539936e-03 9.99920803e-01 -5.25427522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.277719421 meters Centerline goodness : 0.948610 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.17, Z:-0.53 [[ 9.99907986e-01 -7.73442662e-03 1.11444134e-02 1.04025415e+01] [ 7.66525207e-03 9.99951174e-01 6.23650708e-03 -1.71148146e-01] [-1.11921051e-02 -6.15050849e-03 9.99918451e-01 -5.25281483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.307719421 meters Centerline goodness : 0.947725 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.18, Z:-0.53 [[ 9.99890330e-01 -1.00788655e-02 1.08509868e-02 1.04044493e+01] [ 1.00173831e-02 9.99933547e-01 5.70558141e-03 -1.79058707e-01] [-1.09077715e-02 -5.59625719e-03 9.99924848e-01 -5.26764155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.337719421 meters Centerline goodness : 0.948867 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.18, Z:-0.53 [[ 9.99901151e-01 -9.25691512e-03 1.05829100e-02 1.04054958e+01] [ 9.17813532e-03 9.99929989e-01 7.46854793e-03 -1.83334948e-01] [-1.06513048e-02 -7.37067829e-03 9.99916108e-01 -5.27400300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.367719421 meters Centerline goodness : 0.950802 Centerline is valid? [False, True] Translation: X:10.41, Y:-0.19, Z:-0.53 [[ 9.99911476e-01 -8.00013146e-03 1.06319154e-02 1.04054197e+01] [ 7.89716117e-03 9.99921847e-01 9.69196445e-03 -1.91156947e-01] [-1.07086214e-02 -9.60714453e-03 9.99896509e-01 -5.26966290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.397719421 meters Centerline goodness : 0.951810 Centerline is valid? [True, True] Translation: X:10.44, Y:-0.19, Z:-0.53 [[ 9.99925128e-01 -5.21312026e-03 1.10708037e-02 1.04375107e+01] [ 5.20757399e-03 9.99986300e-01 5.29749530e-04 -1.91079417e-01] [-1.10734137e-02 -4.72057837e-04 9.99938576e-01 -5.25341437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.427719421 meters Centerline goodness : 0.949928 Centerline is valid? [True, False] Translation: X:10.44, Y:-0.20, Z:-0.53 [[ 9.99941736e-01 -2.95555646e-03 1.03821718e-02 1.04404535e+01] [ 2.91965283e-03 9.99989712e-01 3.47165688e-03 -2.00664796e-01] [-1.03923257e-02 -3.44114227e-03 9.99940077e-01 -5.27014231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.457719421 meters Centerline goodness : 0.947058 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.21, Z:-0.53 [[ 9.99944244e-01 -4.21223798e-03 9.68324104e-03 1.04435294e+01] [ 4.18761320e-03 9.99987950e-01 2.56190143e-03 -2.05707425e-01] [-9.69391570e-03 -2.52120892e-03 9.99949834e-01 -5.29072919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.487719421 meters Centerline goodness : 0.940955 Centerline is valid? [False, False] Translation: X:10.45, Y:-0.22, Z:-0.53 [[ 9.99954856e-01 -4.55362021e-03 8.33967202e-03 1.04502052e+01] [ 4.53341667e-03 9.99986747e-01 2.43988613e-03 -2.15891142e-01] [-8.35067182e-03 -2.40196878e-03 9.99962248e-01 -5.33279573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.517719421 meters Centerline goodness : 0.936587 Centerline is valid? [False, False] Translation: X:10.45, Y:-0.22, Z:-0.54 [[ 9.99963977e-01 -3.46148920e-03 7.74999662e-03 1.04545547e+01] [ 3.42257268e-03 9.99981497e-01 5.02913212e-03 -2.22449347e-01] [-7.76726150e-03 -5.00242603e-03 9.99957322e-01 -5.37368843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.547719421 meters Centerline goodness : 0.935394 Centerline is valid? [False, False] Translation: X:10.46, Y:-0.23, Z:-0.54 [[ 9.99968616e-01 -2.67408126e-03 7.45764156e-03 1.04555715e+01] [ 2.62615856e-03 9.99975889e-01 6.42839216e-03 -2.25387019e-01] [-7.47465179e-03 -6.40860546e-03 9.99951529e-01 -5.37822079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.577719421 meters Centerline goodness : 0.940100 Centerline is valid? [False, False] Translation: X:10.45, Y:-0.23, Z:-0.54 [[ 9.99963266e-01 -3.89184807e-03 7.63678791e-03 1.04542262e+01] [ 3.84539993e-03 9.99974078e-01 6.08744229e-03 -2.31904226e-01] [-7.66028135e-03 -6.05785217e-03 9.99952310e-01 -5.36064251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.607719421 meters Centerline goodness : 0.942892 Centerline is valid? [False, False] Translation: X:10.45, Y:-0.23, Z:-0.54 [[ 9.99950410e-01 -6.39709182e-03 7.63251239e-03 1.04542273e+01] [ 6.36980064e-03 9.99973252e-01 3.59461642e-03 -2.34540725e-01] [-7.65530333e-03 -3.54582058e-03 9.99964411e-01 -5.35659162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.637719421 meters Centerline goodness : 0.950601 Centerline is valid? [False, True] Translation: X:10.45, Y:-0.24, Z:-0.53 [[ 9.99932754e-01 -8.44891047e-03 7.94374575e-03 1.04520739e+01] [ 8.42574763e-03 9.99960167e-01 2.94481840e-03 -2.42935834e-01] [-7.96830983e-03 -2.87768837e-03 9.99964112e-01 -5.32988817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.667719421 meters Centerline goodness : 0.953441 Centerline is valid? [True, True] Translation: X:10.48, Y:-0.25, Z:-0.53 [[ 9.99886800e-01 -1.26880950e-02 8.08694503e-03 1.04839823e+01] [ 1.26847293e-02 9.99919436e-01 4.67348897e-04 -2.47920577e-01] [-8.09222328e-03 -3.64715285e-04 9.99967191e-01 -5.34453234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.697719421 meters Centerline goodness : 0.951805 Centerline is valid? [True, True] Translation: X:10.52, Y:-0.25, Z:-0.53 [[ 9.99846384e-01 -1.55502159e-02 8.08697481e-03 1.05167581e+01] [ 1.55469478e-02 9.99879030e-01 4.66832983e-04 -2.48995261e-01] [-8.09325588e-03 -3.41033494e-04 9.99967191e-01 -5.32816568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.727719420999996 meters Centerline goodness : 0.951048 Centerline is valid? [True, True] Translation: X:10.55, Y:-0.25, Z:-0.54 [[ 9.99786441e-01 -1.90176835e-02 8.08701461e-03 1.05494349e+01] [ 1.90145342e-02 9.99819099e-01 4.66142473e-04 -2.49499050e-01] [-8.09441661e-03 -3.12272109e-04 9.99967191e-01 -5.35047871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.757719421 meters Centerline goodness : 0.947535 Centerline is valid? [True, False] Translation: X:10.55, Y:-0.25, Z:-0.54 [[ 9.99635741e-01 -2.57977900e-02 7.92835065e-03 1.05519360e+01] [ 2.58346809e-02 9.99655708e-01 -4.58637339e-03 -2.54942504e-01] [-7.80730269e-03 4.78952918e-03 9.99958052e-01 -5.37192972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.787719421 meters Centerline goodness : 0.949508 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.26, Z:-0.54 [[ 9.99305124e-01 -3.47908898e-02 1.33739459e-02 1.05625626e+01] [ 3.48315754e-02 9.99389214e-01 -2.82129144e-03 -2.64621562e-01] [-1.32676221e-02 3.28516660e-03 9.99906585e-01 -5.39846069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.817719421 meters Centerline goodness : 0.952456 Centerline is valid? [False, True] Translation: X:10.56, Y:-0.27, Z:-0.54 [[ 9.99175197e-01 -3.83184983e-02 1.34393995e-02 1.05621457e+01] [ 3.83930652e-02 9.99248473e-01 -5.33487819e-03 -2.69255507e-01] [-1.32248749e-02 5.84645771e-03 9.99895455e-01 -5.38794475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.847719421 meters Centerline goodness : 0.956215 Centerline is valid? [True, True] Translation: X:10.59, Y:-0.27, Z:-0.54 [[ 9.99046037e-01 -4.16518307e-02 1.31202503e-02 1.05949999e+01] [ 4.16462953e-02 9.99132175e-01 6.94955289e-04 -2.73798840e-01] [-1.31378103e-02 -1.47882511e-04 9.99913684e-01 -5.37299944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.877719421 meters Centerline goodness : 0.958607 Centerline is valid? [True, True] Translation: X:10.63, Y:-0.28, Z:-0.53 [[ 9.98748204e-01 -4.82688583e-02 1.31203090e-02 1.06250508e+01] [ 4.82639082e-02 9.98834378e-01 6.93843606e-04 -2.75556267e-01] [-1.31385068e-02 -5.97376644e-05 9.99913684e-01 -5.33843334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.907719420999996 meters Centerline goodness : 0.960130 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.27, Z:-0.53 [[ 9.98689062e-01 -4.94774136e-02 1.31203090e-02 1.06568377e+01] [ 4.94725678e-02 9.98775242e-01 6.93843606e-04 -2.73786581e-01] [-1.31385694e-02 -4.38386416e-05 9.99913684e-01 -5.32069394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.937719421 meters Centerline goodness : 0.959225 Centerline is valid? [True, True] Translation: X:10.69, Y:-0.27, Z:-0.54 [[ 9.98776802e-01 -4.76734366e-02 1.31203390e-02 1.06869509e+01] [ 4.76684425e-02 9.98862973e-01 6.93275882e-04 -2.71931978e-01] [-1.31384717e-02 -6.70017406e-05 9.99913684e-01 -5.35374583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.967719421 meters Centerline goodness : 0.958720 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.27, Z:-0.53 [[ 9.99075576e-01 -4.09371382e-02 1.31203539e-02 1.07177951e+01] [ 4.09315668e-02 9.99161712e-01 6.92995035e-04 -2.68820400e-01] [-1.31377245e-02 -1.55317772e-04 9.99913684e-01 -5.34400791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.997719421 meters Centerline goodness : 0.957286 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.27, Z:-0.54 [[ 9.99196489e-01 -3.78712549e-02 1.31203835e-02 1.07496951e+01] [ 3.78654266e-02 9.99282608e-01 6.92433235e-04 -2.65456915e-01] [-1.31371944e-02 -1.95067938e-04 9.99913684e-01 -5.35811334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.027719421 meters Centerline goodness : 0.956229 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.26, Z:-0.54 [[ 9.99426183e-01 -3.12275320e-02 1.31204430e-02 1.07792491e+01] [ 3.12211461e-02 9.99512262e-01 6.91303676e-04 -2.58575209e-01] [-1.31356314e-02 -2.81271725e-04 9.99913684e-01 -5.39607860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.057719421 meters Centerline goodness : 0.953351 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.25, Z:-0.54 [[ 9.99641317e-01 -2.33471708e-02 1.31204577e-02 1.08094816e+01] [ 2.33401102e-02 9.99727344e-01 6.91025867e-04 -2.52414303e-01] [-1.31330138e-02 -3.84545079e-04 9.99913684e-01 -5.43369616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.087719421 meters Centerline goodness : 0.949970 Centerline is valid? [True, False] Translation: X:10.81, Y:-0.25, Z:-0.54 [[ 9.99717756e-01 -2.01621027e-02 1.25657660e-02 1.08113580e+01] [ 2.01218063e-02 9.99792007e-01 3.32507843e-03 -2.50359372e-01] [-1.26301930e-02 -3.07129404e-03 9.99915519e-01 -5.44626669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.117719421 meters Centerline goodness : 0.947187 Centerline is valid? [False, False] Translation: X:10.81, Y:-0.25, Z:-0.55 [[ 9.99739166e-01 -1.92793998e-02 1.22435283e-02 1.08123453e+01] [ 1.92424042e-02 9.99809941e-01 3.13229765e-03 -2.47949382e-01] [-1.23015901e-02 -2.89588572e-03 9.99920139e-01 -5.45347909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.147719421 meters Centerline goodness : 0.943291 Centerline is valid? [False, False] Translation: X:10.80, Y:-0.25, Z:-0.55 [[ 9.99890190e-01 -1.17268179e-02 9.06033564e-03 1.07954873e+01] [ 1.17979516e-02 9.99899682e-01 -7.83796942e-03 -2.46142507e-01] [-8.96751229e-03 7.94400213e-03 9.99928236e-01 -5.45268288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.177719421 meters Centerline goodness : 0.948510 Centerline is valid? [False, False] Translation: X:10.80, Y:-0.25, Z:-0.54 [[ 9.99929248e-01 -7.80552417e-03 8.97620956e-03 1.07951198e+01] [ 7.83446582e-03 9.99964210e-01 -3.19363092e-03 -2.48199353e-01] [-8.95096034e-03 3.26372877e-03 9.99954613e-01 -5.44548269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.207719421 meters Centerline goodness : 0.952229 Centerline is valid? [False, True] Translation: X:10.79, Y:-0.25, Z:-0.54 [[ 9.99951137e-01 -4.45713489e-03 8.82366727e-03 1.07948209e+01] [ 4.44797078e-03 9.99989548e-01 1.05793508e-03 -2.50445167e-01] [-8.82829040e-03 -1.01863597e-03 9.99960511e-01 -5.43612186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.237719421 meters Centerline goodness : 0.953808 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.25, Z:-0.54 [[ 9.99957772e-01 -2.46000613e-03 8.85448958e-03 1.08259227e+01] [ 2.45615426e-03 9.99996884e-01 4.45867709e-04 -2.52613289e-01] [-8.85555883e-03 -4.24100889e-04 9.99960699e-01 -5.41965625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.267719421 meters Centerline goodness : 0.952756 Centerline is valid? [True, True] Translation: X:10.86, Y:-0.25, Z:-0.54 [[ 9.99958580e-01 -2.10614383e-03 8.85451786e-03 1.08579547e+01] [ 2.10228308e-03 9.99997691e-01 4.45305286e-04 -2.54015062e-01] [-8.85543530e-03 -4.26672139e-04 9.99960699e-01 -5.43863568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.297719421 meters Centerline goodness : 0.948749 Centerline is valid? [True, False] Translation: X:10.86, Y:-0.26, Z:-0.55 [[ 9.99962337e-01 -2.49205147e-03 8.31347758e-03 1.08617359e+01] [ 2.48493931e-03 9.99996538e-01 8.65716703e-04 -2.57029988e-01] [-8.31560621e-03 -8.45025611e-04 9.99965068e-01 -5.47220436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.327719421 meters Centerline goodness : 0.952380 Centerline is valid? [False, True] Translation: X:10.87, Y:-0.26, Z:-0.54 [[ 9.99944170e-01 -7.55560285e-03 7.38709849e-03 1.08660547e+01] [ 7.51058454e-03 9.99953171e-01 6.10304685e-03 -2.62005728e-01] [-7.43286476e-03 -6.04722469e-03 9.99954091e-01 -5.41845622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.357719421 meters Centerline goodness : 0.954758 Centerline is valid? [True, True] Translation: X:10.90, Y:-0.26, Z:-0.54 [[ 9.99907814e-01 -1.12065279e-02 7.66668547e-03 1.08984827e+01] [ 1.12039894e-02 9.99937163e-01 3.73976218e-04 -2.62876795e-01] [-7.67039469e-03 -2.88044279e-04 9.99970541e-01 -5.38037515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.387719421 meters Centerline goodness : 0.953260 Centerline is valid? [True, True] Translation: X:10.93, Y:-0.27, Z:-0.54 [[ 9.99858812e-01 -1.49525005e-02 7.66671693e-03 1.09310179e+01] [ 1.49500769e-02 9.99888172e-01 3.73330028e-04 -2.65139465e-01] [-7.67144180e-03 -2.58659310e-04 9.99970541e-01 -5.37151568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.417719421 meters Centerline goodness : 0.951530 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.27, Z:-0.54 [[ 9.99643348e-01 -2.55811903e-02 7.66675686e-03 1.09625145e+01] [ 2.55790853e-02 9.99672732e-01 3.72508269e-04 -2.65903224e-01] [-7.67377698e-03 -1.76266785e-04 9.99970541e-01 -5.42185415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.447719421 meters Centerline goodness : 0.947480 Centerline is valid? [True, False] Translation: X:10.97, Y:-0.27, Z:-0.54 [[ 9.99401390e-01 -3.37793358e-02 7.47117319e-03 1.09652474e+01] [ 3.38291615e-02 9.99405530e-01 -6.64634786e-03 -2.67755259e-01] [-7.24222259e-03 6.89511282e-03 9.99950003e-01 -5.44611585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.477719420999996 meters Centerline goodness : 0.947109 Centerline is valid? [False, False] Translation: X:10.97, Y:-0.27, Z:-0.54 [[ 9.99257017e-01 -3.78178627e-02 7.43119947e-03 1.09657936e+01] [ 3.78933589e-02 9.99228749e-01 -1.02956585e-02 -2.68866256e-01] [-7.03610835e-03 1.05696022e-02 9.99919385e-01 -5.44795907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.507719421 meters Centerline goodness : 0.946697 Centerline is valid? [False, False] Translation: X:10.97, Y:-0.27, Z:-0.54 [[ 9.99051876e-01 -4.29485858e-02 7.12521811e-03 1.09664084e+01] [ 4.30507443e-02 9.98962311e-01 -1.48638770e-02 -2.69503045e-01] [-6.47944185e-03 1.51565301e-02 9.99864139e-01 -5.44270378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.537719421 meters Centerline goodness : 0.946697 Centerline is valid? [False, False] Translation: X:10.97, Y:-0.27, Z:-0.54 [[ 9.99049726e-01 -4.29905241e-02 7.17353580e-03 1.09663480e+01] [ 4.30935856e-02 9.98960066e-01 -1.48905737e-02 -2.69613541e-01] [-6.52592223e-03 1.51855569e-02 9.99863396e-01 -5.44171107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.567719421 meters Centerline goodness : 0.947777 Centerline is valid? [False, False] Translation: X:10.97, Y:-0.27, Z:-0.54 [[ 9.99019959e-01 -4.37097216e-02 6.97009287e-03 1.09665046e+01] [ 4.38151155e-02 9.98915304e-01 -1.57623549e-02 -2.68507127e-01] [-6.27356429e-03 1.60523026e-02 9.99851472e-01 -5.43571884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.597719421 meters Centerline goodness : 0.951430 Centerline is valid? [False, True] Translation: X:10.98, Y:-0.26, Z:-0.54 [[ 9.99195153e-01 -3.91397483e-02 8.78220420e-03 1.09799673e+01] [ 3.93922330e-02 9.98752067e-01 -3.07011507e-02 -2.61857883e-01] [-7.56960928e-03 3.10223916e-02 9.99490026e-01 -5.39270934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.627719421 meters Centerline goodness : 0.953372 Centerline is valid? [True, True] Translation: X:11.01, Y:-0.27, Z:-0.54 [[ 9.99440102e-01 -3.25924237e-02 7.56416179e-03 1.10106615e+01] [ 3.25911009e-02 9.99468725e-01 2.98105632e-04 -2.67235470e-01] [-7.56985912e-03 -5.14143631e-05 9.99971347e-01 -5.38540341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.657719420999996 meters Centerline goodness : 0.952241 Centerline is valid? [True, True] Translation: X:11.04, Y:-0.26, Z:-0.54 [[ 9.99553756e-01 -2.88976041e-02 7.56416179e-03 1.10404864e+01] [ 2.88961755e-02 9.99582374e-01 2.98105632e-04 -2.63864313e-01] [-7.56961733e-03 -7.93972579e-05 9.99971347e-01 -5.43597417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.687719421 meters Centerline goodness : 0.951963 Centerline is valid? [True, True] Translation: X:11.07, Y:-0.26, Z:-0.55 [[ 9.99680462e-01 -2.41196217e-02 7.56418505e-03 1.10708069e+01] [ 2.41180608e-02 9.99709073e-01 2.97514304e-04 -2.61126493e-01] [-7.56916035e-03 -1.14985763e-04 9.99971347e-01 -5.45248792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.717719421 meters Centerline goodness : 0.953874 Centerline is valid? [True, True] Translation: X:11.10, Y:-0.26, Z:-0.54 [[ 9.99726272e-01 -2.21396508e-02 7.56420482e-03 1.11022345e+01] [ 2.21380371e-02 9.99754880e-01 2.97010738e-04 -2.61683761e-01] [-7.56892639e-03 -1.29472791e-04 9.99971347e-01 -5.43866097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.747719421 meters Centerline goodness : 0.955986 Centerline is valid? [True, True] Translation: X:11.13, Y:-0.26, Z:-0.54 [[ 9.99831116e-01 -1.67487816e-02 7.56421653e-03 1.11340909e+01] [ 1.67470159e-02 9.99859715e-01 2.96712218e-04 -2.62941885e-01] [-7.56812495e-03 -1.69984054e-04 9.99971347e-01 -5.37677068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.777719421 meters Centerline goodness : 0.954018 Centerline is valid? [True, True] Translation: X:11.16, Y:-0.26, Z:-0.54 [[ 9.99886950e-01 -1.29949529e-02 7.56422930e-03 1.11642142e+01] [ 1.29930823e-02 9.99915542e-01 2.96386212e-04 -2.60539421e-01] [-7.56744197e-03 -1.98070052e-04 9.99971347e-01 -5.44237898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.807719421 meters Centerline goodness : 0.953305 Centerline is valid? [True, True] Translation: X:11.20, Y:-0.26, Z:-0.54 [[ 9.99930633e-01 -9.02841171e-03 7.56423562e-03 1.11959511e+01] [ 9.02642893e-03 9.99959217e-01 2.96224752e-04 -2.57313850e-01] [-7.56660157e-03 -2.27926169e-04 9.99971347e-01 -5.42853716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.837719421 meters Centerline goodness : 0.951788 Centerline is valid? [True, True] Translation: X:11.23, Y:-0.25, Z:-0.54 [[ 9.99970996e-01 -8.88288193e-04 7.56425455e-03 1.12275500e+01] [ 8.86076448e-04 9.99999564e-01 2.95740576e-04 -2.52600904e-01] [-7.56451396e-03 -2.89029490e-04 9.99971347e-01 -5.43954122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.867719421 meters Centerline goodness : 0.949766 Centerline is valid? [True, False] Translation: X:11.23, Y:-0.25, Z:-0.54 [[ 9.99965785e-01 3.44682850e-03 7.51984219e-03 1.12284406e+01] [-3.47714678e-03 9.99985865e-01 4.02242988e-03 -2.51553139e-01] [-7.50587127e-03 -4.04843985e-03 9.99963635e-01 -5.44871889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.897719421 meters Centerline goodness : 0.949144 Centerline is valid? [False, False] Translation: X:11.23, Y:-0.25, Z:-0.55 [[ 9.99964941e-01 3.81255489e-03 7.45526276e-03 1.12288116e+01] [-3.84303999e-03 9.99984296e-01 4.07903035e-03 -2.52242056e-01] [-7.43959415e-03 -4.10753822e-03 9.99963890e-01 -5.45152537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.927719421 meters Centerline goodness : 0.951111 Centerline is valid? [False, True] Translation: X:11.23, Y:-0.25, Z:-0.54 [[ 9.99970770e-01 1.65166053e-03 7.46528329e-03 1.12287054e+01] [-1.66210359e-03 9.99997649e-01 1.39289505e-03 -2.54435432e-01] [-7.46296514e-03 -1.40526241e-03 9.99971164e-01 -5.44959301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.957719421 meters Centerline goodness : 0.953481 Centerline is valid? [True, True] Translation: X:11.26, Y:-0.25, Z:-0.55 [[ 9.99971636e-01 5.10916922e-04 7.51439287e-03 1.12601176e+01] [-5.13605008e-04 9.99999805e-01 3.55799631e-04 -2.53003386e-01] [-7.51420961e-03 -3.59648969e-04 9.99971703e-01 -5.46057864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.987719421 meters Centerline goodness : 0.949226 Centerline is valid? [True, False] Translation: X:11.26, Y:-0.25, Z:-0.55 [[ 9.99974478e-01 -8.28317841e-04 7.09631126e-03 1.12623705e+01] [ 8.30510777e-04 9.99999608e-01 -3.06083566e-04 -2.51339806e-01] [-7.09605495e-03 3.11969317e-04 9.99974774e-01 -5.47848751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.017719421 meters Centerline goodness : 0.948781 Centerline is valid? [False, False] Translation: X:11.26, Y:-0.25, Z:-0.55 [[ 9.99975719e-01 -1.19219573e-03 6.86586644e-03 1.12632475e+01] [ 1.19280035e-03 9.99999285e-01 -8.39682208e-05 -2.52428561e-01] [-6.86576142e-03 9.21557899e-05 9.99976426e-01 -5.48376224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.047719421 meters Centerline goodness : 0.946997 Centerline is valid? [False, False] Translation: X:11.28, Y:-0.26, Z:-0.55 [[ 9.99901148e-01 -8.28220432e-03 1.13622129e-02 1.12751362e+01] [ 8.24344701e-03 9.99960058e-01 3.45367481e-03 -2.58030500e-01] [-1.13903631e-02 -3.35966961e-03 9.99929484e-01 -5.52558031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.077719421 meters Centerline goodness : 0.949605 Centerline is valid? [False, False] Translation: X:11.28, Y:-0.26, Z:-0.55 [[ 9.99800240e-01 -1.64737610e-02 1.13179313e-02 1.12751798e+01] [ 1.65169387e-02 9.99856621e-01 -3.73215225e-03 -2.62214495e-01] [-1.12548260e-02 3.91834429e-03 9.99928985e-01 -5.51869854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.107719421 meters Centerline goodness : 0.948730 Centerline is valid? [False, False] Translation: X:11.28, Y:-0.26, Z:-0.55 [[ 9.99791169e-01 -1.71738317e-02 1.10760207e-02 1.12758816e+01] [ 1.72133960e-02 9.99845759e-01 -3.48668202e-03 -2.64215921e-01] [-1.10144326e-02 3.67660982e-03 9.99932580e-01 -5.52099885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.137719421 meters Centerline goodness : 0.947028 Centerline is valid? [False, False] Translation: X:11.28, Y:-0.26, Z:-0.55 [[ 9.99693730e-01 -2.22561787e-02 1.08216685e-02 1.12765154e+01] [ 2.23413274e-02 9.99719878e-01 -7.81216006e-03 -2.64863619e-01] [-1.06447683e-02 8.05153787e-03 9.99910927e-01 -5.52038224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.167719421 meters Centerline goodness : 0.947524 Centerline is valid? [False, False] Translation: X:11.28, Y:-0.27, Z:-0.55 [[ 9.99670276e-01 -2.33307500e-02 1.07245575e-02 1.12767685e+01] [ 2.34146943e-02 9.99695647e-01 -7.76951734e-03 -2.67105840e-01] [-1.05400248e-02 8.01806778e-03 9.99912305e-01 -5.52039066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.197719421 meters Centerline goodness : 0.950807 Centerline is valid? [False, True] Translation: X:11.28, Y:-0.27, Z:-0.55 [[ 9.99551735e-01 -2.79818852e-02 1.06462913e-02 1.12763355e+01] [ 2.81026241e-02 9.99540428e-01 -1.13655715e-02 -2.70143368e-01] [-1.03233684e-02 1.16596654e-02 9.99878733e-01 -5.50741786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.227719420999996 meters Centerline goodness : 0.951977 Centerline is valid? [True, True] Translation: X:11.31, Y:-0.27, Z:-0.55 [[ 9.99474231e-01 -3.07281432e-02 1.03461714e-02 1.13066886e+01] [ 3.07270199e-02 9.99527778e-01 2.67541882e-04 -2.73764918e-01] [-1.03495067e-02 5.05057976e-05 9.99946441e-01 -5.48949294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.257719421 meters Centerline goodness : 0.955955 Centerline is valid? [True, True] Translation: X:11.34, Y:-0.27, Z:-0.55 [[ 9.99292243e-01 -3.61658677e-02 1.03461772e-02 1.13382333e+01] [ 3.61650382e-02 9.99345795e-01 2.67315614e-04 -2.68457501e-01] [-1.03490764e-02 1.07043475e-04 9.99946441e-01 -5.47068405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.287719421 meters Centerline goodness : 0.957522 Centerline is valid? [True, True] Translation: X:11.37, Y:-0.27, Z:-0.55 [[ 9.99201108e-01 -3.86018358e-02 1.03461950e-02 1.13692626e+01] [ 3.86011440e-02 9.99254663e-01 2.66626449e-04 -2.65231470e-01] [-1.03487758e-02 1.32961519e-04 9.99946441e-01 -5.45660703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.317719421 meters Centerline goodness : 0.955743 Centerline is valid? [True, True] Translation: X:11.40, Y:-0.26, Z:-0.55 [[ 9.99134185e-01 -4.02968597e-02 1.03462066e-02 1.13994796e+01] [ 4.02962634e-02 9.99187740e-01 2.66175279e-04 -2.62708387e-01] [-1.03485288e-02 1.50968646e-04 9.99946441e-01 -5.45840381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.347719421 meters Centerline goodness : 0.955200 Centerline is valid? [True, True] Translation: X:11.43, Y:-0.26, Z:-0.55 [[ 9.99325579e-01 -3.52326844e-02 1.03462123e-02 1.14309729e+01] [ 3.52318190e-02 9.99379131e-01 2.65951740e-04 -2.56098423e-01] [-1.03491589e-02 9.87435030e-05 9.99946441e-01 -5.46865157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.377719421 meters Centerline goodness : 0.957436 Centerline is valid? [True, True] Translation: X:11.46, Y:-0.25, Z:-0.55 [[ 9.99480109e-01 -3.05363259e-02 1.03462240e-02 1.14624679e+01] [ 3.05352136e-02 9.99533656e-01 2.65498538e-04 -2.49305917e-01] [-1.03495064e-02 5.05636503e-05 9.99946441e-01 -5.47070902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.407719420999996 meters Centerline goodness : 0.960706 Centerline is valid? [True, True] Translation: X:11.49, Y:-0.24, Z:-0.55 [[ 9.99759891e-01 -1.93161803e-02 1.03462355e-02 1.14924437e+01] [ 1.93144716e-02 9.99813423e-01 2.65046847e-04 -2.36947913e-01] [-1.03494249e-02 -6.51511345e-05 9.99946441e-01 -5.45006685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.437719421 meters Centerline goodness : 0.961263 Centerline is valid? [True, True] Translation: X:11.52, Y:-0.23, Z:-0.54 [[ 9.99834663e-01 -1.49533077e-02 1.03462413e-02 1.15240085e+01] [ 1.49513678e-02 9.99888187e-01 2.64822453e-04 -2.32984596e-01] [-1.03490444e-02 -1.10088209e-04 9.99946441e-01 -5.44726760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.467719421 meters Centerline goodness : 0.962339 Centerline is valid? [True, True] Translation: X:11.56, Y:-0.23, Z:-0.54 [[ 9.99876277e-01 -1.18484651e-02 1.03462581e-02 1.15565325e+01] [ 1.18463659e-02 9.99929794e-01 2.64164856e-04 -2.29999670e-01] [-1.03486616e-02 -1.41566614e-04 9.99946441e-01 -5.42722835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.497719421 meters Centerline goodness : 0.963673 Centerline is valid? [True, True] Translation: X:11.59, Y:-0.23, Z:-0.54 [[ 9.99870031e-01 -1.23642876e-02 1.03462803e-02 1.15874313e+01] [ 1.23622249e-02 9.99923550e-01 2.63289113e-04 -2.27087628e-01] [-1.03487448e-02 -1.35351849e-04 9.99946441e-01 -5.44226201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.527719421 meters Centerline goodness : 0.961250 Centerline is valid? [True, True] Translation: X:11.62, Y:-0.22, Z:-0.55 [[ 9.99848067e-01 -1.40284549e-02 1.03462970e-02 1.16192569e+01] [ 1.40264882e-02 9.99901589e-01 2.62634046e-04 -2.19046825e-01] [-1.03489631e-02 -1.17471930e-04 9.99946441e-01 -5.47103485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.557719421 meters Centerline goodness : 0.959255 Centerline is valid? [True, True] Translation: X:11.65, Y:-0.22, Z:-0.55 [[ 9.99869815e-01 -1.23816804e-02 1.03463197e-02 1.16509848e+01] [ 1.23796348e-02 9.99923335e-01 2.61736081e-04 -2.15125419e-01] [-1.03487672e-02 -1.33618348e-04 9.99946441e-01 -5.49895162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.587719421 meters Centerline goodness : 0.952947 Centerline is valid? [True, True] Translation: X:11.68, Y:-0.21, Z:-0.56 [[ 9.99939233e-01 -3.80583244e-03 1.03463425e-02 1.16814838e+01] [ 3.80333724e-03 9.99992733e-01 2.60832121e-04 -2.13074457e-01] [-1.03472600e-02 -2.21465641e-04 9.99946441e-01 -5.58626728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.617719421 meters Centerline goodness : 0.949070 Centerline is valid? [True, False] Translation: X:11.68, Y:-0.21, Z:-0.56 [[ 9.99951025e-01 -6.42539833e-04 9.87591765e-03 1.16844925e+01] [ 6.14872297e-04 9.99995879e-01 2.80429652e-03 -2.11973361e-01] [-9.87767882e-03 -2.79808676e-03 9.99947300e-01 -5.61142441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.647719421 meters Centerline goodness : 0.951741 Centerline is valid? [False, True] Translation: X:11.68, Y:-0.21, Z:-0.56 [[ 9.99940610e-01 4.40229080e-03 9.96979634e-03 1.16845351e+01] [-4.46573474e-03 9.99969865e-01 6.35031770e-03 -2.08579365e-01] [-9.94153996e-03 -6.39446302e-03 9.99930136e-01 -5.61219409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.677719421 meters Centerline goodness : 0.954363 Centerline is valid? [True, True] Translation: X:11.72, Y:-0.20, Z:-0.56 [[ 9.99913554e-01 8.35071965e-03 1.01562735e-02 1.17159170e+01] [-8.35433310e-03 9.99965053e-01 3.13410515e-04 -2.04234929e-01] [-1.01533014e-02 -3.98232314e-04 9.99948375e-01 -5.61939555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.707719421 meters Centerline goodness : 0.952237 Centerline is valid? [True, True] Translation: X:11.75, Y:-0.20, Z:-0.56 [[ 9.99870825e-01 1.24571710e-02 1.01563578e-02 1.17478739e+01] [-1.24609680e-02 9.99922311e-01 3.10655159e-04 -2.00516982e-01] [-1.01516989e-02 -4.37173080e-04 9.99948375e-01 -5.61178331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.737719421 meters Centerline goodness : 0.947820 Centerline is valid? [True, False] Translation: X:11.75, Y:-0.20, Z:-0.56 [[ 9.99904484e-01 9.93008509e-03 9.61335251e-03 1.17508676e+01] [-9.91298828e-03 9.99949201e-01 -1.82446476e-03 -2.02888561e-01] [-9.63098125e-03 1.72899344e-03 9.99952126e-01 -5.63628877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.767719421 meters Centerline goodness : 0.948288 Centerline is valid? [False, False] Translation: X:11.75, Y:-0.21, Z:-0.56 [[ 9.99933709e-01 6.71539045e-03 9.35313728e-03 1.17521019e+01] [-6.67260549e-03 9.99967166e-01 -4.59811471e-03 -2.05920273e-01] [-9.38370832e-03 4.53540010e-03 9.99945687e-01 -5.64551493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.797719421 meters Centerline goodness : 0.949383 Centerline is valid? [False, False] Translation: X:11.76, Y:-0.21, Z:-0.57 [[ 9.99903470e-01 -7.27939057e-04 1.38751841e-02 1.17618820e+01] [ 7.30672071e-04 9.99999715e-01 -1.91903045e-04 -2.13646222e-01] [-1.38750404e-02 2.02022731e-04 9.99903717e-01 -5.67416309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.827719421 meters Centerline goodness : 0.950854 Centerline is valid? [False, True] Translation: X:11.77, Y:-0.22, Z:-0.57 [[ 9.99825025e-01 -4.15183191e-03 1.82395640e-02 1.17715756e+01] [ 4.01012282e-03 9.99961546e-01 7.79904100e-03 -2.16806412e-01] [-1.82712429e-02 -7.72453347e-03 9.99803227e-01 -5.70184443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.857719421 meters Centerline goodness : 0.951154 Centerline is valid? [True, True] Translation: X:11.80, Y:-0.21, Z:-0.57 [[ 9.99781527e-01 -9.83483773e-03 1.84437861e-02 1.18039401e+01] [ 9.82699271e-03 9.99951581e-01 5.15932511e-04 -2.13116593e-01] [-1.84479672e-02 -3.34572843e-04 9.99829766e-01 -5.69438061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.887719421 meters Centerline goodness : 0.947972 Centerline is valid? [True, False] Translation: X:11.81, Y:-0.21, Z:-0.57 [[ 9.99786459e-01 -1.01195466e-02 1.80175468e-02 1.18050927e+01] [ 1.01072898e-02 9.99948623e-01 7.71203499e-04 -2.14404225e-01] [-1.80244253e-02 -5.88930248e-04 9.99837373e-01 -5.69784208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.917719421 meters Centerline goodness : 0.948952 Centerline is valid? [False, False] Translation: X:11.82, Y:-0.22, Z:-0.57 [[ 9.99786918e-01 -1.27722316e-02 1.62169413e-02 1.18248828e+01] [ 1.27587458e-02 9.99918167e-01 9.34780610e-04 -2.18615600e-01] [-1.62275534e-02 -7.27673593e-04 9.99868060e-01 -5.70386675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.947719421 meters Centerline goodness : 0.945981 Centerline is valid? [False, False] Translation: X:11.83, Y:-0.22, Z:-0.57 [[ 9.99788542e-01 -1.30348991e-02 1.59048157e-02 1.18262907e+01] [ 1.30172738e-02 9.99914538e-01 1.21119772e-03 -2.21153616e-01] [-1.59192443e-02 -1.00390426e-03 9.99872777e-01 -5.71262479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.977719420999996 meters Centerline goodness : 0.947624 Centerline is valid? [False, False] Translation: X:11.84, Y:-0.22, Z:-0.57 [[ 0.99972169 -0.0167893 0.01657289 11.84365984] [ 0.0165347 0.99974497 0.01538165 -0.22394255] [-0.01682691 -0.01510334 0.99974434 -0.57173925] [ 0. 0. 0. 1. ]] SLAMing on 35.007719421 meters Centerline goodness : 0.948636 Centerline is valid? [False, False] Translation: X:11.84, Y:-0.22, Z:-0.57 [[ 0.99971342 -0.01734825 0.01649587 11.84294737] [ 0.01710365 0.99974336 0.01485535 -0.22227266] [-0.01674935 -0.01456896 0.99975357 -0.5705683 ] [ 0. 0. 0. 1. ]] SLAMing on 35.037719421 meters Centerline goodness : 0.947591 Centerline is valid? [False, False] Translation: X:11.84, Y:-0.22, Z:-0.57 [[ 0.9997161 -0.01746572 0.01620714 11.84372628] [ 0.01722546 0.99974139 0.01484688 -0.22291785] [-0.01646226 -0.01456349 0.99975842 -0.57068639] [ 0. 0. 0. 1. ]] SLAMing on 35.067719421 meters Centerline goodness : 0.949468 Centerline is valid? [False, False] Translation: X:11.84, Y:-0.23, Z:-0.57 [[ 0.99971764 -0.01766658 0.01589149 11.84364435] [ 0.01742142 0.99972909 0.01543534 -0.22735862] [-0.01615988 -0.01515412 0.99975458 -0.56929939] [ 0. 0. 0. 1. ]] SLAMing on 35.097719421 meters Centerline goodness : 0.952957 Centerline is valid? [False, True] Translation: X:11.84, Y:-0.23, Z:-0.57 [[ 0.99972135 -0.01746552 0.0158801 11.84324556] [ 0.01721493 0.99972724 0.01578248 -0.22895686] [-0.01615142 -0.0155047 0.99974934 -0.56859486] [ 0. 0. 0. 1. ]] SLAMing on 35.127719421 meters Centerline goodness : 0.957508 Centerline is valid? [True, True] Translation: X:11.87, Y:-0.22, Z:-0.57 [[ 9.99764637e-01 -1.43706832e-02 1.62528102e-02 1.18740184e+01] [ 1.43662166e-02 9.99896724e-01 3.91544209e-04 -2.23720621e-01] [-1.62567584e-02 -1.57960662e-04 9.99867838e-01 -5.65465869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.157719420999996 meters Centerline goodness : 0.956284 Centerline is valid? [True, True] Translation: X:11.91, Y:-0.22, Z:-0.56 [[ 9.99787728e-01 -1.26626886e-02 1.62528274e-02 1.19058993e+01] [ 1.26580081e-02 9.99919808e-01 3.90827032e-04 -2.23144388e-01] [-1.62564730e-02 -1.85015649e-04 9.99867838e-01 -5.64577825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.187719421 meters Centerline goodness : 0.955950 Centerline is valid? [True, True] Translation: X:11.94, Y:-0.22, Z:-0.57 [[ 9.99823348e-01 -9.44020592e-03 1.62528619e-02 1.19369739e+01] [ 9.43512302e-03 9.99955412e-01 3.89390867e-04 -2.23835801e-01] [-1.62558131e-02 -2.35974329e-04 9.99867838e-01 -5.67057489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.217719421 meters Centerline goodness : 0.954403 Centerline is valid? [True, True] Translation: X:11.97, Y:-0.22, Z:-0.57 [[ 9.99840201e-01 -7.44416503e-03 1.62528874e-02 1.19694704e+01] [ 7.43883589e-03 9.99972256e-01 3.88320324e-04 -2.24724248e-01] [-1.62553272e-02 -2.67355708e-04 9.99867838e-01 -5.68119411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.247719421 meters Centerline goodness : 0.958203 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.23, Z:-0.57 [[ 9.99845259e-01 -6.73054651e-03 1.62529208e-02 1.20019943e+01] [ 6.72514590e-03 9.99977311e-01 3.86918194e-04 -2.25283902e-01] [-1.62551562e-02 -2.77555059e-04 9.99867838e-01 -5.67389541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.277719421 meters Centerline goodness : 0.960938 Centerline is valid? [True, True] Translation: X:12.03, Y:-0.22, Z:-0.56 [[ 9.99852699e-01 -5.51563191e-03 1.62529538e-02 1.20330270e+01] [ 5.51009347e-03 9.99984745e-01 3.85526638e-04 -2.24813202e-01] [-1.62548323e-02 -2.95914555e-04 9.99867838e-01 -5.63786086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.307719421 meters Centerline goodness : 0.962471 Centerline is valid? [True, True] Translation: X:12.07, Y:-0.22, Z:-0.56 [[ 9.99862116e-01 -3.40446189e-03 1.62529783e-02 1.20654703e+01] [ 3.39866149e-03 9.99994151e-01 3.84490318e-04 -2.24292672e-01] [-1.62541922e-02 -3.29198931e-04 9.99867838e-01 -5.61986848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.337719420999996 meters Centerline goodness : 0.963628 Centerline is valid? [True, True] Translation: X:12.10, Y:-0.22, Z:-0.56 [[ 9.99855649e-01 4.95188243e-03 1.62530106e-02 1.20965428e+01] [-4.95876387e-03 9.99987632e-01 3.83121818e-04 -2.24498552e-01] [-1.62509124e-02 -4.63661356e-04 9.99867838e-01 -5.62577722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.367719421 meters Centerline goodness : 0.960740 Centerline is valid? [True, True] Translation: X:12.13, Y:-0.22, Z:-0.56 [[ 9.99815789e-01 1.02091536e-02 1.62530345e-02 1.21287147e+01] [-1.02167124e-02 9.99947735e-01 3.82103047e-04 -2.23364922e-01] [-1.62482841e-02 -5.48085238e-04 9.99867838e-01 -5.64517468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.397719421 meters Centerline goodness : 0.955170 Centerline is valid? [True, True] Translation: X:12.16, Y:-0.22, Z:-0.57 [[ 9.99704935e-01 1.80521419e-02 1.62530659e-02 1.21602490e+01] [-1.80607138e-02 9.99836820e-01 3.80762733e-04 -2.17545148e-01] [-1.62435402e-02 -6.74192356e-04 9.99867838e-01 -5.72680108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.427719421 meters Centerline goodness : 0.955170 Centerline is valid? [True, True] Translation: X:12.19, Y:-0.22, Z:-0.57 [[ 9.99698959e-01 1.83800861e-02 1.62530973e-02 1.21937542e+01] [-1.83886795e-02 9.99830842e-01 3.79418870e-04 -2.17044630e-01] [-1.62433742e-02 -6.78177646e-04 9.99867838e-01 -5.73224914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.457719421 meters Centerline goodness : 0.952926 Centerline is valid? [True, True] Translation: X:12.22, Y:-0.21, Z:-0.58 [[ 9.99640103e-01 2.13423707e-02 1.62532200e-02 1.22248469e+01] [-2.13512683e-02 9.99771966e-01 3.74086781e-04 -2.13851513e-01] [-1.62415298e-02 -7.20979010e-04 9.99867838e-01 -5.77106722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.487719421 meters Centerline goodness : 0.952785 Centerline is valid? [True, True] Translation: X:12.26, Y:-0.21, Z:-0.58 [[ 9.99618324e-01 2.23390924e-02 1.62533176e-02 1.22558142e+01] [-2.23480519e-02 9.99750183e-01 3.69801049e-04 -2.13450932e-01] [-1.62409962e-02 -7.32889889e-04 9.99867838e-01 -5.77716587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.517719421 meters Centerline goodness : 0.954467 Centerline is valid? [True, True] Translation: X:12.29, Y:-0.22, Z:-0.58 [[ 9.99706451e-01 1.79677164e-02 1.62533740e-02 1.22891652e+01] [-1.79760587e-02 9.99838350e-01 3.67305135e-04 -2.21228705e-01] [-1.62441470e-02 -6.59368917e-04 9.99867838e-01 -5.77885204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.547719421 meters Centerline goodness : 0.952191 Centerline is valid? [True, True] Translation: X:12.32, Y:-0.22, Z:-0.58 [[ 9.99759908e-01 1.46952557e-02 1.62534891e-02 1.23210096e+01] [-1.47030824e-02 9.99891838e-01 3.62139227e-04 -2.22848608e-01] [-1.62464093e-02 -6.01028669e-04 9.99867838e-01 -5.82424057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.577719421 meters Centerline goodness : 0.945950 Centerline is valid? [True, False] Translation: X:12.34, Y:-0.22, Z:-0.58 [[ 9.99946569e-01 5.83099806e-03 8.53569576e-03 1.23418562e+01] [-5.88980045e-03 9.99958986e-01 6.88014734e-03 -2.21984016e-01] [-8.49522755e-03 -6.93005327e-03 9.99939901e-01 -5.83963979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.607719421 meters Centerline goodness : 0.945525 Centerline is valid? [False, False] Translation: X:12.34, Y:-0.22, Z:-0.59 [[ 9.99961448e-01 3.58731700e-03 8.01457136e-03 1.23440013e+01] [-3.62817757e-03 9.99980466e-01 5.08957624e-03 -2.22821932e-01] [-7.99615688e-03 -5.11845832e-03 9.99954930e-01 -5.85251198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.637719421 meters Centerline goodness : 0.946383 Centerline is valid? [False, False] Translation: X:12.36, Y:-0.23, Z:-0.58 [[ 9.99940826e-01 1.85968104e-03 1.07184479e-02 1.23594464e+01] [-1.94732702e-03 9.99964709e-01 8.17248742e-03 -2.28991797e-01] [-1.07028714e-02 -8.19287615e-03 9.99909159e-01 -5.84939062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.667719421 meters Centerline goodness : 0.946868 Centerline is valid? [False, False] Translation: X:12.36, Y:-0.23, Z:-0.59 [[ 9.99947087e-01 8.47454846e-04 1.02520351e-02 1.23613230e+01] [-9.24170415e-04 9.99971593e-01 7.48053842e-03 -2.30145638e-01] [-1.02454045e-02 -7.48961723e-03 9.99919465e-01 -5.85991086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.697719421 meters Centerline goodness : 0.946346 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.23, Z:-0.59 [[ 9.99961564e-01 -1.14076015e-03 8.69306650e-03 1.23862980e+01] [ 9.93663708e-04 9.99856578e-01 1.69066952e-02 -2.33897592e-01] [-8.71110621e-03 -1.68974074e-02 9.99819281e-01 -5.85398008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.727719420999996 meters Centerline goodness : 0.945610 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.23, Z:-0.59 [[ 9.99982899e-01 -1.63309591e-03 5.61549741e-03 1.24065540e+01] [ 1.54011403e-03 9.99862304e-01 1.65227301e-02 -2.33554780e-01] [-5.64170739e-03 -1.65137990e-02 9.99847721e-01 -5.86063329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.757719421 meters Centerline goodness : 0.951197 Centerline is valid? [False, True] Translation: X:12.40, Y:-0.23, Z:-0.58 [[ 9.99981361e-01 -2.68496248e-03 5.48349505e-03 1.24047157e+01] [ 2.59988297e-03 9.99877042e-01 1.54641958e-02 -2.32874919e-01] [-5.52434159e-03 -1.54496511e-02 9.99865386e-01 -5.83130106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.787719421 meters Centerline goodness : 0.958287 Centerline is valid? [True, True] Translation: X:12.43, Y:-0.23, Z:-0.58 [[ 9.99953762e-01 -7.71560041e-03 5.73956088e-03 1.24349464e+01] [ 7.71518006e-03 9.99970233e-01 9.53757377e-05 -2.25556499e-01] [-5.74012591e-03 -5.10895821e-05 9.99983524e-01 -5.77664538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.817719421 meters Centerline goodness : 0.957558 Centerline is valid? [True, True] Translation: X:12.47, Y:-0.22, Z:-0.58 [[ 9.99929504e-01 -1.03944587e-02 5.73956293e-03 1.24668266e+01] [ 1.03940831e-02 9.99945976e-01 9.52526248e-05 -2.24434405e-01] [-5.74024295e-03 -3.55884156e-05 9.99983524e-01 -5.76159812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.847719421 meters Centerline goodness : 0.955669 Centerline is valid? [True, True] Translation: X:12.50, Y:-0.22, Z:-0.58 [[ 9.99902573e-01 -1.27241021e-02 5.73957110e-03 1.24991588e+01] [ 1.27237678e-02 9.99919045e-01 9.47577173e-05 -2.23928216e-01] [-5.74031216e-03 -2.17195155e-05 9.99983524e-01 -5.78309506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.877719421 meters Centerline goodness : 0.950739 Centerline is valid? [True, True] Translation: X:12.53, Y:-0.22, Z:-0.58 [[ 9.99839551e-01 -1.69684696e-02 5.73957920e-03 1.25303381e+01] [ 1.69682081e-02 9.99856025e-01 9.42644338e-05 -2.24135167e-01] [-5.74035237e-03 3.14106500e-06 9.99983524e-01 -5.83591329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.907719420999996 meters Centerline goodness : 0.950433 Centerline is valid? [True, True] Translation: X:12.56, Y:-0.22, Z:-0.59 [[ 9.99800899e-01 -1.91107175e-02 5.73958326e-03 1.25601902e+01] [ 1.91104927e-02 9.99817373e-01 9.40167298e-05 -2.20756544e-01] [-5.74033178e-03 1.56882531e-05 9.99983524e-01 -5.85522152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.937719421 meters Centerline goodness : 0.950033 Centerline is valid? [True, True] Translation: X:12.59, Y:-0.22, Z:-0.58 [[ 9.99801970e-01 -1.90546243e-02 5.73958524e-03 1.25915325e+01] [ 1.90543992e-02 9.99818444e-01 9.38952702e-05 -2.18151146e-01] [-5.74033233e-03 1.54876726e-05 9.99983524e-01 -5.84440452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.967719421 meters Centerline goodness : 0.952319 Centerline is valid? [True, True] Translation: X:12.62, Y:-0.22, Z:-0.58 [[ 9.99859239e-01 -1.57657922e-02 5.73958927e-03 1.26230898e+01] [ 1.57655144e-02 9.99875712e-01 9.36487184e-05 -2.15176232e-01] [-5.74035235e-03 -3.14795901e-06 9.99983524e-01 -5.84435051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.997719421 meters Centerline goodness : 0.953523 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.21, Z:-0.58 [[ 9.99915921e-01 -1.16278678e-02 5.73959526e-03 1.26543836e+01] [ 1.16275239e-02 9.99932394e-01 9.32797491e-05 -2.13478405e-01] [-5.74029187e-03 -2.65346253e-05 9.99983524e-01 -5.81255564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.027719421 meters Centerline goodness : 0.957640 Centerline is valid? [True, True] Translation: X:12.69, Y:-0.21, Z:-0.58 [[ 9.99982835e-01 -1.17753216e-03 5.73959921e-03 1.26855466e+01] [ 1.17701756e-03 9.99999303e-01 9.30360894e-05 -2.10334619e-01] [-5.73970476e-03 -8.62788834e-05 9.99983524e-01 -5.78580535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.057719421 meters Centerline goodness : 0.955590 Centerline is valid? [True, True] Translation: X:12.72, Y:-0.21, Z:-0.58 [[ 9.99975468e-01 4.01511445e-03 5.73960315e-03 1.27176100e+01] [-4.01571317e-03 9.99991933e-01 9.27927316e-05 -2.08841406e-01] [-5.73918427e-03 -1.15839055e-04 9.99983524e-01 -5.78583555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.087719420999996 meters Centerline goodness : 0.952966 Centerline is valid? [True, True] Translation: X:12.75, Y:-0.21, Z:-0.58 [[ 9.99865615e-01 1.53560773e-02 5.73961125e-03 1.27489973e+01] [-1.53568598e-02 9.99882072e-01 9.22886895e-05 -2.06596890e-01] [-5.73751720e-03 -1.80418693e-04 9.99983524e-01 -5.81457963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.117719421 meters Centerline goodness : 0.952349 Centerline is valid? [True, True] Translation: X:12.78, Y:-0.20, Z:-0.58 [[ 9.99751257e-01 2.15518007e-02 5.73961538e-03 1.27801640e+01] [-2.15526837e-02 9.99767710e-01 9.20314211e-05 -2.04946054e-01] [-5.73629868e-03 -2.15712644e-04 9.99983524e-01 -5.81611770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.147719421 meters Centerline goodness : 0.949885 Centerline is valid? [True, False] Translation: X:12.78, Y:-0.20, Z:-0.58 [[ 9.99600031e-01 2.76674640e-02 5.85571123e-03 1.27806089e+01] [-2.76969827e-02 9.99603753e-01 5.02140720e-03 -2.03978042e-01] [-5.71446132e-03 -5.18158433e-03 9.99970248e-01 -5.81926645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.177719421 meters Centerline goodness : 0.945306 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.21, Z:-0.58 [[ 9.99556227e-01 2.92618901e-02 5.57585507e-03 1.27824887e+01] [-2.92984288e-02 9.99548998e-01 6.58804433e-03 -2.07974548e-01] [-5.38056172e-03 -6.74848452e-03 9.99962753e-01 -5.83479883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.207719421 meters Centerline goodness : 0.945992 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.21, Z:-0.59 [[ 9.99610727e-01 2.74480192e-02 5.00013813e-03 1.27854347e+01] [-2.74708953e-02 9.99612179e-01 4.56534548e-03 -2.09298096e-01] [-4.87288927e-03 -4.70092658e-03 9.99977078e-01 -5.85878370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.237719421 meters Centerline goodness : 0.943636 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.21, Z:-0.59 [[ 9.99658624e-01 2.57247142e-02 4.56881882e-03 1.27884731e+01] [-2.57402619e-02 9.99662959e-01 3.37744459e-03 -2.09527925e-01] [-4.48039514e-03 -3.49389421e-03 9.99983859e-01 -5.88667267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.267719421 meters Centerline goodness : 0.941863 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.21, Z:-0.59 [[ 9.99668027e-01 2.53928892e-02 4.36310532e-03 1.27888578e+01] [-2.54077355e-02 9.99671452e-01 3.38161447e-03 -2.09816191e-01] [-4.27580287e-03 -3.49134849e-03 9.99984764e-01 -5.88575498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.297719421 meters Centerline goodness : 0.940369 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.21, Z:-0.59 [[ 9.99761388e-01 2.14750042e-02 3.99894418e-03 1.27889083e+01] [-2.14769970e-02 9.99769239e-01 4.56052365e-04 -2.14407325e-01] [-3.98822765e-03 -5.41828857e-04 9.99991900e-01 -5.87793479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.327719421 meters Centerline goodness : 0.939738 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.22, Z:-0.59 [[ 9.99832500e-01 1.79431035e-02 3.60803221e-03 1.27899839e+01] [-1.79335928e-02 9.99835665e-01 -2.65129715e-03 -2.18011446e-01] [-3.65501179e-03 2.58614807e-03 9.99989976e-01 -5.88328490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.357719421 meters Centerline goodness : 0.942910 Centerline is valid? [False, False] Translation: X:12.80, Y:-0.23, Z:-0.59 [[ 9.99886084e-01 1.19992380e-02 9.15624942e-03 1.28000097e+01] [-1.20155898e-02 9.99926309e-01 1.73294700e-03 -2.25973571e-01] [-9.13478063e-03 -1.84276733e-03 9.99956579e-01 -5.91161219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.387719421 meters Centerline goodness : 0.946705 Centerline is valid? [False, False] Translation: X:12.80, Y:-0.23, Z:-0.59 [[ 9.99923529e-01 8.39811038e-03 9.07789852e-03 1.27998023e+01] [-8.38358871e-03 9.99963518e-01 -1.63654574e-03 -2.26920411e-01] [-9.09131123e-03 1.56031523e-03 9.99957456e-01 -5.90593926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.417719421 meters Centerline goodness : 0.947335 Centerline is valid? [False, False] Translation: X:12.82, Y:-0.23, Z:-0.59 [[ 9.99949556e-01 3.67862086e-04 1.00374696e-02 1.28160573e+01] [-4.67529307e-04 9.99950597e-01 9.92897754e-03 -2.32516018e-01] [-1.00333212e-02 -9.93316949e-03 9.99900327e-01 -5.88736428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.447719421 meters Centerline goodness : 0.949052 Centerline is valid? [False, False] Translation: X:12.83, Y:-0.24, Z:-0.59 [[ 9.99980688e-01 -1.78555838e-03 5.95281169e-03 1.28328629e+01] [ 1.71803210e-03 9.99934344e-01 1.13294742e-02 -2.35190449e-01] [-5.97265029e-03 -1.13190283e-02 9.99918100e-01 -5.87298272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.477719420999996 meters Centerline goodness : 0.946501 Centerline is valid? [False, False] Translation: X:12.83, Y:-0.24, Z:-0.59 [[ 9.99965893e-01 -5.85510688e-03 5.82499983e-03 1.28336261e+01] [ 5.80686193e-03 9.99948983e-01 8.26511649e-03 -2.38430102e-01] [-5.87309579e-03 -8.23100962e-03 9.99948877e-01 -5.87623984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.507719421 meters Centerline goodness : 0.945818 Centerline is valid? [False, False] Translation: X:12.83, Y:-0.24, Z:-0.59 [[ 9.99958852e-01 -9.03053889e-03 8.62856571e-04 1.28270577e+01] [ 9.03509301e-03 9.99944448e-01 -5.42848108e-03 -2.36844353e-01] [-8.13786528e-04 5.43605369e-03 9.99984893e-01 -5.86182180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.537719421 meters Centerline goodness : 0.943444 Centerline is valid? [False, False] Translation: X:12.83, Y:-0.24, Z:-0.59 [[ 9.99916097e-01 -1.29386471e-02 6.25018193e-04 1.28279456e+01] [ 1.29442422e-02 9.99866419e-01 -9.97952954e-03 -2.35117142e-01] [-4.95813091e-04 9.98678262e-03 9.99950008e-01 -5.86570891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.567719421 meters Centerline goodness : 0.942625 Centerline is valid? [False, False] Translation: X:12.83, Y:-0.24, Z:-0.59 [[ 9.99909411e-01 -1.34485767e-02 5.52661659e-04 1.28285181e+01] [ 1.34533692e-02 9.99860991e-01 -9.84911338e-03 -2.36914077e-01] [-4.20128277e-04 9.85565632e-03 9.99951344e-01 -5.87004634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.597719421 meters Centerline goodness : 0.944082 Centerline is valid? [False, False] Translation: X:12.83, Y:-0.24, Z:-0.59 [[ 9.99842642e-01 -1.77327721e-02 4.89046456e-04 1.28298812e+01] [ 1.77377761e-02 9.99750619e-01 -1.35672886e-02 -2.38613252e-01] [-2.48338859e-04 1.35738283e-02 9.99907841e-01 -5.88326648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.627719421 meters Centerline goodness : 0.946615 Centerline is valid? [False, False] Translation: X:12.83, Y:-0.23, Z:-0.59 [[ 9.99811713e-01 -1.93939965e-02 6.41368414e-04 1.28290393e+01] [ 1.94016519e-02 9.99689693e-01 -1.56234931e-02 -2.34838620e-01] [-3.38167422e-04 1.56329950e-02 9.99877740e-01 -5.87261706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.657719420999996 meters Centerline goodness : 0.948179 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.23, Z:-0.59 [[ 9.99832928e-01 -1.71903316e-02 6.21365230e-03 1.28382679e+01] [ 1.73294239e-02 9.99583625e-01 -2.30709211e-02 -2.32257213e-01] [-5.81446831e-03 2.31747456e-02 9.99714521e-01 -5.89727553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.687719421 meters Centerline goodness : 0.953644 Centerline is valid? [False, True] Translation: X:12.85, Y:-0.23, Z:-0.59 [[ 9.99871476e-01 -1.33760782e-02 8.83811132e-03 1.28454574e+01] [ 1.36501787e-02 9.99403658e-01 -3.17175030e-02 -2.28069813e-01] [-8.40858499e-03 3.18340684e-02 9.99457797e-01 -5.88613830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.717719421 meters Centerline goodness : 0.954482 Centerline is valid? [True, True] Translation: X:12.88, Y:-0.24, Z:-0.59 [[ 9.99913932e-01 -1.01442627e-02 8.32001071e-03 1.28770019e+01] [ 1.01434787e-02 9.99948544e-01 1.36427415e-04 -2.36272175e-01] [-8.32096656e-03 -5.20218213e-05 9.99965379e-01 -5.85804781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.747719421 meters Centerline goodness : 0.957945 Centerline is valid? [True, True] Translation: X:12.91, Y:-0.23, Z:-0.58 [[ 9.99960521e-01 -3.11994539e-03 8.32001644e-03 1.29079327e+01] [ 3.11892115e-03 9.99995127e-01 1.36077434e-04 -2.31878024e-01] [-8.32040045e-03 -1.10122586e-04 9.99965379e-01 -5.82405791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.777719421 meters Centerline goodness : 0.956431 Centerline is valid? [True, True] Translation: X:12.94, Y:-0.23, Z:-0.59 [[ 9.99958494e-01 3.71304787e-03 8.32002222e-03 1.29386661e+01] [-3.71430561e-03 9.99993093e-01 1.35723294e-04 -2.26801615e-01] [-8.31946080e-03 -1.66620766e-04 9.99965379e-01 -5.85646239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.807719421 meters Centerline goodness : 0.955485 Centerline is valid? [True, True] Translation: X:12.97, Y:-0.22, Z:-0.59 [[ 9.99933126e-01 8.03246328e-03 8.32004223e-03 1.29713656e+01] [-8.03386016e-03 9.99967719e-01 1.34485009e-04 -2.23037650e-01] [-8.31869341e-03 -2.01318071e-04 9.99965379e-01 -5.88186572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.837719420999996 meters Centerline goodness : 0.948454 Centerline is valid? [True, False] Translation: X:12.97, Y:-0.22, Z:-0.59 [[ 9.99851553e-01 1.53155180e-02 7.89346338e-03 1.29747086e+01] [-1.53650350e-02 9.99862410e-01 6.25117687e-03 -2.18881363e-01] [-7.79663731e-03 -6.37153224e-03 9.99949307e-01 -5.91146612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.867719421 meters Centerline goodness : 0.946294 Centerline is valid? [False, False] Translation: X:12.98, Y:-0.22, Z:-0.59 [[ 9.99803090e-01 1.83545508e-02 7.54262378e-03 1.29772969e+01] [-1.84224481e-02 9.99789486e-01 9.03314755e-03 -2.19146142e-01] [-7.37523658e-03 -9.17032243e-03 9.99930753e-01 -5.93227915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.897719421 meters Centerline goodness : 0.948251 Centerline is valid? [False, False] Translation: X:12.98, Y:-0.22, Z:-0.59 [[ 9.99774496e-01 1.99159475e-02 7.36969907e-03 1.29787471e+01] [-1.99912285e-02 9.99747240e-01 1.02862958e-02 -2.20566603e-01] [-7.16297498e-03 -1.04313055e-02 9.99919937e-01 -5.94485198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.927719421 meters Centerline goodness : 0.952467 Centerline is valid? [False, True] Translation: X:12.98, Y:-0.22, Z:-0.59 [[ 9.99772902e-01 2.00316829e-02 7.27157533e-03 1.29785583e+01] [-2.01095524e-02 9.99739466e-01 1.07984355e-02 -2.22574535e-01] [-7.05337000e-03 -1.09422113e-02 9.99915255e-01 -5.93846890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.957719421 meters Centerline goodness : 0.951465 Centerline is valid? [True, True] Translation: X:13.01, Y:-0.22, Z:-0.60 [[ 9.99762104e-01 2.04767435e-02 7.51257570e-03 1.30099098e+01] [-2.04785983e-02 9.99790277e-01 1.70048611e-04 -2.20180840e-01] [-7.50751810e-03 -3.23855177e-04 9.99971766e-01 -5.96125353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.987719421 meters Centerline goodness : 0.953833 Centerline is valid? [True, True] Translation: X:13.04, Y:-0.23, Z:-0.59 [[ 9.99779268e-01 1.96208209e-02 7.51262306e-03 1.30428989e+01] [-1.96226358e-02 9.99807443e-01 1.67929990e-04 -2.25008124e-01] [-7.50788153e-03 -3.15310388e-04 9.99971766e-01 -5.94033482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.017719421 meters Centerline goodness : 0.954516 Centerline is valid? [True, True] Translation: X:13.08, Y:-0.23, Z:-0.59 [[ 9.99808200e-01 1.80865637e-02 7.51268032e-03 1.30752821e+01] [-1.80883158e-02 9.99836379e-01 1.65327780e-04 -2.27590983e-01] [-7.50846088e-03 -3.01187804e-04 9.99971766e-01 -5.92564846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.047719421 meters Centerline goodness : 0.959038 Centerline is valid? [True, True] Translation: X:13.11, Y:-0.23, Z:-0.59 [[ 9.99883451e-01 1.32907596e-02 7.51273058e-03 1.31065968e+01] [-1.32923591e-02 9.99911639e-01 1.63011791e-04 -2.32563489e-01] [-7.50990020e-03 -2.62854705e-04 9.99971766e-01 -5.92070639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.077719421 meters Centerline goodness : 0.959339 Centerline is valid? [True, True] Translation: X:13.14, Y:-0.24, Z:-0.59 [[ 9.99914839e-01 1.06711541e-02 7.51275656e-03 1.31387963e+01] [-1.06726707e-02 9.99943032e-01 1.61805541e-04 -2.35559468e-01] [-7.51060192e-03 -2.41972939e-04 9.99971766e-01 -5.90034055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.107719421 meters Centerline goodness : 0.959123 Centerline is valid? [True, True] Translation: X:13.17, Y:-0.24, Z:-0.59 [[ 9.99961266e-01 4.58512630e-03 7.51280483e-03 1.31710173e+01] [-4.58645420e-03 9.99989469e-01 1.59532231e-04 -2.40807542e-01] [-7.51199424e-03 -1.93983187e-04 9.99971766e-01 -5.91673872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.137719421 meters Centerline goodness : 0.956200 Centerline is valid? [True, True] Translation: X:13.20, Y:-0.24, Z:-0.60 [[ 9.99971095e-01 1.16913290e-03 7.51285253e-03 1.32021802e+01] [-1.17034734e-03 9.99999303e-01 1.57253251e-04 -2.41727769e-01] [-7.51266344e-03 -1.66041352e-04 9.99971766e-01 -5.96625381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.167719421 meters Centerline goodness : 0.954922 Centerline is valid? [True, True] Translation: X:13.23, Y:-0.24, Z:-0.60 [[ 9.99959702e-01 -4.91428903e-03 7.51287949e-03 1.32346955e+01] [ 4.91325598e-03 9.99987918e-01 1.55954677e-04 -2.44489145e-01] [-7.51355512e-03 -1.19035693e-04 9.99971766e-01 -5.96983629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.197719421 meters Centerline goodness : 0.954021 Centerline is valid? [True, True] Translation: X:13.27, Y:-0.25, Z:-0.60 [[ 9.99920037e-01 -1.01722764e-02 7.51292457e-03 1.32668599e+01] [ 1.01714083e-02 9.99948258e-01 1.53751653e-04 -2.49529210e-01] [-7.51409984e-03 -7.73223354e-05 9.99971766e-01 -5.95415212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.227719420999996 meters Centerline goodness : 0.952718 Centerline is valid? [True, True] Translation: X:13.30, Y:-0.25, Z:-0.60 [[ 9.99881650e-01 -1.34254216e-02 7.51297200e-03 1.32977303e+01] [ 1.34246630e-02 9.99909874e-01 1.51397964e-04 -2.50685922e-01] [-7.51432747e-03 -5.05209285e-05 9.99971766e-01 -5.99065975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.257719421 meters Centerline goodness : 0.954546 Centerline is valid? [True, True] Translation: X:13.33, Y:-0.25, Z:-0.60 [[ 9.99807441e-01 -1.81283411e-02 7.51298213e-03 1.33284338e+01] [ 1.81277191e-02 9.99835668e-01 1.50893588e-04 -2.48852333e-01] [-7.51448296e-03 -1.46713023e-05 9.99971766e-01 -5.98572240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.287719421 meters Centerline goodness : 0.959029 Centerline is valid? [True, True] Translation: X:13.36, Y:-0.24, Z:-0.59 [[ 9.99893164e-01 -1.25385848e-02 7.51300463e-03 1.33600008e+01] [ 1.25378135e-02 9.99921387e-01 1.49765160e-04 -2.43958935e-01] [-7.51429185e-03 -5.55525092e-05 9.99971766e-01 -5.94968555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.317719421 meters Centerline goodness : 0.958344 Centerline is valid? [True, True] Translation: X:13.39, Y:-0.24, Z:-0.59 [[ 9.99953125e-01 -6.10753936e-03 7.51301083e-03 1.33912977e+01] [ 6.10658882e-03 9.99981343e-01 1.49453292e-04 -2.41608893e-01] [-7.51378346e-03 -1.03567418e-04 9.99971766e-01 -5.94290032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.347719421 meters Centerline goodness : 0.951251 Centerline is valid? [True, True] Translation: X:13.42, Y:-0.24, Z:-0.60 [[ 9.99939955e-01 7.97749953e-03 7.51301721e-03 1.34225738e+01] [-7.97884503e-03 9.99968157e-01 1.49131735e-04 -2.39407724e-01] [-7.51158828e-03 -2.09067980e-04 9.99971766e-01 -5.98763037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.377719421 meters Centerline goodness : 0.951251 Centerline is valid? [True, True] Translation: X:13.46, Y:-0.24, Z:-0.60 [[ 9.99937188e-01 8.31710667e-03 7.51302361e-03 1.34560628e+01] [-8.31845932e-03 9.99965390e-01 1.48809040e-04 -2.39013303e-01] [-7.51152592e-03 -2.11296475e-04 9.99971766e-01 -5.99014716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.407719420999996 meters Centerline goodness : 0.951111 Centerline is valid? [True, True] Translation: X:13.49, Y:-0.24, Z:-0.60 [[ 9.99864913e-01 1.46188264e-02 7.51307328e-03 1.34880032e+01] [-1.46203376e-02 9.99893106e-01 1.46257336e-04 -2.37725864e-01] [-7.51013207e-03 -2.56081247e-04 9.99971766e-01 -6.00281036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.437719421 meters Centerline goodness : 0.954322 Centerline is valid? [True, True] Translation: X:13.52, Y:-0.24, Z:-0.60 [[ 9.99725651e-01 2.21850286e-02 7.51308573e-03 1.35205115e+01] [-2.21867483e-02 9.99753833e-01 1.45614871e-04 -2.35396342e-01] [-7.50800579e-03 -3.12265864e-04 9.99971766e-01 -5.98432382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.467719421 meters Centerline goodness : 0.955923 Centerline is valid? [True, True] Translation: X:13.55, Y:-0.24, Z:-0.60 [[ 9.99695856e-01 2.34893291e-02 7.51312946e-03 1.35516296e+01] [-2.34910684e-02 9.99724037e-01 1.43322537e-04 -2.35086930e-01] [-7.50768956e-03 -3.19770384e-04 9.99971766e-01 -5.98859092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.497719421 meters Centerline goodness : 0.956964 Centerline is valid? [True, True] Translation: X:13.58, Y:-0.24, Z:-0.60 [[ 9.99723094e-01 2.22999558e-02 7.51316902e-03 1.35842908e+01] [-2.23016458e-02 9.99751277e-01 1.41217715e-04 -2.38070191e-01] [-7.50815118e-03 -3.08734645e-04 9.99971766e-01 -5.96022370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.527719421 meters Centerline goodness : 0.958080 Centerline is valid? [True, True] Translation: X:13.62, Y:-0.24, Z:-0.60 [[ 9.99748739e-01 2.11189406e-02 7.51321067e-03 1.36158351e+01] [-2.11205804e-02 9.99776926e-01 1.38965974e-04 -2.41121883e-01] [-7.50859986e-03 -2.97614427e-04 9.99971766e-01 -5.95385131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.557719421 meters Centerline goodness : 0.959862 Centerline is valid? [True, True] Translation: X:13.65, Y:-0.25, Z:-0.60 [[ 9.99798468e-01 1.86165045e-02 7.51324835e-03 1.36469774e+01] [-1.86180582e-02 9.99826660e-01 1.36898053e-04 -2.47999005e-01] [-7.50939744e-03 -2.76752559e-04 9.99971766e-01 -5.95174229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.587719420999996 meters Centerline goodness : 0.960025 Centerline is valid? [True, True] Translation: X:13.68, Y:-0.25, Z:-0.60 [[ 9.99803146e-01 1.83635287e-02 7.51326990e-03 1.36798377e+01] [-1.83650663e-02 9.99831339e-01 1.35705124e-04 -2.50860884e-01] [-7.50951068e-03 -2.73660110e-04 9.99971766e-01 -5.96650620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.617719421 meters Centerline goodness : 0.956014 Centerline is valid? [True, True] Translation: X:13.71, Y:-0.25, Z:-0.60 [[ 9.99798887e-01 1.85939691e-02 7.51331414e-03 1.37122521e+01] [-1.85954945e-02 9.99827080e-01 1.33209987e-04 -2.54603462e-01] [-7.50953803e-03 -2.72896988e-04 9.99971766e-01 -6.00332554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.647719421 meters Centerline goodness : 0.953394 Centerline is valid? [True, True] Translation: X:13.74, Y:-0.26, Z:-0.60 [[ 9.99782837e-01 1.94378178e-02 7.51335191e-03 1.37442204e+01] [-1.94393507e-02 9.99811029e-01 1.31044381e-04 -2.57610417e-01] [-7.50938489e-03 -2.77070606e-04 9.99971766e-01 -6.00493068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.677719421 meters Centerline goodness : 0.951914 Centerline is valid? [True, True] Translation: X:13.78, Y:-0.26, Z:-0.60 [[ 9.99789289e-01 1.91030582e-02 7.51339048e-03 1.37762894e+01] [-1.91045648e-02 9.99817483e-01 1.28794417e-04 -2.59093219e-01] [-7.50955879e-03 -2.72307333e-04 9.99971766e-01 -6.01270684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.707719421 meters Centerline goodness : 0.950293 Centerline is valid? [True, True] Translation: X:13.81, Y:-0.27, Z:-0.60 [[ 9.99842990e-01 1.60481972e-02 7.51342806e-03 1.38081790e+01] [-1.60496009e-02 9.99871189e-01 1.26563275e-04 -2.65764849e-01] [-7.51042913e-03 -2.47130925e-04 9.99971766e-01 -6.04807870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.737719421 meters Centerline goodness : 0.951918 Centerline is valid? [True, True] Translation: X:13.84, Y:-0.27, Z:-0.61 [[ 9.99884625e-01 1.32016491e-02 7.51346505e-03 1.38397346e+01] [-1.32029557e-02 9.99912829e-01 1.24327899e-04 -2.68814545e-01] [-7.51116876e-03 -2.23513502e-04 9.99971766e-01 -6.05489679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.767719421 meters Centerline goodness : 0.953984 Centerline is valid? [True, True] Translation: X:13.87, Y:-0.27, Z:-0.60 [[ 9.99917487e-01 1.04195559e-02 7.51348512e-03 1.38714037e+01] [-1.04207748e-02 9.99945695e-01 1.23102960e-04 -2.70401765e-01] [-7.51179442e-03 -2.01389139e-04 9.99971766e-01 -6.03052561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.797719421 meters Centerline goodness : 0.958635 Centerline is valid? [True, True] Translation: X:13.90, Y:-0.27, Z:-0.60 [[ 9.99968557e-01 2.53602970e-03 7.51351838e-03 1.39033141e+01] [-2.53701071e-03 9.99996774e-01 1.21038304e-04 -2.70724247e-01] [-7.51318719e-03 -1.40096375e-04 9.99971766e-01 -5.97644183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.827719421 meters Centerline goodness : 0.957429 Centerline is valid? [True, True] Translation: X:13.94, Y:-0.28, Z:-0.60 [[ 9.99960899e-01 -4.66335613e-03 7.51353596e-03 1.39359478e+01] [ 4.66258657e-03 9.99989123e-01 1.19937073e-04 -2.76163067e-01] [-7.51401354e-03 -8.48998714e-05 9.99971766e-01 -6.00067121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.857719421 meters Centerline goodness : 0.954904 Centerline is valid? [True, True] Translation: X:13.97, Y:-0.28, Z:-0.60 [[ 9.99938974e-01 -8.09909451e-03 7.51357076e-03 1.39682793e+01] [ 8.09843861e-03 9.99967200e-01 1.17716089e-04 -2.78069985e-01] [-7.51427771e-03 -5.68607141e-05 9.99971766e-01 -6.01854847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.887719421 meters Centerline goodness : 0.954826 Centerline is valid? [True, True] Translation: X:14.00, Y:-0.28, Z:-0.60 [[ 9.99878625e-01 -1.36484826e-02 7.51360490e-03 1.40008600e+01] [ 1.36480001e-02 9.99906855e-01 1.15495096e-04 -2.80270465e-01] [-7.51448137e-03 -1.29353974e-05 9.99971766e-01 -6.01681219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.917719421 meters Centerline goodness : 0.954123 Centerline is valid? [True, True] Translation: X:14.03, Y:-0.28, Z:-0.60 [[ 9.99854969e-01 -1.52835426e-02 7.51361478e-03 1.40323578e+01] [ 1.52831111e-02 9.99883200e-01 1.14848275e-04 -2.80253282e-01] [-7.51449248e-03 -2.08760788e-10 9.99971766e-01 -6.02421564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.947719421 meters Centerline goodness : 0.949925 Centerline is valid? [True, False] Translation: X:14.04, Y:-0.28, Z:-0.60 [[ 9.99834048e-01 -1.68519154e-02 6.92026388e-03 1.40355957e+01] [ 1.68602619e-02 9.99857195e-01 -1.14953300e-03 -2.79316065e-01] [-6.89990380e-03 1.26601969e-03 9.99975394e-01 -6.04834599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.977719420999996 meters Centerline goodness : 0.948618 Centerline is valid? [False, False] Translation: X:14.04, Y:-0.28, Z:-0.61 [[ 9.99836953e-01 -1.68821964e-02 6.40773498e-03 1.40389308e+01] [ 1.68883447e-02 9.99856971e-01 -9.06625453e-04 -2.79073235e-01] [-6.39151265e-03 1.01469367e-03 9.99979059e-01 -6.07536959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.007719421 meters Centerline goodness : 0.947853 Centerline is valid? [False, False] Translation: X:14.04, Y:-0.28, Z:-0.61 [[ 9.99800746e-01 -1.90845219e-02 5.85228277e-03 1.40416302e+01] [ 1.90997914e-02 9.99814294e-01 -2.56443850e-03 -2.79413289e-01] [-5.80225488e-03 2.67570491e-03 9.99979587e-01 -6.09196291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.037719421 meters Centerline goodness : 0.951628 Centerline is valid? [False, True] Translation: X:14.04, Y:-0.28, Z:-0.61 [[ 9.99771021e-01 -2.05951638e-02 5.80902425e-03 1.40398063e+01] [ 2.06194063e-02 9.99778806e-01 -4.14467374e-03 -2.78531951e-01] [-5.72237910e-03 4.26350333e-03 9.99974538e-01 -6.06464904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.067719421 meters Centerline goodness : 0.954982 Centerline is valid? [True, True] Translation: X:14.07, Y:-0.28, Z:-0.60 [[ 9.99779301e-01 -2.02015447e-02 5.76600231e-03 1.40699600e+01] [ 2.02015399e-02 9.99795926e-01 5.90801630e-05 -2.75445522e-01] [-5.76601913e-03 5.74150015e-05 9.99983375e-01 -6.01653653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.097719421 meters Centerline goodness : 0.960687 Centerline is valid? [True, True] Translation: X:14.10, Y:-0.26, Z:-0.60 [[ 9.99896912e-01 -1.31498302e-02 5.76600231e-03 1.40994254e+01] [ 1.31497082e-02 9.99913537e-01 5.90801630e-05 -2.62451398e-01] [-5.76628066e-03 1.67471752e-05 9.99983375e-01 -5.98743895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.127719421 meters Centerline goodness : 0.958885 Centerline is valid? [True, True] Translation: X:14.13, Y:-0.26, Z:-0.60 [[ 9.99949564e-01 -8.22329770e-03 5.76600102e-03 1.41311999e+01] [ 8.22309302e-03 9.99966188e-01 5.92057372e-05 -2.57201779e-01] [-5.76629292e-03 -1.17883884e-05 9.99983375e-01 -5.99957513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.157719420999996 meters Centerline goodness : 0.955977 Centerline is valid? [True, True] Translation: X:14.16, Y:-0.25, Z:-0.60 [[ 9.99983337e-01 2.80917120e-04 5.76600481e-03 1.41619434e+01] [-2.81261033e-04 9.99999959e-01 5.88340933e-05 -2.50153396e-01] [-5.76598804e-03 -6.04548654e-05 9.99983375e-01 -6.02791301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.187719421 meters Centerline goodness : 0.956102 Centerline is valid? [True, True] Translation: X:14.19, Y:-0.25, Z:-0.60 [[ 9.99973481e-01 4.44863317e-03 5.76600607e-03 1.41943920e+01] [-4.44904564e-03 9.99990101e-01 5.87099036e-05 -2.45687832e-01] [-5.76568782e-03 -8.43615708e-05 9.99983375e-01 -6.02519023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.217719421 meters Centerline goodness : 0.962980 Centerline is valid? [True, True] Translation: X:14.23, Y:-0.24, Z:-0.60 [[ 9.99903216e-01 1.26614031e-02 5.76601117e-03 1.42260006e+01] [-1.26619491e-02 9.99919833e-01 5.82049771e-05 -2.38356286e-01] [-5.76481197e-03 -1.31208284e-04 9.99983375e-01 -5.98885996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.247719421 meters Centerline goodness : 0.963529 Centerline is valid? [True, True] Translation: X:14.26, Y:-0.23, Z:-0.60 [[ 9.99849406e-01 1.63682337e-02 5.76601495e-03 1.42580662e+01] [-1.63688392e-02 9.99866020e-01 5.78283839e-05 -2.34863869e-01] [-5.76429587e-03 -1.52202647e-04 9.99983375e-01 -5.97407369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.277719421 meters Centerline goodness : 0.959252 Centerline is valid? [True, True] Translation: X:14.29, Y:-0.23, Z:-0.60 [[ 9.99702299e-01 2.37079225e-02 5.76603224e-03 1.42900611e+01] [-2.37086397e-02 9.99718909e-01 5.60493752e-05 -2.27656923e-01] [-5.76308265e-03 -1.92737470e-04 9.99983375e-01 -6.01256773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.307719421 meters Centerline goodness : 0.956271 Centerline is valid? [True, True] Translation: X:14.32, Y:-0.22, Z:-0.60 [[ 9.99593916e-01 2.79061853e-02 5.76604896e-03 1.43224916e+01] [-2.79069620e-02 9.99610523e-01 5.42728567e-05 -2.21946435e-01] [-5.76228867e-03 -2.15163727e-04 9.99983375e-01 -6.04538783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.337719420999996 meters Centerline goodness : 0.955421 Centerline is valid? [True, True] Translation: X:14.35, Y:-0.22, Z:-0.60 [[ 9.99565915e-01 2.88917573e-02 5.76606497e-03 1.43545289e+01] [-2.88925402e-02 9.99582522e-01 5.25150453e-05 -2.20059628e-01] [-5.76214052e-03 -2.19088513e-04 9.99983375e-01 -6.04476127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.367719421 meters Centerline goodness : 0.953109 Centerline is valid? [True, True] Translation: X:14.39, Y:-0.22, Z:-0.61 [[ 9.99510950e-01 3.07345641e-02 5.76608046e-03 1.43852866e+01] [-3.07353675e-02 9.99527556e-01 5.07557742e-05 -2.19935430e-01] [-5.76179635e-03 -2.27953554e-04 9.99983375e-01 -6.07878063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.397719421 meters Centerline goodness : 0.953404 Centerline is valid? [True, True] Translation: X:14.42, Y:-0.22, Z:-0.61 [[ 9.99485323e-01 3.15569422e-02 5.76609416e-03 1.44173557e+01] [-3.15577500e-02 9.99501929e-01 4.91487625e-05 -2.21459670e-01] [-5.76167125e-03 -2.31088425e-04 9.99983375e-01 -6.06377576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.427719421 meters Centerline goodness : 0.957954 Centerline is valid? [True, True] Translation: X:14.45, Y:-0.22, Z:-0.61 [[ 9.99497461e-01 3.11701246e-02 5.76610843e-03 1.44487532e+01] [-3.11709160e-02 9.99514068e-01 4.74130808e-05 -2.22445646e-01] [-5.76182862e-03 -2.27124135e-04 9.99983375e-01 -6.05442325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.457719421 meters Centerline goodness : 0.957678 Centerline is valid? [True, True] Translation: X:14.48, Y:-0.22, Z:-0.61 [[ 9.99609908e-01 2.73273400e-02 5.76612112e-03 1.44806052e+01] [-2.73280584e-02 9.99626518e-01 4.58161191e-05 -2.23113592e-01] [-5.76271554e-03 -2.03375141e-04 9.99983375e-01 -6.06596984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.487719421 meters Centerline goodness : 0.953016 Centerline is valid? [True, True] Translation: X:14.51, Y:-0.22, Z:-0.61 [[ 9.99783912e-01 1.99720053e-02 5.76613417e-03 1.45121373e+01] [-1.99725916e-02 9.99800527e-01 4.41093944e-05 -2.24565921e-01] [-5.76410303e-03 -1.59264506e-04 9.99983375e-01 -6.11535089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.517719421 meters Centerline goodness : 0.953247 Centerline is valid? [True, True] Translation: X:14.54, Y:-0.23, Z:-0.61 [[ 9.99874265e-01 1.47717788e-02 5.76614665e-03 1.45439993e+01] [-1.47722689e-02 9.99890883e-01 4.24131711e-05 -2.26500574e-01] [-5.76489095e-03 -1.27586907e-04 9.99983375e-01 -6.12122916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.547719421 meters Centerline goodness : 0.955986 Centerline is valid? [True, True] Translation: X:14.58, Y:-0.23, Z:-0.61 [[ 9.99978002e-01 3.27813844e-03 5.76615850e-03 1.45759471e+01] [-3.27842783e-03 9.99994625e-01 4.07362342e-05 -2.32445967e-01] [-5.76599397e-03 -5.96392726e-05 9.99983375e-01 -6.08176770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.577719421 meters Centerline goodness : 0.957219 Centerline is valid? [True, True] Translation: X:14.61, Y:-0.23, Z:-0.61 [[ 9.99979337e-01 -2.84192248e-03 5.76616188e-03 1.46078832e+01] [ 2.84173763e-03 9.99995961e-01 4.02513215e-05 -2.34277453e-01] [-5.76625299e-03 -2.38645706e-05 9.99983375e-01 -6.05906777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.607719421 meters Centerline goodness : 0.956206 Centerline is valid? [True, True] Translation: X:14.64, Y:-0.24, Z:-0.61 [[ 9.99882186e-01 -1.42255105e-02 5.76617349e-03 1.46392226e+01] [ 1.42255249e-02 9.99898811e-01 3.85137120e-05 -2.37237178e-01] [-5.76613789e-03 4.35176703e-05 9.99983375e-01 -6.07037986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.637719421 meters Centerline goodness : 0.955446 Centerline is valid? [True, True] Translation: X:14.67, Y:-0.24, Z:-0.61 [[ 9.99828237e-01 -1.76138435e-02 5.76618368e-03 1.46702327e+01] [ 1.76139234e-02 9.99844862e-01 3.69223143e-05 -2.38213598e-01] [-5.76593947e-03 6.46491452e-05 9.99983375e-01 -6.08765649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.667719421 meters Centerline goodness : 0.951594 Centerline is valid? [True, True] Translation: X:14.70, Y:-0.24, Z:-0.61 [[ 9.99717566e-01 -2.30551172e-02 5.76618600e-03 1.47020644e+01] [ 2.30552897e-02 9.99734191e-01 3.65556535e-05 -2.37333913e-01] [-5.76549609e-03 9.63957597e-05 9.99983375e-01 -6.08075003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.697719421 meters Centerline goodness : 0.949963 Centerline is valid? [True, False] Translation: X:14.70, Y:-0.24, Z:-0.61 [[ 9.99698009e-01 -2.39822885e-02 5.36110094e-03 1.47048411e+01] [ 2.39879565e-02 9.99711752e-01 -9.95442408e-04 -2.35990545e-01] [-5.33568263e-03 1.12374365e-03 9.99985134e-01 -6.10319194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.727719420999996 meters Centerline goodness : 0.946572 Centerline is valid? [False, False] Translation: X:14.71, Y:-0.23, Z:-0.61 [[ 9.99719563e-01 -2.32125374e-02 4.68764442e-03 1.47080968e+01] [ 2.32156111e-02 9.99730300e-01 -6.02344866e-04 -2.33402848e-01] [-4.67239821e-03 7.11002476e-04 9.99988832e-01 -6.12542195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.757719421 meters Centerline goodness : 0.950542 Centerline is valid? [False, True] Translation: X:14.73, Y:-0.23, Z:-0.61 [[ 9.99787292e-01 -1.93642975e-02 7.09893224e-03 1.47288813e+01] [ 1.94543286e-02 9.99728287e-01 -1.28406062e-02 -2.29134577e-01] [-6.84835405e-03 1.29759799e-02 9.99892356e-01 -6.11990640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.787719421 meters Centerline goodness : 0.952702 Centerline is valid? [True, True] Translation: X:14.76, Y:-0.23, Z:-0.61 [[ 9.99758395e-01 -2.08153488e-02 7.06204719e-03 1.47598280e+01] [ 2.08157226e-02 9.99783329e-01 2.05742316e-05 -2.31237502e-01] [-7.06094531e-03 1.26432355e-04 9.99975063e-01 -6.08370851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.817719421 meters Centerline goodness : 0.953744 Centerline is valid? [True, True] Translation: X:14.79, Y:-0.23, Z:-0.61 [[ 9.99696784e-01 -2.35895450e-02 7.06204808e-03 1.47901549e+01] [ 2.35899902e-02 9.99721717e-01 2.02644172e-05 -2.27037619e-01] [-7.06056086e-03 1.46335372e-04 9.99975063e-01 -6.06696121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.847719421 meters Centerline goodness : 0.955619 Centerline is valid? [True, True] Translation: X:14.82, Y:-0.23, Z:-0.61 [[ 9.99688370e-01 -2.39434941e-02 7.06204927e-03 1.48206822e+01] [ 2.39439511e-02 9.99713302e-01 1.98400808e-05 -2.25715084e-01] [-7.06049964e-03 1.49259464e-04 9.99975063e-01 -6.06734180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.877719421 meters Centerline goodness : 0.958048 Centerline is valid? [True, True] Translation: X:14.85, Y:-0.22, Z:-0.60 [[ 9.99783383e-01 -1.95784019e-02 7.06204969e-03 1.48516375e+01] [ 1.95787511e-02 9.99808318e-01 1.96887525e-05 -2.22625850e-01] [-7.06108149e-03 1.18581626e-04 9.99975063e-01 -6.03365060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.907719420999996 meters Centerline goodness : 0.956796 Centerline is valid? [True, True] Translation: X:14.88, Y:-0.22, Z:-0.60 [[ 9.99852514e-01 -1.56549353e-02 7.06205086e-03 1.48828183e+01] [ 1.56551897e-02 9.99877450e-01 1.92586112e-05 -2.19661952e-01] [-7.06148690e-03 9.13019752e-05 9.99975063e-01 -6.02659414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.937719421 meters Centerline goodness : 0.951946 Centerline is valid? [True, True] Translation: X:14.91, Y:-0.21, Z:-0.61 [[ 9.99948607e-01 -7.27399640e-03 7.06205170e-03 1.49139577e+01] [ 7.27404400e-03 9.99973544e-01 1.89447512e-05 -2.10514656e-01] [-7.06200267e-03 3.24258972e-05 9.99975063e-01 -6.06447265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.967719421 meters Centerline goodness : 0.950900 Centerline is valid? [True, True] Translation: X:14.95, Y:-0.21, Z:-0.61 [[ 9.99973306e-01 -1.87475755e-03 7.06205253e-03 1.49451953e+01] [ 1.87467273e-03 9.99998243e-01 1.86306872e-05 -2.06461882e-01] [-7.06207505e-03 -5.39115254e-06 9.99975063e-01 -6.12461986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.997719421 meters Centerline goodness : 0.948019 Centerline is valid? [True, False] Translation: X:14.95, Y:-0.20, Z:-0.61 [[ 9.99973496e-01 2.77568266e-03 6.73077247e-03 1.49469220e+01] [-2.79662162e-03 9.99991274e-01 3.10351603e-03 -2.01909780e-01] [-6.72209936e-03 -3.12225720e-03 9.99972532e-01 -6.13730542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.027719421 meters Centerline goodness : 0.946248 Centerline is valid? [False, False] Translation: X:14.95, Y:-0.20, Z:-0.62 [[ 9.99973603e-01 4.08180564e-03 6.01092814e-03 1.49499758e+01] [-4.10577648e-03 9.99983647e-01 3.98095119e-03 -2.00950561e-01] [-5.99458037e-03 -4.00552564e-03 9.99974010e-01 -6.15632916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.057719421 meters Centerline goodness : 0.943477 Centerline is valid? [False, False] Translation: X:14.95, Y:-0.20, Z:-0.62 [[ 9.99964586e-01 6.45526872e-03 5.39963991e-03 1.49531081e+01] [-6.48594636e-03 9.99962815e-01 5.68333949e-03 -1.99011199e-01] [-5.36275165e-03 -5.71816000e-03 9.99969271e-01 -6.17874768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.087719420999996 meters Centerline goodness : 0.944074 Centerline is valid? [False, False] Translation: X:14.95, Y:-0.20, Z:-0.62 [[ 9.99965492e-01 6.62377651e-03 5.01404876e-03 1.49546829e+01] [-6.65010065e-03 9.99964097e-01 5.25173824e-03 -1.96991866e-01] [-4.97908240e-03 -5.28490094e-03 9.99973639e-01 -6.18857163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.117719421 meters Centerline goodness : 0.945616 Centerline is valid? [False, False] Translation: X:14.96, Y:-0.19, Z:-0.62 [[ 9.99935875e-01 1.02643174e-02 4.78440472e-03 1.49558021e+01] [-1.03032160e-02 9.99913480e-01 8.17781427e-03 -1.93366517e-01] [-4.70005109e-03 -8.22658462e-03 9.99955115e-01 -6.19399067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.147719421 meters Centerline goodness : 0.943003 Centerline is valid? [False, False] Translation: X:14.96, Y:-0.19, Z:-0.62 [[ 9.99930785e-01 1.09065925e-02 4.41268750e-03 1.49570604e+01] [-1.09408895e-02 9.99909534e-01 7.82433816e-03 -1.90299913e-01] [-4.32695144e-03 -7.87207532e-03 9.99959653e-01 -6.19896247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.177719421 meters Centerline goodness : 0.944806 Centerline is valid? [False, False] Translation: X:14.96, Y:-0.19, Z:-0.62 [[ 9.99920348e-01 1.19620468e-02 4.02572498e-03 1.49573200e+01] [-1.19912271e-02 9.99901425e-01 7.30411301e-03 -1.87401162e-01] [-3.93795601e-03 -7.35180461e-03 9.99965221e-01 -6.18806787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.207719421 meters Centerline goodness : 0.946996 Centerline is valid? [False, False] Translation: X:14.96, Y:-0.19, Z:-0.62 [[ 9.99920506e-01 1.20191969e-02 3.81060940e-03 1.49571090e+01] [-1.20456237e-02 9.99903019e-01 6.98966158e-03 -1.86881060e-01] [-3.72622972e-03 -7.03500711e-03 9.99968311e-01 -6.17769837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.237719421 meters Centerline goodness : 0.951640 Centerline is valid? [False, True] Translation: X:14.96, Y:-0.19, Z:-0.62 [[ 9.99925024e-01 1.17014290e-02 3.60875990e-03 1.49568641e+01] [-1.17256042e-02 9.99908454e-01 6.75225539e-03 -1.87489317e-01] [-3.52941850e-03 -6.79406402e-03 9.99970692e-01 -6.16469501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.267719421 meters Centerline goodness : 0.951640 Centerline is valid? [True, True] Translation: X:14.99, Y:-0.18, Z:-0.62 [[ 9.99923905e-01 1.17694123e-02 3.69659870e-03 1.49886536e+01] [-1.17696716e-02 9.99930734e-01 4.83896340e-05 -1.84811584e-01] [-3.69577313e-03 -9.18937045e-05 9.99993166e-01 -6.16477950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.297719421 meters Centerline goodness : 0.954490 Centerline is valid? [True, True] Translation: X:15.02, Y:-0.18, Z:-0.62 [[ 9.99951914e-01 9.08319849e-03 3.69660080e-03 1.50199920e+01] [-9.08343882e-03 9.99958744e-01 4.82288133e-05 -1.84640167e-01] [-3.69601022e-03 -8.18043414e-05 9.99993166e-01 -6.16432891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.327719421 meters Centerline goodness : 0.952231 Centerline is valid? [True, True] Translation: X:15.05, Y:-0.19, Z:-0.62 [[ 9.99992726e-01 -9.39832742e-04 3.69661402e-03 1.50512062e+01] [ 9.39664706e-04 9.99999557e-01 4.71932253e-05 -1.86983146e-01] [-3.69665674e-03 -4.37193043e-05 9.99993166e-01 -6.17989943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.357719421 meters Centerline goodness : 0.948563 Centerline is valid? [True, False] Translation: X:15.07, Y:-0.20, Z:-0.61 [[ 9.99924581e-01 -1.22765547e-02 3.45115275e-04 1.50746627e+01] [ 1.22494713e-02 9.98955895e-01 4.40121547e-02 -2.01433246e-01] [-8.85072563e-04 -4.40046078e-02 9.99030936e-01 -6.12364143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.387719421 meters Centerline goodness : 0.947272 Centerline is valid? [False, False] Translation: X:15.08, Y:-0.20, Z:-0.61 [[ 9.99825982e-01 -1.86532146e-02 -2.51774649e-04 1.50766472e+01] [ 1.86494996e-02 9.99119627e-01 3.75788119e-02 -2.02782915e-01] [-4.49412650e-04 -3.75769680e-02 9.99293635e-01 -6.12939032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.417719421 meters Centerline goodness : 0.953157 Centerline is valid? [False, True] Translation: X:15.07, Y:-0.21, Z:-0.61 [[ 9.99667420e-01 -2.57882768e-02 1.17047290e-04 1.50742366e+01] [ 2.57722283e-02 9.99186144e-01 3.10297065e-02 -2.06287311e-01] [-9.17154691e-04 -3.10163700e-02 9.99518456e-01 -6.09805190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.447719421 meters Centerline goodness : 0.954339 Centerline is valid? [True, True] Translation: X:15.10, Y:-0.20, Z:-0.61 [[ 9.99651544e-01 -2.63924842e-02 4.77309368e-04 1.51039501e+01] [ 2.63924845e-02 9.99651658e-01 5.53912589e-06 -1.96483156e-01] [-4.77289292e-04 7.06018436e-06 9.99999886e-01 -6.08362145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.477719420999996 meters Centerline goodness : 0.954235 Centerline is valid? [True, True] Translation: X:15.13, Y:-0.19, Z:-0.61 [[ 9.99733946e-01 -2.30609809e-02 4.77309948e-04 1.51332051e+01] [ 2.30609809e-02 9.99734060e-01 5.48869745e-06 -1.93829537e-01] [-4.77309587e-04 5.51999845e-06 9.99999886e-01 -6.08512700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.507719421 meters Centerline goodness : 0.952956 Centerline is valid? [True, True] Translation: X:15.16, Y:-0.19, Z:-0.61 [[ 9.99819051e-01 -1.90167823e-02 4.77309717e-04 1.51632922e+01] [ 1.90167818e-02 9.99819165e-01 5.50870893e-06 -1.91828529e-01] [-4.77328160e-04 3.56918261e-06 9.99999886e-01 -6.09731130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.537719421 meters Centerline goodness : 0.947478 Centerline is valid? [True, False] Translation: X:15.18, Y:-0.19, Z:-0.61 [[ 9.99935935e-01 -9.35466152e-03 -6.37301147e-03 1.51767336e+01] [ 9.35710948e-03 9.99956158e-01 3.54404857e-04 -1.87294479e-01] [ 6.36941673e-03 -4.14015118e-04 9.99979629e-01 -6.11512953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.567719421 meters Centerline goodness : 0.944178 Centerline is valid? [False, False] Translation: X:15.18, Y:-0.19, Z:-0.61 [[ 9.99964411e-01 -5.24100965e-03 -6.61124402e-03 1.51782001e+01] [ 5.26673810e-03 9.99978602e-01 3.88023110e-03 -1.85381389e-01] [ 6.59076623e-03 -3.91491270e-03 9.99970617e-01 -6.12699591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.597719421 meters Centerline goodness : 0.947470 Centerline is valid? [False, False] Translation: X:15.18, Y:-0.18, Z:-0.61 [[ 9.99974487e-01 2.09693255e-03 -6.82846849e-03 1.51780611e+01] [-2.02764609e-03 9.99946555e-01 1.01378687e-02 -1.81066608e-01] [ 6.84936196e-03 -1.01237643e-02 9.99925295e-01 -6.11944994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.627719421 meters Centerline goodness : 0.948408 Centerline is valid? [False, False] Translation: X:15.18, Y:-0.18, Z:-0.61 [[ 9.99971776e-01 2.07281337e-03 -7.22156406e-03 1.51784557e+01] [-2.00609661e-03 9.99955357e-01 9.23357337e-03 -1.78295865e-01] [ 7.24038114e-03 -9.21882560e-03 9.99931293e-01 -6.11373200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.657719420999996 meters Centerline goodness : 0.947507 Centerline is valid? [False, False] Translation: X:15.18, Y:-0.18, Z:-0.61 [[ 9.99966969e-01 2.21922273e-03 -7.81888580e-03 1.51798727e+01] [-2.15244175e-03 9.99961225e-01 8.53907224e-03 -1.76873194e-01] [ 7.83753273e-03 -8.52196049e-03 9.99932972e-01 -6.11553271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.687719421 meters Centerline goodness : 0.947344 Centerline is valid? [False, False] Translation: X:15.18, Y:-0.18, Z:-0.61 [[ 9.99964479e-01 2.18742650e-03 -8.13982313e-03 1.51810989e+01] [-2.11938977e-03 9.99962827e-01 8.35776124e-03 -1.77377272e-01] [ 8.15780254e-03 -8.34021290e-03 9.99931943e-01 -6.12146544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.717719421 meters Centerline goodness : 0.948488 Centerline is valid? [False, False] Translation: X:15.19, Y:-0.18, Z:-0.62 [[ 9.99986394e-01 4.74171519e-03 -2.17415939e-03 1.51929031e+01] [-4.73543802e-03 9.99984631e-01 2.88328242e-03 -1.76300230e-01] [ 2.18779768e-03 -2.87294760e-03 9.99993480e-01 -6.16143575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.747719421 meters Centerline goodness : 0.950487 Centerline is valid? [False, True] Translation: X:15.19, Y:-0.17, Z:-0.62 [[ 9.99983202e-01 5.19469019e-03 -2.57113339e-03 1.51943291e+01] [-5.18803047e-03 9.99983188e-01 2.59011730e-03 -1.73303897e-01] [ 2.58454502e-03 -2.57673467e-03 9.99993340e-01 -6.16810333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.777719421 meters Centerline goodness : 0.947737 Centerline is valid? [True, False] Translation: X:15.20, Y:-0.17, Z:-0.62 [[ 9.99922233e-01 1.20100927e-02 -3.35945961e-03 1.51969854e+01] [-1.19799958e-02 9.99889162e-01 8.83992567e-03 -1.69585337e-01] [ 3.46525558e-03 -8.79899190e-03 9.99955284e-01 -6.17993892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.807719421 meters Centerline goodness : 0.943627 Centerline is valid? [False, False] Translation: X:15.20, Y:-0.17, Z:-0.62 [[ 9.99884935e-01 1.45747908e-02 -4.20626226e-03 1.52004977e+01] [-1.45304156e-02 9.99840400e-01 1.03942766e-02 -1.70966350e-01] [ 4.35708535e-03 -1.03319618e-02 9.99937131e-01 -6.20198477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.837719420999996 meters Centerline goodness : 0.943811 Centerline is valid? [False, False] Translation: X:15.20, Y:-0.17, Z:-0.62 [[ 9.99874482e-01 1.51938280e-02 -4.49082893e-03 1.52019338e+01] [-1.51464950e-02 9.99831276e-01 1.03924145e-02 -1.70303270e-01] [ 4.64797178e-03 -1.03230897e-02 9.99935913e-01 -6.21218086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.867719421 meters Centerline goodness : 0.940669 Centerline is valid? [False, False] Translation: X:15.20, Y:-0.17, Z:-0.62 [[ 9.99817817e-01 1.84201389e-02 -5.00311616e-03 1.52048585e+01] [-1.83529544e-02 9.99744986e-01 1.31579418e-02 -1.69180950e-01] [ 5.24421141e-03 -1.30637227e-02 9.99900914e-01 -6.23389078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.897719421 meters Centerline goodness : 0.941722 Centerline is valid? [False, False] Translation: X:15.21, Y:-0.17, Z:-0.62 [[ 9.99812400e-01 1.85893951e-02 -5.44046821e-03 1.52060818e+01] [-1.85165925e-02 9.99742214e-01 1.31393385e-02 -1.69095099e-01] [ 5.68331808e-03 -1.30361347e-02 9.99898874e-01 -6.23741190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.927719421 meters Centerline goodness : 0.944427 Centerline is valid? [False, False] Translation: X:15.21, Y:-0.17, Z:-0.62 [[ 9.99862590e-01 1.55144585e-02 -5.83976983e-03 1.52063711e+01] [-1.54580858e-02 9.99834644e-01 9.57766177e-03 -1.69448083e-01] [ 5.98739643e-03 -9.48607404e-03 9.99937081e-01 -6.22987676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.957719421 meters Centerline goodness : 0.947570 Centerline is valid? [False, False] Translation: X:15.22, Y:-0.17, Z:-0.62 [[ 9.99931001e-01 1.15511810e-02 2.13610324e-03 1.52152197e+01] [-1.15767031e-02 9.99856734e-01 1.23487764e-02 -1.70825896e-01] [-1.99315425e-03 -1.23726534e-02 9.99921469e-01 -6.24353817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.987719421 meters Centerline goodness : 0.953381 Centerline is valid? [False, True] Translation: X:15.21, Y:-0.17, Z:-0.62 [[ 9.99969679e-01 7.56731291e-03 1.83762801e-03 1.52146167e+01] [-7.58264483e-03 9.99935253e-01 8.48483514e-03 -1.71120229e-01] [-1.77330163e-03 -8.49851196e-03 9.99962315e-01 -6.22609801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.017719421 meters Centerline goodness : 0.955454 Centerline is valid? [True, True] Translation: X:15.25, Y:-0.17, Z:-0.62 [[ 9.99990487e-01 -3.86008747e-03 2.03137993e-03 1.52457844e+01] [ 3.86000072e-03 9.99992549e-01 4.66256121e-05 -1.70766456e-01] [-2.03154477e-03 -3.87840405e-05 9.99997936e-01 -6.18259930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.047719421 meters Centerline goodness : 0.955889 Centerline is valid? [True, True] Translation: X:15.28, Y:-0.18, Z:-0.62 [[ 9.99903783e-01 -1.37221982e-02 2.03138192e-03 1.52768438e+01] [ 1.37221320e-02 9.99905846e-01 4.65386274e-05 -1.75312774e-01] [-2.03182927e-03 -1.86592588e-05 9.99997936e-01 -6.20050090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.077719421 meters Centerline goodness : 0.952398 Centerline is valid? [True, True] Translation: X:15.31, Y:-0.18, Z:-0.62 [[ 9.99846809e-01 -1.73848356e-02 2.03138393e-03 1.53070201e+01] [ 1.73847771e-02 9.99848872e-01 4.64510699e-05 -1.75465649e-01] [-2.03188447e-03 -1.11287973e-05 9.99997936e-01 -6.22705073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.107719421 meters Centerline goodness : 0.948495 Centerline is valid? [True, False] Translation: X:15.31, Y:-0.18, Z:-0.63 [[ 9.99755487e-01 -2.20819957e-02 1.16250646e-03 1.53119954e+01] [ 2.20865761e-02 9.99747708e-01 -4.08696385e-03 -1.76103127e-01] [-1.07196485e-03 4.11164033e-03 9.99990973e-01 -6.26698142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.137719421 meters Centerline goodness : 0.944432 Centerline is valid? [False, False] Translation: X:15.31, Y:-0.18, Z:-0.63 [[ 9.99747814e-01 -2.24490413e-02 5.91062259e-04 1.53140721e+01] [ 2.24511855e-02 9.99740284e-01 -3.91272950e-03 -1.77084841e-01] [-5.03071724e-04 3.92501281e-03 9.99992171e-01 -6.27895867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.167719421 meters Centerline goodness : 0.944779 Centerline is valid? [False, False] Translation: X:15.32, Y:-0.18, Z:-0.63 [[ 9.99726317e-01 -2.33930092e-02 2.43040467e-04 1.53153895e+01] [ 2.33938864e-02 9.99715526e-01 -4.64683930e-03 -1.75003128e-01] [-1.34267774e-04 4.65125320e-03 9.99989174e-01 -6.28660491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.197719421 meters Centerline goodness : 0.946523 Centerline is valid? [False, False] Translation: X:15.32, Y:-0.18, Z:-0.63 [[ 9.99793149e-01 -2.03382667e-02 -1.22574815e-04 1.53156388e+01] [ 2.03381447e-02 9.99792730e-01 -9.25339549e-04 -1.75343892e-01] [ 1.41369212e-04 9.22655196e-04 9.99999564e-01 -6.28131354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.227719420999996 meters Centerline goodness : 0.944910 Centerline is valid? [False, False] Translation: X:15.32, Y:-0.18, Z:-0.63 [[ 9.99862674e-01 -1.65545305e-02 -7.62238451e-04 1.53162092e+01] [ 1.65566181e-02 9.99858955e-01 2.81918280e-03 -1.75497133e-01] [ 7.15460694e-04 -2.83141574e-03 9.99995736e-01 -6.27374863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.257719421 meters Centerline goodness : 0.941596 Centerline is valid? [False, False] Translation: X:15.32, Y:-0.17, Z:-0.63 [[ 9.99958104e-01 -7.40559657e-03 -5.38029132e-03 1.53189805e+01] [ 7.37306792e-03 9.99954572e-01 -6.04077665e-03 -1.70734669e-01] [ 5.42478246e-03 6.00085432e-03 9.99967280e-01 -6.28835426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.287719421 meters Centerline goodness : 0.944383 Centerline is valid? [False, False] Translation: X:15.32, Y:-0.17, Z:-0.63 [[ 9.99982774e-01 1.83236999e-03 -5.57618358e-03 1.53189649e+01] [-1.82723453e-03 9.99997902e-01 9.25917883e-04 -1.65195699e-01] [ 5.57786851e-03 -9.15712938e-04 9.99984024e-01 -6.27824298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.317719421 meters Centerline goodness : 0.948292 Centerline is valid? [False, False] Translation: X:15.32, Y:-0.16, Z:-0.63 [[ 9.99963457e-01 6.27008065e-03 -5.81132035e-03 1.53187657e+01] [-6.24399954e-03 9.99970402e-01 4.49531316e-03 -1.63120491e-01] [ 5.83933432e-03 -4.45886300e-03 9.99973010e-01 -6.26750495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.347719421 meters Centerline goodness : 0.949897 Centerline is valid? [False, False] Translation: X:15.32, Y:-0.16, Z:-0.63 [[ 9.99878326e-01 1.44684896e-02 -5.83066519e-03 1.53184437e+01] [-1.43993137e-02 9.99827443e-01 1.17364387e-02 -1.60384426e-01] [ 5.99946761e-03 -1.16510531e-02 9.99914126e-01 -6.25871488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.377719421 meters Centerline goodness : 0.951700 Centerline is valid? [False, True] Translation: X:15.32, Y:-0.16, Z:-0.63 [[ 9.99817796e-01 1.81044225e-02 -6.05023104e-03 1.53193333e+01] [-1.80117295e-02 9.99724664e-01 1.50390915e-02 -1.58431222e-01] [ 6.32083926e-03 -1.49273762e-02 9.99868602e-01 -6.26242375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.407719420999996 meters Centerline goodness : 0.949191 Centerline is valid? [True, False] Translation: X:15.32, Y:-0.16, Z:-0.63 [[ 9.99811451e-01 1.83329321e-02 -6.40042974e-03 1.53206495e+01] [-1.82394515e-02 9.99730371e-01 1.43703737e-02 -1.55309806e-01] [ 6.66215509e-03 -1.42509239e-02 9.99876256e-01 -6.26934605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.437719421 meters Centerline goodness : 0.945446 Centerline is valid? [False, False] Translation: X:15.32, Y:-0.15, Z:-0.63 [[ 9.99779224e-01 1.98282539e-02 -6.95294914e-03 1.53235398e+01] [-1.97218778e-02 9.99692255e-01 1.50480377e-02 -1.54180134e-01] [ 7.24918572e-03 -1.49075902e-02 9.99862597e-01 -6.29004688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.467719421 meters Centerline goodness : 0.944328 Centerline is valid? [False, False] Translation: X:15.32, Y:-0.15, Z:-0.63 [[ 9.99774631e-01 1.99229371e-02 -7.33241304e-03 1.53248912e+01] [-1.98106996e-02 9.99690108e-01 1.50739331e-02 -1.54670069e-01] [ 7.63045781e-03 -1.49252757e-02 9.99859496e-01 -6.29700960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.497719421 meters Centerline goodness : 0.943230 Centerline is valid? [False, False] Translation: X:15.33, Y:-0.15, Z:-0.63 [[ 9.99839305e-01 1.61876366e-02 -7.70228986e-03 1.53252093e+01] [-1.61021832e-02 9.99809510e-01 1.10301505e-02 -1.54452838e-01] [ 7.87937472e-03 -1.09043543e-02 9.99909501e-01 -6.29223850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.527719421 meters Centerline goodness : 0.944953 Centerline is valid? [False, False] Translation: X:15.33, Y:-0.16, Z:-0.63 [[ 9.99944740e-01 1.00503327e-02 -3.08351876e-03 1.53349232e+01] [-1.00030264e-02 9.99837583e-01 1.49915644e-02 -1.56569311e-01] [ 3.23368815e-03 -1.49598914e-02 9.99882866e-01 -6.31118567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.557719421 meters Centerline goodness : 0.949195 Centerline is valid? [False, False] Translation: X:15.34, Y:-0.16, Z:-0.63 [[ 9.99972450e-01 6.51126162e-03 -3.56407984e-03 1.53357336e+01] [-6.47056036e-03 9.99915051e-01 1.13146735e-02 -1.56813107e-01] [ 3.63744988e-03 -1.12913002e-02 9.99929635e-01 -6.30960904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.587719420999996 meters Centerline goodness : 0.946757 Centerline is valid? [False, False] Translation: X:15.34, Y:-0.16, Z:-0.63 [[ 9.99988568e-01 2.64947496e-03 -3.98036504e-03 1.53367687e+01] [-2.61929666e-03 9.99967932e-01 7.56796924e-03 -1.57590248e-01] [ 4.00028854e-03 -7.55745697e-03 9.99963441e-01 -6.31208195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.617719421 meters Centerline goodness : 0.948113 Centerline is valid? [False, False] Translation: X:15.35, Y:-0.16, Z:-0.64 [[ 9.99994567e-01 -3.11997390e-03 1.06347904e-03 1.53487165e+01] [ 3.10675479e-03 9.99920593e-01 1.22129737e-02 -1.62548904e-01] [-1.10149875e-03 -1.22096034e-02 9.99924853e-01 -6.35003443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.647719421 meters Centerline goodness : 0.951987 Centerline is valid? [False, True] Translation: X:15.36, Y:-0.17, Z:-0.64 [[ 9.99938777e-01 -8.86865806e-03 6.61730302e-03 1.53610226e+01] [ 8.76660567e-03 9.99844595e-01 1.52948815e-02 -1.67789329e-01] [-6.75191973e-03 -1.52359338e-02 9.99861129e-01 -6.38047534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.677719421 meters Centerline goodness : 0.952969 Centerline is valid? [True, True] Translation: X:15.39, Y:-0.17, Z:-0.64 [[ 9.99857558e-01 -1.54164069e-02 6.87005792e-03 1.53933398e+01] [ 1.54159873e-02 9.99881160e-01 1.14025118e-04 -1.68175758e-01] [-6.87099934e-03 -8.10015015e-06 9.99976394e-01 -6.36572526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.707719421 meters Centerline goodness : 0.953547 Centerline is valid? [True, True] Translation: X:15.42, Y:-0.17, Z:-0.64 [[ 9.99811689e-01 -1.81490453e-02 6.87009425e-03 1.54245603e+01] [ 1.81487056e-02 9.99835292e-01 1.11792455e-04 -1.70237205e-01] [-6.87099162e-03 1.29119141e-05 9.99976394e-01 -6.37960340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.737719421 meters Centerline goodness : 0.952556 Centerline is valid? [True, True] Translation: X:15.46, Y:-0.17, Z:-0.64 [[ 9.99771687e-01 -2.02330446e-02 6.87010140e-03 1.54568297e+01] [ 2.02327571e-02 9.99795291e-01 1.11351089e-04 -1.72871168e-01] [-6.87094800e-03 2.76754270e-05 9.99976394e-01 -6.38820821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.767719421 meters Centerline goodness : 0.953256 Centerline is valid? [True, True] Translation: X:15.49, Y:-0.18, Z:-0.64 [[ 9.99704005e-01 -2.33389003e-02 6.87011074e-03 1.54880118e+01] [ 2.33386901e-02 9.99727610e-01 1.10772045e-04 -1.77345812e-01] [-6.87082468e-03 4.96001289e-05 9.99976394e-01 -6.40588121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.797719421 meters Centerline goodness : 0.956434 Centerline is valid? [True, True] Translation: X:15.52, Y:-0.18, Z:-0.64 [[ 9.99717293e-01 -2.27625925e-02 6.87011537e-03 1.55190560e+01] [ 2.27623707e-02 9.99740898e-01 1.10484159e-04 -1.75037368e-01] [-6.87085021e-03 4.59271882e-05 9.99976394e-01 -6.39223820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.827719421 meters Centerline goodness : 0.957322 Centerline is valid? [True, True] Translation: X:15.55, Y:-0.17, Z:-0.64 [[ 9.99761486e-01 -2.07309467e-02 6.87012989e-03 1.55504798e+01] [ 2.07306832e-02 9.99785090e-01 1.09573887e-04 -1.73046114e-01] [-6.87092500e-03 3.28747344e-05 9.99976394e-01 -6.36272370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.857719421 meters Centerline goodness : 0.958313 Centerline is valid? [True, True] Translation: X:15.58, Y:-0.17, Z:-0.63 [[ 9.99832446e-01 -1.69670430e-02 6.87013439e-03 1.55813242e+01] [ 1.69666926e-02 9.99856049e-01 1.09290949e-04 -1.72796994e-01] [-6.87099977e-03 7.29082184e-06 9.99976394e-01 -6.32764235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.887719421 meters Centerline goodness : 0.959206 Centerline is valid? [True, True] Translation: X:15.61, Y:-0.17, Z:-0.64 [[ 9.99953444e-01 -6.77580555e-03 6.87013672e-03 1.56121658e+01] [ 6.77521559e-03 9.99977042e-01 1.09143899e-04 -1.74791616e-01] [-6.87071854e-03 -6.25921605e-05 9.99976394e-01 -6.35697336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.917719421 meters Centerline goodness : 0.957905 Centerline is valid? [True, True] Translation: X:15.64, Y:-0.17, Z:-0.64 [[ 9.99963126e-01 5.15252714e-03 6.87013904e-03 1.56441862e+01] [-5.15339754e-03 9.99986715e-01 1.08997806e-04 -1.72833608e-01] [-6.86948616e-03 -1.44398344e-04 9.99976394e-01 -6.36850019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.947719421 meters Centerline goodness : 0.959984 Centerline is valid? [True, True] Translation: X:15.68, Y:-0.17, Z:-0.64 [[ 9.99922567e-01 1.03759792e-02 6.87014814e-03 1.56763688e+01] [-1.03769689e-02 9.99946152e-01 1.08421258e-04 -1.68845075e-01] [-6.86865322e-03 -1.79704176e-04 9.99976394e-01 -6.37208653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.977719420999996 meters Centerline goodness : 0.957748 Centerline is valid? [True, True] Translation: X:15.71, Y:-0.16, Z:-0.64 [[ 9.99825157e-01 1.73912452e-02 6.87015713e-03 1.57085804e+01] [-1.73923964e-02 9.99848735e-01 1.07848662e-04 -1.62067345e-01] [-6.86724229e-03 -2.27318301e-04 9.99976394e-01 -6.38833133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.007719421 meters Centerline goodness : 0.955936 Centerline is valid? [True, True] Translation: X:15.74, Y:-0.16, Z:-0.64 [[ 9.99760011e-01 2.08019571e-02 6.87016606e-03 1.57407837e+01] [-2.08031848e-02 9.99783585e-01 1.07276975e-04 -1.62138617e-01] [-6.86644768e-03 -2.50172564e-04 9.99976394e-01 -6.41007069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.037719421 meters Centerline goodness : 0.952247 Centerline is valid? [True, True] Translation: X:15.77, Y:-0.17, Z:-0.65 [[ 9.99705109e-01 2.32915281e-02 6.87019637e-03 1.57716662e+01] [-2.32928009e-02 9.99728680e-01 1.05298838e-04 -1.66823722e-01] [-6.86587978e-03 -2.65293902e-04 9.99976394e-01 -6.45526455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.067719421 meters Centerline goodness : 0.950510 Centerline is valid? [True, True] Translation: X:15.80, Y:-0.17, Z:-0.65 [[ 9.99694285e-01 2.37515382e-02 6.87022378e-03 1.58035458e+01] [-2.37528094e-02 9.99717857e-01 1.03479449e-04 -1.68356392e-01] [-6.86582760e-03 -2.66634929e-04 9.99976394e-01 -6.48504082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.097719421 meters Centerline goodness : 0.953967 Centerline is valid? [True, True] Translation: X:15.84, Y:-0.17, Z:-0.64 [[ 9.99722716e-01 2.25230959e-02 6.87025223e-03 1.58355624e+01] [-2.25243249e-02 9.99746290e-01 1.01554360e-04 -1.67838290e-01] [-6.86622186e-03 -2.56273994e-04 9.99976394e-01 -6.42456636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.127719421 meters Centerline goodness : 0.954438 Centerline is valid? [True, True] Translation: X:15.87, Y:-0.17, Z:-0.65 [[ 9.99752326e-01 2.11680497e-02 6.87028236e-03 1.58667358e+01] [-2.11692325e-02 9.99775902e-01 9.94737539e-05 -1.67155744e-01] [-6.86663708e-03 -2.44887721e-04 9.99976394e-01 -6.46105292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.157719420999996 meters Centerline goodness : 0.954438 Centerline is valid? [True, True] Translation: X:15.90, Y:-0.17, Z:-0.65 [[ 9.99746428e-01 2.14447570e-02 6.87030947e-03 1.58994058e+01] [-2.14459332e-02 9.99770005e-01 9.75647532e-05 -1.66920923e-01] [-6.86663708e-03 -2.44880212e-04 9.99976394e-01 -6.46329733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.187719421 meters Centerline goodness : 0.953646 Centerline is valid? [True, True] Translation: X:15.93, Y:-0.17, Z:-0.65 [[ 9.99821960e-01 1.75740480e-02 6.87033595e-03 1.59318708e+01] [-1.75751198e-02 9.99845541e-01 9.56632495e-05 -1.68811971e-01] [-6.86759357e-03 -2.16393195e-04 9.99976394e-01 -6.47404643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.217719421 meters Centerline goodness : 0.952567 Centerline is valid? [True, True] Translation: X:15.96, Y:-0.17, Z:-0.65 [[ 9.99859528e-01 1.52879781e-02 6.87036273e-03 1.59633473e+01] [-1.52889825e-02 9.99883112e-01 9.36994525e-05 -1.71605578e-01] [-6.86812719e-03 -1.98727146e-04 9.99976394e-01 -6.49401375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.247719421 meters Centerline goodness : 0.952163 Centerline is valid? [True, True] Translation: X:16.00, Y:-0.18, Z:-0.65 [[ 9.99937726e-01 8.79442276e-03 6.87038706e-03 1.59952794e+01] [-8.79526153e-03 9.99961317e-01 9.18800203e-05 -1.77574127e-01] [-6.86931326e-03 -1.52301150e-04 9.99976394e-01 -6.47595574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.277719421 meters Centerline goodness : 0.952735 Centerline is valid? [True, True] Translation: X:16.03, Y:-0.18, Z:-0.65 [[ 9.99963628e-01 5.05363294e-03 6.87041394e-03 1.60275051e+01] [-5.05436933e-03 9.99987223e-01 8.98243002e-05 -1.79791638e-01] [-6.86987221e-03 -1.24546643e-04 9.99976394e-01 -6.48405687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.307719421 meters Centerline goodness : 0.948096 Centerline is valid? [True, False] Translation: X:16.06, Y:-0.19, Z:-0.65 [[ 9.99993362e-01 -1.92226861e-03 3.09523577e-03 1.60566744e+01] [ 1.89787934e-03 9.99967282e-01 7.86336475e-03 -1.85189193e-01] [-3.11025000e-03 -7.85743817e-03 9.99964293e-01 -6.50106089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.337719420999996 meters Centerline goodness : 0.944658 Centerline is valid? [False, False] Translation: X:16.08, Y:-0.19, Z:-0.65 [[ 9.99957834e-01 -9.16192133e-03 -6.24618136e-04 1.60843418e+01] [ 9.17798744e-03 9.99365902e-01 3.44028835e-02 -1.92766540e-01] [ 3.09025555e-04 -3.44071656e-02 9.99407850e-01 -6.47634457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.367719421 meters Centerline goodness : 0.945919 Centerline is valid? [False, False] Translation: X:16.09, Y:-0.20, Z:-0.64 [[ 9.99958431e-01 -9.11754842e-03 -8.15656993e-05 1.60901755e+01] [ 9.11022746e-03 9.98708328e-01 4.99867823e-02 -1.98771943e-01] [-3.74296565e-04 -4.99854475e-02 9.98749876e-01 -6.41282937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.397719421 meters Centerline goodness : 0.950134 Centerline is valid? [False, True] Translation: X:16.09, Y:-0.20, Z:-0.63 [[ 9.99912694e-01 -1.28449069e-02 -3.10059372e-03 1.60946472e+01] [ 1.29550774e-02 9.99170640e-01 3.86030730e-02 -2.00903635e-01] [ 2.60216933e-03 -3.86398711e-02 9.99249813e-01 -6.34170468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.427719421 meters Centerline goodness : 0.949547 Centerline is valid? [True, False] Translation: X:16.11, Y:-0.20, Z:-0.63 [[ 9.99914824e-01 -1.27771748e-02 -2.66227369e-03 1.61056332e+01] [ 1.28284485e-02 9.99713134e-01 2.02257326e-02 -1.98660425e-01] [ 2.40308225e-03 -2.02581627e-02 9.99791894e-01 -6.32721834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.457719421 meters Centerline goodness : 0.949478 Centerline is valid? [False, False] Translation: X:16.12, Y:-0.19, Z:-0.63 [[ 9.99943187e-01 -9.79414150e-03 -4.20688985e-03 1.61174152e+01] [ 9.77965547e-03 9.99946225e-01 -3.45028450e-03 -1.93619944e-01] [ 4.24045620e-03 3.40894654e-03 9.99985199e-01 -6.33728424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.487719421 meters Centerline goodness : 0.949557 Centerline is valid? [False, False] Translation: X:16.13, Y:-0.19, Z:-0.63 [[ 9.99965925e-01 -8.16963993e-03 -1.18607112e-03 1.61264204e+01] [ 8.15285584e-03 9.99875279e-01 -1.35261553e-02 -1.90050171e-01] [ 1.29642701e-03 1.35160245e-02 9.99907814e-01 -6.34909364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.517719421 meters Centerline goodness : 0.958657 Centerline is valid? [False, True] Translation: X:16.13, Y:-0.18, Z:-0.63 [[ 9.99994617e-01 -2.22750100e-03 2.40919264e-03 1.61324816e+01] [ 2.30896646e-03 9.99406936e-01 -3.43576006e-02 -1.81429971e-01] [-2.33123224e-03 3.43629784e-02 9.99406700e-01 -6.29580878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.547719421 meters Centerline goodness : 0.960802 Centerline is valid? [True, True] Translation: X:16.16, Y:-0.19, Z:-0.63 [[ 9.99997399e-01 4.47905674e-04 2.23657080e-03 1.61624986e+01] [-4.47932111e-04 9.99999900e-01 1.13194239e-05 -1.91019244e-01] [-2.23656550e-03 -1.23212263e-05 9.99997499e-01 -6.26984775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.577719421 meters Centerline goodness : 0.963149 Centerline is valid? [True, True] Translation: X:16.19, Y:-0.19, Z:-0.63 [[ 9.99988109e-01 4.33357807e-03 2.23657181e-03 1.61924243e+01] [-4.33361377e-03 9.99990610e-01 1.11156587e-05 -1.85461340e-01] [-2.23650264e-03 -2.08079649e-05 9.99997499e-01 -6.25619616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.607719421 meters Centerline goodness : 0.958121 Centerline is valid? [True, True] Translation: X:16.22, Y:-0.19, Z:-0.63 [[ 9.99963357e-01 8.26335456e-03 2.23657203e-03 1.62238479e+01] [-8.26339999e-03 9.99965857e-01 1.10718694e-05 -1.85129349e-01] [-2.23640417e-03 -2.95531530e-05 9.99997499e-01 -6.29579885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.637719421 meters Centerline goodness : 0.957406 Centerline is valid? [True, True] Translation: X:16.26, Y:-0.19, Z:-0.63 [[ 9.99944873e-01 1.02590565e-02 2.23657246e-03 1.62555076e+01] [-1.02591068e-02 9.99947374e-01 1.09828321e-05 -1.85437787e-01] [-2.23634209e-03 -3.39274623e-05 9.99997499e-01 -6.31522848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.667719421 meters Centerline goodness : 0.957386 Centerline is valid? [True, True] Translation: X:16.29, Y:-0.18, Z:-0.63 [[ 9.99881638e-01 1.52219577e-02 2.23657289e-03 1.62864721e+01] [-1.52220201e-02 9.99884138e-01 1.08943941e-05 -1.80599310e-01] [-2.23614793e-03 -4.49382623e-05 9.99997499e-01 -6.32382891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.697719421 meters Centerline goodness : 0.957696 Centerline is valid? [True, True] Translation: X:16.32, Y:-0.18, Z:-0.63 [[ 9.99831528e-01 1.82184880e-02 2.23657332e-03 1.63163398e+01] [-1.82185577e-02 9.99834028e-01 1.08058637e-05 -1.76262775e-01] [-2.23600525e-03 -5.15511833e-05 9.99997499e-01 -6.32308122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.727719420999996 meters Centerline goodness : 0.962014 Centerline is valid? [True, True] Translation: X:16.35, Y:-0.17, Z:-0.63 [[ 9.99771076e-01 2.12789491e-02 2.23657353e-03 1.63471292e+01] [-2.12790264e-02 9.99773576e-01 1.07618769e-05 -1.72592107e-01] [-2.23583812e-03 -5.83515206e-05 9.99997499e-01 -6.25794443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.757719421 meters Centerline goodness : 0.961791 Centerline is valid? [True, True] Translation: X:16.38, Y:-0.17, Z:-0.63 [[ 9.99599855e-01 2.81980133e-02 2.23657353e-03 1.63769710e+01] [-2.81981079e-02 9.99602354e-01 1.07618769e-05 -1.71516420e-01] [-2.23538071e-03 -7.38247124e-05 9.99997499e-01 -6.26716266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.787719421 meters Centerline goodness : 0.965256 Centerline is valid? [True, True] Translation: X:16.41, Y:-0.17, Z:-0.62 [[ 9.99478619e-01 3.22100637e-02 2.23657330e-03 1.64074467e+01] [-3.22101684e-02 9.99481118e-01 1.08100979e-05 -1.73188938e-01] [-2.23506459e-03 -8.28448645e-05 9.99997499e-01 -6.24473322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.817719421 meters Centerline goodness : 0.966352 Centerline is valid? [True, True] Translation: X:16.44, Y:-0.17, Z:-0.63 [[ 9.99445184e-01 3.32313481e-02 2.23657330e-03 1.64383277e+01] [-3.32314553e-02 9.99447683e-01 1.08100979e-05 -1.73719720e-01] [-2.23497877e-03 -8.51286860e-05 9.99997499e-01 -6.25126547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.847719421 meters Centerline goodness : 0.960474 Centerline is valid? [True, True] Translation: X:16.47, Y:-0.17, Z:-0.63 [[ 9.99438573e-01 3.34295633e-02 2.23657330e-03 1.64676349e+01] [-3.34296710e-02 9.99441072e-01 1.08100979e-05 -1.72949092e-01] [-2.23496184e-03 -8.55719385e-05 9.99997499e-01 -6.32949681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.877719421 meters Centerline goodness : 0.962154 Centerline is valid? [True, True] Translation: X:16.50, Y:-0.17, Z:-0.63 [[ 9.99496571e-01 3.16481097e-02 2.23657347e-03 1.64979554e+01] [-3.16482129e-02 9.99499070e-01 1.07742886e-05 -1.72285944e-01] [-2.23511212e-03 -8.15524180e-05 9.99997499e-01 -6.29115893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.907719420999996 meters Centerline goodness : 0.957324 Centerline is valid? [True, True] Translation: X:16.53, Y:-0.18, Z:-0.63 [[ 9.99696640e-01 2.45280462e-02 2.23657347e-03 1.65283496e+01] [-2.45281316e-02 9.99699140e-01 1.07742886e-05 -1.75363180e-01] [-2.23563631e-03 -6.56299887e-05 9.99997499e-01 -6.31782516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.937719421 meters Centerline goodness : 0.958206 Centerline is valid? [True, True] Translation: X:16.56, Y:-0.18, Z:-0.63 [[ 9.99804657e-01 1.96378540e-02 2.23657370e-03 1.65589068e+01] [-1.96379271e-02 9.99807157e-01 1.07271354e-05 -1.77955842e-01] [-2.23593173e-03 -5.46467112e-05 9.99997499e-01 -6.32043986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.967719421 meters Centerline goodness : 0.960108 Centerline is valid? [True, True] Translation: X:16.59, Y:-0.18, Z:-0.63 [[ 9.99955923e-01 9.11864186e-03 2.23657370e-03 1.65890197e+01] [-9.11868866e-03 9.99958424e-01 1.07271354e-05 -1.83071251e-01] [-2.23638289e-03 -3.11212819e-05 9.99997499e-01 -6.31383766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.997719421 meters Centerline goodness : 0.959867 Centerline is valid? [True, True] Translation: X:16.62, Y:-0.18, Z:-0.63 [[ 9.99993978e-01 -2.65365002e-03 2.23657392e-03 1.66207221e+01] [ 2.65363277e-03 9.99996479e-01 1.06805080e-05 -1.82825658e-01] [-2.23659439e-03 -4.74539785e-06 9.99997499e-01 -6.31684240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.027719421 meters Centerline goodness : 0.957242 Centerline is valid? [True, True] Translation: X:16.65, Y:-0.18, Z:-0.64 [[ 9.99964992e-01 -8.06305025e-03 2.23657435e-03 1.66510667e+01] [ 8.06304673e-03 9.99967493e-01 1.05904374e-05 -1.81997201e-01] [-2.23658704e-03 7.44353683e-06 9.99997499e-01 -6.35788000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.057719421 meters Centerline goodness : 0.959039 Centerline is valid? [True, True] Translation: X:16.68, Y:-0.18, Z:-0.63 [[ 9.99846546e-01 -1.73747841e-02 2.23657456e-03 1.66826399e+01] [ 1.73748040e-02 9.99849047e-01 1.05459831e-05 -1.82279501e-01] [-2.23642017e-03 2.83156798e-05 9.99997499e-01 -6.33953795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.087719420999996 meters Centerline goodness : 0.960591 Centerline is valid? [True, True] Translation: X:16.71, Y:-0.18, Z:-0.63 [[ 9.99787320e-01 -2.05015001e-02 2.23657497e-03 1.67139407e+01] [ 2.05015280e-02 9.99789822e-01 1.04574526e-05 -1.84001936e-01] [-2.23631929e-03 3.53979760e-05 9.99997499e-01 -6.30810701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.117719421 meters Centerline goodness : 0.961798 Centerline is valid? [True, True] Translation: X:16.75, Y:-0.19, Z:-0.63 [[ 9.99722433e-01 -2.34532467e-02 2.23657540e-03 1.67452853e+01] [ 2.34532822e-02 9.99724934e-01 1.03650640e-05 -1.85897823e-01] [-2.23620329e-03 4.20928471e-05 9.99997499e-01 -6.30199628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.147719421 meters Centerline goodness : 0.962522 Centerline is valid? [True, True] Translation: X:16.78, Y:-0.18, Z:-0.63 [[ 9.99705632e-01 -2.41587757e-02 2.23657582e-03 1.67759929e+01] [ 2.41588132e-02 9.99708133e-01 1.02736301e-05 -1.83652312e-01] [-2.23617124e-03 4.37624115e-05 9.99997499e-01 -6.29534627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.177719421 meters Centerline goodness : 0.964546 Centerline is valid? [True, True] Translation: X:16.81, Y:-0.18, Z:-0.63 [[ 9.99708758e-01 -2.40290805e-02 2.23657582e-03 1.68063634e+01] [ 2.40291176e-02 9.99711259e-01 1.02736301e-05 -1.75499444e-01] [-2.23617689e-03 4.34723053e-05 9.99997499e-01 -6.26987639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.207719421 meters Centerline goodness : 0.967168 Centerline is valid? [True, True] Translation: X:16.84, Y:-0.17, Z:-0.62 [[ 9.99761094e-01 -2.17428790e-02 2.23657582e-03 1.68369216e+01] [ 2.17429105e-02 9.99763595e-01 1.02736301e-05 -1.71540652e-01] [-2.23627046e-03 3.83584921e-05 9.99997499e-01 -6.22020818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.237719421 meters Centerline goodness : 0.964447 Centerline is valid? [True, True] Translation: X:16.87, Y:-0.17, Z:-0.63 [[ 9.99878479e-01 -1.54280483e-02 2.23657582e-03 1.68673918e+01] [ 1.54280640e-02 9.99880980e-01 1.02736301e-05 -1.69658857e-01] [-2.23646813e-03 2.42336531e-05 9.99997499e-01 -6.26873707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.267719420999995 meters Centerline goodness : 0.965787 Centerline is valid? [True, True] Translation: X:16.90, Y:-0.17, Z:-0.63 [[ 9.99933881e-01 -1.12796734e-02 2.23657604e-03 1.68979199e+01] [ 1.12796788e-02 9.99936382e-01 1.02263010e-05 -1.69797763e-01] [-2.23654910e-03 1.50022345e-05 9.99997499e-01 -6.25008878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.297719421 meters Centerline goodness : 0.965107 Centerline is valid? [True, True] Translation: X:16.93, Y:-0.17, Z:-0.63 [[ 9.99992368e-01 -3.20353710e-03 2.23657604e-03 1.69286273e+01] [ 3.20352224e-03 9.99994869e-01 1.02263010e-05 -1.65772942e-01] [-2.23659732e-03 -3.06130183e-06 9.99997499e-01 -6.27306372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.327719421 meters Centerline goodness : 0.964997 Centerline is valid? [True, True] Translation: X:16.96, Y:-0.16, Z:-0.63 [[ 9.99996915e-01 1.08018589e-03 2.23657623e-03 1.69595442e+01] [-1.08021136e-03 9.99999417e-01 1.01829455e-05 -1.61022084e-01] [-2.23656393e-03 -1.25988892e-05 9.99997499e-01 -6.27478931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.357719421 meters Centerline goodness : 0.963252 Centerline is valid? [True, True] Translation: X:16.99, Y:-0.15, Z:-0.63 [[ 9.99955702e-01 9.14287226e-03 2.23657662e-03 1.69902332e+01] [-9.14291771e-03 9.99958203e-01 1.00966729e-05 -1.50956129e-01] [-2.23639083e-03 -3.05450616e-05 9.99997499e-01 -6.30353431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.387719421 meters Centerline goodness : 0.960273 Centerline is valid? [True, True] Translation: X:17.02, Y:-0.15, Z:-0.63 [[ 9.99914178e-01 1.29087002e-02 2.23657682e-03 1.70207952e+01] [-1.29087550e-02 9.99916679e-01 1.00537576e-05 -1.48238100e-01] [-2.23626068e-03 -3.89243169e-05 9.99997499e-01 -6.32743622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.417719421 meters Centerline goodness : 0.962038 Centerline is valid? [True, True] Translation: X:17.05, Y:-0.15, Z:-0.63 [[ 9.99804841e-01 1.96284885e-02 2.23657782e-03 1.70514621e+01] [-1.96285596e-02 9.99807341e-01 9.82603770e-06 -1.47852572e-01] [-2.23595405e-03 -5.37249210e-05 9.99997499e-01 -6.28759745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.447719421 meters Centerline goodness : 0.956890 Centerline is valid? [True, True] Translation: X:17.08, Y:-0.15, Z:-0.64 [[ 9.99734446e-01 2.29354405e-02 2.23657782e-03 1.70805780e+01] [-2.29355199e-02 9.99736946e-01 9.82603770e-06 -1.47517487e-01] [-2.23576411e-03 -6.11205033e-05 9.99997499e-01 -6.35979614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.477719420999996 meters Centerline goodness : 0.958241 Centerline is valid? [True, True] Translation: X:17.11, Y:-0.15, Z:-0.63 [[ 9.99564164e-01 2.94360238e-02 2.23657761e-03 1.71102484e+01] [-2.94361195e-02 9.99566663e-01 9.87254958e-06 -1.45028721e-01] [-2.23531781e-03 -7.57044126e-05 9.99997499e-01 -6.30195897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.507719421 meters Centerline goodness : 0.955220 Centerline is valid? [True, True] Translation: X:17.14, Y:-0.14, Z:-0.63 [[ 9.99324916e-01 3.66702824e-02 2.23657717e-03 1.71388864e+01] [-3.66703964e-02 9.99327415e-01 9.97193996e-06 -1.44282958e-01] [-2.23470721e-03 -9.19813795e-05 9.99997499e-01 -6.33855767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.537719421 meters Centerline goodness : 0.956743 Centerline is valid? [True, True] Translation: X:17.17, Y:-0.14, Z:-0.63 [[ 9.99218626e-01 3.94605584e-02 2.23657650e-03 1.71682419e+01] [-3.94606797e-02 9.99221124e-01 1.01200172e-05 -1.44928769e-01] [-2.23443514e-03 -9.83689385e-05 9.99997499e-01 -6.34383995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.567719421 meters Centerline goodness : 0.960433 Centerline is valid? [True, True] Translation: X:17.20, Y:-0.14, Z:-0.63 [[ 9.99017881e-01 4.42523479e-02 2.23657628e-03 1.71978146e+01] [-4.42524813e-02 9.99020379e-01 1.01681589e-05 -1.44652428e-01] [-2.23393532e-03 -1.09132223e-04 9.99997499e-01 -6.28478063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.597719421 meters Centerline goodness : 0.960548 Centerline is valid? [True, True] Translation: X:17.23, Y:-0.14, Z:-0.63 [[ 9.98978659e-01 4.51291163e-02 2.23657584e-03 1.72278984e+01] [-4.51292521e-02 9.98981156e-01 1.02646023e-05 -1.44425498e-01] [-2.23383388e-03 -1.11189113e-04 9.99997499e-01 -6.29015955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.627719421 meters Centerline goodness : 0.958216 Centerline is valid? [True, True] Translation: X:17.26, Y:-0.15, Z:-0.63 [[ 9.99062175e-01 4.32408095e-02 2.23657539e-03 1.72572797e+01] [-4.32409408e-02 9.99064673e-01 1.03605714e-05 -1.49605405e-01] [-2.23403546e-03 -1.07062479e-04 9.99997499e-01 -6.31050848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.657719420999996 meters Centerline goodness : 0.957449 Centerline is valid? [True, True] Translation: X:17.29, Y:-0.15, Z:-0.63 [[ 9.99212119e-01 3.96249890e-02 2.23657493e-03 1.72866568e+01] [-3.96251115e-02 9.99214617e-01 1.04583530e-05 -1.54064121e-01] [-2.23440395e-03 -9.90746442e-05 9.99997499e-01 -6.33682225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.687719421 meters Centerline goodness : 0.959999 Centerline is valid? [True, True] Translation: X:17.32, Y:-0.16, Z:-0.63 [[ 9.99561803e-01 2.95160982e-02 2.23657471e-03 1.73173078e+01] [-2.95161956e-02 9.99564302e-01 1.05067393e-05 -1.61865590e-01] [-2.23529012e-03 -7.65173117e-05 9.99997499e-01 -6.31932729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.717719421 meters Centerline goodness : 0.960856 Centerline is valid? [True, True] Translation: X:17.35, Y:-0.16, Z:-0.63 [[ 9.99724329e-01 2.33722934e-02 2.23657471e-03 1.73474931e+01] [-2.33723754e-02 9.99726829e-01 1.05067393e-05 -1.64314593e-01] [-2.23571817e-03 -6.27779065e-05 9.99997499e-01 -6.30105058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.747719421 meters Centerline goodness : 0.954192 Centerline is valid? [True, True] Translation: X:17.38, Y:-0.17, Z:-0.64 [[ 9.99918686e-01 1.25546133e-02 2.23657471e-03 1.73774896e+01] [-1.25546682e-02 9.99921187e-01 1.05067393e-05 -1.68903378e-01] [-2.23626653e-03 -3.85853384e-05 9.99997499e-01 -6.37536561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.777719421 meters Centerline goodness : 0.953694 Centerline is valid? [True, True] Translation: X:17.41, Y:-0.17, Z:-0.64 [[ 9.99959706e-01 8.69388323e-03 2.23657471e-03 1.74091049e+01] [-8.69392847e-03 9.99962207e-01 1.05067393e-05 -1.72535068e-01] [-2.23639884e-03 -2.99509365e-05 9.99997499e-01 -6.37611779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.807719421 meters Centerline goodness : 0.960461 Centerline is valid? [True, True] Translation: X:17.44, Y:-0.18, Z:-0.63 [[ 9.99995721e-01 1.88577321e-03 2.23657513e-03 1.74407750e+01] [-1.88580122e-03 9.99998222e-01 1.04165728e-05 -1.80399679e-01] [-2.23655151e-03 -1.46342643e-05 9.99997499e-01 -6.30145791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.837719420999996 meters Centerline goodness : 0.961395 Centerline is valid? [True, True] Translation: X:17.47, Y:-0.18, Z:-0.63 [[ 9.99997236e-01 -7.25354325e-04 2.23657557e-03 1.74708429e+01] [ 7.25333055e-04 9.99999737e-01 1.03211255e-05 -1.82451758e-01] [-2.23658247e-03 -8.69883474e-06 9.99997499e-01 -6.29738020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.867719421 meters Centerline goodness : 0.957394 Centerline is valid? [True, True] Translation: X:17.50, Y:-0.18, Z:-0.63 [[ 9.99986275e-01 -4.73791235e-03 2.23657578e-03 1.75022087e+01] [ 4.73790122e-03 9.99988776e-01 1.02739197e-05 -1.83086878e-01] [-2.23659936e-03 3.22896453e-07 9.99997499e-01 -6.32514689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.897719421 meters Centerline goodness : 0.955692 Centerline is valid? [True, True] Translation: X:17.53, Y:-0.18, Z:-0.63 [[ 9.99965485e-01 -8.00171657e-03 2.23657621e-03 1.75339504e+01] [ 8.00171381e-03 9.99967986e-01 1.01798181e-05 -1.84638064e-01] [-2.23658607e-03 7.71697602e-06 9.99997499e-01 -6.33027777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.927719421 meters Centerline goodness : 0.957642 Centerline is valid? [True, True] Translation: X:17.57, Y:-0.19, Z:-0.63 [[ 9.99966779e-01 -7.83821608e-03 2.23657664e-03 1.75651818e+01] [ 7.83821312e-03 9.99969281e-01 1.00853894e-05 -1.86225641e-01] [-2.23658698e-03 7.44571000e-06 9.99997499e-01 -6.32281659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.957719421 meters Centerline goodness : 0.955448 Centerline is valid? [True, True] Translation: X:17.60, Y:-0.19, Z:-0.63 [[ 9.99987676e-01 -4.43244171e-03 2.23657706e-03 1.75958458e+01] [ 4.43243046e-03 9.99990177e-01 9.99091365e-06 -1.88770564e-01] [-2.23659937e-03 -7.73182395e-08 9.99997499e-01 -6.34519542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.987719421 meters Centerline goodness : 0.956279 Centerline is valid? [True, True] Translation: X:17.63, Y:-0.19, Z:-0.63 [[ 9.99995477e-01 -2.01066054e-03 2.23657727e-03 1.76276450e+01] [ 2.01064333e-03 9.99997979e-01 9.94406229e-06 -1.88720842e-01] [-2.23659274e-03 -5.44705815e-06 9.99997499e-01 -6.34084131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.017719420999995 meters Centerline goodness : 0.957805 Centerline is valid? [True, True] Translation: X:17.66, Y:-0.18, Z:-0.63 [[ 9.99979566e-01 5.98868797e-03 2.23657767e-03 1.76591964e+01] [-5.98872499e-03 9.99982067e-01 9.85282536e-06 -1.83377933e-01] [-2.23647856e-03 -2.32468726e-05 9.99997499e-01 -6.33051157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.047719421 meters Centerline goodness : 0.957805 Centerline is valid? [True, True] Translation: X:17.69, Y:-0.18, Z:-0.63 [[ 9.99979316e-01 6.03043609e-03 2.23657808e-03 1.76910106e+01] [-6.03047300e-03 9.99981816e-01 9.75969098e-06 -1.83295685e-01] [-2.23647855e-03 -2.32471128e-05 9.99997499e-01 -6.33122313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.077719421 meters Centerline goodness : 0.960449 Centerline is valid? [True, True] Translation: X:17.72, Y:-0.18, Z:-0.63 [[ 9.99938514e-01 1.08611982e-02 2.23657848e-03 1.77220539e+01] [-1.08612469e-02 9.99941015e-01 9.66631636e-06 -1.79988936e-01] [-2.23634157e-03 -3.39577532e-05 9.99997499e-01 -6.30668583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.107719421 meters Centerline goodness : 0.962601 Centerline is valid? [True, True] Translation: X:17.75, Y:-0.18, Z:-0.63 [[ 9.99850216e-01 1.71622402e-02 2.23657889e-03 1.77532516e+01] [-1.71623045e-02 9.99852717e-01 9.56991432e-06 -1.78031887e-01] [-2.23608524e-03 -4.79533290e-05 9.99997499e-01 -6.29661370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.137719421 meters Centerline goodness : 0.960824 Centerline is valid? [True, True] Translation: X:17.78, Y:-0.18, Z:-0.63 [[ 9.99823033e-01 1.86788672e-02 2.23657930e-03 1.77832527e+01] [-1.86789351e-02 9.99825533e-01 9.47309504e-06 -1.79305237e-01] [-2.23601215e-03 -5.12483383e-05 9.99997499e-01 -6.32348992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.167719421 meters Centerline goodness : 0.962167 Centerline is valid? [True, True] Translation: X:17.81, Y:-0.18, Z:-0.63 [[ 9.99838188e-01 1.78492710e-02 2.23657951e-03 1.78149009e+01] [-1.78493368e-02 9.99840688e-01 9.42516983e-06 -1.83663063e-01] [-2.23605496e-03 -4.93451055e-05 9.99997499e-01 -6.29933418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.197719421 meters Centerline goodness : 0.964395 Centerline is valid? [True, True] Translation: X:17.85, Y:-0.18, Z:-0.63 [[ 9.99861885e-01 1.64683993e-02 2.23657990e-03 1.78462708e+01] [-1.64684614e-02 9.99864386e-01 9.33074098e-06 -1.84356022e-01] [-2.23612293e-03 -4.61624819e-05 9.99997499e-01 -6.29563462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.227719420999996 meters Centerline goodness : 0.963098 Centerline is valid? [True, True] Translation: X:17.88, Y:-0.18, Z:-0.63 [[ 9.99825430e-01 1.85501158e-02 2.23658029e-03 1.78771871e+01] [-1.85501828e-02 9.99827931e-01 9.23666240e-06 -1.82715277e-01] [-2.23602410e-03 -5.07240232e-05 9.99997499e-01 -6.28819403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.257719421 meters Centerline goodness : 0.961056 Centerline is valid? [True, True] Translation: X:17.91, Y:-0.18, Z:-0.63 [[ 9.99768107e-01 2.14179662e-02 2.23658049e-03 1.79079517e+01] [-2.14180403e-02 9.99770607e-01 9.18817188e-06 -1.81945476e-01] [-2.23587064e-03 -5.70892123e-05 9.99997499e-01 -6.32199414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.287719421 meters Centerline goodness : 0.954723 Centerline is valid? [True, True] Translation: X:17.94, Y:-0.18, Z:-0.64 [[ 9.99535209e-01 3.04033444e-02 2.23658049e-03 1.79378769e+01] [-3.04034409e-02 9.99537708e-01 9.18817188e-06 -1.83989927e-01] [-2.23526718e-03 -7.71836440e-05 9.99997499e-01 -6.36806714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.317719421 meters Centerline goodness : 0.959825 Centerline is valid? [True, True] Translation: X:17.97, Y:-0.19, Z:-0.63 [[ 9.99234441e-01 3.90580291e-02 2.23658049e-03 1.79680128e+01] [-3.90581473e-02 9.99236939e-01 9.18817188e-06 -1.86656416e-01] [-2.23451497e-03 -9.65378280e-05 9.99997499e-01 -6.33129014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.347719421 meters Centerline goodness : 0.958673 Centerline is valid? [True, True] Translation: X:18.00, Y:-0.19, Z:-0.63 [[ 9.99110972e-01 4.20982648e-02 2.23658049e-03 1.79988627e+01] [-4.20983907e-02 9.99113470e-01 9.18817188e-06 -1.86963291e-01] [-2.23421089e-03 -1.03336442e-04 9.99997499e-01 -6.33455556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.377719421 meters Centerline goodness : 0.959399 Centerline is valid? [True, True] Translation: X:18.03, Y:-0.19, Z:-0.63 [[ 9.98951026e-01 4.57366939e-02 2.23658049e-03 1.80282237e+01] [-4.57368288e-02 9.98953524e-01 9.18817188e-06 -1.89297305e-01] [-2.23381972e-03 -1.11472633e-04 9.99997499e-01 -6.34439331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.407719420999996 meters Centerline goodness : 0.958967 Centerline is valid? [True, True] Translation: X:18.06, Y:-0.19, Z:-0.64 [[ 9.98902801e-01 4.67781213e-02 2.23658029e-03 1.80579141e+01] [-4.67782589e-02 9.98905298e-01 9.23616169e-06 -1.91877976e-01] [-2.23369985e-03 -1.13849360e-04 9.99997499e-01 -6.35060807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.437719421 meters Centerline goodness : 0.959691 Centerline is valid? [True, True] Translation: X:18.09, Y:-0.19, Z:-0.63 [[ 9.98938719e-01 4.60047080e-02 2.23658009e-03 1.80888354e+01] [-4.60048438e-02 9.98941217e-01 9.28322568e-06 -1.94458047e-01] [-2.23378497e-03 -1.12166891e-04 9.99997499e-01 -6.34493163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.467719421 meters Centerline goodness : 0.959863 Centerline is valid? [True, True] Translation: X:18.12, Y:-0.20, Z:-0.64 [[ 9.99210029e-01 3.96776527e-02 2.23658048e-03 1.81189091e+01] [-3.96777724e-02 9.99212527e-01 9.18874978e-06 -1.98201007e-01] [-2.23445465e-03 -9.79240223e-05 9.99997499e-01 -6.35151150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.497719421 meters Centerline goodness : 0.960356 Centerline is valid? [True, True] Translation: X:18.15, Y:-0.20, Z:-0.63 [[ 9.99391136e-01 3.48188863e-02 2.23658067e-03 1.81497715e+01] [-3.48189939e-02 9.99393635e-01 9.14159648e-06 -2.01098165e-01] [-2.23490619e-03 -8.70115193e-05 9.99997499e-01 -6.33521793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.527719421 meters Centerline goodness : 0.963169 Centerline is valid? [True, True] Translation: X:18.18, Y:-0.21, Z:-0.63 [[ 9.99656929e-01 2.60963892e-02 2.23658086e-03 1.81810091e+01] [-2.60964748e-02 9.99659429e-01 9.09484296e-06 -2.08225927e-01] [-2.23558181e-03 -6.74585989e-05 9.99997499e-01 -6.32188373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.557719421 meters Centerline goodness : 0.964179 Centerline is valid? [True, True] Translation: X:18.21, Y:-0.21, Z:-0.63 [[ 9.99838788e-01 1.78156003e-02 2.23658124e-03 1.82122666e+01] [-1.78156650e-02 9.99841288e-01 9.00086873e-06 -2.13758864e-01] [-2.23606592e-03 -4.88455998e-05 9.99997499e-01 -6.31464203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.587719420999996 meters Centerline goodness : 0.965575 Centerline is valid? [True, True] Translation: X:18.24, Y:-0.22, Z:-0.63 [[ 9.99908659e-01 1.33293708e-02 2.23658352e-03 1.82437383e+01] [-1.33294230e-02 9.99911159e-01 8.39345890e-06 -2.15696805e-01] [-2.23627294e-03 -3.82050600e-05 9.99997499e-01 -6.30240909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.617719421 meters Centerline goodness : 0.962718 Centerline is valid? [True, True] Translation: X:18.27, Y:-0.22, Z:-0.63 [[ 9.99984814e-01 5.03684327e-03 2.23658387e-03 1.82747549e+01] [-5.03687443e-03 9.99987315e-01 8.30014103e-06 -2.20626379e-01] [-2.23651369e-03 -1.95654071e-05 9.99997499e-01 -6.33422350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.647719421 meters Centerline goodness : 0.961692 Centerline is valid? [True, True] Translation: X:18.31, Y:-0.22, Z:-0.63 [[ 9.99993122e-01 2.95858506e-03 2.23658519e-03 1.83058079e+01] [-2.95861019e-03 9.99995623e-01 7.92888493e-06 -2.23662830e-01] [-2.23655194e-03 -1.45460141e-05 9.99997499e-01 -6.32786046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.677719421 meters Centerline goodness : 0.962060 Centerline is valid? [True, True] Translation: X:18.34, Y:-0.23, Z:-0.63 [[ 9.99984333e-01 5.13138099e-03 2.23658552e-03 1.83370074e+01] [-5.13141134e-03 9.99986834e-01 7.83238454e-06 -2.28099241e-01] [-2.23651589e-03 -1.93091022e-05 9.99997499e-01 -6.32565276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.707719421 meters Centerline goodness : 0.963638 Centerline is valid? [True, True] Translation: X:18.37, Y:-0.23, Z:-0.63 [[ 9.99962930e-01 8.31482799e-03 2.23658585e-03 1.83675460e+01] [-8.31486609e-03 9.99965431e-01 7.73687719e-06 -2.27500011e-01] [-2.23644421e-03 -2.63335022e-05 9.99997499e-01 -6.32899680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.737719421 meters Centerline goodness : 0.960230 Centerline is valid? [True, True] Translation: X:18.40, Y:-0.23, Z:-0.64 [[ 9.99851736e-01 1.70735053e-02 2.23658653e-03 1.83975424e+01] [-1.70735649e-02 9.99854236e-01 7.53530910e-06 -2.27991740e-01] [-2.23613186e-03 -4.57206972e-05 9.99997499e-01 -6.35744018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.767719420999995 meters Centerline goodness : 0.960618 Centerline is valid? [True, True] Translation: X:18.43, Y:-0.23, Z:-0.64 [[ 9.99748012e-01 2.23363178e-02 2.23658669e-03 1.84288497e+01] [-2.23363904e-02 9.99750512e-01 7.48936262e-06 -2.30272151e-01] [-2.23586140e-03 -5.74447487e-05 9.99997499e-01 -6.36831332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.797719421 meters Centerline goodness : 0.960585 Centerline is valid? [True, True] Translation: X:18.46, Y:-0.23, Z:-0.64 [[ 9.99502465e-01 3.14614223e-02 2.23658699e-03 1.84602578e+01] [-3.14615175e-02 9.99504964e-01 7.39891702e-06 -2.34803825e-01] [-2.23524701e-03 -7.77616564e-05 9.99997499e-01 -6.37888343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.827719421 meters Centerline goodness : 0.962787 Centerline is valid? [True, True] Translation: X:18.49, Y:-0.24, Z:-0.63 [[ 9.99349350e-01 3.59982412e-02 2.23658876e-03 1.84918531e+01] [-3.59983464e-02 9.99351849e-01 6.81748925e-06 -2.36073370e-01] [-2.23489369e-03 -8.73265504e-05 9.99997499e-01 -6.34281440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.857719421 meters Centerline goodness : 0.966823 Centerline is valid? [True, True] Translation: X:18.52, Y:-0.24, Z:-0.63 [[ 9.99172140e-01 4.06205913e-02 2.23659036e-03 1.85235712e+01] [-4.06207069e-02 9.99174638e-01 6.24281301e-06 -2.37548485e-01] [-2.23449078e-03 -9.70895264e-05 9.99997499e-01 -6.29528886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.887719421 meters Centerline goodness : 0.964020 Centerline is valid? [True, True] Translation: X:18.55, Y:-0.24, Z:-0.63 [[ 9.98959206e-01 4.55576780e-02 2.23659190e-03 1.85544927e+01] [-4.55578045e-02 9.98961704e-01 5.63247854e-06 -2.42206039e-01] [-2.23401305e-03 -1.07520833e-04 9.99997499e-01 -6.34315211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.917719421 meters Centerline goodness : 0.966566 Centerline is valid? [True, True] Translation: X:18.59, Y:-0.25, Z:-0.63 [[ 9.98920596e-01 4.63965651e-02 2.23659325e-03 1.85862703e+01] [-4.63966924e-02 9.98923094e-01 5.03272392e-06 -2.46151554e-01] [-2.23395115e-03 -1.08797820e-04 9.99997499e-01 -6.31080957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.947719421 meters Centerline goodness : 0.962134 Centerline is valid? [True, True] Translation: X:18.62, Y:-0.26, Z:-0.63 [[ 9.99004626e-01 4.45505937e-02 2.23659452e-03 1.86178486e+01] [-4.45507150e-02 9.99007124e-01 4.38672434e-06 -2.56376492e-01] [-2.23417842e-03 -1.04024243e-04 9.99997499e-01 -6.34928396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.977719420999996 meters Centerline goodness : 0.962234 Centerline is valid? [True, True] Translation: X:18.65, Y:-0.27, Z:-0.64 [[ 9.99191202e-01 4.01489602e-02 2.23659553e-03 1.86496580e+01] [-4.01490691e-02 9.99193701e-01 3.79072609e-06 -2.65715930e-01] [-2.23463997e-03 -9.35848884e-05 9.99997499e-01 -6.36103424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.007719421 meters Centerline goodness : 0.963639 Centerline is valid? [True, True] Translation: X:18.68, Y:-0.27, Z:-0.64 [[ 9.99252397e-01 3.85959101e-02 2.23659644e-03 1.86821652e+01] [-3.85960137e-02 9.99254896e-01 3.13924560e-06 -2.69244267e-01] [-2.23480878e-03 -8.94606055e-05 9.99997499e-01 -6.35307926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.037719421 meters Centerline goodness : 0.962342 Centerline is valid? [True, True] Translation: X:18.71, Y:-0.28, Z:-0.63 [[ 9.99375515e-01 3.52643996e-02 2.23659717e-03 1.87137894e+01] [-3.52644933e-02 9.99378014e-01 2.48638315e-06 -2.76201110e-01] [-2.23511835e-03 -8.13572963e-05 9.99997499e-01 -6.34577375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.067719421 meters Centerline goodness : 0.963090 Centerline is valid? [True, True] Translation: X:18.75, Y:-0.28, Z:-0.63 [[ 9.99404690e-01 3.44276628e-02 2.23659767e-03 1.87460016e+01] [-3.44277531e-02 9.99407189e-01 1.88727920e-06 -2.79945118e-01] [-2.23520682e-03 -7.88871881e-05 9.99997499e-01 -6.32544769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.097719421 meters Centerline goodness : 0.962658 Centerline is valid? [True, True] Translation: X:18.78, Y:-0.29, Z:-0.63 [[ 9.99412350e-01 3.42045666e-02 2.23659803e-03 1.87767029e+01] [-3.42046549e-02 9.99414850e-01 1.24381138e-06 -2.86305772e-01] [-2.23524674e-03 -7.77451442e-05 9.99997499e-01 -6.34167072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.127719421 meters Centerline goodness : 0.960849 Centerline is valid? [True, True] Translation: X:18.81, Y:-0.29, Z:-0.64 [[ 9.99436297e-01 3.34975424e-02 2.23659820e-03 1.88091163e+01] [-3.34976279e-02 9.99438797e-01 7.44203205e-07 -2.92039890e-01] [-2.23531808e-03 -7.56645177e-05 9.99997499e-01 -6.37194194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.157719420999996 meters Centerline goodness : 0.958405 Centerline is valid? [True, True] Translation: X:18.84, Y:-0.29, Z:-0.64 [[ 9.99507184e-01 3.13111148e-02 2.23659823e-03 1.88404991e+01] [-3.13111934e-02 9.99509684e-01 1.06904550e-07 -2.94575552e-01] [-2.23549824e-03 -7.01374114e-05 9.99997499e-01 -6.41183169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.187719421 meters Centerline goodness : 0.960349 Centerline is valid? [True, True] Translation: X:18.87, Y:-0.30, Z:-0.64 [[ 9.99681978e-01 2.51185367e-02 2.23659818e-03 1.88728352e+01] [-2.51185990e-02 9.99684478e-01 -2.56293576e-07 -3.01351790e-01] [-2.23589893e-03 -5.59240008e-05 9.99997499e-01 -6.38190377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.217719421 meters Centerline goodness : 0.962611 Centerline is valid? [True, True] Translation: X:18.90, Y:-0.30, Z:-0.64 [[ 9.99775833e-01 2.10542552e-02 2.23659792e-03 1.89039277e+01] [-2.10543058e-02 9.99778334e-01 -9.04337014e-07 -3.03690473e-01] [-2.23612118e-03 -4.61858823e-05 9.99997499e-01 -6.36665046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.247719421 meters Centerline goodness : 0.961505 Centerline is valid? [True, True] Translation: X:18.94, Y:-0.31, Z:-0.63 [[ 9.99881395e-01 1.52378812e-02 2.23659752e-03 1.89352568e+01] [-1.52379160e-02 9.99883896e-01 -1.50314910e-06 -3.09029755e-01] [-2.23636075e-03 -3.25781142e-05 9.99997499e-01 -6.34747725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.277719421 meters Centerline goodness : 0.962360 Centerline is valid? [True, True] Translation: X:18.97, Y:-0.31, Z:-0.63 [[ 9.99868887e-01 1.60376878e-02 2.23659724e-03 1.89678647e+01] [-1.60377238e-02 9.99871387e-01 -1.84118800e-06 -3.13271916e-01] [-2.23633912e-03 -3.40289822e-05 9.99997499e-01 -6.32786877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.307719421 meters Centerline goodness : 0.962721 Centerline is valid? [True, True] Translation: X:19.00, Y:-0.32, Z:-0.63 [[ 9.99773532e-01 2.11632123e-02 2.23659640e-03 1.89987506e+01] [-2.11632595e-02 9.99776033e-01 -2.57441804e-06 -3.18816363e-01] [-2.23614996e-03 -4.47598349e-05 9.99997499e-01 -6.32283974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.337719420999996 meters Centerline goodness : 0.964425 Centerline is valid? [True, True] Translation: X:19.03, Y:-0.32, Z:-0.63 [[ 9.99691460e-01 2.47382656e-02 2.23659556e-03 1.90314618e+01] [-2.47383204e-02 9.99693961e-01 -3.16855541e-06 -3.19271972e-01] [-2.23598945e-03 -5.21620398e-05 9.99997499e-01 -6.30893425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.367719421 meters Centerline goodness : 0.963589 Centerline is valid? [True, True] Translation: X:19.06, Y:-0.32, Z:-0.63 [[ 9.99468630e-01 3.25185372e-02 2.23659423e-03 1.90621148e+01] [-3.25186097e-02 9.99471130e-01 -3.92548224e-06 -3.21223903e-01] [-2.23553901e-03 -6.88075385e-05 9.99997499e-01 -6.31307230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.397719421 meters Centerline goodness : 0.966084 Centerline is valid? [True, True] Translation: X:19.10, Y:-0.32, Z:-0.63 [[ 9.99320383e-01 3.67935985e-02 2.23659320e-03 1.90953444e+01] [-3.67936806e-02 9.99322883e-01 -4.44119587e-06 -3.24056167e-01] [-2.23524218e-03 -7.78543185e-05 9.99997499e-01 -6.29360127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.427719421 meters Centerline goodness : 0.961764 Centerline is valid? [True, True] Translation: X:19.13, Y:-0.33, Z:-0.63 [[ 9.99009881e-01 4.44326021e-02 2.23659143e-03 1.91268815e+01] [-4.44327017e-02 9.99012380e-01 -5.20281951e-06 -3.29203033e-01] [-2.23461370e-03 -9.41801317e-05 9.99997499e-01 -6.33649185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.457719421 meters Centerline goodness : 0.961158 Centerline is valid? [True, True] Translation: X:19.16, Y:-0.33, Z:-0.63 [[ 9.98915115e-01 4.65144044e-02 2.23658984e-03 1.91590781e+01] [-4.65145077e-02 9.98917614e-01 -5.81413379e-06 -3.30560745e-01] [-2.23443943e-03 -9.82260494e-05 9.99997499e-01 -6.34920687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.487719421 meters Centerline goodness : 0.959625 Centerline is valid? [True, True] Translation: X:19.19, Y:-0.33, Z:-0.64 [[ 9.98835021e-01 4.82037136e-02 2.23658809e-03 1.91906964e+01] [-4.82038198e-02 9.98837520e-01 -6.42408191e-06 -3.34965849e-01] [-2.23429777e-03 -1.01395491e-04 9.99997499e-01 -6.36952918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.517719420999995 meters Centerline goodness : 0.959849 Centerline is valid? [True, True] Translation: X:19.22, Y:-0.34, Z:-0.64 [[ 9.98809791e-01 4.87236934e-02 2.23658619e-03 1.92213242e+01] [-4.87237996e-02 9.98812290e-01 -7.02982098e-06 -3.39011742e-01] [-2.23427229e-03 -1.01953523e-04 9.99997499e-01 -6.36213405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.547719421 meters Centerline goodness : 0.959993 Centerline is valid? [True, True] Translation: X:19.25, Y:-0.34, Z:-0.64 [[ 9.98847734e-01 4.79395610e-02 2.23658464e-03 1.92535754e+01] [-4.79396642e-02 9.98850233e-01 -7.49233722e-06 -3.43765853e-01] [-2.23437227e-03 -9.97374123e-05 9.99997499e-01 -6.36306565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.577719421 meters Centerline goodness : 0.962057 Centerline is valid? [True, True] Translation: X:19.29, Y:-0.34, Z:-0.63 [[ 9.98889741e-01 4.70561737e-02 2.23658237e-03 1.92862288e+01] [-4.70562733e-02 9.98892240e-01 -8.11772961e-06 -3.44384524e-01] [-2.23448676e-03 -9.71365142e-05 9.99997499e-01 -6.33383059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.607719421 meters Centerline goodness : 0.961605 Centerline is valid? [True, True] Translation: X:19.32, Y:-0.35, Z:-0.63 [[ 9.98904911e-01 4.67330368e-02 2.23657954e-03 1.93174974e+01] [-4.67331340e-02 9.98907410e-01 -8.83363901e-06 -3.46770006e-01] [-2.23454870e-03 -9.56984059e-05 9.99997499e-01 -6.34424910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.637719421 meters Centerline goodness : 0.960374 Centerline is valid? [True, True] Translation: X:19.35, Y:-0.35, Z:-0.63 [[ 9.98878208e-01 4.73003531e-02 2.23657712e-03 1.93494055e+01] [-4.73004504e-02 9.98880707e-01 -9.40891158e-06 -3.50167646e-01] [-2.23451878e-03 -9.63927484e-05 9.99997499e-01 -6.34729022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.667719421 meters Centerline goodness : 0.959605 Centerline is valid? [True, True] Translation: X:19.38, Y:-0.35, Z:-0.63 [[ 9.98836590e-01 4.81711948e-02 2.23657437e-03 1.93823074e+01] [-4.81712929e-02 9.98839089e-01 -1.00220472e-05 -3.54293623e-01] [-2.23446068e-03 -9.77282916e-05 9.99997499e-01 -6.34673126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.697719421 meters Centerline goodness : 0.957087 Centerline is valid? [True, True] Translation: X:19.41, Y:-0.35, Z:-0.64 [[ 9.98829314e-01 4.83218244e-02 2.23657099e-03 1.94144293e+01] [-4.83219213e-02 9.98831814e-01 -1.07276553e-05 -3.54821329e-01] [-2.23447664e-03 -9.73603107e-05 9.99997499e-01 -6.37408760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.727719420999996 meters Centerline goodness : 0.958516 Centerline is valid? [True, True] Translation: X:19.45, Y:-0.36, Z:-0.64 [[ 9.98830127e-01 4.83050144e-02 2.23656765e-03 1.94475549e+01] [-4.83051098e-02 9.98832627e-01 -1.13830537e-05 -3.56550712e-01] [-2.23450660e-03 -9.66679090e-05 9.99997499e-01 -6.37000439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.757719421 meters Centerline goodness : 0.952754 Centerline is valid? [True, True] Translation: X:19.48, Y:-0.36, Z:-0.65 [[ 9.98890497e-01 4.70401142e-02 2.23656387e-03 1.94791841e+01] [-4.70402048e-02 9.98892997e-01 -1.20835764e-05 -3.60280153e-01] [-2.23465640e-03 -9.31382528e-05 9.99997499e-01 -6.45984442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.787719421 meters Centerline goodness : 0.955371 Centerline is valid? [True, True] Translation: X:19.51, Y:-0.36, Z:-0.64 [[ 9.98900922e-01 4.68182224e-02 2.23656043e-03 1.95117397e+01] [-4.68183111e-02 9.98903422e-01 -1.26893085e-05 -3.62829270e-01] [-2.23470196e-03 -9.20366202e-05 9.99997499e-01 -6.40692656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.817719421 meters Centerline goodness : 0.956894 Centerline is valid? [True, True] Translation: X:19.54, Y:-0.37, Z:-0.64 [[ 9.98903156e-01 4.67705366e-02 2.23655914e-03 1.95429379e+01] [-4.67706247e-02 9.98905655e-01 -1.29124416e-05 -3.67300308e-01] [-2.23471550e-03 -9.17069896e-05 9.99997499e-01 -6.39321465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.847719421 meters Centerline goodness : 0.962373 Centerline is valid? [True, True] Translation: X:19.57, Y:-0.37, Z:-0.64 [[ 9.98884041e-01 4.71770059e-02 2.23655568e-03 1.95749336e+01] [-4.71770938e-02 9.98886541e-01 -1.34871090e-05 -3.69600606e-01] [-2.23470165e-03 -9.20421389e-05 9.99997499e-01 -6.35034489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.877719421 meters Centerline goodness : 0.964424 Centerline is valid? [True, True] Translation: X:19.61, Y:-0.37, Z:-0.63 [[ 9.98871534e-01 4.74410816e-02 2.23655461e-03 1.96058138e+01] [-4.74411697e-02 9.98874034e-01 -1.36610517e-05 -3.71686051e-01] [-2.23468442e-03 -9.24591314e-05 9.99997499e-01 -6.30268592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.907719420999996 meters Centerline goodness : 0.967480 Centerline is valid? [True, True] Translation: X:19.64, Y:-0.37, Z:-0.63 [[ 9.98867799e-01 4.75196601e-02 2.23655274e-03 1.96386675e+01] [-4.75197478e-02 9.98870299e-01 -1.39606475e-05 -3.72259141e-01] [-2.23468951e-03 -9.23355810e-05 9.99997499e-01 -6.26987925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.937719421 meters Centerline goodness : 0.966346 Centerline is valid? [True, True] Translation: X:19.67, Y:-0.37, Z:-0.63 [[ 9.99130212e-01 4.16391263e-02 2.23654813e-03 1.96697288e+01] [-4.16391977e-02 9.99132712e-01 -1.46641290e-05 -3.73385139e-01] [-2.23521900e-03 -7.84766955e-05 9.99997499e-01 -6.28115403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.967719421 meters Centerline goodness : 0.966346 Centerline is valid? [True, True] Translation: X:19.70, Y:-0.37, Z:-0.63 [[ 9.99117638e-01 4.19397618e-02 2.23654428e-03 1.97031827e+01] [-4.19398326e-02 9.99120138e-01 -1.52299843e-05 -3.73884502e-01] [-2.23521517e-03 -7.85837468e-05 9.99997499e-01 -6.28190332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.997719421 meters Centerline goodness : 0.966127 Centerline is valid? [True, True] Translation: X:19.74, Y:-0.38, Z:-0.63 [[ 9.99285821e-01 3.77206310e-02 2.23653949e-03 1.97357735e+01] [-3.77206898e-02 9.99288321e-01 -1.59029558e-05 -3.75940888e-01] [-2.23554767e-03 -6.84722141e-05 9.99997499e-01 -6.27383109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.027719421 meters Centerline goodness : 0.967084 Centerline is valid? [True, True] Translation: X:19.77, Y:-0.38, Z:-0.62 [[ 9.99598638e-01 2.82411325e-02 2.23653505e-03 1.97679562e+01] [-2.82411662e-02 9.99601139e-01 -1.65052678e-05 -3.79141391e-01] [-2.23610911e-03 -4.66637149e-05 9.99997499e-01 -6.24597149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.057719421 meters Centerline goodness : 0.967869 Centerline is valid? [True, True] Translation: X:19.80, Y:-0.38, Z:-0.62 [[ 9.99635817e-01 2.68929626e-02 2.23652990e-03 1.98012079e+01] [-2.68929914e-02 9.99638318e-01 -1.71759176e-05 -3.80083177e-01] [-2.23618290e-03 -4.29773170e-05 9.99997499e-01 -6.24894165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.087719420999996 meters Centerline goodness : 0.967033 Centerline is valid? [True, True] Translation: X:19.83, Y:-0.38, Z:-0.62 [[ 9.99510508e-01 3.12048338e-02 2.23652377e-03 1.98318787e+01] [-3.12048717e-02 9.99513009e-01 -1.79404596e-05 -3.77460029e-01] [-2.23599443e-03 -5.18587593e-05 9.99997499e-01 -6.24836507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.117719421 meters Centerline goodness : 0.966586 Centerline is valid? [True, True] Translation: X:19.86, Y:-0.38, Z:-0.63 [[ 9.99351784e-01 3.59306184e-02 2.23651866e-03 1.98641711e+01] [-3.59306668e-02 9.99354285e-01 -1.85558615e-05 -3.75512315e-01] [-2.23574123e-03 -6.18157734e-05 9.99997499e-01 -6.26999744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.147719421 meters Centerline goodness : 0.961230 Centerline is valid? [True, True] Translation: X:19.90, Y:-0.37, Z:-0.63 [[ 9.98930702e-01 4.61784700e-02 2.23651301e-03 1.98955804e+01] [-4.61785425e-02 9.98933202e-01 -1.92135906e-05 -3.72790966e-01] [-2.23501436e-03 -8.40858655e-05 9.99997499e-01 -6.31973441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.177719421 meters Centerline goodness : 0.960581 Centerline is valid? [True, True] Translation: X:19.93, Y:-0.37, Z:-0.63 [[ 9.98689796e-01 5.11242450e-02 2.23650764e-03 1.99274831e+01] [-5.11243286e-02 9.98692296e-01 -1.98200120e-05 -3.74083178e-01] [-2.23459623e-03 -9.45459075e-05 9.99997499e-01 -6.32543624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.207719421 meters Centerline goodness : 0.956175 Centerline is valid? [True, True] Translation: X:19.96, Y:-0.38, Z:-0.64 [[ 9.98368689e-01 5.70522475e-02 2.23650173e-03 1.99589452e+01] [-5.70523445e-02 9.98371188e-01 -2.04654789e-05 -3.75465804e-01] [-2.23402649e-03 -1.07165574e-04 9.99997499e-01 -6.35032675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.237719421 meters Centerline goodness : 0.953876 Centerline is valid? [True, True] Translation: X:19.99, Y:-0.38, Z:-0.64 [[ 9.98261377e-01 5.89001012e-02 2.23649615e-03 1.99909264e+01] [-5.89002015e-02 9.98263876e-01 -2.10577406e-05 -3.76216650e-01] [-2.23385362e-03 -1.10708945e-04 9.99997499e-01 -6.37353262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.267719420999995 meters Centerline goodness : 0.947972 Centerline is valid? [True, False] Translation: X:19.99, Y:-0.38, Z:-0.64 [[ 9.98394835e-01 5.66296403e-02 9.14643212e-04 1.99931706e+01] [-5.66256747e-02 9.98387872e-01 -3.89754941e-03 -3.76069636e-01] [-1.13388551e-03 3.83950091e-03 9.99991986e-01 -6.37377549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.297719421 meters Centerline goodness : 0.952590 Centerline is valid? [False, True] Translation: X:19.99, Y:-0.38, Z:-0.64 [[ 9.98377238e-01 5.69380927e-02 9.71263248e-04 1.99925539e+01] [-5.69355609e-02 9.98374822e-01 -2.46083859e-03 -3.79241605e-01] [-1.10980023e-03 2.40154582e-03 9.99996500e-01 -6.37014335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.327719421 meters Centerline goodness : 0.953866 Centerline is valid? [True, True] Translation: X:20.02, Y:-0.39, Z:-0.64 [[ 9.98538704e-01 5.40322338e-02 9.86825296e-04 2.00240203e+01] [-5.40322539e-02 9.98539191e-01 -6.25527289e-06 -3.85939283e-01] [-9.85721719e-04 -4.70742629e-05 9.99999513e-01 -6.35444439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.357719421 meters Centerline goodness : 0.954186 Centerline is valid? [True, True] Translation: X:20.06, Y:-0.39, Z:-0.63 [[ 9.98678131e-01 5.13908306e-02 9.86823629e-04 2.00561265e+01] [-5.13908492e-02 9.98678617e-01 -6.50800745e-06 -3.88068693e-01] [-9.85854110e-04 -4.42142996e-05 9.99999513e-01 -6.34121897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.387719421 meters Centerline goodness : 0.959462 Centerline is valid? [True, True] Translation: X:20.09, Y:-0.39, Z:-0.63 [[ 9.98941738e-01 4.59829377e-02 9.86821785e-04 2.00886024e+01] [-4.59829534e-02 9.98942225e-01 -6.77666060e-06 -3.90996182e-01] [-9.86089559e-04 -3.86074910e-05 9.99999513e-01 -6.29181782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.417719421 meters Centerline goodness : 0.963458 Centerline is valid? [True, True] Translation: X:20.12, Y:-0.39, Z:-0.62 [[ 9.99073103e-01 4.30344082e-02 9.86821242e-04 2.01192562e+01] [-4.30344224e-02 9.99073590e-01 -6.85482780e-06 -3.92914394e-01] [-9.86202034e-04 -3.56188080e-05 9.99999513e-01 -6.24917702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.447719421 meters Centerline goodness : 0.963554 Centerline is valid? [True, True] Translation: X:20.15, Y:-0.39, Z:-0.62 [[ 9.99150014e-01 4.12101512e-02 9.86820277e-04 2.01508305e+01] [-4.12101644e-02 9.99150500e-01 -6.99098806e-06 -3.94199298e-01] [-9.86270073e-04 -3.36819800e-05 9.99999513e-01 -6.23791393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.477719420999996 meters Centerline goodness : 0.965516 Centerline is valid? [True, True] Translation: X:20.18, Y:-0.39, Z:-0.62 [[ 9.99219768e-01 3.94826823e-02 9.86819220e-04 2.01828746e+01] [-3.94826945e-02 9.99220254e-01 -7.13706244e-06 -3.94430581e-01] [-9.86331543e-04 -3.18307879e-05 9.99999513e-01 -6.21039028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.507719421 meters Centerline goodness : 0.962114 Centerline is valid? [True, True] Translation: X:20.22, Y:-0.39, Z:-0.62 [[ 9.99344876e-01 3.61779529e-02 9.86817167e-04 2.02152355e+01] [-3.61779632e-02 9.99345363e-01 -7.41045140e-06 -3.92170440e-01] [-9.86439256e-04 -2.82954385e-05 9.99999513e-01 -6.24923872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.537719421 meters Centerline goodness : 0.959686 Centerline is valid? [True, True] Translation: X:20.25, Y:-0.39, Z:-0.63 [[ 9.99412186e-01 3.42681841e-02 9.86815049e-04 2.02470292e+01] [-3.42681932e-02 9.99412673e-01 -7.68253753e-06 -3.91026286e-01] [-9.86498733e-04 -2.61383471e-05 9.99999513e-01 -6.28547691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.567719421 meters Centerline goodness : 0.955100 Centerline is valid? [True, True] Translation: X:20.28, Y:-0.39, Z:-0.63 [[ 9.99589782e-01 2.86233155e-02 9.86812866e-04 2.02792065e+01] [-2.86233216e-02 9.99590269e-01 -7.95346767e-06 -3.88988007e-01] [-9.86636192e-04 -2.02956570e-05 9.99999513e-01 -6.27821014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.597719421 meters Centerline goodness : 0.956516 Centerline is valid? [True, True] Translation: X:20.31, Y:-0.39, Z:-0.63 [[ 9.99706510e-01 2.42057688e-02 9.86810398e-04 2.03099599e+01] [-2.42057725e-02 9.99706997e-01 -8.24872777e-06 -3.87272505e-01] [-9.86720926e-04 -1.56402011e-05 9.99999513e-01 -6.28579686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.627719421 meters Centerline goodness : 0.957644 Centerline is valid? [True, True] Translation: X:20.34, Y:-0.39, Z:-0.63 [[ 9.99729605e-01 2.32323930e-02 9.86808041e-04 2.03421298e+01] [-2.32323959e-02 9.99730091e-01 -8.52158163e-06 -3.87035554e-01] [-9.86739670e-04 -1.44066377e-05 9.99999513e-01 -6.25138013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.657719420999996 meters Centerline goodness : 0.957717 Centerline is valid? [True, True] Translation: X:20.37, Y:-0.39, Z:-0.62 [[ 9.99712841e-01 2.39428840e-02 9.86805425e-04 2.03746472e+01] [-2.39428870e-02 9.99713328e-01 -8.81444926e-06 -3.86426072e-01] [-9.86733579e-04 -1.48150526e-05 9.99999513e-01 -6.23835443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.687719421 meters Centerline goodness : 0.957212 Centerline is valid? [True, True] Translation: X:20.41, Y:-0.39, Z:-0.62 [[ 9.99673045e-01 2.55505407e-02 9.86802738e-04 2.04064497e+01] [-2.55505442e-02 9.99673532e-01 -9.10566662e-06 -3.86367156e-01] [-9.86713233e-04 -1.61106575e-05 9.99999513e-01 -6.24777640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.717719421 meters Centerline goodness : 0.957976 Centerline is valid? [True, True] Translation: X:20.44, Y:-0.39, Z:-0.63 [[ 9.99609127e-01 2.79395851e-02 9.86799984e-04 2.04374186e+01] [-2.79395894e-02 9.99609613e-01 -9.39494249e-06 -3.86016453e-01] [-9.86677241e-04 -1.81795161e-05 9.99999513e-01 -6.25813825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.747719421 meters Centerline goodness : 0.961500 Centerline is valid? [True, True] Translation: X:20.47, Y:-0.39, Z:-0.62 [[ 9.99391651e-01 3.48619155e-02 9.86798513e-04 2.04688404e+01] [-3.48619230e-02 9.99392138e-01 -9.54698468e-06 -3.86529719e-01] [-9.86531502e-04 -2.48605170e-05 9.99999513e-01 -6.21989241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.777719421 meters Centerline goodness : 0.960554 Centerline is valid? [True, True] Translation: X:20.50, Y:-0.39, Z:-0.62 [[ 9.99143435e-01 4.13693488e-02 9.86795985e-04 2.04997021e+01] [-4.13693593e-02 9.99143922e-01 -9.80150902e-06 -3.88172112e-01] [-9.86356692e-04 -3.10300043e-05 9.99999513e-01 -6.24039670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.807719421 meters Centerline goodness : 0.959575 Centerline is valid? [True, True] Translation: X:20.53, Y:-0.39, Z:-0.63 [[ 9.99008853e-01 4.45009881e-02 9.86793449e-04 2.05321506e+01] [-4.45009998e-02 9.99009340e-01 -1.00504884e-05 -3.88637541e-01] [-9.86263129e-04 -3.38727682e-05 9.99999513e-01 -6.25544108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.837719420999996 meters Centerline goodness : 0.958695 Centerline is valid? [True, True] Translation: X:20.57, Y:-0.39, Z:-0.63 [[ 9.98670223e-01 5.15442663e-02 9.86790690e-04 2.05651794e+01] [-5.15442813e-02 9.98670710e-01 -1.03144276e-05 -3.87829069e-01] [-9.86010609e-04 -4.05627052e-05 9.99999513e-01 -6.26330782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.867719421 meters Centerline goodness : 0.959952 Centerline is valid? [True, True] Translation: X:20.60, Y:-0.39, Z:-0.63 [[ 9.98481017e-01 5.50879732e-02 9.86787435e-04 2.05984150e+01] [-5.50879895e-02 9.98481504e-01 -1.06170014e-05 -3.86709701e-01] [-9.85873871e-04 -4.37592615e-05 9.99999513e-01 -6.25941033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.897719421 meters Centerline goodness : 0.957022 Centerline is valid? [True, True] Translation: X:20.63, Y:-0.38, Z:-0.63 [[ 9.98117121e-01 6.13289350e-02 9.86783993e-04 2.06292902e+01] [-6.13289541e-02 9.98117608e-01 -1.09277640e-05 -3.83239955e-01] [-9.85596667e-04 -4.96112419e-05 9.99999513e-01 -6.28206179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.927719421 meters Centerline goodness : 0.957524 Centerline is valid? [True, True] Translation: X:20.66, Y:-0.38, Z:-0.63 [[ 9.97933837e-01 6.42423810e-02 9.86781166e-04 2.06617507e+01] [-6.42424013e-02 9.97934323e-01 -1.11773660e-05 -3.81690504e-01] [-9.85460856e-04 -5.22389200e-05 9.99999513e-01 -6.29365816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.957719421 meters Centerline goodness : 0.954676 Centerline is valid? [True, True] Translation: X:20.69, Y:-0.38, Z:-0.63 [[ 9.97735363e-01 6.72545353e-02 9.86778091e-04 2.06934817e+01] [-6.72545568e-02 9.97735849e-01 -1.14425271e-05 -3.80864649e-01] [-9.85313439e-04 -5.49487093e-05 9.99999513e-01 -6.31660924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.987719421 meters Centerline goodness : 0.954449 Centerline is valid? [True, True] Translation: X:20.73, Y:-0.38, Z:-0.63 [[ 9.97517637e-01 7.04101532e-02 9.86774957e-04 2.07257924e+01] [-7.04101760e-02 9.97518124e-01 -1.17067178e-05 -3.78373060e-01] [-9.85150175e-04 -5.78013409e-05 9.99999513e-01 -6.28285672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.017719420999995 meters Centerline goodness : 0.954708 Centerline is valid? [True, True] Translation: X:20.76, Y:-0.38, Z:-0.63 [[ 9.97330417e-01 7.30141463e-02 9.86771440e-04 2.07575186e+01] [-7.30141701e-02 9.97330903e-01 -1.19960620e-05 -3.78052792e-01] [-9.85013534e-04 -6.00842602e-05 9.99999513e-01 -6.29606754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.047719421 meters Centerline goodness : 0.950517 Centerline is valid? [True, True] Translation: X:20.79, Y:-0.38, Z:-0.63 [[ 9.97233248e-01 7.43295062e-02 9.86767606e-04 2.07894992e+01] [-7.43295302e-02 9.97233734e-01 -1.23035064e-05 -3.78988121e-01] [-9.84952458e-04 -6.10765070e-05 9.99999513e-01 -6.31643419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.077719421 meters Centerline goodness : 0.946713 Centerline is valid? [True, False] Translation: X:20.79, Y:-0.38, Z:-0.63 [[ 9.97454855e-01 7.05228528e-02 -1.05042698e-02 2.07861977e+01] [-7.05585232e-02 9.97502935e-01 -3.06436361e-03 -3.76278136e-01] [ 1.02619323e-02 3.79773012e-03 9.99940133e-01 -6.30683304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.107719421 meters Centerline goodness : 0.947417 Centerline is valid? [False, False] Translation: X:20.79, Y:-0.37, Z:-0.63 [[ 9.97694121e-01 6.69535333e-02 -1.11204675e-02 2.07865990e+01] [-6.70375770e-02 9.97723271e-01 -7.36464566e-03 -3.74488731e-01] [ 1.06020601e-02 8.09315287e-03 9.99911045e-01 -6.30112713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.137719421 meters Centerline goodness : 0.951258 Centerline is valid? [False, True] Translation: X:20.78, Y:-0.38, Z:-0.63 [[ 9.98088386e-01 6.07972149e-02 -1.11028523e-02 2.07838879e+01] [-6.09258352e-02 9.98074438e-01 -1.16386639e-02 -3.77204753e-01] [ 1.03738747e-02 1.22928658e-02 9.99870626e-01 -6.27646435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.167719421 meters Centerline goodness : 0.953448 Centerline is valid? [True, True] Translation: X:20.81, Y:-0.39, Z:-0.62 [[ 9.98647977e-01 5.08054315e-02 -1.10012321e-02 2.08147048e+01] [-5.08074514e-02 9.98708463e-01 9.59792220e-05 -3.90277077e-01] [ 1.09918998e-02 4.63095108e-04 9.99939480e-01 -6.21450682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.197719421 meters Centerline goodness : 0.954886 Centerline is valid? [True, True] Translation: X:20.85, Y:-0.39, Z:-0.62 [[ 9.98863865e-01 4.63675926e-02 -1.10012064e-02 2.08469519e+01] [-4.63693122e-02 9.98924360e-01 9.88399585e-05 -3.94637999e-01] [ 1.09939560e-02 4.11390710e-04 9.99939480e-01 -6.18437718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.227719420999996 meters Centerline goodness : 0.954716 Centerline is valid? [True, True] Translation: X:20.88, Y:-0.40, Z:-0.62 [[ 9.99235323e-01 3.75199000e-02 -1.10011779e-02 2.08788487e+01] [-3.75210500e-02 9.99295832e-01 1.01910361e-04 -3.98974017e-01] [ 1.09972549e-02 3.10943315e-04 9.99939480e-01 -6.18214843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.257719421 meters Centerline goodness : 0.955887 Centerline is valid? [True, True] Translation: X:20.91, Y:-0.40, Z:-0.62 [[ 9.99314419e-01 3.53506265e-02 -1.10011488e-02 2.09106946e+01] [-3.53516116e-02 9.99374931e-01 1.04961398e-04 -4.00384551e-01] [ 1.09979828e-02 2.84018902e-04 9.99939480e-01 -6.17627855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.287719421 meters Centerline goodness : 0.955916 Centerline is valid? [True, True] Translation: X:20.94, Y:-0.40, Z:-0.62 [[ 9.99340766e-01 3.45978235e-02 -1.10011189e-02 2.09416927e+01] [-3.45987295e-02 9.99401279e-01 1.08007817e-04 -4.01045664e-01] [ 1.09982691e-02 2.72688123e-04 9.99939480e-01 -6.17680255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.317719421 meters Centerline goodness : 0.961554 Centerline is valid? [True, True] Translation: X:20.97, Y:-0.40, Z:-0.61 [[ 9.99308383e-01 3.55208500e-02 -1.10010904e-02 2.09736307e+01] [-3.55217808e-02 9.99368896e-01 1.10836922e-04 -4.01626152e-01] [ 1.09980846e-02 2.80018056e-04 9.99939480e-01 -6.11095891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.347719421 meters Centerline goodness : 0.960287 Centerline is valid? [True, True] Translation: X:21.01, Y:-0.40, Z:-0.61 [[ 9.99282297e-01 3.62473078e-02 -1.10010813e-02 2.10051276e+01] [-3.62482726e-02 9.99342809e-01 1.11737954e-04 -4.02724935e-01] [ 1.09979016e-02 2.87112433e-04 9.99939480e-01 -6.11779478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.377719421 meters Centerline goodness : 0.954650 Centerline is valid? [True, True] Translation: X:21.04, Y:-0.40, Z:-0.62 [[ 9.99330374e-01 3.48967158e-02 -1.10010463e-02 2.10366140e+01] [-3.48975621e-02 9.99390888e-01 1.15076584e-04 -4.03719417e-01] [ 1.09983613e-02 2.68910172e-04 9.99939480e-01 -6.17080784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.407719420999996 meters Centerline goodness : 0.950478 Centerline is valid? [True, True] Translation: X:21.07, Y:-0.40, Z:-0.62 [[ 9.99422994e-01 3.21349543e-02 -1.10010418e-02 2.10676485e+01] [-3.21356287e-02 9.99483511e-01 1.15503715e-04 -4.01827098e-01] [ 1.09990716e-02 2.38088328e-04 9.99939480e-01 -6.18894841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.437719421 meters Centerline goodness : 0.950062 Centerline is valid? [True, True] Translation: X:21.10, Y:-0.40, Z:-0.62 [[ 9.99485246e-01 3.01366798e-02 -1.10010370e-02 2.10992762e+01] [-3.01372282e-02 9.99545764e-01 1.15961387e-04 -4.01218842e-01] [ 1.09995346e-02 2.15639068e-04 9.99939480e-01 -6.21587217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.467719421 meters Centerline goodness : 0.951953 Centerline is valid? [True, True] Translation: X:21.13, Y:-0.40, Z:-0.62 [[ 9.99626587e-01 2.50132978e-02 -1.10010055e-02 2.11308993e+01] [-2.50135039e-02 9.99687106e-01 1.18876211e-04 -3.99061434e-01] [ 1.10005369e-02 1.56341873e-04 9.99939480e-01 -6.16859923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.497719421 meters Centerline goodness : 0.954876 Centerline is valid? [True, True] Translation: X:21.16, Y:-0.40, Z:-0.61 [[ 9.99692147e-01 2.22393462e-02 -1.10010007e-02 2.11615990e+01] [-2.22393796e-02 9.99752667e-01 1.19317698e-04 -3.97172943e-01] [ 1.10009334e-02 1.25374466e-04 9.99939480e-01 -6.14201412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.527719421 meters Centerline goodness : 0.956352 Centerline is valid? [True, True] Translation: X:21.19, Y:-0.39, Z:-0.61 [[ 9.99801947e-01 1.65844675e-02 -1.10010007e-02 2.11923164e+01] [-1.65841585e-02 9.99862466e-01 1.19317698e-04 -3.94687654e-01] [ 1.10014665e-02 6.31482733e-05 9.99939480e-01 -6.11512716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.557719421 meters Centerline goodness : 0.958132 Centerline is valid? [True, True] Translation: X:21.22, Y:-0.39, Z:-0.61 [[ 9.99842688e-01 1.39131986e-02 -1.10010007e-02 2.12220146e+01] [-1.39127280e-02 9.99903206e-01 1.19317698e-04 -3.93622099e-01] [ 1.10015960e-02 3.37550030e-05 9.99939480e-01 -6.08975851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.587719420999996 meters Centerline goodness : 0.959872 Centerline is valid? [True, True] Translation: X:21.25, Y:-0.39, Z:-0.61 [[ 9.99853381e-01 1.31222515e-02 -1.10010058e-02 2.12506454e+01] [-1.31217380e-02 9.99913899e-01 1.18852723e-04 -3.90574548e-01] [ 1.10016182e-02 2.55170188e-05 9.99939480e-01 -6.07245901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.617719421 meters Centerline goodness : 0.963783 Centerline is valid? [True, True] Translation: X:21.28, Y:-0.39, Z:-0.60 [[ 9.99847580e-01 1.35571189e-02 -1.10010132e-02 2.12800841e+01] [-1.35566394e-02 9.99908098e-01 1.18161964e-04 -3.88544268e-01] [ 1.10016041e-02 3.09928143e-05 9.99939480e-01 -6.04159628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.647719421 meters Centerline goodness : 0.964127 Centerline is valid? [True, True] Translation: X:21.31, Y:-0.39, Z:-0.60 [[ 9.99787175e-01 1.74522930e-02 -1.10010181e-02 2.13092877e+01] [-1.74520543e-02 9.99847694e-01 1.17703649e-04 -3.85191610e-01] [ 1.10013968e-02 7.43117663e-05 9.99939480e-01 -6.01820290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.677719421 meters Centerline goodness : 0.965541 Centerline is valid? [True, True] Translation: X:21.34, Y:-0.38, Z:-0.60 [[ 9.99728621e-01 2.05344189e-02 -1.10010278e-02 2.13389159e+01] [-2.05343768e-02 9.99789141e-01 1.16788428e-04 -3.83029616e-01] [ 1.10011063e-02 1.09142516e-04 9.99939480e-01 -6.02458572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.707719421 meters Centerline goodness : 0.962792 Centerline is valid? [True, True] Translation: X:21.37, Y:-0.38, Z:-0.61 [[ 9.99551075e-01 2.78679926e-02 -1.10010327e-02 2.13680888e+01] [-2.78683995e-02 9.99611594e-01 1.16328476e-04 -3.76917258e-01] [ 1.10000016e-02 1.90304920e-04 9.99939480e-01 -6.06508068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.737719421 meters Centerline goodness : 0.959944 Centerline is valid? [True, True] Translation: X:21.40, Y:-0.37, Z:-0.61 [[ 9.99442053e-01 3.15366419e-02 -1.10010374e-02 2.13989345e+01] [-3.15372760e-02 9.99502570e-01 1.15874052e-04 -3.74395586e-01] [ 1.09992195e-02 2.31133354e-04 9.99939480e-01 -6.07399763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.767719420999995 meters Centerline goodness : 0.955910 Centerline is valid? [True, True] Translation: X:21.43, Y:-0.37, Z:-0.61 [[ 9.99266146e-01 3.66898708e-02 -1.10010374e-02 2.14293480e+01] [-3.66908170e-02 9.99326659e-01 1.15874052e-04 -3.70991900e-01] [ 1.09978814e-02 2.87848034e-04 9.99939480e-01 -6.13840655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.797719421 meters Centerline goodness : 0.954810 Centerline is valid? [True, True] Translation: X:21.46, Y:-0.37, Z:-0.61 [[ 9.99230740e-01 3.76418007e-02 -1.10010351e-02 2.14608874e+01] [-3.76428020e-02 9.99291252e-01 1.16100526e-04 -3.70390571e-01] [ 1.09976083e-02 2.98098570e-04 9.99939480e-01 -6.14226112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.827719421 meters Centerline goodness : 0.952546 Centerline is valid? [True, True] Translation: X:21.49, Y:-0.37, Z:-0.61 [[ 9.99207903e-01 3.82432322e-02 -1.10010305e-02 2.14920429e+01] [-3.82442652e-02 9.99268414e-01 1.16529961e-04 -3.70556753e-01] [ 1.09974388e-02 3.04288670e-04 9.99939480e-01 -6.13964447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.857719421 meters Centerline goodness : 0.952546 Centerline is valid? [True, True] Translation: X:21.52, Y:-0.37, Z:-0.61 [[ 9.99206341e-01 3.82840173e-02 -1.10010258e-02 2.15238496e+01] [-3.82850479e-02 9.99266852e-01 1.16977144e-04 -3.70949154e-01] [ 1.09974387e-02 3.04290493e-04 9.99939480e-01 -6.13614406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.887719421 meters Centerline goodness : 0.951675 Centerline is valid? [True, True] Translation: X:21.56, Y:-0.37, Z:-0.61 [[ 9.99308144e-01 3.55275942e-02 -1.10010210e-02 2.15552927e+01] [-3.55284529e-02 9.99368658e-01 1.17426152e-04 -3.68976050e-01] [ 1.09982474e-02 2.73504345e-04 9.99939480e-01 -6.14329486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.917719421 meters Centerline goodness : 0.953630 Centerline is valid? [True, True] Translation: X:21.59, Y:-0.37, Z:-0.61 [[ 9.99299726e-01 3.57636117e-02 -1.10010162e-02 2.15862514e+01] [-3.57644798e-02 9.99360239e-01 1.17871049e-04 -3.66956260e-01] [ 1.09981937e-02 2.75657114e-04 9.99939480e-01 -6.12494784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.947719421 meters Centerline goodness : 0.955926 Centerline is valid? [True, True] Translation: X:21.62, Y:-0.37, Z:-0.61 [[ 9.99241614e-01 3.73520316e-02 -1.10010114e-02 2.16172869e+01] [-3.73529910e-02 9.99302127e-01 1.18314315e-04 -3.65803087e-01] [ 1.09977534e-02 2.92696094e-04 9.99939480e-01 -6.11493963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.977719420999996 meters Centerline goodness : 0.953533 Centerline is valid? [True, True] Translation: X:21.65, Y:-0.36, Z:-0.61 [[ 9.99143056e-01 3.99015161e-02 -1.10010067e-02 2.16482011e+01] [-3.99026251e-02 9.99203566e-01 1.18753111e-04 -3.64409410e-01] [ 1.09969835e-02 3.20317700e-04 9.99939480e-01 -6.11652749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.007719421 meters Centerline goodness : 0.952988 Centerline is valid? [True, True] Translation: X:21.68, Y:-0.36, Z:-0.61 [[ 9.99120681e-01 4.04579015e-02 -1.10010057e-02 2.16797105e+01] [-4.04590431e-02 9.99181191e-01 1.18847117e-04 -3.64926675e-01] [ 1.09968063e-02 3.26347551e-04 9.99939480e-01 -6.10763251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.037719421 meters Centerline goodness : 0.957374 Centerline is valid? [True, True] Translation: X:21.71, Y:-0.37, Z:-0.61 [[ 9.99117651e-01 4.05326822e-02 -1.10010009e-02 2.17105072e+01] [-4.05338235e-02 9.99178160e-01 1.19291065e-04 -3.66240283e-01] [ 1.09967950e-02 3.26726819e-04 9.99939480e-01 -6.09008966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.067719421 meters Centerline goodness : 0.959812 Centerline is valid? [True, True] Translation: X:21.74, Y:-0.37, Z:-0.61 [[ 9.99184592e-01 3.88475120e-02 -1.10009691e-02 2.17413681e+01] [-3.88485198e-02 9.99245104e-01 1.22151063e-04 -3.65002127e-01] [ 1.09974098e-02 3.05319905e-04 9.99939480e-01 -6.07925291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.097719421 meters Centerline goodness : 0.962020 Centerline is valid? [True, True] Translation: X:21.77, Y:-0.36, Z:-0.61 [[ 9.99273799e-01 3.64808627e-02 -1.10009375e-02 2.17721983e+01] [-3.64816965e-02 9.99334314e-01 1.24935150e-04 -3.62130045e-01] [ 1.09981721e-02 2.76488441e-04 9.99939480e-01 -6.06273280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.127719421 meters Centerline goodness : 0.967810 Centerline is valid? [True, True] Translation: X:21.80, Y:-0.36, Z:-0.60 [[ 9.99415051e-01 3.23811090e-02 -1.10009351e-02 2.18035985e+01] [-3.23816922e-02 9.99475568e-01 1.25147903e-04 -3.59091818e-01] [ 1.09992182e-02 2.31154195e-04 9.99939480e-01 -6.01428715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.157719420999996 meters Centerline goodness : 0.968602 Centerline is valid? [True, True] Translation: X:21.83, Y:-0.36, Z:-0.60 [[ 9.99478769e-01 3.03507895e-02 -1.10009302e-02 2.18344257e+01] [-3.03512451e-02 9.99539287e-01 1.25574352e-04 -3.61220371e-01] [ 1.09996732e-02 2.08383030e-04 9.99939480e-01 -5.98570893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.187719421 meters Centerline goodness : 0.965893 Centerline is valid? [True, True] Translation: X:21.86, Y:-0.37, Z:-0.60 [[ 9.99627354e-01 2.49826304e-02 -1.10009302e-02 2.18646317e+01] [-2.49827610e-02 9.99687874e-01 1.25574352e-04 -3.66973445e-01] [ 1.10006337e-02 1.49306053e-04 9.99939480e-01 -5.99474304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.217719421 meters Centerline goodness : 0.963770 Centerline is valid? [True, True] Translation: X:21.89, Y:-0.37, Z:-0.60 [[ 9.99795655e-01 1.69595679e-02 -1.10009277e-02 2.18945975e+01] [-1.69592104e-02 9.99856174e-01 1.25795030e-04 -3.67237113e-01] [ 1.10014789e-02 6.07977219e-05 9.99939480e-01 -6.03959147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.247719421 meters Centerline goodness : 0.963051 Centerline is valid? [True, True] Translation: X:21.92, Y:-0.37, Z:-0.61 [[ 9.99860603e-01 1.25600446e-02 -1.10009277e-02 2.19243460e+01] [-1.25594207e-02 9.99921119e-01 1.25795030e-04 -3.65549893e-01] [ 1.10016399e-02 1.23877841e-05 9.99939480e-01 -6.06090186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.277719421 meters Centerline goodness : 0.962108 Centerline is valid? [True, True] Translation: X:21.95, Y:-0.36, Z:-0.61 [[ 9.99899841e-01 8.90436486e-03 -1.10009327e-02 2.19544984e+01] [-8.90352458e-03 9.99960355e-01 1.25356730e-04 -3.63801176e-01] [ 1.10016128e-02 -2.73971002e-05 9.99939480e-01 -6.08159588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.307719421 meters Centerline goodness : 0.960738 Centerline is valid? [True, True] Translation: X:21.98, Y:-0.36, Z:-0.61 [[ 9.99934568e-01 3.13658686e-03 -1.10009376e-02 2.19836450e+01] [-3.13540233e-03 9.99995077e-01 1.24920675e-04 -3.64392286e-01] [ 1.10012753e-02 -9.04201356e-05 9.99939480e-01 -6.09626222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.337719420999996 meters Centerline goodness : 0.957682 Centerline is valid? [True, True] Translation: X:22.01, Y:-0.37, Z:-0.61 [[ 9.99937217e-01 2.13114640e-03 -1.10009474e-02 2.20117563e+01] [-2.12991053e-03 9.99997724e-01 1.24056774e-04 -3.66103482e-01] [ 1.10011867e-02 -1.00617952e-04 9.99939480e-01 -6.11025179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.367719421 meters Centerline goodness : 0.966719 Centerline is valid? [True, True] Translation: X:22.04, Y:-0.37, Z:-0.60 [[ 9.99938770e-01 1.19775518e-03 -1.10009594e-02 2.20408844e+01] [-1.19647466e-03 9.99999277e-01 1.22981644e-04 -3.67826977e-01] [ 1.10010987e-02 -1.09811745e-04 9.99939480e-01 -5.98546060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.397719421 meters Centerline goodness : 0.967871 Centerline is valid? [True, True] Translation: X:22.07, Y:-0.37, Z:-0.60 [[ 9.99937654e-01 1.91478226e-03 -1.10009698e-02 2.20695926e+01] [-1.91355548e-03 9.99998162e-01 1.22040660e-04 -3.67190417e-01] [ 1.10011833e-02 -1.00982085e-04 9.99939480e-01 -5.95722331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.427719421 meters Centerline goodness : 0.969763 Centerline is valid? [True, True] Translation: X:22.10, Y:-0.36, Z:-0.60 [[ 9.99925051e-01 5.37312040e-03 -1.10009801e-02 2.20978601e+01] [-5.37211316e-03 9.99985563e-01 1.21107653e-04 -3.56324452e-01] [ 1.10014720e-02 -6.20000664e-05 9.99939480e-01 -5.98835843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.457719421 meters Centerline goodness : 0.970806 Centerline is valid? [True, True] Translation: X:22.13, Y:-0.34, Z:-0.60 [[ 9.99834203e-01 1.45101296e-02 -1.10009927e-02 2.21271296e+01] [-1.45096880e-02 9.99894722e-01 1.19955071e-04 -3.43174511e-01] [ 1.10015751e-02 3.96857883e-05 9.99939480e-01 -5.99062991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.487719421 meters Centerline goodness : 0.969995 Centerline is valid? [True, True] Translation: X:22.16, Y:-0.34, Z:-0.60 [[ 9.99750865e-01 1.94212519e-02 -1.10010264e-02 2.21557258e+01] [-1.94211426e-02 9.99811385e-01 1.16777098e-04 -3.41214473e-01] [ 1.10012194e-02 9.69044966e-05 9.99939480e-01 -5.99008418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.517719420999995 meters Centerline goodness : 0.969280 Centerline is valid? [True, True] Translation: X:22.19, Y:-0.34, Z:-0.60 [[ 9.99497247e-01 2.97360242e-02 -1.10010359e-02 2.21850705e+01] [-2.97365493e-02 9.99557764e-01 1.15873032e-04 -3.38368858e-01] [ 1.09996165e-02 2.11318070e-04 9.99939480e-01 -5.99995353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.547719421 meters Centerline goodness : 0.967332 Centerline is valid? [True, True] Translation: X:22.21, Y:-0.33, Z:-0.60 [[ 9.99338237e-01 3.46708217e-02 -1.10010430e-02 2.22141021e+01] [-3.46716531e-02 9.99398751e-01 1.15198910e-04 -3.33806852e-01] [ 1.09984226e-02 2.66301669e-04 9.99939480e-01 -6.01773899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.577719421 meters Centerline goodness : 0.966585 Centerline is valid? [True, True] Translation: X:22.24, Y:-0.33, Z:-0.60 [[ 9.99130064e-01 4.02255277e-02 -1.10010499e-02 2.22439292e+01] [-4.02267028e-02 9.99190572e-01 1.14530909e-04 -3.28392367e-01] [ 1.09967524e-02 3.28104691e-04 9.99939480e-01 -6.03536672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.607719421 meters Centerline goodness : 0.966086 Centerline is valid? [True, True] Translation: X:22.27, Y:-0.32, Z:-0.60 [[ 9.98667322e-01 5.04237637e-02 -1.10010522e-02 2.22734388e+01] [-5.04255588e-02 9.98727816e-01 1.14312298e-04 -3.20288791e-01] [ 1.09928209e-02 4.40574248e-04 9.99939480e-01 -6.03853326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.637719421 meters Centerline goodness : 0.967372 Centerline is valid? [True, True] Translation: X:22.30, Y:-0.32, Z:-0.60 [[ 9.98322719e-01 5.68394670e-02 -1.10010568e-02 2.23031847e+01] [-5.68416557e-02 9.98383200e-01 1.13867482e-04 -3.16667108e-01] [ 1.09897425e-02 5.11641788e-04 9.99939480e-01 -6.04012488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.667719421 meters Centerline goodness : 0.966902 Centerline is valid? [True, True] Translation: X:22.33, Y:-0.32, Z:-0.60 [[ 9.98220624e-01 5.86051341e-02 -1.10010591e-02 2.23335202e+01] [-5.86074322e-02 9.98281101e-01 1.13647974e-04 -3.17335326e-01] [ 1.09888097e-02 5.31298072e-04 9.99939480e-01 -6.03868975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.697719421 meters Centerline goodness : 0.961984 Centerline is valid? [True, True] Translation: X:22.36, Y:-0.32, Z:-0.61 [[ 9.98403229e-01 5.54073049e-02 -1.10010569e-02 2.23643048e+01] [-5.54094068e-02 9.98463712e-01 1.13861262e-04 -3.22539722e-01] [ 1.09904648e-02 4.95882583e-04 9.99939480e-01 -6.07158870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.727719420999996 meters Centerline goodness : 0.962107 Centerline is valid? [True, True] Translation: X:22.40, Y:-0.33, Z:-0.61 [[ 9.98519035e-01 5.32795768e-02 -1.10010525e-02 2.23956195e+01] [-5.32815452e-02 9.98579523e-01 1.14285249e-04 -3.25260870e-01] [ 1.09915148e-02 4.72037077e-04 9.99939480e-01 -6.06721842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.757719421 meters Centerline goodness : 0.964308 Centerline is valid? [True, True] Translation: X:22.43, Y:-0.33, Z:-0.61 [[ 9.98707287e-01 4.96259157e-02 -1.10010480e-02 2.24267611e+01] [-4.96276581e-02 9.98767782e-01 1.14713361e-04 -3.26118907e-01] [ 1.09931851e-02 4.31391178e-04 9.99939480e-01 -6.05405791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.787719421 meters Centerline goodness : 0.963352 Centerline is valid? [True, True] Translation: X:22.46, Y:-0.33, Z:-0.61 [[ 9.98806890e-01 4.75791343e-02 -1.10010435e-02 2.24581168e+01] [-4.75807480e-02 9.98867388e-01 1.15139378e-04 -3.28008798e-01] [ 1.09940619e-02 4.08435876e-04 9.99939480e-01 -6.05445154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.817719421 meters Centerline goodness : 0.961706 Centerline is valid? [True, True] Translation: X:22.49, Y:-0.34, Z:-0.61 [[ 9.99050791e-01 4.21484689e-02 -1.10010390e-02 2.24899031e+01] [-4.21497489e-02 9.99111298e-01 1.15568964e-04 -3.36117042e-01] [ 1.09961334e-02 3.48231768e-04 9.99939480e-01 -6.08100751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.847719421 meters Centerline goodness : 0.958536 Centerline is valid? [True, True] Translation: X:22.52, Y:-0.34, Z:-0.61 [[ 9.99198994e-01 3.84752893e-02 -1.10010322e-02 2.25204460e+01] [-3.84763398e-02 9.99259505e-01 1.16218124e-04 -3.39407597e-01] [ 1.09973575e-02 3.07154419e-04 9.99939480e-01 -6.09881138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.877719421 meters Centerline goodness : 0.966391 Centerline is valid? [True, True] Translation: X:22.55, Y:-0.34, Z:-0.60 [[ 9.99431612e-01 3.18658187e-02 -1.10010299e-02 2.25510685e+01] [-3.18664666e-02 9.99492128e-01 1.16432242e-04 -3.40884651e-01] [ 1.09991530e-02 2.34197888e-04 9.99939480e-01 -6.02688278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.907719420999996 meters Centerline goodness : 0.963800 Centerline is valid? [True, True] Translation: X:22.58, Y:-0.34, Z:-0.61 [[ 9.99531909e-01 2.85471459e-02 -1.10010275e-02 2.25800973e+01] [-2.85475904e-02 9.99592428e-01 1.16658114e-04 -3.41896418e-01] [ 1.09998740e-02 1.97449319e-04 9.99939480e-01 -6.05459513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.937719421 meters Centerline goodness : 0.968568 Centerline is valid? [True, True] Translation: X:22.61, Y:-0.35, Z:-0.60 [[ 9.99688975e-01 2.23814971e-02 -1.10010203e-02 2.26108237e+01] [-2.23815609e-02 9.99749495e-01 1.17329618e-04 -3.46722367e-01] [ 1.10008905e-02 1.28926881e-04 9.99939480e-01 -5.96666033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.967719421 meters Centerline goodness : 0.963629 Centerline is valid? [True, True] Translation: X:22.64, Y:-0.35, Z:-0.60 [[ 9.99713721e-01 2.12474211e-02 -1.10010203e-02 2.26396205e+01] [-2.12474163e-02 9.99774241e-01 1.17329618e-04 -3.48643460e-01] [ 1.10010297e-02 1.16447229e-04 9.99939480e-01 -6.01955954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.997719421 meters Centerline goodness : 0.967798 Centerline is valid? [True, True] Translation: X:22.67, Y:-0.35, Z:-0.60 [[ 9.99676353e-01 2.29383249e-02 -1.10010277e-02 2.26688747e+01] [-2.29384301e-02 9.99736873e-01 1.16635873e-04 -3.47298227e-01] [ 1.10008085e-02 1.35748180e-04 9.99939480e-01 -5.96701679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.027719421 meters Centerline goodness : 0.963341 Centerline is valid? [True, True] Translation: X:22.70, Y:-0.34, Z:-0.60 [[ 9.99577366e-01 2.69084691e-02 -1.10010324e-02 2.26979704e+01] [-2.69088195e-02 9.99637885e-01 1.16188508e-04 -3.43990094e-01] [ 1.10001752e-02 1.79885393e-04 9.99939480e-01 -6.00618312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.057719421 meters Centerline goodness : 0.962909 Centerline is valid? [True, True] Translation: X:22.73, Y:-0.34, Z:-0.60 [[ 9.99466712e-01 3.07452223e-02 -1.10010371e-02 2.27273805e+01] [-3.07458100e-02 9.99527229e-01 1.15743906e-04 -3.42104947e-01] [ 1.09993947e-02 2.22553615e-04 9.99939480e-01 -5.99585193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.087719420999996 meters Centerline goodness : 0.960608 Centerline is valid? [True, True] Translation: X:22.76, Y:-0.34, Z:-0.60 [[ 9.99214429e-01 3.80723234e-02 -1.10010420e-02 2.27557754e+01] [-3.80733598e-02 9.99274940e-01 1.15280996e-04 -3.38548235e-01] [ 1.09974546e-02 3.03656194e-04 9.99939480e-01 -6.02836832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.117719421 meters Centerline goodness : 0.960883 Centerline is valid? [True, True] Translation: X:22.79, Y:-0.34, Z:-0.60 [[ 9.99094342e-01 4.11031866e-02 -1.10010491e-02 2.27867469e+01] [-4.11044142e-02 9.99154850e-01 1.14591338e-04 -3.38718376e-01] [ 1.09964617e-02 3.37704122e-04 9.99939480e-01 -5.99926856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.147719421 meters Centerline goodness : 0.963772 Centerline is valid? [True, True] Translation: X:22.82, Y:-0.34, Z:-0.60 [[ 9.98969565e-01 4.40316390e-02 -1.10010468e-02 2.28166629e+01] [-4.40330414e-02 9.99030069e-01 1.14817500e-04 -3.42345651e-01] [ 1.09954321e-02 3.69710360e-04 9.99939480e-01 -5.98196285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.177719421 meters Centerline goodness : 0.967236 Centerline is valid? [True, True] Translation: X:22.85, Y:-0.34, Z:-0.60 [[ 9.98938536e-01 4.47300689e-02 -1.10010491e-02 2.28477369e+01] [-4.47315161e-02 9.98999038e-01 1.14594248e-04 -3.43231225e-01] [ 1.09951633e-02 3.77620994e-04 9.99939480e-01 -5.96385634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.207719421 meters Centerline goodness : 0.969318 Centerline is valid? [True, True] Translation: X:22.88, Y:-0.34, Z:-0.59 [[ 9.98921222e-01 4.51150667e-02 -1.10010445e-02 2.28783696e+01] [-4.51165323e-02 9.98981724e-01 1.15037304e-04 -3.42464644e-01] [ 1.09950323e-02 3.81415774e-04 9.99939480e-01 -5.93002856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.237719421 meters Centerline goodness : 0.971824 Centerline is valid? [True, True] Translation: X:22.91, Y:-0.34, Z:-0.59 [[ 9.98837585e-01 4.69303255e-02 -1.10010445e-02 2.29091169e+01] [-4.69319011e-02 9.98898085e-01 1.15037304e-04 -3.41728299e-01] [ 1.09943210e-02 4.01396348e-04 9.99939480e-01 -5.90284375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.267719420999995 meters Centerline goodness : 0.969272 Centerline is valid? [True, True] Translation: X:22.94, Y:-0.35, Z:-0.59 [[ 9.98783267e-01 4.80724699e-02 -1.10010445e-02 2.29396513e+01] [-4.80741147e-02 9.98843765e-01 1.15037304e-04 -3.48318206e-01] [ 1.09938548e-02 4.13968138e-04 9.99939480e-01 -5.90756917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.297719421 meters Centerline goodness : 0.967358 Centerline is valid? [True, True] Translation: X:22.97, Y:-0.35, Z:-0.59 [[ 9.98823059e-01 4.72384696e-02 -1.10010421e-02 2.29711540e+01] [-4.72400613e-02 9.98883558e-01 1.15262824e-04 -3.52338121e-01] [ 1.09942049e-02 4.04562738e-04 9.99939480e-01 -5.90477817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.327719421 meters Centerline goodness : 0.971601 Centerline is valid? [True, True] Translation: X:23.00, Y:-0.36, Z:-0.59 [[ 9.98989116e-01 4.35858080e-02 -1.10010376e-02 2.30027782e+01] [-4.35871737e-02 9.99049621e-01 1.15694788e-04 -3.57216072e-01] [ 1.09956251e-02 3.63926301e-04 9.99939480e-01 -5.85346037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.357719421 meters Centerline goodness : 0.970576 Centerline is valid? [True, True] Translation: X:23.03, Y:-0.36, Z:-0.59 [[ 9.99092136e-01 4.11567989e-02 -1.10010061e-02 2.30329637e+01] [-4.11579855e-02 9.99152644e-01 1.18612046e-04 -3.59399491e-01] [ 1.09965660e-02 3.34274888e-04 9.99939480e-01 -5.86605090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.387719421 meters Centerline goodness : 0.969888 Centerline is valid? [True, True] Translation: X:23.06, Y:-0.36, Z:-0.59 [[ 9.99302410e-01 3.56885278e-02 -1.10010037e-02 2.30644344e+01] [-3.56893808e-02 9.99362924e-01 1.18833299e-04 -3.61869386e-01] [ 1.09982362e-02 2.73868608e-04 9.99939480e-01 -5.88253415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.417719421 meters Centerline goodness : 0.967846 Centerline is valid? [True, True] Translation: X:23.10, Y:-0.36, Z:-0.59 [[ 9.99384555e-01 3.33090000e-02 -1.10009990e-02 2.30952798e+01] [-3.33097040e-02 9.99445071e-01 1.19271839e-04 -3.63022554e-01] [ 1.09988670e-02 2.47241585e-04 9.99939480e-01 -5.90748782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.447719421 meters Centerline goodness : 0.965441 Centerline is valid? [True, True] Translation: X:23.13, Y:-0.37, Z:-0.59 [[ 9.99505050e-01 2.94725772e-02 -1.10009990e-02 2.31259950e+01] [-2.94730489e-02 9.99565568e-01 1.19271839e-04 -3.65414351e-01] [ 1.09997350e-02 2.05020175e-04 9.99939480e-01 -5.92597638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.477719420999996 meters Centerline goodness : 0.965005 Centerline is valid? [True, True] Translation: X:23.16, Y:-0.37, Z:-0.59 [[ 9.99571692e-01 2.71184405e-02 -1.10009966e-02 2.31564729e+01] [-2.71187673e-02 9.99632211e-01 1.19488760e-04 -3.66850973e-01] [ 1.10001909e-02 1.78895885e-04 9.99939480e-01 -5.91494537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.507719421 meters Centerline goodness : 0.961271 Centerline is valid? [True, True] Translation: X:23.19, Y:-0.37, Z:-0.60 [[ 9.99702139e-01 2.17855621e-02 -1.10009966e-02 2.31862498e+01] [-2.17855661e-02 9.99762659e-01 1.19488760e-04 -3.66735780e-01] [ 1.10009888e-02 1.20209769e-04 9.99939480e-01 -5.95775224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.537719421 meters Centerline goodness : 0.956211 Centerline is valid? [True, True] Translation: X:23.22, Y:-0.37, Z:-0.60 [[ 9.99826754e-01 1.50146338e-02 -1.10009905e-02 2.32162394e+01] [-1.50142217e-02 9.99887273e-01 1.20047266e-04 -3.65564179e-01] [ 1.10015529e-02 4.51448421e-05 9.99939480e-01 -6.02759369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.567719421 meters Centerline goodness : 0.955579 Centerline is valid? [True, True] Translation: X:23.25, Y:-0.36, Z:-0.60 [[ 9.99882539e-01 1.06717925e-02 -1.10009905e-02 2.32459638e+01] [-1.06711176e-02 9.99943055e-01 1.20047266e-04 -3.64931204e-01] [ 1.10016452e-02 -2.64030201e-06 9.99939480e-01 -6.04615028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.597719421 meters Centerline goodness : 0.957973 Centerline is valid? [True, True] Translation: X:23.28, Y:-0.36, Z:-0.60 [[ 9.99938868e-01 1.11266999e-03 -1.10009951e-02 2.32752245e+01] [-1.11142125e-03 9.99999375e-01 1.19624455e-04 -3.62848612e-01] [ 1.10011213e-02 -1.07390402e-04 9.99939480e-01 -6.01627823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.627719421 meters Centerline goodness : 0.959105 Centerline is valid? [True, True] Translation: X:23.30, Y:-0.36, Z:-0.60 [[ 9.99932519e-01 -3.73302487e-03 -1.10009997e-02 2.33025794e+01] [ 3.73456213e-03 9.99993019e-01 1.19198516e-04 -3.61995416e-01] [ 1.10004780e-02 -1.60274390e-04 9.99939480e-01 -5.98722571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.657719420999996 meters Centerline goodness : 0.962474 Centerline is valid? [True, True] Translation: X:23.33, Y:-0.36, Z:-0.59 [[ 9.99854411e-01 -1.30435715e-02 -1.10010108e-02 2.33320701e+01] [ 1.30456607e-02 9.99914895e-01 1.18166673e-04 -3.60551238e-01] [ 1.09985333e-02 -2.61664924e-04 9.99939480e-01 -5.94186498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.687719421 meters Centerline goodness : 0.961115 Centerline is valid? [True, True] Translation: X:23.36, Y:-0.36, Z:-0.59 [[ 9.99785696e-01 -1.75368144e-02 -1.10010153e-02 2.33614098e+01] [ 1.75391708e-02 9.99846170e-01 1.17751366e-04 -3.59454346e-01] [ 1.09972580e-02 -3.10674817e-04 9.99939480e-01 -5.93729172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.717719421 meters Centerline goodness : 0.960404 Centerline is valid? [True, True] Translation: X:23.39, Y:-0.35, Z:-0.60 [[ 9.99707963e-01 -2.15166311e-02 -1.10010461e-02 2.33894246e+01] [ 2.15191957e-02 9.99768429e-01 1.14791131e-04 -3.53382668e-01] [ 1.09960287e-02 -3.51491273e-04 9.99939480e-01 -5.95798373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.747719421 meters Centerline goodness : 0.959356 Centerline is valid? [True, True] Translation: X:23.42, Y:-0.35, Z:-0.60 [[ 9.99710621e-01 -2.13927980e-02 -1.10010570e-02 2.34186545e+01] [ 2.13953436e-02 9.99771087e-01 1.13743192e-04 -3.49328971e-01] [ 1.09961054e-02 -3.49081671e-04 9.99939480e-01 -5.95271920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.777719421 meters Centerline goodness : 0.963465 Centerline is valid? [True, True] Translation: X:23.45, Y:-0.34, Z:-0.59 [[ 9.99801955e-01 -1.65839609e-02 -1.10010864e-02 2.34468490e+01] [ 1.65861835e-02 9.99862434e-01 1.10823686e-04 -3.43956222e-01] [ 1.09977351e-02 -2.93267776e-04 9.99939480e-01 -5.87836172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.807719421 meters Centerline goodness : 0.963465 Centerline is valid? [True, True] Translation: X:23.48, Y:-0.34, Z:-0.59 [[ 9.99796206e-01 -1.69269768e-02 -1.10011231e-02 2.34753545e+01] [ 1.69291787e-02 9.99856685e-01 1.07048463e-04 -3.43952327e-01] [ 1.09977345e-02 -2.93266626e-04 9.99939480e-01 -5.87522956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.837719420999996 meters Centerline goodness : 0.963166 Centerline is valid? [True, True] Translation: X:23.50, Y:-0.34, Z:-0.59 [[ 9.99858740e-01 -1.27072658e-02 -1.10011586e-02 2.35028207e+01] [ 1.27091708e-02 9.99919230e-01 1.03274360e-04 -3.40876626e-01] [ 1.09989577e-02 -2.43075375e-04 9.99939480e-01 -5.88671959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.867719421 meters Centerline goodness : 0.958484 Centerline is valid? [True, True] Translation: X:23.53, Y:-0.33, Z:-0.59 [[ 9.99931654e-01 -3.95738642e-03 -1.10011755e-02 2.35306813e+01] [ 3.95874185e-03 9.99992159e-01 1.01434469e-04 -3.30214890e-01] [ 1.10006878e-02 -1.44978350e-04 9.99939480e-01 -5.94273490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.897719421 meters Centerline goodness : 0.957615 Centerline is valid? [True, True] Translation: X:23.56, Y:-0.32, Z:-0.60 [[ 9.99939484e-01 -4.94623951e-05 -1.10011856e-02 2.35592283e+01] [ 5.05691378e-05 9.99999994e-01 1.00323982e-04 -3.23865118e-01] [ 1.10011806e-02 -1.00874231e-04 9.99939480e-01 -5.95032180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.927719421 meters Centerline goodness : 0.956881 Centerline is valid? [True, True] Translation: X:23.59, Y:-0.31, Z:-0.60 [[ 9.99896492e-01 9.27250232e-03 -1.10012102e-02 2.35875175e+01] [-9.27199022e-03 9.99957009e-01 9.75522879e-05 -3.12502824e-01] [ 1.10016418e-02 4.46092318e-06 9.99939480e-01 -5.95057458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.957719421 meters Centerline goodness : 0.963454 Centerline is valid? [True, True] Translation: X:23.62, Y:-0.31, Z:-0.59 [[ 9.99841779e-01 1.39782151e-02 -1.10012188e-02 2.36158741e+01] [-1.39779986e-02 9.99902298e-01 9.65722545e-05 -3.08328927e-01] [ 1.10014939e-02 5.72180463e-05 9.99939480e-01 -5.85367337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.987719421 meters Centerline goodness : 0.962345 Centerline is valid? [True, True] Translation: X:23.64, Y:-0.30, Z:-0.59 [[ 9.99733046e-01 2.03177192e-02 -1.10012266e-02 2.36440322e+01] [-2.03178963e-02 9.99793566e-01 9.56746767e-05 -3.03280806e-01] [ 1.10008995e-02 1.27872646e-04 9.99939480e-01 -5.86500676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.017719420999995 meters Centerline goodness : 0.962059 Centerline is valid? [True, True] Translation: X:23.67, Y:-0.30, Z:-0.59 [[ 9.99695305e-01 2.20968309e-02 -1.10012362e-02 2.36733435e+01] [-2.20971279e-02 9.99755824e-01 9.45636563e-05 -3.00382240e-01] [ 1.10006395e-02 1.48560880e-04 9.99939480e-01 -5.86804679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.047719421 meters Centerline goodness : 0.962023 Centerline is valid? [True, True] Translation: X:23.70, Y:-0.29, Z:-0.59 [[ 9.99605305e-01 2.58497007e-02 -1.10012437e-02 2.37025341e+01] [-2.58502347e-02 9.99665822e-01 9.36762857e-05 -2.91832070e-01] [ 1.09999889e-02 1.90745420e-04 9.99939480e-01 -5.87595425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.077719421 meters Centerline goodness : 0.959621 Centerline is valid? [True, True] Translation: X:23.73, Y:-0.29, Z:-0.59 [[ 9.99556813e-01 2.76613432e-02 -1.10012513e-02 2.37306018e+01] [-2.76619967e-02 9.99617329e-01 9.27806358e-05 -2.87532718e-01] [ 1.09996079e-02 2.11577060e-04 9.99939480e-01 -5.91162625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.107719421 meters Centerline goodness : 0.954564 Centerline is valid? [True, True] Translation: X:23.76, Y:-0.28, Z:-0.60 [[ 9.99471763e-01 3.05804988e-02 -1.10012605e-02 2.37593290e+01] [-3.05813413e-02 9.99532277e-01 9.16746063e-05 -2.83157876e-01] [ 1.09989184e-02 2.44807122e-04 9.99939480e-01 -5.96030760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.137719421 meters Centerline goodness : 0.953477 Centerline is valid? [True, True] Translation: X:23.79, Y:-0.28, Z:-0.60 [[ 9.99432501e-01 3.18378408e-02 -1.10012620e-02 2.37888217e+01] [-3.18387614e-02 9.99493014e-01 9.14915236e-05 -2.83429392e-01] [ 1.09985974e-02 2.58826955e-04 9.99939480e-01 -5.96389196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.167719421 meters Centerline goodness : 0.960104 Centerline is valid? [True, True] Translation: X:23.82, Y:-0.29, Z:-0.59 [[ 9.99402281e-01 3.27727380e-02 -1.10012656e-02 2.38180206e+01] [-3.27737199e-02 9.99462793e-01 9.10655749e-05 -2.85365999e-01] [ 1.09983401e-02 2.69541252e-04 9.99939480e-01 -5.86401401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.197719421 meters Centerline goodness : 0.962853 Centerline is valid? [True, True] Translation: X:23.85, Y:-0.29, Z:-0.58 [[ 9.99266838e-01 3.66709364e-02 -1.10012713e-02 2.38464475e+01] [-3.66721620e-02 9.99327346e-01 9.03703536e-05 -2.86462360e-01] [ 1.09971852e-02 3.13136304e-04 9.99939480e-01 -5.82455534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.227719420999996 meters Centerline goodness : 0.964103 Centerline is valid? [True, True] Translation: X:23.88, Y:-0.29, Z:-0.58 [[ 9.99171888e-01 3.91728354e-02 -1.10012769e-02 2.38756378e+01] [-3.91742201e-02 9.99232392e-01 8.96814416e-05 -2.85144829e-01] [ 1.09963453e-02 3.41359266e-04 9.99939480e-01 -5.81336825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.257719421 meters Centerline goodness : 0.965006 Centerline is valid? [True, True] Translation: X:23.91, Y:-0.28, Z:-0.58 [[ 9.99013017e-01 4.30344486e-02 -1.10012824e-02 2.39052764e+01] [-4.30360746e-02 9.99073515e-01 8.89983122e-05 -2.83920451e-01] [ 1.09949199e-02 3.84541538e-04 9.99939480e-01 -5.80977647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.287719421 meters Centerline goodness : 0.961596 Centerline is valid? [True, True] Translation: X:23.93, Y:-0.28, Z:-0.58 [[ 9.98766668e-01 4.84160506e-02 -1.10012860e-02 2.39341028e+01] [-4.84180074e-02 9.98827157e-01 8.85490587e-05 -2.84620244e-01] [ 1.09926704e-02 4.44220500e-04 9.99939480e-01 -5.83179281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.317719421 meters Centerline goodness : 0.960956 Centerline is valid? [True, True] Translation: X:23.96, Y:-0.29, Z:-0.58 [[ 9.98637680e-01 5.10074026e-02 -1.10012914e-02 2.39637718e+01] [-5.10095238e-02 9.98698163e-01 8.78804050e-05 -2.91815155e-01] [ 1.09914520e-02 4.73409950e-04 9.99939480e-01 -5.83006692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.347719421 meters Centerline goodness : 0.959369 Centerline is valid? [True, True] Translation: X:23.99, Y:-0.30, Z:-0.58 [[ 9.98644599e-01 5.08717710e-02 -1.10012949e-02 2.39923365e+01] [-5.08738889e-02 9.98705081e-01 8.74297976e-05 -2.95597916e-01] [ 1.09914969e-02 4.72367362e-04 9.99939480e-01 -5.84525223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.377719421 meters Centerline goodness : 0.962216 Centerline is valid? [True, True] Translation: X:24.02, Y:-0.30, Z:-0.58 [[ 9.98745149e-01 4.88579528e-02 -1.10013002e-02 2.40226789e+01] [-4.88599561e-02 9.98805635e-01 8.67611433e-05 -3.03784929e-01] [ 1.09923996e-02 4.50870775e-04 9.99939480e-01 -5.79335753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.407719420999996 meters Centerline goodness : 0.965947 Centerline is valid? [True, True] Translation: X:24.05, Y:-0.31, Z:-0.58 [[ 9.98840918e-01 4.68592832e-02 -1.10013002e-02 2.40522986e+01] [-4.68611654e-02 9.98901408e-01 8.67611433e-05 -3.06695142e-01] [ 1.09932799e-02 4.28873170e-04 9.99939480e-01 -5.77186539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.437719421 meters Centerline goodness : 0.966452 Centerline is valid? [True, True] Translation: X:24.08, Y:-0.31, Z:-0.58 [[ 9.99035203e-01 4.25162743e-02 -1.10013037e-02 2.40821740e+01] [-4.25178984e-02 9.99095702e-01 8.63195179e-05 -3.08880980e-01] [ 1.09950252e-02 3.81516075e-04 9.99939480e-01 -5.76818660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.467719421 meters Centerline goodness : 0.965719 Centerline is valid? [True, True] Translation: X:24.11, Y:-0.31, Z:-0.58 [[ 9.99145820e-01 3.98321744e-02 -1.10013054e-02 2.41115221e+01] [-3.98336383e-02 9.99206322e-01 8.61001325e-05 -3.09591002e-01] [ 1.09960035e-02 3.52195433e-04 9.99939480e-01 -5.77363615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.497719421 meters Centerline goodness : 0.956463 Centerline is valid? [True, True] Translation: X:24.14, Y:-0.32, Z:-0.59 [[ 9.99273086e-01 3.65002865e-02 -1.10013088e-02 2.41410637e+01] [-3.65015534e-02 9.99333593e-01 8.56666875e-05 -3.15943929e-01] [ 1.09971043e-02 3.15960445e-04 9.99939480e-01 -5.86975113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.527719421 meters Centerline goodness : 0.953301 Centerline is valid? [True, True] Translation: X:24.17, Y:-0.32, Z:-0.59 [[ 9.99324157e-01 3.50742054e-02 -1.10013104e-02 2.41703953e+01] [-3.50753884e-02 9.99384666e-01 8.54524004e-05 -3.20403197e-01] [ 1.09975381e-02 3.00480589e-04 9.99939480e-01 -5.88999968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.557719421 meters Centerline goodness : 0.952451 Centerline is valid? [True, True] Translation: X:24.20, Y:-0.33, Z:-0.59 [[ 9.99415438e-01 3.23690251e-02 -1.10013121e-02 2.42003187e+01] [-3.23700467e-02 9.99475949e-01 8.52395018e-05 -3.26740216e-01] [ 1.09983060e-02 2.70923312e-04 9.99939480e-01 -5.89011878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.587719420999996 meters Centerline goodness : 0.953955 Centerline is valid? [True, True] Translation: X:24.23, Y:-0.33, Z:-0.59 [[ 9.99529380e-01 2.86354473e-02 -1.10013137e-02 2.42299368e+01] [-2.86362451e-02 9.99589895e-01 8.50283796e-05 -3.28720625e-01] [ 1.09992369e-02 2.30047952e-04 9.99939480e-01 -5.88658649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.617719421 meters Centerline goodness : 0.958160 Centerline is valid? [True, True] Translation: X:24.26, Y:-0.33, Z:-0.58 [[ 9.99593931e-01 2.62858207e-02 -1.10013169e-02 2.42599454e+01] [-2.62864808e-02 9.99654447e-01 8.46108378e-05 -3.30813923e-01] [ 1.09997395e-02 2.04609427e-04 9.99939480e-01 -5.82636722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.647719421 meters Centerline goodness : 0.958085 Centerline is valid? [True, True] Translation: X:24.29, Y:-0.33, Z:-0.58 [[ 9.99763209e-01 1.87748989e-02 -1.10013187e-02 2.42893922e+01] [-1.87751069e-02 9.99823729e-01 8.43848033e-05 -3.33392616e-01] [ 1.10009638e-02 1.22186112e-04 9.99939480e-01 -5.84764255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.677719421 meters Centerline goodness : 0.964102 Centerline is valid? [True, True] Translation: X:24.32, Y:-0.34, Z:-0.58 [[ 9.99838980e-01 1.41768906e-02 -1.10013204e-02 2.43184766e+01] [-1.41768227e-02 9.99899500e-01 8.41602870e-05 -3.35013477e-01] [ 1.10014079e-02 7.18170328e-05 9.99939480e-01 -5.77058641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.707719421 meters Centerline goodness : 0.962937 Centerline is valid? [True, True] Translation: X:24.35, Y:-0.34, Z:-0.58 [[ 9.99923708e-01 5.61684093e-03 -1.10013256e-02 2.43467632e+01] [-5.61626256e-03 9.99984225e-01 8.34669495e-05 -3.39490930e-01] [ 1.10016209e-02 -2.16742483e-05 9.99939480e-01 -5.78667857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.737719421 meters Centerline goodness : 0.957196 Centerline is valid? [True, True] Translation: X:24.37, Y:-0.34, Z:-0.58 [[ 9.99937834e-01 1.81608426e-03 -1.10013308e-02 2.43748730e+01] [-1.81528340e-03 9.99998349e-01 8.27813143e-05 -3.43129141e-01] [ 1.10014630e-02 -6.28056349e-05 9.99939480e-01 -5.84113527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.767719420999995 meters Centerline goodness : 0.961315 Centerline is valid? [True, True] Translation: X:24.40, Y:-0.34, Z:-0.58 [[ 9.99916106e-01 -6.83744656e-03 -1.10013389e-02 2.44036052e+01] [ 6.83875914e-03 9.99976612e-01 8.16959223e-05 -3.43941488e-01] [ 1.10005230e-02 -1.56924575e-04 9.99939480e-01 -5.79715943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.797719421 meters Centerline goodness : 0.962584 Centerline is valid? [True, True] Translation: X:24.43, Y:-0.34, Z:-0.57 [[ 9.99887074e-01 -1.02376479e-02 -1.10013454e-02 2.44322041e+01] [ 1.02391565e-02 9.99947575e-01 8.08089651e-05 -3.41041560e-01] [ 1.09999413e-02 -1.93444337e-04 9.99939480e-01 -5.74785844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.827719421 meters Centerline goodness : 0.968352 Centerline is valid? [True, True] Translation: X:24.46, Y:-0.33, Z:-0.57 [[ 9.99844918e-01 -1.37517092e-02 -1.10013686e-02 2.44605693e+01] [ 1.37533941e-02 9.99905415e-01 7.75167193e-05 -3.33563877e-01] [ 1.09992620e-02 -2.28810856e-04 9.99939480e-01 -5.69490156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.857719421 meters Centerline goodness : 0.967667 Centerline is valid? [True, True] Translation: X:24.49, Y:-0.33, Z:-0.57 [[ 9.99845012e-01 -1.37448939e-02 -1.10013768e-02 2.44881096e+01] [ 1.37465655e-02 9.99905509e-01 7.63376735e-05 -3.29423229e-01] [ 1.09992880e-02 -2.27556988e-04 9.99939480e-01 -5.68452945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.887719421 meters Centerline goodness : 0.968621 Centerline is valid? [True, True] Translation: X:24.52, Y:-0.33, Z:-0.57 [[ 9.99862204e-01 -1.24315000e-02 -1.10013847e-02 2.45157676e+01] [ 1.24330793e-02 9.99922703e-01 7.51719885e-05 -3.27073581e-01] [ 1.09995999e-02 -2.11942719e-04 9.99939480e-01 -5.68629920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.917719421 meters Centerline goodness : 0.964909 Centerline is valid? [True, True] Translation: X:24.54, Y:-0.32, Z:-0.57 [[ 9.99907974e-01 -7.93807758e-03 -1.10014092e-02 2.45435565e+01] [ 7.93934354e-03 9.99968480e-01 7.14028433e-05 -3.18569753e-01] [ 1.10004956e-02 -1.58740239e-04 9.99939480e-01 -5.72526447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.947719421 meters Centerline goodness : 0.964380 Centerline is valid? [True, True] Translation: X:24.57, Y:-0.31, Z:-0.57 [[ 9.99930208e-01 -4.30664962e-03 -1.10014166e-02 2.45729222e+01] [ 4.30768300e-03 9.99990719e-01 7.02377371e-05 -3.12351575e-01] [ 1.10010120e-02 -1.17623450e-04 9.99939480e-01 -5.72854750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.977719420999996 meters Centerline goodness : 0.966197 Centerline is valid? [True, True] Translation: X:24.60, Y:-0.30, Z:-0.57 [[ 9.99930036e-01 4.34645475e-03 -1.10014274e-02 2.46015728e+01] [-4.34596413e-03 9.99990554e-01 6.85015439e-05 -2.99900968e-01] [ 1.10016213e-02 -2.06849421e-05 9.99939480e-01 -5.68704609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.007719421 meters Centerline goodness : 0.967030 Centerline is valid? [True, True] Translation: X:24.63, Y:-0.30, Z:-0.57 [[ 9.99903966e-01 8.42777097e-03 -1.10014468e-02 2.46296990e+01] [-8.42756324e-03 9.99964485e-01 6.52420917e-05 -2.96916997e-01] [ 1.10016059e-02 2.74795621e-05 9.99939480e-01 -5.68566498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.037719421 meters Centerline goodness : 0.964845 Centerline is valid? [True, True] Translation: X:24.66, Y:-0.29, Z:-0.57 [[ 9.99824510e-01 1.51629910e-02 -1.10014675e-02 2.46590132e+01] [-1.51632317e-02 9.99885030e-01 6.15362780e-05 -2.92667224e-01] [ 1.10011357e-02 1.05292321e-04 9.99939480e-01 -5.72517854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.067719421 meters Centerline goodness : 0.961631 Centerline is valid? [True, True] Translation: X:24.69, Y:-0.29, Z:-0.58 [[ 9.99764317e-01 1.87157032e-02 -1.10014835e-02 2.46877022e+01] [-1.87161921e-02 9.99824835e-01 5.85206353e-05 -2.88860738e-01] [ 1.10006517e-02 1.47399036e-04 9.99939480e-01 -5.75625178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.097719421 meters Centerline goodness : 0.961392 Centerline is valid? [True, True] Translation: X:24.72, Y:-0.28, Z:-0.58 [[ 9.99640353e-01 2.44567179e-02 -1.10014883e-02 2.47164598e+01] [-2.44575644e-02 9.99700867e-01 5.76098247e-05 -2.81443657e-01] [ 1.09996064e-02 2.11480503e-04 9.99939480e-01 -5.76770304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.127719421 meters Centerline goodness : 0.963168 Centerline is valid? [True, True] Translation: X:24.75, Y:-0.28, Z:-0.57 [[ 9.99589206e-01 2.64648072e-02 -1.10014930e-02 2.47456455e+01] [-2.64657852e-02 9.99649718e-01 5.67003453e-05 -2.80714300e-01] [ 1.09991399e-02 2.34486098e-04 9.99939480e-01 -5.74593873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.157719420999996 meters Centerline goodness : 0.966546 Centerline is valid? [True, True] Translation: X:24.77, Y:-0.28, Z:-0.57 [[ 9.99495302e-01 2.98011331e-02 -1.10014977e-02 2.47748093e+01] [-2.98023233e-02 9.99555811e-01 5.57793400e-05 -2.79658477e-01] [ 1.09982732e-02 2.72119001e-04 9.99939480e-01 -5.69928438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.187719421 meters Centerline goodness : 0.967793 Centerline is valid? [True, True] Translation: X:24.80, Y:-0.28, Z:-0.57 [[ 9.99435385e-01 3.17470928e-02 -1.10015011e-02 2.48035023e+01] [-3.17484084e-02 9.99495891e-01 5.50844491e-05 -2.77804395e-01] [ 1.09977040e-02 2.94226804e-04 9.99939480e-01 -5.69155509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.217719421 meters Centerline goodness : 0.963476 Centerline is valid? [True, True] Translation: X:24.83, Y:-0.27, Z:-0.57 [[ 9.99350474e-01 3.43161435e-02 -1.10015057e-02 2.48323143e+01] [-3.43176248e-02 9.99410975e-01 5.41619681e-05 -2.72379503e-01] [ 1.09968842e-02 3.23418755e-04 9.99939480e-01 -5.72923999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.247719421 meters Centerline goodness : 0.960099 Centerline is valid? [True, True] Translation: X:24.86, Y:-0.27, Z:-0.58 [[ 9.99431925e-01 3.18558448e-02 -1.10015102e-02 2.48611663e+01] [-3.18571873e-02 9.99492430e-01 5.32369813e-05 -2.71437897e-01] [ 1.09976220e-02 2.97270431e-04 9.99939480e-01 -5.76728386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.277719421 meters Centerline goodness : 0.962813 Centerline is valid? [True, True] Translation: X:24.89, Y:-0.27, Z:-0.57 [[ 9.99548990e-01 2.79425132e-02 -1.10015134e-02 2.48903164e+01] [-2.79436264e-02 9.99609499e-01 5.25512538e-05 -2.72680285e-01] [ 1.09986858e-02 2.54894628e-04 9.99939480e-01 -5.73372731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.307719421 meters Centerline goodness : 0.963130 Centerline is valid? [True, True] Translation: X:24.92, Y:-0.27, Z:-0.57 [[ 9.99802293e-01 1.65632524e-02 -1.10015168e-02 2.49187170e+01] [-1.65636845e-02 9.99862811e-01 5.18423268e-05 -2.74706591e-01] [ 1.10008662e-02 1.30393576e-04 9.99939480e-01 -5.73042891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.337719420999996 meters Centerline goodness : 0.962606 Centerline is valid? [True, True] Translation: X:24.95, Y:-0.27, Z:-0.57 [[ 9.99890976e-01 9.84898319e-03 -1.10015196e-02 2.49473708e+01] [-9.84901551e-03 9.99951496e-01 5.12422818e-05 -2.73871572e-01] [ 1.10014906e-02 5.71174417e-05 9.99939480e-01 -5.71016400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.367719421 meters Centerline goodness : 0.961542 Centerline is valid? [True, True] Translation: X:24.98, Y:-0.27, Z:-0.57 [[ 9.99931459e-01 4.00554564e-03 -1.10015238e-02 2.49766536e+01] [-4.00523457e-03 9.99991978e-01 5.03073595e-05 -2.72685973e-01] [ 1.10016371e-02 -6.24022770e-06 9.99939480e-01 -5.70640735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.397719421 meters Centerline goodness : 0.967425 Centerline is valid? [True, True] Translation: X:25.01, Y:-0.27, Z:-0.57 [[ 9.99933836e-01 -3.36019099e-03 -1.10015281e-02 2.50051134e+01] [ 3.36093749e-03 9.99994351e-01 4.93666880e-05 -2.72603452e-01] [ 1.10013000e-02 -8.63388699e-05 9.99939480e-01 -5.65317041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.427719421 meters Centerline goodness : 0.958191 Centerline is valid? [True, True] Translation: X:25.03, Y:-0.27, Z:-0.57 [[ 9.99919715e-01 -6.28731718e-03 -1.10015323e-02 2.50332844e+01] [ 6.28823025e-03 9.99980228e-01 4.84056132e-05 -2.73737368e-01] [ 1.10010104e-02 -1.17581895e-04 9.99939480e-01 -5.72701697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.457719421 meters Centerline goodness : 0.966281 Centerline is valid? [True, True] Translation: X:25.06, Y:-0.27, Z:-0.56 [[ 9.99865565e-01 -1.21580680e-02 -1.10015374e-02 2.50614896e+01] [ 1.21593233e-02 9.99926072e-01 4.72175680e-05 -2.74811706e-01] [ 1.10001500e-02 -1.80982470e-04 9.99939480e-01 -5.62410338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.487719421 meters Centerline goodness : 0.969283 Centerline is valid? [True, True] Translation: X:25.09, Y:-0.27, Z:-0.56 [[ 9.99753830e-01 -1.92677204e-02 -1.10015423e-02 2.50896307e+01] [ 1.92693929e-02 9.99814327e-01 4.60340303e-05 -2.73317992e-01] [ 1.09986127e-02 -2.58015740e-04 9.99939480e-01 -5.59289769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.517719420999995 meters Centerline goodness : 0.968913 Centerline is valid? [True, True] Translation: X:25.12, Y:-0.27, Z:-0.56 [[ 9.99675129e-01 -2.29913680e-02 -1.10015472e-02 2.51175379e+01] [ 2.29932528e-02 9.99735619e-01 4.48562996e-05 -2.73655552e-01] [ 1.09976072e-02 -2.97803082e-04 9.99939480e-01 -5.59399964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.547719421 meters Centerline goodness : 0.964493 Centerline is valid? [True, True] Translation: X:25.15, Y:-0.27, Z:-0.56 [[ 9.99516180e-01 -2.90924532e-02 -1.10015611e-02 2.51453704e+01] [ 2.90946662e-02 9.99576660e-01 4.11187917e-05 -2.74558877e-01] [ 1.09957075e-02 -3.61185646e-04 9.99939480e-01 -5.62339515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.577719421 meters Centerline goodness : 0.963399 Centerline is valid? [True, True] Translation: X:25.17, Y:-0.27, Z:-0.56 [[ 9.99412804e-01 -3.24501684e-02 -1.10015653e-02 2.51728874e+01] [ 3.24525719e-02 9.99473276e-01 3.99679922e-05 -2.72172462e-01] [ 1.09944735e-02 -3.96973612e-04 9.99939480e-01 -5.63617895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.607719421 meters Centerline goodness : 0.963941 Centerline is valid? [True, True] Translation: X:25.20, Y:-0.27, Z:-0.56 [[ 9.99303004e-01 -3.56717229e-02 -1.10015693e-02 2.52017562e+01] [ 3.56743088e-02 9.99363469e-01 3.88377541e-05 -2.66439726e-01] [ 1.09931810e-02 -4.31284065e-04 9.99939480e-01 -5.62414920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.637719421 meters Centerline goodness : 0.965101 Centerline is valid? [True, True] Translation: X:25.23, Y:-0.26, Z:-0.56 [[ 9.99377255e-01 -3.35271254e-02 -1.10015795e-02 2.52298105e+01] [ 3.35295468e-02 9.99437726e-01 3.56745801e-05 -2.58841114e-01] [ 1.09941976e-02 -4.04530341e-04 9.99939480e-01 -5.58924470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.667719421 meters Centerline goodness : 0.965262 Centerline is valid? [True, True] Translation: X:25.26, Y:-0.25, Z:-0.56 [[ 9.99517106e-01 -2.90606168e-02 -1.10015830e-02 2.52589805e+01] [ 2.90627558e-02 9.99577588e-01 3.45654681e-05 -2.53693550e-01] [ 1.09959313e-02 -3.54285097e-04 9.99939480e-01 -5.57440391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.697719420999995 meters Centerline goodness : 0.965262 Centerline is valid? [True, True] Translation: X:25.29, Y:-0.25, Z:-0.56 [[ 9.99507745e-01 -2.93808345e-02 -1.10015918e-02 2.52874544e+01] [ 2.93829590e-02 9.99568227e-01 3.14922738e-05 -2.53493311e-01] [ 1.09959164e-02 -3.54736094e-04 9.99939480e-01 -5.57127149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.727719420999996 meters Centerline goodness : 0.964662 Centerline is valid? [True, True] Translation: X:25.32, Y:-0.25, Z:-0.56 [[ 9.99660034e-01 -2.36385605e-02 -1.10016008e-02 2.53150345e+01] [ 2.36402988e-02 9.99720529e-01 2.79678068e-05 -2.47637462e-01] [ 1.09978650e-02 -2.88039429e-04 9.99939480e-01 -5.55529277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.757719421 meters Centerline goodness : 0.966673 Centerline is valid? [True, True] Translation: X:25.34, Y:-0.23, Z:-0.55 [[ 9.99936873e-01 -2.28351677e-03 -1.10016086e-02 2.53435286e+01] [ 2.28392423e-03 9.99997392e-01 2.44730038e-05 -2.31476428e-01] [ 1.10015240e-02 -4.95982993e-05 9.99939480e-01 -5.53001218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.787719421 meters Centerline goodness : 0.964755 Centerline is valid? [True, True] Translation: X:25.37, Y:-0.22, Z:-0.56 [[ 9.99932342e-01 3.77835231e-03 -1.10016145e-02 2.53718411e+01] [-3.77834544e-03 9.99992862e-01 2.14083724e-05 -2.24214058e-01] [ 1.10016169e-02 2.01609762e-05 9.99939480e-01 -5.56394944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.817719421 meters Centerline goodness : 0.963457 Centerline is valid? [True, True] Translation: X:25.40, Y:-0.22, Z:-0.56 [[ 9.99895881e-01 9.33762904e-03 -1.10016176e-02 2.54011656e+01] [-9.33797729e-03 9.99956400e-01 1.97139042e-05 -2.17608132e-01] [ 1.10013220e-02 8.30210034e-05 9.99939480e-01 -5.59351616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.847719421 meters Centerline goodness : 0.953265 Centerline is valid? [True, True] Translation: X:25.43, Y:-0.21, Z:-0.57 [[ 9.99785956e-01 1.75215869e-02 -1.10016218e-02 2.54303805e+01] [-1.75224610e-02 9.99846470e-01 1.69401858e-05 -2.10830522e-01] [ 1.10002296e-02 1.75838930e-04 9.99939480e-01 -5.70317642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.877719421 meters Centerline goodness : 0.949396 Centerline is valid? [True, False] Translation: X:25.43, Y:-0.21, Z:-0.57 [[ 9.99773082e-01 1.76554502e-02 -1.19192638e-02 2.54345451e+01] [-1.76625225e-02 9.99843886e-01 -4.88336585e-04 -2.09205838e-01] [ 1.19087812e-02 6.98750037e-04 9.99928844e-01 -5.73017147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.907719420999996 meters Centerline goodness : 0.945983 Centerline is valid? [False, False] Translation: X:25.44, Y:-0.21, Z:-0.57 [[ 9.99786178e-01 1.64386559e-02 -1.25447052e-02 2.54371701e+01] [-1.64666517e-02 9.99862143e-01 -2.13165459e-03 -2.05811104e-01] [ 1.25079342e-02 2.33776809e-03 9.99919040e-01 -5.74535176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.937719421 meters Centerline goodness : 0.950338 Centerline is valid? [False, True] Translation: X:25.44, Y:-0.20, Z:-0.57 [[ 9.99789146e-01 1.59436128e-02 -1.29408374e-02 2.54376839e+01] [-1.59804545e-02 9.99868527e-01 -2.74853319e-03 -2.03536361e-01] [ 1.28953145e-02 2.95475412e-03 9.99912486e-01 -5.74068024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.967719421 meters Centerline goodness : 0.949776 Centerline is valid? [True, False] Translation: X:25.45, Y:-0.20, Z:-0.57 [[ 9.99890222e-01 9.20140574e-03 -1.16136812e-02 2.54533596e+01] [-9.13467600e-03 9.99941539e-01 5.78581435e-03 -1.99660991e-01] [ 1.16662399e-02 -5.67909198e-03 9.99915820e-01 -5.72400020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.997719421 meters Centerline goodness : 0.950002 Centerline is valid? [False, True] Translation: X:25.45, Y:-0.20, Z:-0.57 [[ 9.99887362e-01 8.85181395e-03 -1.21205847e-02 2.54544924e+01] [-8.78939065e-03 9.99947884e-01 5.19380854e-03 -1.98876682e-01] [ 1.21659277e-02 -5.08669097e-03 9.99913054e-01 -5.72440759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.027719421 meters Centerline goodness : 0.948515 Centerline is valid? [True, False] Translation: X:25.46, Y:-0.20, Z:-0.57 [[ 9.99889333e-01 7.48433765e-03 -1.28571685e-02 2.54574886e+01] [-7.43908966e-03 9.99965980e-01 3.56350954e-03 -1.98156788e-01] [ 1.28834016e-02 -3.46746954e-03 9.99910993e-01 -5.74253253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.057719421 meters Centerline goodness : 0.945575 Centerline is valid? [False, False] Translation: X:25.46, Y:-0.20, Z:-0.58 [[ 9.99885489e-01 6.65459414e-03 -1.35913891e-02 2.54615085e+01] [-6.61888075e-03 9.99974528e-01 2.67094245e-03 -1.97566104e-01] [ 1.36088170e-02 -2.58067681e-03 9.99904066e-01 -5.77210333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.087719420999996 meters Centerline goodness : 0.942509 Centerline is valid? [False, False] Translation: X:25.48, Y:-0.20, Z:-0.58 [[ 9.99888771e-01 5.04730573e-04 -1.49060854e-02 2.54798163e+01] [-3.08340104e-04 9.99913164e-01 1.31745480e-02 -1.96687288e-01] [ 1.49114406e-02 -1.31684865e-02 9.99802100e-01 -5.77362021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.117719421 meters Centerline goodness : 0.944883 Centerline is valid? [False, False] Translation: X:25.49, Y:-0.20, Z:-0.58 [[ 9.99956587e-01 -2.53542813e-03 -8.96633200e-03 2.54899272e+01] [ 2.70975472e-03 9.99806498e-01 1.94839496e-02 -1.97085760e-01] [ 8.91519684e-03 -1.95074003e-02 9.99769964e-01 -5.80045246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.147719421 meters Centerline goodness : 0.949793 Centerline is valid? [False, False] Translation: X:25.51, Y:-0.19, Z:-0.58 [[ 9.99930735e-01 -9.84521994e-03 -6.44956869e-03 2.55057926e+01] [ 1.00344311e-02 9.99499743e-01 2.99929064e-02 -1.94678210e-01] [ 6.15105548e-03 -3.00555467e-02 9.99529304e-01 -5.77195231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.177719421 meters Centerline goodness : 0.951003 Centerline is valid? [False, True] Translation: X:25.51, Y:-0.19, Z:-0.57 [[ 9.99879318e-01 -1.36071554e-02 -7.49627032e-03 2.55129636e+01] [ 1.38774827e-02 9.99208699e-01 3.72745293e-02 -1.93728522e-01] [ 6.98313821e-03 -3.73740603e-02 9.99276946e-01 -5.73526975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.207719421 meters Centerline goodness : 0.949703 Centerline is valid? [True, False] Translation: X:25.51, Y:-0.19, Z:-0.57 [[ 9.99870651e-01 -1.39393277e-02 -8.02343205e-03 2.55146782e+01] [ 1.42249542e-02 9.99224452e-01 3.67170984e-02 -1.92562965e-01] [ 7.50539783e-03 -3.68264821e-02 9.99293490e-01 -5.74381111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.237719421 meters Centerline goodness : 0.948488 Centerline is valid? [False, False] Translation: X:25.52, Y:-0.19, Z:-0.58 [[ 9.99799408e-01 -1.81528524e-02 -8.46269775e-03 2.55162112e+01] [ 1.84132084e-02 9.99325401e-01 3.17757194e-02 -1.90310568e-01] [ 7.88016888e-03 -3.19251708e-02 9.99459197e-01 -5.75092047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.267719420999995 meters Centerline goodness : 0.948492 Centerline is valid? [False, False] Translation: X:25.50, Y:-0.19, Z:-0.57 [[ 9.99820054e-01 -1.69983374e-02 -8.42117000e-03 2.54977307e+01] [ 1.72729819e-02 9.99282997e-01 3.36917824e-02 -1.91356473e-01] [ 7.84242771e-03 -3.38311785e-02 9.99396792e-01 -5.74582167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.297719421 meters Centerline goodness : 0.947193 Centerline is valid? [False, False] Translation: X:25.50, Y:-0.19, Z:-0.57 [[ 9.99807559e-01 -1.75912904e-02 -8.68278729e-03 2.54982398e+01] [ 1.78654434e-02 9.99309537e-01 3.25772267e-02 -1.85421801e-01] [ 8.10371669e-03 -3.27260793e-02 9.99431505e-01 -5.74723092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.327719421 meters Centerline goodness : 0.950075 Centerline is valid? [False, True] Translation: X:25.50, Y:-0.18, Z:-0.57 [[ 9.99839430e-01 -1.54667935e-02 -9.04949583e-03 2.54979966e+01] [ 1.57714469e-02 9.99275999e-01 3.46228037e-02 -1.81771097e-01] [ 8.50744023e-03 -3.47599680e-02 9.99359479e-01 -5.73776754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.357719421 meters Centerline goodness : 0.948690 Centerline is valid? [True, False] Translation: X:25.50, Y:-0.18, Z:-0.57 [[ 9.99872416e-01 -1.30784990e-02 -9.17080994e-03 2.54968307e+01] [ 1.34006122e-02 9.99262324e-01 3.59893226e-02 -1.76348690e-01] [ 8.69335854e-03 -3.61076254e-02 9.99310094e-01 -5.72149615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.387719421 meters Centerline goodness : 0.950558 Centerline is valid? [False, True] Translation: X:25.50, Y:-0.17, Z:-0.57 [[ 9.99873733e-01 -1.28874722e-02 -9.29686810e-03 2.54965625e+01] [ 1.32054110e-02 9.99300454e-01 3.49888570e-02 -1.73962501e-01] [ 8.83944659e-03 -3.51072080e-02 9.99344459e-01 -5.71291052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.417719421 meters Centerline goodness : 0.956224 Centerline is valid? [True, True] Translation: X:25.53, Y:-0.16, Z:-0.56 [[ 9.99922054e-01 -7.55980926e-03 -9.93652415e-03 2.55255492e+01] [ 7.56197973e-03 9.99971391e-01 1.80880569e-04 -1.58363706e-01] [ 9.93487246e-03 -2.56006264e-04 9.99950615e-01 -5.63176122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.447719420999995 meters Centerline goodness : 0.956968 Centerline is valid? [True, True] Translation: X:25.55, Y:-0.16, Z:-0.57 [[ 9.99942115e-01 -4.12683374e-03 -9.93657545e-03 2.55533280e+01] [ 4.12880638e-03 9.99991461e-01 1.78017628e-04 -1.55239164e-01] [ 9.93575594e-03 -2.19033520e-04 9.99950615e-01 -5.65204981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.477719420999996 meters Centerline goodness : 0.961781 Centerline is valid? [True, True] Translation: X:25.58, Y:-0.15, Z:-0.56 [[ 9.99945855e-01 3.09041148e-03 -9.93659352e-03 2.55829250e+01] [-3.08880512e-03 9.99995214e-01 1.77003181e-04 -1.48116809e-01] [ 9.93709297e-03 -1.46301396e-04 9.99950615e-01 -5.57378841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.507719421 meters Centerline goodness : 0.961674 Centerline is valid? [True, True] Translation: X:25.61, Y:-0.14, Z:-0.56 [[ 9.99937247e-01 5.17350946e-03 -9.93660052e-03 2.56109486e+01] [-5.17200985e-03 9.99986609e-01 1.76609134e-04 -1.44893393e-01] [ 9.93738115e-03 -1.25205855e-04 9.99950615e-01 -5.58915257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.537719421 meters Centerline goodness : 0.957978 Centerline is valid? [True, True] Translation: X:25.64, Y:-0.14, Z:-0.56 [[ 9.99907898e-01 9.24444415e-03 -9.93661780e-03 2.56401569e+01] [-9.24315523e-03 9.99957266e-01 1.75631291e-04 -1.40617640e-01] [ 9.93781678e-03 -8.37694145e-05 9.99950615e-01 -5.62952932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.567719421 meters Centerline goodness : 0.960468 Centerline is valid? [True, True] Translation: X:25.67, Y:-0.13, Z:-0.56 [[ 9.99820205e-01 1.61499667e-02 -9.93663166e-03 2.56675216e+01] [-1.61490266e-02 9.99869581e-01 1.74843526e-04 -1.34792773e-01] [ 9.93815945e-03 -1.43451606e-05 9.99950615e-01 -5.62236159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.597719421 meters Centerline goodness : 0.957583 Centerline is valid? [True, True] Translation: X:25.70, Y:-0.13, Z:-0.57 [[ 9.99726185e-01 2.11853119e-02 -9.93665213e-03 2.56951780e+01] [-2.11846322e-02 9.99775565e-01 1.73672351e-04 -1.31475852e-01] [ 9.93810131e-03 3.68795230e-05 9.99950615e-01 -5.66998691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.627719421 meters Centerline goodness : 0.952290 Centerline is valid? [True, True] Translation: X:25.73, Y:-0.13, Z:-0.57 [[ 9.99354944e-01 3.45102636e-02 -9.93666884e-03 2.57254375e+01] [-3.45102517e-02 9.99404329e-01 1.72711291e-04 -1.26707690e-01] [ 9.93671017e-03 1.70317060e-04 9.99950615e-01 -5.65856740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.657719420999996 meters Centerline goodness : 0.946968 Centerline is valid? [True, False] Translation: X:25.73, Y:-0.13, Z:-0.57 [[ 9.99230045e-01 3.78413190e-02 -1.03610882e-02 2.57283931e+01] [-3.78149641e-02 9.99281035e-01 2.72791455e-03 -1.25804774e-01] [ 1.04568668e-02 -2.33401001e-03 9.99942602e-01 -5.67943798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.687719421 meters Centerline goodness : 0.947532 Centerline is valid? [False, False] Translation: X:25.73, Y:-0.13, Z:-0.57 [[ 9.99021506e-01 4.29510788e-02 -1.05468642e-02 2.57296687e+01] [-4.28754332e-02 9.99053780e-01 7.29674661e-03 -1.27158419e-01] [ 1.08502877e-02 -6.83740541e-03 9.99917757e-01 -5.68524161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.717719421 meters Centerline goodness : 0.950534 Centerline is valid? [False, True] Translation: X:25.73, Y:-0.13, Z:-0.57 [[ 9.99002766e-01 4.33191802e-02 -1.08130344e-02 2.57299749e+01] [-4.32410927e-02 9.99037600e-01 7.35395959e-03 -1.26960971e-01] [ 1.11211954e-02 -6.87905856e-03 9.99914495e-01 -5.68113374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.747719421 meters Centerline goodness : 0.953093 Centerline is valid? [True, True] Translation: X:25.76, Y:-0.13, Z:-0.56 [[ 9.99033234e-01 4.25919466e-02 -1.08868776e-02 2.57594439e+01] [-4.25932680e-02 9.99092489e-01 1.10557409e-04 -1.28540242e-01] [ 1.08817065e-02 3.53257169e-04 9.99940730e-01 -5.64292956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.777719421 meters Centerline goodness : 0.955396 Centerline is valid? [True, True] Translation: X:25.79, Y:-0.14, Z:-0.56 [[ 9.99266369e-01 3.67178337e-02 -1.08868823e-02 2.57881562e+01] [-3.67188119e-02 9.99325631e-01 1.10088939e-04 -1.36021086e-01] [ 1.08835828e-02 2.89745209e-04 9.99940730e-01 -5.62355955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.807719421 meters Centerline goodness : 0.954599 Centerline is valid? [True, True] Translation: X:25.82, Y:-0.14, Z:-0.56 [[ 9.99397319e-01 3.29617004e-02 -1.08868918e-02 2.58157065e+01] [-3.29624661e-02 9.99456584e-01 1.09147901e-04 -1.39475125e-01] [ 1.08845733e-02 2.49776680e-04 9.99940730e-01 -5.63487663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.837719420999996 meters Centerline goodness : 0.955945 Centerline is valid? [True, True] Translation: X:25.84, Y:-0.14, Z:-0.56 [[ 9.99491947e-01 2.99553479e-02 -1.08869033e-02 2.58443910e+01] [-2.99559480e-02 9.99551214e-01 1.07979945e-04 -1.42713572e-01] [ 1.08852520e-02 2.18202424e-04 9.99940730e-01 -5.62218250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.867719421 meters Centerline goodness : 0.959299 Centerline is valid? [True, True] Translation: X:25.87, Y:-0.15, Z:-0.56 [[ 9.99590901e-01 2.64481545e-02 -1.08869124e-02 2.58728116e+01] [-2.64485567e-02 9.99650170e-01 1.07057186e-04 -1.51135894e-01] [ 1.08859353e-02 1.80929731e-04 9.99940730e-01 -5.58373938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.897719421 meters Centerline goodness : 0.958975 Centerline is valid? [True, True] Translation: X:25.90, Y:-0.15, Z:-0.56 [[ 9.99597363e-01 2.62028203e-02 -1.08869217e-02 2.59008239e+01] [-2.62032183e-02 9.99656631e-01 1.06103551e-04 -1.54477523e-01] [ 1.08859637e-02 1.79211557e-04 9.99940730e-01 -5.60419144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.927719421 meters Centerline goodness : 0.958584 Centerline is valid? [True, True] Translation: X:25.93, Y:-0.16, Z:-0.56 [[ 9.99641628e-01 2.44558843e-02 -1.08869332e-02 2.59298970e+01] [-2.44561918e-02 9.99700897e-01 1.04910917e-04 -1.57889118e-01] [ 1.08862426e-02 1.61379606e-04 9.99940730e-01 -5.60314470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.957719421 meters Centerline goodness : 0.955293 Centerline is valid? [True, True] Translation: X:25.96, Y:-0.16, Z:-0.56 [[ 9.99710937e-01 2.14363472e-02 -1.08869422e-02 2.59578601e+01] [-2.14364859e-02 9.99770207e-01 1.03965676e-04 -1.61287458e-01] [ 1.08866691e-02 1.29442160e-04 9.99940730e-01 -5.63087560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.987719421 meters Centerline goodness : 0.950968 Centerline is valid? [True, True] Translation: X:25.99, Y:-0.16, Z:-0.57 [[ 9.99743826e-01 1.98433062e-02 -1.08869533e-02 2.59855949e+01] [-1.98433632e-02 9.99803096e-01 1.02796981e-04 -1.64407510e-01] [ 1.08868494e-02 1.13263121e-04 9.99940730e-01 -5.67970679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.017719420999995 meters Centerline goodness : 0.952298 Centerline is valid? [True, True] Translation: X:26.01, Y:-0.17, Z:-0.57 [[ 9.99782004e-01 1.78162687e-02 -1.08869639e-02 2.60140317e+01] [-1.78162179e-02 9.99841273e-01 1.01661799e-04 -1.68333726e-01] [ 1.08870470e-02 9.23248830e-05 9.99940730e-01 -5.65589025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.047719421 meters Centerline goodness : 0.949494 Centerline is valid? [True, False] Translation: X:26.03, Y:-0.18, Z:-0.57 [[ 9.99902704e-01 9.45564904e-03 -1.02554348e-02 2.60323451e+01] [-9.34326437e-03 9.99896377e-01 1.09516483e-02 -1.75103121e-01] [ 1.03579271e-02 -1.08547635e-02 9.99887437e-01 -5.66001752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.077719421 meters Centerline goodness : 0.953269 Centerline is valid? [False, True] Translation: X:26.04, Y:-0.18, Z:-0.57 [[ 9.99971154e-01 2.56457667e-03 -7.14940437e-03 2.60425265e+01] [-2.45611890e-03 9.99882399e-01 1.51379086e-02 -1.79288895e-01] [ 7.18738592e-03 -1.51199122e-02 9.99859855e-01 -5.67541665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.107719421 meters Centerline goodness : 0.952676 Centerline is valid? [True, True] Translation: X:26.07, Y:-0.18, Z:-0.57 [[ 9.99970245e-01 2.67911424e-03 -7.23406828e-03 2.60718079e+01] [-2.67889373e-03 9.99996411e-01 4.01715507e-05 -1.75279565e-01] [ 7.23414995e-03 -2.07910552e-05 9.99973833e-01 -5.65336140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.137719421 meters Centerline goodness : 0.954469 Centerline is valid? [True, True] Translation: X:26.10, Y:-0.18, Z:-0.57 [[ 9.99940833e-01 8.12393694e-03 -7.23407173e-03 2.60998730e+01] [-8.12386347e-03 9.99967000e-01 3.95413946e-05 -1.77035941e-01] [ 7.23415424e-03 1.92295560e-05 9.99973833e-01 -5.66158710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.167719421 meters Centerline goodness : 0.953120 Centerline is valid? [True, True] Translation: X:26.13, Y:-0.18, Z:-0.57 [[ 9.99905437e-01 1.16955365e-02 -7.23407589e-03 2.61289930e+01] [-1.16955621e-02 9.99931604e-01 3.87639736e-05 -1.78666834e-01] [ 7.23403448e-03 4.58462760e-05 9.99973833e-01 -5.67217915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.197719420999995 meters Centerline goodness : 0.955989 Centerline is valid? [True, True] Translation: X:26.16, Y:-0.18, Z:-0.56 [[ 9.99748911e-01 2.12080995e-02 -7.23407898e-03 2.61575186e+01] [-2.12083783e-02 9.99775076e-01 3.81786828e-05 -1.83835384e-01] [ 7.23326157e-03 1.15253987e-04 9.99973833e-01 -5.64476260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.227719420999996 meters Centerline goodness : 0.955737 Centerline is valid? [True, True] Translation: X:26.18, Y:-0.18, Z:-0.56 [[ 9.99566168e-01 2.85507169e-02 -7.23408975e-03 2.61849584e+01] [-2.85512035e-02 9.99592331e-01 3.60162377e-05 -1.84755743e-01] [ 7.23216892e-03 1.70541356e-04 9.99973833e-01 -5.63547183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.257719421 meters Centerline goodness : 0.955686 Centerline is valid? [True, True] Translation: X:26.21, Y:-0.18, Z:-0.56 [[ 9.99473613e-01 3.16253843e-02 -7.23409378e-03 2.62142649e+01] [-3.16259574e-02 9.99499774e-01 3.51876384e-05 -1.84137013e-01] [ 7.23158792e-03 1.93616025e-04 9.99973833e-01 -5.62120039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.287719421 meters Centerline goodness : 0.957126 Centerline is valid? [True, True] Translation: X:26.24, Y:-0.19, Z:-0.56 [[ 9.99362706e-01 3.49549571e-02 -7.23409861e-03 2.62423732e+01] [-3.49556247e-02 9.99388865e-01 3.41649967e-05 -1.85724082e-01] [ 7.23087183e-03 2.18729212e-04 9.99973833e-01 -5.60874792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.317719421 meters Centerline goodness : 0.958121 Centerline is valid? [True, True] Translation: X:26.27, Y:-0.19, Z:-0.56 [[ 9.99345909e-01 3.54319285e-02 -7.23410213e-03 2.62713407e+01] [-3.54326141e-02 9.99372067e-01 3.34034435e-05 -1.90761390e-01] [ 7.23074315e-03 2.22941555e-04 9.99973833e-01 -5.62091792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.347719421 meters Centerline goodness : 0.958788 Centerline is valid? [True, True] Translation: X:26.30, Y:-0.20, Z:-0.56 [[ 9.99435161e-01 3.28180763e-02 -7.23410483e-03 2.63001529e+01] [-3.28186978e-02 9.99461321e-01 3.28070225e-05 -1.99750791e-01] [ 7.23128463e-03 2.04625409e-04 9.99973833e-01 -5.60357101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.377719421 meters Centerline goodness : 0.958851 Centerline is valid? [True, True] Translation: X:26.33, Y:-0.20, Z:-0.56 [[ 9.99466346e-01 3.18542151e-02 -7.23410762e-03 2.63289647e+01] [-3.18548160e-02 9.99492506e-01 3.21810292e-05 -2.01140029e-01] [ 7.23146145e-03 1.98277311e-04 9.99973833e-01 -5.59454005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.407719420999996 meters Centerline goodness : 0.958775 Centerline is valid? [True, True] Translation: X:26.36, Y:-0.20, Z:-0.56 [[ 9.99411769e-01 3.35228895e-02 -7.23411034e-03 2.63571280e+01] [-3.35235385e-02 9.99437928e-01 3.15570981e-05 -2.01732712e-01] [ 7.23110213e-03 2.10974441e-04 9.99973833e-01 -5.59662499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.437719421 meters Centerline goodness : 0.960303 Centerline is valid? [True, True] Translation: X:26.39, Y:-0.20, Z:-0.56 [[ 9.99357683e-01 3.50982881e-02 -7.23411298e-03 2.63858030e+01] [-3.50989828e-02 9.99383840e-01 3.09402923e-05 -2.03387757e-01] [ 7.23074156e-03 2.22989588e-04 9.99973833e-01 -5.58498855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.467719421 meters Centerline goodness : 0.961748 Centerline is valid? [True, True] Translation: X:26.41, Y:-0.21, Z:-0.56 [[ 9.99253973e-01 3.79363288e-02 -7.23411542e-03 2.64148945e+01] [-3.79371021e-02 9.99280129e-01 3.03576329e-05 -2.10281506e-01] [ 7.23005945e-03 2.44106390e-04 9.99973833e-01 -5.55567060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.497719421 meters Centerline goodness : 0.961580 Centerline is valid? [True, True] Translation: X:26.44, Y:-0.21, Z:-0.56 [[ 9.99127379e-01 4.11357377e-02 -7.23411804e-03 2.64424887e+01] [-4.11365992e-02 9.99153531e-01 2.97211188e-05 -2.14394966e-01] [ 7.22921718e-03 2.67891831e-04 9.99973833e-01 -5.57080650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.527719421 meters Centerline goodness : 0.959390 Centerline is valid? [True, True] Translation: X:26.47, Y:-0.21, Z:-0.56 [[ 9.99034780e-01 4.33263857e-02 -7.23412118e-03 2.64714874e+01] [-4.33273103e-02 9.99060931e-01 2.89351528e-05 -2.14486102e-01] [ 7.22858149e-03 2.84527789e-04 9.99973833e-01 -5.57426114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.557719421 meters Centerline goodness : 0.951667 Centerline is valid? [True, True] Translation: X:26.50, Y:-0.22, Z:-0.56 [[ 9.98937102e-01 4.55229004e-02 -7.23412372e-03 2.65002561e+01] [-4.55238871e-02 9.98963250e-01 2.82845047e-05 -2.18640650e-01] [ 7.22791134e-03 3.01070991e-04 9.99973833e-01 -5.63254883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.587719420999996 meters Centerline goodness : 0.951667 Centerline is valid? [True, True] Translation: X:26.53, Y:-0.22, Z:-0.56 [[ 9.98941097e-01 4.54351522e-02 -7.23412558e-03 2.65295609e+01] [-4.54361401e-02 9.98967245e-01 2.78025433e-05 -2.18643994e-01] [ 7.22791771e-03 3.00917640e-04 9.99973833e-01 -5.63042872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.617719421 meters Centerline goodness : 0.950120 Centerline is valid? [True, True] Translation: X:26.56, Y:-0.22, Z:-0.57 [[ 9.98974813e-01 4.46877044e-02 -7.23412796e-03 2.65573010e+01] [-4.46886774e-02 9.99000962e-01 2.71670961e-05 -2.23373840e-01] [ 7.22811483e-03 2.96144366e-04 9.99973833e-01 -5.65709085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.647719421 meters Centerline goodness : 0.950239 Centerline is valid? [True, True] Translation: X:26.59, Y:-0.23, Z:-0.57 [[ 9.99239386e-01 3.83186115e-02 -7.23413083e-03 2.65861771e+01] [-3.83194235e-02 9.99265541e-01 2.63806294e-05 -2.31710240e-01] [ 7.22982853e-03 2.50847159e-04 9.99973833e-01 -5.65518912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.677719421 meters Centerline goodness : 0.950891 Centerline is valid? [True, True] Translation: X:26.62, Y:-0.23, Z:-0.56 [[ 9.99386814e-01 3.42587730e-02 -7.23413305e-03 2.66162042e+01] [-3.42594832e-02 9.99412971e-01 2.57566963e-05 -2.33955252e-01] [ 7.23076880e-03 2.22096757e-04 9.99973833e-01 -5.64031235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.707719421 meters Centerline goodness : 0.952480 Centerline is valid? [True, True] Translation: X:26.64, Y:-0.24, Z:-0.56 [[ 9.99661161e-01 2.50046105e-02 -7.23413415e-03 2.66449130e+01] [-2.50050808e-02 9.99687324e-01 2.54449423e-05 -2.39948704e-01] [ 7.23250845e-03 1.55453788e-04 9.99973833e-01 -5.62489420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.737719421 meters Centerline goodness : 0.953882 Centerline is valid? [True, True] Translation: X:26.67, Y:-0.25, Z:-0.56 [[ 9.99867630e-01 1.45735770e-02 -7.23413562e-03 2.66748261e+01] [-1.45737774e-02 9.99893797e-01 2.50188737e-05 -2.49320023e-01] [ 7.23373195e-03 8.04131202e-05 9.99973833e-01 -5.60876119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.767719420999995 meters Centerline goodness : 0.955882 Centerline is valid? [True, True] Translation: X:26.70, Y:-0.25, Z:-0.56 [[ 9.99937401e-01 8.53588066e-03 -7.23413666e-03 2.67046415e+01] [-8.53592523e-03 9.99963568e-01 2.47156066e-05 -2.53105089e-01] [ 7.23408407e-03 3.70359902e-05 9.99973833e-01 -5.59043177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.797719421 meters Centerline goodness : 0.959494 Centerline is valid? [True, True] Translation: X:26.73, Y:-0.26, Z:-0.56 [[ 9.99970063e-01 2.74579712e-03 -7.23413768e-03 2.67334426e+01] [-2.74569235e-03 9.99996230e-01 2.44137538e-05 -2.56393367e-01] [ 7.23417744e-03 -4.55030639e-06 9.99973833e-01 -5.56594291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.827719421 meters Centerline goodness : 0.957580 Centerline is valid? [True, True] Translation: X:26.76, Y:-0.26, Z:-0.56 [[ 9.99936133e-01 -8.68310852e-03 -7.23413917e-03 2.67634979e+01] [ 8.68350909e-03 9.99962297e-01 2.39642901e-05 -2.62267605e-01] [ 7.23365833e-03 -8.67804728e-05 9.99973833e-01 -5.55589088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.857719421 meters Centerline goodness : 0.955307 Centerline is valid? [True, True] Translation: X:26.79, Y:-0.27, Z:-0.56 [[ 9.99880516e-01 -1.36609451e-02 -7.23414014e-03 2.67913048e+01] [ 1.36614738e-02 9.99906677e-01 2.36670289e-05 -2.65130053e-01] [ 7.23314172e-03 -1.22493217e-04 9.99973833e-01 -5.57878268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.887719421 meters Centerline goodness : 0.956632 Centerline is valid? [True, True] Translation: X:26.82, Y:-0.27, Z:-0.56 [[ 9.99795789e-01 -1.88692348e-02 -7.23414248e-03 2.68192318e+01] [ 1.88698944e-02 9.99821947e-01 2.29292075e-05 -2.67329744e-01] [ 7.23242176e-03 -1.59432030e-04 9.99973833e-01 -5.57248654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.917719421 meters Centerline goodness : 0.956501 Centerline is valid? [True, True] Translation: X:26.85, Y:-0.27, Z:-0.56 [[ 9.99814590e-01 -1.78452595e-02 -7.23414470e-03 2.68482160e+01] [ 1.78458870e-02 9.99840749e-01 2.22041636e-05 -2.67388563e-01] [ 7.23259642e-03 -1.51299776e-04 9.99973833e-01 -5.56837233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.947719420999995 meters Centerline goodness : 0.956976 Centerline is valid? [True, True] Translation: X:26.88, Y:-0.27, Z:-0.56 [[ 9.99833795e-01 -1.67346844e-02 -7.23415033e-03 2.68768534e+01] [ 1.67352684e-02 9.99859955e-01 2.01875508e-05 -2.67732837e-01] [ 7.23279939e-03 -1.41249643e-04 9.99973833e-01 -5.56899294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.977719420999996 meters Centerline goodness : 0.957278 Centerline is valid? [True, True] Translation: X:26.91, Y:-0.27, Z:-0.55 [[ 9.99907003e-01 -1.15607981e-02 -7.23415535e-03 2.69053790e+01] [ 1.15612322e-02 9.99933167e-01 1.81891761e-05 -2.68360315e-01] [ 7.23346159e-03 -1.01823234e-04 9.99973833e-01 -5.54143773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.007719421 meters Centerline goodness : 0.959611 Centerline is valid? [True, True] Translation: X:26.93, Y:-0.27, Z:-0.55 [[ 9.99931224e-01 -9.23116447e-03 -7.23415988e-03 2.69343338e+01] [ 9.23152294e-03 9.99957388e-01 1.61622697e-05 -2.68130410e-01] [ 7.23370243e-03 -8.29434710e-05 9.99973833e-01 -5.51276453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.037719421 meters Centerline goodness : 0.962480 Centerline is valid? [True, True] Translation: X:26.96, Y:-0.27, Z:-0.55 [[ 9.99957100e-01 -5.78495652e-03 -7.23416395e-03 2.69631468e+01] [ 5.78520970e-03 9.99983265e-01 1.40730839e-05 -2.66802063e-01] [ 7.23396147e-03 -5.59236356e-05 9.99973833e-01 -5.45574483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.067719421 meters Centerline goodness : 0.965044 Centerline is valid? [True, True] Translation: X:26.99, Y:-0.26, Z:-0.54 [[ 9.99967813e-01 -3.46971825e-03 -7.23416752e-03 2.69921915e+01] [ 3.46989514e-03 9.99993980e-01 1.19011835e-05 -2.64506467e-01] [ 7.23408268e-03 -3.70026032e-05 9.99973833e-01 -5.43973119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.097719421 meters Centerline goodness : 0.964718 Centerline is valid? [True, True] Translation: X:27.02, Y:-0.26, Z:-0.55 [[ 9.99973448e-01 8.77335522e-04 -7.23417045e-03 2.70202791e+01] [-8.77288134e-04 9.99999615e-01 9.72391998e-06 -2.59871577e-01] [ 7.23417619e-03 -3.37720990e-06 9.99973833e-01 -5.45228707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.127719421 meters Centerline goodness : 0.964049 Centerline is valid? [True, True] Translation: X:27.05, Y:-0.26, Z:-0.55 [[ 9.99972804e-01 1.43423533e-03 -7.23417140e-03 2.70489539e+01] [-1.43420808e-03 9.99998971e-01 8.95368691e-06 -2.59348809e-01] [ 7.23417680e-03 1.42186370e-06 9.99973833e-01 -5.45725834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.157719420999996 meters Centerline goodness : 0.961762 Centerline is valid? [True, True] Translation: X:27.08, Y:-0.26, Z:-0.55 [[ 9.99973650e-01 -6.04992731e-04 -7.23417210e-03 2.70783801e+01] [ 6.05068977e-04 9.99999817e-01 8.35098011e-06 -2.58849093e-01] [ 7.23416572e-03 -1.27279332e-05 9.99973833e-01 -5.48730745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.187719421 meters Centerline goodness : 0.961863 Centerline is valid? [True, True] Translation: X:27.11, Y:-0.25, Z:-0.55 [[ 9.99970192e-01 -2.69866011e-03 -7.23417259e-03 2.71068731e+01] [ 2.69878789e-03 9.99996358e-01 7.90089346e-06 -2.54701364e-01] [ 7.23412492e-03 -2.74241553e-05 9.99973833e-01 -5.47930703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.217719421 meters Centerline goodness : 0.961312 Centerline is valid? [True, True] Translation: X:27.13, Y:-0.25, Z:-0.55 [[ 9.99970311e-01 -2.65413631e-03 -7.23417322e-03 2.71348116e+01] [ 2.65425836e-03 9.99996477e-01 7.27000291e-06 -2.51793423e-01] [ 7.23412844e-03 -2.64711518e-05 9.99973833e-01 -5.51547624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.247719421 meters Centerline goodness : 0.957265 Centerline is valid? [True, True] Translation: X:27.16, Y:-0.25, Z:-0.55 [[ 9.99973155e-01 1.16424883e-03 -7.23417392e-03 2.71636605e+01] [-1.16423235e-03 9.99999322e-01 6.48921587e-06 -2.46485483e-01] [ 7.23417657e-03 1.93321766e-06 9.99973833e-01 -5.51948694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.277719421 meters Centerline goodness : 0.953638 Centerline is valid? [True, True] Translation: X:27.19, Y:-0.24, Z:-0.55 [[ 9.99961254e-01 5.01571716e-03 -7.23417522e-03 2.71916521e+01] [-5.01581724e-03 9.99987421e-01 4.30836911e-06 -2.43870753e-01] [ 7.23410583e-03 3.19770986e-05 9.99973833e-01 -5.54461937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.307719421 meters Centerline goodness : 0.949184 Centerline is valid? [True, False] Translation: X:27.19, Y:-0.24, Z:-0.56 [[ 9.99896750e-01 9.80794855e-03 -1.05020839e-02 2.71871125e+01] [-9.89441984e-03 9.99917315e-01 -8.21367109e-03 -2.40543241e-01] [ 1.04206563e-02 8.31673506e-03 9.99911117e-01 -5.56722811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.337719420999996 meters Centerline goodness : 0.950267 Centerline is valid? [False, True] Translation: X:27.19, Y:-0.24, Z:-0.56 [[ 9.99844757e-01 1.36202918e-02 -1.11780840e-02 2.71890006e+01] [-1.36649875e-02 9.99898899e-01 -3.93192505e-03 -2.41295847e-01] [ 1.11234000e-02 4.08406303e-03 9.99929793e-01 -5.57155320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.367719421 meters Centerline goodness : 0.951469 Centerline is valid? [True, True] Translation: X:27.22, Y:-0.24, Z:-0.56 [[ 9.99782200e-01 1.76196666e-02 -1.11847776e-02 2.72167100e+01] [-1.76209801e-02 9.99844738e-01 -1.88877344e-05 -2.40665521e-01] [ 1.11827083e-02 2.15970364e-04 9.99937448e-01 -5.57206203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.397719421 meters Centerline goodness : 0.953998 Centerline is valid? [True, True] Translation: X:27.25, Y:-0.24, Z:-0.56 [[ 9.99778060e-01 1.78530627e-02 -1.11847752e-02 2.72454729e+01] [-1.78544057e-02 9.99840597e-01 -2.02229866e-05 -2.38192107e-01] [ 1.11826313e-02 2.19916012e-04 9.99937448e-01 -5.55554322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.427719421 meters Centerline goodness : 0.954440 Centerline is valid? [True, True] Translation: X:27.27, Y:-0.24, Z:-0.55 [[ 9.99784776e-01 1.74728946e-02 -1.11847735e-02 2.72728426e+01] [-1.74742241e-02 9.99847314e-01 -2.11485216e-05 -2.36115739e-01] [ 1.11826962e-02 2.16589208e-04 9.99937448e-01 -5.54355516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.457719421 meters Centerline goodness : 0.951402 Centerline is valid? [True, True] Translation: X:27.30, Y:-0.24, Z:-0.56 [[ 9.99797559e-01 1.67254733e-02 -1.11847712e-02 2.73007071e+01] [-1.67267690e-02 9.99860098e-01 -2.23012017e-05 -2.37912748e-01] [ 1.11828334e-02 2.09381771e-04 9.99937448e-01 -5.55480689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.487719421 meters Centerline goodness : 0.949228 Centerline is valid? [True, False] Translation: X:27.32, Y:-0.24, Z:-0.56 [[ 9.99813938e-01 1.40249597e-02 -1.32434976e-02 2.73221997e+01] [-1.40221418e-02 9.99901638e-01 3.05614430e-04 -2.44508477e-01] [ 1.32464812e-02 -1.19855366e-04 9.99912254e-01 -5.57494102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.517719420999995 meters Centerline goodness : 0.950510 Centerline is valid? [False, True] Translation: X:27.33, Y:-0.25, Z:-0.56 [[ 9.99883168e-01 1.16505263e-02 -9.89524539e-03 2.73327307e+01] [-1.15628729e-02 9.99893809e-01 8.86962212e-03 -2.46849382e-01] [ 9.99753037e-03 -8.75416840e-03 9.99911703e-01 -5.60333096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.547719421 meters Centerline goodness : 0.954831 Centerline is valid? [True, True] Translation: X:27.36, Y:-0.24, Z:-0.56 [[ 9.99934067e-01 5.85633598e-03 -9.87745214e-03 2.73625892e+01] [-5.85682125e-03 9.99982848e-01 -2.02036917e-05 -2.40183688e-01] [ 9.87716441e-03 7.80528313e-05 9.99951217e-01 -5.56734541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.577719421 meters Centerline goodness : 0.956614 Centerline is valid? [True, True] Translation: X:27.39, Y:-0.24, Z:-0.56 [[ 9.99944336e-01 3.70953814e-03 -9.87745132e-03 2.73902653e+01] [-3.70992256e-03 9.99993118e-01 -2.05963990e-05 -2.39329838e-01] [ 9.87730694e-03 5.72398320e-05 9.99951217e-01 -5.55352220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.607719421 meters Centerline goodness : 0.953410 Centerline is valid? [True, True] Translation: X:27.42, Y:-0.24, Z:-0.56 [[ 9.99950741e-01 -9.75950711e-04 -9.87744919e-03 2.74192951e+01] [ 9.75785242e-04 9.99999524e-01 -2.15714591e-05 -2.41349594e-01] [ 9.87746554e-03 1.19321273e-05 9.99951217e-01 -5.55117476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.637719421 meters Centerline goodness : 0.952461 Centerline is valid? [True, True] Translation: X:27.45, Y:-0.24, Z:-0.55 [[ 9.99942784e-01 -4.10675597e-03 -9.87744741e-03 2.74486001e+01] [ 4.10673547e-03 9.99991567e-01 -2.23585633e-05 -2.42189818e-01] [ 9.87745594e-03 -1.82067796e-05 9.99951217e-01 -5.53434590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.667719421 meters Centerline goodness : 0.954988 Centerline is valid? [True, True] Translation: X:27.48, Y:-0.24, Z:-0.55 [[ 9.99890453e-01 -1.10235631e-02 -9.87744594e-03 2.74767245e+01] [ 1.10238738e-02 9.99939235e-01 -2.29907664e-05 -2.41148707e-01] [ 9.87709918e-03 -8.58994693e-05 9.99951217e-01 -5.53702074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.697719420999995 meters Centerline goodness : 0.955015 Centerline is valid? [True, True] Translation: X:27.50, Y:-0.24, Z:-0.56 [[ 9.99850213e-01 -1.42122653e-02 -9.87744340e-03 2.75048147e+01] [ 1.42127213e-02 9.99898994e-01 -2.40333266e-05 -2.38634922e-01] [ 9.87678729e-03 -1.16355623e-04 9.99951217e-01 -5.56751782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.727719420999996 meters Centerline goodness : 0.957120 Centerline is valid? [True, True] Translation: X:27.53, Y:-0.23, Z:-0.55 [[ 9.99781488e-01 -1.84231287e-02 -9.87744089e-03 2.75340428e+01] [ 1.84237804e-02 9.99830267e-01 -2.50242547e-05 -2.33302139e-01] [ 9.87622539e-03 -1.56961015e-04 9.99951217e-01 -5.51377531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.757719421 meters Centerline goodness : 0.955523 Centerline is valid? [True, True] Translation: X:27.56, Y:-0.23, Z:-0.55 [[ 9.99745630e-01 -2.02758673e-02 -9.87743342e-03 2.75631321e+01] [ 2.02765830e-02 9.99794409e-01 -2.76881749e-05 -2.31388685e-01] [ 9.87596411e-03 -1.72599467e-04 9.99951217e-01 -5.52502878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.787719421 meters Centerline goodness : 0.957556 Centerline is valid? [True, True] Translation: X:27.59, Y:-0.23, Z:-0.55 [[ 9.99678573e-01 -2.33492547e-02 -9.87742464e-03 2.75923439e+01] [ 2.33500923e-02 9.99727349e-01 -3.05303425e-05 -2.29097502e-01] [ 9.87544441e-03 -2.00118248e-04 9.99951217e-01 -5.49304429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.817719421 meters Centerline goodness : 0.957244 Centerline is valid? [True, True] Translation: X:27.62, Y:-0.22, Z:-0.55 [[ 9.99673468e-01 -2.35667974e-02 -9.87741470e-03 2.76202322e+01] [ 2.35676166e-02 9.99722245e-01 -3.34638674e-05 -2.24413729e-01] [ 9.87545983e-03 -1.99334182e-04 9.99951217e-01 -5.51462001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.847719421 meters Centerline goodness : 0.958324 Centerline is valid? [True, True] Translation: X:27.65, Y:-0.22, Z:-0.55 [[ 9.99665156e-01 -2.39167966e-02 -9.87741112e-03 2.76490166e+01] [ 2.39176228e-02 9.99713932e-01 -3.44905014e-05 -2.21918817e-01] [ 9.87541041e-03 -2.01765240e-04 9.99951217e-01 -5.47959469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.877719421 meters Centerline goodness : 0.956112 Centerline is valid? [True, True] Translation: X:27.68, Y:-0.22, Z:-0.55 [[ 9.99657848e-01 -2.42203123e-02 -9.87739995e-03 2.76781048e+01] [ 2.42211242e-02 9.99706625e-01 -3.74367339e-05 -2.18598672e-01] [ 9.87540889e-03 -2.01817806e-04 9.99951217e-01 -5.48457278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.907719420999996 meters Centerline goodness : 0.956230 Centerline is valid? [True, True] Translation: X:27.71, Y:-0.22, Z:-0.55 [[ 9.99675456e-01 -2.34823355e-02 -9.87738801e-03 2.77058674e+01] [ 2.34830825e-02 9.99724234e-01 -4.03576172e-05 -2.18195934e-01] [ 9.87561185e-03 -1.91606999e-04 9.99951217e-01 -5.49834816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.937719421 meters Centerline goodness : 0.953941 Centerline is valid? [True, True] Translation: X:27.73, Y:-0.22, Z:-0.56 [[ 9.99778313e-01 -1.85947055e-02 -9.87738369e-03 2.77340300e+01] [ 1.85952039e-02 9.99827093e-01 -4.13886551e-05 -2.17444903e-01] [ 9.87644544e-03 -1.42292484e-04 9.99951217e-01 -5.56160273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.967719421 meters Centerline goodness : 0.958195 Centerline is valid? [True, True] Translation: X:27.76, Y:-0.21, Z:-0.55 [[ 9.99921852e-01 -7.66333146e-03 -9.87737931e-03 2.77629799e+01] [ 7.66328641e-03 9.99970636e-01 -4.24093025e-05 -2.12219551e-01] [ 9.87741427e-03 -3.32871984e-05 9.99951217e-01 -5.50391591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.997719421 meters Centerline goodness : 0.958259 Centerline is valid? [True, True] Translation: X:27.79, Y:-0.21, Z:-0.55 [[ 9.99950348e-01 -1.31884776e-03 -9.87736642e-03 2.77921298e+01] [ 1.31846536e-03 9.99999130e-01 -4.52256527e-05 -2.08675622e-01] [ 9.87741747e-03 3.22004416e-05 9.99951217e-01 -5.50282351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.027719421 meters Centerline goodness : 0.959565 Centerline is valid? [True, True] Translation: X:27.82, Y:-0.21, Z:-0.55 [[ 9.99940007e-01 4.73509482e-03 -9.87735278e-03 2.78206672e+01] [-4.73580025e-03 9.99988785e-01 -4.80303526e-05 -2.05647519e-01] [ 9.87701457e-03 9.48046408e-05 9.99951217e-01 -5.48788787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.057719421 meters Centerline goodness : 0.956081 Centerline is valid? [True, True] Translation: X:27.85, Y:-0.20, Z:-0.55 [[ 9.99842127e-01 1.47701910e-02 -9.87733835e-03 2.78484122e+01] [-1.47714136e-02 9.99890895e-01 -5.08343290e-05 -2.02449130e-01] [ 9.87550985e-03 1.96728553e-04 9.99951217e-01 -5.54299365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.087719420999996 meters Centerline goodness : 0.954987 Centerline is valid? [True, True] Translation: X:27.88, Y:-0.20, Z:-0.55 [[ 9.99781865e-01 1.84027275e-02 -9.87733314e-03 2.78770527e+01] [-1.84041371e-02 9.99830628e-01 -5.18262975e-05 -2.02732108e-01] [ 9.87470646e-03 2.33598786e-04 9.99951217e-01 -5.47809966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.117719421 meters Centerline goodness : 0.950939 Centerline is valid? [True, True] Translation: X:27.90, Y:-0.20, Z:-0.55 [[ 9.99667013e-01 2.38390579e-02 -9.87732845e-03 2.79048223e+01] [-2.38407413e-02 9.99715768e-01 -5.27051751e-05 -2.02994547e-01] [ 9.87326456e-03 2.88170458e-04 9.99951217e-01 -5.54005780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.147719421 meters Centerline goodness : 0.951243 Centerline is valid? [True, True] Translation: X:27.93, Y:-0.20, Z:-0.56 [[ 9.99614743e-01 2.59384543e-02 -9.87732254e-03 2.79330429e+01] [-2.59402509e-02 9.99663494e-01 -5.37916574e-05 -2.02137413e-01] [ 9.87260348e-03 3.09991158e-04 9.99951217e-01 -5.55975928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.177719421 meters Centerline goodness : 0.951722 Centerline is valid? [True, True] Translation: X:27.96, Y:-0.20, Z:-0.55 [[ 9.99504604e-01 2.98828472e-02 -9.87731680e-03 2.79622566e+01] [-2.98848463e-02 9.99553347e-01 -5.48253546e-05 -1.97449800e-01] [ 9.87126673e-03 3.49980288e-04 9.99951217e-01 -5.53738207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.207719421 meters Centerline goodness : 0.951768 Centerline is valid? [True, True] Translation: X:27.99, Y:-0.20, Z:-0.55 [[ 9.99454186e-01 3.15241037e-02 -9.87731203e-03 2.79906831e+01] [-3.15261911e-02 9.99502925e-01 -5.56721281e-05 -1.98465969e-01] [ 9.87064724e-03 3.67035768e-04 9.99951217e-01 -5.50281905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.237719421 meters Centerline goodness : 0.956188 Centerline is valid? [True, True] Translation: X:28.02, Y:-0.20, Z:-0.55 [[ 9.99495778e-01 3.01766075e-02 -9.87730702e-03 2.80199532e+01] [-3.01786379e-02 9.99544520e-01 -5.65470021e-05 -2.01355974e-01] [ 9.87110170e-03 3.54602162e-04 9.99951217e-01 -5.47973968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.267719420999995 meters Centerline goodness : 0.955783 Centerline is valid? [True, True] Translation: X:28.05, Y:-0.21, Z:-0.55 [[ 9.99677952e-01 2.33758869e-02 -9.87730324e-03 2.80488406e+01] [-2.33775921e-02 9.99726705e-01 -5.71999607e-05 -2.07244315e-01] [ 9.87326672e-03 2.88089106e-04 9.99951217e-01 -5.46010407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.297719421 meters Centerline goodness : 0.956548 Centerline is valid? [True, True] Translation: X:28.08, Y:-0.21, Z:-0.55 [[ 9.99776602e-01 1.86864850e-02 -9.87729944e-03 2.80768001e+01] [-1.86879678e-02 9.99825363e-01 -5.78474688e-05 -2.09305340e-01] [ 9.87449354e-03 2.42421200e-04 9.99951217e-01 -5.49241870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.327719421 meters Centerline goodness : 0.955628 Centerline is valid? [True, True] Translation: X:28.11, Y:-0.21, Z:-0.55 [[ 9.99867521e-01 1.29375274e-02 -9.87729309e-03 2.81054414e+01] [-1.29387404e-02 9.99916289e-01 -5.89130105e-05 -2.12225999e-01] [ 9.87570406e-03 1.86704937e-04 9.99951217e-01 -5.47224770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.357719421 meters Centerline goodness : 0.958419 Centerline is valid? [True, True] Translation: X:28.13, Y:-0.22, Z:-0.55 [[ 9.99947207e-01 2.83228324e-03 -9.87728790e-03 2.81346544e+01] [-2.83301180e-03 9.99995985e-01 -5.97704761e-05 -2.18658597e-01] [ 9.87707896e-03 8.77497939e-05 9.99951217e-01 -5.45749433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.387719421 meters Centerline goodness : 0.956912 Centerline is valid? [True, True] Translation: X:28.16, Y:-0.22, Z:-0.55 [[ 9.99943458e-01 -3.93954964e-03 -9.87728397e-03 2.81627137e+01] [ 3.93914508e-03 9.99992240e-01 -6.04136089e-05 -2.22801340e-01] [ 9.87744532e-03 2.15021385e-05 9.99951217e-01 -5.46835157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.417719421 meters Centerline goodness : 0.954171 Centerline is valid? [True, True] Translation: X:28.19, Y:-0.22, Z:-0.55 [[ 9.99925014e-01 -7.23913425e-03 -9.87727736e-03 2.81920494e+01] [ 7.23888017e-03 9.99973797e-01 -6.14756478e-05 -2.24687872e-01] [ 9.87746357e-03 -1.00293892e-05 9.99951217e-01 -5.48271041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.447719420999995 meters Centerline goodness : 0.950670 Centerline is valid? [True, True] Translation: X:28.22, Y:-0.23, Z:-0.55 [[ 9.99859626e-01 -1.35339157e-02 -9.87727327e-03 2.82211847e+01] [ 1.35339623e-02 9.99908410e-01 -6.21248483e-05 -2.28716384e-01] [ 9.87720940e-03 -7.15625169e-05 9.99951217e-01 -5.50398189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.477719420999996 meters Centerline goodness : 0.950670 Centerline is valid? [True, True] Translation: X:28.25, Y:-0.23, Z:-0.55 [[ 9.99854809e-01 -1.38852924e-02 -9.87726777e-03 2.82496492e+01] [ 1.38853477e-02 9.99903592e-01 -6.29881439e-05 -2.28258685e-01] [ 9.87719013e-03 -7.41702984e-05 9.99951217e-01 -5.50116996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.507719421 meters Centerline goodness : 0.951548 Centerline is valid? [True, True] Translation: X:28.28, Y:-0.23, Z:-0.55 [[ 9.99802307e-01 -1.72565244e-02 -9.87724441e-03 2.82775055e+01] [ 1.72567098e-02 9.99851090e-01 -6.64593584e-05 -2.29839305e-01] [ 9.87692045e-03 -1.04002521e-04 9.99951217e-01 -5.50191247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.537719421 meters Centerline goodness : 0.952279 Centerline is valid? [True, True] Translation: X:28.31, Y:-0.23, Z:-0.55 [[ 9.99677884e-01 -2.33788227e-02 -9.87723709e-03 2.83061349e+01] [ 2.33792963e-02 9.99726665e-01 -6.75307368e-05 -2.29423515e-01] [ 9.87611608e-03 -1.63413869e-04 9.99951217e-01 -5.46110067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.567719421 meters Centerline goodness : 0.953788 Centerline is valid? [True, True] Translation: X:28.33, Y:-0.23, Z:-0.55 [[ 9.99653041e-01 -2.44180045e-02 -9.87721573e-03 2.83343248e+01] [ 2.44184992e-02 9.99701822e-01 -7.05223834e-05 -2.28925692e-01] [ 9.87599257e-03 -1.70688870e-04 9.99951217e-01 -5.46883429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.597719421 meters Centerline goodness : 0.951530 Centerline is valid? [True, True] Translation: X:28.36, Y:-0.23, Z:-0.55 [[ 9.99608362e-01 -2.61832752e-02 -9.87720812e-03 2.83629011e+01] [ 2.61838457e-02 9.99657142e-01 -7.15723403e-05 -2.27658578e-01] [ 9.87569563e-03 -1.87078983e-04 9.99951217e-01 -5.47606985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.627719421 meters Centerline goodness : 0.952099 Centerline is valid? [True, True] Translation: X:28.39, Y:-0.23, Z:-0.55 [[ 9.99583518e-01 -2.71151680e-02 -9.87718595e-03 2.83912359e+01] [ 2.71157550e-02 9.99632298e-01 -7.45105591e-05 -2.25807982e-01] [ 9.87557445e-03 -1.93347828e-04 9.99951217e-01 -5.50031259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.657719420999996 meters Centerline goodness : 0.950424 Centerline is valid? [True, True] Translation: X:28.42, Y:-0.22, Z:-0.55 [[ 9.99571814e-01 -2.75432465e-02 -9.87716323e-03 2.84200130e+01] [ 2.75438257e-02 9.99620594e-01 -7.74095353e-05 -2.22751418e-01] [ 9.87554789e-03 -1.94678473e-04 9.99951217e-01 -5.51962267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.687719421 meters Centerline goodness : 0.950494 Centerline is valid? [True, True] Translation: X:28.45, Y:-0.22, Z:-0.55 [[ 9.99508618e-01 -2.97483634e-02 -9.87713952e-03 2.84488813e+01] [ 2.97490214e-02 9.99557397e-01 -8.03256396e-05 -2.18947116e-01] [ 9.87515742e-03 -2.13549066e-04 9.99951217e-01 -5.48701783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.717719421 meters Centerline goodness : 0.952557 Centerline is valid? [True, True] Translation: X:28.48, Y:-0.21, Z:-0.55 [[ 9.99465848e-01 -3.11522369e-02 -9.87711432e-03 2.84778948e+01] [ 3.11529339e-02 9.99514626e-01 -8.33131352e-05 -2.14756755e-01] [ 9.87491562e-03 -2.24432456e-04 9.99951217e-01 -5.47200447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.747719421 meters Centerline goodness : 0.950567 Centerline is valid? [True, True] Translation: X:28.51, Y:-0.21, Z:-0.55 [[ 9.99377776e-01 -3.38600518e-02 -9.87708833e-03 2.85067973e+01] [ 3.38608516e-02 9.99426553e-01 -8.62875209e-05 -2.08799778e-01] [ 9.87434605e-03 -2.48212792e-04 9.99951217e-01 -5.47404878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.777719421 meters Centerline goodness : 0.948066 Centerline is valid? [True, False] Translation: X:28.51, Y:-0.21, Z:-0.55 [[ 9.99266340e-01 -3.67391674e-02 -1.08173568e-02 2.85100382e+01] [ 3.67040587e-02 9.99320305e-01 -3.42649221e-03 -2.07114987e-01] [ 1.09358908e-02 3.02693743e-03 9.99935620e-01 -5.48689823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.807719421 meters Centerline goodness : 0.950807 Centerline is valid? [False, True] Translation: X:28.51, Y:-0.20, Z:-0.55 [[ 9.99093826e-01 -4.08624296e-02 -1.19074848e-02 2.85127131e+01] [ 4.07627243e-02 9.99132706e-01 -8.49917126e-03 -2.03913418e-01] [ 1.22444543e-02 8.00608801e-03 9.99892982e-01 -5.48995843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.837719420999996 meters Centerline goodness : 0.952965 Centerline is valid? [True, True] Translation: X:28.54, Y:-0.20, Z:-0.55 [[ 9.99088207e-01 -4.09695801e-02 -1.20103130e-02 2.85405811e+01] [ 4.09707674e-02 9.99160335e-01 -1.47267845e-04 -2.03154541e-01] [ 1.20062619e-02 -3.44938175e-04 9.99927863e-01 -5.48343421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.867719421 meters Centerline goodness : 0.955231 Centerline is valid? [True, True] Translation: X:28.57, Y:-0.19, Z:-0.55 [[ 9.99137056e-01 -3.97604749e-02 -1.20102973e-02 2.85682485e+01] [ 3.97615597e-02 9.99209185e-01 -1.48539025e-04 -1.92944266e-01] [ 1.20067054e-02 -3.29137310e-04 9.99927863e-01 -5.46608369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.897719421 meters Centerline goodness : 0.956383 Centerline is valid? [True, True] Translation: X:28.60, Y:-0.19, Z:-0.54 [[ 9.99200006e-01 -3.81458024e-02 -1.20102734e-02 2.85960285e+01] [ 3.81467477e-02 9.99272137e-01 -1.50446172e-04 -1.89462696e-01] [ 1.20072705e-02 -3.07827055e-04 9.99927863e-01 -5.44112240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.927719421 meters Centerline goodness : 0.958833 Centerline is valid? [True, True] Translation: X:28.62, Y:-0.19, Z:-0.54 [[ 9.99301593e-01 -3.53847517e-02 -1.20102203e-02 2.86238680e+01] [ 3.53854482e-02 9.99373727e-01 -1.54573255e-04 -1.85059267e-01] [ 1.20081682e-02 -2.70521728e-04 9.99927863e-01 -5.43679760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.957719421 meters Centerline goodness : 0.961063 Centerline is valid? [True, True] Translation: X:28.65, Y:-0.18, Z:-0.54 [[ 9.99327289e-01 -3.46514770e-02 -1.20102038e-02 2.86519338e+01] [ 3.46521053e-02 9.99399423e-01 -1.55845059e-04 -1.81690180e-01] [ 1.20083910e-02 -2.60438627e-04 9.99927863e-01 -5.42699997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.987719421 meters Centerline goodness : 0.963641 Centerline is valid? [True, True] Translation: X:28.68, Y:-0.17, Z:-0.54 [[ 9.99330290e-01 -3.45648161e-02 -1.20101792e-02 2.86802187e+01] [ 3.45654156e-02 9.99402425e-01 -1.57720482e-04 -1.74360735e-01] [ 1.20084538e-02 -2.57521979e-04 9.99927863e-01 -5.40565522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.017719420999995 meters Centerline goodness : 0.963733 Centerline is valid? [True, True] Translation: X:28.71, Y:-0.17, Z:-0.54 [[ 9.99358344e-01 -3.37440019e-02 -1.20101322e-02 2.87089909e+01] [ 3.37445001e-02 9.99430479e-01 -1.61219446e-04 -1.69313278e-01] [ 1.20087324e-02 -2.44159909e-04 9.99927863e-01 -5.39418663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.047719421 meters Centerline goodness : 0.960560 Centerline is valid? [True, True] Translation: X:28.74, Y:-0.16, Z:-0.54 [[ 9.99424028e-01 -3.17391075e-02 -1.20100832e-02 2.87371297e+01] [ 3.17394180e-02 9.99496164e-01 -1.64793193e-04 -1.62055408e-01] [ 1.20092624e-02 -2.16494774e-04 9.99927863e-01 -5.42913148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.077719421 meters Centerline goodness : 0.960042 Centerline is valid? [True, True] Translation: X:28.77, Y:-0.16, Z:-0.54 [[ 9.99374528e-01 -3.32612550e-02 -1.20100336e-02 2.87650670e+01] [ 3.32616328e-02 9.99446665e-01 -1.68333387e-04 -1.61190326e-01] [ 1.20089870e-02 -2.31245227e-04 9.99927863e-01 -5.44074865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.107719421 meters Centerline goodness : 0.962251 Centerline is valid? [True, True] Translation: X:28.79, Y:-0.16, Z:-0.54 [[ 9.99075694e-01 -4.12736918e-02 -1.20099760e-02 2.87934354e+01] [ 4.12745999e-02 9.99147826e-01 -1.72343172e-04 -1.57352811e-01] [ 1.20068547e-02 -3.23523080e-04 9.99927863e-01 -5.42760058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.137719421 meters Centerline goodness : 0.961011 Centerline is valid? [True, True] Translation: X:28.82, Y:-0.15, Z:-0.54 [[ 9.98820490e-01 -4.70466834e-02 -1.20099253e-02 2.88218274e+01] [ 4.70479667e-02 9.98892616e-01 -1.75809921e-04 -1.51243633e-01] [ 1.20048969e-02 -3.89440013e-04 9.99927863e-01 -5.41772923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.167719421 meters Centerline goodness : 0.960824 Centerline is valid? [True, True] Translation: X:28.85, Y:-0.14, Z:-0.54 [[ 9.98298630e-01 -5.70579464e-02 -1.20098727e-02 2.88498779e+01] [ 5.70599104e-02 9.98370740e-01 -1.79332134e-04 -1.42055366e-01] [ 1.20005378e-02 -5.06255235e-04 9.99927863e-01 -5.41978925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.197719420999995 meters Centerline goodness : 0.962222 Centerline is valid? [True, True] Translation: X:28.88, Y:-0.14, Z:-0.54 [[ 9.98080737e-01 -6.07503478e-02 -1.20098578e-02 2.88784738e+01] [ 6.07525667e-02 9.98152841e-01 -1.80323882e-04 -1.40967213e-01] [ 1.19986284e-02 -5.49651891e-04 9.99927863e-01 -5.39584710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.227719420999996 meters Centerline goodness : 0.965508 Centerline is valid? [True, True] Translation: X:28.91, Y:-0.14, Z:-0.54 [[ 9.97790648e-01 -6.53420746e-02 -1.20098056e-02 2.89060196e+01] [ 6.53445843e-02 9.97862742e-01 -1.83732428e-04 -1.40773953e-01] [ 1.19961430e-02 -6.01449258e-04 9.99927863e-01 -5.37347200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.257719421 meters Centerline goodness : 0.964950 Centerline is valid? [True, True] Translation: X:28.93, Y:-0.14, Z:-0.54 [[ 9.97666286e-01 -6.72141857e-02 -1.20097871e-02 2.89345079e+01] [ 6.72168162e-02 9.97738375e-01 -1.84936737e-04 -1.39301631e-01] [ 1.19950558e-02 -6.22754504e-04 9.99927863e-01 -5.37551648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.287719421 meters Centerline goodness : 0.965412 Centerline is valid? [True, True] Translation: X:28.96, Y:-0.13, Z:-0.54 [[ 9.97429441e-01 -7.06418941e-02 -1.20097349e-02 2.89628777e+01] [ 7.06447324e-02 9.97501522e-01 -1.88264511e-04 -1.32098921e-01] [ 1.19930282e-02 -6.60643943e-04 9.99927863e-01 -5.36287787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.317719421 meters Centerline goodness : 0.963342 Centerline is valid? [True, True] Translation: X:28.99, Y:-0.12, Z:-0.54 [[ 9.97393901e-01 -7.11419263e-02 -1.20096800e-02 2.89914117e+01] [ 7.11447594e-02 9.97465983e-01 -1.91703210e-04 -1.21628949e-01] [ 1.19928854e-02 -6.63222184e-04 9.99927863e-01 -5.39351498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.347719421 meters Centerline goodness : 0.956961 Centerline is valid? [True, True] Translation: X:29.02, Y:-0.12, Z:-0.54 [[ 9.97436429e-01 -7.05431662e-02 -1.20096643e-02 2.90198818e+01] [ 7.05459443e-02 9.97508513e-01 -1.92683077e-04 -1.17025512e-01] [ 1.19933349e-02 -6.55043989e-04 9.99927863e-01 -5.43234360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.377719421 meters Centerline goodness : 0.954800 Centerline is valid? [True, True] Translation: X:29.05, Y:-0.11, Z:-0.55 [[ 9.97386513e-01 -7.12454325e-02 -1.20096526e-02 2.90492141e+01] [ 7.12482525e-02 9.97458595e-01 -1.93413027e-04 -1.13536597e-01] [ 1.19929110e-02 -6.62759214e-04 9.99927863e-01 -5.46691486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.407719420999996 meters Centerline goodness : 0.952478 Centerline is valid? [True, True] Translation: X:29.08, Y:-0.11, Z:-0.55 [[ 9.97365158e-01 -7.15437650e-02 -1.20096018e-02 2.90784707e+01] [ 7.15465694e-02 9.97437241e-01 -1.96515159e-04 -1.12194891e-01] [ 1.19928835e-02 -6.63248435e-04 9.99927863e-01 -5.47228069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.437719421 meters Centerline goodness : 0.954815 Centerline is valid? [True, True] Translation: X:29.11, Y:-0.10, Z:-0.55 [[ 9.97600815e-01 -6.81790631e-02 -1.20095478e-02 2.91072865e+01] [ 6.81815854e-02 9.97672908e-01 -1.99760916e-04 -1.04380609e-01] [ 1.19952200e-02 -6.19548356e-04 9.99927863e-01 -5.49314089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.467719421 meters Centerline goodness : 0.957207 Centerline is valid? [True, True] Translation: X:29.14, Y:-0.10, Z:-0.54 [[ 9.97777510e-01 -6.55424424e-02 -1.20095354e-02 2.91368895e+01] [ 6.55447652e-02 9.97849610e-01 -2.00504311e-04 -9.67667847e-02] [ 1.19968517e-02 -5.87103485e-04 9.99927863e-01 -5.44738423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.497719421 meters Centerline goodness : 0.959735 Centerline is valid? [True, True] Translation: X:29.17, Y:-0.08, Z:-0.54 [[ 9.98279426e-01 -5.73930167e-02 -1.20095274e-02 2.91659150e+01] [ 5.73947450e-02 9.98351543e-01 -2.00980128e-04 -8.44377116e-02] [ 1.20012651e-02 -4.88649437e-04 9.99927863e-01 -5.44223814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.527719421 meters Centerline goodness : 0.959522 Centerline is valid? [True, True] Translation: X:29.20, Y:-0.08, Z:-0.54 [[ 9.98575100e-01 -5.19955933e-02 -1.20095235e-02 2.91965488e+01] [ 5.19969288e-02 9.98647224e-01 -2.01215322e-04 -8.03065448e-02] [ 1.20037396e-02 -4.23529728e-04 9.99927863e-01 -5.41441801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.557719421 meters Centerline goodness : 0.951995 Centerline is valid? [True, True] Translation: X:29.23, Y:-0.07, Z:-0.55 [[ 9.98992790e-01 -4.32339827e-02 -1.20095235e-02 2.92265703e+01] [ 4.32346855e-02 9.99064924e-01 -2.01215322e-04 -7.48225270e-02] [ 1.20069930e-02 -3.18215315e-04 9.99927863e-01 -5.48337969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.587719420999996 meters Centerline goodness : 0.953473 Centerline is valid? [True, True] Translation: X:29.26, Y:-0.07, Z:-0.55 [[ 9.99134685e-01 -3.98202541e-02 -1.20095235e-02 2.92568722e+01] [ 3.98207105e-02 9.99206821e-01 -2.01215322e-04 -7.17889090e-02] [ 1.20080102e-02 -2.77186551e-04 9.99927863e-01 -5.48124640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.617719421 meters Centerline goodness : 0.958133 Centerline is valid? [True, True] Translation: X:29.29, Y:-0.07, Z:-0.55 [[ 9.99244736e-01 -3.69557760e-02 -1.20095235e-02 2.92868178e+01] [ 3.69560255e-02 9.99316873e-01 -2.01215322e-04 -6.77219378e-02] [ 1.20087555e-02 -2.42760905e-04 9.99927863e-01 -5.45126749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.647719421 meters Centerline goodness : 0.960333 Centerline is valid? [True, True] Translation: X:29.32, Y:-0.06, Z:-0.54 [[ 9.99453725e-01 -3.07899768e-02 -1.20095195e-02 2.93170932e+01] [ 3.07897784e-02 9.99525862e-01 -2.01453254e-04 -5.87479242e-02] [ 1.20100281e-02 -1.68427239e-04 9.99927863e-01 -5.39739242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.677719421 meters Centerline goodness : 0.964463 Centerline is valid? [True, True] Translation: X:29.35, Y:-0.05, Z:-0.54 [[ 9.99633065e-01 -2.42797745e-02 -1.20095195e-02 2.93470269e+01] [ 2.42791063e-02 9.99705199e-01 -2.01453254e-04 -5.35905895e-02] [ 1.20108703e-02 -9.02010669e-05 9.99927863e-01 -5.37596677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.707719421 meters Centerline goodness : 0.964547 Centerline is valid? [True, True] Translation: X:29.38, Y:-0.05, Z:-0.54 [[ 9.99707156e-01 -2.10089208e-02 -1.20095154e-02 2.93765376e+01] [ 2.10080137e-02 9.99779287e-01 -2.01700006e-04 -5.15933845e-02] [ 1.20111022e-02 -5.06551232e-05 9.99927863e-01 -5.37487478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.737719421 meters Centerline goodness : 0.961357 Centerline is valid? [True, True] Translation: X:29.41, Y:-0.05, Z:-0.54 [[ 9.99824411e-01 -1.43846769e-02 -1.20095112e-02 2.94057563e+01] [ 1.43832889e-02 9.99896535e-01 -2.01944221e-04 -4.83154330e-02] [ 1.20111736e-02 2.91724923e-05 9.99927863e-01 -5.40264815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.767719420999995 meters Centerline goodness : 0.960571 Centerline is valid? [True, True] Translation: X:29.43, Y:-0.05, Z:-0.54 [[ 9.99851705e-01 -1.23426117e-02 -1.20094573e-02 2.94340305e+01] [ 1.23410384e-02 9.99923825e-01 -2.05102360e-04 -4.63425766e-02] [ 1.20110740e-02 5.68627697e-05 9.99927863e-01 -5.41427099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.797719421 meters Centerline goodness : 0.959577 Centerline is valid? [True, True] Translation: X:29.46, Y:-0.05, Z:-0.54 [[ 9.99897245e-01 -7.82769909e-03 -1.20093986e-02 2.94619356e+01] [ 7.82575960e-03 9.99969357e-01 -2.08482879e-04 -4.54288600e-02] [ 1.20106626e-02 1.14478790e-04 9.99927863e-01 -5.41271403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.827719421 meters Centerline goodness : 0.962437 Centerline is valid? [True, True] Translation: X:29.49, Y:-0.05, Z:-0.54 [[ 9.99914055e-01 -5.25899890e-03 -1.20093778e-02 2.94892664e+01] [ 5.25685985e-03 9.99986161e-01 -2.09675484e-04 -4.85339192e-02] [ 1.20103143e-02 1.46525847e-04 9.99927863e-01 -5.38633175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.857719421 meters Centerline goodness : 0.965166 Centerline is valid? [True, True] Translation: X:29.52, Y:-0.05, Z:-0.54 [[ 9.99919352e-01 -4.13104888e-03 -1.20093529e-02 2.95175627e+01] [ 4.12881147e-03 9.99991454e-01 -2.11093115e-04 -5.02959926e-02] [ 1.20101223e-02 1.61491737e-04 9.99927863e-01 -5.36109875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.887719421 meters Centerline goodness : 0.965756 Centerline is valid? [True, True] Translation: X:29.55, Y:-0.05, Z:-0.54 [[ 9.99923223e-01 -3.05350925e-03 -1.20093210e-02 2.95454729e+01] [ 3.05117255e-03 9.99995323e-01 -2.12891485e-04 -5.19711108e-02] [ 1.20099149e-02 1.76232629e-04 9.99927863e-01 -5.35198286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.917719421 meters Centerline goodness : 0.965901 Centerline is valid? [True, True] Translation: X:29.57, Y:-0.06, Z:-0.54 [[ 9.99921616e-01 -3.54101796e-03 -1.20093002e-02 2.95743626e+01] [ 3.53870241e-03 9.99993716e-01 -2.14057543e-04 -5.52026417e-02] [ 1.20099827e-02 1.71543425e-04 9.99927863e-01 -5.37467011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.947719420999995 meters Centerline goodness : 0.965757 Centerline is valid? [True, True] Translation: X:29.60, Y:-0.06, Z:-0.54 [[ 9.99917447e-01 -4.56910175e-03 -1.20092417e-02 2.96027285e+01] [ 4.56682149e-03 9.99989548e-01 -2.17291466e-04 -5.70966635e-02] [ 1.20101090e-02 1.62429465e-04 9.99927863e-01 -5.36670365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.977719420999996 meters Centerline goodness : 0.966478 Centerline is valid? [True, True] Translation: X:29.63, Y:-0.06, Z:-0.53 [[ 9.99888684e-01 -8.85427815e-03 -1.20092209e-02 2.96307735e+01] [ 8.85229315e-03 9.99960794e-01 -2.18437245e-04 -6.23098114e-02] [ 1.20106841e-02 1.12103786e-04 9.99927863e-01 -5.34748096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.007719421 meters Centerline goodness : 0.966803 Centerline is valid? [True, True] Translation: X:29.66, Y:-0.07, Z:-0.53 [[ 9.99848721e-01 -1.25822933e-02 -1.20092002e-02 2.96591516e+01] [ 1.25805636e-02 9.99920837e-01 -2.19569815e-04 -6.54203254e-02] [ 1.20110122e-02 6.84540922e-05 9.99927863e-01 -5.33895634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.037719421 meters Centerline goodness : 0.963155 Centerline is valid? [True, True] Translation: X:29.69, Y:-0.08, Z:-0.54 [[ 9.99686926e-01 -2.19506448e-02 -1.20091292e-02 2.96876900e+01] [ 2.19495451e-02 9.99759055e-01 -2.23382110e-04 -7.50677709e-02] [ 1.20111391e-02 -4.02827490e-05 9.99927863e-01 -5.39908395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.067719421 meters Centerline goodness : 0.962661 Centerline is valid? [True, True] Translation: X:29.72, Y:-0.08, Z:-0.54 [[ 9.99555614e-01 -2.72828800e-02 -1.20091117e-02 2.97168686e+01] [ 2.72821538e-02 9.99627748e-01 -2.24323345e-04 -7.93858682e-02] [ 1.20107614e-02 -1.03410773e-04 9.99927863e-01 -5.40638491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.097719421 meters Centerline goodness : 0.961973 Centerline is valid? [True, True] Translation: X:29.75, Y:-0.08, Z:-0.54 [[ 9.99270231e-01 -3.62600090e-02 -1.20090536e-02 2.97457931e+01] [ 3.62598939e-02 9.99342368e-01 -2.27390463e-04 -8.18865768e-02] [ 1.20094012e-02 -2.08222488e-04 9.99927863e-01 -5.41989199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.127719421 meters Centerline goodness : 0.961564 Centerline is valid? [True, True] Translation: X:29.78, Y:-0.08, Z:-0.54 [[ 9.98922527e-01 -4.48282149e-02 -1.20090412e-02 2.97754261e+01] [ 4.48287106e-02 9.98994662e-01 -2.28043553e-04 -8.24419258e-02] [ 1.20071908e-02 -3.10551989e-04 9.99927863e-01 -5.39357858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.157719420999996 meters Centerline goodness : 0.960382 Centerline is valid? [True, True] Translation: X:29.80, Y:-0.08, Z:-0.54 [[ 9.98726684e-01 -4.89978927e-02 -1.20090326e-02 2.98045982e+01] [ 4.89986841e-02 9.98798817e-01 -2.28494320e-04 -8.43006323e-02] [ 1.20058033e-02 -3.60223420e-04 9.99927863e-01 -5.42678113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.187719421 meters Centerline goodness : 0.959924 Centerline is valid? [True, True] Translation: X:29.83, Y:-0.09, Z:-0.54 [[ 9.98357132e-01 -5.60251750e-02 -1.20090199e-02 2.98325998e+01] [ 5.60264659e-02 9.98429258e-01 -2.29160973e-04 -8.78682366e-02] [ 1.20029956e-02 -4.44038452e-04 9.99927863e-01 -5.43854838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.217719421 meters Centerline goodness : 0.958210 Centerline is valid? [True, True] Translation: X:29.86, Y:-0.09, Z:-0.55 [[ 9.98193951e-01 -5.88610279e-02 -1.20089997e-02 2.98616422e+01] [ 5.88625111e-02 9.98266073e-01 -2.30215451e-04 -8.85922904e-02] [ 1.20017277e-02 -4.77080206e-04 9.99927863e-01 -5.45029893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.247719421 meters Centerline goodness : 0.956367 Centerline is valid? [True, True] Translation: X:29.89, Y:-0.09, Z:-0.55 [[ 9.98025171e-01 -6.16566579e-02 -1.20089429e-02 2.98898322e+01] [ 6.16583079e-02 9.98097289e-01 -2.33140537e-04 -8.85635093e-02] [ 1.20004680e-02 -5.07770974e-04 9.99927863e-01 -5.46720827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.277719421 meters Centerline goodness : 0.957824 Centerline is valid? [True, True] Translation: X:29.92, Y:-0.08, Z:-0.55 [[ 9.98038199e-01 -6.14454175e-02 -1.20089228e-02 2.99186653e+01] [ 6.14470399e-02 9.98110318e-01 -2.34172431e-04 -8.49466187e-02] [ 1.20006185e-02 -5.04199725e-04 9.99927863e-01 -5.45655456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.307719421 meters Centerline goodness : 0.960658 Centerline is valid? [True, True] Translation: X:29.95, Y:-0.08, Z:-0.54 [[ 9.98434071e-01 -5.46369107e-02 -1.20088660e-02 2.99473529e+01] [ 5.46380066e-02 9.98506200e-01 -2.37050330e-04 -7.62367420e-02] [ 1.20038788e-02 -4.19461372e-04 9.99927863e-01 -5.40546974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.337719420999996 meters Centerline goodness : 0.965976 Centerline is valid? [True, True] Translation: X:29.98, Y:-0.07, Z:-0.53 [[ 9.98935428e-01 -4.45398609e-02 -1.20088060e-02 2.99765267e+01] [ 4.45401915e-02 9.99007564e-01 -2.40049809e-04 -7.35593325e-02] [ 1.20075798e-02 -2.95080260e-04 9.99927863e-01 -5.33186052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.367719421 meters Centerline goodness : 0.967943 Centerline is valid? [True, True] Translation: X:30.01, Y:-0.07, Z:-0.53 [[ 9.99171247e-01 -3.88922630e-02 -1.20087920e-02 3.00062210e+01] [ 3.88921774e-02 9.99243384e-01 -2.40749069e-04 -7.31091518e-02] [ 1.20090692e-02 -2.26498520e-04 9.99927863e-01 -5.30879624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.397719421 meters Centerline goodness : 0.967943 Centerline is valid? [True, True] Translation: X:30.04, Y:-0.07, Z:-0.53 [[ 9.99169713e-01 -3.89316557e-02 -1.20087825e-02 3.00363626e+01] [ 3.89315672e-02 9.99241850e-01 -2.41221774e-04 -7.24489420e-02] [ 1.20090692e-02 -2.26499232e-04 9.99927863e-01 -5.30517419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.427719421 meters Centerline goodness : 0.967778 Centerline is valid? [True, True] Translation: X:30.07, Y:-0.07, Z:-0.53 [[ 9.99534508e-01 -2.80456035e-02 -1.20087730e-02 3.00654961e+01] [ 2.80447236e-02 9.99606640e-01 -2.41695191e-04 -6.71628220e-02] [ 1.20108277e-02 -9.52000348e-05 9.99927863e-01 -5.31640013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.457719421 meters Centerline goodness : 0.964945 Centerline is valid? [True, True] Translation: X:30.09, Y:-0.06, Z:-0.53 [[ 9.99668043e-01 -2.27945763e-02 -1.20087634e-02 3.00937673e+01] [ 2.27933118e-02 9.99740169e-01 -2.42167895e-04 -6.25667594e-02] [ 1.20111633e-02 -3.16319837e-05 9.99927863e-01 -5.33948309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.487719421 meters Centerline goodness : 0.964699 Centerline is valid? [True, True] Translation: X:30.12, Y:-0.06, Z:-0.54 [[ 9.99740240e-01 -1.93711594e-02 -1.20087492e-02 3.01227172e+01] [ 1.93696395e-02 9.99812361e-01 -2.42872375e-04 -5.80063372e-02] [ 1.20112006e-02 1.02041445e-05 9.99927863e-01 -5.35573378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.517719420999995 meters Centerline goodness : 0.966138 Centerline is valid? [True, True] Translation: X:30.15, Y:-0.05, Z:-0.53 [[ 9.99833346e-01 -1.37503662e-02 -1.20086813e-02 3.01516854e+01] [ 1.37484010e-02 9.99905456e-01 -2.46184006e-04 -5.47574826e-02] [ 1.20109311e-02 8.10428126e-05 9.99927863e-01 -5.32250432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.547719421 meters Centerline goodness : 0.962922 Centerline is valid? [True, True] Translation: X:30.18, Y:-0.05, Z:-0.54 [[ 9.99873691e-01 -1.04113575e-02 -1.20086073e-02 3.01799995e+01] [ 1.04091089e-02 9.99945793e-01 -2.49742849e-04 -5.41091894e-02] [ 1.20105565e-02 1.24712404e-04 9.99927863e-01 -5.37615429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.577719421 meters Centerline goodness : 0.965581 Centerline is valid? [True, True] Translation: X:30.21, Y:-0.05, Z:-0.53 [[ 9.99879662e-01 -9.82113053e-03 -1.20085809e-02 3.02082003e+01] [ 9.81882418e-03 9.99951763e-01 -2.51002405e-04 -5.34912110e-02] [ 1.20104668e-02 1.33062055e-04 9.99927863e-01 -5.34461070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.607719421 meters Centerline goodness : 0.966889 Centerline is valid? [True, True] Translation: X:30.24, Y:-0.05, Z:-0.53 [[ 9.99901726e-01 -7.23425844e-03 -1.20084955e-02 3.02374524e+01] [ 7.23171724e-03 9.99973818e-01 -2.55026877e-04 -5.16982975e-02] [ 1.20100260e-02 1.68159770e-04 9.99927863e-01 -5.34022504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.637719421 meters Centerline goodness : 0.965187 Centerline is valid? [True, True] Translation: X:30.27, Y:-0.05, Z:-0.53 [[ 9.99914903e-01 -5.09748917e-03 -1.20084254e-02 3.02656946e+01] [ 5.09475478e-03 9.99986988e-01 -2.58286259e-04 -5.00263004e-02] [ 1.20095857e-02 1.97084297e-04 9.99927863e-01 -5.33068340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.667719421 meters Centerline goodness : 0.963694 Centerline is valid? [True, True] Translation: X:30.29, Y:-0.05, Z:-0.53 [[ 9.99927683e-01 6.53421537e-04 -1.20083985e-02 3.02946430e+01] [-6.56585371e-04 9.99999751e-01 -2.59527888e-04 -5.13656006e-02] [ 1.20082260e-02 2.67393659e-04 9.99927863e-01 -5.33926916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.697719420999995 meters Centerline goodness : 0.962710 Centerline is valid? [True, True] Translation: X:30.32, Y:-0.05, Z:-0.53 [[ 9.99922513e-01 3.28134266e-03 -1.20083233e-02 3.03225188e+01] [-3.28473713e-03 9.99994571e-01 -2.62964386e-04 -5.30865760e-02] [ 1.20073952e-02 3.02388195e-04 9.99927863e-01 -5.34111588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.727719420999996 meters Centerline goodness : 0.959749 Centerline is valid? [True, True] Translation: X:30.35, Y:-0.06, Z:-0.54 [[ 9.99875406e-01 1.02456775e-02 -1.20082359e-02 3.03503108e+01] [-1.02496209e-02 9.99947436e-01 -2.66893978e-04 -5.64103666e-02] [ 1.20048702e-02 3.89940591e-04 9.99927863e-01 -5.37915240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.757719421 meters Centerline goodness : 0.964814 Centerline is valid? [True, True] Translation: X:30.38, Y:-0.06, Z:-0.53 [[ 9.99849251e-01 1.25410706e-02 -1.20082088e-02 3.03786204e+01] [-1.25451940e-02 9.99921270e-01 -2.68109301e-04 -5.60729540e-02] [ 1.20039010e-02 4.18714192e-04 9.99927863e-01 -5.33632809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.787719421 meters Centerline goodness : 0.963832 Centerline is valid? [True, True] Translation: X:30.41, Y:-0.06, Z:-0.53 [[ 9.99795894e-01 1.62472916e-02 -1.20081818e-02 3.04061872e+01] [-1.62516963e-02 9.99867896e-01 -2.69312174e-04 -5.56463605e-02] [ 1.20022199e-02 4.64410529e-04 9.99927863e-01 -5.31811052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.817719421 meters Centerline goodness : 0.964942 Centerline is valid? [True, True] Translation: X:30.44, Y:-0.06, Z:-0.53 [[ 9.99774781e-01 1.74983541e-02 -1.20081495e-02 3.04353243e+01] [-1.75028661e-02 9.99846776e-01 -2.70746260e-04 -5.76113330e-02] [ 1.20015720e-02 4.80862316e-04 9.99927863e-01 -5.32490843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.847719421 meters Centerline goodness : 0.965463 Centerline is valid? [True, True] Translation: X:30.46, Y:-0.06, Z:-0.53 [[ 9.99793387e-01 1.64008338e-02 -1.20081280e-02 3.04635656e+01] [-1.64052781e-02 9.99865387e-01 -2.71695399e-04 -6.38139361e-02] [ 1.20020555e-02 4.68635943e-04 9.99927863e-01 -5.31092969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.877719421 meters Centerline goodness : 0.967076 Centerline is valid? [True, True] Translation: X:30.49, Y:-0.07, Z:-0.53 [[ 9.99808760e-01 1.54352843e-02 -1.20081013e-02 3.04910790e+01] [-1.54396732e-02 9.99880764e-01 -2.72872487e-04 -6.53476893e-02] [ 1.20024576e-02 4.58221463e-04 9.99927863e-01 -5.29676958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.907719420999996 meters Centerline goodness : 0.969667 Centerline is valid? [True, True] Translation: X:30.52, Y:-0.07, Z:-0.53 [[ 9.99863526e-01 1.13462104e-02 -1.20080748e-02 3.05194454e+01] [-1.13503188e-02 9.99935546e-01 -2.74033916e-04 -7.09010890e-02] [ 1.20041916e-02 4.10291994e-04 9.99927863e-01 -5.25304971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.937719421 meters Centerline goodness : 0.967600 Centerline is valid? [True, True] Translation: X:30.55, Y:-0.08, Z:-0.53 [[ 9.99892688e-01 8.39167536e-03 -1.20080463e-02 3.05471589e+01] [-8.39558576e-03 9.99964719e-01 -2.75275363e-04 -7.63344374e-02] [ 1.20053126e-02 3.76060405e-04 9.99927863e-01 -5.28877334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.967719421 meters Centerline goodness : 0.959744 Centerline is valid? [True, True] Translation: X:30.58, Y:-0.09, Z:-0.54 [[ 9.99922254e-01 3.36068967e-03 -1.20080192e-02 3.05762954e+01] [-3.36425175e-03 9.99994303e-01 -2.76455047e-04 -8.81632273e-02] [ 1.20070217e-02 3.16831553e-04 9.99927863e-01 -5.36032830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.997719421 meters Centerline goodness : 0.958793 Centerline is valid? [True, True] Translation: X:30.61, Y:-0.10, Z:-0.54 [[ 9.99925846e-01 -2.02736953e-03 -1.20080080e-02 3.06057319e+01] [ 2.02418991e-03 9.99997913e-01 -2.76939088e-04 -9.50776396e-02] [ 1.20085444e-02 2.52612063e-04 9.99927863e-01 -5.36136775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.027719421 meters Centerline goodness : 0.960233 Centerline is valid? [True, True] Translation: X:30.63, Y:-0.10, Z:-0.53 [[ 9.99921714e-01 -3.51767782e-03 -1.20079914e-02 3.06348801e+01] [ 3.51459699e-03 9.99993785e-01 -2.77657753e-04 -9.73202927e-02] [ 1.20088935e-02 2.35432766e-04 9.99927863e-01 -5.34212741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.057719421 meters Centerline goodness : 0.964509 Centerline is valid? [True, True] Translation: X:30.66, Y:-0.11, Z:-0.53 [[ 9.99920281e-01 -3.90388987e-03 -1.20079690e-02 3.06643193e+01] [ 3.90082531e-03 9.99992353e-01 -2.78621536e-04 -1.06244918e-01] [ 1.20089649e-02 2.31758335e-04 9.99927863e-01 -5.28263772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.087719420999996 meters Centerline goodness : 0.962415 Centerline is valid? [True, True] Translation: X:30.69, Y:-0.11, Z:-0.53 [[ 9.99922305e-01 -3.34554438e-03 -1.20079517e-02 3.06918084e+01] [ 3.34243063e-03 9.99994375e-01 -2.79366369e-04 -1.12030573e-01] [ 1.20088188e-02 2.39208919e-04 9.99927863e-01 -5.30128725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.117719421 meters Centerline goodness : 0.963709 Centerline is valid? [True, True] Translation: X:30.72, Y:-0.12, Z:-0.53 [[ 9.99923621e-01 -2.92604176e-03 -1.20079173e-02 3.07199229e+01] [ 2.92288012e-03 9.99995689e-01 -2.80837582e-04 -1.21411288e-01] [ 1.20086872e-02 2.45718430e-04 9.99927863e-01 -5.28483283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.147719421 meters Centerline goodness : 0.963795 Centerline is valid? [True, True] Translation: X:30.75, Y:-0.13, Z:-0.53 [[ 9.99915062e-01 -5.06771152e-03 -1.20078278e-02 3.07490474e+01] [ 5.06465892e-03 9.99987134e-01 -2.84613033e-04 -1.26935594e-01] [ 1.20091156e-02 2.23773306e-04 9.99927863e-01 -5.26708064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.177719421 meters Centerline goodness : 0.959764 Centerline is valid? [True, True] Translation: X:30.78, Y:-0.13, Z:-0.53 [[ 9.99905799e-01 -6.64867525e-03 -1.20078046e-02 3.07772162e+01] [ 6.64572488e-03 9.99977876e-01 -2.85589123e-04 -1.29958314e-01] [ 1.20094377e-02 2.05761655e-04 9.99927863e-01 -5.30018168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.207719421 meters Centerline goodness : 0.960763 Centerline is valid? [True, True] Translation: X:30.81, Y:-0.13, Z:-0.53 [[ 9.99875494e-01 -1.02376555e-02 -1.20077757e-02 3.08065154e+01] [ 1.02349493e-02 9.99947580e-01 -2.86799365e-04 -1.32895172e-01] [ 1.20100824e-02 1.63864682e-04 9.99927863e-01 -5.28498231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.237719421 meters Centerline goodness : 0.956862 Centerline is valid? [True, True] Translation: X:30.83, Y:-0.14, Z:-0.53 [[ 9.99777334e-01 -1.73521620e-02 -1.20077003e-02 3.08334667e+01] [ 1.73499314e-02 9.99849437e-01 -2.89919217e-04 -1.41473766e-01] [ 1.20109231e-02 8.15218851e-05 9.99927863e-01 -5.32752414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.267719420999995 meters Centerline goodness : 0.960422 Centerline is valid? [True, True] Translation: X:30.86, Y:-0.14, Z:-0.53 [[ 9.99686485e-01 -2.19715353e-02 -1.20076600e-02 3.08625100e+01] [ 2.19696179e-02 9.99758596e-01 -2.91579296e-04 -1.42807313e-01] [ 1.20111678e-02 2.76841795e-05 9.99927863e-01 -5.27673761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.297719421 meters Centerline goodness : 0.962788 Centerline is valid? [True, True] Translation: X:30.89, Y:-0.14, Z:-0.52 [[ 9.99482807e-01 -2.98318101e-02 -1.20075806e-02 3.08911752e+01] [ 2.98304210e-02 9.99554930e-01 -2.94812772e-04 -1.43466732e-01] [ 1.20110312e-02 -6.35308880e-05 9.99927863e-01 -5.23278271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.327719421 meters Centerline goodness : 0.963781 Centerline is valid? [True, True] Translation: X:30.92, Y:-0.14, Z:-0.52 [[ 9.99368787e-01 -3.34342424e-02 -1.20074978e-02 3.09197624e+01] [ 3.34330731e-02 9.99440914e-01 -2.98150018e-04 -1.43964729e-01] [ 1.20107530e-02 -1.03485730e-04 9.99927863e-01 -5.21894933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.357719421 meters Centerline goodness : 0.964209 Centerline is valid? [True, True] Translation: X:30.95, Y:-0.15, Z:-0.52 [[ 9.99251205e-01 -3.67811174e-02 -1.20074144e-02 3.09475844e+01] [ 3.67801498e-02 9.99323336e-01 -3.01469636e-04 -1.46222693e-01] [ 1.20103778e-02 -1.40390604e-04 9.99927863e-01 -5.21572726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.387719421 meters Centerline goodness : 0.969352 Centerline is valid? [True, True] Translation: X:30.98, Y:-0.15, Z:-0.52 [[ 9.99116662e-01 -4.02705724e-02 -1.20073849e-02 3.09760087e+01] [ 4.02698427e-02 9.99188795e-01 -3.02643138e-04 -1.48202397e-01] [ 1.20098320e-02 -1.81159697e-04 9.99927863e-01 -5.16989161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.417719421 meters Centerline goodness : 0.966618 Centerline is valid? [True, True] Translation: X:31.01, Y:-0.15, Z:-0.52 [[ 9.99058705e-01 -4.16836845e-02 -1.20072996e-02 3.10053843e+01] [ 4.16830165e-02 9.99130839e-01 -3.05988796e-04 -1.46836443e-01] [ 1.20096180e-02 -1.94799697e-04 9.99927863e-01 -5.18986537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.447719420999995 meters Centerline goodness : 0.960606 Centerline is valid? [True, True] Translation: X:31.03, Y:-0.14, Z:-0.52 [[ 9.98951463e-01 -4.41792004e-02 -1.20072200e-02 3.10343342e+01] [ 4.41786755e-02 9.99023598e-01 -3.09080203e-04 -1.44103914e-01] [ 1.20091511e-02 -2.21706956e-04 9.99927863e-01 -5.23203845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.477719420999996 meters Centerline goodness : 0.959443 Centerline is valid? [True, True] Translation: X:31.06, Y:-0.14, Z:-0.52 [[ 9.98874727e-01 -4.58814522e-02 -1.20071956e-02 3.10635652e+01] [ 4.58810389e-02 9.98946863e-01 -3.10024551e-04 -1.43538539e-01] [ 1.20087748e-02 -2.41226921e-04 9.99927863e-01 -5.24670186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.507719421 meters Centerline goodness : 0.961912 Centerline is valid? [True, True] Translation: X:31.09, Y:-0.15, Z:-0.52 [[ 9.98779048e-01 -4.79191234e-02 -1.20071100e-02 3.10916234e+01] [ 4.79188178e-02 9.98851184e-01 -3.13306121e-04 -1.45240697e-01] [ 1.20083294e-02 -2.62442928e-04 9.99927863e-01 -5.21554016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.537719421 meters Centerline goodness : 0.969126 Centerline is valid? [True, True] Translation: X:31.12, Y:-0.14, Z:-0.51 [[ 9.98796219e-01 -4.75598971e-02 -1.20070622e-02 3.11210401e+01] [ 4.75595437e-02 9.98868355e-01 -3.15126488e-04 -1.44400750e-01] [ 1.20084619e-02 -2.56303256e-04 9.99927863e-01 -5.11944302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.567719421 meters Centerline goodness : 0.972158 Centerline is valid? [True, True] Translation: X:31.15, Y:-0.14, Z:-0.51 [[ 9.99017835e-01 -4.26520256e-02 -1.20070491e-02 3.11500158e+01] [ 4.26513118e-02 9.99089969e-01 -3.15625321e-04 -1.38655305e-01] [ 1.20095844e-02 -1.96801071e-04 9.99927863e-01 -5.07607260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.597719421 meters Centerline goodness : 0.969262 Centerline is valid? [True, True] Translation: X:31.18, Y:-0.13, Z:-0.51 [[ 9.99239531e-01 -3.70970765e-02 -1.20069558e-02 3.11784652e+01] [ 3.70959195e-02 9.99311659e-01 -3.19136371e-04 -1.34533953e-01] [ 1.20105299e-02 -1.26515388e-04 9.99927863e-01 -5.09799728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.627719420999995 meters Centerline goodness : 0.964409 Centerline is valid? [True, True] Translation: X:31.21, Y:-0.13, Z:-0.52 [[ 9.99656886e-01 -2.32797255e-02 -1.20068622e-02 3.12076810e+01] [ 2.32775296e-02 9.99728990e-01 -3.22621430e-04 -1.28520524e-01] [ 1.20111187e-02 4.30206455e-05 9.99927863e-01 -5.15801445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.657719420999996 meters Centerline goodness : 0.960394 Centerline is valid? [True, True] Translation: X:31.24, Y:-0.13, Z:-0.52 [[ 9.99779208e-01 -1.72444161e-02 -1.20068489e-02 3.12368653e+01] [ 1.72417791e-02 9.99851297e-01 -3.23114774e-04 -1.25200170e-01] [ 1.20106354e-02 1.16023998e-04 9.99927863e-01 -5.17027561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.687719421 meters Centerline goodness : 0.952697 Centerline is valid? [True, True] Translation: X:31.26, Y:-0.12, Z:-0.53 [[ 9.99904203e-01 -6.88636272e-03 -1.20067615e-02 3.12646561e+01] [ 6.88294044e-03 9.99976259e-01 -3.26329148e-04 -1.19024969e-01] [ 1.20087237e-02 2.43656062e-04 9.99927863e-01 -5.28180719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.717719421 meters Centerline goodness : 0.956502 Centerline is valid? [True, True] Translation: X:31.29, Y:-0.12, Z:-0.52 [[ 9.99921904e-01 -3.46761114e-03 -1.20067282e-02 3.12936759e+01] [ 3.46392784e-03 9.99993947e-01 -3.27551883e-04 -1.15855367e-01] [ 1.20077913e-02 2.85935863e-04 9.99927863e-01 -5.22259174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.747719421 meters Centerline goodness : 0.956215 Centerline is valid? [True, True] Translation: X:31.32, Y:-0.11, Z:-0.52 [[ 9.99927336e-01 1.07861516e-03 -1.20066340e-02 3.13213814e+01] [-1.08266696e-03 9.99999359e-01 -3.30968359e-04 -1.14029524e-01] [ 1.20062693e-02 3.43943495e-04 9.99927863e-01 -5.22055497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.777719421 meters Centerline goodness : 0.957331 Centerline is valid? [True, True] Translation: X:31.35, Y:-0.11, Z:-0.52 [[ 9.99926133e-01 1.88968156e-03 -1.20065811e-02 3.13490986e+01] [-1.89381466e-03 9.99998151e-01 -3.32875965e-04 -1.14085803e-01] [ 1.20059299e-02 3.55589615e-04 9.99927863e-01 -5.21308121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.807719421 meters Centerline goodness : 0.957636 Centerline is valid? [True, True] Translation: X:31.38, Y:-0.12, Z:-0.52 [[ 9.99920502e-01 3.85122736e-03 -1.20065409e-02 3.13784850e+01] [-3.85551905e-03 9.99992512e-01 -3.34320006e-04 -1.15411262e-01] [ 1.20051634e-02 3.80584876e-04 9.99927863e-01 -5.20078847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.837719420999996 meters Centerline goodness : 0.952687 Centerline is valid? [True, True] Translation: X:31.41, Y:-0.12, Z:-0.53 [[ 9.99912281e-01 5.59251143e-03 -1.20064500e-02 3.14062001e+01] [-5.59696729e-03 9.99984280e-01 -3.37552278e-04 -1.17611826e-01] [ 1.20043735e-02 4.04722376e-04 9.99927863e-01 -5.25571871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.867719421 meters Centerline goodness : 0.950422 Centerline is valid? [True, True] Translation: X:31.44, Y:-0.12, Z:-0.52 [[ 9.99914586e-01 5.16395948e-03 -1.20064154e-02 3.14355591e+01] [-5.16839917e-03 9.99986586e-01 -3.38778066e-04 -1.18857471e-01] [ 1.20045049e-02 4.00803077e-04 9.99927863e-01 -5.24543822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.897719421 meters Centerline goodness : 0.950566 Centerline is valid? [True, True] Translation: X:31.46, Y:-0.12, Z:-0.53 [[ 9.99920823e-01 3.76760845e-03 -1.20063948e-02 3.14649353e+01] [-3.77195634e-03 9.99992829e-01 -3.39506630e-04 -1.20266611e-01] [ 1.20050296e-02 3.84767345e-04 9.99927863e-01 -5.25116184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.927719421 meters Centerline goodness : 0.950240 Centerline is valid? [True, True] Translation: X:31.49, Y:-0.13, Z:-0.52 [[ 9.99926789e-01 -1.50431124e-03 -1.20063675e-02 3.14938006e+01] [ 1.50033148e-03 9.99998817e-01 -3.40470630e-04 -1.26019399e-01] [ 1.20068654e-02 3.22432173e-04 9.99927863e-01 -5.23873863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.957719421 meters Centerline goodness : 0.948141 Centerline is valid? [True, False] Translation: X:31.49, Y:-0.13, Z:-0.52 [[ 9.99914143e-01 -4.78160757e-03 -1.22001187e-02 3.14942567e+01] [ 4.74650767e-03 9.99984518e-01 -2.90434816e-03 -1.29724698e-01] [ 1.22138173e-02 2.84619085e-03 9.99921358e-01 -5.23829113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.987719421 meters Centerline goodness : 0.949861 Centerline is valid? [False, False] Translation: X:31.52, Y:-0.14, Z:-0.53 [[ 9.99860989e-01 -1.33508627e-02 -9.98789429e-03 3.15172655e+01] [ 1.33960455e-02 9.99900275e-01 4.47061116e-03 -1.37783519e-01] [ 9.92721173e-03 -4.60378798e-03 9.99940126e-01 -5.26502162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.017719420999995 meters Centerline goodness : 0.952298 Centerline is valid? [False, True] Translation: X:31.52, Y:-0.14, Z:-0.53 [[ 9.99803813e-01 -1.70806731e-02 -1.00292373e-02 3.15178365e+01] [ 1.70960703e-02 9.99852798e-01 1.45150322e-03 -1.40318351e-01] [ 1.00029683e-02 -1.62267900e-03 9.99948652e-01 -5.26783856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.047719421 meters Centerline goodness : 0.952811 Centerline is valid? [True, True] Translation: X:31.55, Y:-0.15, Z:-0.53 [[ 9.99573530e-01 -2.74448012e-02 -9.97699955e-03 3.15460010e+01] [ 2.74431940e-02 9.99623320e-01 -2.97988466e-04 -1.46191246e-01] [ 9.98141965e-03 2.40606484e-05 9.99950184e-01 -5.26235520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.077719421 meters Centerline goodness : 0.951313 Centerline is valid? [True, True] Translation: X:31.57, Y:-0.15, Z:-0.53 [[ 9.99194828e-01 -3.88607262e-02 -9.97695550e-03 3.15740208e+01] [ 3.88596731e-02 9.99244633e-01 -2.99455925e-04 -1.53696035e-01] [ 9.98105631e-03 -8.84864183e-05 9.99950184e-01 -5.25534683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.107719421 meters Centerline goodness : 0.951595 Centerline is valid? [True, True] Translation: X:31.60, Y:-0.15, Z:-0.53 [[ 9.99013648e-01 -4.32688279e-02 -9.97692676e-03 3.16020152e+01] [ 4.32679851e-02 9.99063457e-01 -3.00410465e-04 -1.54842075e-01] [ 9.98058135e-03 -1.31567364e-04 9.99950184e-01 -5.25103974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.137719421 meters Centerline goodness : 0.956201 Centerline is valid? [True, True] Translation: X:31.63, Y:-0.16, Z:-0.52 [[ 9.98879241e-01 -4.62679731e-02 -9.97683452e-03 3.16303536e+01] [ 4.62672495e-02 9.98929051e-01 -3.03443383e-04 -1.56161946e-01] [ 9.98018955e-03 -1.58497396e-04 9.99950184e-01 -5.17154093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.167719421 meters Centerline goodness : 0.951916 Centerline is valid? [True, True] Translation: X:31.66, Y:-0.16, Z:-0.52 [[ 9.98917828e-01 -4.54272839e-02 -9.97674366e-03 3.16583885e+01] [ 4.54264888e-02 9.98967637e-01 -3.06401617e-04 -1.55560496e-01] [ 9.98036304e-03 -1.47138397e-04 9.99950184e-01 -5.23965100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.197719420999995 meters Centerline goodness : 0.950588 Centerline is valid? [True, True] Translation: X:31.69, Y:-0.15, Z:-0.52 [[ 9.99095311e-01 -4.13403597e-02 -9.97671152e-03 3.16865590e+01] [ 4.13393505e-02 9.99145116e-01 -3.07444687e-04 -1.52553294e-01] [ 9.98089247e-03 -1.05264229e-04 9.99950184e-01 -5.24162504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.227719420999996 meters Centerline goodness : 0.948930 Centerline is valid? [True, False] Translation: X:31.70, Y:-0.15, Z:-0.53 [[ 9.99209934e-01 -3.91935310e-02 -6.58590757e-03 3.16965696e+01] [ 3.91312956e-02 9.99190547e-01 -9.32693745e-03 -1.48643791e-01] [ 6.94613220e-03 9.06185346e-03 9.99934815e-01 -5.25970938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.257719421 meters Centerline goodness : 0.953659 Centerline is valid? [False, True] Translation: X:31.70, Y:-0.15, Z:-0.53 [[ 9.99293127e-01 -3.75582405e-02 -1.61998320e-03 3.17024435e+01] [ 3.75196203e-02 9.99105941e-01 -1.94832362e-02 -1.45235467e-01] [ 2.35029091e-03 1.94086828e-02 9.99808871e-01 -5.25082483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.287719421 meters Centerline goodness : 0.953659 Centerline is valid? [True, True] Translation: X:31.73, Y:-0.15, Z:-0.52 [[ 9.99282389e-01 -3.78106067e-02 -2.25055650e-03 3.17311075e+01] [ 3.78105381e-02 9.99284923e-01 -7.30639883e-05 -1.50839061e-01] [ 2.25170977e-03 -1.20831953e-05 9.99997465e-01 -5.24855480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.317719421 meters Centerline goodness : 0.957481 Centerline is valid? [True, True] Translation: X:31.76, Y:-0.15, Z:-0.52 [[ 9.99230557e-01 -3.91564562e-02 -2.25053511e-03 3.17594501e+01] [ 3.91563895e-02 9.99233092e-01 -7.37170044e-05 -1.51596912e-01] [ 2.25169565e-03 -1.44625458e-05 9.99997465e-01 -5.20090994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.347719421 meters Centerline goodness : 0.957520 Centerline is valid? [True, True] Translation: X:31.79, Y:-0.15, Z:-0.52 [[ 9.99227496e-01 -3.92345160e-02 -2.25052867e-03 3.17877531e+01] [ 3.92344491e-02 9.99230030e-01 -7.39128772e-05 -1.50276925e-01] [ 2.25169577e-03 -1.44424734e-05 9.99997465e-01 -5.20671674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.377719420999995 meters Centerline goodness : 0.954473 Centerline is valid? [True, True] Translation: X:31.82, Y:-0.15, Z:-0.52 [[ 9.99251728e-01 -3.86124256e-02 -2.25052205e-03 3.18153335e+01] [ 3.86123566e-02 9.99254262e-01 -7.41138985e-05 -1.45695665e-01] [ 2.25170547e-03 -1.28395189e-05 9.99997465e-01 -5.23441179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.407719420999996 meters Centerline goodness : 0.953232 Centerline is valid? [True, True] Translation: X:31.84, Y:-0.14, Z:-0.52 [[ 9.99260562e-01 -3.83831163e-02 -2.25051545e-03 3.18446415e+01] [ 3.83830463e-02 9.99263097e-01 -7.43139115e-05 -1.43370780e-01] [ 2.25170944e-03 -1.21226775e-05 9.99997465e-01 -5.24990149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.437719421 meters Centerline goodness : 0.951662 Centerline is valid? [True, True] Translation: X:31.87, Y:-0.14, Z:-0.53 [[ 9.99296353e-01 -3.74397474e-02 -2.25050555e-03 3.18720760e+01] [ 3.74396743e-02 9.99298887e-01 -7.46124500e-05 -1.38658550e-01] [ 2.25172116e-03 -9.69824566e-06 9.99997465e-01 -5.26255686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.467719421 meters Centerline goodness : 0.950007 Centerline is valid? [True, True] Translation: X:31.90, Y:-0.14, Z:-0.53 [[ 9.99376957e-01 -3.52226250e-02 -2.25049907e-03 3.18998308e+01] [ 3.52225459e-02 9.99379491e-01 -7.48075295e-05 -1.36196315e-01] [ 2.25173753e-03 -4.50738545e-06 9.99997465e-01 -5.26785790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.497719421 meters Centerline goodness : 0.953622 Centerline is valid? [True, True] Translation: X:31.93, Y:-0.13, Z:-0.52 [[ 9.99654551e-01 -2.61861336e-02 -2.25049265e-03 3.19285649e+01] [ 2.61860311e-02 9.99657084e-01 -7.50001361e-05 -1.33705544e-01] [ 2.25168488e-03 1.60427570e-05 9.99997465e-01 -5.21832468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.527719421 meters Centerline goodness : 0.965181 Centerline is valid? [True, True] Translation: X:31.96, Y:-0.13, Z:-0.51 [[ 9.99781284e-01 -2.07923064e-02 -2.25048672e-03 3.19581675e+01] [ 2.07921899e-02 9.99783816e-01 -7.51775225e-05 -1.31446721e-01] [ 2.25156332e-03 2.83685327e-05 9.99997465e-01 -5.07761103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.557719421 meters Centerline goodness : 0.965330 Centerline is valid? [True, True] Translation: X:31.99, Y:-0.13, Z:-0.51 [[ 9.99931905e-01 -1.14507514e-02 -2.25048357e-03 3.19866511e+01] [ 1.14506110e-02 9.99934437e-01 -7.52717135e-05 -1.25835476e-01] [ 2.25119794e-03 4.94971759e-05 9.99997465e-01 -5.09343001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.587719420999996 meters Centerline goodness : 0.965467 Centerline is valid? [True, True] Translation: X:32.02, Y:-0.12, Z:-0.51 [[ 9.99957081e-01 -8.98725438e-03 -2.25047889e-03 3.20163387e+01] [ 8.98710741e-03 9.99959612e-01 -7.54114499e-05 -1.21655860e-01] [ 2.25106574e-03 5.51829178e-05 9.99997465e-01 -5.08956107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.617719421 meters Centerline goodness : 0.965584 Centerline is valid? [True, True] Translation: X:32.05, Y:-0.12, Z:-0.51 [[ 9.99991413e-01 -3.47994664e-03 -2.25047570e-03 3.20457327e+01] [ 3.47978552e-03 9.99993943e-01 -7.55066116e-05 -1.18697703e-01] [ 2.25072482e-03 6.76747905e-05 9.99997465e-01 -5.10474201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.647719421 meters Centerline goodness : 0.966771 Centerline is valid? [True, True] Translation: X:32.08, Y:-0.12, Z:-0.51 [[ 9.99996975e-01 -9.92331660e-04 -2.25047252e-03 3.20757740e+01] [ 9.92164031e-04 9.99999505e-01 -7.56012674e-05 -1.18707948e-01] [ 2.25054642e-03 7.33682008e-05 9.99997465e-01 -5.08386340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.677719421 meters Centerline goodness : 0.964385 Centerline is valid? [True, True] Translation: X:32.11, Y:-0.12, Z:-0.51 [[ 9.99997176e-01 7.63716001e-04 -2.25046922e-03 3.21051842e+01] [-7.63888292e-04 9.99999705e-01 -7.56991659e-05 -1.20991432e-01] [ 2.25041075e-03 7.74180593e-05 9.99997465e-01 -5.10585570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.707719421 meters Centerline goodness : 0.962739 Centerline is valid? [True, True] Translation: X:32.14, Y:-0.12, Z:-0.51 [[ 9.99995112e-01 2.17067291e-03 -2.25046761e-03 3.21350439e+01] [-2.17084886e-03 9.99997641e-01 -7.57471874e-05 -1.22374115e-01] [ 2.25029788e-03 8.06322422e-05 9.99997465e-01 -5.13333737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.737719421 meters Centerline goodness : 0.962830 Centerline is valid? [True, True] Translation: X:32.17, Y:-0.12, Z:-0.51 [[ 9.99992930e-01 3.01237070e-03 -2.25046915e-03 3.21650185e+01] [-3.01254869e-03 9.99995459e-01 -7.57012925e-05 -1.21996428e-01] [ 2.25023089e-03 8.24804052e-05 9.99997465e-01 -5.12816804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.767719420999995 meters Centerline goodness : 0.955902 Centerline is valid? [True, True] Translation: X:32.19, Y:-0.12, Z:-0.52 [[ 9.99979202e-01 6.04407739e-03 -2.25046590e-03 3.21942491e+01] [-6.04426325e-03 9.99981730e-01 -7.57979066e-05 -1.20929288e-01] [ 2.24996665e-03 8.93987385e-05 9.99997465e-01 -5.18907020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.797719421 meters Centerline goodness : 0.953293 Centerline is valid? [True, True] Translation: X:32.22, Y:-0.12, Z:-0.52 [[ 9.99976232e-01 6.51700107e-03 -2.25046267e-03 3.22236567e+01] [-6.51718835e-03 9.99978760e-01 -7.58935312e-05 -1.21252777e-01] [ 2.24992027e-03 9.05584164e-05 9.99997465e-01 -5.21113633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.827719421 meters Centerline goodness : 0.955685 Centerline is valid? [True, True] Translation: X:32.25, Y:-0.13, Z:-0.52 [[ 9.99993453e-01 2.83373764e-03 -2.25045949e-03 3.22538076e+01] [-2.83391581e-03 9.99995982e-01 -7.59878720e-05 -1.27658433e-01] [ 2.25023511e-03 8.23649872e-05 9.99997465e-01 -5.19752180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.857719421 meters Centerline goodness : 0.958719 Centerline is valid? [True, True] Translation: X:32.28, Y:-0.13, Z:-0.51 [[ 9.99997151e-01 -7.95835884e-04 -2.25045631e-03 3.22835816e+01] [ 7.95666677e-04 9.99999681e-01 -7.60818652e-05 -1.31128096e-01] [ 2.25051614e-03 7.42910353e-05 9.99997465e-01 -5.13859938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.887719421 meters Centerline goodness : 0.958980 Centerline is valid? [True, True] Translation: X:32.31, Y:-0.14, Z:-0.51 [[ 9.99955016e-01 -9.21423414e-03 -2.25045290e-03 3.23130707e+01] [ 9.21408601e-03 9.99957547e-01 -7.61825559e-05 -1.35512471e-01] [ 2.25105932e-03 5.54432623e-05 9.99997465e-01 -5.14172647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.917719421 meters Centerline goodness : 0.959475 Centerline is valid? [True, True] Translation: X:32.34, Y:-0.14, Z:-0.51 [[ 9.99903429e-01 -1.37137705e-02 -2.25045121e-03 3.23423294e+01] [ 1.37136336e-02 9.99905961e-01 -7.62323894e-05 -1.36072528e-01] [ 2.25128501e-03 4.53631641e-05 9.99997465e-01 -5.13507338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.947719420999995 meters Centerline goodness : 0.958582 Centerline is valid? [True, True] Translation: X:32.37, Y:-0.14, Z:-0.52 [[ 9.99766311e-01 -2.15002190e-02 -2.25044622e-03 3.23716077e+01] [ 2.15001015e-02 9.99768843e-01 -7.63794201e-05 -1.40322744e-01] [ 2.25156819e-03 2.79767487e-05 9.99997465e-01 -5.17212641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.977719420999996 meters Centerline goodness : 0.961600 Centerline is valid? [True, True] Translation: X:32.40, Y:-0.14, Z:-0.51 [[ 9.99681376e-01 -2.51412324e-02 -2.25044127e-03 3.24004850e+01] [ 2.51411238e-02 9.99683909e-01 -7.65250712e-05 -1.41126486e-01] [ 2.25165386e-03 1.99220658e-05 9.99997465e-01 -5.12325498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.007719421 meters Centerline goodness : 0.962183 Centerline is valid? [True, True] Translation: X:32.43, Y:-0.14, Z:-0.51 [[ 9.99506576e-01 -3.13295390e-02 -2.25041739e-03 3.24289349e+01] [ 3.13294445e-02 9.99509109e-01 -7.72208343e-05 -1.37975333e-01] [ 2.25173198e-03 6.67840476e-06 9.99997465e-01 -5.12203199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.037719421 meters Centerline goodness : 0.958905 Centerline is valid? [True, True] Translation: X:32.46, Y:-0.13, Z:-0.52 [[ 9.99392092e-01 -3.47905330e-02 -2.25039326e-03 3.24571573e+01] [ 3.47904458e-02 9.99394626e-01 -7.79177658e-05 -1.34758750e-01] [ 2.25174174e-03 -4.21785789e-07 9.99997465e-01 -5.17868127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.067719421 meters Centerline goodness : 0.960705 Centerline is valid? [True, True] Translation: X:32.49, Y:-0.13, Z:-0.51 [[ 9.99056628e-01 -4.33680660e-02 -2.25038037e-03 3.24860069e+01] [ 4.33679997e-02 9.99059163e-01 -7.82884423e-05 -1.32783326e-01] [ 2.25165834e-03 -1.93799079e-05 9.99997465e-01 -5.12495122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.097719421 meters Centerline goodness : 0.959087 Centerline is valid? [True, True] Translation: X:32.51, Y:-0.13, Z:-0.51 [[ 9.98847264e-01 -4.79487059e-02 -2.25035600e-03 3.25144638e+01] [ 4.79486497e-02 9.98849799e-01 -7.89826275e-05 -1.31678130e-01] [ 2.25155476e-03 -2.90099503e-05 9.99997465e-01 -5.13220489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.127719420999995 meters Centerline goodness : 0.964062 Centerline is valid? [True, True] Translation: X:32.54, Y:-0.13, Z:-0.51 [[ 9.98363079e-01 -5.71497859e-02 -2.25033161e-03 3.25431144e+01] [ 5.71497514e-02 9.98365614e-01 -7.96715822e-05 -1.26648215e-01] [ 2.25120692e-03 -4.90647261e-05 9.99997465e-01 -5.08848819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.157719420999996 meters Centerline goodness : 0.968410 Centerline is valid? [True, True] Translation: X:32.57, Y:-0.12, Z:-0.51 [[ 9.97580034e-01 -6.94910978e-02 -2.25032410e-03 3.25701156e+01] [ 6.94910942e-02 9.97582569e-01 -7.98833336e-05 -1.18525574e-01] [ 2.25043527e-03 -7.66874650e-05 9.99997465e-01 -5.06159785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.187719421 meters Centerline goodness : 0.966393 Centerline is valid? [True, True] Translation: X:32.60, Y:-0.12, Z:-0.51 [[ 9.97117153e-01 -7.58440425e-02 -2.25030854e-03 3.25991159e+01] [ 7.58440541e-02 9.97119688e-01 -8.03191164e-05 -1.15484018e-01] [ 2.24991868e-03 -9.05849540e-05 9.99997465e-01 -5.06670364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.217719421 meters Centerline goodness : 0.969676 Centerline is valid? [True, True] Translation: X:32.63, Y:-0.11, Z:-0.50 [[ 9.96233265e-01 -8.66845872e-02 -2.25028564e-03 3.26272017e+01] [ 8.66846249e-02 9.96235800e-01 -8.09555989e-05 -1.12335589e-01] [ 2.24883272e-03 -1.14414506e-04 9.99997465e-01 -5.02912859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.247719421 meters Centerline goodness : 0.971280 Centerline is valid? [True, True] Translation: X:32.65, Y:-0.11, Z:-0.50 [[ 9.96003306e-01 -8.92880185e-02 -2.25025627e-03 3.26548992e+01] [ 8.92880610e-02 9.96005841e-01 -8.17640171e-05 -1.09253908e-01] [ 2.24856893e-03 -1.19483788e-04 9.99997465e-01 -5.01257161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.277719421 meters Centerline goodness : 0.971518 Centerline is valid? [True, True] Translation: X:32.68, Y:-0.10, Z:-0.50 [[ 9.95964429e-01 -8.97206395e-02 -2.25024722e-03 3.26832864e+01] [ 8.97206826e-02 9.95966964e-01 -8.20123312e-05 -9.74031195e-02] [ 2.24853009e-03 -1.20212352e-04 9.99997465e-01 -5.01383700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.307719421 meters Centerline goodness : 0.974097 Centerline is valid? [True, True] Translation: X:32.71, Y:-0.09, Z:-0.50 [[ 9.96133052e-01 -8.78286956e-02 -2.25022198e-03 3.27107791e+01] [ 8.78287323e-02 9.96135587e-01 -8.26991474e-05 -8.91138132e-02] [ 2.24878955e-03 -1.15254790e-04 9.99997465e-01 -4.99144006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.337719420999996 meters Centerline goodness : 0.970062 Centerline is valid? [True, True] Translation: X:32.74, Y:-0.08, Z:-0.50 [[ 9.96847113e-01 -7.93143709e-02 -2.25019153e-03 3.27386543e+01] [ 7.93143841e-02 9.96849648e-01 -8.35194336e-05 -7.67671850e-02] [ 2.24972693e-03 -9.52164490e-05 9.99997465e-01 -5.02350875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.367719421 meters Centerline goodness : 0.964181 Centerline is valid? [True, True] Translation: X:32.77, Y:-0.07, Z:-0.51 [[ 9.97196261e-01 -7.47967488e-02 -2.25016574e-03 3.27662590e+01] [ 7.47967489e-02 9.97198796e-01 -8.42087210e-05 -7.26893008e-02] [ 2.25016110e-03 -8.43324599e-05 9.99997465e-01 -5.09079843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.397719421 meters Centerline goodness : 0.963676 Centerline is valid? [True, True] Translation: X:32.79, Y:-0.07, Z:-0.51 [[ 9.97745296e-01 -6.70765254e-02 -2.25015645e-03 3.27941966e+01] [ 6.70765053e-02 9.97747832e-01 -8.44562214e-05 -6.57532444e-02] [ 2.25075374e-03 -6.66668332e-05 9.99997465e-01 -5.10940782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.427719421 meters Centerline goodness : 0.968715 Centerline is valid? [True, True] Translation: X:32.82, Y:-0.06, Z:-0.51 [[ 9.97940859e-01 -6.41013094e-02 -2.25012757e-03 3.28232450e+01] [ 6.41012801e-02 9.97943394e-01 -8.52185820e-05 -6.06374545e-02] [ 2.25096257e-03 -5.91929529e-05 9.99997465e-01 -5.08415211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.457719421 meters Centerline goodness : 0.972042 Centerline is valid? [True, True] Translation: X:32.85, Y:-0.05, Z:-0.50 [[ 9.98443323e-01 -5.57303160e-02 -2.25010160e-03 3.28526360e+01] [ 5.57302639e-02 9.98445857e-01 -8.58989449e-05 -5.27228004e-02] [ 2.25139180e-03 -3.96335280e-05 9.99997465e-01 -5.03518908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.487719421 meters Centerline goodness : 0.972669 Centerline is valid? [True, True] Translation: X:32.88, Y:-0.05, Z:-0.50 [[ 9.98680405e-01 -5.13067887e-02 -2.25009781e-03 3.28825839e+01] [ 5.13067252e-02 9.98682939e-01 -8.59980821e-05 -4.73175258e-02] [ 2.25154658e-03 -2.95605505e-05 9.99997465e-01 -5.02878147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.517719420999995 meters Centerline goodness : 0.971667 Centerline is valid? [True, True] Translation: X:32.91, Y:-0.04, Z:-0.50 [[ 9.99183740e-01 -4.03334909e-02 -2.25009404e-03 3.29109457e+01] [ 4.03333993e-02 9.99186274e-01 -8.60966703e-05 -3.83880747e-02] [ 2.25173566e-03 -4.72754837e-06 9.99997465e-01 -5.04884596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.547719421 meters Centerline goodness : 0.971215 Centerline is valid? [True, True] Translation: X:32.94, Y:-0.03, Z:-0.51 [[ 9.99390409e-01 -3.48388692e-02 -2.25008718e-03 3.29408850e+01] [ 3.48387633e-02 9.99392942e-01 -8.62755946e-05 -3.46510420e-02] [ 2.25172699e-03 7.83274728e-06 9.99997465e-01 -5.06113589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.577719421 meters Centerline goodness : 0.972069 Centerline is valid? [True, True] Translation: X:32.97, Y:-0.03, Z:-0.51 [[ 9.99670772e-01 -2.55594277e-02 -2.25008718e-03 3.29711902e+01] [ 2.55592983e-02 9.99673304e-01 -8.62755946e-05 -2.84924143e-02] [ 2.25155724e-03 2.87365409e-05 9.99997465e-01 -5.07195205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.607719421 meters Centerline goodness : 0.970476 Centerline is valid? [True, True] Translation: X:33.00, Y:-0.02, Z:-0.51 [[ 9.99813944e-01 -1.91576352e-02 -2.25008718e-03 3.30012898e+01] [ 1.91574895e-02 9.99816475e-01 -8.62755946e-05 -2.11178049e-02] [ 2.25132707e-03 4.31535209e-05 9.99997465e-01 -5.09618141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.637719421 meters Centerline goodness : 0.968966 Centerline is valid? [True, True] Translation: X:33.03, Y:-0.02, Z:-0.51 [[ 9.99836815e-01 -1.79242982e-02 -2.25008718e-03 3.30304309e+01] [ 1.79241494e-02 9.99839346e-01 -8.62755946e-05 -1.79231826e-02] [ 2.25127212e-03 4.59306170e-05 9.99997465e-01 -5.12202230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.667719421 meters Centerline goodness : 0.963507 Centerline is valid? [True, True] Translation: X:33.06, Y:-0.02, Z:-0.52 [[ 9.99851897e-01 -1.70622728e-02 -2.25008536e-03 3.30598120e+01] [ 1.70621217e-02 9.99854428e-01 -8.63229428e-05 -1.95636180e-02] [ 2.25123068e-03 4.79189277e-05 9.99997465e-01 -5.16478223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.697719420999995 meters Centerline goodness : 0.963639 Centerline is valid? [True, True] Translation: X:33.09, Y:-0.02, Z:-0.52 [[ 9.99840887e-01 -1.76957080e-02 -2.25008815e-03 3.30904216e+01] [ 1.76955587e-02 9.99843418e-01 -8.62501826e-05 -2.03118418e-02] [ 2.25126208e-03 4.64198922e-05 9.99997465e-01 -5.17330021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.727719420999996 meters Centerline goodness : 0.964892 Centerline is valid? [True, True] Translation: X:33.12, Y:-0.02, Z:-0.52 [[ 9.99779429e-01 -2.08813568e-02 -2.25008815e-03 3.31209224e+01] [ 2.08812155e-02 9.99781960e-01 -8.62501826e-05 -2.11778307e-02] [ 2.25139856e-03 3.92465826e-05 9.99997465e-01 -5.15955366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.757719421 meters Centerline goodness : 0.965829 Centerline is valid? [True, True] Translation: X:33.15, Y:-0.02, Z:-0.51 [[ 9.99738073e-01 -2.27754805e-02 -2.25008815e-03 3.31510912e+01] [ 2.27753441e-02 9.99740604e-01 -8.62501826e-05 -2.05008805e-02] [ 2.25146888e-03 3.49810595e-05 9.99997465e-01 -5.14357306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.787719421 meters Centerline goodness : 0.966946 Centerline is valid? [True, True] Translation: X:33.18, Y:-0.02, Z:-0.51 [[ 9.99704463e-01 -2.42058521e-02 -2.25008815e-03 3.31803244e+01] [ 2.42057193e-02 9.99706995e-01 -8.62501826e-05 -2.23948032e-02] [ 2.25151662e-03 3.17596904e-05 9.99997465e-01 -5.14620059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.817719421 meters Centerline goodness : 0.963873 Centerline is valid? [True, True] Translation: X:33.21, Y:-0.02, Z:-0.52 [[ 9.99680573e-01 -2.51731637e-02 -2.25008641e-03 3.32110177e+01] [ 2.51730332e-02 9.99683105e-01 -8.62954860e-05 -2.33841167e-02] [ 2.25154570e-03 2.96264210e-05 9.99997465e-01 -5.16792225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.847719421 meters Centerline goodness : 0.964436 Centerline is valid? [True, True] Translation: X:33.24, Y:-0.03, Z:-0.52 [[ 9.99692602e-01 -2.46908733e-02 -2.25008641e-03 3.32416503e+01] [ 2.46907416e-02 9.99695133e-01 -8.62954860e-05 -2.93955282e-02] [ 2.25153115e-03 3.07126567e-05 9.99997465e-01 -5.16582013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.877719420999995 meters Centerline goodness : 0.967150 Centerline is valid? [True, True] Translation: X:33.27, Y:-0.03, Z:-0.51 [[ 9.99643583e-01 -2.66015935e-02 -2.25008641e-03 3.32727187e+01] [ 2.66014666e-02 9.99646115e-01 -8.62954860e-05 -3.41256478e-02] [ 2.25158574e-03 2.64091303e-05 9.99997465e-01 -5.14228737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.907719420999996 meters Centerline goodness : 0.966885 Centerline is valid? [True, True] Translation: X:33.30, Y:-0.03, Z:-0.51 [[ 9.99572512e-01 -2.91501373e-02 -2.25008641e-03 3.33029815e+01] [ 2.91500168e-02 9.99575044e-01 -8.62954860e-05 -3.27433434e-02] [ 2.25164575e-03 2.06685389e-05 9.99997465e-01 -5.13098338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.937719421 meters Centerline goodness : 0.972116 Centerline is valid? [True, True] Translation: X:33.33, Y:-0.03, Z:-0.51 [[ 9.99463345e-01 -3.26796502e-02 -2.25008641e-03 3.33337967e+01] [ 3.26795387e-02 9.99465878e-01 -8.62954860e-05 -3.07238858e-02] [ 2.25170470e-03 1.27173891e-05 9.99997465e-01 -5.05889151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.967719421 meters Centerline goodness : 0.972210 Centerline is valid? [True, True] Translation: X:33.36, Y:-0.03, Z:-0.51 [[ 9.99187973e-01 -4.02284891e-02 -2.25008641e-03 3.33647255e+01] [ 4.02283967e-02 9.99190507e-01 -8.62954860e-05 -3.35011189e-02] [ 2.25173652e-03 -4.29195713e-06 9.99997465e-01 -5.06662350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.997719421 meters Centerline goodness : 0.971025 Centerline is valid? [True, True] Translation: X:33.39, Y:-0.04, Z:-0.51 [[ 9.98742055e-01 -5.00923559e-02 -2.25008641e-03 3.33943898e+01] [ 5.00922886e-02 9.98744590e-01 -8.62954860e-05 -4.01279471e-02] [ 2.25158438e-03 -2.65250469e-05 9.99997465e-01 -5.07210572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.027719421 meters Centerline goodness : 0.973094 Centerline is valid? [True, True] Translation: X:33.42, Y:-0.04, Z:-0.51 [[ 9.98510650e-01 -5.45107302e-02 -2.25008273e-03 3.34231837e+01] [ 5.45106738e-02 9.98513184e-01 -8.63913577e-05 -4.01855872e-02] [ 2.25144653e-03 -3.63908353e-05 9.99997465e-01 -5.07131408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.057719421 meters Centerline goodness : 0.969684 Centerline is valid? [True, True] Translation: X:33.45, Y:-0.04, Z:-0.51 [[ 9.98190130e-01 -6.00949414e-02 -2.25007591e-03 3.34514784e+01] [ 6.00948989e-02 9.98192665e-01 -8.65686091e-05 -3.66744816e-02] [ 2.25121161e-03 -4.88061533e-05 9.99997465e-01 -5.09224370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.087719420999996 meters Centerline goodness : 0.970493 Centerline is valid? [True, True] Translation: X:33.48, Y:-0.03, Z:-0.51 [[ 9.98182936e-01 -6.02143142e-02 -2.25007053e-03 3.34805871e+01] [ 6.02142717e-02 9.98185471e-01 -8.67081675e-05 -3.40644657e-02] [ 2.25120879e-03 -4.89357453e-05 9.99997465e-01 -5.08322213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.117719421 meters Centerline goodness : 0.980073 Centerline is valid? [True, True] Translation: X:33.51, Y:-0.03, Z:-0.50 [[ 9.98403016e-01 -5.64477988e-02 -2.25004796e-03 3.35102682e+01] [ 5.64477454e-02 9.98405551e-01 -8.72899538e-05 -3.11765606e-02] [ 2.25138770e-03 -3.98595815e-05 9.99997465e-01 -4.99564704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.147719421 meters Centerline goodness : 0.980160 Centerline is valid? [True, True] Translation: X:33.54, Y:-0.03, Z:-0.50 [[ 9.98606680e-01 -5.27222618e-02 -2.25004415e-03 3.35397234e+01] [ 5.27221987e-02 9.98609214e-01 -8.73880976e-05 -2.95863515e-02] [ 2.25152212e-03 -3.13609368e-05 9.99997465e-01 -4.99229053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.177719421 meters Centerline goodness : 0.978283 Centerline is valid? [True, True] Translation: X:33.57, Y:-0.03, Z:-0.50 [[ 9.98932090e-01 -4.61477713e-02 -2.25004029e-03 3.35683935e+01] [ 4.61476913e-02 9.98934624e-01 -8.74875278e-05 -2.59374466e-02] [ 2.25168050e-03 -1.64400655e-05 9.99997465e-01 -5.01739002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.207719421 meters Centerline goodness : 0.978283 Centerline is valid? [True, True] Translation: X:33.60, Y:-0.02, Z:-0.50 [[ 9.98930071e-01 -4.61914666e-02 -2.25003453e-03 3.35985134e+01] [ 4.61913864e-02 9.98932604e-01 -8.76352691e-05 -2.47096268e-02] [ 2.25168086e-03 -1.63907091e-05 9.99997465e-01 -5.01671117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.237719421 meters Centerline goodness : 0.977890 Centerline is valid? [True, True] Translation: X:33.63, Y:-0.02, Z:-0.50 [[ 9.99074071e-01 -4.29643807e-02 -2.25003069e-03 3.36275242e+01] [ 4.29642920e-02 9.99076605e-01 -8.77336897e-05 -2.25233455e-02] [ 2.25172245e-03 -9.01852135e-06 9.99997465e-01 -5.02354681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.267719420999995 meters Centerline goodness : 0.969830 Centerline is valid? [True, True] Translation: X:33.66, Y:-0.02, Z:-0.51 [[ 9.99200948e-01 -3.99049310e-02 -2.25002879e-03 3.36565279e+01] [ 3.99048345e-02 9.99203481e-01 -8.77824167e-05 -1.99155219e-02] [ 2.25173955e-03 -2.07475274e-06 9.99997465e-01 -5.08586220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.297719421 meters Centerline goodness : 0.980111 Centerline is valid? [True, True] Translation: X:33.69, Y:-0.02, Z:-0.50 [[ 9.99331072e-01 -3.65013235e-02 -2.25003282e-03 3.36858403e+01] [ 3.65012187e-02 9.99333605e-01 -8.76789767e-05 -1.80070995e-02] [ 2.25173381e-03 5.49138559e-06 9.99997465e-01 -4.97932854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.327719421 meters Centerline goodness : 0.978221 Centerline is valid? [True, True] Translation: X:33.72, Y:-0.02, Z:-0.50 [[ 9.99368757e-01 -3.54545586e-02 -2.25002910e-03 3.37151659e+01] [ 3.54544508e-02 9.99371289e-01 -8.77745713e-05 -1.64849242e-02] [ 2.25172649e-03 7.94561821e-06 9.99997465e-01 -4.98358043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.357719421 meters Centerline goodness : 0.978170 Centerline is valid? [True, True] Translation: X:33.75, Y:-0.01, Z:-0.50 [[ 9.99406262e-01 -3.43810975e-02 -2.25002973e-03 3.37451288e+01] [ 3.43809871e-02 9.99408795e-01 -8.77582367e-05 -1.41877871e-02] [ 2.25171673e-03 1.03478882e-05 9.99997465e-01 -4.98566255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.387719421 meters Centerline goodness : 0.977007 Centerline is valid? [True, True] Translation: X:33.78, Y:-0.01, Z:-0.50 [[ 9.99442701e-01 -3.33050154e-02 -2.25002598e-03 3.37750235e+01] [ 3.33049020e-02 9.99445234e-01 -8.78543590e-05 -1.39418293e-02] [ 2.25170373e-03 1.28685030e-05 9.99997465e-01 -4.99997894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.417719421 meters Centerline goodness : 0.974652 Centerline is valid? [True, True] Translation: X:33.80, Y:-0.01, Z:-0.50 [[ 9.99521130e-01 -3.08617723e-02 -2.25002222e-03 3.38049745e+01] [ 3.08616526e-02 9.99523662e-01 -8.79504210e-05 -1.41768886e-02] [ 2.25166476e-03 1.84689001e-05 9.99997465e-01 -5.02595146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.447719420999995 meters Centerline goodness : 0.975231 Centerline is valid? [True, True] Translation: X:33.84, Y:-0.01, Z:-0.50 [[ 9.99605598e-01 -2.79926187e-02 -2.25001849e-03 3.38350335e+01] [ 2.79924914e-02 9.99608130e-01 -8.80458718e-05 -1.28376223e-02] [ 2.25160141e-03 2.50275230e-05 9.99997465e-01 -5.02138071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.477719420999996 meters Centerline goodness : 0.976935 Centerline is valid? [True, True] Translation: X:33.86, Y:-0.01, Z:-0.50 [[ 9.99767289e-01 -2.14547187e-02 -2.25001478e-03 3.38646114e+01] [ 2.14545747e-02 9.99769820e-01 -8.81405553e-05 -8.17889796e-03] [ 2.25138790e-03 3.98469339e-05 9.99997465e-01 -4.99960215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.507719421 meters Centerline goodness : 0.978067 Centerline is valid? [True, True] Translation: X:33.89, Y:-0.01, Z:-0.50 [[ 9.99853240e-01 -1.69833740e-02 -2.25001105e-03 3.38940275e+01] [ 1.69832185e-02 9.99855771e-01 -8.82355913e-05 -6.43652848e-03] [ 2.25118507e-03 5.00102126e-05 9.99997465e-01 -4.98918901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.537719421 meters Centerline goodness : 0.977022 Centerline is valid? [True, True] Translation: X:33.92, Y:-0.01, Z:-0.50 [[ 9.99956384e-01 -9.06463342e-03 -2.25000920e-03 3.39246882e+01] [ 9.06445770e-03 9.99958913e-01 -8.82829378e-05 -5.34309931e-03] [ 2.25071700e-03 6.78839741e-05 9.99997465e-01 -4.99277031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.567719421 meters Centerline goodness : 0.975349 Centerline is valid? [True, True] Translation: X:33.96, Y:-0.01, Z:-0.50 [[ 9.99978336e-01 -6.18586519e-03 -2.25000920e-03 3.39553782e+01] [ 6.18568219e-03 9.99980865e-01 -8.82829378e-05 -6.27432675e-03] [ 2.25051225e-03 7.43631835e-05 9.99997465e-01 -5.00656027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.597719421 meters Centerline goodness : 0.972525 Centerline is valid? [True, True] Translation: X:33.98, Y:-0.01, Z:-0.50 [[ 9.99996293e-01 -1.53366163e-03 -2.25000920e-03 3.39846237e+01] [ 1.53346687e-03 9.99998820e-01 -8.82829378e-05 -9.71741134e-03] [ 2.25014194e-03 8.48322960e-05 9.99997465e-01 -5.03883250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.627719420999995 meters Centerline goodness : 0.975241 Centerline is valid? [True, True] Translation: X:34.01, Y:-0.01, Z:-0.50 [[ 9.99997390e-01 -3.96253206e-04 -2.25000729e-03 3.40146028e+01] [ 3.96055460e-04 9.99999918e-01 -8.83314543e-05 -1.01471649e-02] [ 2.25004211e-03 8.74400961e-05 9.99997465e-01 -5.00486006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.657719420999996 meters Centerline goodness : 0.977739 Centerline is valid? [True, True] Translation: X:34.04, Y:-0.01, Z:-0.50 [[ 9.99996849e-01 1.11304990e-03 -2.25000649e-03 3.40445534e+01] [-1.11325151e-03 9.99999376e-01 -8.83517539e-05 -1.30185132e-02] [ 2.24990675e-03 9.08562986e-05 9.99997465e-01 -5.00378330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.687719421 meters Centerline goodness : 0.973794 Centerline is valid? [True, True] Translation: X:34.07, Y:-0.02, Z:-0.50 [[ 9.99997156e-01 7.90885229e-04 -2.25000272e-03 3.40740722e+01] [-7.91086236e-04 9.99999683e-01 -8.84477784e-05 -1.68363347e-02] [ 2.24993205e-03 9.02274730e-05 9.99997465e-01 -5.04073585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.717719421 meters Centerline goodness : 0.972872 Centerline is valid? [True, True] Translation: X:34.10, Y:-0.02, Z:-0.50 [[ 9.99996851e-01 -1.11167779e-03 -2.25000085e-03 3.41036929e+01] [ 1.11148149e-03 9.99999378e-01 -8.84953012e-05 -1.91700902e-02] [ 2.25009783e-03 8.59941882e-05 9.99997465e-01 -5.03146296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.747719421 meters Centerline goodness : 0.975794 Centerline is valid? [True, True] Translation: X:34.13, Y:-0.03, Z:-0.50 [[ 9.99968946e-01 -7.55284538e-03 -2.24999719e-03 3.41334677e+01] [ 7.55266515e-03 9.99971474e-01 -8.85882934e-05 -2.81342137e-02] [ 2.25060210e-03 7.15920670e-05 9.99997465e-01 -5.00587858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.777719421 meters Centerline goodness : 0.975740 Centerline is valid? [True, True] Translation: X:34.16, Y:-0.03, Z:-0.50 [[ 9.99930138e-01 -1.16041641e-02 -2.24999337e-03 3.41628662e+01] [ 1.16039939e-02 9.99932667e-01 -8.86851558e-05 -3.24209337e-02] [ 2.25087099e-03 6.25700509e-05 9.99997465e-01 -4.98575133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.807719421 meters Centerline goodness : 0.970881 Centerline is valid? [True, True] Translation: X:34.19, Y:-0.04, Z:-0.50 [[ 9.99809474e-01 -1.93894895e-02 -2.24998939e-03 3.41927572e+01] [ 1.93893388e-02 9.99812005e-01 -8.87861582e-05 -3.97730239e-02] [ 2.25128792e-03 4.51434358e-05 9.99997465e-01 -5.03195594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.837719420999996 meters Centerline goodness : 0.969678 Centerline is valid? [True, True] Translation: X:34.22, Y:-0.04, Z:-0.50 [[ 9.99725355e-01 -2.33270760e-02 -2.24998741e-03 3.42222096e+01] [ 2.33269351e-02 9.99727886e-01 -8.88360983e-05 -4.19375559e-02] [ 2.25144745e-03 3.63263896e-05 9.99997465e-01 -5.02912985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.867719421 meters Centerline goodness : 0.965027 Centerline is valid? [True, True] Translation: X:34.25, Y:-0.05, Z:-0.51 [[ 9.99572576e-01 -2.91479595e-02 -2.24996232e-03 3.42512409e+01] [ 2.91478319e-02 9.99575108e-01 -8.94671944e-05 -4.73083031e-02] [ 2.25161411e-03 2.38474305e-05 9.99997465e-01 -5.07143135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.897719421 meters Centerline goodness : 0.965849 Centerline is valid? [True, True] Translation: X:34.28, Y:-0.05, Z:-0.51 [[ 9.99480401e-01 -3.21537872e-02 -2.24995853e-03 3.42799264e+01] [ 3.21536671e-02 9.99482933e-01 -8.95624293e-05 -4.82064769e-02] [ 2.25167492e-03 1.71714752e-05 9.99997465e-01 -5.06313945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.927719421 meters Centerline goodness : 0.968386 Centerline is valid? [True, True] Translation: X:34.31, Y:-0.05, Z:-0.50 [[ 9.99233988e-01 -3.90688459e-02 -2.24993157e-03 3.43086497e+01] [ 3.90687418e-02 9.99236521e-01 -9.02346022e-05 -5.02986179e-02] [ 2.25173916e-03 2.26348600e-06 9.99997465e-01 -5.02878201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.957719421 meters Centerline goodness : 0.974786 Centerline is valid? [True, True] Translation: X:34.34, Y:-0.05, Z:-0.50 [[ 9.99045080e-01 -4.36333048e-02 -2.24992586e-03 3.43386423e+01] [ 4.36332119e-02 9.99047614e-01 -9.03768649e-05 -5.16063196e-02] [ 2.25172650e-03 -7.88092938e-06 9.99997465e-01 -4.97239666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.987719421 meters Centerline goodness : 0.977935 Centerline is valid? [True, True] Translation: X:34.37, Y:-0.05, Z:-0.49 [[ 9.98470762e-01 -5.52365306e-02 -2.24992203e-03 3.43674347e+01] [ 5.52364670e-02 9.98473297e-01 -9.04720982e-05 -5.36275362e-02] [ 2.25148443e-03 -3.39439988e-05 9.99997465e-01 -4.94822359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.017719420999995 meters Centerline goodness : 0.975419 Centerline is valid? [True, True] Translation: X:34.40, Y:-0.05, Z:-0.50 [[ 9.98128475e-01 -6.11104394e-02 -2.24989471e-03 3.43958221e+01] [ 6.11103891e-02 9.98131009e-01 -9.11464590e-05 -5.33868942e-02] [ 2.25125967e-03 -4.65160649e-05 9.99997465e-01 -4.95785468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.047719421 meters Centerline goodness : 0.978101 Centerline is valid? [True, True] Translation: X:34.42, Y:-0.05, Z:-0.49 [[ 9.97489324e-01 -7.07812629e-02 -2.24986365e-03 3.44246111e+01] [ 7.07812355e-02 9.97491859e-01 -9.19067209e-05 -5.26484088e-02] [ 2.25072595e-03 -6.75721560e-05 9.99997465e-01 -4.93050407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.077719421 meters Centerline goodness : 0.980842 Centerline is valid? [True, True] Translation: X:34.45, Y:-0.05, Z:-0.49 [[ 9.97277747e-01 -7.37023359e-02 -2.24983547e-03 3.44533126e+01] [ 7.37023144e-02 9.97280282e-01 -9.25915231e-05 -5.01063637e-02] [ 2.25054076e-03 -7.34786154e-05 9.99997465e-01 -4.90971233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.107719421 meters Centerline goodness : 0.983032 Centerline is valid? [True, True] Translation: X:34.48, Y:-0.04, Z:-0.49 [[ 9.97085654e-01 -7.62570480e-02 -2.24980731e-03 3.44818282e+01] [ 7.62570314e-02 9.97088189e-01 -9.32706763e-05 -4.39362362e-02] [ 2.25036884e-03 -7.85647735e-05 9.99997465e-01 -4.87930626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.137719421 meters Centerline goodness : 0.983477 Centerline is valid? [True, True] Translation: X:34.51, Y:-0.04, Z:-0.49 [[ 9.96945918e-01 -7.80626316e-02 -2.24979899e-03 3.45093041e+01] [ 7.80626192e-02 9.96948453e-01 -9.34709809e-05 -4.06025357e-02] [ 2.25023021e-03 -8.24396888e-05 9.99997465e-01 -4.86150084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.167719421 meters Centerline goodness : 0.983346 Centerline is valid? [True, True] Translation: X:34.54, Y:-0.04, Z:-0.49 [[ 9.96830607e-01 -7.95215673e-02 -2.24978919e-03 3.45381597e+01] [ 7.95215581e-02 9.96833142e-01 -9.37063025e-05 -3.77321818e-02] [ 2.25011610e-03 -8.54974311e-05 9.99997465e-01 -4.87086341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.197719420999995 meters Centerline goodness : 0.982049 Centerline is valid? [True, True] Translation: X:34.57, Y:-0.03, Z:-0.49 [[ 9.96466922e-01 -8.39560112e-02 -2.24976185e-03 3.45667250e+01] [ 8.39560118e-02 9.96469457e-01 -9.43580600e-05 -3.08725817e-02] [ 2.24974090e-03 -9.48563470e-05 9.99997465e-01 -4.88954020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.227719420999996 meters Centerline goodness : 0.978823 Centerline is valid? [True, True] Translation: X:34.59, Y:-0.03, Z:-0.49 [[ 9.96241234e-01 -8.65929640e-02 -2.24975382e-03 3.45942301e+01] [ 8.65929709e-02 9.96243770e-01 -9.45491629e-05 -2.56548151e-02] [ 2.24949052e-03 -1.00619092e-04 9.99997465e-01 -4.91927969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.257719421 meters Centerline goodness : 0.976821 Centerline is valid? [True, True] Translation: X:34.62, Y:-0.02, Z:-0.49 [[ 9.96064009e-01 -8.86082836e-02 -2.24974390e-03 3.46222027e+01] [ 8.86082951e-02 9.96066544e-01 -9.47847400e-05 -1.96268792e-02] [ 2.24929334e-03 -1.04934303e-04 9.99997465e-01 -4.94177625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.287719421 meters Centerline goodness : 0.979281 Centerline is valid? [True, True] Translation: X:34.65, Y:-0.01, Z:-0.49 [[ 9.95926570e-01 -9.01399291e-02 -2.24973428e-03 3.46508228e+01] [ 9.01399439e-02 9.95929105e-01 -9.50124145e-05 -7.94680595e-03] [ 2.24914026e-03 -1.08165534e-04 9.99997465e-01 -4.90778059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.317719421 meters Centerline goodness : 0.981611 Centerline is valid? [True, True] Translation: X:34.68, Y:0.00, Z:-0.49 [[ 9.95998661e-01 -8.93398314e-02 -2.24970630e-03 3.46788975e+01] [ 8.93398427e-02 9.96001196e-01 -9.56703972e-05 9.79409337e-04] [ 2.24925734e-03 -1.05700819e-04 9.99997465e-01 -4.87653057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.347719421 meters Centerline goodness : 0.982395 Centerline is valid? [True, True] Translation: X:34.71, Y:0.01, Z:-0.49 [[ 9.96095972e-01 -8.82482463e-02 -2.24969626e-03 3.47064773e+01] [ 8.82482542e-02 9.96098507e-01 -9.59058252e-05 6.60339845e-03] [ 2.24938261e-03 -1.03000362e-04 9.99997465e-01 -4.87507153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.377719420999995 meters Centerline goodness : 0.986796 Centerline is valid? [True, True] Translation: X:34.73, Y:0.02, Z:-0.48 [[ 9.96613841e-01 -8.21936120e-02 -2.24968635e-03 3.47348106e+01] [ 8.21936041e-02 9.96616377e-01 -9.61377993e-05 2.18046570e-02] [ 2.24997617e-03 -8.90975676e-05 9.99997465e-01 -4.84584796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.407719420999996 meters Centerline goodness : 0.986072 Centerline is valid? [True, True] Translation: X:34.76, Y:0.03, Z:-0.49 [[ 9.97060094e-01 -7.65905214e-02 -2.24965781e-03 3.47623077e+01] [ 7.65904978e-02 9.97062629e-01 -9.68010608e-05 3.16137000e-02] [ 2.25046377e-03 -7.57859367e-05 9.99997465e-01 -4.85486154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.437719421 meters Centerline goodness : 0.982730 Centerline is valid? [True, True] Translation: X:34.79, Y:0.05, Z:-0.49 [[ 9.98104526e-01 -6.15003582e-02 -2.24964771e-03 3.47907202e+01] [ 6.15002957e-02 9.98107060e-01 -9.70352448e-05 4.72595658e-02] [ 2.25135696e-03 -4.15026822e-05 9.99997465e-01 -4.89808960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.467719421 meters Centerline goodness : 0.983502 Centerline is valid? [True, True] Translation: X:34.82, Y:0.05, Z:-0.49 [[ 9.98502390e-01 -5.46618350e-02 -2.24964168e-03 3.48204371e+01] [ 5.46617548e-02 9.98504924e-01 -9.71749292e-05 5.43423604e-02] [ 2.25159005e-03 -2.59399625e-05 9.99997465e-01 -4.88982964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.497719421 meters Centerline goodness : 0.980421 Centerline is valid? [True, True] Translation: X:34.85, Y:0.07, Z:-0.49 [[ 9.99075931e-01 -4.29211368e-02 -2.24963772e-03 3.48504885e+01] [ 4.29210266e-02 9.99078463e-01 -9.72663632e-05 6.55570713e-02] [ 2.25173938e-03 6.19721890e-07 9.99997465e-01 -4.91234489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.527719421 meters Centerline goodness : 0.983126 Centerline is valid? [True, True] Translation: X:34.88, Y:0.07, Z:-0.49 [[ 9.99260128e-01 -3.83944842e-02 -2.24963772e-03 3.48803209e+01] [ 3.83943625e-02 9.99262660e-01 -9.72663632e-05 7.12043181e-02] [ 2.25171347e-03 1.08209923e-05 9.99997465e-01 -4.90030715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.557719421 meters Centerline goodness : 0.983373 Centerline is valid? [True, True] Translation: X:34.91, Y:0.08, Z:-0.49 [[ 9.99480404e-01 -3.21537243e-02 -2.24963772e-03 3.49103957e+01] [ 3.21535869e-02 9.99482935e-01 -9.72663632e-05 7.63884562e-02] [ 2.25160199e-03 2.48819021e-05 9.99997465e-01 -4.89140448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.587719420999996 meters Centerline goodness : 0.976378 Centerline is valid? [True, True] Translation: X:34.94, Y:0.08, Z:-0.50 [[ 9.99512113e-01 -3.11524574e-02 -2.24963976e-03 3.49397101e+01] [ 3.11523175e-02 9.99514644e-01 -9.72192903e-05 8.09369629e-02] [ 2.25157650e-03 2.70903663e-05 9.99997465e-01 -4.95064725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.617719421 meters Centerline goodness : 0.978396 Centerline is valid? [True, True] Translation: X:34.97, Y:0.08, Z:-0.49 [[ 9.99519794e-01 -3.09050247e-02 -2.24963774e-03 3.49712016e+01] [ 3.09048840e-02 9.99522325e-01 -9.72659996e-05 8.36361696e-02] [ 2.25156915e-03 2.76944985e-05 9.99997465e-01 -4.92934257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.647719421 meters Centerline goodness : 0.978145 Centerline is valid? [True, True] Translation: X:35.00, Y:0.09, Z:-0.49 [[ 9.99541464e-01 -3.01960359e-02 -2.24964186e-03 3.50027106e+01] [ 3.01958937e-02 9.99543995e-01 -9.71705097e-05 8.54750664e-02] [ 2.25155018e-03 2.91960071e-05 9.99997465e-01 -4.94005522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.677719421 meters Centerline goodness : 0.978401 Centerline is valid? [True, True] Translation: X:35.03, Y:0.09, Z:-0.49 [[ 9.99643015e-01 -2.66229628e-02 -2.24964595e-03 3.50326249e+01] [ 2.66228118e-02 9.99645545e-01 -9.70757763e-05 8.55769417e-02] [ 2.25143300e-03 3.71492210e-05 9.99997465e-01 -4.94251147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.707719421 meters Centerline goodness : 0.980155 Centerline is valid? [True, True] Translation: X:35.06, Y:0.09, Z:-0.49 [[ 9.99668611e-01 -2.56438601e-02 -2.24964595e-03 3.50627469e+01] [ 2.56437066e-02 9.99671141e-01 -9.70757763e-05 8.52135122e-02] [ 2.25139553e-03 3.93543457e-05 9.99997465e-01 -4.92222267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.737719421 meters Centerline goodness : 0.978681 Centerline is valid? [True, True] Translation: X:35.09, Y:0.08, Z:-0.49 [[ 9.99660544e-01 -2.59564185e-02 -2.24964595e-03 3.50931197e+01] [ 2.59562657e-02 9.99663075e-01 -9.70757763e-05 8.18889695e-02] [ 2.25140773e-03 3.86504153e-05 9.99997465e-01 -4.92782516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.767719420999995 meters Centerline goodness : 0.978653 Centerline is valid? [True, True] Translation: X:35.12, Y:0.08, Z:-0.49 [[ 9.99583257e-01 -2.87793482e-02 -2.24964801e-03 3.51232324e+01] [ 2.87792027e-02 9.99585788e-01 -9.70280696e-05 7.90777162e-02] [ 2.25150858e-03 3.22445578e-05 9.99997465e-01 -4.92695829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.797719421 meters Centerline goodness : 0.978809 Centerline is valid? [True, True] Translation: X:35.15, Y:0.08, Z:-0.49 [[ 9.99507764e-01 -3.12916849e-02 -2.24964605e-03 3.51540844e+01] [ 3.12915456e-02 9.99510295e-01 -9.70734339e-05 7.86384172e-02] [ 2.25158198e-03 2.66307488e-05 9.99997465e-01 -4.93117268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.827719421 meters Centerline goodness : 0.976025 Centerline is valid? [True, True] Translation: X:35.18, Y:0.08, Z:-0.50 [[ 9.99109208e-01 -4.21393969e-02 -2.24964605e-03 3.51839950e+01] [ 4.21392851e-02 9.99111741e-01 -9.70734339e-05 7.75563299e-02] [ 2.25173840e-03 2.18848539e-06 9.99997465e-01 -4.97116022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.857719421 meters Centerline goodness : 0.974394 Centerline is valid? [True, True] Translation: X:35.21, Y:0.08, Z:-0.50 [[ 9.98826233e-01 -4.83848617e-02 -2.24964605e-03 3.52149609e+01] [ 4.83847658e-02 9.98828767e-01 -9.70734339e-05 7.68190389e-02] [ 2.25170807e-03 -1.18891047e-05 9.99997465e-01 -4.98533890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.887719421 meters Centerline goodness : 0.970162 Centerline is valid? [True, True] Translation: X:35.24, Y:0.07, Z:-0.50 [[ 9.98091639e-01 -6.17091537e-02 -2.24964558e-03 3.52446663e+01] [ 6.17090915e-02 9.98094173e-01 -9.70843734e-05 7.29895156e-02] [ 2.25134914e-03 -4.19244835e-05 9.99997465e-01 -5.01753437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.917719421 meters Centerline goodness : 0.974130 Centerline is valid? [True, True] Translation: X:35.28, Y:0.07, Z:-0.50 [[ 9.97661826e-01 -6.83068042e-02 -2.24964361e-03 3.52750394e+01] [ 6.83067587e-02 9.97664361e-01 -9.71298563e-05 7.18700864e-02] [ 2.25102389e-03 -5.67631136e-05 9.99997465e-01 -4.99338075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.947719420999995 meters Centerline goodness : 0.980771 Centerline is valid? [True, True] Translation: X:35.31, Y:0.07, Z:-0.49 [[ 9.96981574e-01 -7.76059296e-02 -2.24964361e-03 3.53052851e+01] [ 7.76059078e-02 9.96984109e-01 -9.71298563e-05 6.87580633e-02] [ 2.25039679e-03 -7.77489578e-05 9.99997465e-01 -4.90751036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.977719420999996 meters Centerline goodness : 0.978279 Centerline is valid? [True, True] Translation: X:35.33, Y:0.07, Z:-0.49 [[ 9.96829192e-01 -7.95393083e-02 -2.24964158e-03 3.53339520e+01] [ 7.95392913e-02 9.96831727e-01 -9.71769158e-05 6.97732842e-02] [ 2.25024349e-03 -8.20661105e-05 9.99997465e-01 -4.92990583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.007719421 meters Centerline goodness : 0.978269 Centerline is valid? [True, True] Translation: X:35.36, Y:0.07, Z:-0.49 [[ 9.97033358e-01 -7.69377808e-02 -2.24963553e-03 3.53612242e+01] [ 7.69377569e-02 9.97035893e-01 -9.73166680e-05 7.31751470e-02] [ 2.25045470e-03 -7.60539476e-05 9.99997465e-01 -4.93519519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.037719421 meters Centerline goodness : 0.984818 Centerline is valid? [True, True] Translation: X:35.39, Y:0.08, Z:-0.49 [[ 9.97241386e-01 -7.41927025e-02 -2.24962596e-03 3.53907942e+01] [ 7.41926710e-02 9.97243921e-01 -9.75375018e-05 7.65751267e-02] [ 2.25066238e-03 -6.96373254e-05 9.99997465e-01 -4.87175824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.067719421 meters Centerline goodness : 0.978316 Centerline is valid? [True, True] Translation: X:35.42, Y:0.08, Z:-0.49 [[ 9.97606233e-01 -6.91139906e-02 -2.24962177e-03 3.54193380e+01] [ 6.91139461e-02 9.97608767e-01 -9.76340307e-05 8.05083577e-02] [ 2.25099028e-03 -5.80799202e-05 9.99997465e-01 -4.92821155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.097719421 meters Centerline goodness : 0.976630 Centerline is valid? [True, True] Translation: X:35.45, Y:0.08, Z:-0.49 [[ 9.97723288e-01 -6.74031077e-02 -2.24961327e-03 3.54486743e+01] [ 6.74030583e-02 9.97725823e-01 -9.78295664e-05 8.34637892e-02] [ 2.25109127e-03 -5.40239776e-05 9.99997465e-01 -4.93130855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.127719420999995 meters Centerline goodness : 0.976630 Centerline is valid? [True, True] Translation: X:35.48, Y:0.08, Z:-0.49 [[ 9.97720753e-01 -6.74406297e-02 -2.24960958e-03 3.54787850e+01] [ 6.74405803e-02 9.97723288e-01 -9.79143749e-05 8.48303199e-02] [ 2.25109127e-03 -5.40237714e-05 9.99997465e-01 -4.93062978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.157719420999996 meters Centerline goodness : 0.983534 Centerline is valid? [True, True] Translation: X:35.51, Y:0.09, Z:-0.49 [[ 9.97964399e-01 -6.37338077e-02 -2.24960589e-03 3.55085432e+01] [ 6.37337487e-02 9.97966933e-01 -9.79989773e-05 9.10948606e-02] [ 2.25127814e-03 -4.55763260e-05 9.99997465e-01 -4.86216233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.187719421 meters Centerline goodness : 0.983735 Centerline is valid? [True, True] Translation: X:35.54, Y:0.10, Z:-0.49 [[ 9.98230092e-01 -5.94274584e-02 -2.24960385e-03 3.55382602e+01] [ 5.94273883e-02 9.98232626e-01 -9.80459092e-05 9.55528413e-02] [ 2.25145457e-03 -3.58157042e-05 9.99997465e-01 -4.85595408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.217719421 meters Centerline goodness : 0.983070 Centerline is valid? [True, True] Translation: X:35.57, Y:0.10, Z:-0.49 [[ 9.98399981e-01 -5.65014731e-02 -2.24959972e-03 3.55686239e+01] [ 5.65013954e-02 9.98402515e-01 -9.81404233e-05 9.89110108e-02] [ 2.25155110e-03 -2.91221265e-05 9.99997465e-01 -4.85733436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.247719421 meters Centerline goodness : 0.981865 Centerline is valid? [True, True] Translation: X:35.60, Y:0.11, Z:-0.49 [[ 9.98773413e-01 -4.94632086e-02 -2.24959972e-03 3.55979675e+01] [ 4.94631130e-02 9.98775946e-01 -9.81404233e-05 1.07681320e-01] [ 2.25170043e-03 -1.32521597e-05 9.99997465e-01 -4.85959365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.277719421 meters Centerline goodness : 0.987310 Centerline is valid? [True, True] Translation: X:35.63, Y:0.11, Z:-0.48 [[ 9.98978369e-01 -4.51348739e-02 -2.24959768e-03 3.56279849e+01] [ 4.51347673e-02 9.98980902e-01 -9.81871546e-05 1.12659933e-01] [ 2.25173679e-03 -3.44822429e-06 9.99997465e-01 -4.80871315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.307719421 meters Centerline goodness : 0.982517 Centerline is valid? [True, True] Translation: X:35.66, Y:0.12, Z:-0.49 [[ 9.99295196e-01 -3.74706728e-02 -2.24959768e-03 3.56582405e+01] [ 3.74705467e-02 9.99297728e-01 -9.81871546e-05 1.17449028e-01] [ 2.25169699e-03 1.38242967e-05 9.99997465e-01 -4.85334305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.337719420999996 meters Centerline goodness : 0.981907 Centerline is valid? [True, True] Translation: X:35.69, Y:0.12, Z:-0.49 [[ 9.99408748e-01 -3.43088093e-02 -2.24959981e-03 3.56888014e+01] [ 3.43086753e-02 9.99411279e-01 -9.81383356e-05 1.22078233e-01] [ 2.25164244e-03 2.08995216e-05 9.99997465e-01 -4.86402958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.367719421 meters Centerline goodness : 0.981711 Centerline is valid? [True, True] Translation: X:35.72, Y:0.12, Z:-0.49 [[ 9.99458835e-01 -3.28173202e-02 -2.24960177e-03 3.57199994e+01] [ 3.28171826e-02 9.99461366e-01 -9.80934178e-05 1.24750572e-01] [ 2.25160922e-03 2.42147410e-05 9.99997465e-01 -4.86721766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.397719421 meters Centerline goodness : 0.984912 Centerline is valid? [True, True] Translation: X:35.75, Y:0.13, Z:-0.48 [[ 9.99516119e-01 -3.10236525e-02 -2.24960567e-03 3.57517852e+01] [ 3.10235104e-02 9.99518650e-01 -9.80038717e-05 1.26439851e-01] [ 2.25156326e-03 2.81657844e-05 9.99997465e-01 -4.82582781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.427719421 meters Centerline goodness : 0.983825 Centerline is valid? [True, True] Translation: X:35.78, Y:0.13, Z:-0.49 [[ 9.99658636e-01 -2.60298224e-02 -2.24961062e-03 3.57818918e+01] [ 2.60296680e-02 9.99661166e-01 -9.78902512e-05 1.26424263e-01] [ 2.25139644e-03 3.93002174e-05 9.99997465e-01 -4.85190955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.457719421 meters Centerline goodness : 0.983005 Centerline is valid? [True, True] Translation: X:35.81, Y:0.12, Z:-0.48 [[ 9.99806421e-01 -1.95463450e-02 -2.24961274e-03 3.58122602e+01] [ 1.95461743e-02 9.99808950e-01 -9.78415128e-05 1.23520426e-01] [ 2.25109539e-03 5.38512501e-05 9.99997465e-01 -4.84756813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.487719421 meters Centerline goodness : 0.983118 Centerline is valid? [True, True] Translation: X:35.84, Y:0.12, Z:-0.48 [[ 9.99861902e-01 -1.64655823e-02 -2.24961484e-03 3.58433911e+01] [ 1.64654039e-02 9.99864431e-01 -9.77931499e-05 1.21434106e-01] [ 2.25092008e-03 6.07388281e-05 9.99997465e-01 -4.84294734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.517719420999995 meters Centerline goodness : 0.981070 Centerline is valid? [True, True] Translation: X:35.87, Y:0.12, Z:-0.49 [[ 9.99929298e-01 -1.16764063e-02 -2.24961697e-03 3.58743974e+01] [ 1.16762159e-02 9.99931826e-01 -9.77440262e-05 1.15701028e-01] [ 2.25060491e-03 7.14701020e-05 9.99997465e-01 -4.86378924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.547719421 meters Centerline goodness : 0.981031 Centerline is valid? [True, True] Translation: X:35.90, Y:0.11, Z:-0.49 [[ 9.99955128e-01 -9.20219394e-03 -2.24961697e-03 3.59048156e+01] [ 9.20199731e-03 9.99957656e-01 -9.77440262e-05 1.14727829e-01] [ 2.25042117e-03 7.70386709e-05 9.99997465e-01 -4.85442174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.577719421 meters Centerline goodness : 0.980987 Centerline is valid? [True, True] Translation: X:35.93, Y:0.11, Z:-0.49 [[ 9.99973537e-01 -6.91834909e-03 -2.24961697e-03 3.59343566e+01] [ 6.91814668e-03 9.99976065e-01 -9.77440262e-05 1.10102934e-01] [ 2.25023935e-03 8.21782594e-05 9.99997465e-01 -4.86889844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.607719421 meters Centerline goodness : 0.980399 Centerline is valid? [True, True] Translation: X:35.97, Y:0.10, Z:-0.49 [[ 9.99971849e-01 -7.15820903e-03 -2.24961779e-03 3.59651119e+01] [ 7.15800727e-03 9.99974376e-01 -9.77251911e-05 9.95200708e-02] [ 2.25025968e-03 8.16196596e-05 9.99997465e-01 -4.88378280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.637719421 meters Centerline goodness : 0.979747 Centerline is valid? [True, True] Translation: X:36.00, Y:0.09, Z:-0.49 [[ 9.99953118e-01 -9.41808308e-03 -2.24961779e-03 3.59959988e+01] [ 9.41788703e-03 9.99955646e-01 -9.77251911e-05 9.49159924e-02] [ 2.25043839e-03 7.65339634e-05 9.99997465e-01 -4.88435178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.667719421 meters Centerline goodness : 0.980755 Centerline is valid? [True, True] Translation: X:36.03, Y:0.09, Z:-0.49 [[ 9.99830840e-01 -1.82545914e-02 -2.24961779e-03 3.60256394e+01] [ 1.82544177e-02 9.99833369e-01 -9.77251911e-05 8.54586852e-02] [ 2.25102687e-03 5.66431972e-05 9.99997465e-01 -4.87786642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.697719420999995 meters Centerline goodness : 0.980088 Centerline is valid? [True, True] Translation: X:36.06, Y:0.08, Z:-0.49 [[ 9.99720469e-01 -2.35355852e-02 -2.24961982e-03 3.60559765e+01] [ 2.35354250e-02 9.99722999e-01 -9.76783775e-05 8.26485313e-02] [ 2.25129559e-03 4.47053147e-05 9.99997465e-01 -4.86322349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.727719420999996 meters Centerline goodness : 0.981137 Centerline is valid? [True, True] Translation: X:36.09, Y:0.08, Z:-0.48 [[ 9.99449924e-01 -3.30875832e-02 -2.24961982e-03 3.60863833e+01] [ 3.30874472e-02 9.99452456e-01 -9.76783775e-05 7.91514057e-02] [ 2.25162000e-03 2.31904699e-05 9.99997465e-01 -4.83308398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.757719421 meters Centerline goodness : 0.980265 Centerline is valid? [True, True] Translation: X:36.12, Y:0.08, Z:-0.48 [[ 9.99309460e-01 -3.70882994e-02 -2.24961982e-03 3.61161530e+01] [ 3.70881735e-02 9.99311992e-01 -9.76783775e-05 7.88762243e-02] [ 2.25169479e-03 1.41766364e-05 9.99997465e-01 -4.84176448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.787719421 meters Centerline goodness : 0.982717 Centerline is valid? [True, True] Translation: X:36.15, Y:0.07, Z:-0.48 [[ 9.99073260e-01 -4.29832587e-02 -2.24961772e-03 3.61456767e+01] [ 4.29831476e-02 9.99075793e-01 -9.77267204e-05 7.46354081e-02] [ 2.25173922e-03 9.40502523e-07 9.99997465e-01 -4.83194015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.817719421 meters Centerline goodness : 0.982153 Centerline is valid? [True, True] Translation: X:36.17, Y:0.07, Z:-0.48 [[ 9.98979550e-01 -4.51087440e-02 -2.24961353e-03 3.61744796e+01] [ 4.51086381e-02 9.98982083e-01 -9.78231397e-05 7.38439303e-02] [ 2.25173629e-03 -3.75368654e-06 9.99997465e-01 -4.83640578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.847719421 meters Centerline goodness : 0.981829 Centerline is valid? [True, True] Translation: X:36.20, Y:0.07, Z:-0.48 [[ 9.98877547e-01 -4.73136888e-02 -2.24960524e-03 3.62037503e+01] [ 4.73135880e-02 9.98880080e-01 -9.80133075e-05 7.32579317e-02] [ 2.25172324e-03 -8.53360356e-06 9.99997465e-01 -4.82993045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.877719420999995 meters Centerline goodness : 0.981121 Centerline is valid? [True, True] Translation: X:36.23, Y:0.08, Z:-0.49 [[ 9.98841647e-01 -4.80656220e-02 -2.24957598e-03 3.62322444e+01] [ 4.80655216e-02 9.98844180e-01 -9.86804831e-05 7.52749226e-02] [ 2.25171901e-03 -9.56086659e-06 9.99997465e-01 -4.85161708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.907719420999996 meters Centerline goodness : 0.980065 Centerline is valid? [True, True] Translation: X:36.26, Y:0.08, Z:-0.49 [[ 9.98874604e-01 -4.73757902e-02 -2.24954685e-03 3.62612705e+01] [ 4.73756866e-02 9.98877137e-01 -9.93401763e-05 7.58909958e-02] [ 2.25172723e-03 -7.34544725e-06 9.99997465e-01 -4.85956720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.937719421 meters Centerline goodness : 0.982061 Centerline is valid? [True, True] Translation: X:36.29, Y:0.08, Z:-0.48 [[ 9.98940838e-01 -4.59580372e-02 -2.24951770e-03 3.62904739e+01] [ 4.59579285e-02 9.98943371e-01 -9.99958376e-05 7.60309600e-02] [ 2.25173641e-03 -3.49324786e-06 9.99997465e-01 -4.82729320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.967719421 meters Centerline goodness : 0.982056 Centerline is valid? [True, True] Translation: X:36.32, Y:0.08, Z:-0.48 [[ 9.99190000e-01 -4.01781577e-02 -2.24948687e-03 3.63186522e+01] [ 4.01780329e-02 9.99192532e-01 -1.00684724e-04 7.57958991e-02] [ 2.25171580e-03 1.02232123e-05 9.99997465e-01 -4.81261052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.997719421 meters Centerline goodness : 0.981003 Centerline is valid? [True, True] Translation: X:36.35, Y:0.08, Z:-0.48 [[ 9.99278469e-01 -3.79141423e-02 -2.24947814e-03 3.63473947e+01] [ 3.79140113e-02 9.99281000e-01 -1.00879371e-04 7.70316430e-02] [ 2.25168552e-03 1.55198438e-05 9.99997465e-01 -4.82490258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.027719421 meters Centerline goodness : 0.978274 Centerline is valid? [True, True] Translation: X:36.38, Y:0.08, Z:-0.48 [[ 9.99483035e-01 -3.20718437e-02 -2.24947032e-03 3.63761397e+01] [ 3.20716975e-02 9.99485566e-01 -1.01053321e-04 7.64866808e-02] [ 2.25155409e-03 2.88567483e-05 9.99997465e-01 -4.83860598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.057719421 meters Centerline goodness : 0.976719 Centerline is valid? [True, True] Translation: X:36.41, Y:0.08, Z:-0.49 [[ 9.99557910e-01 -2.96466753e-02 -2.24946409e-03 3.64054200e+01] [ 2.96465226e-02 9.99560440e-01 -1.01191899e-04 7.68538390e-02] [ 2.25147532e-03 3.44583748e-05 9.99997465e-01 -4.85236434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.087719420999996 meters Centerline goodness : 0.979374 Centerline is valid? [True, True] Translation: X:36.44, Y:0.08, Z:-0.48 [[ 9.99677958e-01 -2.52768761e-02 -2.24943768e-03 3.64352444e+01] [ 2.52767111e-02 9.99680488e-01 -1.01775556e-04 7.62846989e-02] [ 2.25129153e-03 4.48843934e-05 9.99997465e-01 -4.84471520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.117719421 meters Centerline goodness : 0.978525 Centerline is valid? [True, True] Translation: X:36.46, Y:0.08, Z:-0.49 [[ 9.99788626e-01 -2.04363394e-02 -2.24943330e-03 3.64642718e+01] [ 2.04361619e-02 9.99791155e-01 -1.01872223e-04 7.55673043e-02] [ 2.25104542e-03 5.58809070e-05 9.99997465e-01 -4.86628837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.147719421 meters Centerline goodness : 0.978691 Centerline is valid? [True, True] Translation: X:36.49, Y:0.08, Z:-0.49 [[ 9.99842376e-01 -1.76114513e-02 -2.24942682e-03 3.64936953e+01] [ 1.76112664e-02 9.99844904e-01 -1.02015288e-04 7.51054278e-02] [ 2.25087458e-03 6.23839528e-05 9.99997465e-01 -4.86181857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.177719421 meters Centerline goodness : 0.986328 Centerline is valid? [True, True] Translation: X:36.52, Y:0.07, Z:-0.48 [[ 9.99912651e-01 -1.30242111e-02 -2.24942581e-03 3.65237228e+01] [ 1.30240145e-02 9.99915179e-01 -1.02037559e-04 7.34781274e-02] [ 2.25056397e-03 7.27320917e-05 9.99997465e-01 -4.78308391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.207719421 meters Centerline goodness : 0.980340 Centerline is valid? [True, True] Translation: X:36.55, Y:0.07, Z:-0.48 [[ 9.99931278e-01 -1.15055870e-02 -2.24942351e-03 3.65531680e+01] [ 1.15053864e-02 9.99933806e-01 -1.02088113e-04 7.32047733e-02] [ 2.25044920e-03 7.62006106e-05 9.99997465e-01 -4.84052459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.237719421 meters Centerline goodness : 0.973312 Centerline is valid? [True, True] Translation: X:36.58, Y:0.07, Z:-0.49 [[ 9.99905171e-01 -1.35863456e-02 -2.24942124e-03 3.65822762e+01] [ 1.35861502e-02 9.99907699e-01 -1.02138099e-04 6.91964101e-02] [ 2.25060130e-03 7.15674387e-05 9.99997465e-01 -4.91642757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.267719420999995 meters Centerline goodness : 0.968621 Centerline is valid? [True, True] Translation: X:36.61, Y:0.07, Z:-0.50 [[ 9.99861729e-01 -1.64761635e-02 -2.24941705e-03 3.66115591e+01] [ 1.64759751e-02 9.99864257e-01 -1.02230229e-04 6.76534365e-02] [ 2.25079607e-03 6.51547537e-05 9.99997465e-01 -4.95379793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.297719421 meters Centerline goodness : 0.974086 Centerline is valid? [True, True] Translation: X:36.64, Y:0.07, Z:-0.49 [[ 9.99694228e-01 -2.46249822e-02 -2.24941500e-03 3.66412456e+01] [ 2.46248143e-02 9.99696758e-01 -1.02275406e-04 6.51944438e-02] [ 2.25125141e-03 4.68527066e-05 9.99997465e-01 -4.89088110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.327719421 meters Centerline goodness : 0.978311 Centerline is valid? [True, True] Translation: X:36.67, Y:0.06, Z:-0.49 [[ 9.99580775e-01 -2.88654628e-02 -2.24941058e-03 3.66711732e+01] [ 2.88653055e-02 9.99583305e-01 -1.02372452e-04 6.40509663e-02] [ 2.25142829e-03 3.73996117e-05 9.99997465e-01 -4.85212328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.357719421 meters Centerline goodness : 0.984584 Centerline is valid? [True, True] Translation: X:36.70, Y:0.06, Z:-0.48 [[ 9.99365677e-01 -3.55413009e-02 -2.24940610e-03 3.67011907e+01] [ 3.55411603e-02 9.99368208e-01 -1.02470960e-04 5.57608934e-02] [ 2.25162689e-03 2.24594573e-05 9.99997465e-01 -4.78539458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.387719421 meters Centerline goodness : 0.988942 Centerline is valid? [True, True] Translation: X:36.73, Y:0.05, Z:-0.47 [[ 9.99228253e-01 -3.92152913e-02 -2.24940388e-03 3.67300032e+01] [ 3.92151599e-02 9.99230785e-01 -1.02519623e-04 5.34878539e-02] [ 2.25169394e-03 1.42297714e-05 9.99997465e-01 -4.73933324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.417719421 meters Centerline goodness : 0.986024 Centerline is valid? [True, True] Translation: X:36.76, Y:0.05, Z:-0.48 [[ 9.98851904e-01 -4.78520020e-02 -2.24937163e-03 3.67583089e+01] [ 4.78518909e-02 9.98854437e-01 -1.03222373e-04 4.99166815e-02] [ 2.25173423e-03 -4.53282141e-06 9.99997465e-01 -4.78180194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.447719420999995 meters Centerline goodness : 0.985041 Centerline is valid? [True, True] Translation: X:36.79, Y:0.05, Z:-0.48 [[ 9.98554539e-01 -5.37007712e-02 -2.24936023e-03 3.67876190e+01] [ 5.37006743e-02 9.98557072e-01 -1.03470172e-04 4.90491072e-02] [ 2.25167100e-03 -1.74715514e-05 9.99997465e-01 -4.80809146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.477719420999996 meters Centerline goodness : 0.980826 Centerline is valid? [True, True] Translation: X:36.82, Y:0.05, Z:-0.48 [[ 9.97963924e-01 -6.37412471e-02 -2.24933085e-03 3.68171819e+01] [ 6.37411743e-02 9.97966458e-01 -1.04104953e-04 4.62344055e-02] [ 2.25139252e-03 -3.94820027e-05 9.99997465e-01 -4.84335786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.507719421 meters Centerline goodness : 0.978906 Centerline is valid? [True, True] Translation: X:36.85, Y:0.05, Z:-0.49 [[ 9.97561244e-01 -6.97603396e-02 -2.24930065e-03 3.68450439e+01] [ 6.97602806e-02 9.97563779e-01 -1.04753543e-04 4.68595849e-02] [ 2.25112849e-03 -5.24137695e-05 9.99997465e-01 -4.85118073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.537719421 meters Centerline goodness : 0.979005 Centerline is valid? [True, True] Translation: X:36.87, Y:0.05, Z:-0.48 [[ 9.97476762e-01 -7.09580888e-02 -2.24928913e-03 3.68742488e+01] [ 7.09580324e-02 9.97479296e-01 -1.05000247e-04 4.89084283e-02] [ 2.25106995e-03 -5.48698246e-05 9.99997465e-01 -4.83041206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.567719421 meters Centerline goodness : 0.980651 Centerline is valid? [True, True] Translation: X:36.90, Y:0.05, Z:-0.48 [[ 9.97419560e-01 -7.17576653e-02 -2.24925743e-03 3.69029566e+01] [ 7.17576093e-02 9.97422094e-01 -1.05674972e-04 5.04174089e-02] [ 2.25104205e-03 -5.59990517e-05 9.99997465e-01 -4.80662874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.597719421 meters Centerline goodness : 0.985858 Centerline is valid? [True, True] Translation: X:36.93, Y:0.05, Z:-0.48 [[ 9.97318612e-01 -7.31472988e-02 -2.24922542e-03 3.69316273e+01] [ 7.31472449e-02 9.97321146e-01 -1.06351904e-04 5.10724942e-02] [ 2.25097943e-03 -5.84579095e-05 9.99997465e-01 -4.75606152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.627719420999995 meters Centerline goodness : 0.984269 Centerline is valid? [True, True] Translation: X:36.96, Y:0.05, Z:-0.48 [[ 9.97301521e-01 -7.33799508e-02 -2.24919165e-03 3.69588478e+01] [ 7.33798959e-02 9.97304056e-01 -1.07061456e-04 5.34205809e-02] [ 2.25098412e-03 -5.82728963e-05 9.99997465e-01 -4.78594376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.657719420999996 meters Centerline goodness : 0.984800 Centerline is valid? [True, True] Translation: X:36.99, Y:0.06, Z:-0.48 [[ 9.97542527e-01 -7.00274868e-02 -2.24917497e-03 3.69858401e+01] [ 7.00274225e-02 9.97545061e-01 -1.07410757e-04 6.17565215e-02] [ 2.25117508e-03 -5.03571274e-05 9.99997465e-01 -4.80085072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.687719421 meters Centerline goodness : 0.985899 Centerline is valid? [True, True] Translation: X:37.01, Y:0.07, Z:-0.48 [[ 9.97796837e-01 -6.63054500e-02 -2.24916104e-03 3.70140203e+01] [ 6.63053756e-02 9.97799371e-01 -1.07701591e-04 6.73090795e-02] [ 2.25135267e-03 -4.16671601e-05 9.99997465e-01 -4.79212280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.717719421 meters Centerline goodness : 0.988388 Centerline is valid? [True, True] Translation: X:37.04, Y:0.08, Z:-0.47 [[ 9.98427148e-01 -5.60193809e-02 -2.24912893e-03 3.70432125e+01] [ 5.60192789e-02 9.98429681e-01 -1.08367913e-04 7.81898443e-02] [ 2.25166779e-03 -1.77971145e-05 9.99997465e-01 -4.73124042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.747719421 meters Centerline goodness : 0.991306 Centerline is valid? [True, True] Translation: X:37.07, Y:0.09, Z:-0.47 [[ 9.99028944e-01 -4.40012652e-02 -2.24912424e-03 3.70715699e+01] [ 4.40011325e-02 9.99031475e-01 -1.08465169e-04 8.79291929e-02] [ 2.25171852e-03 9.39582902e-06 9.99997465e-01 -4.68658471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.777719421 meters Centerline goodness : 0.990473 Centerline is valid? [True, True] Translation: X:37.10, Y:0.09, Z:-0.47 [[ 9.99290583e-01 -3.75935053e-02 -2.24908938e-03 3.70994970e+01] [ 3.75933548e-02 9.99293114e-01 -1.09183343e-04 9.25700181e-02] [ 2.25160411e-03 2.45550710e-05 9.99997465e-01 -4.71470819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.807719421 meters Centerline goodness : 0.978048 Centerline is valid? [True, True] Translation: X:37.13, Y:0.10, Z:-0.49 [[ 9.99641581e-01 -2.66768000e-02 -2.24907707e-03 3.71280069e+01] [ 2.66766213e-02 9.99644110e-01 -1.09436250e-04 9.77571669e-02] [ 2.25119606e-03 4.93992486e-05 9.99997465e-01 -4.89111020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.837719420999996 meters Centerline goodness : 0.978533 Centerline is valid? [True, True] Translation: X:37.16, Y:0.10, Z:-0.49 [[ 9.99733303e-01 -2.29840188e-02 -2.24906982e-03 3.71577903e+01] [ 2.29838304e-02 9.99735831e-01 -1.09585212e-04 1.00166114e-01] [ 2.25099439e-03 5.78637472e-05 9.99997465e-01 -4.86669406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.867719421 meters Centerline goodness : 0.977737 Centerline is valid? [True, True] Translation: X:37.19, Y:0.10, Z:-0.49 [[ 9.99807530e-01 -1.94896027e-02 -2.24906497e-03 3.71868856e+01] [ 1.94894052e-02 9.99810057e-01 -1.09684587e-04 1.02683398e-01] [ 2.25077549e-03 6.58305376e-05 9.99997465e-01 -4.88724704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.897719421 meters Centerline goodness : 0.984912 Centerline is valid? [True, True] Translation: X:37.22, Y:0.10, Z:-0.48 [[ 9.99806885e-01 -1.95226789e-02 -2.24906257e-03 3.72174138e+01] [ 1.95224814e-02 9.99809412e-01 -1.09733674e-04 1.03814627e-01] [ 2.25077623e-03 6.58052007e-05 9.99997465e-01 -4.82604785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.927719421 meters Centerline goodness : 0.984992 Centerline is valid? [True, True] Translation: X:37.25, Y:0.10, Z:-0.48 [[ 9.99796544e-01 -2.00452340e-02 -2.24906257e-03 3.72471906e+01] [ 2.00450378e-02 9.99799072e-01 -1.09733674e-04 1.03879963e-01] [ 2.25081031e-03 6.46288040e-05 9.99997465e-01 -4.79576034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.957719421 meters Centerline goodness : 0.987257 Centerline is valid? [True, True] Translation: X:37.28, Y:0.10, Z:-0.48 [[ 9.99807411e-01 -1.94957078e-02 -2.24905786e-03 3.72771193e+01] [ 1.94955100e-02 9.99809938e-01 -1.09830179e-04 1.03581588e-01] [ 2.25077162e-03 6.59624969e-05 9.99997465e-01 -4.79037071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.987719421 meters Centerline goodness : 0.986035 Centerline is valid? [True, True] Translation: X:37.31, Y:0.10, Z:-0.48 [[ 9.99847476e-01 -1.73195330e-02 -2.24905318e-03 3.73065547e+01] [ 1.73193295e-02 9.99850003e-01 -1.09925947e-04 1.01194111e-01] [ 2.25061970e-03 7.09570878e-05 9.99997465e-01 -4.81948668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.017719421 meters Centerline goodness : 0.986035 Centerline is valid? [True, True] Translation: X:37.34, Y:0.10, Z:-0.48 [[ 9.99846748e-01 -1.73614937e-02 -2.24905086e-03 3.73366605e+01] [ 1.73612902e-02 9.99849275e-01 -1.09973344e-04 1.02722192e-01] [ 2.25062118e-03 7.09100658e-05 9.99997465e-01 -4.81880790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.047719421 meters Centerline goodness : 0.983925 Centerline is valid? [True, True] Translation: X:37.37, Y:0.10, Z:-0.48 [[ 9.99854326e-01 -1.69195027e-02 -2.24904624e-03 3.73660699e+01] [ 1.69192978e-02 9.99856852e-01 -1.10067730e-04 1.02036277e-01] [ 2.25058659e-03 7.19994129e-05 9.99997465e-01 -4.84275291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.077719421 meters Centerline goodness : 0.979301 Centerline is valid? [True, True] Translation: X:37.40, Y:0.10, Z:-0.49 [[ 9.99784691e-01 -2.06279871e-02 -2.24904162e-03 3.73954722e+01] [ 2.06277915e-02 9.99787218e-01 -1.10162058e-04 9.97662567e-02] [ 2.25083549e-03 6.37455776e-05 9.99997465e-01 -4.89225088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.107719421 meters Centerline goodness : 0.978587 Centerline is valid? [True, True] Translation: X:37.42, Y:0.10, Z:-0.49 [[ 9.99733710e-01 -2.29663162e-02 -2.24903707e-03 3.74245587e+01] [ 2.29661262e-02 9.99736238e-01 -1.10255000e-04 9.93904835e-02] [ 2.25097601e-03 5.85739708e-05 9.99997465e-01 -4.90164466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.137719421 meters Centerline goodness : 0.981655 Centerline is valid? [True, True] Translation: X:37.45, Y:0.10, Z:-0.49 [[ 9.99567802e-01 -2.93112943e-02 -2.24903028e-03 3.74536279e+01] [ 2.93111201e-02 9.99570331e-01 -1.10393334e-04 9.62562165e-02] [ 2.25129971e-03 4.44240254e-05 9.99997465e-01 -4.87223843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.167719421 meters Centerline goodness : 0.977618 Centerline is valid? [True, True] Translation: X:37.48, Y:0.09, Z:-0.49 [[ 9.99268418e-01 -3.81781356e-02 -2.24902032e-03 3.74818476e+01] [ 3.81779834e-02 9.99270949e-01 -1.10595844e-04 9.17104185e-02] [ 2.25160301e-03 2.46518741e-05 9.99997465e-01 -4.90432599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.197719421 meters Centerline goodness : 0.973768 Centerline is valid? [True, True] Translation: X:37.51, Y:0.09, Z:-0.49 [[ 9.99093859e-01 -4.25018052e-02 -2.24900925e-03 3.75111005e+01] [ 4.25016634e-02 9.99096390e-01 -1.10820533e-04 9.11857539e-02] [ 2.25168709e-03 1.51334798e-05 9.99997465e-01 -4.94424881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.227719421 meters Centerline goodness : 0.966314 Centerline is valid? [True, True] Translation: X:37.54, Y:0.09, Z:-0.50 [[ 9.98749259e-01 -4.99485679e-02 -2.24898013e-03 3.75415525e+01] [ 4.99484436e-02 9.98751791e-01 -1.11408275e-04 9.05838019e-02] [ 2.25173762e-03 -1.06412524e-06 9.99997465e-01 -5.00390044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.257719421 meters Centerline goodness : 0.970489 Centerline is valid? [True, True] Translation: X:37.57, Y:0.09, Z:-0.50 [[ 9.98604318e-01 -5.27670152e-02 -2.24897790e-03 3.75700581e+01] [ 5.27668980e-02 9.98606851e-01 -1.11453404e-04 9.03612160e-02] [ 2.25172580e-03 -7.37373633e-06 9.99997465e-01 -4.95315900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28771942099999 meters Centerline goodness : 0.980917 Centerline is valid? [True, True] Translation: X:37.60, Y:0.09, Z:-0.48 [[ 9.98583244e-01 -5.31643488e-02 -2.24893965e-03 3.76002405e+01] [ 5.31642309e-02 9.98585776e-01 -1.12219868e-04 8.73599065e-02] [ 2.25172524e-03 -7.50226701e-06 9.99997465e-01 -4.82618502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.31771942099999 meters Centerline goodness : 0.981787 Centerline is valid? [True, True] Translation: X:37.63, Y:0.09, Z:-0.48 [[ 9.98656573e-01 -5.17686255e-02 -2.24893705e-03 3.76282183e+01] [ 5.17685039e-02 9.98659106e-01 -1.12271966e-04 8.73745498e-02] [ 2.25173363e-03 -4.30296931e-06 9.99997465e-01 -4.82804598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.347719421 meters Centerline goodness : 0.979436 Centerline is valid? [True, True] Translation: X:37.66, Y:0.09, Z:-0.49 [[ 9.98889359e-01 -4.70636906e-02 -2.24892425e-03 3.76561647e+01] [ 4.70635565e-02 9.98891891e-01 -1.12527675e-04 8.95189015e-02] [ 2.25172817e-03 6.56032328e-06 9.99997465e-01 -4.85198448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.377719421 meters Centerline goodness : 0.975828 Centerline is valid? [True, True] Translation: X:37.69, Y:0.09, Z:-0.49 [[ 9.99066145e-01 -4.31483495e-02 -2.24891197e-03 3.76853289e+01] [ 4.31482049e-02 9.99068676e-01 -1.12772695e-04 9.20114585e-02] [ 2.25168346e-03 1.56308670e-05 9.99997465e-01 -4.88970537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.407719421 meters Centerline goodness : 0.973089 Centerline is valid? [True, True] Translation: X:37.71, Y:0.09, Z:-0.49 [[ 9.99431690e-01 -3.36339004e-02 -2.24889448e-03 3.77127779e+01] [ 3.36337309e-02 9.99434220e-01 -1.13120445e-04 9.48080250e-02] [ 2.25142678e-03 3.74174463e-05 9.99997465e-01 -4.91199078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.437719421 meters Centerline goodness : 0.975875 Centerline is valid? [True, True] Translation: X:37.74, Y:0.10, Z:-0.49 [[ 9.99557858e-01 -2.96484464e-02 -2.24888233e-03 3.77417833e+01] [ 2.96482664e-02 9.99560387e-01 -1.13361299e-04 9.55642119e-02] [ 2.25125468e-03 4.66357147e-05 9.99997465e-01 -4.88133674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.467719421 meters Centerline goodness : 0.979307 Centerline is valid? [True, True] Translation: X:37.77, Y:0.09, Z:-0.48 [[ 9.99691200e-01 -2.47476578e-02 -2.24884797e-03 3.77710239e+01] [ 2.47474638e-02 9.99693728e-01 -1.14039046e-04 9.27682952e-02] [ 2.25098141e-03 5.83505473e-05 9.99997465e-01 -4.83221006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.497719421 meters Centerline goodness : 0.981223 Centerline is valid? [True, True] Translation: X:37.80, Y:0.09, Z:-0.48 [[ 9.99701874e-01 -2.43126866e-02 -2.24884052e-03 3.77998153e+01] [ 2.43124912e-02 9.99704401e-01 -1.14185710e-04 9.30349822e-02] [ 2.25095193e-03 5.94767527e-05 9.99997465e-01 -4.81793164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.527719421 meters Centerline goodness : 0.987589 Centerline is valid? [True, True] Translation: X:37.83, Y:0.09, Z:-0.48 [[ 9.99692091e-01 -2.47116453e-02 -2.24883320e-03 3.78302733e+01] [ 2.47114506e-02 9.99694619e-01 -1.14329597e-04 9.46207353e-02] [ 2.25097173e-03 5.87224631e-05 9.99997465e-01 -4.75428133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.557719421 meters Centerline goodness : 0.986900 Centerline is valid? [True, True] Translation: X:37.86, Y:0.09, Z:-0.47 [[ 9.99693950e-01 -2.46363374e-02 -2.24883320e-03 3.78595644e+01] [ 2.46361425e-02 9.99696478e-01 -1.14329597e-04 9.40207905e-02] [ 2.25096730e-03 5.88920309e-05 9.99997465e-01 -4.74566302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.587719421 meters Centerline goodness : 0.986631 Centerline is valid? [True, True] Translation: X:37.89, Y:0.09, Z:-0.48 [[ 9.99740728e-01 -2.26587814e-02 -2.24879942e-03 3.78886315e+01] [ 2.26585801e-02 9.99743255e-01 -1.14990303e-04 9.24660065e-02] [ 2.25082759e-03 6.40058876e-05 9.99997465e-01 -4.75565500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.617719421 meters Centerline goodness : 0.984087 Centerline is valid? [True, True] Translation: X:37.92, Y:0.09, Z:-0.48 [[ 9.99852983e-01 -1.69986794e-02 -2.24876534e-03 3.79178682e+01] [ 1.69984622e-02 9.99855509e-01 -1.15652948e-04 8.87381183e-02] [ 2.25040636e-03 7.74103929e-05 9.99997465e-01 -4.78023873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.647719421 meters Centerline goodness : 0.984580 Centerline is valid? [True, True] Translation: X:37.95, Y:0.09, Z:-0.48 [[ 9.99893079e-01 -1.44489972e-02 -2.24875812e-03 3.79469497e+01] [ 1.44487733e-02 9.99895604e-01 -1.15793106e-04 8.91627524e-02] [ 2.25019646e-03 8.32889290e-05 9.99997465e-01 -4.78324911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.67771942099999 meters Centerline goodness : 0.984966 Centerline is valid? [True, True] Translation: X:37.98, Y:0.09, Z:-0.48 [[ 9.99951690e-01 -9.56874652e-03 -2.24872419e-03 3.79767987e+01] [ 9.56850880e-03 9.99954214e-01 -1.16448363e-04 8.92550258e-02] [ 2.24973550e-03 9.49258006e-05 9.99997465e-01 -4.78824089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.707719421 meters Centerline goodness : 0.984641 Centerline is valid? [True, True] Translation: X:38.01, Y:0.09, Z:-0.48 [[ 9.99969813e-01 -7.43748775e-03 -2.24871921e-03 3.80067544e+01] [ 7.43724443e-03 9.99972337e-01 -1.16544490e-04 8.82846912e-02] [ 2.24952380e-03 9.98166974e-05 9.99997465e-01 -4.78920201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.737719421 meters Centerline goodness : 0.981736 Centerline is valid? [True, True] Translation: X:38.04, Y:0.08, Z:-0.48 [[ 9.99988907e-01 -4.13884828e-03 -2.24871427e-03 3.80356653e+01] [ 4.13859643e-03 9.99991429e-01 -1.16639720e-04 8.20817380e-02] [ 2.24917775e-03 1.07331905e-04 9.99997465e-01 -4.81767535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.767719421 meters Centerline goodness : 0.976449 Centerline is valid? [True, True] Translation: X:38.07, Y:0.08, Z:-0.49 [[ 9.99990109e-01 -3.83727337e-03 -2.24870689e-03 3.80657920e+01] [ 3.83702043e-03 9.99992632e-01 -1.16781905e-04 7.99386505e-02] [ 2.24913844e-03 1.08152416e-04 9.99997465e-01 -4.85852688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.797719421 meters Centerline goodness : 0.968745 Centerline is valid? [True, True] Translation: X:38.09, Y:0.07, Z:-0.50 [[ 9.99982239e-01 -5.51960056e-03 -2.24869914e-03 3.80947024e+01] [ 5.51935154e-03 9.99984761e-01 -1.16930848e-04 7.46818031e-02] [ 2.24931028e-03 1.04517410e-04 9.99997465e-01 -4.95635596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.827719421 meters Centerline goodness : 0.977589 Centerline is valid? [True, True] Translation: X:38.13, Y:0.07, Z:-0.49 [[ 9.99934859e-01 -1.11901812e-02 -2.24869183e-03 3.81250544e+01] [ 1.11899461e-02 9.99937384e-01 -1.17071225e-04 6.53158982e-02] [ 2.24986108e-03 9.19008581e-05 9.99997465e-01 -4.85164333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.857719421 meters Centerline goodness : 0.980253 Centerline is valid? [True, True] Translation: X:38.15, Y:0.06, Z:-0.48 [[ 9.99867220e-01 -1.61395579e-02 -2.24868941e-03 3.81545385e+01] [ 1.61393353e-02 9.99869746e-01 -1.17117744e-04 6.12190898e-02] [ 2.25028674e-03 8.08098406e-05 9.99997465e-01 -4.81823266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.887719421 meters Centerline goodness : 0.980934 Centerline is valid? [True, True] Translation: X:38.18, Y:0.06, Z:-0.48 [[ 9.99768132e-01 -2.14155604e-02 -2.24868216e-03 3.81831941e+01] [ 2.14153507e-02 9.99770658e-01 -1.17256777e-04 5.85134230e-02] [ 2.25067756e-03 6.90732717e-05 9.99997465e-01 -4.80275473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.917719421 meters Centerline goodness : 0.978456 Centerline is valid? [True, True] Translation: X:38.21, Y:0.05, Z:-0.48 [[ 9.99455254e-01 -3.29262606e-02 -2.24864799e-03 3.82127525e+01] [ 3.29260787e-02 9.99457783e-01 -1.17908382e-04 5.42645725e-02] [ 2.25131102e-03 4.38049915e-05 9.99997465e-01 -4.84215704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.947719421 meters Centerline goodness : 0.978085 Centerline is valid? [True, True] Translation: X:38.24, Y:0.05, Z:-0.48 [[ 9.99272528e-01 -3.80704472e-02 -2.24861633e-03 3.82415388e+01] [ 3.80702768e-02 9.99275057e-01 -1.18509234e-04 5.11173883e-02] [ 2.25149791e-03 3.28175760e-05 9.99997465e-01 -4.83910341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.977719421 meters Centerline goodness : 0.976609 Centerline is valid? [True, True] Translation: X:38.27, Y:0.04, Z:-0.49 [[ 9.98898529e-01 -4.68686762e-02 -2.24858039e-03 3.82697128e+01] [ 4.68685267e-02 9.98901060e-01 -1.19187270e-04 4.32952737e-02] [ 2.25169548e-03 1.36683388e-05 9.99997465e-01 -4.86230327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.007719421 meters Centerline goodness : 0.977818 Centerline is valid? [True, True] Translation: X:38.30, Y:0.04, Z:-0.48 [[ 9.98737930e-01 -5.01746086e-02 -2.24856772e-03 3.82980012e+01] [ 5.01744669e-02 9.98740461e-01 -1.19425748e-04 4.26642101e-02] [ 2.25172770e-03 6.45433785e-06 9.99997465e-01 -4.84119061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.03771942099999 meters Centerline goodness : 0.973229 Centerline is valid? [True, True] Translation: X:38.33, Y:0.04, Z:-0.49 [[ 9.98625539e-01 -5.23638952e-02 -2.24852553e-03 3.83254967e+01] [ 5.23637572e-02 9.98628070e-01 -1.20214842e-04 4.36237378e-02] [ 2.25173563e-03 2.30836601e-06 9.99997465e-01 -4.85893745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06771942099999 meters Centerline goodness : 0.971944 Centerline is valid? [True, True] Translation: X:38.35, Y:0.05, Z:-0.49 [[ 9.98687990e-01 -5.11590024e-02 -2.24850697e-03 3.83537154e+01] [ 5.11588607e-02 9.98690521e-01 -1.20560990e-04 4.53972488e-02] [ 2.25173038e-03 5.37175806e-06 9.99997465e-01 -4.87207996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.097719421 meters Centerline goodness : 0.972475 Centerline is valid? [True, True] Translation: X:38.38, Y:0.05, Z:-0.49 [[ 9.98946800e-01 -4.58283156e-02 -2.24846514e-03 3.83818295e+01] [ 4.58281586e-02 9.98949331e-01 -1.21336162e-04 4.85014372e-02] [ 2.25166338e-03 1.81653539e-05 9.99997465e-01 -4.86706086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.127719421 meters Centerline goodness : 0.974142 Centerline is valid? [True, True] Translation: X:38.41, Y:0.05, Z:-0.49 [[ 9.99068081e-01 -4.31035360e-02 -2.24845218e-03 3.84099538e+01] [ 4.31033716e-02 9.99070610e-01 -1.21575822e-04 5.24755913e-02] [ 2.25160284e-03 2.45466533e-05 9.99997465e-01 -4.85413658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.157719421 meters Centerline goodness : 0.971165 Centerline is valid? [True, True] Translation: X:38.44, Y:0.06, Z:-0.49 [[ 9.99202548e-01 -3.98649415e-02 -2.24843206e-03 3.84370400e+01] [ 3.98647680e-02 9.99205077e-01 -1.21946913e-04 5.82949764e-02] [ 2.25150613e-03 3.22164441e-05 9.99997465e-01 -4.87727998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.187719421 meters Centerline goodness : 0.974164 Centerline is valid? [True, True] Translation: X:38.46, Y:0.06, Z:-0.48 [[ 9.99217464e-01 -3.94892926e-02 -2.24840962e-03 3.84644602e+01] [ 3.94891172e-02 9.99219993e-01 -1.22359191e-04 6.11566449e-02] [ 2.25148772e-03 3.34757298e-05 9.99997465e-01 -4.84280912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.217719421 meters Centerline goodness : 0.972312 Centerline is valid? [True, True] Translation: X:38.49, Y:0.07, Z:-0.49 [[ 9.99302871e-01 -3.72654880e-02 -2.24836751e-03 3.84922221e+01] [ 3.72653053e-02 9.99305400e-01 -1.23128192e-04 6.62953912e-02] [ 2.25139422e-03 3.92562543e-05 9.99997465e-01 -4.86454793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.247719421 meters Centerline goodness : 0.975803 Centerline is valid? [True, True] Translation: X:38.52, Y:0.07, Z:-0.48 [[ 9.99322562e-01 -3.67336644e-02 -2.24835449e-03 3.85209269e+01] [ 3.67334798e-02 9.99325090e-01 -1.23365376e-04 7.00192152e-02] [ 2.25136872e-03 4.06919193e-05 9.99997465e-01 -4.80889392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.277719421 meters Centerline goodness : 0.977281 Centerline is valid? [True, True] Translation: X:38.55, Y:0.07, Z:-0.48 [[ 9.99269863e-01 -3.81403417e-02 -2.24831686e-03 3.85485880e+01] [ 3.81401591e-02 9.99272392e-01 -1.24047450e-04 7.16616133e-02] [ 2.25141218e-03 3.82057159e-05 9.99997465e-01 -4.80986756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.307719421 meters Centerline goodness : 0.980521 Centerline is valid? [True, True] Translation: X:38.58, Y:0.07, Z:-0.48 [[ 9.99214369e-01 -3.95675371e-02 -2.24830355e-03 3.85770244e+01] [ 3.95673575e-02 9.99216898e-01 -1.24288242e-04 7.32205824e-02] [ 2.25146068e-03 3.52311666e-05 9.99997465e-01 -4.76988390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.337719421 meters Centerline goodness : 0.982749 Centerline is valid? [True, True] Translation: X:38.60, Y:0.08, Z:-0.47 [[ 9.99037860e-01 -4.37984037e-02 -2.24826573e-03 3.86047280e+01] [ 4.37982333e-02 9.99040389e-01 -1.24968607e-04 7.63596086e-02] [ 2.25158170e-03 2.63783026e-05 9.99997465e-01 -4.74773571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.367719421 meters Centerline goodness : 0.984689 Centerline is valid? [True, True] Translation: X:38.63, Y:0.08, Z:-0.47 [[ 9.98907100e-01 -4.66856667e-02 -2.24824528e-03 3.86323485e+01] [ 4.66855028e-02 9.98909630e-01 -1.25335482e-04 7.73839719e-02] [ 2.25164523e-03 2.02380411e-05 9.99997465e-01 -4.71734749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.397719421 meters Centerline goodness : 0.984207 Centerline is valid? [True, True] Translation: X:38.66, Y:0.08, Z:-0.47 [[ 9.98900161e-01 -4.68338988e-02 -2.24823202e-03 3.86608324e+01] [ 4.68337348e-02 9.98902691e-01 -1.25572771e-04 7.81289273e-02] [ 2.25164608e-03 2.01415584e-05 9.99997465e-01 -4.71280792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42771942099999 meters Centerline goodness : 0.982545 Centerline is valid? [True, True] Translation: X:38.69, Y:0.08, Z:-0.47 [[ 9.99080149e-01 -4.28229120e-02 -2.24819423e-03 3.86881920e+01] [ 4.28227363e-02 9.99082678e-01 -1.26245893e-04 8.04302108e-02] [ 2.25153812e-03 2.98559367e-05 9.99997465e-01 -4.74532545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.457719421 meters Centerline goodness : 0.982400 Centerline is valid? [True, True] Translation: X:38.72, Y:0.08, Z:-0.47 [[ 9.99241786e-01 -3.88689874e-02 -2.24818090e-03 3.87167086e+01] [ 3.88688012e-02 9.99244315e-01 -1.26482676e-04 8.44895167e-02] [ 2.25139824e-03 3.90026789e-05 9.99997465e-01 -4.74009738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.487719421 meters Centerline goodness : 0.979928 Centerline is valid? [True, True] Translation: X:38.74, Y:0.09, Z:-0.48 [[ 9.99394720e-01 -3.47151135e-02 -2.24814236e-03 3.87439971e+01] [ 3.47149153e-02 9.99397248e-01 -1.27164130e-04 8.92659048e-02] [ 2.25120180e-03 4.90430885e-05 9.99997465e-01 -4.77518092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.517719421 meters Centerline goodness : 0.976753 Centerline is valid? [True, True] Translation: X:38.77, Y:0.09, Z:-0.48 [[ 9.99704407e-01 -2.42083402e-02 -2.24809849e-03 3.87735170e+01] [ 2.42081137e-02 9.99706932e-01 -1.27934989e-04 9.37289540e-02] [ 2.25053674e-03 7.34749489e-05 9.99997465e-01 -4.79828670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.547719421 meters Centerline goodness : 0.973725 Centerline is valid? [True, True] Translation: X:38.80, Y:0.09, Z:-0.48 [[ 9.99781334e-01 -2.07901438e-02 -2.24809302e-03 3.88021112e+01] [ 2.07899084e-02 9.99783858e-01 -1.28030969e-04 9.49231875e-02] [ 2.25026890e-03 8.12653249e-05 9.99997465e-01 -4.83157307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.577719421 meters Centerline goodness : 0.972329 Centerline is valid? [True, True] Translation: X:38.83, Y:0.09, Z:-0.48 [[ 9.99846467e-01 -1.73778393e-02 -2.24805498e-03 3.88308774e+01] [ 1.73775938e-02 9.99848990e-01 -1.28695542e-04 9.39057331e-02] [ 2.24995195e-03 8.96099972e-05 9.99997465e-01 -4.84963297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.607719421 meters Centerline goodness : 0.974910 Centerline is valid? [True, True] Translation: X:38.86, Y:0.10, Z:-0.49 [[ 9.99825549e-01 -1.85423343e-02 -2.24801664e-03 3.88594971e+01] [ 1.85420903e-02 9.99828072e-01 -1.29361713e-04 9.66230139e-02] [ 2.25002882e-03 8.76562181e-05 9.99997465e-01 -4.85187158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.637719421 meters Centerline goodness : 0.974367 Centerline is valid? [True, True] Translation: X:38.89, Y:0.10, Z:-0.49 [[ 9.99793708e-01 -2.01863497e-02 -2.24800853e-03 3.88880021e+01] [ 2.01861095e-02 9.99796231e-01 -1.29502564e-04 9.89882622e-02] [ 2.25016464e-03 8.40973018e-05 9.99997465e-01 -4.85389863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.667719421 meters Centerline goodness : 0.974380 Centerline is valid? [True, True] Translation: X:38.92, Y:0.10, Z:-0.49 [[ 9.99740643e-01 -2.26625764e-02 -2.24797325e-03 3.89157949e+01] [ 2.26623410e-02 9.99743168e-01 -1.30112051e-04 9.97395280e-02] [ 2.25034458e-03 7.91339691e-05 9.99997465e-01 -4.86164129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.697719421 meters Centerline goodness : 0.977083 Centerline is valid? [True, True] Translation: X:38.94, Y:0.10, Z:-0.48 [[ 9.99610438e-01 -2.78193871e-02 -2.24793276e-03 3.89443275e+01] [ 2.78191632e-02 9.99612964e-01 -1.30807957e-04 9.67019147e-02] [ 2.25070172e-03 6.82213915e-05 9.99997465e-01 -4.81155721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.727719421 meters Centerline goodness : 0.978621 Centerline is valid? [True, True] Translation: X:38.97, Y:0.10, Z:-0.48 [[ 9.99485164e-01 -3.20055336e-02 -2.24788870e-03 3.89729165e+01] [ 3.20053186e-02 9.99487690e-01 -1.31560811e-04 9.57639273e-02] [ 2.25094775e-03 5.95486846e-05 9.99997465e-01 -4.79088596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.757719421 meters Centerline goodness : 0.979002 Centerline is valid? [True, True] Translation: X:39.00, Y:0.09, Z:-0.48 [[ 9.99149404e-01 -4.11754206e-02 -2.24784372e-03 3.90009552e+01] [ 4.11752271e-02 9.99151932e-01 -1.32324870e-04 9.29364572e-02] [ 2.25138593e-03 3.96568392e-05 9.99997465e-01 -4.80215642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78771942099999 meters Centerline goodness : 0.980373 Centerline is valid? [True, True] Translation: X:39.03, Y:0.09, Z:-0.48 [[ 9.98694072e-01 -5.10401635e-02 -2.24780467e-03 3.90288820e+01] [ 5.10399934e-02 9.98696601e-01 -1.32984933e-04 9.48951694e-02] [ 2.25166245e-03 1.80833291e-05 9.99997465e-01 -4.79050653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.81771942099999 meters Centerline goodness : 0.979107 Centerline is valid? [True, True] Translation: X:39.06, Y:0.10, Z:-0.48 [[ 9.98423919e-01 -5.60769635e-02 -2.24775865e-03 3.90581795e+01] [ 5.60768045e-02 9.98426449e-01 -1.33758209e-04 9.51284028e-02] [ 2.25172244e-03 7.50027231e-06 9.99997465e-01 -4.80472069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.847719421 meters Centerline goodness : 0.978746 Centerline is valid? [True, True] Translation: X:39.09, Y:0.09, Z:-0.48 [[ 9.97865537e-01 -6.52634517e-02 -2.24771845e-03 3.90869903e+01] [ 6.52633145e-02 9.97868068e-01 -1.34430453e-04 9.43723060e-02] [ 2.25169986e-03 -1.25500393e-05 9.99997465e-01 -4.81326558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.877719421 meters Centerline goodness : 0.977788 Centerline is valid? [True, True] Translation: X:39.12, Y:0.10, Z:-0.48 [[ 9.97654403e-01 -6.84151982e-02 -2.24767746e-03 3.91151566e+01] [ 6.84150674e-02 9.97656935e-01 -1.35112310e-04 9.59995542e-02] [ 2.25165474e-03 -1.89796140e-05 9.99997465e-01 -4.82117771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.907719421 meters Centerline goodness : 0.977788 Centerline is valid? [True, True] Translation: X:39.14, Y:0.10, Z:-0.48 [[ 9.97631340e-01 -6.87506920e-02 -2.24766279e-03 3.91435933e+01] [ 6.87505616e-02 9.97633872e-01 -1.35355852e-04 9.79790248e-02] [ 2.25165034e-03 -1.94928390e-05 9.99997465e-01 -4.82053614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.937719421 meters Centerline goodness : 0.978987 Centerline is valid? [True, True] Translation: X:39.17, Y:0.10, Z:-0.48 [[ 9.97306456e-01 -7.33128994e-02 -2.24761702e-03 3.91719554e+01] [ 7.33127788e-02 9.97308988e-01 -1.36111696e-04 9.91235926e-02] [ 2.25154740e-03 -2.90339762e-05 9.99997465e-01 -4.81372594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.967719421 meters Centerline goodness : 0.977002 Centerline is valid? [True, True] Translation: X:39.20, Y:0.10, Z:-0.48 [[ 9.97259015e-01 -7.39554261e-02 -2.24757643e-03 3.91993877e+01] [ 7.39553056e-02 9.97261547e-01 -1.36778636e-04 9.95278402e-02] [ 2.25153707e-03 -2.98164740e-05 9.99997465e-01 -4.81798072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.997719421 meters Centerline goodness : 0.978337 Centerline is valid? [True, True] Translation: X:39.23, Y:0.10, Z:-0.48 [[ 9.97255912e-01 -7.39972606e-02 -2.24756192e-03 3.92279850e+01] [ 7.39971397e-02 9.97258444e-01 -1.37016622e-04 1.00370640e-01] [ 2.25153896e-03 -2.96725173e-05 9.99997465e-01 -4.79515548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.027719421 meters Centerline goodness : 0.980794 Centerline is valid? [True, True] Translation: X:39.26, Y:0.10, Z:-0.48 [[ 9.97438360e-01 -7.14959185e-02 -2.24752128e-03 3.92563339e+01] [ 7.14957898e-02 9.97440892e-01 -1.37680144e-04 1.04501346e-01] [ 2.25161320e-03 -2.33608513e-05 9.99997465e-01 -4.77506442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.057719421 meters Centerline goodness : 0.977529 Centerline is valid? [True, True] Translation: X:39.28, Y:0.11, Z:-0.48 [[ 9.97750872e-01 -6.69936337e-02 -2.24748065e-03 3.92839438e+01] [ 6.69934921e-02 9.97753403e-01 -1.38340113e-04 1.09426323e-01] [ 2.25169938e-03 -1.25376090e-05 9.99997465e-01 -4.81139996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.087719421 meters Centerline goodness : 0.976616 Centerline is valid? [True, True] Translation: X:39.31, Y:0.11, Z:-0.48 [[ 9.97905720e-01 -6.46461401e-02 -2.24746627e-03 3.93121622e+01] [ 6.46459920e-02 9.97908251e-01 -1.38573442e-04 1.11553671e-01] [ 2.25172337e-03 -7.00645574e-06 9.99997465e-01 -4.80333648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.117719421 meters Centerline goodness : 0.979828 Centerline is valid? [True, True] Translation: X:39.34, Y:0.12, Z:-0.48 [[ 9.98199167e-01 -5.99447404e-02 -2.24742032e-03 3.93408480e+01] [ 5.99445787e-02 9.98201697e-01 -1.39314718e-04 1.17951202e-01] [ 2.25172996e-03 4.34317183e-06 9.99997465e-01 -4.77334267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.147719421 meters Centerline goodness : 0.979233 Centerline is valid? [True, True] Translation: X:39.37, Y:0.12, Z:-0.48 [[ 9.98278684e-01 -5.86056187e-02 -2.24741458e-03 3.93693865e+01] [ 5.86054534e-02 9.98281214e-01 -1.39407166e-04 1.21883318e-01] [ 2.25172180e-03 7.45645164e-06 9.99997465e-01 -4.77207802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.17771942099999 meters Centerline goodness : 0.976670 Centerline is valid? [True, True] Translation: X:39.40, Y:0.12, Z:-0.48 [[ 9.98377557e-01 -5.68964308e-02 -2.24737395e-03 3.93981310e+01] [ 5.68962597e-02 9.98380086e-01 -1.40059092e-04 1.20917692e-01] [ 2.25170226e-03 1.19646817e-05 9.99997465e-01 -4.78713979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.207719421 meters Centerline goodness : 0.977711 Centerline is valid? [True, True] Translation: X:39.43, Y:0.12, Z:-0.48 [[ 9.98452075e-01 -5.55734043e-02 -2.24733185e-03 3.94268351e+01] [ 5.55732283e-02 9.98454604e-01 -1.40731403e-04 1.21354531e-01] [ 2.25167976e-03 1.56220749e-05 9.99997465e-01 -4.79015141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.237719421 meters Centerline goodness : 0.978072 Centerline is valid? [True, True] Translation: X:39.45, Y:0.13, Z:-0.48 [[ 9.98547174e-01 -5.38376411e-02 -2.24728936e-03 3.94540920e+01] [ 5.38374592e-02 9.98549702e-01 -1.41406643e-04 1.28334017e-01] [ 2.25164313e-03 2.02128540e-05 9.99997465e-01 -4.79827830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.267719421 meters Centerline goodness : 0.975940 Centerline is valid? [True, True] Translation: X:39.48, Y:0.13, Z:-0.48 [[ 9.98659884e-01 -5.17047946e-02 -2.24724082e-03 3.94813314e+01] [ 5.17046056e-02 9.98662412e-01 -1.42174005e-04 1.32452714e-01] [ 2.25158601e-03 2.57907754e-05 9.99997465e-01 -4.82682099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.297719421 meters Centerline goodness : 0.975500 Centerline is valid? [True, True] Translation: X:39.51, Y:0.13, Z:-0.48 [[ 9.98826891e-01 -4.83713993e-02 -2.24722574e-03 3.95105563e+01] [ 4.83712013e-02 9.98829418e-01 -1.42411955e-04 1.33515856e-01] [ 2.25148384e-03 3.35438821e-05 9.99997465e-01 -4.83437531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.327719421 meters Centerline goodness : 0.974246 Centerline is valid? [True, True] Translation: X:39.54, Y:0.13, Z:-0.48 [[ 9.98853034e-01 -4.78285160e-02 -2.24718377e-03 3.95389545e+01] [ 4.78283152e-02 9.98855561e-01 -1.43071130e-04 1.34711444e-01] [ 2.25145488e-03 3.54280189e-05 9.99997465e-01 -4.83480919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.357719421 meters Centerline goodness : 0.974747 Centerline is valid? [True, True] Translation: X:39.57, Y:0.14, Z:-0.48 [[ 9.98880815e-01 -4.72447589e-02 -2.24714183e-03 3.95664929e+01] [ 4.72445550e-02 9.98883342e-01 -1.43726797e-04 1.35825743e-01] [ 2.25142288e-03 3.74007237e-05 9.99997465e-01 -4.83155909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.387719421 meters Centerline goodness : 0.975206 Centerline is valid? [True, True] Translation: X:39.60, Y:0.14, Z:-0.48 [[ 9.98910336e-01 -4.66164270e-02 -2.24709383e-03 3.95951382e+01] [ 4.66162199e-02 9.98912863e-01 -1.44473414e-04 1.36930857e-01] [ 2.25138577e-03 3.95649660e-05 9.99997465e-01 -4.82200345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.417719421 meters Centerline goodness : 0.979137 Centerline is valid? [True, True] Translation: X:39.62, Y:0.14, Z:-0.48 [[ 9.98950406e-01 -4.57497149e-02 -2.24705211e-03 3.96235128e+01] [ 4.57495042e-02 9.98952933e-01 -1.45119449e-04 1.38442537e-01] [ 2.25133847e-03 4.21656122e-05 9.99997465e-01 -4.77246108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.447719421 meters Centerline goodness : 0.979939 Centerline is valid? [True, True] Translation: X:39.65, Y:0.14, Z:-0.48 [[ 9.98938186e-01 -4.60157728e-02 -2.24703654e-03 3.96525865e+01] [ 4.60155622e-02 9.98940712e-01 -1.45360134e-04 1.40915250e-01] [ 2.25134514e-03 4.18071386e-05 9.99997465e-01 -4.76366125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.477719421 meters Centerline goodness : 0.978473 Centerline is valid? [True, True] Translation: X:39.68, Y:0.14, Z:-0.48 [[ 9.98953229e-01 -4.56880348e-02 -2.24699312e-03 3.96800986e+01] [ 4.56878218e-02 9.98955756e-01 -1.46028161e-04 1.42401722e-01] [ 2.25131845e-03 4.32150820e-05 9.99997465e-01 -4.78973151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.507719421 meters Centerline goodness : 0.982928 Centerline is valid? [True, True] Translation: X:39.71, Y:0.14, Z:-0.47 [[ 9.98876593e-01 -4.73339429e-02 -2.24697769e-03 3.97098822e+01] [ 4.73337336e-02 9.98879120e-01 -1.46265200e-04 1.41626283e-01] [ 2.25138241e-03 3.97430412e-05 9.99997465e-01 -4.74675183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.53771942099999 meters Centerline goodness : 0.984425 Centerline is valid? [True, True] Translation: X:39.74, Y:0.14, Z:-0.47 [[ 9.98762470e-01 -4.96837927e-02 -2.24697197e-03 3.97383734e+01] [ 4.96835891e-02 9.98764997e-01 -1.46353114e-04 1.42081019e-01] [ 2.25146833e-03 3.45343651e-05 9.99997465e-01 -4.70558422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56771942099999 meters Centerline goodness : 0.981302 Centerline is valid? [True, True] Translation: X:39.77, Y:0.14, Z:-0.47 [[ 9.98384223e-01 -5.67793466e-02 -2.24692927e-03 3.97664413e+01] [ 5.67791595e-02 9.98386751e-01 -1.47005772e-04 1.43096264e-01] [ 2.25165130e-03 1.91894885e-05 9.99997465e-01 -4.74954021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.597719421 meters Centerline goodness : 0.978937 Centerline is valid? [True, True] Translation: X:39.80, Y:0.14, Z:-0.48 [[ 9.97836060e-01 -6.57126184e-02 -2.24691408e-03 3.97954102e+01] [ 6.57124535e-02 9.97838590e-01 -1.47237573e-04 1.44095631e-01] [ 2.25173294e-03 -7.31276911e-07 9.99997465e-01 -4.77232511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.627719421 meters Centerline goodness : 0.977322 Centerline is valid? [True, True] Translation: X:39.82, Y:0.15, Z:-0.48 [[ 9.97531774e-01 -7.01805551e-02 -2.24690145e-03 3.98244018e+01] [ 7.01804011e-02 9.97534305e-01 -1.47430092e-04 1.46151495e-01] [ 2.25170800e-03 -1.06222434e-05 9.99997465e-01 -4.77869147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.657719421 meters Centerline goodness : 0.975434 Centerline is valid? [True, True] Translation: X:39.85, Y:0.15, Z:-0.48 [[ 9.97359250e-01 -7.25911658e-02 -2.24685570e-03 3.98527744e+01] [ 7.25910163e-02 9.97361781e-01 -1.48123971e-04 1.48348212e-01] [ 2.25168050e-03 -1.53687265e-05 9.99997465e-01 -4.79852995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.687719421 meters Centerline goodness : 0.973651 Centerline is valid? [True, True] Translation: X:39.88, Y:0.15, Z:-0.48 [[ 9.97462820e-01 -7.11538862e-02 -2.24680998e-03 3.98805702e+01] [ 7.11537315e-02 9.97465350e-01 -1.48814345e-04 1.52225098e-01] [ 2.25170382e-03 -1.14321374e-05 9.99997465e-01 -4.81472993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.717719421 meters Centerline goodness : 0.974814 Centerline is valid? [True, True] Translation: X:39.91, Y:0.16, Z:-0.48 [[ 9.97983591e-01 -6.34326685e-02 -2.24679374e-03 3.99086616e+01] [ 6.34324937e-02 9.97986120e-01 -1.49059009e-04 1.57436967e-01] [ 2.25172418e-03 6.23871478e-06 9.99997465e-01 -4.77100152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.747719421 meters Centerline goodness : 0.975241 Centerline is valid? [True, True] Translation: X:39.94, Y:0.16, Z:-0.48 [[ 9.98253002e-01 -5.90414721e-02 -2.24677757e-03 3.99368645e+01] [ 5.90412856e-02 9.98255531e-01 -1.49302455e-04 1.61879023e-01] [ 2.25167317e-03 1.63889879e-05 9.99997465e-01 -4.76749275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.777719421 meters Centerline goodness : 0.975805 Centerline is valid? [True, True] Translation: X:39.97, Y:0.17, Z:-0.48 [[ 9.98466290e-01 -5.53174413e-02 -2.24673188e-03 3.99656589e+01] [ 5.53172438e-02 9.98468818e-01 -1.49986877e-04 1.67566800e-01] [ 2.25158861e-03 2.54738259e-05 9.99997465e-01 -4.76533028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.807719421 meters Centerline goodness : 0.972272 Centerline is valid? [True, True] Translation: X:39.99, Y:0.17, Z:-0.48 [[ 9.98850803e-01 -4.78751087e-02 -2.24668646e-03 3.99943024e+01] [ 4.78748909e-02 9.98853329e-01 -1.50664157e-04 1.73284606e-01] [ 2.25132331e-03 4.29311455e-05 9.99997465e-01 -4.77846161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.837719421 meters Centerline goodness : 0.971387 Centerline is valid? [True, True] Translation: X:40.02, Y:0.18, Z:-0.48 [[ 9.98949845e-01 -4.57619993e-02 -2.24664137e-03 4.00234328e+01] [ 4.57617747e-02 9.98952370e-01 -1.51333533e-04 1.75012866e-01] [ 2.25121304e-03 4.83643136e-05 9.99997465e-01 -4.78864787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.867719421 meters Centerline goodness : 0.974287 Centerline is valid? [True, True] Translation: X:40.05, Y:0.18, Z:-0.48 [[ 9.98978557e-01 -4.51308780e-02 -2.24659629e-03 4.00511967e+01] [ 4.51306502e-02 9.98981082e-01 -1.51999825e-04 1.77683766e-01] [ 2.25116708e-03 5.04542147e-05 9.99997465e-01 -4.79843199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.897719421 meters Centerline goodness : 0.977195 Centerline is valid? [True, True] Translation: X:40.08, Y:0.18, Z:-0.48 [[ 9.98972739e-01 -4.52594607e-02 -2.24658034e-03 4.00797738e+01] [ 4.52592327e-02 9.98975264e-01 -1.52235187e-04 1.81041279e-01] [ 2.25116827e-03 5.04002998e-05 9.99997465e-01 -4.75990853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92771942099999 meters Centerline goodness : 0.981100 Centerline is valid? [True, True] Translation: X:40.11, Y:0.18, Z:-0.47 [[ 9.98912480e-01 -4.65704966e-02 -2.24653481e-03 4.01087706e+01] [ 4.65702704e-02 9.98915005e-01 -1.52904164e-04 1.84997599e-01] [ 2.25121815e-03 4.81161444e-05 9.99997465e-01 -4.72202328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.957719421 meters Centerline goodness : 0.981184 Centerline is valid? [True, True] Translation: X:40.14, Y:0.19, Z:-0.47 [[ 9.98869575e-01 -4.74818394e-02 -2.24648820e-03 4.01378337e+01] [ 4.74816140e-02 9.98872100e-01 -1.53585871e-04 1.87358699e-01] [ 2.25124693e-03 4.67453675e-05 9.99997465e-01 -4.70499251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.987719421 meters Centerline goodness : 0.979882 Centerline is valid? [True, True] Translation: X:40.17, Y:0.19, Z:-0.47 [[ 9.98836461e-01 -4.81734226e-02 -2.24644080e-03 4.01658100e+01] [ 4.81731974e-02 9.98838986e-01 -1.54276131e-04 1.87943233e-01] [ 2.25126466e-03 4.58783891e-05 9.99997465e-01 -4.71856030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.017719421 meters Centerline goodness : 0.977717 Centerline is valid? [True, True] Translation: X:40.20, Y:0.19, Z:-0.47 [[ 9.98816283e-01 -4.85899725e-02 -2.24642408e-03 4.01954002e+01] [ 4.85897478e-02 9.98818809e-01 -1.54519107e-04 1.86450753e-01] [ 2.25127871e-03 4.51830210e-05 9.99997465e-01 -4.73419776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.047719421 meters Centerline goodness : 0.978261 Centerline is valid? [True, True] Translation: X:40.22, Y:0.19, Z:-0.47 [[ 9.98787249e-01 -4.91831702e-02 -2.24638093e-03 4.02243424e+01] [ 4.91829456e-02 9.98789775e-01 -1.55143890e-04 1.88783674e-01] [ 2.25129278e-03 4.44721080e-05 9.99997465e-01 -4.72461520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.077719421 meters Centerline goodness : 0.980959 Centerline is valid? [True, True] Translation: X:40.25, Y:0.19, Z:-0.47 [[ 9.98807121e-01 -4.87779568e-02 -2.24633454e-03 4.02531168e+01] [ 4.87777297e-02 9.98809646e-01 -1.55812808e-04 1.92089192e-01] [ 2.25126083e-03 4.60558428e-05 9.99997465e-01 -4.71383065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.107719421 meters Centerline goodness : 0.984188 Centerline is valid? [True, True] Translation: X:40.28, Y:0.20, Z:-0.47 [[ 9.98641398e-01 -5.20606562e-02 -2.24628721e-03 4.02816608e+01] [ 5.20604359e-02 9.98643924e-01 -1.56492203e-04 1.98293927e-01] [ 2.25138816e-03 3.93369011e-05 9.99997465e-01 -4.68500204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.137719421 meters Centerline goodness : 0.983199 Centerline is valid? [True, True] Translation: X:40.31, Y:0.20, Z:-0.47 [[ 9.98303100e-01 -5.81882758e-02 -2.24627717e-03 4.03106435e+01] [ 5.81880706e-02 9.98305626e-01 -1.56636088e-04 2.00388672e-01] [ 2.25158552e-03 2.56637575e-05 9.99997465e-01 -4.67694866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.167719421 meters Centerline goodness : 0.982166 Centerline is valid? [True, True] Translation: X:40.34, Y:0.20, Z:-0.47 [[ 9.98005632e-01 -6.30849724e-02 -2.24622997e-03 4.03393915e+01] [ 6.30847781e-02 9.98008159e-01 -1.57310088e-04 2.01545827e-01] [ 2.25167974e-03 1.52934344e-05 9.99997465e-01 -4.69019818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.197719421 meters Centerline goodness : 0.980358 Centerline is valid? [True, True] Translation: X:40.37, Y:0.20, Z:-0.47 [[ 9.97149082e-01 -7.54232316e-02 -2.24618258e-03 4.03673218e+01] [ 7.54230671e-02 9.97151611e-01 -1.57983891e-04 2.04326724e-01] [ 2.25170023e-03 -1.18804877e-05 9.99997465e-01 -4.72433250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.227719421 meters Centerline goodness : 0.980999 Centerline is valid? [True, True] Translation: X:40.40, Y:0.21, Z:-0.47 [[ 9.96655296e-01 -8.16895108e-02 -2.24615908e-03 4.03961249e+01] [ 8.16893614e-02 9.96657827e-01 -1.58317277e-04 2.08986496e-01] [ 2.25158489e-03 -2.56995482e-05 9.99997465e-01 -4.71055275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.257719421 meters Centerline goodness : 0.980239 Centerline is valid? [True, True] Translation: X:40.42, Y:0.22, Z:-0.47 [[ 9.95986540e-01 -8.94749479e-02 -2.24611112e-03 4.04244059e+01] [ 8.94748167e-02 9.95989072e-01 -1.58994753e-04 2.17149851e-01] [ 2.25132818e-03 -4.26137474e-05 9.99997465e-01 -4.71498125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28771942099999 meters Centerline goodness : 0.980144 Centerline is valid? [True, True] Translation: X:40.45, Y:0.22, Z:-0.47 [[ 9.95803189e-01 -9.14929731e-02 -2.24606291e-03 4.04532160e+01] [ 9.14928456e-02 9.95805721e-01 -1.59672961e-04 2.22110144e-01] [ 2.25125125e-03 -4.64958436e-05 9.99997465e-01 -4.72795023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.31771942099999 meters Centerline goodness : 0.975947 Centerline is valid? [True, True] Translation: X:40.48, Y:0.23, Z:-0.48 [[ 9.95826448e-01 -9.12394730e-02 -2.24601418e-03 4.04806071e+01] [ 9.12393433e-02 9.95828980e-01 -1.60355466e-04 2.26310294e-01] [ 2.25127676e-03 -4.52386447e-05 9.99997465e-01 -4.75326005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.347719421 meters Centerline goodness : 0.976362 Centerline is valid? [True, True] Translation: X:40.51, Y:0.23, Z:-0.48 [[ 9.96158377e-01 -8.75410970e-02 -2.24599698e-03 4.05092623e+01] [ 8.75409574e-02 9.96160908e-01 -1.60596011e-04 2.33099301e-01] [ 2.25143314e-03 -3.66376648e-05 9.99997465e-01 -4.75999929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.377719421 meters Centerline goodness : 0.975666 Centerline is valid? [True, True] Translation: X:40.54, Y:0.24, Z:-0.48 [[ 9.96377799e-01 -8.50072806e-02 -2.24594810e-03 4.05379742e+01] [ 8.50071330e-02 9.96380330e-01 -1.61276799e-04 2.37678313e-01] [ 2.25152821e-03 -3.02289867e-05 9.99997465e-01 -4.75207231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.407719421 meters Centerline goodness : 0.975966 Centerline is valid? [True, True] Translation: X:40.57, Y:0.25, Z:-0.47 [[ 9.96996669e-01 -7.74118659e-02 -2.24589899e-03 4.05662712e+01] [ 7.74116975e-02 9.96999199e-01 -1.61957759e-04 2.45852052e-01] [ 2.25169695e-03 -1.23875071e-05 9.99997465e-01 -4.74816238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.437719421 meters Centerline goodness : 0.979980 Centerline is valid? [True, True] Translation: X:40.59, Y:0.25, Z:-0.47 [[ 9.97346751e-01 -7.27627251e-02 -2.24588860e-03 4.05949246e+01] [ 7.27625446e-02 9.97349280e-01 -1.62101764e-04 2.53545091e-01] [ 2.25173034e-03 -1.74490116e-06 9.99997465e-01 -4.70026030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.467719421 meters Centerline goodness : 0.981396 Centerline is valid? [True, True] Translation: X:40.62, Y:0.26, Z:-0.47 [[ 9.98164831e-01 -6.05138590e-02 -2.24584026e-03 4.06230415e+01] [ 6.05136460e-02 9.98167357e-01 -1.62768733e-04 2.63274330e-01] [ 2.25157420e-03 2.65660422e-05 9.99997465e-01 -4.68824520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.497719421 meters Centerline goodness : 0.977429 Centerline is valid? [True, True] Translation: X:40.65, Y:0.27, Z:-0.47 [[ 9.98799752e-01 -4.89286475e-02 -2.24579127e-03 4.06510535e+01] [ 4.89284036e-02 9.98802275e-01 -1.63441864e-04 2.65570240e-01] [ 2.25109842e-03 5.33627112e-05 9.99997465e-01 -4.74101283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.527719421 meters Centerline goodness : 0.976192 Centerline is valid? [True, True] Translation: X:40.68, Y:0.27, Z:-0.48 [[ 9.98993541e-01 -4.47980120e-02 -2.24577402e-03 4.06794737e+01] [ 4.47977572e-02 9.98996063e-01 -1.63678512e-04 2.67440827e-01] [ 2.25085188e-03 6.29081365e-05 9.99997465e-01 -4.75485290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.557719421 meters Centerline goodness : 0.975199 Centerline is valid? [True, True] Translation: X:40.71, Y:0.27, Z:-0.48 [[ 9.99153232e-01 -4.10825527e-02 -2.24572789e-03 4.07084263e+01] [ 4.10822870e-02 9.99155753e-01 -1.64309000e-04 2.71994963e-01] [ 2.25058218e-03 7.19102308e-05 9.99997465e-01 -4.76325969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.587719421 meters Centerline goodness : 0.972758 Centerline is valid? [True, True] Translation: X:40.74, Y:0.27, Z:-0.48 [[ 9.99178770e-01 -4.04566680e-02 -2.24570339e-03 4.07351489e+01] [ 4.04564001e-02 9.99181291e-01 -1.64643207e-04 2.74544686e-01] [ 2.25052573e-03 7.36549219e-05 9.99997465e-01 -4.80584050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.617719421 meters Centerline goodness : 0.973020 Centerline is valid? [True, True] Translation: X:40.76, Y:0.28, Z:-0.48 [[ 9.99122129e-01 -4.18321437e-02 -2.24567990e-03 4.07641829e+01] [ 4.18318785e-02 9.99124650e-01 -1.64963027e-04 2.75819385e-01] [ 2.25061490e-03 7.08772019e-05 9.99997465e-01 -4.77113933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.647719421 meters Centerline goodness : 0.971335 Centerline is valid? [True, True] Translation: X:40.79, Y:0.28, Z:-0.48 [[ 9.99057980e-01 -4.33371681e-02 -2.24563014e-03 4.07910297e+01] [ 4.33369052e-02 9.99060501e-01 -1.65637585e-04 2.77301339e-01] [ 2.25069864e-03 6.81628909e-05 9.99997465e-01 -4.80823351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.67771942099999 meters Centerline goodness : 0.969474 Centerline is valid? [True, True] Translation: X:40.82, Y:0.28, Z:-0.48 [[ 9.98940674e-01 -4.59617964e-02 -2.24560541e-03 4.08193277e+01] [ 4.59615393e-02 9.98943196e-01 -1.65972155e-04 2.76858710e-01] [ 2.25086063e-03 6.25848550e-05 9.99997465e-01 -4.83723314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.707719421 meters Centerline goodness : 0.968156 Centerline is valid? [True, True] Translation: X:40.85, Y:0.28, Z:-0.48 [[ 9.98786077e-01 -4.92070154e-02 -2.24558877e-03 4.08483496e+01] [ 4.92067660e-02 9.98788600e-01 -1.66196976e-04 2.75942946e-01] [ 2.25104652e-03 5.54970648e-05 9.99997465e-01 -4.80622446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.737719421 meters Centerline goodness : 0.970318 Centerline is valid? [True, True] Translation: X:40.88, Y:0.28, Z:-0.48 [[ 9.98763294e-01 -4.96672856e-02 -2.24553968e-03 4.08768974e+01] [ 4.96670359e-02 9.98765817e-01 -1.66857609e-04 2.76392228e-01] [ 2.25105564e-03 5.51219552e-05 9.99997465e-01 -4.79904695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.767719421 meters Centerline goodness : 0.971545 Centerline is valid? [True, True] Translation: X:40.91, Y:0.27, Z:-0.48 [[ 9.98684022e-01 -5.12365313e-02 -2.24548976e-03 4.09065506e+01] [ 5.12362841e-02 9.98686545e-01 -1.67526822e-04 2.74352571e-01] [ 2.25112390e-03 5.22558092e-05 9.99997465e-01 -4.77859449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.797719421 meters Centerline goodness : 0.973087 Centerline is valid? [True, True] Translation: X:40.93, Y:0.27, Z:-0.48 [[ 9.98657239e-01 -5.17559343e-02 -2.24548269e-03 4.09347980e+01] [ 5.17556882e-02 9.98659762e-01 -1.67621467e-04 2.74086623e-01] [ 2.25114862e-03 5.11798893e-05 9.99997465e-01 -4.77856906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.827719421 meters Centerline goodness : 0.973087 Centerline is valid? [True, True] Translation: X:40.96, Y:0.28, Z:-0.48 [[ 9.98639905e-01 -5.20893311e-02 -2.24545502e-03 4.09631841e+01] [ 5.20890849e-02 9.98642428e-01 -1.67991313e-04 2.76479704e-01] [ 2.25115721e-03 5.07991317e-05 9.99997465e-01 -4.77792790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.857719421 meters Centerline goodness : 0.972436 Centerline is valid? [True, True] Translation: X:40.99, Y:0.28, Z:-0.48 [[ 9.98537881e-01 -5.40097903e-02 -2.24539869e-03 4.09916020e+01] [ 5.40095473e-02 9.98540405e-01 -1.68740935e-04 2.76931352e-01] [ 2.25123498e-03 4.72212491e-05 9.99997465e-01 -4.77376111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.887719421 meters Centerline goodness : 0.970569 Centerline is valid? [True, True] Translation: X:41.02, Y:0.28, Z:-0.48 [[ 9.98441319e-01 -5.57663881e-02 -2.24534890e-03 4.10183943e+01] [ 5.57661481e-02 9.98443843e-01 -1.69400803e-04 2.77454168e-01] [ 2.25130166e-03 4.39223016e-05 9.99997465e-01 -4.81020000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.917719421 meters Centerline goodness : 0.967497 Centerline is valid? [True, True] Translation: X:41.05, Y:0.27, Z:-0.48 [[ 9.98117407e-01 -6.12911070e-02 -2.24532417e-03 4.10476200e+01] [ 6.12908803e-02 9.98119932e-01 -1.69728045e-04 2.71581265e-01] [ 2.25150563e-03 3.17906217e-05 9.99997465e-01 -4.83563398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.947719421 meters Centerline goodness : 0.968412 Centerline is valid? [True, True] Translation: X:41.08, Y:0.27, Z:-0.48 [[ 9.97823926e-01 -6.58966784e-02 -2.24527709e-03 4.10770554e+01] [ 6.58964619e-02 9.97826451e-01 -1.70348585e-04 2.69626479e-01] [ 2.25162227e-03 2.20220780e-05 9.99997465e-01 -4.78632366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.977719421 meters Centerline goodness : 0.967357 Centerline is valid? [True, True] Translation: X:41.11, Y:0.27, Z:-0.48 [[ 9.97155912e-01 -7.53329032e-02 -2.24522466e-03 4.11060804e+01] [ 7.53327090e-02 9.97158440e-01 -1.71036746e-04 2.65546467e-01] [ 2.25172942e-03 1.41144553e-06 9.99997465e-01 -4.79927497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.007719421 meters Centerline goodness : 0.969040 Centerline is valid? [True, True] Translation: X:41.13, Y:0.27, Z:-0.48 [[ 9.96797246e-01 -7.99387924e-02 -2.24517246e-03 4.11347498e+01] [ 7.99386084e-02 9.96799774e-01 -1.71719370e-04 2.67868939e-01] [ 2.25171444e-03 -8.30656658e-06 9.99997465e-01 -4.78566087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.03771942099999 meters Centerline goodness : 0.968255 Centerline is valid? [True, True] Translation: X:41.16, Y:0.27, Z:-0.48 [[ 9.96235101e-01 -8.66636195e-02 -2.24511958e-03 4.11611992e+01] [ 8.66634510e-02 9.96237631e-01 -1.72407879e-04 2.71571551e-01] [ 2.25161410e-03 -2.28110299e-05 9.99997465e-01 -4.78302188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06771942099999 meters Centerline goodness : 0.968830 Centerline is valid? [True, True] Translation: X:41.19, Y:0.27, Z:-0.48 [[ 9.96023910e-01 -8.90580119e-02 -2.24509333e-03 4.11888305e+01] [ 8.90578487e-02 9.96026440e-01 -1.72749030e-04 2.73703357e-01] [ 2.25155701e-03 -2.78810183e-05 9.99997465e-01 -4.78002703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.097719421 meters Centerline goodness : 0.971128 Centerline is valid? [True, True] Translation: X:41.22, Y:0.28, Z:-0.48 [[ 9.95897535e-01 -9.04602679e-02 -2.24503350e-03 4.12182312e+01] [ 9.04601066e-02 9.95900065e-01 -1.73523212e-04 2.75276837e-01] [ 2.25152596e-03 -3.02746300e-05 9.99997465e-01 -4.75348706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.127719421 meters Centerline goodness : 0.973558 Centerline is valid? [True, True] Translation: X:41.25, Y:0.28, Z:-0.47 [[ 9.95779973e-01 -9.17453247e-02 -2.24502605e-03 4.12470159e+01] [ 9.17451664e-02 9.95782504e-01 -1.73619435e-04 2.80103416e-01] [ 2.25148644e-03 -3.30835327e-05 9.99997465e-01 -4.73119261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.157719421 meters Centerline goodness : 0.976519 Centerline is valid? [True, True] Translation: X:41.27, Y:0.29, Z:-0.47 [[ 9.95501601e-01 -9.47181194e-02 -2.24497331e-03 4.12748424e+01] [ 9.47179671e-02 9.95504132e-01 -1.74298804e-04 2.88794733e-01] [ 2.25138946e-03 -3.91245696e-05 9.99997465e-01 -4.69636152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.187719421 meters Centerline goodness : 0.976913 Centerline is valid? [True, True] Translation: X:41.30, Y:0.30, Z:-0.47 [[ 9.95067107e-01 -9.91786911e-02 -2.24495425e-03 4.13027190e+01] [ 9.91785496e-02 9.95069638e-01 -1.74543927e-04 2.98685912e-01] [ 2.25119685e-03 -4.89683864e-05 9.99997465e-01 -4.69432378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.217719421 meters Centerline goodness : 0.978268 Centerline is valid? [True, True] Translation: X:41.33, Y:0.31, Z:-0.47 [[ 9.94757481e-01 -1.02237544e-01 -2.24490141e-03 4.13313964e+01] [ 1.02237408e-01 9.94760012e-01 -1.75220853e-04 3.05414122e-01] [ 2.25105231e-03 -5.52106483e-05 9.99997465e-01 -4.68951722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.247719421 meters Centerline goodness : 0.977086 Centerline is valid? [True, True] Translation: X:41.36, Y:0.31, Z:-0.47 [[ 9.94366004e-01 -1.05977408e-01 -2.24484799e-03 4.13587263e+01] [ 1.05977281e-01 9.94368536e-01 -1.75902622e-04 3.10447025e-01] [ 2.25084791e-03 -6.29912982e-05 9.99997465e-01 -4.70188597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.277719421 meters Centerline goodness : 0.974770 Centerline is valid? [True, True] Translation: X:41.39, Y:0.31, Z:-0.47 [[ 9.93486967e-01 -1.13923691e-01 -2.24478674e-03 4.13880318e+01] [ 1.13923582e-01 9.93489500e-01 -1.76680798e-04 3.12948649e-01] [ 2.25030019e-03 -8.02040763e-05 9.99997465e-01 -4.73153224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.307719421 meters Centerline goodness : 0.973182 Centerline is valid? [True, True] Translation: X:41.42, Y:0.32, Z:-0.47 [[ 9.93078025e-01 -1.17435077e-01 -2.24473710e-03 4.14151298e+01] [ 1.17434976e-01 9.93080558e-01 -1.77309233e-04 3.17481340e-01] [ 2.25002710e-03 -8.75287450e-05 9.99997465e-01 -4.74363529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.337719421 meters Centerline goodness : 0.975686 Centerline is valid? [True, True] Translation: X:41.44, Y:0.33, Z:-0.47 [[ 9.92534000e-01 -1.21947609e-01 -2.24471822e-03 4.14425325e+01] [ 1.21947519e-01 9.92536534e-01 -1.77547957e-04 3.30561311e-01] [ 2.24961639e-03 -9.75154334e-05 9.99997465e-01 -4.72030695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.367719421 meters Centerline goodness : 0.974467 Centerline is valid? [True, True] Translation: X:41.47, Y:0.34, Z:-0.47 [[ 9.92503622e-01 -1.22194605e-01 -2.24469921e-03 4.14702205e+01] [ 1.22194515e-01 9.92506156e-01 -1.77787970e-04 3.37786607e-01] [ 2.24960252e-03 -9.78347269e-05 9.99997465e-01 -4.71177398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.397719421 meters Centerline goodness : 0.975039 Centerline is valid? [True, True] Translation: X:41.50, Y:0.35, Z:-0.47 [[ 9.92800201e-01 -1.19761106e-01 -2.24468041e-03 4.14989581e+01] [ 1.19761009e-01 9.92802734e-01 -1.78025030e-04 3.45621008e-01] [ 2.24984532e-03 -9.20819052e-05 9.99997465e-01 -4.71278197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42771942099999 meters Centerline goodness : 0.971739 Centerline is valid? [True, True] Translation: X:41.53, Y:0.35, Z:-0.47 [[ 9.93110885e-01 -1.17156864e-01 -2.24463026e-03 4.15267292e+01] [ 1.17156759e-01 9.93113418e-01 -1.78655188e-04 3.49250571e-01] [ 2.25010311e-03 -8.55491947e-05 9.99997465e-01 -4.74990803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.457719421 meters Centerline goodness : 0.973624 Centerline is valid? [True, True] Translation: X:41.55, Y:0.36, Z:-0.47 [[ 9.93581676e-01 -1.13094721e-01 -2.24461114e-03 4.15547085e+01] [ 1.13094605e-01 9.93584208e-01 -1.78895070e-04 3.57798573e-01] [ 2.25044227e-03 -7.61065458e-05 9.99997465e-01 -4.74768188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.487719421 meters Centerline goodness : 0.971499 Centerline is valid? [True, True] Translation: X:41.58, Y:0.36, Z:-0.48 [[ 9.93912015e-01 -1.10153841e-01 -2.24455768e-03 4.15817892e+01] [ 1.10153716e-01 9.93914547e-01 -1.79563278e-04 3.64574602e-01] [ 2.25067811e-03 -6.87762697e-05 9.99997465e-01 -4.77130765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.517719421 meters Centerline goodness : 0.974569 Centerline is valid? [True, True] Translation: X:41.61, Y:0.38, Z:-0.47 [[ 9.94798178e-01 -1.01840793e-01 -2.24453883e-03 4.16097234e+01] [ 1.01840647e-01 9.94800709e-01 -1.79798659e-04 3.75778955e-01] [ 2.25117965e-03 -4.97219065e-05 9.99997465e-01 -4.70240196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.547719421 meters Centerline goodness : 0.973028 Centerline is valid? [True, True] Translation: X:41.64, Y:0.38, Z:-0.47 [[ 9.95279847e-01 -9.70205566e-02 -2.24448315e-03 4.16367057e+01] [ 9.70203962e-02 9.95282377e-01 -1.80491033e-04 3.81564312e-01] [ 2.25140586e-03 -3.81215568e-05 9.99997465e-01 -4.73299391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.577719421 meters Centerline goodness : 0.976282 Centerline is valid? [True, True] Translation: X:41.66, Y:0.39, Z:-0.47 [[ 9.96264203e-01 -8.63284456e-02 -2.24445065e-03 4.16644538e+01] [ 8.63282571e-02 9.96266731e-01 -1.80894237e-04 3.89431183e-01] [ 2.25168783e-03 -1.35410604e-05 9.99997465e-01 -4.70245528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.607719421 meters Centerline goodness : 0.975696 Centerline is valid? [True, True] Translation: X:41.69, Y:0.39, Z:-0.47 [[ 9.96788772e-01 -8.00444033e-02 -2.24438829e-03 4.16934394e+01] [ 8.00441972e-02 9.96791299e-01 -1.81664623e-04 3.94030353e-01] [ 2.25172796e-03 1.43099750e-06 9.99997465e-01 -4.68750740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.637719421 meters Centerline goodness : 0.974650 Centerline is valid? [True, True] Translation: X:41.72, Y:0.40, Z:-0.47 [[ 9.97614435e-01 -6.89956618e-02 -2.24433071e-03 4.17207365e+01] [ 6.89954261e-02 9.97616960e-01 -1.82373247e-04 4.00476919e-01] [ 2.25156534e-03 2.70896303e-05 9.99997465e-01 -4.74701935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.667719421 meters Centerline goodness : 0.974068 Centerline is valid? [True, True] Translation: X:41.75, Y:0.41, Z:-0.47 [[ 9.97851483e-01 -6.54780971e-02 -2.24431035e-03 4.17495275e+01] [ 6.54778519e-02 9.97854006e-01 -1.82623469e-04 4.06746207e-01] [ 2.25145191e-03 3.52784784e-05 9.99997465e-01 -4.74333256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.697719421 meters Centerline goodness : 0.976774 Centerline is valid? [True, True] Translation: X:41.78, Y:0.42, Z:-0.47 [[ 9.98148759e-01 -6.07784430e-02 -2.24425471e-03 4.17776321e+01] [ 6.07781844e-02 9.98151280e-01 -1.83304684e-04 4.17494756e-01] [ 2.25124669e-03 4.65636163e-05 9.99997465e-01 -4.69515680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.727719421 meters Centerline goodness : 0.977059 Centerline is valid? [True, True] Translation: X:41.81, Y:0.42, Z:-0.47 [[ 9.98198684e-01 -5.99529134e-02 -2.24419614e-03 4.18051001e+01] [ 5.99526511e-02 9.98201205e-01 -1.84019012e-04 4.21764090e-01] [ 2.25119177e-03 4.91420276e-05 9.99997465e-01 -4.68795962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.757719421 meters Centerline goodness : 0.975647 Centerline is valid? [True, True] Translation: X:41.83, Y:0.42, Z:-0.47 [[ 9.98070735e-01 -6.20465324e-02 -2.24417549e-03 4.18327920e+01] [ 6.20462749e-02 9.98073257e-01 -1.84270472e-04 4.22226066e-01] [ 2.25128488e-03 4.46722363e-05 9.99997465e-01 -4.70272409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78771942099999 meters Centerline goodness : 0.973671 Centerline is valid? [True, True] Translation: X:41.86, Y:0.42, Z:-0.47 [[ 9.97595006e-01 -6.92760327e-02 -2.24415543e-03 4.18622688e+01] [ 6.92757929e-02 9.97597529e-01 -1.84514442e-04 4.20939496e-01] [ 2.25154634e-03 2.86050392e-05 9.99997465e-01 -4.73750261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.81771942099999 meters Centerline goodness : 0.975750 Centerline is valid? [True, True] Translation: X:41.89, Y:0.42, Z:-0.47 [[ 9.97256945e-01 -7.39834353e-02 -2.24410307e-03 4.18912314e+01] [ 7.39832060e-02 9.97259470e-01 -1.85149126e-04 4.22648336e-01] [ 2.25165100e-03 1.86153125e-05 9.99997465e-01 -4.73557391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.847719421 meters Centerline goodness : 0.975915 Centerline is valid? [True, True] Translation: X:41.92, Y:0.43, Z:-0.47 [[ 9.96891751e-01 -7.87515156e-02 -2.24404572e-03 4.19199759e+01] [ 7.87512968e-02 9.96894277e-01 -1.85841558e-04 4.25019455e-01] [ 2.25171164e-03 8.54240505e-06 9.99997465e-01 -4.72228914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.877719421 meters Centerline goodness : 0.975859 Centerline is valid? [True, True] Translation: X:41.95, Y:0.43, Z:-0.47 [[ 9.96468161e-01 -8.39414577e-02 -2.24398846e-03 4.19479893e+01] [ 8.39412504e-02 9.96470688e-01 -1.86530491e-04 4.27016552e-01] [ 2.25172636e-03 -2.49150128e-06 9.99997465e-01 -4.70883421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.907719421 meters Centerline goodness : 0.974354 Centerline is valid? [True, True] Translation: X:41.98, Y:0.43, Z:-0.47 [[ 9.96334695e-01 -8.55110572e-02 -2.24396815e-03 4.19769028e+01] [ 8.55108535e-02 9.96337222e-01 -1.86774441e-04 4.27982171e-01] [ 2.25172027e-03 -5.79377598e-06 9.99997465e-01 -4.71051613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.937719421 meters Centerline goodness : 0.972884 Centerline is valid? [True, True] Translation: X:42.01, Y:0.43, Z:-0.47 [[ 9.96087481e-01 -8.83441850e-02 -2.24391156e-03 4.20063264e+01] [ 8.83439869e-02 9.96090008e-01 -1.87451815e-04 4.27790309e-01] [ 2.25169817e-03 -1.15176880e-05 9.99997465e-01 -4.72630576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.967719421 meters Centerline goodness : 0.974388 Centerline is valid? [True, True] Translation: X:42.03, Y:0.43, Z:-0.47 [[ 9.95860682e-01 -9.08651047e-02 -2.24385907e-03 4.20336946e+01] [ 9.08649116e-02 9.95863210e-01 -1.88078102e-04 4.32297597e-01] [ 2.25166643e-03 -1.65884695e-05 9.99997465e-01 -4.70796129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.997719421 meters Centerline goodness : 0.970200 Centerline is valid? [True, True] Translation: X:42.06, Y:0.44, Z:-0.48 [[ 9.95808652e-01 -9.14335472e-02 -2.24379172e-03 4.20607561e+01] [ 9.14333537e-02 9.95811180e-01 -1.88878205e-04 4.36403693e-01] [ 2.25166268e-03 -1.70708515e-05 9.99997465e-01 -4.75101690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.027719421 meters Centerline goodness : 0.972586 Centerline is valid? [True, True] Translation: X:42.09, Y:0.44, Z:-0.47 [[ 9.95728789e-01 -9.22992119e-02 -2.24376248e-03 4.20891250e+01] [ 9.22990198e-02 9.95731317e-01 -1.89224859e-04 4.40617748e-01] [ 2.25164988e-03 -1.86804379e-05 9.99997465e-01 -4.72588543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.057719421 meters Centerline goodness : 0.974007 Centerline is valid? [True, True] Translation: X:42.12, Y:0.44, Z:-0.47 [[ 9.95534664e-01 -9.43700049e-02 -2.24370360e-03 4.21179081e+01] [ 9.43698165e-02 9.95537193e-01 -1.89920506e-04 4.43912078e-01] [ 2.25161318e-03 -2.26654504e-05 9.99997465e-01 -4.71363678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.087719421 meters Centerline goodness : 0.974462 Centerline is valid? [True, True] Translation: X:42.15, Y:0.45, Z:-0.47 [[ 9.95344017e-01 -9.63600247e-02 -2.24364388e-03 4.21451175e+01] [ 9.63598398e-02 9.95346545e-01 -1.90623466e-04 4.46094759e-01] [ 2.25157166e-03 -2.64612378e-05 9.99997465e-01 -4.73288462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.117719421 meters Centerline goodness : 0.974932 Centerline is valid? [True, True] Translation: X:42.17, Y:0.45, Z:-0.47 [[ 9.94801344e-01 -1.01809880e-01 -2.24361859e-03 4.21733952e+01] [ 1.01809708e-01 9.94803874e-01 -1.90920584e-04 4.48594461e-01] [ 2.25139807e-03 -3.84941003e-05 9.99997465e-01 -4.72553550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.147719421 meters Centerline goodness : 0.975116 Centerline is valid? [True, True] Translation: X:42.20, Y:0.46, Z:-0.47 [[ 9.94499382e-01 -1.04718416e-01 -2.24355277e-03 4.22015488e+01] [ 1.04718250e-01 9.94501911e-01 -1.91690915e-04 4.55466436e-01] [ 2.25129109e-03 -4.43044232e-05 9.99997465e-01 -4.72526135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.17771942099999 meters Centerline goodness : 0.973947 Centerline is valid? [True, True] Translation: X:42.23, Y:0.46, Z:-0.47 [[ 9.94600028e-01 -1.03758136e-01 -2.24349516e-03 4.22303339e+01] [ 1.03757966e-01 9.94602558e-01 -1.92362811e-04 4.61638671e-01] [ 2.25134524e-03 -4.14564364e-05 9.99997465e-01 -4.72246516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.207719421 meters Centerline goodness : 0.979026 Centerline is valid? [True, True] Translation: X:42.26, Y:0.47, Z:-0.47 [[ 9.95376319e-01 -9.60257857e-02 -2.24343799e-03 4.22579275e+01] [ 9.60255945e-02 9.95378846e-01 -1.93027269e-04 4.69529567e-01] [ 2.25160632e-03 -2.32926944e-05 9.99997465e-01 -4.69304480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.237719421 meters Centerline goodness : 0.978705 Centerline is valid? [True, True] Translation: X:42.29, Y:0.47, Z:-0.47 [[ 9.95829892e-01 -9.12019384e-02 -2.24342181e-03 4.22866508e+01] [ 9.12017346e-02 9.95832419e-01 -1.93215181e-04 4.74165853e-01] [ 2.25169377e-03 -1.21945079e-05 9.99997465e-01 -4.67757345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.267719421 meters Centerline goodness : 0.979015 Centerline is valid? [True, True] Translation: X:42.31, Y:0.48, Z:-0.47 [[ 9.96330249e-01 -8.55628538e-02 -2.24336411e-03 4.23136146e+01] [ 8.55626342e-02 9.96332775e-01 -1.93882854e-04 4.78219690e-01] [ 2.25172635e-03 1.22321004e-06 9.99997465e-01 -4.68257792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.297719421 meters Centerline goodness : 0.979973 Centerline is valid? [True, True] Translation: X:42.34, Y:0.48, Z:-0.47 [[ 9.97251905e-01 -7.40513754e-02 -2.24333548e-03 4.23408012e+01] [ 7.40511258e-02 9.97254427e-01 -1.94213488e-04 4.83524098e-01] [ 2.25155802e-03 2.75582530e-05 9.99997465e-01 -4.68900957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.327719421 meters Centerline goodness : 0.982897 Centerline is valid? [True, True] Translation: X:42.37, Y:0.49, Z:-0.47 [[ 9.97809558e-01 -6.61139374e-02 -2.24331517e-03 4.23691217e+01] [ 6.61136673e-02 9.97812079e-01 -1.94447874e-04 4.88481799e-01] [ 2.25126268e-03 4.57081544e-05 9.99997465e-01 -4.65181550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.357719421 meters Centerline goodness : 0.983818 Centerline is valid? [True, True] Translation: X:42.40, Y:0.49, Z:-0.46 [[ 9.97974358e-01 -6.35778965e-02 -2.24325710e-03 4.23973588e+01] [ 6.35776185e-02 9.97976878e-01 -1.95115515e-04 4.90840965e-01] [ 2.25112375e-03 5.20993372e-05 9.99997465e-01 -4.64524160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.387719421 meters Centerline goodness : 0.978653 Centerline is valid? [True, True] Translation: X:42.43, Y:0.49, Z:-0.47 [[ 9.98125682e-01 -6.11562893e-02 -2.24318892e-03 4.24265839e+01] [ 6.11560034e-02 9.98128201e-01 -1.95896195e-04 4.89381309e-01] [ 2.25097040e-03 5.83445540e-05 9.99997465e-01 -4.69380941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.417719421 meters Centerline goodness : 0.977203 Centerline is valid? [True, True] Translation: X:42.46, Y:0.49, Z:-0.47 [[ 9.98134283e-01 -6.10157436e-02 -2.24317200e-03 4.24558006e+01] [ 6.10154569e-02 9.98136802e-01 -1.96089759e-04 4.89385234e-01] [ 2.25095709e-03 5.88557468e-05 9.99997465e-01 -4.70703047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.447719421 meters Centerline goodness : 0.976072 Centerline is valid? [True, True] Translation: X:42.48, Y:0.49, Z:-0.47 [[ 9.98169473e-01 -6.04373385e-02 -2.24311229e-03 4.24847275e+01] [ 6.04370488e-02 9.98171991e-01 -1.96770441e-04 4.88625739e-01] [ 2.25090414e-03 6.08431605e-05 9.99997465e-01 -4.72947080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.477719421 meters Centerline goodness : 0.974272 Centerline is valid? [True, True] Translation: X:42.51, Y:0.49, Z:-0.47 [[ 9.98213328e-01 -5.97086249e-02 -2.24305225e-03 4.25131237e+01] [ 5.97083318e-02 9.98215846e-01 -1.97452421e-04 4.89666346e-01] [ 2.25083992e-03 6.31707299e-05 9.99997465e-01 -4.74187076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.507719421 meters Centerline goodness : 0.970623 Centerline is valid? [True, True] Translation: X:42.54, Y:0.49, Z:-0.48 [[ 9.98276105e-01 -5.86497059e-02 -2.24299152e-03 4.25414574e+01] [ 5.86494086e-02 9.98278622e-01 -1.98139897e-04 4.86736243e-01] [ 2.25075133e-03 6.62481977e-05 9.99997465e-01 -4.77148168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.53771942099999 meters Centerline goodness : 0.971130 Centerline is valid? [True, True] Translation: X:42.57, Y:0.49, Z:-0.48 [[ 9.98276976e-01 -5.86348727e-02 -2.24297008e-03 4.25683718e+01] [ 5.86345749e-02 9.98279494e-01 -1.98382375e-04 4.85916220e-01] [ 2.25074316e-03 6.65249608e-05 9.99997465e-01 -4.75862794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56771942099999 meters Centerline goodness : 0.973749 Centerline is valid? [True, True] Translation: X:42.60, Y:0.49, Z:-0.47 [[ 9.98129078e-01 -6.11008497e-02 -2.24294037e-03 4.25969971e+01] [ 6.11005573e-02 9.98131596e-01 -1.98717638e-04 4.85608907e-01] [ 2.25089147e-03 6.13009461e-05 9.99997465e-01 -4.73286620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.597719421 meters Centerline goodness : 0.975255 Centerline is valid? [True, True] Translation: X:42.63, Y:0.49, Z:-0.47 [[ 9.98027140e-01 -6.27438933e-02 -2.24292783e-03 4.26255823e+01] [ 6.27436048e-02 9.98029659e-01 -1.98859073e-04 4.87177605e-01] [ 2.25098569e-03 5.77373747e-05 9.99997465e-01 -4.72031221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.627719421 meters Centerline goodness : 0.971184 Centerline is valid? [True, True] Translation: X:42.65, Y:0.49, Z:-0.48 [[ 9.97771277e-01 -6.66891979e-02 -2.24286829e-03 4.26533733e+01] [ 6.66889178e-02 9.97773796e-01 -1.99528413e-04 4.85451623e-01] [ 2.25118160e-03 4.95092609e-05 9.99997465e-01 -4.75273877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.657719421 meters Centerline goodness : 0.972305 Centerline is valid? [True, True] Translation: X:42.68, Y:0.49, Z:-0.47 [[ 9.97544619e-01 -6.99978811e-02 -2.24284735e-03 4.26825995e+01] [ 6.99976088e-02 9.97547139e-01 -1.99763501e-04 4.86103989e-01] [ 2.25132898e-03 4.22790536e-05 9.99997465e-01 -4.74541805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.687719421 meters Centerline goodness : 0.971042 Centerline is valid? [True, True] Translation: X:42.71, Y:0.49, Z:-0.48 [[ 9.97318660e-01 -7.31468375e-02 -2.24278668e-03 4.27108355e+01] [ 7.31465717e-02 9.97321181e-01 -2.00442394e-04 4.86253935e-01] [ 2.25144039e-03 3.58527830e-05 9.99997465e-01 -4.76012682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.717719421 meters Centerline goodness : 0.971042 Centerline is valid? [True, True] Translation: X:42.74, Y:0.49, Z:-0.48 [[ 9.97294449e-01 -7.34762068e-02 -2.24276526e-03 4.27391661e+01] [ 7.34759412e-02 9.97296970e-01 -2.00681688e-04 4.89076162e-01] [ 2.25144833e-03 3.53494445e-05 9.99997465e-01 -4.75948580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.747719421 meters Centerline goodness : 0.973474 Centerline is valid? [True, True] Translation: X:42.77, Y:0.49, Z:-0.47 [[ 9.96716824e-01 -8.09354210e-02 -2.24269874e-03 4.27688184e+01] [ 8.09351727e-02 9.96719347e-01 -2.01422360e-04 4.86628289e-01] [ 2.25164343e-03 1.92478445e-05 9.99997465e-01 -4.73408712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.777719421 meters Centerline goodness : 0.977123 Centerline is valid? [True, True] Translation: X:42.80, Y:0.48, Z:-0.47 [[ 9.95983006e-01 -8.95143717e-02 -2.24268640e-03 4.27981697e+01] [ 8.95141448e-02 9.95985531e-01 -2.01559724e-04 4.82514428e-01] [ 2.25172569e-03 -2.09502676e-09 9.99997465e-01 -4.69186095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.807719421 meters Centerline goodness : 0.978502 Centerline is valid? [True, True] Translation: X:42.83, Y:0.48, Z:-0.47 [[ 9.95653383e-01 -9.31091413e-02 -2.24262565e-03 4.28263266e+01] [ 9.31089220e-02 9.95655908e-01 -2.02233380e-04 4.83117854e-01] [ 2.25171325e-03 -7.45410744e-06 9.99997465e-01 -4.67649833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.837719421 meters Centerline goodness : 0.974559 Centerline is valid? [True, True] Translation: X:42.85, Y:0.49, Z:-0.47 [[ 9.95509466e-01 -9.46354801e-02 -2.24255525e-03 4.28539621e+01] [ 9.46352629e-02 9.95511992e-01 -2.03011018e-04 4.85253270e-01] [ 2.25170269e-03 -1.01254153e-05 9.99997465e-01 -4.72601125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.867719421 meters Centerline goodness : 0.972366 Centerline is valid? [True, True] Translation: X:42.88, Y:0.49, Z:-0.47 [[ 9.95587650e-01 -9.38093924e-02 -2.24252463e-03 4.28828151e+01] [ 9.38091723e-02 9.95590176e-01 -2.03348708e-04 4.88730412e-01] [ 2.25171151e-03 -7.91791740e-06 9.99997465e-01 -4.73653514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.89771942099999 meters Centerline goodness : 0.969661 Centerline is valid? [True, True] Translation: X:42.91, Y:0.49, Z:-0.48 [[ 9.95757448e-01 -9.19895401e-02 -2.24246363e-03 4.29102999e+01] [ 9.19893139e-02 9.95759973e-01 -2.04019200e-04 4.92318040e-01] [ 2.25172316e-03 -3.12905292e-06 9.99997465e-01 -4.76913547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92771942099999 meters Centerline goodness : 0.966540 Centerline is valid? [True, True] Translation: X:42.94, Y:0.49, Z:-0.48 [[ 9.96244913e-01 -8.65508188e-02 -2.24243295e-03 4.29391845e+01] [ 8.65505780e-02 9.96247437e-01 -2.04355868e-04 4.94015853e-01] [ 2.25170525e-03 9.50462584e-06 9.99997465e-01 -4.77373474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.957719421 meters Centerline goodness : 0.970444 Centerline is valid? [True, True] Translation: X:42.97, Y:0.49, Z:-0.47 [[ 9.96670299e-01 -8.15063622e-02 -2.24237099e-03 4.29683988e+01] [ 8.15061072e-02 9.96672821e-01 -2.05033515e-04 4.92894353e-01] [ 2.25162175e-03 2.15838851e-05 9.99997465e-01 -4.73960488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.987719421 meters Centerline goodness : 0.974748 Centerline is valid? [True, True] Translation: X:43.00, Y:0.49, Z:-0.47 [[ 9.96877960e-01 -7.89259432e-02 -2.24235784e-03 4.29979056e+01] [ 7.89256813e-02 9.96880482e-01 -2.05177222e-04 4.94844318e-01] [ 2.25155657e-03 2.75570305e-05 9.99997465e-01 -4.68982474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.017719421 meters Centerline goodness : 0.978653 Centerline is valid? [True, True] Translation: X:43.03, Y:0.50, Z:-0.47 [[ 9.97107195e-01 -7.59750916e-02 -2.24234884e-03 4.30265626e+01] [ 7.59748221e-02 9.97109715e-01 -2.05275534e-04 4.97907769e-01] [ 2.25146364e-03 3.43196578e-05 9.99997465e-01 -4.66950400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.047719421 meters Centerline goodness : 0.977223 Centerline is valid? [True, True] Translation: X:43.05, Y:0.50, Z:-0.47 [[ 9.97522465e-01 -7.03129010e-02 -2.24233554e-03 4.30542098e+01] [ 7.03126168e-02 9.97524984e-01 -2.05420660e-04 5.04350913e-01] [ 2.25122945e-03 4.72472437e-05 9.99997465e-01 -4.66292411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.077719421 meters Centerline goodness : 0.971235 Centerline is valid? [True, True] Translation: X:43.08, Y:0.51, Z:-0.47 [[ 9.97978263e-01 -6.35166006e-02 -2.24226539e-03 4.30829919e+01] [ 6.35162976e-02 9.97980780e-01 -2.06183608e-04 5.05511086e-01] [ 2.25083384e-03 6.33463634e-05 9.99997465e-01 -4.72356771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.107719421 meters Centerline goodness : 0.970093 Centerline is valid? [True, True] Translation: X:43.11, Y:0.51, Z:-0.47 [[ 9.98140863e-01 -6.09080507e-02 -2.24225243e-03 4.31109829e+01] [ 6.09077408e-02 9.98143379e-01 -2.06324478e-04 5.05386550e-01] [ 2.25065623e-03 6.93703631e-05 9.99997465e-01 -4.73248591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.137719421 meters Centerline goodness : 0.971702 Centerline is valid? [True, True] Translation: X:43.14, Y:0.51, Z:-0.47 [[ 9.98425865e-01 -5.60425182e-02 -2.24218343e-03 4.31393769e+01] [ 5.60421943e-02 9.98428380e-01 -2.07071617e-04 5.05401206e-01] [ 2.25026438e-03 8.10887796e-05 9.99997465e-01 -4.71667706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.167719421 meters Centerline goodness : 0.971979 Centerline is valid? [True, True] Translation: X:43.17, Y:0.51, Z:-0.47 [[ 9.98537129e-01 -5.40238438e-02 -2.24211470e-03 4.31684375e+01] [ 5.40235131e-02 9.98539642e-01 -2.07813051e-04 5.08054244e-01] [ 2.25006727e-03 8.63821342e-05 9.99997465e-01 -4.70200265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.197719421 meters Centerline goodness : 0.969828 Centerline is valid? [True, True] Translation: X:43.20, Y:0.51, Z:-0.47 [[ 9.98593332e-01 -5.29748115e-02 -2.24205247e-03 4.31963465e+01] [ 5.29744767e-02 9.98595845e-01 -2.08482328e-04 5.10355489e-01] [ 2.24994859e-03 8.94175064e-05 9.99997465e-01 -4.72780431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.227719421 meters Centerline goodness : 0.970399 Centerline is valid? [True, True] Translation: X:43.22, Y:0.51, Z:-0.47 [[ 9.98593882e-01 -5.29644488e-02 -2.24203046e-03 4.32248982e+01] [ 5.29641135e-02 9.98596395e-01 -2.08718727e-04 5.09901445e-01] [ 2.24993821e-03 8.96780883e-05 9.99997465e-01 -4.72201675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.257719421 meters Centerline goodness : 0.970285 Centerline is valid? [True, True] Translation: X:43.25, Y:0.51, Z:-0.47 [[ 9.98486219e-01 -5.49567415e-02 -2.24200877e-03 4.32524423e+01] [ 5.49564107e-02 9.98488733e-01 -2.08951490e-04 5.10250698e-01] [ 2.25010379e-03 8.54224285e-05 9.99997465e-01 -4.72925097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28771942099999 meters Centerline goodness : 0.972159 Centerline is valid? [True, True] Translation: X:43.28, Y:0.51, Z:-0.47 [[ 9.98305805e-01 -5.81420115e-02 -2.24198733e-03 4.32814656e+01] [ 5.81416881e-02 9.98308319e-01 -2.09181333e-04 5.11871696e-01] [ 2.25035682e-03 7.84740115e-05 9.99997465e-01 -4.70790139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.31771942099999 meters Centerline goodness : 0.974723 Centerline is valid? [True, True] Translation: X:43.31, Y:0.51, Z:-0.47 [[ 9.98095219e-01 -6.16515013e-02 -2.24192626e-03 4.33104503e+01] [ 6.16511854e-02 9.98097734e-01 -2.09833744e-04 5.08277045e-01] [ 2.25059809e-03 7.12166455e-05 9.99997465e-01 -4.65500654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.347719421 meters Centerline goodness : 0.971132 Centerline is valid? [True, True] Translation: X:43.34, Y:0.51, Z:-0.47 [[ 9.98066065e-01 -6.21216895e-02 -2.24186289e-03 4.33376345e+01] [ 6.21213732e-02 9.98068580e-01 -2.10508644e-04 5.06811325e-01] [ 2.25061006e-03 7.08339326e-05 9.99997465e-01 -4.69548229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.377719421 meters Centerline goodness : 0.972104 Centerline is valid? [True, True] Translation: X:43.37, Y:0.51, Z:-0.47 [[ 9.98033760e-01 -6.26385530e-02 -2.24183161e-03 4.33656309e+01] [ 6.26382372e-02 9.98036275e-01 -2.10841196e-04 5.06496651e-01] [ 2.25063606e-03 7.00022512e-05 9.99997465e-01 -4.67786202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.407719421 meters Centerline goodness : 0.967568 Centerline is valid? [True, True] Translation: X:43.39, Y:0.51, Z:-0.47 [[ 9.98063402e-01 -6.21644589e-02 -2.24176302e-03 4.33941040e+01] [ 6.21641404e-02 9.98065917e-01 -2.11568015e-04 5.06145143e-01] [ 2.25057928e-03 7.18010215e-05 9.99997465e-01 -4.72446816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.437719421 meters Centerline goodness : 0.969753 Centerline is valid? [True, True] Translation: X:43.42, Y:0.51, Z:-0.47 [[ 9.98021298e-01 -6.28368055e-02 -2.24170325e-03 4.34226178e+01] [ 6.28364872e-02 9.98023813e-01 -2.12199469e-04 5.07889918e-01] [ 2.25060716e-03 7.09188316e-05 9.99997465e-01 -4.68570214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.467719421 meters Centerline goodness : 0.967461 Centerline is valid? [True, True] Translation: X:43.45, Y:0.50, Z:-0.47 [[ 9.97876747e-01 -6.50920295e-02 -2.24163925e-03 4.34496712e+01] [ 6.50917154e-02 9.97879263e-01 -2.12873377e-04 5.03865976e-01] [ 2.25074168e-03 6.65092490e-05 9.99997465e-01 -4.70036050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.497719421 meters Centerline goodness : 0.964266 Centerline is valid? [True, True] Translation: X:43.48, Y:0.50, Z:-0.48 [[ 9.97742496e-01 -6.71184501e-02 -2.24160759e-03 4.34781741e+01] [ 6.71181403e-02 9.97745012e-01 -2.13206229e-04 5.02396635e-01] [ 2.25086287e-03 6.22723819e-05 9.99997465e-01 -4.76005124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.527719421 meters Centerline goodness : 0.963552 Centerline is valid? [True, True] Translation: X:43.51, Y:0.50, Z:-0.47 [[ 9.97314430e-01 -7.32045348e-02 -2.24158528e-03 4.35071401e+01] [ 7.32042399e-02 9.97316947e-01 -2.13440576e-04 4.98883572e-01] [ 2.25119580e-03 4.87738204e-05 9.99997465e-01 -4.72916762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.557719421 meters Centerline goodness : 0.963028 Centerline is valid? [True, True] Translation: X:43.53, Y:0.50, Z:-0.47 [[ 9.97019200e-01 -7.71212673e-02 -2.24152298e-03 4.35346661e+01] [ 7.71209808e-02 9.97021719e-01 -2.14092870e-04 5.00712439e-01] [ 2.25135820e-03 4.05862518e-05 9.99997465e-01 -4.72804230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.587719421 meters Centerline goodness : 0.963083 Centerline is valid? [True, True] Translation: X:43.56, Y:0.50, Z:-0.47 [[ 9.96538123e-01 -8.31068281e-02 -2.24150096e-03 4.35629875e+01] [ 8.31065563e-02 9.96540644e-01 -2.14323162e-04 5.01435686e-01] [ 2.25155852e-03 2.72977768e-05 9.99997465e-01 -4.71872937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.617719421 meters Centerline goodness : 0.962610 Centerline is valid? [True, True] Translation: X:43.59, Y:0.50, Z:-0.47 [[ 9.96311760e-01 -8.57779265e-02 -2.24142943e-03 4.35911450e+01] [ 8.57776597e-02 9.96314281e-01 -2.15068547e-04 5.01619813e-01] [ 2.25161629e-03 2.20107517e-05 9.99997465e-01 -4.72791200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64771942099999 meters Centerline goodness : 0.965442 Centerline is valid? [True, True] Translation: X:43.62, Y:0.50, Z:-0.47 [[ 9.95786591e-01 -9.16735558e-02 -2.24140729e-03 4.36200789e+01] [ 9.16733034e-02 9.95789114e-01 -2.15299054e-04 5.01500947e-01] [ 2.25170621e-03 8.91469974e-06 9.99997465e-01 -4.69813986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.67771942099999 meters Centerline goodness : 0.968116 Centerline is valid? [True, True] Translation: X:43.65, Y:0.50, Z:-0.47 [[ 9.95316403e-01 -9.66448920e-02 -2.24134395e-03 4.36484188e+01] [ 9.66446507e-02 9.95318926e-01 -2.15956515e-04 5.04766403e-01] [ 2.25172314e-03 -1.66884076e-06 9.99997465e-01 -4.65223070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.707719421 meters Centerline goodness : 0.968882 Centerline is valid? [True, True] Translation: X:43.68, Y:0.51, Z:-0.47 [[ 9.95157256e-01 -9.82700963e-02 -2.24127837e-03 4.36756033e+01] [ 9.82698576e-02 9.95159780e-01 -2.16634952e-04 5.08721947e-01] [ 2.25171883e-03 -4.66426224e-06 9.99997465e-01 -4.66556374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.737719421 meters Centerline goodness : 0.972430 Centerline is valid? [True, True] Translation: X:43.70, Y:0.51, Z:-0.46 [[ 9.94990209e-01 -9.99472884e-02 -2.24125055e-03 4.37039928e+01] [ 9.99470533e-02 9.94992733e-01 -2.16922397e-04 5.12993339e-01] [ 2.25170882e-03 -8.17072738e-06 9.99997465e-01 -4.61400981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.767719421 meters Centerline goodness : 0.971747 Centerline is valid? [True, True] Translation: X:43.73, Y:0.52, Z:-0.46 [[ 9.94604069e-01 -1.03719443e-01 -2.24118370e-03 4.37310672e+01] [ 1.03719216e-01 9.94606594e-01 -2.17610851e-04 5.18226284e-01] [ 2.25166657e-03 -1.60171789e-05 9.99997465e-01 -4.64290558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.797719421 meters Centerline goodness : 0.971237 Centerline is valid? [True, True] Translation: X:43.76, Y:0.52, Z:-0.46 [[ 9.93970751e-01 -1.09622644e-01 -2.24115998e-03 4.37593804e+01] [ 1.09622431e-01 9.93973277e-01 -2.17854871e-04 5.21449077e-01] [ 2.25153496e-03 -2.91400371e-05 9.99997465e-01 -4.64152082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.827719421 meters Centerline goodness : 0.969911 Centerline is valid? [True, True] Translation: X:43.79, Y:0.52, Z:-0.46 [[ 9.93672334e-01 -1.12295461e-01 -2.24109438e-03 4.37879317e+01] [ 1.12295253e-01 9.93674860e-01 -2.18527694e-04 5.23264995e-01] [ 2.25145881e-03 -3.45193369e-05 9.99997465e-01 -4.64468903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.857719421 meters Centerline goodness : 0.971582 Centerline is valid? [True, True] Translation: X:43.82, Y:0.53, Z:-0.47 [[ 9.93350129e-01 -1.15110816e-01 -2.24102754e-03 4.38162101e+01] [ 1.15110614e-01 9.93352656e-01 -2.19210951e-04 5.27658499e-01] [ 2.25136421e-03 -4.02128310e-05 9.99997465e-01 -4.65110974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.887719421 meters Centerline goodness : 0.971466 Centerline is valid? [True, True] Translation: X:43.84, Y:0.53, Z:-0.46 [[ 9.93371874e-01 -1.14923007e-01 -2.24096094e-03 4.38449658e+01] [ 1.14922803e-01 9.93374401e-01 -2.19889670e-04 5.33829004e-01] [ 2.25138362e-03 -3.91052995e-05 9.99997465e-01 -4.64716517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.917719421 meters Centerline goodness : 0.971748 Centerline is valid? [True, True] Translation: X:43.87, Y:0.54, Z:-0.46 [[ 9.93619036e-01 -1.12766081e-01 -2.24089418e-03 4.38724093e+01] [ 1.12765870e-01 9.93621563e-01 -2.20567990e-04 5.40118363e-01] [ 2.25147336e-03 -3.35358292e-05 9.99997465e-01 -4.64821757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.947719421 meters Centerline goodness : 0.974875 Centerline is valid? [True, True] Translation: X:43.90, Y:0.55, Z:-0.46 [[ 9.94282329e-01 -1.06759678e-01 -2.24087052e-03 4.39000776e+01] [ 1.06759451e-01 9.94284854e-01 -2.20808136e-04 5.48329791e-01] [ 2.25163702e-03 -1.96884791e-05 9.99997465e-01 -4.60143697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.977719421 meters Centerline goodness : 0.976287 Centerline is valid? [True, True] Translation: X:43.93, Y:0.55, Z:-0.46 [[ 9.94660107e-01 -1.03180672e-01 -2.24083412e-03 4.39271893e+01] [ 1.03180435e-01 9.94662631e-01 -2.21176834e-04 5.53604408e-01] [ 2.25169514e-03 -1.12144678e-05 9.99997465e-01 -4.60464162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.007719421 meters Centerline goodness : 0.973072 Centerline is valid? [True, True] Translation: X:43.95, Y:0.57, Z:-0.46 [[ 9.95528480e-01 -9.44352946e-02 -2.24075708e-03 4.39547045e+01] [ 9.44350342e-02 9.95531002e-01 -2.21954664e-04 5.65270824e-01] [ 2.25170349e-03 9.35621839e-06 9.99997465e-01 -4.63817042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.03771942099999 meters Centerline goodness : 0.972475 Centerline is valid? [True, True] Translation: X:43.98, Y:0.57, Z:-0.47 [[ 9.95956945e-01 -8.98039119e-02 -2.24069049e-03 4.39830462e+01] [ 8.98036383e-02 9.95959466e-01 -2.22624807e-04 5.71870680e-01] [ 2.25162949e-03 2.05025643e-05 9.99997465e-01 -4.65225167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06771942099999 meters Centerline goodness : 0.968318 Centerline is valid? [True, True] Translation: X:44.01, Y:0.58, Z:-0.47 [[ 9.96689463e-01 -8.12717347e-02 -2.24062249e-03 4.40107813e+01] [ 8.12714380e-02 9.96691980e-01 -2.23307181e-04 5.80450243e-01] [ 2.25135903e-03 4.04693023e-05 9.99997465e-01 -4.70519848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.097719421 meters Centerline goodness : 0.966364 Centerline is valid? [True, True] Translation: X:44.04, Y:0.59, Z:-0.47 [[ 9.96921799e-01 -7.83703105e-02 -2.24060314e-03 4.40395852e+01] [ 7.83700060e-02 9.96924316e-01 -2.23501162e-04 5.85614457e-01] [ 2.25122761e-03 4.72170996e-05 9.99997465e-01 -4.70502711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.127719421 meters Centerline goodness : 0.964978 Centerline is valid? [True, True] Translation: X:44.07, Y:0.59, Z:-0.47 [[ 9.97192185e-01 -7.48513587e-02 -2.24053607e-03 4.40665951e+01] [ 7.48510438e-02 9.97194701e-01 -2.24171440e-04 5.91692014e-01] [ 2.25103024e-03 5.58355444e-05 9.99997465e-01 -4.73091937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.157719421 meters Centerline goodness : 0.963963 Centerline is valid? [True, True] Translation: X:44.10, Y:0.60, Z:-0.47 [[ 9.97188417e-01 -7.49015484e-02 -2.24051231e-03 4.40955532e+01] [ 7.49012332e-02 9.97190932e-01 -2.24408708e-04 5.96386821e-01] [ 2.25102712e-03 5.59606294e-05 9.99997465e-01 -4.73754861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.187719421 meters Centerline goodness : 0.967256 Centerline is valid? [True, True] Translation: X:44.12, Y:0.60, Z:-0.47 [[ 9.97233379e-01 -7.43005302e-02 -2.24044654e-03 4.41235168e+01] [ 7.43002119e-02 9.97235894e-01 -2.25063463e-04 6.04523989e-01] [ 2.25097604e-03 5.79751456e-05 9.99997465e-01 -4.71361753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.217719421 meters Centerline goodness : 0.973034 Centerline is valid? [True, True] Translation: X:44.15, Y:0.61, Z:-0.47 [[ 9.97338810e-01 -7.28716590e-02 -2.24038000e-03 4.41529212e+01] [ 7.28713357e-02 9.97341324e-01 -2.25723814e-04 6.09981555e-01] [ 2.25087243e-03 6.18636364e-05 9.99997465e-01 -4.66524534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.247719421 meters Centerline goodness : 0.975013 Centerline is valid? [True, True] Translation: X:44.18, Y:0.61, Z:-0.46 [[ 9.97366337e-01 -7.24939399e-02 -2.24037064e-03 4.41819685e+01] [ 7.24936154e-02 9.97368851e-01 -2.25816673e-04 6.11399111e-01] [ 2.25084624e-03 6.28093804e-05 9.99997465e-01 -4.63483049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.277719421 meters Centerline goodness : 0.972541 Centerline is valid? [True, True] Translation: X:44.21, Y:0.61, Z:-0.47 [[ 9.97413170e-01 -7.18467121e-02 -2.24030040e-03 4.42096367e+01] [ 7.18463844e-02 9.97415684e-01 -2.26511459e-04 6.12414297e-01] [ 2.25078485e-03 6.49680288e-05 9.99997465e-01 -4.66013417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.307719421 meters Centerline goodness : 0.975934 Centerline is valid? [True, True] Translation: X:44.24, Y:0.61, Z:-0.46 [[ 9.97453999e-01 -7.12776332e-02 -2.24027568e-03 4.42389360e+01] [ 7.12773035e-02 9.97456513e-01 -2.26755663e-04 6.12699918e-01] [ 2.25074017e-03 6.64975337e-05 9.99997465e-01 -4.62812905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.337719421 meters Centerline goodness : 0.974377 Centerline is valid? [True, True] Translation: X:44.27, Y:0.62, Z:-0.46 [[ 9.97373736e-01 -7.23920712e-02 -2.24020786e-03 4.42678525e+01] [ 7.23917428e-02 9.97376250e-01 -2.27423662e-04 6.15219512e-01] [ 2.25079379e-03 6.46538358e-05 9.99997465e-01 -4.64130932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.367719421 meters Centerline goodness : 0.972574 Centerline is valid? [True, True] Translation: X:44.30, Y:0.61, Z:-0.47 [[ 9.97109725e-01 -7.59419435e-02 -2.24013994e-03 4.42956325e+01] [ 7.59416226e-02 9.97112239e-01 -2.28090735e-04 6.13724997e-01] [ 2.25099261e-03 5.73116274e-05 9.99997465e-01 -4.68338302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.39771942099999 meters Centerline goodness : 0.972835 Centerline is valid? [True, True] Translation: X:44.32, Y:0.61, Z:-0.47 [[ 9.96575637e-01 -8.26558013e-02 -2.24010540e-03 4.43246779e+01] [ 8.26554965e-02 9.96578154e-01 -2.28429456e-04 6.08532512e-01] [ 2.25132113e-03 4.24902064e-05 9.99997465e-01 -4.68771923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42771942099999 meters Centerline goodness : 0.973593 Centerline is valid? [True, True] Translation: X:44.35, Y:0.61, Z:-0.47 [[ 9.96217240e-01 -8.68688291e-02 -2.24008145e-03 4.43528419e+01] [ 8.68685345e-02 9.96219758e-01 -2.28664137e-04 6.08459376e-01] [ 2.25147718e-03 3.32065633e-05 9.99997465e-01 -4.68955318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.457719421 meters Centerline goodness : 0.971051 Centerline is valid? [True, True] Translation: X:44.38, Y:0.61, Z:-0.47 [[ 9.95720805e-01 -9.23853868e-02 -2.24005761e-03 4.43805528e+01] [ 9.23851056e-02 9.95723325e-01 -2.28897438e-04 6.09047158e-01] [ 2.25162439e-03 2.09699824e-05 9.99997465e-01 -4.71196126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.487719421 meters Centerline goodness : 0.971373 Centerline is valid? [True, True] Translation: X:44.41, Y:0.61, Z:-0.47 [[ 9.95596903e-01 -9.37111985e-02 -2.24003403e-03 4.44095503e+01] [ 9.37109202e-02 9.95599423e-01 -2.29127914e-04 6.12189001e-01] [ 2.25164844e-03 1.82033915e-05 9.99997465e-01 -4.71553162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.517719421 meters Centerline goodness : 0.968505 Centerline is valid? [True, True] Translation: X:44.44, Y:0.62, Z:-0.47 [[ 9.95555328e-01 -9.41518535e-02 -2.23996825e-03 4.44378466e+01] [ 9.41515748e-02 9.95557848e-01 -2.29769234e-04 6.15909472e-01] [ 2.25165117e-03 1.78514469e-05 9.99997465e-01 -4.73443922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.547719421 meters Centerline goodness : 0.963050 Centerline is valid? [True, True] Translation: X:44.47, Y:0.62, Z:-0.48 [[ 9.95648294e-01 -9.31636061e-02 -2.23990214e-03 4.44669423e+01] [ 9.31633234e-02 9.95650813e-01 -2.30411871e-04 6.19050777e-01] [ 2.25162639e-03 2.07324585e-05 9.99997465e-01 -4.78834356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.577719421 meters Centerline goodness : 0.961844 Centerline is valid? [True, True] Translation: X:44.50, Y:0.62, Z:-0.48 [[ 9.95680992e-01 -9.28134986e-02 -2.23989276e-03 4.44959866e+01] [ 9.28132149e-02 9.95683511e-01 -2.30503050e-04 6.21870040e-01] [ 2.25161808e-03 2.16158578e-05 9.99997465e-01 -4.79006938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.607719421 meters Centerline goodness : 0.962912 Centerline is valid? [True, True] Translation: X:44.52, Y:0.63, Z:-0.48 [[ 9.95749808e-01 -9.20722690e-02 -2.23982774e-03 4.45237584e+01] [ 9.20719820e-02 9.95752327e-01 -2.31133168e-04 6.25281688e-01] [ 2.25159463e-03 2.39254284e-05 9.99997465e-01 -4.78562169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.637719421 meters Centerline goodness : 0.962912 Centerline is valid? [True, True] Translation: X:44.55, Y:0.63, Z:-0.48 [[ 9.95720180e-01 -9.23921334e-02 -2.23975286e-03 4.45520599e+01] [ 9.23918456e-02 9.95722699e-01 -2.31856480e-04 6.28493268e-01] [ 2.25159448e-03 2.39292755e-05 9.99997465e-01 -4.78498082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.667719421 meters Centerline goodness : 0.963032 Centerline is valid? [True, True] Translation: X:44.58, Y:0.63, Z:-0.48 [[ 9.95770328e-01 -9.18500823e-02 -2.23967815e-03 4.45791199e+01] [ 9.18497915e-02 9.95772846e-01 -2.32575940e-04 6.32951224e-01] [ 2.25157280e-03 2.58782487e-05 9.99997465e-01 -4.78968127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.697719421 meters Centerline goodness : 0.963808 Centerline is valid? [True, True] Translation: X:44.61, Y:0.64, Z:-0.48 [[ 9.95811411e-01 -9.14036023e-02 -2.23965504e-03 4.46068076e+01] [ 9.14033098e-02 9.95813929e-01 -2.32798231e-04 6.40741696e-01] [ 2.25155828e-03 2.71112515e-05 9.99997465e-01 -4.77848455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.727719421 meters Centerline goodness : 0.966812 Centerline is valid? [True, True] Translation: X:44.63, Y:0.65, Z:-0.47 [[ 9.95800466e-01 -9.15227623e-02 -2.23963209e-03 4.46339850e+01] [ 9.15224696e-02 9.95802984e-01 -2.33018848e-04 6.46400956e-01] [ 2.25155885e-03 2.70636178e-05 9.99997465e-01 -4.72835428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.757719421 meters Centerline goodness : 0.961925 Centerline is valid? [True, True] Translation: X:44.66, Y:0.65, Z:-0.48 [[ 9.95833648e-01 -9.11610110e-02 -2.23955179e-03 4.46616684e+01] [ 9.11607157e-02 9.95836166e-01 -2.33788036e-04 6.50529598e-01] [ 2.25153902e-03 2.86548489e-05 9.99997465e-01 -4.75940962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78771942099999 meters Centerline goodness : 0.961292 Centerline is valid? [True, True] Translation: X:44.69, Y:0.65, Z:-0.48 [[ 9.95943020e-01 -8.99582387e-02 -2.23952697e-03 4.46895750e+01] [ 8.99579398e-02 9.95945538e-01 -2.34025584e-04 6.51780485e-01] [ 2.25149942e-03 3.16129150e-05 9.99997465e-01 -4.76067529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.81771942099999 meters Centerline goodness : 0.969393 Centerline is valid? [True, True] Translation: X:44.72, Y:0.65, Z:-0.47 [[ 9.96430046e-01 -8.43928226e-02 -2.23950240e-03 4.47203355e+01] [ 8.43925092e-02 9.96432561e-01 -2.34260465e-04 6.51519598e-01] [ 2.25128301e-03 4.44269390e-05 9.99997465e-01 -4.66471482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.847719421 meters Centerline goodness : 0.973167 Centerline is valid? [True, True] Translation: X:44.75, Y:0.65, Z:-0.47 [[ 9.96695930e-01 -8.11924133e-02 -2.23950240e-03 4.47477225e+01] [ 8.11920917e-02 9.96698445e-01 -2.34260465e-04 6.53710873e-01] [ 2.25112873e-03 5.16565677e-05 9.99997465e-01 -4.65241329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.877719421 meters Centerline goodness : 0.973061 Centerline is valid? [True, True] Translation: X:44.78, Y:0.66, Z:-0.47 [[ 9.97170803e-01 -7.51357121e-02 -2.23947724e-03 4.47767512e+01] [ 7.51353747e-02 9.97173315e-01 -2.34500704e-04 6.57218851e-01] [ 2.25076632e-03 6.55732937e-05 9.99997465e-01 -4.65567135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.907719421 meters Centerline goodness : 0.972920 Centerline is valid? [True, True] Translation: X:44.80, Y:0.66, Z:-0.47 [[ 9.97360402e-01 -7.25755754e-02 -2.23940699e-03 4.48044437e+01] [ 7.25752301e-02 9.97362913e-01 -2.35169733e-04 6.60322380e-01] [ 2.25056905e-03 7.20235022e-05 9.99997465e-01 -4.67790281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.937719421 meters Centerline goodness : 0.971504 Centerline is valid? [True, True] Translation: X:44.83, Y:0.66, Z:-0.47 [[ 9.97653355e-01 -6.84307524e-02 -2.23938222e-03 4.48338734e+01] [ 6.84303961e-02 9.97655865e-01 -2.35405356e-04 6.58334399e-01] [ 2.25024177e-03 8.16111313e-05 9.99997465e-01 -4.67797036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.967719421 meters Centerline goodness : 0.971194 Centerline is valid? [True, True] Translation: X:44.86, Y:0.66, Z:-0.47 [[ 9.97743817e-01 -6.70988846e-02 -2.23931077e-03 4.48610857e+01] [ 6.70985235e-02 9.97746327e-01 -2.36083012e-04 6.58159467e-01] [ 2.25010501e-03 8.52959188e-05 9.99997465e-01 -4.67745411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.997719421 meters Centerline goodness : 0.974177 Centerline is valid? [True, True] Translation: X:44.89, Y:0.66, Z:-0.47 [[ 9.97923491e-01 -6.43715071e-02 -2.23927536e-03 4.48886386e+01] [ 6.43711384e-02 9.97926000e-01 -2.36418443e-04 6.58608654e-01] [ 2.24984971e-03 9.17828141e-05 9.99997465e-01 -4.65972488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.027719421 meters Centerline goodness : 0.974569 Centerline is valid? [True, True] Translation: X:44.92, Y:0.66, Z:-0.47 [[ 9.98008336e-01 -6.30424230e-02 -2.23923250e-03 4.49165278e+01] [ 6.30420501e-02 9.98010844e-01 -2.36823651e-04 6.61287482e-01] [ 2.24970826e-03 9.51861701e-05 9.99997465e-01 -4.66159502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.057719421 meters Centerline goodness : 0.971467 Centerline is valid? [True, True] Translation: X:44.95, Y:0.66, Z:-0.47 [[ 9.98317611e-01 -5.79390549e-02 -2.23915315e-03 4.49459501e+01] [ 5.79386675e-02 9.98320116e-01 -2.37571624e-04 6.59806447e-01] [ 2.24915630e-03 1.07438387e-04 9.99997465e-01 -4.69188028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.087719421 meters Centerline goodness : 0.969902 Centerline is valid? [True, True] Translation: X:44.97, Y:0.66, Z:-0.47 [[ 9.98444292e-01 -5.57134028e-02 -2.23908428e-03 4.49747828e+01] [ 5.57130083e-02 9.98446796e-01 -2.38218926e-04 6.59257529e-01] [ 2.24887851e-03 1.13102206e-04 9.99997465e-01 -4.72031947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.117719421 meters Centerline goodness : 0.969141 Centerline is valid? [True, True] Translation: X:45.00, Y:0.66, Z:-0.47 [[ 9.98513640e-01 -5.44563829e-02 -2.23901603e-03 4.50033485e+01] [ 5.44559838e-02 9.98516143e-01 -2.38858636e-04 6.59228079e-01] [ 2.24870103e-03 1.16575785e-04 9.99997465e-01 -4.72709691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14771942099999 meters Centerline goodness : 0.974106 Centerline is valid? [True, True] Translation: X:45.03, Y:0.66, Z:-0.47 [[ 9.98645999e-01 -5.19726484e-02 -2.23893775e-03 4.50333815e+01] [ 5.19722414e-02 9.98648501e-01 -2.39590202e-04 6.59215732e-01] [ 2.24836396e-03 1.22903183e-04 9.99997465e-01 -4.70067417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.17771942099999 meters Centerline goodness : 0.970648 Centerline is valid? [True, True] Translation: X:45.06, Y:0.66, Z:-0.47 [[ 9.98680380e-01 -5.13077591e-02 -2.23892804e-03 4.50613100e+01] [ 5.13073503e-02 9.98682882e-01 -2.39680908e-04 6.56254092e-01] [ 2.24827660e-03 1.24491155e-04 9.99997465e-01 -4.72786617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.207719421 meters Centerline goodness : 0.966112 Centerline is valid? [True, True] Translation: X:45.09, Y:0.65, Z:-0.48 [[ 9.98644514e-01 -5.20011658e-02 -2.23890386e-03 4.50906221e+01] [ 5.20007583e-02 9.98647017e-01 -2.39906548e-04 6.54110822e-01] [ 2.24835008e-03 1.23156659e-04 9.99997465e-01 -4.76718828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.237719421 meters Centerline goodness : 0.961941 Centerline is valid? [True, True] Translation: X:45.12, Y:0.64, Z:-0.48 [[ 9.98471047e-01 -5.52318417e-02 -2.23888473e-03 4.51193586e+01] [ 5.52314418e-02 9.98473550e-01 -2.40084929e-04 6.44951683e-01] [ 2.24872752e-03 1.16061019e-04 9.99997465e-01 -4.80551977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.267719421 meters Centerline goodness : 0.964734 Centerline is valid? [True, True] Translation: X:45.15, Y:0.64, Z:-0.48 [[ 9.98351608e-01 -5.73502787e-02 -2.23886104e-03 4.51485910e+01] [ 5.73498836e-02 9.98354112e-01 -2.40305700e-04 6.41607667e-01] [ 2.24895772e-03 1.11511162e-04 9.99997465e-01 -4.78939739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.297719421 meters Centerline goodness : 0.969642 Centerline is valid? [True, True] Translation: X:45.18, Y:0.63, Z:-0.47 [[ 9.98076058e-01 -6.19610366e-02 -2.23879485e-03 4.51792793e+01] [ 6.19606517e-02 9.98078564e-01 -2.40920738e-04 6.32053901e-01] [ 2.24942085e-03 1.01740032e-04 9.99997465e-01 -4.70833049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.327719421 meters Centerline goodness : 0.971122 Centerline is valid? [True, True] Translation: X:45.21, Y:0.63, Z:-0.47 [[ 9.97831425e-01 -6.57832447e-02 -2.23878484e-03 4.52084209e+01] [ 6.57828692e-02 9.97833932e-01 -2.41013696e-04 6.31216497e-01] [ 2.24979015e-03 9.32173492e-05 9.99997465e-01 -4.69983583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.357719421 meters Centerline goodness : 0.968090 Centerline is valid? [True, True] Translation: X:45.24, Y:0.63, Z:-0.47 [[ 9.97257343e-01 -7.39782384e-02 -2.23871478e-03 4.52382474e+01] [ 7.39778820e-02 9.97259853e-01 -2.41662770e-04 6.26646098e-01] [ 2.25045816e-03 7.53845937e-05 9.99997465e-01 -4.71130198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.387719421 meters Centerline goodness : 0.966388 Centerline is valid? [True, True] Translation: X:45.27, Y:0.63, Z:-0.47 [[ 9.96954574e-01 -7.79523370e-02 -2.23864256e-03 4.52660304e+01] [ 7.79519892e-02 9.96957085e-01 -2.42329942e-04 6.25469390e-01] [ 2.25072074e-03 6.70853034e-05 9.99997465e-01 -4.73852691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.417719421 meters Centerline goodness : 0.965516 Centerline is valid? [True, True] Translation: X:45.30, Y:0.62, Z:-0.47 [[ 9.96604919e-01 -8.23020295e-02 -2.23861701e-03 4.52955472e+01] [ 8.23016922e-02 9.96607432e-01 -2.42565719e-04 6.24219248e-01] [ 2.25098600e-03 5.75002203e-05 9.99997465e-01 -4.74526103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.447719421 meters Centerline goodness : 0.966700 Centerline is valid? [True, True] Translation: X:45.33, Y:0.62, Z:-0.47 [[ 9.96039242e-01 -8.88865450e-02 -2.23854568e-03 4.53256727e+01] [ 8.88862228e-02 9.96041756e-01 -2.43222186e-04 6.17073068e-01] [ 2.25130415e-03 4.32829710e-05 9.99997465e-01 -4.70735951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.477719421 meters Centerline goodness : 0.969308 Centerline is valid? [True, True] Translation: X:45.35, Y:0.62, Z:-0.47 [[ 9.95852150e-01 -9.09586968e-02 -2.23847161e-03 4.53534068e+01] [ 9.09583782e-02 9.95854665e-01 -2.43902018e-04 6.16295960e-01] [ 2.25137740e-03 3.92826020e-05 9.99997465e-01 -4.70512067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.507719421 meters Centerline goodness : 0.974282 Centerline is valid? [True, True] Translation: X:45.38, Y:0.62, Z:-0.46 [[ 9.95709293e-01 -9.25094173e-02 -2.23844546e-03 4.53834553e+01] [ 9.25091021e-02 9.95711809e-01 -2.44141783e-04 6.17160984e-01] [ 2.25143199e-03 3.60176629e-05 9.99997465e-01 -4.63803924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.53771942099999 meters Centerline goodness : 0.971697 Centerline is valid? [True, True] Translation: X:45.41, Y:0.62, Z:-0.47 [[ 9.95911673e-01 -9.03046472e-02 -2.23843508e-03 4.54124065e+01] [ 9.03043263e-02 9.95914188e-01 -2.44236897e-04 6.22386186e-01] [ 2.25134498e-03 4.10980045e-05 9.99997465e-01 -4.66417854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56771942099999 meters Centerline goodness : 0.972413 Centerline is valid? [True, True] Translation: X:45.44, Y:0.63, Z:-0.47 [[ 9.96074257e-01 -8.84933023e-02 -2.23836762e-03 4.54411332e+01] [ 8.84929755e-02 9.96076771e-01 -2.44853559e-04 6.25685903e-01] [ 2.25125389e-03 4.58125155e-05 9.99997465e-01 -4.67660518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.597719421 meters Centerline goodness : 0.968500 Centerline is valid? [True, True] Translation: X:45.47, Y:0.63, Z:-0.47 [[ 9.96291804e-01 -8.60094782e-02 -2.23829506e-03 4.54703511e+01] [ 8.60091435e-02 9.96294317e-01 -2.45515070e-04 6.25784799e-01] [ 2.25111728e-03 5.20908110e-05 9.99997465e-01 -4.68154082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.627719421 meters Centerline goodness : 0.966636 Centerline is valid? [True, True] Translation: X:45.50, Y:0.63, Z:-0.47 [[ 9.96382290e-01 -8.49548306e-02 -2.23822091e-03 4.54986179e+01] [ 8.49544918e-02 9.96384802e-01 -2.46189240e-04 6.27059693e-01] [ 2.25104426e-03 5.51516791e-05 9.99997465e-01 -4.70309085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.657719421 meters Centerline goodness : 0.967031 Centerline is valid? [True, True] Translation: X:45.53, Y:0.63, Z:-0.47 [[ 9.96497310e-01 -8.35948653e-02 -2.23819473e-03 4.55260594e+01] [ 8.35945225e-02 9.96499822e-01 -2.46427032e-04 6.29613575e-01] [ 2.25096068e-03 5.84630552e-05 9.99997465e-01 -4.70466708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.687719421 meters Centerline goodness : 0.969237 Centerline is valid? [True, True] Translation: X:45.55, Y:0.63, Z:-0.47 [[ 9.96594450e-01 -8.24287113e-02 -2.23816919e-03 4.55543000e+01] [ 8.24283651e-02 9.96596962e-01 -2.46658774e-04 6.32659995e-01] [ 2.25088438e-03 6.13301386e-05 9.99997465e-01 -4.68282400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.717719421 meters Centerline goodness : 0.968361 Centerline is valid? [True, True] Translation: X:45.58, Y:0.63, Z:-0.47 [[ 9.97092466e-01 -7.61682662e-02 -2.23813122e-03 4.55833716e+01] [ 7.61679034e-02 9.97094975e-01 -2.47002807e-04 6.33562807e-01] [ 2.25044317e-03 7.58108752e-05 9.99997465e-01 -4.68180920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.747719421 meters Centerline goodness : 0.967290 Centerline is valid? [True, True] Translation: X:45.61, Y:0.63, Z:-0.47 [[ 9.97418380e-01 -7.17744063e-02 -2.23806017e-03 4.56115432e+01] [ 7.17740310e-02 9.97420888e-01 -2.47644916e-04 6.34943840e-01] [ 2.25006253e-03 8.63709904e-05 9.99997465e-01 -4.68056372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.777719421 meters Centerline goodness : 0.969007 Centerline is valid? [True, True] Translation: X:45.64, Y:0.64, Z:-0.47 [[ 9.98062010e-01 -6.21869433e-02 -2.23797965e-03 4.56399035e+01] [ 6.21865424e-02 9.98064513e-01 -2.48370508e-04 6.35259952e-01] [ 2.24909347e-03 1.08716952e-04 9.99997465e-01 -4.67644033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.807719421 meters Centerline goodness : 0.969645 Centerline is valid? [True, True] Translation: X:45.67, Y:0.64, Z:-0.47 [[ 9.98253113e-01 -5.90399294e-02 -2.23795477e-03 4.56675066e+01] [ 5.90395201e-02 9.98255615e-01 -2.48594459e-04 6.37868533e-01] [ 2.24872791e-03 1.16032417e-04 9.99997465e-01 -4.67598396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.837719421 meters Centerline goodness : 0.972788 Centerline is valid? [True, True] Translation: X:45.70, Y:0.64, Z:-0.46 [[ 9.98443278e-01 -5.57316138e-02 -2.23787592e-03 4.56963832e+01] [ 5.57311946e-02 9.98445778e-01 -2.49302284e-04 6.40520348e-01] [ 2.24829178e-03 1.24194691e-04 9.99997465e-01 -4.63853839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.867719421 meters Centerline goodness : 0.974288 Centerline is valid? [True, True] Translation: X:45.73, Y:0.64, Z:-0.46 [[ 9.98416817e-01 -5.62036554e-02 -2.23780295e-03 4.57255876e+01] [ 5.62032359e-02 9.98419318e-01 -2.49955570e-04 6.42355673e-01] [ 2.24831411e-03 1.23788078e-04 9.99997465e-01 -4.61395994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.89771942099999 meters Centerline goodness : 0.974936 Centerline is valid? [True, True] Translation: X:45.75, Y:0.64, Z:-0.46 [[ 9.98165022e-01 -6.05109965e-02 -2.23772959e-03 4.57534450e+01] [ 6.05105863e-02 9.98167524e-01 -2.50610576e-04 6.39852004e-01] [ 2.24879370e-03 1.14744381e-04 9.99997465e-01 -4.60084924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92771942099999 meters Centerline goodness : 0.972147 Centerline is valid? [True, True] Translation: X:45.78, Y:0.64, Z:-0.46 [[ 9.98007629e-01 -6.30536614e-02 -2.23769325e-03 4.57823126e+01] [ 6.30532568e-02 9.98010132e-01 -2.50934644e-04 6.42593610e-01] [ 2.24906288e-03 1.09340842e-04 9.99997465e-01 -4.61584693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.957719421 meters Centerline goodness : 0.968864 Centerline is valid? [True, True] Translation: X:45.81, Y:0.65, Z:-0.47 [[ 9.97853066e-01 -6.54542021e-02 -2.23761970e-03 4.58114618e+01] [ 6.54538021e-02 9.97855569e-01 -2.51588746e-04 6.45258202e-01] [ 2.24928882e-03 1.04587884e-04 9.99997465e-01 -4.65602613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.987719421 meters Centerline goodness : 0.968217 Centerline is valid? [True, True] Translation: X:45.84, Y:0.65, Z:-0.47 [[ 9.97754189e-01 -6.69445464e-02 -2.23755061e-03 4.58389902e+01] [ 6.69441488e-02 9.97756692e-01 -2.52201745e-04 6.46143186e-01] [ 2.24941463e-03 1.01844427e-04 9.99997465e-01 -4.66974358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.017719421 meters Centerline goodness : 0.967070 Centerline is valid? [True, True] Translation: X:45.87, Y:0.64, Z:-0.47 [[ 9.97612399e-01 -6.90253211e-02 -2.23752433e-03 4.58678920e+01] [ 6.90249282e-02 9.97614903e-01 -2.52434667e-04 6.43200027e-01] [ 2.24961201e-03 9.73869975e-05 9.99997465e-01 -4.65090531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.047719421 meters Centerline goodness : 0.965993 Centerline is valid? [True, True] Translation: X:45.90, Y:0.64, Z:-0.47 [[ 9.97519635e-01 -7.03531886e-02 -2.23744133e-03 4.58969373e+01] [ 7.03527974e-02 9.97522140e-01 -2.53168242e-04 6.43374710e-01] [ 2.24970845e-03 9.51300361e-05 9.99997465e-01 -4.65067428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.077719421 meters Centerline goodness : 0.967827 Centerline is valid? [True, True] Translation: X:45.93, Y:0.64, Z:-0.46 [[ 9.97104735e-01 -7.60075064e-02 -2.23736887e-03 4.59251539e+01] [ 7.60071280e-02 9.97107242e-01 -2.53806987e-04 6.41250470e-01] [ 2.25018794e-03 8.30161664e-05 9.99997465e-01 -4.63120861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.107719421 meters Centerline goodness : 0.968579 Centerline is valid? [True, True] Translation: X:45.95, Y:0.64, Z:-0.47 [[ 9.96769398e-01 -8.02855056e-02 -2.23728323e-03 4.59520477e+01] [ 8.02851363e-02 9.96771906e-01 -2.54559679e-04 6.42727069e-01] [ 2.25049852e-03 7.41167089e-05 9.99997465e-01 -4.65672843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.137719421 meters Centerline goodness : 0.964269 Centerline is valid? [True, True] Translation: X:45.98, Y:0.64, Z:-0.47 [[ 9.95786800e-01 -9.16713951e-02 -2.23722537e-03 4.59816705e+01] [ 9.16710533e-02 9.95789312e-01 -2.55067196e-04 6.41920499e-01] [ 2.25118747e-03 4.89037406e-05 9.99997465e-01 -4.69283708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.167719421 meters Centerline goodness : 0.963403 Centerline is valid? [True, True] Translation: X:46.01, Y:0.63, Z:-0.47 [[ 9.94484837e-01 -1.04856586e-01 -2.23718761e-03 4.60119876e+01] [ 1.04856277e-01 9.94487353e-01 -2.55397922e-04 6.34647886e-01] [ 2.25163494e-03 1.94061978e-05 9.99997465e-01 -4.66079106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.197719421 meters Centerline goodness : 0.961212 Centerline is valid? [True, True] Translation: X:46.04, Y:0.63, Z:-0.47 [[ 9.93748957e-01 -1.11615441e-01 -2.23711201e-03 4.60409032e+01] [ 1.11615148e-01 9.93751475e-01 -2.56058371e-04 6.33808097e-01] [ 2.25171343e-03 4.76215125e-06 9.99997465e-01 -4.65631959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.227719421 meters Centerline goodness : 0.961064 Centerline is valid? [True, True] Translation: X:46.07, Y:0.63, Z:-0.47 [[ 9.93194364e-01 -1.16447202e-01 -2.23703511e-03 4.60687337e+01] [ 1.16446919e-01 9.93196883e-01 -2.56728514e-04 6.34037754e-01] [ 2.25171161e-03 -5.51453165e-06 9.99997465e-01 -4.66607443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.257719421 meters Centerline goodness : 0.960387 Centerline is valid? [True, True] Translation: X:46.10, Y:0.64, Z:-0.47 [[ 9.92379919e-01 -1.23195339e-01 -2.23700770e-03 4.60962407e+01] [ 1.23195073e-01 9.92382440e-01 -2.56967074e-04 6.36998133e-01] [ 2.25162431e-03 -2.05793627e-05 9.99997465e-01 -4.67101946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28771942099999 meters Centerline goodness : 0.961641 Centerline is valid? [True, True] Translation: X:46.12, Y:0.64, Z:-0.47 [[ 9.92302622e-01 -1.23816407e-01 -2.23698077e-03 4.61232660e+01] [ 1.23816142e-01 9.92305143e-01 -2.57201315e-04 6.41907932e-01] [ 2.25161327e-03 -2.17527890e-05 9.99997465e-01 -4.67260239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.31771942099999 meters Centerline goodness : 0.966772 Centerline is valid? [True, True] Translation: X:46.15, Y:0.65, Z:-0.46 [[ 9.92567230e-01 -1.21676991e-01 -2.23695399e-03 4.61512376e+01] [ 1.21676720e-01 9.92569750e-01 -2.57434063e-04 6.47301484e-01] [ 2.25165666e-03 -1.66646081e-05 9.99997465e-01 -4.63690521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.347719421 meters Centerline goodness : 0.966292 Centerline is valid? [True, True] Translation: X:46.18, Y:0.65, Z:-0.46 [[ 9.92690613e-01 -1.20666249e-01 -2.23692925e-03 4.61787124e+01] [ 1.20665974e-01 9.92693133e-01 -2.57648827e-04 6.49753388e-01] [ 2.25167382e-03 -1.41556757e-05 9.99997465e-01 -4.61511388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.377719421 meters Centerline goodness : 0.967470 Centerline is valid? [True, True] Translation: X:46.21, Y:0.65, Z:-0.46 [[ 9.92985820e-01 -1.18212343e-01 -2.23688992e-03 4.62069404e+01] [ 1.18212062e-01 9.92988339e-01 -2.57989823e-04 6.53034842e-01] [ 2.25170319e-03 -8.24713347e-06 9.99997465e-01 -4.56532860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.407719421 meters Centerline goodness : 0.968709 Centerline is valid? [True, True] Translation: X:46.24, Y:0.66, Z:-0.46 [[ 9.93137745e-01 -1.16929104e-01 -2.23680093e-03 4.62357077e+01] [ 1.16928818e-01 9.93140264e-01 -2.58759097e-04 6.58368006e-01] [ 2.25171354e-03 -4.56306330e-06 9.99997465e-01 -4.57297037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.437719421 meters Centerline goodness : 0.969853 Centerline is valid? [True, True] Translation: X:46.26, Y:0.67, Z:-0.46 [[ 9.93759381e-01 -1.11522602e-01 -2.23672361e-03 4.62630838e+01] [ 1.11522300e-01 9.93761898e-01 -2.59425697e-04 6.65185903e-01] [ 2.25170253e-03 8.36215780e-06 9.99997465e-01 -4.58364567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.467719421 meters Centerline goodness : 0.967415 Centerline is valid? [True, True] Translation: X:46.29, Y:0.67, Z:-0.46 [[ 9.94736093e-01 -1.02445606e-01 -2.23663532e-03 4.62908959e+01] [ 1.02445280e-01 9.94738607e-01 -2.60184714e-04 6.70304219e-01] [ 2.25152228e-03 2.96823956e-05 9.99997465e-01 -4.59594391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.497719421 meters Centerline goodness : 0.968791 Centerline is valid? [True, True] Translation: X:46.32, Y:0.67, Z:-0.46 [[ 9.95273827e-01 -9.70824754e-02 -2.23660796e-03 4.63193388e+01] [ 9.70821352e-02 9.95276339e-01 -2.60419640e-04 6.74858204e-01] [ 2.25132517e-03 4.20541748e-05 9.99997465e-01 -4.58863518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.527719421 meters Centerline goodness : 0.968791 Centerline is valid? [True, True] Translation: X:46.35, Y:0.68, Z:-0.46 [[ 9.95241962e-01 -9.74085976e-02 -2.23653285e-03 4.63476582e+01] [ 9.74082568e-02 9.95244474e-01 -2.61063159e-04 6.78423202e-01] [ 2.25132676e-03 4.19642441e-05 9.99997465e-01 -4.58799393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.557719421 meters Centerline goodness : 0.967280 Centerline is valid? [True, True] Translation: X:46.38, Y:0.68, Z:-0.46 [[ 9.95743023e-01 -9.21457045e-02 -2.23644707e-03 4.63750944e+01] [ 9.21453488e-02 9.95745533e-01 -2.61795987e-04 6.83966238e-01] [ 2.25105555e-03 5.46033330e-05 9.99997465e-01 -4.58587997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.587719421 meters Centerline goodness : 0.969966 Centerline is valid? [True, True] Translation: X:46.40, Y:0.69, Z:-0.46 [[ 9.96880510e-01 -7.88939035e-02 -2.23636169e-03 4.64015655e+01] [ 7.88935128e-02 9.96883015e-01 -2.62523307e-04 6.93550398e-01] [ 2.25010247e-03 8.52699386e-05 9.99997465e-01 -4.59300778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.617719421 meters Centerline goodness : 0.968772 Centerline is valid? [True, True] Translation: X:46.43, Y:0.70, Z:-0.46 [[ 9.97384098e-01 -7.22492841e-02 -2.23632235e-03 4.64299644e+01] [ 7.22488759e-02 9.97386600e-01 -2.62857980e-04 7.00293524e-01] [ 2.24946925e-03 1.00598593e-04 9.99997465e-01 -4.61464039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64771942099999 meters Centerline goodness : 0.963189 Centerline is valid? [True, True] Translation: X:46.46, Y:0.71, Z:-0.47 [[ 9.98078647e-01 -6.19194075e-02 -2.23625008e-03 4.64589038e+01] [ 6.19189721e-02 9.98081145e-01 -2.63471399e-04 7.05298687e-01] [ 2.24827303e-03 1.24498872e-04 9.99997465e-01 -4.65419786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.67771942099999 meters Centerline goodness : 0.962112 Centerline is valid? [True, True] Translation: X:46.49, Y:0.71, Z:-0.47 [[ 9.98211411e-01 -5.97409239e-02 -2.23618300e-03 4.64876712e+01] [ 5.97404818e-02 9.98213907e-01 -2.64039489e-04 7.07809203e-01] [ 2.24796293e-03 1.29976581e-04 9.99997465e-01 -4.65397263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.707719421 meters Centerline goodness : 0.962708 Centerline is valid? [True, True] Translation: X:46.52, Y:0.71, Z:-0.46 [[ 9.98098494e-01 -6.15986775e-02 -2.23611087e-03 4.65155745e+01] [ 6.15982387e-02 9.98100990e-01 -2.64648913e-04 7.10237717e-01] [ 2.24816650e-03 1.26405191e-04 9.99997465e-01 -4.63709416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.737719421 meters Centerline goodness : 0.963743 Centerline is valid? [True, True] Translation: X:46.54, Y:0.71, Z:-0.46 [[ 9.97858102e-01 -6.53774267e-02 -2.23608539e-03 4.65444257e+01] [ 6.53769968e-02 9.97860601e-01 -2.64864001e-04 7.14996230e-01] [ 2.24861764e-03 1.18108141e-04 9.99997465e-01 -4.63493004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.767719421 meters Centerline goodness : 0.962770 Centerline is valid? [True, True] Translation: X:46.57, Y:0.72, Z:-0.47 [[ 9.97248373e-01 -7.40991452e-02 -2.23601421e-03 4.65719890e+01] [ 7.40987359e-02 9.97250875e-01 -2.65463590e-04 7.18569381e-01] [ 2.24953775e-03 9.90473064e-05 9.99997465e-01 -4.66352400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.797719421 meters Centerline goodness : 0.960705 Centerline is valid? [True, True] Translation: X:46.60, Y:0.72, Z:-0.47 [[ 9.96876911e-01 -7.89393760e-02 -2.23597676e-03 4.66005454e+01] [ 7.89389781e-02 9.96879415e-01 -2.65778678e-04 7.19912553e-01] [ 2.24997960e-03 8.84429067e-05 9.99997465e-01 -4.67643270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.827719421 meters Centerline goodness : 0.959300 Centerline is valid? [True, True] Translation: X:46.63, Y:0.72, Z:-0.47 [[ 9.95939749e-01 -8.99945379e-02 -2.23590622e-03 4.66295464e+01] [ 8.99941665e-02 9.95942257e-01 -2.66370732e-04 7.17293998e-01] [ 2.25080540e-03 6.40706833e-05 9.99997465e-01 -4.65033056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.857719421 meters Centerline goodness : 0.956966 Centerline is valid? [True, True] Translation: X:46.66, Y:0.72, Z:-0.47 [[ 9.95514547e-01 -9.45821761e-02 -2.23583031e-03 4.66573463e+01] [ 9.45818149e-02 9.95517056e-01 -2.67006395e-04 7.17802500e-01] [ 2.25106126e-03 5.43398614e-05 9.99997465e-01 -4.69517140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.887719421 meters Centerline goodness : 0.965907 Centerline is valid? [True, True] Translation: X:46.69, Y:0.72, Z:-0.46 [[ 9.94919648e-01 -1.00647382e-01 -2.23580321e-03 4.66872130e+01] [ 1.00647036e-01 9.94922159e-01 -2.67233118e-04 7.18485475e-01] [ 2.25134647e-03 4.08485133e-05 9.99997465e-01 -4.58456607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.917719421 meters Centerline goodness : 0.967112 Centerline is valid? [True, True] Translation: X:46.72, Y:0.72, Z:-0.46 [[ 9.94657705e-01 -1.03203934e-01 -2.23579221e-03 4.67153162e+01] [ 1.03203594e-01 9.94660217e-01 -2.67325122e-04 7.21567731e-01] [ 2.25144257e-03 3.51552000e-05 9.99997465e-01 -4.59010725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.947719421 meters Centerline goodness : 0.966270 Centerline is valid? [True, True] Translation: X:46.74, Y:0.73, Z:-0.46 [[ 9.94231041e-01 -1.07236368e-01 -2.23576485e-03 4.67424353e+01] [ 1.07236037e-01 9.94233554e-01 -2.67553748e-04 7.25767298e-01] [ 2.25156393e-03 2.62556784e-05 9.99997465e-01 -4.59902940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.977719421 meters Centerline goodness : 0.967480 Centerline is valid? [True, True] Translation: X:46.77, Y:0.73, Z:-0.45 [[ 9.94010759e-01 -1.09259381e-01 -2.23573841e-03 4.67711712e+01] [ 1.09259055e-01 9.94013273e-01 -2.67774543e-04 7.29683132e-01] [ 2.25161053e-03 2.18961105e-05 9.99997465e-01 -4.54833790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.007719421 meters Centerline goodness : 0.968443 Centerline is valid? [True, True] Translation: X:46.80, Y:0.73, Z:-0.45 [[ 9.93826697e-01 -1.10921131e-01 -2.23565762e-03 4.67986306e+01] [ 1.10920808e-01 9.93829212e-01 -2.68447392e-04 7.32690147e-01] [ 2.25163833e-03 1.88092350e-05 9.99997465e-01 -4.52833730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.03771942099999 meters Centerline goodness : 0.968150 Centerline is valid? [True, True] Translation: X:46.83, Y:0.74, Z:-0.45 [[ 9.93794828e-01 -1.11206305e-01 -2.23562900e-03 4.68267125e+01] [ 1.11205981e-01 9.93797342e-01 -2.68685536e-04 7.36912034e-01] [ 2.25164168e-03 1.84029797e-05 9.99997465e-01 -4.52458951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06771942099999 meters Centerline goodness : 0.963405 Centerline is valid? [True, True] Translation: X:46.85, Y:0.74, Z:-0.46 [[ 9.93833443e-01 -1.10860674e-01 -2.23553653e-03 4.68541463e+01] [ 1.10860348e-01 9.93835958e-01 -2.69452699e-04 7.41412613e-01] [ 2.25162829e-03 1.99587451e-05 9.99997465e-01 -4.55851899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.097719421 meters Centerline goodness : 0.960697 Centerline is valid? [True, True] Translation: X:46.88, Y:0.75, Z:-0.46 [[ 9.93910961e-01 -1.10163534e-01 -2.23550792e-03 4.68815997e+01] [ 1.10163206e-01 9.93913475e-01 -2.69689820e-04 7.45255343e-01] [ 2.25161143e-03 2.17769480e-05 9.99997465e-01 -4.59091975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.127719421 meters Centerline goodness : 0.961019 Centerline is valid? [True, True] Translation: X:46.91, Y:0.75, Z:-0.46 [[ 9.93947569e-01 -1.09832747e-01 -2.23548008e-03 4.69106668e+01] [ 1.09832417e-01 9.93950083e-01 -2.69920442e-04 7.49780477e-01] [ 2.25160171e-03 2.27585860e-05 9.99997465e-01 -4.58454804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.157719421 meters Centerline goodness : 0.960756 Centerline is valid? [True, True] Translation: X:46.94, Y:0.76, Z:-0.46 [[ 9.94267964e-01 -1.06893492e-01 -2.23540524e-03 4.69380445e+01] [ 1.06893153e-01 9.94270477e-01 -2.70538827e-04 7.58523793e-01] [ 2.25151627e-03 3.00385739e-05 9.99997465e-01 -4.60816734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.187719421 meters Centerline goodness : 0.962769 Centerline is valid? [True, True] Translation: X:46.97, Y:0.76, Z:-0.46 [[ 9.94518597e-01 -1.04535942e-01 -2.23537675e-03 4.69666604e+01] [ 1.04535597e-01 9.94521109e-01 -2.70774029e-04 7.64598290e-01] [ 2.25143498e-03 3.56133648e-05 9.99997465e-01 -4.59896756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.217719421 meters Centerline goodness : 0.960055 Centerline is valid? [True, True] Translation: X:46.99, Y:0.77, Z:-0.46 [[ 9.95245403e-01 -9.73734644e-02 -2.23529734e-03 4.69948254e+01] [ 9.73731003e-02 9.95247912e-01 -2.71427970e-04 7.69396913e-01] [ 2.25110489e-03 5.24796074e-05 9.99997465e-01 -4.60137630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.247719421 meters Centerline goodness : 0.959628 Centerline is valid? [True, True] Translation: X:47.02, Y:0.78, Z:-0.46 [[ 9.96075671e-01 -8.84774669e-02 -2.23521770e-03 4.70234702e+01] [ 8.84770788e-02 9.96078176e-01 -2.72082241e-04 7.75970184e-01] [ 2.25052471e-03 7.32489679e-05 9.99997465e-01 -4.60203691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.277719421 meters Centerline goodness : 0.960369 Centerline is valid? [True, True] Translation: X:47.05, Y:0.78, Z:-0.46 [[ 9.96531192e-01 -8.31900725e-02 -2.23513643e-03 4.70509849e+01] [ 8.31896697e-02 9.96533695e-01 -2.72748189e-04 7.82454714e-01] [ 2.25007871e-03 8.58618160e-05 9.99997465e-01 -4.61200101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.307719421 meters Centerline goodness : 0.962083 Centerline is valid? [True, True] Translation: X:47.08, Y:0.79, Z:-0.46 [[ 9.96957906e-01 -7.79098117e-02 -2.23510783e-03 4.70796589e+01] [ 7.79093951e-02 9.96960406e-01 -2.72982349e-04 7.88830593e-01] [ 2.24958202e-03 9.80160115e-05 9.99997465e-01 -4.60841227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.337719421 meters Centerline goodness : 0.964704 Centerline is valid? [True, True] Translation: X:47.11, Y:0.80, Z:-0.46 [[ 9.97543356e-01 -7.00161298e-02 -2.23502998e-03 4.71078895e+01] [ 7.00156920e-02 9.97545853e-01 -2.73618280e-04 7.96952899e-01] [ 2.24870258e-03 1.16458927e-04 9.99997465e-01 -4.59117820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.367719421 meters Centerline goodness : 0.965876 Centerline is valid? [True, True] Translation: X:47.14, Y:0.80, Z:-0.46 [[ 9.97704965e-01 -6.76742760e-02 -2.23495217e-03 4.71364013e+01] [ 6.76738309e-02 9.97707461e-01 -2.74252383e-04 8.02341521e-01] [ 2.24838829e-03 1.22375189e-04 9.99997465e-01 -4.57855845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.39771942099999 meters Centerline goodness : 0.965622 Centerline is valid? [True, True] Translation: X:47.17, Y:0.81, Z:-0.46 [[ 9.97822934e-01 -6.59120447e-02 -2.23487384e-03 4.71655009e+01] [ 6.59115938e-02 9.97825429e-01 -2.74889259e-04 8.05928737e-01] [ 2.24813246e-03 1.26986711e-04 9.99997465e-01 -4.56160272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42771942099999 meters Centerline goodness : 0.965079 Centerline is valid? [True, True] Translation: X:47.19, Y:0.81, Z:-0.46 [[ 9.97837419e-01 -6.56924024e-02 -2.23479348e-03 4.71928896e+01] [ 6.56919495e-02 9.97839913e-01 -2.75540972e-04 8.09667810e-01] [ 2.24806708e-03 1.28137152e-04 9.99997465e-01 -4.58029962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.457719421 meters Centerline goodness : 0.964625 Centerline is valid? [True, True] Translation: X:47.22, Y:0.81, Z:-0.46 [[ 9.97769636e-01 -6.67140085e-02 -2.23476509e-03 4.72212212e+01] [ 6.67135577e-02 9.97772131e-01 -2.75771045e-04 8.12890589e-01] [ 2.24818412e-03 1.26066845e-04 9.99997465e-01 -4.56809387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.487719421 meters Centerline goodness : 0.966167 Centerline is valid? [True, True] Translation: X:47.25, Y:0.81, Z:-0.46 [[ 9.97636867e-01 -6.86708689e-02 -2.23468828e-03 4.72489829e+01] [ 6.86704216e-02 9.97639362e-01 -2.76392089e-04 8.14220129e-01] [ 2.24839307e-03 1.22281952e-04 9.99997465e-01 -4.55814590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.517719421 meters Centerline goodness : 0.962190 Centerline is valid? [True, True] Translation: X:47.28, Y:0.81, Z:-0.46 [[ 9.97130826e-01 -7.56645374e-02 -2.23459910e-03 4.72775271e+01] [ 7.56641060e-02 9.97133324e-01 -2.77111222e-04 8.13423144e-01] [ 2.24916072e-03 1.07237199e-04 9.99997465e-01 -4.58427667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.547719421 meters Centerline goodness : 0.961366 Centerline is valid? [True, True] Translation: X:47.31, Y:0.82, Z:-0.46 [[ 9.96897504e-01 -7.86789217e-02 -2.23457690e-03 4.73061888e+01] [ 7.86784974e-02 9.96900004e-01 -2.77290077e-04 8.15758774e-01] [ 2.24946661e-03 1.00616633e-04 9.99997465e-01 -4.60798248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.577719421 meters Centerline goodness : 0.960588 Centerline is valid? [True, True] Translation: X:47.34, Y:0.82, Z:-0.46 [[ 9.96318562e-01 -8.56990645e-02 -2.23449949e-03 4.73350526e+01] [ 8.56986565e-02 9.96321064e-01 -2.77912488e-04 8.18163511e-01] [ 2.25009575e-03 8.53957659e-05 9.99997465e-01 -4.59772251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.607719421 meters Centerline goodness : 0.961176 Centerline is valid? [True, True] Translation: X:47.36, Y:0.82, Z:-0.46 [[ 9.96023529e-01 -8.90625412e-02 -2.23441604e-03 4.73632797e+01] [ 8.90621401e-02 9.96026033e-01 -2.78581847e-04 8.19650579e-01] [ 2.25034775e-03 7.84721999e-05 9.99997465e-01 -4.59717540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.637719421 meters Centerline goodness : 0.959359 Centerline is valid? [True, True] Translation: X:47.39, Y:0.82, Z:-0.46 [[ 9.95330705e-01 -9.64976484e-02 -2.23438647e-03 4.73915762e+01] [ 9.64972654e-02 9.95333211e-01 -2.78818821e-04 8.16764038e-01] [ 2.25086442e-03 6.19047494e-05 9.99997465e-01 -4.59933259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.667719421 meters Centerline goodness : 0.959144 Centerline is valid? [True, True] Translation: X:47.42, Y:0.82, Z:-0.46 [[ 9.94935772e-01 -1.00487901e-01 -2.23435725e-03 4.74208842e+01] [ 1.00487527e-01 9.94938279e-01 -2.79052759e-04 8.17826807e-01] [ 2.25108898e-03 5.31145367e-05 9.99997465e-01 -4.60439223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.697719421 meters Centerline goodness : 0.959196 Centerline is valid? [True, True] Translation: X:47.45, Y:0.82, Z:-0.46 [[ 9.94418801e-01 -1.05481070e-01 -2.23428141e-03 4.74493692e+01] [ 1.05480708e-01 9.94421310e-01 -2.79658683e-04 8.19522763e-01] [ 2.25131574e-03 4.24242666e-05 9.99997465e-01 -4.58327930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.727719421 meters Centerline goodness : 0.959295 Centerline is valid? [True, True] Translation: X:47.48, Y:0.82, Z:-0.46 [[ 9.94280946e-01 -1.06772698e-01 -2.23419854e-03 4.74769018e+01] [ 1.06772338e-01 9.94283455e-01 -2.80319160e-04 8.24380319e-01] [ 2.25135708e-03 4.01653984e-05 9.99997465e-01 -4.58751218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.757719421 meters Centerline goodness : 0.964613 Centerline is valid? [True, True] Translation: X:47.50, Y:0.83, Z:-0.46 [[ 9.94228678e-01 -1.07258306e-01 -2.23416912e-03 4.75037583e+01] [ 1.07257947e-01 9.94231187e-01 -2.80553453e-04 8.29888600e-01] [ 2.25137231e-03 3.93018965e-05 9.99997465e-01 -4.57414260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78771942099999 meters Centerline goodness : 0.967214 Centerline is valid? [True, True] Translation: X:47.53, Y:0.84, Z:-0.45 [[ 9.94556917e-01 -1.04170760e-01 -2.23413442e-03 4.75317895e+01] [ 1.04170392e-01 9.94559425e-01 -2.80829479e-04 8.37045445e-01] [ 2.25123367e-03 4.65702419e-05 9.99997465e-01 -4.52641740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.81771942099999 meters Centerline goodness : 0.965856 Centerline is valid? [True, True] Translation: X:47.56, Y:0.84, Z:-0.45 [[ 9.94775708e-01 -1.02060279e-01 -2.23405012e-03 4.75597200e+01] [ 1.02059904e-01 9.94778215e-01 -2.81498547e-04 8.39985125e-01] [ 2.25111421e-03 5.20209762e-05 9.99997465e-01 -4.52348039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.847719421 meters Centerline goodness : 0.963940 Centerline is valid? [True, True] Translation: X:47.59, Y:0.84, Z:-0.45 [[ 9.95045729e-01 -9.93931922e-02 -2.23402040e-03 4.75888580e+01] [ 9.93928100e-02 9.95048235e-01 -2.81734219e-04 8.41407279e-01] [ 2.25096052e-03 5.82928660e-05 9.99997465e-01 -4.51015026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.877719421 meters Centerline goodness : 0.965998 Centerline is valid? [True, True] Translation: X:47.62, Y:0.85, Z:-0.45 [[ 9.95060205e-01 -9.92481654e-02 -2.23393619e-03 4.76161688e+01] [ 9.92477813e-02 9.95062711e-01 -2.82400347e-04 8.45812178e-01] [ 2.25093432e-03 5.92921368e-05 9.99997465e-01 -4.50494781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.907719421 meters Centerline goodness : 0.966225 Centerline is valid? [True, True] Translation: X:47.64, Y:0.85, Z:-0.45 [[ 9.94810327e-01 -1.01722286e-01 -2.23383912e-03 4.76423461e+01] [ 1.01721906e-01 9.94812833e-01 -2.83166088e-04 8.54381532e-01] [ 2.25105613e-03 5.44661737e-05 9.99997465e-01 -4.54356027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.937719421 meters Centerline goodness : 0.962543 Centerline is valid? [True, True] Translation: X:47.67, Y:0.86, Z:-0.46 [[ 9.94483359e-01 -1.04870681e-01 -2.23379689e-03 4.76698817e+01] [ 1.04870308e-01 9.94485866e-01 -2.83498898e-04 8.58144490e-01] [ 2.25121015e-03 4.76759682e-05 9.99997465e-01 -4.59975960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.967719421 meters Centerline goodness : 0.965350 Centerline is valid? [True, True] Translation: X:47.70, Y:0.86, Z:-0.45 [[ 9.93549986e-01 -1.13372989e-01 -2.23376758e-03 4.76996197e+01] [ 1.13372638e-01 9.93552497e-01 -2.83729594e-04 8.56373178e-01] [ 2.25153263e-03 2.86514118e-05 9.99997465e-01 -4.54124349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.997719421 meters Centerline goodness : 0.970242 Centerline is valid? [True, True] Translation: X:47.73, Y:0.86, Z:-0.45 [[ 9.92774801e-01 -1.19971684e-01 -2.23368629e-03 4.77293371e+01] [ 1.19971347e-01 9.92777314e-01 -2.84368117e-04 8.57745972e-01] [ 2.25166920e-03 1.43351468e-05 9.99997465e-01 -4.47102934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.027719421 meters Centerline goodness : 0.975444 Centerline is valid? [True, True] Translation: X:47.76, Y:0.86, Z:-0.44 [[ 9.91204367e-01 -1.32321250e-01 -2.23367423e-03 4.77573408e+01] [ 1.32320945e-01 9.91206884e-01 -2.84462863e-04 8.60290515e-01] [ 2.25167375e-03 -1.36010517e-05 9.99997465e-01 -4.42746304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.057719421 meters Centerline goodness : 0.975035 Centerline is valid? [True, True] Translation: X:47.79, Y:0.87, Z:-0.44 [[ 9.90534972e-01 -1.37242416e-01 -2.23365023e-03 4.77859115e+01] [ 1.37242123e-01 9.90537490e-01 -2.84651161e-04 8.66087337e-01] [ 2.25158051e-03 -2.45939701e-05 9.99997465e-01 -4.44297905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.087719421 meters Centerline goodness : 0.974474 Centerline is valid? [True, True] Translation: X:47.81, Y:0.87, Z:-0.44 [[ 9.90009355e-01 -1.40984002e-01 -2.23356712e-03 4.78134472e+01] [ 1.40983717e-01 9.90011874e-01 -2.85301831e-04 8.73677162e-01] [ 2.25148096e-03 -3.24451133e-05 9.99997465e-01 -4.44589048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.117719421 meters Centerline goodness : 0.974763 Centerline is valid? [True, True] Translation: X:47.84, Y:0.88, Z:-0.44 [[ 9.89921401e-01 -1.41600254e-01 -2.23353778e-03 4.78417119e+01] [ 1.41599970e-01 9.89923920e-01 -2.85531305e-04 8.78523584e-01] [ 2.25146378e-03 -3.36153346e-05 9.99997465e-01 -4.41819757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14771942099999 meters Centerline goodness : 0.975523 Centerline is valid? [True, True] Translation: X:47.87, Y:0.89, Z:-0.44 [[ 9.89811089e-01 -1.42369307e-01 -2.23345682e-03 4.78704569e+01] [ 1.42369024e-01 9.89813608e-01 -2.86163189e-04 8.85286638e-01] [ 2.25144681e-03 -3.47275703e-05 9.99997465e-01 -4.40023442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.17771942099999 meters Centerline goodness : 0.970715 Centerline is valid? [True, True] Translation: X:47.90, Y:0.89, Z:-0.45 [[ 9.89687143e-01 -1.43228386e-01 -2.23341051e-03 4.78981700e+01] [ 1.43228104e-01 9.89689663e-01 -2.86524196e-04 8.91530153e-01] [ 2.25142169e-03 -3.63178391e-05 9.99997465e-01 -4.45590150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.207719421 meters Centerline goodness : 0.970386 Centerline is valid? [True, True] Translation: X:47.93, Y:0.90, Z:-0.45 [[ 9.89598953e-01 -1.43836449e-01 -2.23332568e-03 4.79254550e+01] [ 1.43836167e-01 9.89601473e-01 -2.87183880e-04 9.04967717e-01] [ 2.25140989e-03 -3.70361393e-05 9.99997465e-01 -4.48111581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.237719421 meters Centerline goodness : 0.971197 Centerline is valid? [True, True] Translation: X:47.95, Y:0.92, Z:-0.45 [[ 9.89555961e-01 -1.44131931e-01 -2.23323931e-03 4.79522096e+01] [ 1.44131648e-01 9.89558480e-01 -2.87853982e-04 9.15149754e-01] [ 2.25140984e-03 -3.70328381e-05 9.99997465e-01 -4.49793500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.267719421 meters Centerline goodness : 0.968738 Centerline is valid? [True, True] Translation: X:47.98, Y:0.93, Z:-0.45 [[ 9.89548390e-01 -1.44183898e-01 -2.23320883e-03 4.79783007e+01] [ 1.44183615e-01 9.89550909e-01 -2.88090212e-04 9.30163872e-01] [ 2.25141180e-03 -3.69129180e-05 9.99997465e-01 -4.53252717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.297719421 meters Centerline goodness : 0.967870 Centerline is valid? [True, True] Translation: X:48.01, Y:0.94, Z:-0.45 [[ 9.89600106e-01 -1.43828523e-01 -2.23317904e-03 4.80069007e+01] [ 1.43828239e-01 9.89602625e-01 -2.88320960e-04 9.37549241e-01] [ 2.25142862e-03 -3.58717560e-05 9.99997465e-01 -4.52350191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.327719421 meters Centerline goodness : 0.966315 Centerline is valid? [True, True] Translation: X:48.03, Y:0.95, Z:-0.45 [[ 9.89963751e-01 -1.41303877e-01 -2.23309853e-03 4.80342139e+01] [ 1.41303585e-01 9.89966269e-01 -2.88943223e-04 9.45456579e-01] [ 2.25152101e-03 -2.95015106e-05 9.99997465e-01 -4.53920810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.357719421 meters Centerline goodness : 0.967574 Centerline is valid? [True, True] Translation: X:48.06, Y:0.95, Z:-0.45 [[ 9.90189401e-01 -1.39713865e-01 -2.23306787e-03 4.80612160e+01] [ 1.39713568e-01 9.90191918e-01 -2.89179939e-04 9.53046394e-01] [ 2.25156821e-03 -2.56469698e-05 9.99997465e-01 -4.49811714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.387719421 meters Centerline goodness : 0.965973 Centerline is valid? [True, True] Translation: X:48.09, Y:0.97, Z:-0.46 [[ 9.90778556e-01 -1.35472754e-01 -2.23296577e-03 4.80875724e+01] [ 1.35472445e-01 9.90781072e-01 -2.89966207e-04 9.70145794e-01] [ 2.25166274e-03 -1.52130322e-05 9.99997465e-01 -4.56149759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.417719421 meters Centerline goodness : 0.961364 Centerline is valid? [True, True] Translation: X:48.11, Y:0.98, Z:-0.46 [[ 9.91139502e-01 -1.32806260e-01 -2.23287723e-03 4.81139104e+01] [ 1.32805942e-01 9.91142017e-01 -2.90646408e-04 9.81234609e-01] [ 2.25169810e-03 -8.46822805e-06 9.99997465e-01 -4.62281011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.447719421 meters Centerline goodness : 0.961364 Centerline is valid? [True, True] Translation: X:48.14, Y:0.99, Z:-0.46 [[ 9.91096908e-01 -1.33123755e-01 -2.23284646e-03 4.81421471e+01] [ 1.33123438e-01 9.91099423e-01 -2.90882600e-04 9.85198285e-01] [ 2.25169622e-03 -8.95135150e-06 9.99997465e-01 -4.62216844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.477719421 meters Centerline goodness : 0.961299 Centerline is valid? [True, True] Translation: X:48.17, Y:0.99, Z:-0.46 [[ 9.91529796e-01 -1.29860223e-01 -2.23275305e-03 4.81698304e+01] [ 1.29859896e-01 9.91532310e-01 -2.91597842e-04 9.94678685e-01] [ 2.25171375e-03 -8.17129011e-07 9.99997465e-01 -4.61826173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.507719421 meters Centerline goodness : 0.961154 Centerline is valid? [True, True] Translation: X:48.20, Y:1.00, Z:-0.46 [[ 9.92542129e-01 -1.21881652e-01 -2.23267012e-03 4.81975548e+01] [ 1.21881303e-01 9.92544640e-01 -2.92231460e-04 9.99131640e-01] [ 2.25164241e-03 1.79312928e-05 9.99997465e-01 -4.64174593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.53771942099999 meters Centerline goodness : 0.970908 Centerline is valid? [True, True] Translation: X:48.23, Y:1.01, Z:-0.45 [[ 9.93210882e-01 -1.16306348e-01 -2.23099756e-03 4.82267116e+01] [ 1.16305956e-01 9.93213387e-01 -3.04986106e-04 1.01095024e+00] [ 2.25132846e-03 4.34372162e-05 9.99997465e-01 -4.52550923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56771942099999 meters Centerline goodness : 0.973763 Centerline is valid? [True, True] Translation: X:48.25, Y:1.02, Z:-0.45 [[ 9.93529115e-01 -1.13555773e-01 -2.23263351e-03 4.82535313e+01] [ 1.13555402e-01 9.93531623e-01 -2.92498935e-04 1.02062729e+00] [ 2.25140694e-03 3.70786121e-05 9.99997465e-01 -4.48759463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.597719421 meters Centerline goodness : 0.976053 Centerline is valid? [True, True] Translation: X:48.28, Y:1.04, Z:-0.45 [[ 9.94275630e-01 -1.06822221e-01 -2.23253347e-03 4.82808080e+01] [ 1.06821831e-01 9.94278135e-01 -2.93260489e-04 1.03629395e+00] [ 2.25108596e-03 5.30984433e-05 9.99997465e-01 -4.49142500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.627719421 meters Centerline goodness : 0.976316 Centerline is valid? [True, True] Translation: X:48.31, Y:1.04, Z:-0.45 [[ 9.94547224e-01 -1.04263294e-01 -2.23244366e-03 4.83075954e+01] [ 1.04262897e-01 9.94549728e-01 -2.93942639e-04 1.04356437e+00] [ 2.25092366e-03 5.95787930e-05 9.99997465e-01 -4.50159045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.657719421 meters Centerline goodness : 0.976628 Centerline is valid? [True, True] Translation: X:48.33, Y:1.05, Z:-0.45 [[ 9.94691783e-01 -1.02875032e-01 -2.23241199e-03 4.83349990e+01] [ 1.02874631e-01 9.94694287e-01 -2.94182908e-04 1.04739384e+00] [ 2.25083153e-03 6.29627616e-05 9.99997465e-01 -4.49650238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.687719421 meters Centerline goodness : 0.975307 Centerline is valid? [True, True] Translation: X:48.36, Y:1.05, Z:-0.45 [[ 9.94577944e-01 -1.03969851e-01 -2.23231122e-03 4.83634987e+01] [ 1.03969451e-01 9.94580447e-01 -2.94945628e-04 1.04991538e+00] [ 2.25087854e-03 6.12542439e-05 9.99997465e-01 -4.49910460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.717719421 meters Centerline goodness : 0.969958 Centerline is valid? [True, True] Translation: X:48.39, Y:1.05, Z:-0.46 [[ 9.94315795e-01 -1.06447723e-01 -2.23222249e-03 4.83910373e+01] [ 1.06447327e-01 9.94318299e-01 -2.95615606e-04 1.05295786e+00] [ 2.25100728e-03 5.63211480e-05 9.99997465e-01 -4.55341974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.747719421 meters Centerline goodness : 0.970629 Centerline is valid? [True, True] Translation: X:48.42, Y:1.06, Z:-0.45 [[ 9.94274149e-01 -1.06836014e-01 -2.23217861e-03 4.84185330e+01] [ 1.06835619e-01 9.94276653e-01 -2.95946610e-04 1.05821035e+00] [ 2.25102083e-03 5.57758812e-05 9.99997465e-01 -4.52588994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.777719421 meters Centerline goodness : 0.973225 Centerline is valid? [True, True] Translation: X:48.45, Y:1.06, Z:-0.45 [[ 9.94345000e-01 -1.06174569e-01 -2.23207710e-03 4.84470467e+01] [ 1.06174171e-01 9.94347503e-01 -2.96710267e-04 1.06498984e+00] [ 2.25096337e-03 5.80434364e-05 9.99997465e-01 -4.50876311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.807719421 meters Centerline goodness : 0.974315 Centerline is valid? [True, True] Translation: X:48.48, Y:1.07, Z:-0.45 [[ 9.94347360e-01 -1.06152463e-01 -2.23198673e-03 4.84759295e+01] [ 1.06152062e-01 9.94349864e-01 -2.97388510e-04 1.06907661e+00] [ 2.25094422e-03 5.87774856e-05 9.99997465e-01 -4.51049981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.837719421 meters Centerline goodness : 0.974133 Centerline is valid? [True, True] Translation: X:48.50, Y:1.07, Z:-0.45 [[ 9.94221180e-01 -1.07327831e-01 -2.23189724e-03 4.85038303e+01] [ 1.07327432e-01 9.94223684e-01 -2.98058573e-04 1.07038228e+00] [ 2.25099508e-03 5.67923453e-05 9.99997465e-01 -4.50941187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.867719421 meters Centerline goodness : 0.974203 Centerline is valid? [True, True] Translation: X:48.53, Y:1.07, Z:-0.45 [[ 9.94021114e-01 -1.09165212e-01 -2.23186561e-03 4.85327239e+01] [ 1.09164817e-01 9.94023618e-01 -2.98295279e-04 1.07177002e+00] [ 2.25109059e-03 5.28706058e-05 9.99997465e-01 -4.49703709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.89771942099999 meters Centerline goodness : 0.979658 Centerline is valid? [True, True] Translation: X:48.56, Y:1.07, Z:-0.45 [[ 9.93351371e-01 -1.15100278e-01 -2.23177751e-03 4.85617248e+01] [ 1.15099896e-01 9.93353877e-01 -2.98952919e-04 1.07091864e+00] [ 2.25135441e-03 4.00879314e-05 9.99997465e-01 -4.45975479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92771942099999 meters Centerline goodness : 0.981306 Centerline is valid? [True, True] Translation: X:48.59, Y:1.07, Z:-0.44 [[ 9.92886427e-01 -1.19044375e-01 -2.23168786e-03 4.85899132e+01] [ 1.19044003e-01 9.92888934e-01 -2.99620730e-04 1.07448972e+00] [ 2.25148634e-03 3.18203015e-05 9.99997465e-01 -4.44925041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.957719421 meters Centerline goodness : 0.979503 Centerline is valid? [True, True] Translation: X:48.62, Y:1.08, Z:-0.45 [[ 9.91790918e-01 -1.27850677e-01 -2.23164015e-03 4.86184246e+01] [ 1.27850326e-01 9.91793428e-01 -2.99975623e-04 1.07995738e+00] [ 2.25167812e-03 1.21971773e-05 9.99997465e-01 -4.46633403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.987719421 meters Centerline goodness : 0.979279 Centerline is valid? [True, True] Translation: X:48.65, Y:1.08, Z:-0.45 [[ 9.91156619e-01 -1.32678473e-01 -2.23155026e-03 4.86475418e+01] [ 1.32678132e-01 9.91159131e-01 -3.00642852e-04 1.08253939e+00] [ 2.25171025e-03 1.90623192e-06 9.99997465e-01 -4.46086136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.017719421 meters Centerline goodness : 0.981206 Centerline is valid? [True, True] Translation: X:48.68, Y:1.08, Z:-0.44 [[ 9.90146011e-01 -1.40021060e-01 -2.23145945e-03 4.86753444e+01] [ 1.40020737e-01 9.90148525e-01 -3.01315359e-04 1.08389440e+00] [ 2.25166678e-03 -1.41043960e-05 9.99997465e-01 -4.43697614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.047719421 meters Centerline goodness : 0.981476 Centerline is valid? [True, True] Translation: X:48.70, Y:1.09, Z:-0.44 [[ 9.89728869e-01 -1.42939798e-01 -2.23142724e-03 4.87034732e+01] [ 1.42939482e-01 9.89731385e-01 -3.01553712e-04 1.09344010e+00] [ 2.25161760e-03 -2.05026385e-05 9.99997465e-01 -4.43135638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.077719421 meters Centerline goodness : 0.982099 Centerline is valid? [True, True] Translation: X:48.73, Y:1.10, Z:-0.44 [[ 9.89809626e-01 -1.42379511e-01 -2.23133754e-03 4.87300806e+01] [ 1.42379191e-01 9.89812141e-01 -3.02216011e-04 1.10064098e+00] [ 2.25163435e-03 -1.85597167e-05 9.99997465e-01 -4.42091944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.107719421 meters Centerline goodness : 0.985911 Centerline is valid? [True, True] Translation: X:48.76, Y:1.11, Z:-0.44 [[ 9.89870836e-01 -1.41953333e-01 -2.23128223e-03 4.87580058e+01] [ 1.41953011e-01 9.89873351e-01 -3.02623825e-04 1.11020943e+00] [ 2.25164527e-03 -1.71787324e-05 9.99997465e-01 -4.39313719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.137719421 meters Centerline goodness : 0.982957 Centerline is valid? [True, True] Translation: X:48.79, Y:1.11, Z:-0.44 [[ 9.89899817e-01 -1.41751098e-01 -2.23119149e-03 4.87851664e+01] [ 1.41750775e-01 9.89902331e-01 -3.03291307e-04 1.11484406e+00] [ 2.25165354e-03 -1.60451130e-05 9.99997465e-01 -4.41518669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.167719421 meters Centerline goodness : 0.979792 Centerline is valid? [True, True] Translation: X:48.81, Y:1.12, Z:-0.45 [[ 9.89681055e-01 -1.43270482e-01 -2.23114383e-03 4.88121541e+01] [ 1.43270161e-01 9.89683570e-01 -3.03641562e-04 1.12215994e+00] [ 2.25162926e-03 -1.91480335e-05 9.99997465e-01 -4.46942373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.197719421 meters Centerline goodness : 0.978055 Centerline is valid? [True, True] Translation: X:48.84, Y:1.13, Z:-0.45 [[ 9.89620318e-01 -1.43689416e-01 -2.23111194e-03 4.88397632e+01] [ 1.43689096e-01 9.89622833e-01 -3.03875679e-04 1.12992399e+00] [ 2.25162304e-03 -1.98649113e-05 9.99997465e-01 -4.49172518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.227719421 meters Centerline goodness : 0.977348 Centerline is valid? [True, True] Translation: X:48.87, Y:1.14, Z:-0.45 [[ 9.89629246e-01 -1.43627918e-01 -2.23102485e-03 4.88663056e+01] [ 1.43627596e-01 9.89631760e-01 -3.04513771e-04 1.13958076e+00] [ 2.25162972e-03 -1.90810028e-05 9.99997465e-01 -4.49486775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.257719421 meters Centerline goodness : 0.977999 Centerline is valid? [True, True] Translation: X:48.89, Y:1.15, Z:-0.45 [[ 9.89718909e-01 -1.43008754e-01 -2.23099421e-03 4.88939855e+01] [ 1.43008430e-01 9.89721423e-01 -3.04738029e-04 1.14533621e+00] [ 2.25164297e-03 -1.74459903e-05 9.99997465e-01 -4.48563421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28771942099999 meters Centerline goodness : 0.977476 Centerline is valid? [True, True] Translation: X:48.92, Y:1.15, Z:-0.45 [[ 9.90150777e-01 -1.39987365e-01 -2.23089511e-03 4.89219523e+01] [ 1.39987032e-01 9.90153290e-01 -3.05461829e-04 1.15233091e+00] [ 2.25168893e-03 -9.84311783e-06 9.99997465e-01 -4.47886168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.31771942099999 meters Centerline goodness : 0.978522 Centerline is valid? [True, True] Translation: X:48.95, Y:1.16, Z:-0.45 [[ 9.90923671e-01 -1.34407224e-01 -2.23080842e-03 4.89503660e+01] [ 1.34406876e-01 9.90926182e-01 -3.06093616e-04 1.15995506e+00] [ 2.25170766e-03 3.47941974e-06 9.99997465e-01 -4.48119963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.347719421 meters Centerline goodness : 0.980123 Centerline is valid? [True, True] Translation: X:48.98, Y:1.17, Z:-0.45 [[ 9.91474567e-01 -1.30281260e-01 -2.23072155e-03 4.89785785e+01] [ 1.30280899e-01 9.91477076e-01 -3.06725379e-04 1.16664378e+00] [ 2.25166985e-03 1.34900018e-05 9.99997465e-01 -4.46293841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.377719421 meters Centerline goodness : 0.977325 Centerline is valid? [True, True] Translation: X:49.01, Y:1.17, Z:-0.45 [[ 9.92055720e-01 -1.25779457e-01 -2.23063031e-03 4.90051414e+01] [ 1.25779084e-01 9.92058228e-01 -3.07387468e-04 1.17323960e+00] [ 2.25157819e-03 2.43788590e-05 9.99997465e-01 -4.49819747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.407719421 meters Centerline goodness : 0.973203 Centerline is valid? [True, True] Translation: X:49.03, Y:1.18, Z:-0.45 [[ 9.93323828e-01 -1.15337755e-01 -2.23058523e-03 4.90336315e+01] [ 1.15337355e-01 9.93326331e-01 -3.07714282e-04 1.18029813e+00] [ 2.25119012e-03 4.83901288e-05 9.99997465e-01 -4.53705692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.437719421 meters Centerline goodness : 0.970493 Centerline is valid? [True, True] Translation: X:49.06, Y:1.18, Z:-0.46 [[ 9.93793622e-01 -1.11217179e-01 -2.23050636e-03 4.90621251e+01] [ 1.11216767e-01 9.93796124e-01 -3.08284926e-04 1.18394333e+00] [ 2.25095515e-03 5.83018878e-05 9.99997465e-01 -4.56641021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.467719421 meters Centerline goodness : 0.973464 Centerline is valid? [True, True] Translation: X:49.09, Y:1.19, Z:-0.45 [[ 9.94153017e-01 -1.07957414e-01 -2.23042245e-03 4.90910833e+01] [ 1.07956993e-01 9.94155517e-01 -3.08890849e-04 1.18796296e+00] [ 2.25073384e-03 6.62950693e-05 9.99997465e-01 -4.52175192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.497719421 meters Centerline goodness : 0.977129 Centerline is valid? [True, True] Translation: X:49.12, Y:1.19, Z:-0.45 [[ 9.94100718e-01 -1.08437949e-01 -2.23033225e-03 4.91189241e+01] [ 1.08437527e-01 9.94103217e-01 -3.09540747e-04 1.19377581e+00] [ 2.25074643e-03 6.58629655e-05 9.99997465e-01 -4.50437368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.527719421 meters Centerline goodness : 0.979600 Centerline is valid? [True, True] Translation: X:49.15, Y:1.20, Z:-0.45 [[ 9.94066826e-01 -1.08748204e-01 -2.23030038e-03 4.91457746e+01] [ 1.08747782e-01 9.94069326e-01 -3.09770222e-04 1.20042683e+00] [ 2.25076015e-03 6.53920819e-05 9.99997465e-01 -4.49632309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.557719421 meters Centerline goodness : 0.977239 Centerline is valid? [True, True] Translation: X:49.18, Y:1.20, Z:-0.45 [[ 9.93927740e-01 -1.10012147e-01 -2.23026869e-03 4.91753774e+01] [ 1.10011728e-01 9.93930241e-01 -3.09998150e-04 1.19995142e+00] [ 2.25083506e-03 6.27600466e-05 9.99997465e-01 -4.49882234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.587719421 meters Centerline goodness : 0.975776 Centerline is valid? [True, True] Translation: X:49.20, Y:1.20, Z:-0.45 [[ 9.93725969e-01 -1.11820052e-01 -2.23018397e-03 4.92035277e+01] [ 1.11819636e-01 9.93728470e-01 -3.10606496e-04 1.20125685e+00] [ 2.25092934e-03 5.92793811e-05 9.99997465e-01 -4.52334462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.617719421 meters Centerline goodness : 0.978943 Centerline is valid? [True, True] Translation: X:49.23, Y:1.20, Z:-0.45 [[ 9.93156257e-01 -1.16771899e-01 -2.23015163e-03 4.92326742e+01] [ 1.16771495e-01 9.93158759e-01 -3.10838536e-04 1.20290176e+00] [ 2.25119183e-03 4.82930974e-05 9.99997465e-01 -4.47105187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64771942099999 meters Centerline goodness : 0.979956 Centerline is valid? [True, True] Translation: X:49.26, Y:1.20, Z:-0.45 [[ 9.92835728e-01 -1.19466496e-01 -2.23013221e-03 4.92611449e+01] [ 1.19466099e-01 9.92838232e-01 -3.10977754e-04 1.20472808e+00] [ 2.25131195e-03 4.23246284e-05 9.99997465e-01 -4.46276231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.67771942099999 meters Centerline goodness : 0.977973 Centerline is valid? [True, True] Translation: X:49.29, Y:1.20, Z:-0.45 [[ 9.92338143e-01 -1.23531521e-01 -2.23004170e-03 4.92890532e+01] [ 1.23531133e-01 9.92340648e-01 -3.11625507e-04 1.20382884e+00] [ 2.25145660e-03 3.37583006e-05 9.99997465e-01 -4.47540783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.707719421 meters Centerline goodness : 0.977065 Centerline is valid? [True, True] Translation: X:49.32, Y:1.20, Z:-0.45 [[ 9.91978627e-01 -1.26386042e-01 -2.22993851e-03 4.93167133e+01] [ 1.26385659e-01 9.91981133e-01 -3.12362178e-04 1.20453495e+00] [ 2.25153514e-03 2.80243560e-05 9.99997465e-01 -4.48824147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.737719421 meters Centerline goodness : 0.975181 Centerline is valid? [True, True] Translation: X:49.34, Y:1.21, Z:-0.45 [[ 9.91779383e-01 -1.27940157e-01 -2.22990708e-03 4.93440294e+01] [ 1.27939778e-01 9.91781889e-01 -3.12586326e-04 1.20753230e+00] [ 2.25157380e-03 2.47228569e-05 9.99997465e-01 -4.50623091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.767719421 meters Centerline goodness : 0.974798 Centerline is valid? [True, True] Translation: X:49.37, Y:1.21, Z:-0.45 [[ 9.91504888e-01 -1.30050318e-01 -2.22987635e-03 4.93726072e+01] [ 1.30049943e-01 9.91507395e-01 -3.12805424e-04 1.20997505e+00] [ 2.25161934e-03 2.01528138e-05 9.99997465e-01 -4.52125516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.797719421 meters Centerline goodness : 0.976702 Centerline is valid? [True, True] Translation: X:49.40, Y:1.21, Z:-0.45 [[ 9.91291845e-01 -1.31664369e-01 -2.22978999e-03 4.94023511e+01] [ 1.31663997e-01 9.91294353e-01 -3.13419831e-04 1.20768342e+00] [ 2.25164445e-03 1.71074591e-05 9.99997465e-01 -4.48566515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.827719421 meters Centerline goodness : 0.979102 Centerline is valid? [True, True] Translation: X:49.43, Y:1.21, Z:-0.44 [[ 9.91025234e-01 -1.33656330e-01 -2.22969818e-03 4.94310316e+01] [ 1.33655962e-01 9.91027742e-01 -3.14071617e-04 1.20853233e+00] [ 2.25167041e-03 1.32404436e-05 9.99997465e-01 -4.42402596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.857719421 meters Centerline goodness : 0.981315 Centerline is valid? [True, True] Translation: X:49.46, Y:1.21, Z:-0.44 [[ 9.90666829e-01 -1.36287428e-01 -2.22967863e-03 4.94588788e+01] [ 1.36287066e-01 9.90669338e-01 -3.14210365e-04 1.21422940e+00] [ 2.25169717e-03 7.40142721e-06 9.99997465e-01 -4.40018604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.887719421 meters Centerline goodness : 0.979142 Centerline is valid? [True, True] Translation: X:49.49, Y:1.22, Z:-0.44 [[ 9.89907392e-01 -1.41698217e-01 -2.22964570e-03 4.94874725e+01] [ 1.41697869e-01 9.89909903e-01 -3.14443810e-04 1.22166970e+00] [ 2.25170449e-03 -4.66579209e-06 9.99997465e-01 -4.43003992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.917719421 meters Centerline goodness : 0.979627 Centerline is valid? [True, True] Translation: X:49.52, Y:1.23, Z:-0.44 [[ 9.89512810e-01 -1.44427937e-01 -2.22955855e-03 4.95164350e+01] [ 1.44427593e-01 9.89515321e-01 -3.15060578e-04 1.22670215e+00] [ 2.25168589e-03 -1.02532972e-05 9.99997465e-01 -4.43991099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.947719421 meters Centerline goodness : 0.979000 Centerline is valid? [True, True] Translation: X:49.54, Y:1.23, Z:-0.44 [[ 9.88929322e-01 -1.48370569e-01 -2.22947002e-03 4.95439457e+01] [ 1.48370235e-01 9.88931835e-01 -3.15685767e-04 1.23216351e+00] [ 2.25163236e-03 -1.85960789e-05 9.99997465e-01 -4.44309539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.977719421 meters Centerline goodness : 0.979102 Centerline is valid? [True, True] Translation: X:49.57, Y:1.24, Z:-0.44 [[ 9.88810303e-01 -1.49161704e-01 -2.22943622e-03 4.95706950e+01] [ 1.49161371e-01 9.88812816e-01 -3.15924297e-04 1.23991886e+00] [ 2.25161892e-03 -2.01565641e-05 9.99997465e-01 -4.43063374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.007719421 meters Centerline goodness : 0.977045 Centerline is valid? [True, True] Translation: X:49.60, Y:1.25, Z:-0.45 [[ 9.88729380e-01 -1.49697172e-01 -2.22938704e-03 4.95968066e+01] [ 1.49696839e-01 9.88731893e-01 -3.16270970e-04 1.24679491e+00] [ 2.25161094e-03 -2.10257937e-05 9.99997465e-01 -4.46223784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.03771942099999 meters Centerline goodness : 0.978765 Centerline is valid? [True, True] Translation: X:49.62, Y:1.26, Z:-0.45 [[ 9.88811256e-01 -1.49155387e-01 -2.22931569e-03 4.96244621e+01] [ 1.49155052e-01 9.88813769e-01 -3.16773095e-04 1.25743035e+00] [ 2.25162647e-03 -1.92848964e-05 9.99997465e-01 -4.46221632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06771942099999 meters Centerline goodness : 0.975776 Centerline is valid? [True, True] Translation: X:49.65, Y:1.26, Z:-0.45 [[ 9.88868138e-01 -1.48777808e-01 -2.22921872e-03 4.96520854e+01] [ 1.48777470e-01 9.88870651e-01 -3.17454072e-04 1.26397782e+00] [ 2.25163908e-03 -1.77373046e-05 9.99997465e-01 -4.48990352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.097719421 meters Centerline goodness : 0.978546 Centerline is valid? [True, True] Translation: X:49.68, Y:1.27, Z:-0.45 [[ 9.89379571e-01 -1.45337868e-01 -2.22918454e-03 4.96799168e+01] [ 1.45337521e-01 9.89382082e-01 -3.17693872e-04 1.27163941e+00] [ 2.25168819e-03 -9.66432929e-06 9.99997465e-01 -4.45490753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.127719421 meters Centerline goodness : 0.978523 Centerline is valid? [True, True] Translation: X:49.71, Y:1.28, Z:-0.44 [[ 9.89930891e-01 -1.41533962e-01 -2.22908935e-03 4.97078230e+01] [ 1.41533604e-01 9.89933401e-01 -3.18360365e-04 1.27821581e+00] [ 2.25170881e-03 -3.36289901e-07 9.99997465e-01 -4.44284100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.157719421 meters Centerline goodness : 0.978871 Centerline is valid? [True, True] Translation: X:49.73, Y:1.29, Z:-0.44 [[ 9.91201195e-01 -1.32345092e-01 -2.22899415e-03 4.97347733e+01] [ 1.32344709e-01 9.91203701e-01 -3.19025565e-04 1.28735885e+00] [ 2.25160871e-03 2.12229395e-05 9.99997465e-01 -4.44667063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.187719421 meters Centerline goodness : 0.977694 Centerline is valid? [True, True] Translation: X:49.76, Y:1.29, Z:-0.45 [[ 9.91813102e-01 -1.27678511e-01 -2.22888524e-03 4.97618856e+01] [ 1.27678114e-01 9.91815606e-01 -3.19784637e-04 1.29254414e+00] [ 2.25147279e-03 3.25867287e-05 9.99997465e-01 -4.45318883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.217719421 meters Centerline goodness : 0.978096 Centerline is valid? [True, True] Translation: X:49.79, Y:1.30, Z:-0.45 [[ 9.93036617e-01 -1.17785011e-01 -2.22877622e-03 4.97899761e+01] [ 1.17784588e-01 9.93039117e-01 -3.20542666e-04 1.29632538e+00] [ 2.25101709e-03 5.57951150e-05 9.99997465e-01 -4.47350903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.247719421 meters Centerline goodness : 0.978561 Centerline is valid? [True, True] Translation: X:49.82, Y:1.30, Z:-0.45 [[ 9.93988145e-01 -1.09465068e-01 -2.22868213e-03 4.98172655e+01] [ 1.09464623e-01 9.93990640e-01 -3.21195541e-04 1.30327191e+00] [ 2.25044887e-03 7.53027115e-05 9.99997465e-01 -4.46283546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.277719421 meters Centerline goodness : 0.975983 Centerline is valid? [True, True] Translation: X:49.84, Y:1.31, Z:-0.45 [[ 9.94264233e-01 -1.06928333e-01 -2.22857186e-03 4.98448098e+01] [ 1.06927880e-01 9.94266727e-01 -3.21958790e-04 1.30884865e+00] [ 2.25022137e-03 8.18156454e-05 9.99997465e-01 -4.48465187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.307719421 meters Centerline goodness : 0.978566 Centerline is valid? [True, True] Translation: X:49.87, Y:1.31, Z:-0.45 [[ 9.94450454e-01 -1.05182358e-01 -2.22853800e-03 4.98735566e+01] [ 1.05181899e-01 9.94452947e-01 -3.22193012e-04 1.31180211e+00] [ 2.25006520e-03 8.60031273e-05 9.99997465e-01 -4.45869778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.337719421 meters Centerline goodness : 0.978566 Centerline is valid? [True, True] Translation: X:49.90, Y:1.32, Z:-0.45 [[ 9.94415476e-01 -1.05512531e-01 -2.22844423e-03 4.99017223e+01] [ 1.05512073e-01 9.94417970e-01 -3.22840301e-04 1.31615331e+00] [ 2.25006868e-03 8.59096230e-05 9.99997465e-01 -4.45805654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.367719421 meters Centerline goodness : 0.978970 Centerline is valid? [True, True] Translation: X:49.93, Y:1.32, Z:-0.45 [[ 9.94279659e-01 -1.06784801e-01 -2.22833679e-03 4.99291988e+01] [ 1.06784344e-01 9.94282153e-01 -3.23580157e-04 1.31883269e+00] [ 2.25014894e-03 8.37776867e-05 9.99997465e-01 -4.45757561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.39771942099999 meters Centerline goodness : 0.977312 Centerline is valid? [True, True] Translation: X:49.96, Y:1.32, Z:-0.45 [[ 9.93758764e-01 -1.11528263e-01 -2.22830358e-03 4.99574276e+01] [ 1.11527817e-01 9.93761260e-01 -3.23808708e-04 1.32042442e+00] [ 2.25051559e-03 7.32699070e-05 9.99997465e-01 -4.47204306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42771942099999 meters Centerline goodness : 0.979246 Centerline is valid? [True, True] Translation: X:49.99, Y:1.32, Z:-0.45 [[ 9.93284001e-01 -1.15680287e-01 -2.22827158e-03 4.99859143e+01] [ 1.15679851e-01 9.93286498e-01 -3.24028766e-04 1.32346626e+00] [ 2.25079581e-03 6.40864649e-05 9.99997465e-01 -4.46323747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.457719421 meters Centerline goodness : 0.978343 Centerline is valid? [True, True] Translation: X:50.01, Y:1.33, Z:-0.45 [[ 9.92155833e-01 -1.24987352e-01 -2.22817707e-03 5.00138777e+01] [ 1.24986938e-01 9.92158334e-01 -3.24677347e-04 1.32616785e+00] [ 2.25128501e-03 4.36374934e-05 9.99997465e-01 -4.47279178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.487719421 meters Centerline goodness : 0.976864 Centerline is valid? [True, True] Translation: X:50.04, Y:1.33, Z:-0.45 [[ 9.90946876e-01 -1.34236078e-01 -2.22806857e-03 5.00419218e+01] [ 1.34235686e-01 9.90949380e-01 -3.25420215e-04 1.32933649e+00] [ 2.25158630e-03 2.33878327e-05 9.99997465e-01 -4.48148675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.517719421 meters Centerline goodness : 0.977116 Centerline is valid? [True, True] Translation: X:50.07, Y:1.33, Z:-0.45 [[ 9.90481248e-01 -1.37629694e-01 -2.22803504e-03 5.00703866e+01] [ 1.37629309e-01 9.90483754e-01 -3.25649596e-04 1.33197802e+00] [ 2.25165157e-03 1.59068934e-05 9.99997465e-01 -4.48513197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.547719421 meters Centerline goodness : 0.973245 Centerline is valid? [True, True] Translation: X:50.10, Y:1.33, Z:-0.45 [[ 9.89758261e-01 -1.42736194e-01 -2.22794187e-03 5.00986986e+01] [ 1.42735822e-01 9.89760768e-01 -3.26285813e-04 1.32856316e+00] [ 2.25170225e-03 4.93696562e-06 9.99997465e-01 -4.52687182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.577719421 meters Centerline goodness : 0.974280 Centerline is valid? [True, True] Translation: X:50.13, Y:1.33, Z:-0.45 [[ 9.89407559e-01 -1.45147233e-01 -2.22789330e-03 5.01275553e+01] [ 1.45146865e-01 9.89410067e-01 -3.26617104e-04 1.33010711e+00] [ 2.25170763e-03 -2.14297170e-07 9.99997465e-01 -4.52393555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.607719421 meters Centerline goodness : 0.972596 Centerline is valid? [True, True] Translation: X:50.16, Y:1.34, Z:-0.45 [[ 9.88749238e-01 -1.49565978e-01 -2.22779809e-03 5.01557634e+01] [ 1.49565620e-01 9.88751748e-01 -3.27265233e-04 1.33655515e+00] [ 2.25168700e-03 -9.61875253e-06 9.99997465e-01 -4.53807635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.637719421 meters Centerline goodness : 0.971424 Centerline is valid? [True, True] Translation: X:50.18, Y:1.34, Z:-0.45 [[ 9.88612198e-01 -1.50469129e-01 -2.22769838e-03 5.01845556e+01] [ 1.50468772e-01 9.88614708e-01 -3.27942545e-04 1.34229247e+00] [ 2.25168062e-03 -1.09910405e-05 9.99997465e-01 -4.54420530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.667719421 meters Centerline goodness : 0.971949 Centerline is valid? [True, True] Translation: X:50.21, Y:1.35, Z:-0.45 [[ 9.88600264e-01 -1.50547521e-01 -2.22760504e-03 5.02122852e+01] [ 1.50547163e-01 9.88602774e-01 -3.28575393e-04 1.34711757e+00] [ 2.25168273e-03 -1.05298978e-05 9.99997465e-01 -4.53807716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.697719421 meters Centerline goodness : 0.977217 Centerline is valid? [True, True] Translation: X:50.24, Y:1.35, Z:-0.45 [[ 9.88641345e-01 -1.50277507e-01 -2.22749048e-03 5.02399863e+01] [ 1.50277147e-01 9.88643854e-01 -3.29350138e-04 1.35159538e+00] [ 2.25168870e-03 -9.13175122e-06 9.99997465e-01 -4.48924869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.727719421 meters Centerline goodness : 0.978259 Centerline is valid? [True, True] Translation: X:50.27, Y:1.36, Z:-0.45 [[ 9.87912145e-01 -1.54998814e-01 -2.22746219e-03 5.02680506e+01] [ 1.54998465e-01 9.87914656e-01 -3.29541420e-04 1.35709410e+00] [ 2.25162107e-03 -1.96952497e-05 9.99997465e-01 -4.46447945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.757719421 meters Centerline goodness : 0.977425 Centerline is valid? [True, True] Translation: X:50.30, Y:1.36, Z:-0.45 [[ 9.87528553e-01 -1.57424257e-01 -2.22736404e-03 5.02957175e+01] [ 1.57423913e-01 9.87531064e-01 -3.30203434e-04 1.36258795e+00] [ 2.25157321e-03 -2.45550441e-05 9.99997465e-01 -4.47001994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78771942099999 meters Centerline goodness : 0.978309 Centerline is valid? [True, True] Translation: X:50.32, Y:1.37, Z:-0.45 [[ 9.86556997e-01 -1.63402359e-01 -2.22725198e-03 5.03233032e+01] [ 1.63402028e-01 9.86559510e-01 -3.30957597e-04 1.37344024e+00] [ 2.25139587e-03 -3.74289570e-05 9.99997465e-01 -4.49393546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.81771942099999 meters Centerline goodness : 0.977610 Centerline is valid? [True, True] Translation: X:50.35, Y:1.38, Z:-0.45 [[ 9.86318250e-01 -1.64837345e-01 -2.22715455e-03 5.03507871e+01] [ 1.64837016e-01 9.86320763e-01 -3.31611944e-04 1.38100703e+00] [ 2.25135081e-03 -4.00425974e-05 9.99997465e-01 -4.49571921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.847719421 meters Centerline goodness : 0.979436 Centerline is valid? [True, True] Translation: X:50.38, Y:1.39, Z:-0.45 [[ 9.86537388e-01 -1.63520708e-01 -2.22712008e-03 5.03787118e+01] [ 1.63520376e-01 9.86539901e-01 -3.31843302e-04 1.38983473e+00] [ 2.25140607e-03 -3.68036883e-05 9.99997465e-01 -4.46423731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.877719421 meters Centerline goodness : 0.978051 Centerline is valid? [True, True] Translation: X:50.41, Y:1.40, Z:-0.45 [[ 9.86963512e-01 -1.60928761e-01 -2.22702191e-03 5.04053069e+01] [ 1.60928420e-01 9.86966024e-01 -3.32500772e-04 1.39642152e+00] [ 2.25150390e-03 -3.02249894e-05 9.99997465e-01 -4.46710669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.907719421 meters Centerline goodness : 0.976348 Centerline is valid? [True, True] Translation: X:50.43, Y:1.41, Z:-0.45 [[ 9.88341701e-01 -1.52235748e-01 -2.22697296e-03 5.04316497e+01] [ 1.52235384e-01 9.88344210e-01 -3.32828305e-04 1.40933268e+00] [ 2.25168420e-03 -1.00759922e-05 9.99997465e-01 -4.51797075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.937719421 meters Centerline goodness : 0.978293 Centerline is valid? [True, True] Translation: X:50.46, Y:1.42, Z:-0.45 [[ 9.89065891e-01 -1.47457465e-01 -2.22693928e-03 5.04591329e+01] [ 1.47457089e-01 9.89068398e-01 -3.33053539e-04 1.41834961e+00] [ 2.25170650e-03 1.03391209e-06 9.99997465e-01 -4.50606749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.967719421 meters Centerline goodness : 0.976677 Centerline is valid? [True, True] Translation: X:50.49, Y:1.43, Z:-0.45 [[ 9.90475385e-01 -1.37671906e-01 -2.22683787e-03 5.04850505e+01] [ 1.37671503e-01 9.90477888e-01 -3.33730217e-04 1.42779015e+00] [ 2.25157894e-03 2.39794486e-05 9.99997465e-01 -4.49945519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.997719421 meters Centerline goodness : 0.978085 Centerline is valid? [True, True] Translation: X:50.51, Y:1.43, Z:-0.45 [[ 9.91067878e-01 -1.33339799e-01 -2.22678785e-03 5.05136599e+01] [ 1.33339385e-01 9.91070379e-01 -3.34063610e-04 1.43355400e+00] [ 2.25144745e-03 3.41611902e-05 9.99997465e-01 -4.49147446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.027719421 meters Centerline goodness : 0.976875 Centerline is valid? [True, True] Translation: X:50.54, Y:1.44, Z:-0.45 [[ 9.91976180e-01 -1.26405301e-01 -2.22668919e-03 5.05424371e+01] [ 1.26404868e-01 9.91978678e-01 -3.34719925e-04 1.43971729e+00] [ 2.25113857e-03 5.05698399e-05 9.99997465e-01 -4.51525571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.057719421 meters Centerline goodness : 0.972607 Centerline is valid? [True, True] Translation: X:50.57, Y:1.44, Z:-0.46 [[ 9.92210123e-01 -1.24555667e-01 -2.22659777e-03 5.05698441e+01] [ 1.24555228e-01 9.92212620e-01 -3.35326992e-04 1.44416801e+00] [ 2.25102528e-03 5.53804431e-05 9.99997465e-01 -4.57696571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.087719421 meters Centerline goodness : 0.974433 Centerline is valid? [True, True] Translation: X:50.60, Y:1.45, Z:-0.46 [[ 9.92344346e-01 -1.23481743e-01 -2.22656313e-03 5.05983316e+01] [ 1.23481301e-01 9.92346842e-01 -3.35556805e-04 1.44616041e+00] [ 2.25095803e-03 5.80489859e-05 9.99997465e-01 -4.56220944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.117719421 meters Centerline goodness : 0.973796 Centerline is valid? [True, True] Translation: X:50.63, Y:1.45, Z:-0.45 [[ 9.92199406e-01 -1.24641007e-01 -2.22646607e-03 5.06258249e+01] [ 1.24640566e-01 9.92201903e-01 -3.36199613e-04 1.44881542e+00] [ 2.25100813e-03 5.60690643e-05 9.99997465e-01 -4.54977425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14771942099999 meters Centerline goodness : 0.974487 Centerline is valid? [True, True] Translation: X:50.65, Y:1.45, Z:-0.45 [[ 9.92080720e-01 -1.25582192e-01 -2.22643169e-03 5.06539861e+01] [ 1.25581753e-01 9.92083217e-01 -3.36427149e-04 1.45218000e+00] [ 2.25105477e-03 5.41636930e-05 9.99997465e-01 -4.54123076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.17771942099999 meters Centerline goodness : 0.975970 Centerline is valid? [True, True] Translation: X:50.68, Y:1.45, Z:-0.45 [[ 9.91829578e-01 -1.27550502e-01 -2.22639755e-03 5.06815950e+01] [ 1.27550068e-01 9.91832076e-01 -3.36652918e-04 1.45497784e+00] [ 2.25115275e-03 4.99251638e-05 9.99997465e-01 -4.53490540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.207719421 meters Centerline goodness : 0.974602 Centerline is valid? [True, True] Translation: X:50.71, Y:1.46, Z:-0.45 [[ 9.91603664e-01 -1.29295080e-01 -2.22634707e-03 5.07098368e+01] [ 1.29294649e-01 9.91606162e-01 -3.36986436e-04 1.45916467e+00] [ 2.25123016e-03 4.63022221e-05 9.99997465e-01 -4.54557198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.237719421 meters Centerline goodness : 0.973635 Centerline is valid? [True, True] Translation: X:50.74, Y:1.46, Z:-0.46 [[ 9.91128227e-01 -1.32890486e-01 -2.22625329e-03 5.07385399e+01] [ 1.32890063e-01 9.91130727e-01 -3.37604826e-04 1.46121365e+00] [ 2.25137251e-03 3.87627325e-05 9.99997465e-01 -4.56383640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.267719421 meters Centerline goodness : 0.977575 Centerline is valid? [True, True] Translation: X:50.77, Y:1.46, Z:-0.45 [[ 9.90639334e-01 -1.36487193e-01 -2.22615991e-03 5.07659308e+01] [ 1.36486777e-01 9.90641835e-01 -3.38219462e-04 1.46410486e+00] [ 2.25148976e-03 3.12121116e-05 9.99997465e-01 -4.51576481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.297719421 meters Centerline goodness : 0.978772 Centerline is valid? [True, True] Translation: X:50.79, Y:1.47, Z:-0.45 [[ 9.89316407e-01 -1.45767251e-01 -2.22604753e-03 5.07935574e+01] [ 1.45766857e-01 9.89318911e-01 -3.38957513e-04 1.46693175e+00] [ 2.25167982e-03 1.08522765e-05 9.99997465e-01 -4.50639379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.327719421 meters Centerline goodness : 0.977918 Centerline is valid? [True, True] Translation: X:50.82, Y:1.47, Z:-0.45 [[ 9.88598859e-01 -1.50556767e-01 -2.22601011e-03 5.08216641e+01] [ 1.50556384e-01 9.88601366e-01 -3.39203025e-04 1.47017738e+00] [ 2.25170595e-03 1.95689012e-07 9.99997465e-01 -4.51058793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.357719421 meters Centerline goodness : 0.979030 Centerline is valid? [True, True] Translation: X:50.85, Y:1.47, Z:-0.45 [[ 9.87812887e-01 -1.55630158e-01 -2.22589183e-03 5.08495966e+01] [ 1.55629787e-01 9.87815395e-01 -3.39977449e-04 1.46954219e+00] [ 2.25168096e-03 -1.05809668e-05 9.99997465e-01 -4.50672889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.387719421 meters Centerline goodness : 0.979455 Centerline is valid? [True, True] Translation: X:50.88, Y:1.47, Z:-0.45 [[ 9.87672567e-01 -1.56518196e-01 -2.22585527e-03 5.08773578e+01] [ 1.56517827e-01 9.87675075e-01 -3.40216648e-04 1.47352757e+00] [ 2.25167187e-03 -1.23633788e-05 9.99997465e-01 -4.50078835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.417719421 meters Centerline goodness : 0.978235 Centerline is valid? [True, True] Translation: X:50.90, Y:1.48, Z:-0.45 [[ 9.87730790e-01 -1.56150349e-01 -2.22573858e-03 5.09046131e+01] [ 1.56149977e-01 9.87733298e-01 -3.40978365e-04 1.47976571e+00] [ 2.25168000e-03 -1.07541982e-05 9.99997465e-01 -4.49932987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.447719421 meters Centerline goodness : 0.976988 Centerline is valid? [True, True] Translation: X:50.93, Y:1.48, Z:-0.45 [[ 9.88015631e-01 -1.54337808e-01 -2.22562162e-03 5.09326911e+01] [ 1.54337429e-01 9.88018138e-01 -3.41740042e-04 1.48387017e+00] [ 2.25169794e-03 -5.85221646e-06 9.99997465e-01 -4.50326243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.477719421 meters Centerline goodness : 0.977925 Centerline is valid? [True, True] Translation: X:50.96, Y:1.49, Z:-0.45 [[ 9.88649820e-01 -1.50221774e-01 -2.22551966e-03 5.09611354e+01] [ 1.50221384e-01 9.88652324e-01 -3.42402761e-04 1.48617902e+00] [ 2.25170154e-03 4.19578512e-06 9.99997465e-01 -4.51014965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.507719421 meters Centerline goodness : 0.977452 Centerline is valid? [True, True] Translation: X:50.99, Y:1.49, Z:-0.45 [[ 9.88733248e-01 -1.49671682e-01 -2.22541641e-03 5.09885690e+01] [ 1.49671289e-01 9.88735752e-01 -3.43072527e-04 1.48967625e+00] [ 2.25169701e-03 6.12627161e-06 9.99997465e-01 -4.50648216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.53771942099999 meters Centerline goodness : 0.980061 Centerline is valid? [True, True] Translation: X:51.02, Y:1.50, Z:-0.45 [[ 9.88528642e-01 -1.51017124e-01 -2.22529900e-03 5.10171444e+01] [ 1.51016733e-01 9.88531147e-01 -3.43832397e-04 1.49627113e+00] [ 2.25170195e-03 3.83078783e-06 9.99997465e-01 -4.46897909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56771942099999 meters Centerline goodness : 0.978384 Centerline is valid? [True, True] Translation: X:51.04, Y:1.50, Z:-0.45 [[ 9.88032315e-01 -1.54230970e-01 -2.22519290e-03 5.10443054e+01] [ 1.54230585e-01 9.88034821e-01 -3.44517666e-04 1.50309643e+00] [ 2.25170337e-03 -2.79821594e-06 9.99997465e-01 -4.49214642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.597719421 meters Centerline goodness : 0.977882 Centerline is valid? [True, True] Translation: X:51.07, Y:1.51, Z:-0.45 [[ 9.87360151e-01 -1.58477069e-01 -2.22515536e-03 5.10704908e+01] [ 1.58476694e-01 9.87362658e-01 -3.44759974e-04 1.50753381e+00] [ 2.25167186e-03 -1.22330058e-05 9.99997465e-01 -4.49135437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.627719421 meters Centerline goodness : 0.978421 Centerline is valid? [True, True] Translation: X:51.10, Y:1.51, Z:-0.45 [[ 9.86465173e-01 -1.63955823e-01 -2.22510568e-03 5.10985482e+01] [ 1.63955461e-01 9.86467682e-01 -3.45080350e-04 1.51150162e+00] [ 2.25157277e-03 -2.44084806e-05 9.99997465e-01 -4.48607164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.657719421 meters Centerline goodness : 0.976815 Centerline is valid? [True, True] Translation: X:51.13, Y:1.51, Z:-0.45 [[ 9.84444743e-01 -1.75680382e-01 -2.22499239e-03 5.11270877e+01] [ 1.75680049e-01 9.84447256e-01 -3.45809216e-04 1.51401502e+00] [ 2.25113955e-03 -5.04567087e-05 9.99997465e-01 -4.50438540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.687719421 meters Centerline goodness : 0.975952 Centerline is valid? [True, True] Translation: X:51.16, Y:1.52, Z:-0.45 [[ 9.83487300e-01 -1.80963477e-01 -2.22489161e-03 5.11553084e+01] [ 1.80963156e-01 9.83489815e-01 -3.46456451e-04 1.51844349e+00] [ 2.25085420e-03 -6.18878880e-05 9.99997465e-01 -4.52189947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.717719421 meters Centerline goodness : 0.975335 Centerline is valid? [True, True] Translation: X:51.18, Y:1.53, Z:-0.45 [[ 9.82155013e-01 -1.88060048e-01 -2.22478885e-03 5.11817514e+01] [ 1.88059743e-01 9.82157529e-01 -3.47115033e-04 1.52727788e+00] [ 2.25037159e-03 -7.74724510e-05 9.99997465e-01 -4.53010903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.747719421 meters Centerline goodness : 0.974729 Centerline is valid? [True, True] Translation: X:51.21, Y:1.54, Z:-0.45 [[ 9.81317866e-01 -1.92380602e-01 -2.22475243e-03 5.12084858e+01] [ 1.92380308e-01 9.81320384e-01 -3.47348339e-04 1.53796051e+00] [ 2.25001799e-03 -8.71394278e-05 9.99997465e-01 -4.52960145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.777719421 meters Centerline goodness : 0.975293 Centerline is valid? [True, True] Translation: X:51.24, Y:1.55, Z:-0.45 [[ 9.81045438e-01 -1.93765063e-01 -2.22469949e-03 5.12363839e+01] [ 1.93764772e-01 9.81047956e-01 -3.47687086e-04 1.54502731e+00] [ 2.24990650e-03 -8.99715582e-05 9.99997465e-01 -4.51484458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.807719421 meters Centerline goodness : 0.976523 Centerline is valid? [True, True] Translation: X:51.26, Y:1.55, Z:-0.45 [[ 9.80786715e-01 -1.95070424e-01 -2.22459567e-03 5.12631740e+01] [ 1.95070135e-01 9.80789234e-01 -3.48350073e-04 1.55487861e+00] [ 2.24981228e-03 -9.22950540e-05 9.99997465e-01 -4.49663944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.837719421 meters Centerline goodness : 0.978107 Centerline is valid? [True, True] Translation: X:51.29, Y:1.56, Z:-0.45 [[ 9.80710142e-01 -1.95455031e-01 -2.22455890e-03 5.12909327e+01] [ 1.95454742e-01 9.80712660e-01 -3.48584746e-04 1.56340011e+00] [ 2.24978572e-03 -9.29399896e-05 9.99997465e-01 -4.47618681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.867719421 meters Centerline goodness : 0.981126 Centerline is valid? [True, True] Translation: X:51.32, Y:1.58, Z:-0.45 [[ 9.81238559e-01 -1.92784704e-01 -2.22445705e-03 5.13185157e+01] [ 1.92784407e-01 9.81241077e-01 -3.49233445e-04 1.57611498e+00] [ 2.25005550e-03 -8.61593117e-05 9.99997465e-01 -4.45552876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.89771942099999 meters Centerline goodness : 0.980210 Centerline is valid? [True, True] Translation: X:51.35, Y:1.58, Z:-0.45 [[ 9.81770219e-01 -1.90058646e-01 -2.22435641e-03 5.13460753e+01] [ 1.90058341e-01 9.81772736e-01 -3.49873294e-04 1.58430729e+00] [ 2.25030892e-03 -7.92623081e-05 9.99997465e-01 -4.47024313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92771942099999 meters Centerline goodness : 0.978813 Centerline is valid? [True, True] Translation: X:51.37, Y:1.60, Z:-0.45 [[ 9.82900329e-01 -1.84124945e-01 -2.22425627e-03 5.13724764e+01] [ 1.84124623e-01 9.82902844e-01 -3.50508786e-04 1.59549454e+00] [ 2.25076522e-03 -6.50251458e-05 9.99997465e-01 -4.49385320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.957719421 meters Centerline goodness : 0.978391 Centerline is valid? [True, True] Translation: X:51.40, Y:1.60, Z:-0.45 [[ 9.83541959e-01 -1.80666178e-01 -2.22422079e-03 5.13999086e+01] [ 1.80665847e-01 9.83544472e-01 -3.50733772e-04 1.60452663e+00] [ 2.25098579e-03 -5.68793518e-05 9.99997465e-01 -4.50525610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.987719421 meters Centerline goodness : 0.977361 Centerline is valid? [True, True] Translation: X:51.43, Y:1.62, Z:-0.45 [[ 9.84994789e-01 -1.72569750e-01 -2.22412235e-03 5.14259233e+01] [ 1.72569396e-01 9.84997299e-01 -3.51356924e-04 1.61950812e+00] [ 2.25138808e-03 -3.77307118e-05 9.99997465e-01 -4.52133176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.017719421 meters Centerline goodness : 0.976663 Centerline is valid? [True, True] Translation: X:51.45, Y:1.63, Z:-0.45 [[ 9.85508883e-01 -1.69609244e-01 -2.22407025e-03 5.14525590e+01] [ 1.69608882e-01 9.85511392e-01 -3.51686413e-04 1.62810303e+00] [ 2.25149583e-03 -3.06319840e-05 9.99997465e-01 -4.52706757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.047719421 meters Centerline goodness : 0.974359 Centerline is valid? [True, True] Translation: X:51.48, Y:1.64, Z:-0.46 [[ 9.86349173e-01 -1.64652249e-01 -2.22395896e-03 5.14804943e+01] [ 1.64651873e-01 9.86351680e-01 -3.52388775e-04 1.63958822e+00] [ 2.25162726e-03 -1.86006318e-05 9.99997465e-01 -4.55418902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.077719421 meters Centerline goodness : 0.972609 Centerline is valid? [True, True] Translation: X:51.51, Y:1.65, Z:-0.46 [[ 9.86689391e-01 -1.62601044e-01 -2.22391000e-03 5.15071246e+01] [ 1.62600662e-01 9.86691897e-01 -3.52697434e-04 1.64803368e+00] [ 2.25166295e-03 -1.36064223e-05 9.99997465e-01 -4.56420053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.107719421 meters Centerline goodness : 0.973363 Centerline is valid? [True, True] Translation: X:51.53, Y:1.66, Z:-0.46 [[ 9.87007706e-01 -1.60657533e-01 -2.22385765e-03 5.15338387e+01] [ 1.60657145e-01 9.87010211e-01 -3.53027223e-04 1.65647182e+00] [ 2.25168669e-03 -8.83803192e-06 9.99997465e-01 -4.55760832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.137719421 meters Centerline goodness : 0.976872 Centerline is valid? [True, True] Translation: X:51.56, Y:1.67, Z:-0.45 [[ 9.87658790e-01 -1.56605140e-01 -2.22382381e-03 5.15613781e+01] [ 1.56604741e-01 9.87661293e-01 -3.53240288e-04 1.66770480e+00] [ 2.25170394e-03 6.19522786e-07 9.99997465e-01 -4.50800500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.167719421 meters Centerline goodness : 0.977826 Centerline is valid? [True, True] Translation: X:51.59, Y:1.68, Z:-0.45 [[ 9.88586078e-01 -1.50640705e-01 -2.22379522e-03 5.15879984e+01] [ 1.50640291e-01 9.88588579e-01 -3.53420166e-04 1.67653223e+00] [ 2.25165802e-03 1.43930963e-05 9.99997465e-01 -4.48875701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.197719421 meters Centerline goodness : 0.978182 Centerline is valid? [True, True] Translation: X:51.62, Y:1.68, Z:-0.45 [[ 9.88933590e-01 -1.48342203e-01 -2.22376197e-03 5.16163332e+01] [ 1.48341783e-01 9.88936090e-01 -3.53629269e-04 1.68369574e+00] [ 2.25161661e-03 1.98390466e-05 9.99997465e-01 -4.49234829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.227719421 meters Centerline goodness : 0.983759 Centerline is valid? [True, True] Translation: X:51.64, Y:1.69, Z:-0.44 [[ 9.89601700e-01 -1.43817699e-01 -2.22366984e-03 5.16438511e+01] [ 1.43817266e-01 9.89604198e-01 -3.54207634e-04 1.68948584e+00] [ 2.25149434e-03 3.07223594e-05 9.99997465e-01 -4.43756465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.257719421 meters Centerline goodness : 0.976383 Centerline is valid? [True, True] Translation: X:51.67, Y:1.69, Z:-0.45 [[ 9.89972021e-01 -1.41246071e-01 -2.22354989e-03 5.16711781e+01] [ 1.41245630e-01 9.89974518e-01 -3.54959004e-04 1.69355833e+00] [ 2.25139430e-03 3.73327778e-05 9.99997465e-01 -4.51105225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28771942099999 meters Centerline goodness : 0.976383 Centerline is valid? [True, True] Translation: X:51.70, Y:1.70, Z:-0.45 [[ 9.89930673e-01 -1.41535575e-01 -2.22351262e-03 5.16992384e+01] [ 1.41535134e-01 9.89933169e-01 -3.55192323e-04 1.69834806e+00] [ 2.25140125e-03 3.69106183e-05 9.99997465e-01 -4.51041125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.31771942099999 meters Centerline goodness : 0.970303 Centerline is valid? [True, True] Translation: X:51.73, Y:1.70, Z:-0.46 [[ 9.90514684e-01 -1.37388925e-01 -2.22340856e-03 5.17283549e+01] [ 1.37388473e-01 9.90517179e-01 -3.55842543e-04 1.70331186e+00] [ 2.25121320e-03 4.69965584e-05 9.99997465e-01 -4.57331883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.347719421 meters Centerline goodness : 0.969908 Centerline is valid? [True, True] Translation: X:51.76, Y:1.71, Z:-0.46 [[ 9.90680738e-01 -1.36186383e-01 -2.22339566e-03 5.17562631e+01] [ 1.36185927e-01 9.90683232e-01 -3.55923107e-04 1.70771026e+00] [ 2.25115268e-03 4.98109667e-05 9.99997465e-01 -4.58057711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.377719421 meters Centerline goodness : 0.979528 Centerline is valid? [True, True] Translation: X:51.78, Y:1.71, Z:-0.45 [[ 9.90846103e-01 -1.34977984e-01 -2.22329231e-03 5.17839660e+01] [ 1.34977524e-01 9.90848596e-01 -3.56567563e-04 1.70939473e+00] [ 2.25107483e-03 5.32090906e-05 9.99997465e-01 -4.49209913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.407719421 meters Centerline goodness : 0.981970 Centerline is valid? [True, True] Translation: X:51.81, Y:1.71, Z:-0.45 [[ 9.91149920e-01 -1.32728644e-01 -2.22317160e-03 5.18116597e+01] [ 1.32728176e-01 9.91152412e-01 -3.57318584e-04 1.70912283e+00] [ 2.25092830e-03 5.90787747e-05 9.99997465e-01 -4.46402968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.437719421 meters Centerline goodness : 0.982400 Centerline is valid? [True, True] Translation: X:51.84, Y:1.71, Z:-0.44 [[ 9.91310057e-01 -1.31527293e-01 -2.22310558e-03 5.18405075e+01] [ 1.31526821e-01 9.91312548e-01 -3.57728845e-04 1.71083540e+00] [ 2.25084356e-03 6.22221907e-05 9.99997465e-01 -4.44678720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.467719421 meters Centerline goodness : 0.979812 Centerline is valid? [True, True] Translation: X:51.87, Y:1.71, Z:-0.45 [[ 9.91604733e-01 -1.29286937e-01 -2.22299874e-03 5.18698548e+01] [ 1.29286458e-01 9.91607222e-01 -3.58391533e-04 1.70699201e+00] [ 2.25067695e-03 6.79791065e-05 9.99997465e-01 -4.49116163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.497719421 meters Centerline goodness : 0.978658 Centerline is valid? [True, True] Translation: X:51.90, Y:1.71, Z:-0.45 [[ 9.91473728e-01 -1.30287775e-01 -2.22296852e-03 5.18985898e+01] [ 1.30287298e-01 9.91476218e-01 -3.58578912e-04 1.70893159e+00] [ 2.25073887e-03 6.58970086e-05 9.99997465e-01 -4.50758444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.527719421 meters Centerline goodness : 0.977287 Centerline is valid? [True, True] Translation: X:51.93, Y:1.71, Z:-0.45 [[ 9.91116818e-01 -1.32975607e-01 -2.22286379e-03 5.19262630e+01] [ 1.32975135e-01 9.91119309e-01 -3.59226975e-04 1.70992178e+00] [ 2.25089165e-03 6.04502841e-05 9.99997465e-01 -4.51808850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.557719421 meters Centerline goodness : 0.978193 Centerline is valid? [True, True] Translation: X:51.95, Y:1.71, Z:-0.45 [[ 9.90786061e-01 -1.35418022e-01 -2.22282676e-03 5.19549682e+01] [ 1.35417556e-01 9.90788553e-01 -3.59455930e-04 1.71158349e+00] [ 2.25102812e-03 5.51341575e-05 9.99997465e-01 -4.51129566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.587719421 meters Centerline goodness : 0.974561 Centerline is valid? [True, True] Translation: X:51.98, Y:1.71, Z:-0.45 [[ 9.89938969e-01 -1.41477549e-01 -2.22272340e-03 5.19839018e+01] [ 1.41477097e-01 9.89941464e-01 -3.60093970e-04 1.70605474e+00] [ 2.25131126e-03 4.20065991e-05 9.99997465e-01 -4.54160649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.617719421 meters Centerline goodness : 0.977768 Centerline is valid? [True, True] Translation: X:52.01, Y:1.70, Z:-0.45 [[ 9.88825168e-01 -1.49063229e-01 -2.22268691e-03 5.20130557e+01] [ 1.49062796e-01 9.88827666e-01 -3.60319014e-04 1.70375044e+00] [ 2.25156463e-03 2.49725841e-05 9.99997465e-01 -4.48997110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64771942099999 meters Centerline goodness : 0.972842 Centerline is valid? [True, True] Translation: X:52.04, Y:1.71, Z:-0.45 [[ 9.88099965e-01 -1.53797007e-01 -2.22256062e-03 5.20394848e+01] [ 1.53796584e-01 9.88102465e-01 -3.61096390e-04 1.70700476e+00] [ 2.25165317e-03 1.49771004e-05 9.99997465e-01 -4.54594934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.67771942099999 meters Centerline goodness : 0.979092 Centerline is valid? [True, True] Translation: X:52.07, Y:1.71, Z:-0.45 [[ 9.87327172e-01 -1.58682435e-01 -2.22247412e-03 5.20677267e+01] [ 1.58682023e-01 9.87329674e-01 -3.61627971e-04 1.71087532e+00] [ 2.25169865e-03 4.37843282e-06 9.99997465e-01 -4.46990745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.707719421 meters Centerline goodness : 0.975973 Centerline is valid? [True, True] Translation: X:52.10, Y:1.71, Z:-0.45 [[ 9.85764587e-01 -1.68116746e-01 -2.22236053e-03 5.20957669e+01] [ 1.68116356e-01 9.85767092e-01 -3.62324658e-04 1.71288089e+00] [ 2.25164272e-03 -1.64483385e-05 9.99997465e-01 -4.50170286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.737719421 meters Centerline goodness : 0.982627 Centerline is valid? [True, True] Translation: X:52.12, Y:1.72, Z:-0.44 [[ 9.85022933e-01 -1.72409055e-01 -2.22232016e-03 5.21246188e+01] [ 1.72408675e-01 9.85025440e-01 -3.62572137e-04 1.71693186e+00] [ 2.25155261e-03 -2.60054050e-05 9.99997465e-01 -4.42948607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.767719421 meters Centerline goodness : 0.981689 Centerline is valid? [True, True] Translation: X:52.15, Y:1.72, Z:-0.44 [[ 9.83928528e-01 -1.78548908e-01 -2.22221293e-03 5.21529485e+01] [ 1.78548543e-01 9.83931037e-01 -3.63228188e-04 1.72071572e+00] [ 2.25135826e-03 -3.93823046e-05 9.99997465e-01 -4.41271991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.797719421 meters Centerline goodness : 0.985053 Centerline is valid? [True, True] Translation: X:52.18, Y:1.73, Z:-0.44 [[ 9.83435321e-01 -1.81245774e-01 -2.22219022e-03 5.21809121e+01] [ 1.81245416e-01 9.83437831e-01 -3.63367046e-04 1.72571719e+00] [ 2.25124467e-03 -4.54138026e-05 9.99997465e-01 -4.36603448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.827719421 meters Centerline goodness : 0.985340 Centerline is valid? [True, True] Translation: X:52.21, Y:1.73, Z:-0.44 [[ 9.83387457e-01 -1.81505296e-01 -2.22206649e-03 5.22088865e+01] [ 1.81504937e-01 9.83389966e-01 -3.64122118e-04 1.73213509e+00] [ 2.25124798e-03 -4.52429130e-05 9.99997465e-01 -4.38136710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.857719421 meters Centerline goodness : 0.981918 Centerline is valid? [True, True] Translation: X:52.24, Y:1.74, Z:-0.44 [[ 9.83504094e-01 -1.80872217e-01 -2.22195842e-03 5.22355056e+01] [ 1.80871855e-01 9.83506603e-01 -3.64780391e-04 1.74093728e+00] [ 2.25128942e-03 -4.31267328e-05 9.99997465e-01 -4.42163995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.887719421 meters Centerline goodness : 0.984357 Centerline is valid? [True, True] Translation: X:52.26, Y:1.75, Z:-0.44 [[ 9.83734676e-01 -1.79613891e-01 -2.22190128e-03 5.22634021e+01] [ 1.79613524e-01 9.83737185e-01 -3.65128090e-04 1.74619544e+00] [ 2.25134899e-03 -3.98943557e-05 9.99997465e-01 -4.40353878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.917719421 meters Centerline goodness : 0.980414 Centerline is valid? [True, True] Translation: X:52.29, Y:1.75, Z:-0.44 [[ 9.84031516e-01 -1.77980448e-01 -2.22179025e-03 5.22912793e+01] [ 1.77980076e-01 9.84034023e-01 -3.65802487e-04 1.75085613e+00] [ 2.25142289e-03 -3.54732217e-05 9.99997465e-01 -4.43394276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.947719421 meters Centerline goodness : 0.979445 Centerline is valid? [True, True] Translation: X:52.32, Y:1.76, Z:-0.45 [[ 9.84780373e-01 -1.73789187e-01 -2.22173177e-03 5.23196069e+01] [ 1.73788803e-01 9.84782879e-01 -3.66157322e-04 1.75902427e+00] [ 2.25155759e-03 -2.55275603e-05 9.99997465e-01 -4.46739289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.977719421 meters Centerline goodness : 0.977840 Centerline is valid? [True, True] Translation: X:52.35, Y:1.77, Z:-0.45 [[ 9.85164661e-01 -1.71597361e-01 -2.22163014e-03 5.23479945e+01] [ 1.71596970e-01 9.85167166e-01 -3.66772897e-04 1.76660946e+00] [ 2.25161433e-03 -1.98933029e-05 9.99997465e-01 -4.47752540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.007719421 meters Centerline goodness : 0.976253 Centerline is valid? [True, True] Translation: X:52.37, Y:1.78, Z:-0.45 [[ 9.86010337e-01 -1.66669373e-01 -2.22152084e-03 5.23749423e+01] [ 1.66668968e-01 9.86012840e-01 -3.67433714e-04 1.77508170e+00] [ 2.25168802e-03 -7.96514671e-06 9.99997465e-01 -4.48936715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.03771942099999 meters Centerline goodness : 0.973576 Centerline is valid? [True, True] Translation: X:52.40, Y:1.78, Z:-0.45 [[ 9.86615227e-01 -1.63050482e-01 -2.22146360e-03 5.24016594e+01] [ 1.63050068e-01 9.86617727e-01 -3.67779463e-04 1.78460027e+00] [ 2.25170199e-03 6.47027556e-07 9.99997465e-01 -4.52281736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06771942099999 meters Centerline goodness : 0.972398 Centerline is valid? [True, True] Translation: X:52.43, Y:1.79, Z:-0.45 [[ 9.86776131e-01 -1.62073850e-01 -2.22142547e-03 5.24298769e+01] [ 1.62073432e-01 9.86778631e-01 -3.68009611e-04 1.79309416e+00] [ 2.25169992e-03 3.10904921e-06 9.99997465e-01 -4.52694801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.097719421 meters Centerline goodness : 0.969978 Centerline is valid? [True, True] Translation: X:52.46, Y:1.80, Z:-0.46 [[ 9.86839620e-01 -1.61686826e-01 -2.22131965e-03 5.24574264e+01] [ 1.61686406e-01 9.86842120e-01 -3.68647247e-04 1.80026324e+00] [ 2.25169720e-03 4.63851867e-06 9.99997465e-01 -4.55511509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.127719421 meters Centerline goodness : 0.970476 Centerline is valid? [True, True] Translation: X:52.49, Y:1.81, Z:-0.46 [[ 9.86785158e-01 -1.62018885e-01 -2.22121483e-03 5.24859452e+01] [ 1.62018464e-01 9.86787658e-01 -3.69277776e-04 1.80558957e+00] [ 2.25169735e-03 4.52001426e-06 9.99997465e-01 -4.55104413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.157719421 meters Centerline goodness : 0.972676 Centerline is valid? [True, True] Translation: X:52.51, Y:1.82, Z:-0.45 [[ 9.86936064e-01 -1.61097089e-01 -2.22110881e-03 5.25137330e+01] [ 1.61096665e-01 9.86938563e-01 -3.69914355e-04 1.81558701e+00] [ 2.25169006e-03 7.26859638e-06 9.99997465e-01 -4.52960558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.187719421 meters Centerline goodness : 0.971725 Centerline is valid? [True, True] Translation: X:52.54, Y:1.82, Z:-0.46 [[ 9.87851874e-01 -1.55382568e-01 -2.22100349e-03 5.25399775e+01] [ 1.55382128e-01 9.87854370e-01 -3.70545639e-04 1.82378607e+00] [ 2.25160433e-03 2.09399569e-05 9.99997465e-01 -4.55010430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.217719421 meters Centerline goodness : 0.973398 Centerline is valid? [True, True] Translation: X:52.57, Y:1.83, Z:-0.45 [[ 9.88452480e-01 -1.51514892e-01 -2.22095118e-03 5.25682499e+01] [ 1.51514441e-01 9.88454975e-01 -3.70858866e-04 1.82996890e+00] [ 2.25150089e-03 3.00701890e-05 9.99997465e-01 -4.54311430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.247719421 meters Centerline goodness : 0.972067 Centerline is valid? [True, True] Translation: X:52.60, Y:1.84, Z:-0.45 [[ 9.89902616e-01 -1.41731715e-01 -2.22084529e-03 5.25959382e+01] [ 1.41731238e-01 9.89905106e-01 -3.71491907e-04 1.83673782e+00] [ 2.25107828e-03 5.29776575e-05 9.99997465e-01 -4.53878967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.277719421 meters Centerline goodness : 0.973427 Centerline is valid? [True, True] Translation: X:52.62, Y:1.84, Z:-0.45 [[ 9.90497358e-01 -1.37513827e-01 -2.22073680e-03 5.26238031e+01] [ 1.37513338e-01 9.90499845e-01 -3.72139350e-04 1.84100256e+00] [ 2.25081376e-03 6.32221125e-05 9.99997465e-01 -4.52810760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.307719421 meters Centerline goodness : 0.975692 Centerline is valid? [True, True] Translation: X:52.65, Y:1.84, Z:-0.45 [[ 9.91383674e-01 -1.30971292e-01 -2.22061042e-03 5.26531390e+01] [ 1.30970785e-01 9.91386158e-01 -3.72891933e-04 1.84267858e+00] [ 2.25032057e-03 7.88438850e-05 9.99997465e-01 -4.50106137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.337719421 meters Centerline goodness : 0.978108 Centerline is valid? [True, True] Translation: X:52.68, Y:1.85, Z:-0.45 [[ 9.91632627e-01 -1.29072857e-01 -2.22049802e-03 5.26813875e+01] [ 1.29072343e-01 9.91635110e-01 -3.73560038e-04 1.84510411e+00] [ 2.25014026e-03 8.38294379e-05 9.99997465e-01 -4.48823282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.367719421 meters Centerline goodness : 0.980296 Centerline is valid? [True, True] Translation: X:52.71, Y:1.84, Z:-0.45 [[ 9.91489510e-01 -1.30167668e-01 -2.22045848e-03 5.27100506e+01] [ 1.30167157e-01 9.91491993e-01 -3.73794919e-04 1.84415529e+00] [ 2.25022282e-03 8.15829730e-05 9.99997465e-01 -4.45952104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.39771942099999 meters Centerline goodness : 0.981266 Centerline is valid? [True, True] Translation: X:52.74, Y:1.85, Z:-0.44 [[ 9.91056540e-01 -1.33424153e-01 -2.22042228e-03 5.27388859e+01] [ 1.33423650e-01 9.91059024e-01 -3.74009872e-04 1.84501166e+00] [ 2.25047149e-03 7.44080855e-05 9.99997465e-01 -4.44237382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42771942099999 meters Centerline goodness : 0.976836 Centerline is valid? [True, True] Translation: X:52.77, Y:1.84, Z:-0.45 [[ 9.89875716e-01 -1.41919477e-01 -2.22030698e-03 5.27670470e+01] [ 1.41918994e-01 9.89878204e-01 -3.74693058e-04 1.84222552e+00] [ 2.25100973e-03 5.57958267e-05 9.99997465e-01 -4.49435813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.457719421 meters Centerline goodness : 0.978888 Centerline is valid? [True, True] Translation: X:52.80, Y:1.84, Z:-0.45 [[ 9.89106983e-01 -1.47181682e-01 -2.22024984e-03 5.27954752e+01] [ 1.47181210e-01 9.89109474e-01 -3.75031341e-04 1.84412541e+00] [ 2.25126790e-03 4.41670588e-05 9.99997465e-01 -4.47368653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.487719421 meters Centerline goodness : 0.980992 Centerline is valid? [True, True] Translation: X:52.82, Y:1.84, Z:-0.44 [[ 9.87721600e-01 -1.56208549e-01 -2.22021086e-03 5.28248063e+01] [ 1.56208101e-01 9.87724095e-01 -3.75261981e-04 1.84128386e+00] [ 2.25157489e-03 2.38394427e-05 9.99997465e-01 -4.43747610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.517719421 meters Centerline goodness : 0.983758 Centerline is valid? [True, True] Translation: X:52.85, Y:1.84, Z:-0.44 [[ 9.87087130e-01 -1.60168874e-01 -2.22009874e-03 5.28542346e+01] [ 1.60168434e-01 9.87089627e-01 -3.75924161e-04 1.84208039e+00] [ 2.25164778e-03 1.54801641e-05 9.99997465e-01 -4.41062683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.547719421 meters Centerline goodness : 0.981139 Centerline is valid? [True, True] Translation: X:52.88, Y:1.84, Z:-0.44 [[ 9.86114175e-01 -1.66053922e-01 -2.21998263e-03 5.28824683e+01] [ 1.66053495e-01 9.86116674e-01 -3.76608588e-04 1.84035183e+00] [ 2.25169922e-03 2.74319221e-06 9.99997465e-01 -4.42297823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.577719421 meters Centerline goodness : 0.981362 Centerline is valid? [True, True] Translation: X:52.91, Y:1.84, Z:-0.44 [[ 9.85707335e-01 -1.68452136e-01 -2.21994166e-03 5.29097743e+01] [ 1.68451715e-01 9.85709834e-01 -3.76849896e-04 1.84491540e+00] [ 2.25169950e-03 -2.48927307e-06 9.99997465e-01 -4.42637722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.607719421 meters Centerline goodness : 0.982475 Centerline is valid? [True, True] Translation: X:52.94, Y:1.85, Z:-0.44 [[ 9.85230906e-01 -1.71216632e-01 -2.21981377e-03 5.29375680e+01] [ 1.71216216e-01 9.85233406e-01 -3.77601763e-04 1.85130342e+00] [ 2.25168638e-03 -8.04318633e-06 9.99997465e-01 -4.41310811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.637719421 meters Centerline goodness : 0.982038 Centerline is valid? [True, True] Translation: X:52.97, Y:1.86, Z:-0.44 [[ 9.84951724e-01 -1.72815436e-01 -2.21970039e-03 5.29657590e+01] [ 1.72815023e-01 9.84954225e-01 -3.78267074e-04 1.85686532e+00] [ 2.25167366e-03 -1.10227668e-05 9.99997465e-01 -4.41639687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.667719421 meters Centerline goodness : 0.980342 Centerline is valid? [True, True] Translation: X:52.99, Y:1.86, Z:-0.44 [[ 9.84419184e-01 -1.75823617e-01 -2.21958600e-03 5.29937299e+01] [ 1.75823209e-01 9.84421686e-01 -3.78937104e-04 1.85885421e+00] [ 2.25163468e-03 -1.72217788e-05 9.99997465e-01 -4.44087149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.697719421 meters Centerline goodness : 0.980453 Centerline is valid? [True, True] Translation: X:53.02, Y:1.86, Z:-0.44 [[ 9.83952134e-01 -1.78418807e-01 -2.21954578e-03 5.30214793e+01] [ 1.78418406e-01 9.83954638e-01 -3.79172533e-04 1.86175580e+00] [ 2.25158387e-03 -2.29201965e-05 9.99997465e-01 -4.43901547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.727719421 meters Centerline goodness : 0.979446 Centerline is valid? [True, True] Translation: X:53.05, Y:1.87, Z:-0.44 [[ 9.82957214e-01 -1.83821078e-01 -2.21941562e-03 5.30490340e+01] [ 1.83820689e-01 9.82959719e-01 -3.79932873e-04 1.86534926e+00] [ 2.25143582e-03 -3.45167493e-05 9.99997465e-01 -4.44792990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.757719421 meters Centerline goodness : 0.977645 Centerline is valid? [True, True] Translation: X:53.08, Y:1.87, Z:-0.45 [[ 9.82404990e-01 -1.86749861e-01 -2.21928329e-03 5.30769128e+01] [ 1.86749477e-01 9.82407496e-01 -3.80704294e-04 1.87097491e+00] [ 2.25133701e-03 -4.04441950e-05 9.99997465e-01 -4.46442437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78771942099999 meters Centerline goodness : 0.975884 Centerline is valid? [True, True] Translation: X:53.10, Y:1.87, Z:-0.45 [[ 9.81355372e-01 -1.92189251e-01 -2.21916851e-03 5.31041405e+01] [ 1.92188880e-01 9.81357880e-01 -3.81372180e-04 1.87481281e+00] [ 2.25109414e-03 -5.22378721e-05 9.99997465e-01 -4.48694920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.81771942099999 meters Centerline goodness : 0.971664 Centerline is valid? [True, True] Translation: X:53.13, Y:1.88, Z:-0.45 [[ 9.80554052e-01 -1.96236658e-01 -2.21910787e-03 5.31326846e+01] [ 1.96236296e-01 9.80556562e-01 -3.81724699e-04 1.87761747e+00] [ 2.25086916e-03 -6.11678078e-05 9.99997465e-01 -4.51374958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.847719421 meters Centerline goodness : 0.970164 Centerline is valid? [True, True] Translation: X:53.16, Y:1.88, Z:-0.45 [[ 9.80325406e-01 -1.97375720e-01 -2.21899501e-03 5.31613040e+01] [ 1.97375359e-01 9.80327915e-01 -3.82379625e-04 1.88264120e+00] [ 2.25081521e-03 -6.31184760e-05 9.99997465e-01 -4.51311809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.877719421 meters Centerline goodness : 0.968590 Centerline is valid? [True, True] Translation: X:53.19, Y:1.89, Z:-0.45 [[ 9.81088108e-01 -1.93548965e-01 -2.21887973e-03 5.31874502e+01] [ 1.93548593e-01 9.81090615e-01 -3.83047424e-04 1.88892932e+00] [ 2.25106051e-03 -5.36577767e-05 9.99997465e-01 -4.51251340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.907719421 meters Centerline goodness : 0.971922 Centerline is valid? [True, True] Translation: X:53.22, Y:1.90, Z:-0.45 [[ 9.81750992e-01 -1.90158006e-01 -2.21879054e-03 5.32152177e+01] [ 1.90157624e-01 9.81753498e-01 -3.83563321e-04 1.89714342e+00] [ 2.25124301e-03 -4.53562681e-05 9.99997465e-01 -4.49408582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.937719421 meters Centerline goodness : 0.976445 Centerline is valid? [True, True] Translation: X:53.24, Y:1.91, Z:-0.45 [[ 9.83165131e-01 -1.82705783e-01 -2.21867687e-03 5.32427802e+01] [ 1.82705381e-01 9.83167634e-01 -3.84219735e-04 1.90795961e+00] [ 2.25153046e-03 -2.76127567e-05 9.99997465e-01 -4.45181461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.967719421 meters Centerline goodness : 0.978816 Centerline is valid? [True, True] Translation: X:53.27, Y:1.92, Z:-0.44 [[ 9.83985195e-01 -1.78236396e-01 -2.21865276e-03 5.32702357e+01] [ 1.78235982e-01 9.83987697e-01 -3.84358900e-04 1.91610127e+00] [ 2.25163376e-03 -1.72402862e-05 9.99997465e-01 -4.43160709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.997719421 meters Centerline goodness : 0.978662 Centerline is valid? [True, True] Translation: X:53.30, Y:1.93, Z:-0.44 [[ 9.84803651e-01 -1.73657268e-01 -2.21854078e-03 5.32975112e+01] [ 1.73656841e-01 9.84806150e-01 -3.85004166e-04 1.92525608e+00] [ 2.25169138e-03 -6.11127587e-06 9.99997465e-01 -4.41719991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.027719421 meters Centerline goodness : 0.973028 Centerline is valid? [True, True] Translation: X:53.32, Y:1.94, Z:-0.45 [[ 9.86392784e-01 -1.64390856e-01 -2.21840749e-03 5.33234103e+01] [ 1.64390404e-01 9.86395279e-01 -3.85770660e-04 1.93773468e+00] [ 2.25164385e-03 1.58364920e-05 9.99997465e-01 -4.48773869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.057719421 meters Centerline goodness : 0.970304 Centerline is valid? [True, True] Translation: X:53.35, Y:1.95, Z:-0.45 [[ 9.88022209e-01 -1.54295801e-01 -2.21836628e-03 5.33504805e+01] [ 1.54295323e-01 9.88024698e-01 -3.86007499e-04 1.94822028e+00] [ 2.25136001e-03 3.91004395e-05 9.99997465e-01 -4.51495409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.087719421 meters Centerline goodness : 0.970423 Centerline is valid? [True, True] Translation: X:53.38, Y:1.96, Z:-0.45 [[ 9.88717293e-01 -1.49777150e-01 -2.21825656e-03 5.33777095e+01] [ 1.49776660e-01 9.88719780e-01 -3.86637026e-04 1.95524254e+00] [ 2.25114353e-03 5.00316565e-05 9.99997465e-01 -4.51825104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.117719421 meters Centerline goodness : 0.976761 Centerline is valid? [True, True] Translation: X:53.41, Y:1.97, Z:-0.44 [[ 9.89945358e-01 -1.41432912e-01 -2.21821806e-03 5.34054672e+01] [ 1.41432400e-01 9.89947840e-01 -3.86857757e-04 1.96604201e+00] [ 2.25063460e-03 6.92401370e-05 9.99997465e-01 -4.44225951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14771942099999 meters Centerline goodness : 0.976761 Centerline is valid? [True, True] Translation: X:53.43, Y:1.97, Z:-0.44 [[ 9.89894744e-01 -1.41786726e-01 -2.21809639e-03 5.34334672e+01] [ 1.41786214e-01 9.89897227e-01 -3.87554101e-04 1.97121002e+00] [ 2.25063749e-03 6.91422785e-05 9.99997465e-01 -4.44161845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.17771942099999 meters Centerline goodness : 0.971862 Centerline is valid? [True, True] Translation: X:53.46, Y:1.98, Z:-0.45 [[ 9.90234231e-01 -1.39396016e-01 -2.21795759e-03 5.34605845e+01] [ 1.39395496e-01 9.90236712e-01 -3.88346836e-04 1.97917191e+00] [ 2.25043703e-03 7.53810328e-05 9.99997465e-01 -4.48659792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.207719421 meters Centerline goodness : 0.972165 Centerline is valid? [True, True] Translation: X:53.49, Y:1.99, Z:-0.45 [[ 9.90568753e-01 -1.36998636e-01 -2.21791473e-03 5.34870590e+01] [ 1.36998109e-01 9.90571233e-01 -3.88591455e-04 1.98682818e+00] [ 2.25023903e-03 8.10764293e-05 9.99997465e-01 -4.48761939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.237719421 meters Centerline goodness : 0.977181 Centerline is valid? [True, True] Translation: X:53.52, Y:1.99, Z:-0.44 [[ 9.90456784e-01 -1.37805808e-01 -2.21787696e-03 5.35156849e+01] [ 1.37805283e-01 9.90459264e-01 -3.88806910e-04 1.98813529e+00] [ 2.25029663e-03 7.94612798e-05 9.99997465e-01 -4.42506932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.267719421 meters Centerline goodness : 0.976868 Centerline is valid? [True, True] Translation: X:53.54, Y:1.99, Z:-0.44 [[ 9.90129957e-01 -1.40134753e-01 -2.21774060e-03 5.35431693e+01] [ 1.40134232e-01 9.90132438e-01 -3.89583184e-04 1.99061488e+00] [ 2.25045105e-03 7.49566068e-05 9.99997465e-01 -4.42224425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.297719421 meters Centerline goodness : 0.977186 Centerline is valid? [True, True] Translation: X:53.57, Y:1.99, Z:-0.44 [[ 9.89636334e-01 -1.43579274e-01 -2.21767722e-03 5.35714735e+01] [ 1.43578760e-01 9.89638817e-01 -3.89943641e-04 1.99308902e+00] [ 2.25068728e-03 6.74910508e-05 9.99997465e-01 -4.41545290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.327719421 meters Centerline goodness : 0.977874 Centerline is valid? [True, True] Translation: X:53.60, Y:2.00, Z:-0.44 [[ 9.88352616e-01 -1.52165002e-01 -2.21763556e-03 5.36006530e+01] [ 1.52164510e-01 9.88355103e-01 -3.90180373e-04 1.99544433e+00] [ 2.25118322e-03 4.81903650e-05 9.99997465e-01 -4.41943914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.357719421 meters Centerline goodness : 0.976304 Centerline is valid? [True, True] Translation: X:53.63, Y:2.00, Z:-0.44 [[ 9.87619415e-01 -1.56853348e-01 -2.21752778e-03 5.36297846e+01] [ 1.56852866e-01 9.87621904e-01 -3.90791978e-04 1.99898972e+00] [ 2.25137604e-03 3.81281566e-05 9.99997465e-01 -4.43431011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.387719421 meters Centerline goodness : 0.968317 Centerline is valid? [True, True] Translation: X:53.66, Y:2.00, Z:-0.45 [[ 9.86656465e-01 -1.62800810e-01 -2.21741912e-03 5.36579778e+01] [ 1.62800342e-01 9.86658956e-01 -3.91407544e-04 2.00230342e+00] [ 2.25155790e-03 2.51881931e-05 9.99997465e-01 -4.53032212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.417719421 meters Centerline goodness : 0.973319 Centerline is valid? [True, True] Translation: X:53.69, Y:2.01, Z:-0.45 [[ 9.86424210e-01 -1.64202196e-01 -2.21730313e-03 5.36860206e+01] [ 1.64201730e-01 9.86426702e-01 -3.92063552e-04 2.00682901e+00] [ 2.25158471e-03 2.26559712e-05 9.99997465e-01 -4.47674080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.447719421 meters Centerline goodness : 0.972370 Centerline is valid? [True, True] Translation: X:53.71, Y:2.01, Z:-0.45 [[ 9.86628653e-01 -1.62969277e-01 -2.21718738e-03 5.37149456e+01] [ 1.62968806e-01 9.86631144e-01 -3.92717067e-04 2.00934396e+00] [ 2.25154693e-03 2.61335314e-05 9.99997465e-01 -4.48386221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.477719421 meters Centerline goodness : 0.974309 Centerline is valid? [True, True] Translation: X:53.74, Y:2.01, Z:-0.45 [[ 9.87045232e-01 -1.60426914e-01 -2.21707266e-03 5.37429315e+01] [ 1.60426436e-01 9.87047721e-01 -3.93363612e-04 2.01482545e+00] [ 2.25146263e-03 3.25906129e-05 9.99997465e-01 -4.46195285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.507719421 meters Centerline goodness : 0.975813 Centerline is valid? [True, True] Translation: X:53.77, Y:2.02, Z:-0.44 [[ 9.87071068e-01 -1.60267874e-01 -2.21703980e-03 5.37708164e+01] [ 1.60267394e-01 9.87073557e-01 -3.93548740e-04 2.02186804e+00] [ 2.25145458e-03 3.31413838e-05 9.99997465e-01 -4.44469478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.53771942099999 meters Centerline goodness : 0.974215 Centerline is valid? [True, True] Translation: X:53.80, Y:2.03, Z:-0.45 [[ 9.87354968e-01 -1.58509474e-01 -2.21692665e-03 5.37979254e+01] [ 1.58508988e-01 9.87357456e-01 -3.94185115e-04 2.02704616e+00] [ 2.25138113e-03 3.77978312e-05 9.99997465e-01 -4.46033094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56771942099999 meters Centerline goodness : 0.971976 Centerline is valid? [True, True] Translation: X:53.83, Y:2.03, Z:-0.45 [[ 9.87543710e-01 -1.57329290e-01 -2.21686743e-03 5.38259204e+01] [ 1.57328801e-01 9.87546198e-01 -3.94517878e-04 2.03070546e+00] [ 2.25132822e-03 4.08265542e-05 9.99997465e-01 -4.48052586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.597719421 meters Centerline goodness : 0.971337 Centerline is valid? [True, True] Translation: X:53.85, Y:2.03, Z:-0.45 [[ 9.87675547e-01 -1.56499520e-01 -2.21682795e-03 5.38546770e+01] [ 1.56499028e-01 9.87678034e-01 -3.94739586e-04 2.03480570e+00] [ 2.25128883e-03 4.29432173e-05 9.99997465e-01 -4.49202994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.627719421 meters Centerline goodness : 0.966626 Centerline is valid? [True, True] Translation: X:53.88, Y:2.04, Z:-0.46 [[ 9.87977911e-01 -1.54579213e-01 -2.21671630e-03 5.38820406e+01] [ 1.54578715e-01 9.87980397e-01 -3.95365607e-04 2.04112500e+00] [ 2.25118755e-03 4.79553298e-05 9.99997465e-01 -4.55080893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.657719421 meters Centerline goodness : 0.964251 Centerline is valid? [True, True] Translation: X:53.91, Y:2.05, Z:-0.46 [[ 9.88071276e-01 -1.53981300e-01 -2.21667684e-03 5.39095460e+01] [ 1.53980800e-01 9.88073761e-01 -3.95586728e-04 2.04567046e+00] [ 2.25115318e-03 4.95422108e-05 9.99997465e-01 -4.56863742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.687719421 meters Centerline goodness : 0.963978 Centerline is valid? [True, True] Translation: X:53.94, Y:2.05, Z:-0.46 [[ 9.88049858e-01 -1.54118672e-01 -2.21663816e-03 5.39385361e+01] [ 1.54118172e-01 9.88052343e-01 -3.95803348e-04 2.04882763e+00] [ 2.25115521e-03 4.94492211e-05 9.99997465e-01 -4.56542523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.717719421 meters Centerline goodness : 0.966845 Centerline is valid? [True, True] Translation: X:53.97, Y:2.05, Z:-0.45 [[ 9.87797997e-01 -1.55724772e-01 -2.21653015e-03 5.39673679e+01] [ 1.55724275e-01 9.87800482e-01 -3.96407287e-04 2.04853473e+00] [ 2.25121998e-03 4.64027746e-05 9.99997465e-01 -4.53260600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.747719421 meters Centerline goodness : 0.970047 Centerline is valid? [True, True] Translation: X:54.00, Y:2.05, Z:-0.45 [[ 9.87656805e-01 -1.56617761e-01 -2.21649076e-03 5.39960817e+01] [ 1.56617265e-01 9.87659291e-01 -3.96627408e-04 2.05169257e+00] [ 2.25125659e-03 4.45910374e-05 9.99997465e-01 -4.49378654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.777719421 meters Centerline goodness : 0.971713 Centerline is valid? [True, True] Translation: X:54.02, Y:2.06, Z:-0.45 [[ 9.87571559e-01 -1.57154392e-01 -2.21637382e-03 5.40239610e+01] [ 1.57153896e-01 9.87574045e-01 -3.97279807e-04 2.05538035e+00] [ 2.25126752e-03 4.40304576e-05 9.99997465e-01 -4.48292419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.807719421 meters Centerline goodness : 0.973207 Centerline is valid? [True, True] Translation: X:54.05, Y:2.06, Z:-0.45 [[ 9.87630366e-01 -1.56784402e-01 -2.21634068e-03 5.40509999e+01] [ 1.56783905e-01 9.87632851e-01 -3.97464570e-04 2.05934845e+00] [ 2.25124711e-03 4.50615318e-05 9.99997465e-01 -4.46977342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.837719421 meters Centerline goodness : 0.972926 Centerline is valid? [True, True] Translation: X:54.08, Y:2.06, Z:-0.45 [[ 9.88036645e-01 -1.54203362e-01 -2.21627158e-03 5.40795750e+01] [ 1.54202858e-01 9.88039129e-01 -3.97849515e-04 2.06163055e+00] [ 2.25111277e-03 5.13344890e-05 9.99997465e-01 -4.46923364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.867719421 meters Centerline goodness : 0.972233 Centerline is valid? [True, True] Translation: X:54.11, Y:2.06, Z:-0.45 [[ 9.88287261e-01 -1.52588922e-01 -2.21615686e-03 5.41084088e+01] [ 1.52588412e-01 9.88289744e-01 -3.98487502e-04 2.06497883e+00] [ 2.25100988e-03 5.56602668e-05 9.99997465e-01 -4.48113042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.89771942099999 meters Centerline goodness : 0.976653 Centerline is valid? [True, True] Translation: X:54.14, Y:2.07, Z:-0.44 [[ 9.88632899e-01 -1.50333230e-01 -2.21604295e-03 5.41375385e+01] [ 1.50332713e-01 9.88635381e-01 -3.99119996e-04 2.06698404e+00] [ 2.25085946e-03 6.14394102e-05 9.99997465e-01 -4.43902421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92771942099999 meters Centerline goodness : 0.980694 Centerline is valid? [True, True] Translation: X:54.17, Y:2.07, Z:-0.44 [[ 9.88936925e-01 -1.48320085e-01 -2.21592492e-03 5.41660838e+01] [ 1.48319561e-01 9.88939406e-01 -3.99774190e-04 2.07322440e+00] [ 2.25071002e-03 6.66864452e-05 9.99997465e-01 -4.38982445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.957719421 meters Centerline goodness : 0.980901 Centerline is valid? [True, True] Translation: X:54.19, Y:2.08, Z:-0.44 [[ 9.89083750e-01 -1.47337796e-01 -2.21580714e-03 5.41945698e+01] [ 1.47337268e-01 9.89086229e-01 -4.00425965e-04 2.07906047e+00] [ 2.25062221e-03 6.95838444e-05 9.99997465e-01 -4.37640832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.987719421 meters Centerline goodness : 0.980743 Centerline is valid? [True, True] Translation: X:54.22, Y:2.08, Z:-0.44 [[ 9.89188571e-01 -1.46632402e-01 -2.21568860e-03 5.42223736e+01] [ 1.46631871e-01 9.89191050e-01 -4.01080796e-04 2.08364276e+00] [ 2.25055078e-03 7.18539735e-05 9.99997465e-01 -4.37394795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.017719421 meters Centerline goodness : 0.979705 Centerline is valid? [True, True] Translation: X:54.25, Y:2.08, Z:-0.44 [[ 9.89661049e-01 -1.43408855e-01 -2.21555330e-03 5.42517439e+01] [ 1.43408315e-01 9.89663526e-01 -4.01826836e-04 2.08415492e+00] [ 2.25027781e-03 7.99436028e-05 9.99997465e-01 -4.38919553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.047719421 meters Centerline goodness : 0.975481 Centerline is valid? [True, True] Translation: X:54.28, Y:2.08, Z:-0.45 [[ 9.90379581e-01 -1.38359594e-01 -2.21543092e-03 5.42802818e+01] [ 1.38359040e-01 9.90382055e-01 -4.02500417e-04 2.08491603e+00] [ 2.24981282e-03 9.21033000e-05 9.99997465e-01 -4.46127653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.077719421 meters Centerline goodness : 0.974118 Centerline is valid? [True, True] Translation: X:54.31, Y:2.09, Z:-0.45 [[ 9.90701630e-01 -1.36034451e-01 -2.21538788e-03 5.43089186e+01] [ 1.36033890e-01 9.90704102e-01 -4.02737177e-04 2.08948760e+00] [ 2.24957999e-03 9.76245473e-05 9.99997465e-01 -4.47461989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.107719421 meters Centerline goodness : 0.973937 Centerline is valid? [True, True] Translation: X:54.34, Y:2.09, Z:-0.45 [[ 9.90947107e-01 -1.34234583e-01 -2.21527269e-03 5.43363312e+01] [ 1.34234016e-01 9.90949578e-01 -4.03369776e-04 2.09372934e+00] [ 2.24936971e-03 1.02353163e-04 9.99997465e-01 -4.47659186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.137719421 meters Centerline goodness : 0.971543 Centerline is valid? [True, True] Translation: X:54.37, Y:2.09, Z:-0.45 [[ 9.91212605e-01 -1.32259835e-01 -2.21513877e-03 5.43661022e+01] [ 1.32259262e-01 9.91215075e-01 -4.04103873e-04 2.09409517e+00] [ 2.24912566e-03 1.07580234e-04 9.99997465e-01 -4.50286528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.167719421 meters Centerline goodness : 0.970469 Centerline is valid? [True, True] Translation: X:54.40, Y:2.09, Z:-0.45 [[ 9.91480876e-01 -1.30233508e-01 -2.21507732e-03 5.43963408e+01] [ 1.30232928e-01 9.91483344e-01 -4.04440426e-04 2.08711934e+00] [ 2.24888397e-03 1.12518941e-04 9.99997465e-01 -4.52489495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.197719421 meters Centerline goodness : 0.970548 Centerline is valid? [True, True] Translation: X:54.43, Y:2.09, Z:-0.45 [[ 9.91529230e-01 -1.29864855e-01 -2.21496040e-03 5.44256748e+01] [ 1.29864273e-01 9.91531697e-01 -4.05079745e-04 2.08733619e+00] [ 2.24880907e-03 1.14004184e-04 9.99997465e-01 -4.51649464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.227719421 meters Centerline goodness : 0.965800 Centerline is valid? [True, True] Translation: X:54.45, Y:2.09, Z:-0.46 [[ 9.91469514e-01 -1.30319978e-01 -2.21484088e-03 5.44540451e+01] [ 1.30319396e-01 9.91471982e-01 -4.05732220e-04 2.08771354e+00] [ 2.24882769e-03 1.13634402e-04 9.99997465e-01 -4.56706149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.257719421 meters Centerline goodness : 0.964545 Centerline is valid? [True, True] Translation: X:54.48, Y:2.09, Z:-0.46 [[ 9.91419030e-01 -1.30703485e-01 -2.21479870e-03 5.44827563e+01] [ 1.30702904e-01 9.91421498e-01 -4.05962298e-04 2.09101418e+00] [ 2.24885974e-03 1.12998126e-04 9.99997465e-01 -4.57242465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28771942099999 meters Centerline goodness : 0.964098 Centerline is valid? [True, True] Translation: X:54.51, Y:2.09, Z:-0.46 [[ 9.91185644e-01 -1.32461747e-01 -2.21468441e-03 5.45114442e+01] [ 1.32461169e-01 9.91188112e-01 -4.06584867e-04 2.08775412e+00] [ 2.24902580e-03 1.09641398e-04 9.99997465e-01 -4.55119275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.31771942099999 meters Centerline goodness : 0.969799 Centerline is valid? [True, True] Translation: X:54.54, Y:2.09, Z:-0.45 [[ 9.90536479e-01 -1.37231842e-01 -2.21464437e-03 5.45418972e+01] [ 1.37231275e-01 9.90538950e-01 -4.06802819e-04 2.08515497e+00] [ 2.24951781e-03 9.90345618e-05 9.99997465e-01 -4.49449435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.347719421 meters Centerline goodness : 0.972975 Centerline is valid? [True, True] Translation: X:54.57, Y:2.09, Z:-0.45 [[ 9.90010246e-01 -1.40978040e-01 -2.21462766e-03 5.45708963e+01] [ 1.40977482e-01 9.90012719e-01 -4.06893809e-04 2.08899148e+00] [ 2.24987264e-03 9.06164086e-05 9.99997465e-01 -4.46563747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.377719421 meters Centerline goodness : 0.970268 Centerline is valid? [True, True] Translation: X:54.60, Y:2.09, Z:-0.45 [[ 9.89317730e-01 -1.45758450e-01 -2.21450900e-03 5.45994734e+01] [ 1.45757902e-01 9.89320205e-01 -4.07538580e-04 2.08886483e+00] [ 2.25026069e-03 8.04029576e-05 9.99997465e-01 -4.50283672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.407719421 meters Centerline goodness : 0.973250 Centerline is valid? [True, True] Translation: X:54.63, Y:2.09, Z:-0.45 [[ 9.88882517e-01 -1.48682429e-01 -2.21446720e-03 5.46282002e+01] [ 1.48681888e-01 9.88884993e-01 -4.07765603e-04 2.09163526e+00] [ 2.25048096e-03 7.39811118e-05 9.99997465e-01 -4.46778378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.437719421 meters Centerline goodness : 0.970199 Centerline is valid? [True, True] Translation: X:54.66, Y:2.09, Z:-0.45 [[ 9.88354785e-01 -1.52150965e-01 -2.21434996e-03 5.46560706e+01] [ 1.52150432e-01 9.88357263e-01 -4.08401238e-04 2.09312646e+00] [ 2.25070751e-03 6.67310154e-05 9.99997465e-01 -4.49720457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.467719421 meters Centerline goodness : 0.968507 Centerline is valid? [True, True] Translation: X:54.68, Y:2.10, Z:-0.45 [[ 9.88268827e-01 -1.52708290e-01 -2.21430831e-03 5.46839167e+01] [ 1.52707758e-01 9.88271306e-01 -4.08626965e-04 2.09767478e+00] [ 2.25073809e-03 6.56912350e-05 9.99997465e-01 -4.51166269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.497719421 meters Centerline goodness : 0.967883 Centerline is valid? [True, True] Translation: X:54.71, Y:2.10, Z:-0.45 [[ 9.88063269e-01 -1.54032700e-01 -2.21426985e-03 5.47123272e+01] [ 1.54032170e-01 9.88065748e-01 -4.08835267e-04 2.10182727e+00] [ 2.25081819e-03 6.28863206e-05 9.99997465e-01 -4.51196320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.527719421 meters Centerline goodness : 0.967297 Centerline is valid? [True, True] Translation: X:54.74, Y:2.11, Z:-0.45 [[ 9.87816279e-01 -1.55608791e-01 -2.21416170e-03 5.47406570e+01] [ 1.55608264e-01 9.87818759e-01 -4.09420154e-04 2.10556294e+00] [ 2.25089983e-03 5.98900357e-05 9.99997465e-01 -4.51394869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.557719421 meters Centerline goodness : 0.964877 Centerline is valid? [True, True] Translation: X:54.77, Y:2.11, Z:-0.45 [[ 9.87334759e-01 -1.58635343e-01 -2.21404786e-03 5.47701147e+01] [ 1.58634822e-01 9.87337240e-01 -4.10034844e-04 2.10544784e+00] [ 2.25105792e-03 5.36165669e-05 9.99997465e-01 -4.53396304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.587719421 meters Centerline goodness : 0.964270 Centerline is valid? [True, True] Translation: X:54.80, Y:2.11, Z:-0.46 [[ 9.86938330e-01 -1.61083303e-01 -2.21401495e-03 5.47968142e+01] [ 1.61082788e-01 9.86940812e-01 -4.10212429e-04 2.10841883e+00] [ 2.25118009e-03 4.82146690e-05 9.99997465e-01 -4.55456385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.617719421 meters Centerline goodness : 0.967285 Centerline is valid? [True, True] Translation: X:54.83, Y:2.11, Z:-0.45 [[ 9.85748627e-01 -1.68210414e-01 -2.21395782e-03 5.48255737e+01] [ 1.68209916e-01 9.85751112e-01 -4.10520547e-04 2.11103503e+00] [ 2.25146522e-03 3.22604062e-05 9.99997465e-01 -4.51984074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64771942099999 meters Centerline goodness : 0.964833 Centerline is valid? [True, True] Translation: X:54.85, Y:2.11, Z:-0.45 [[ 9.85074233e-01 -1.72115818e-01 -2.21384120e-03 5.48527899e+01] [ 1.72115329e-01 9.85076720e-01 -4.11148500e-04 2.11403144e+00] [ 2.25156859e-03 2.39757872e-05 9.99997465e-01 -4.53170924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.67771942099999 meters Centerline goodness : 0.966787 Centerline is valid? [True, True] Translation: X:54.88, Y:2.12, Z:-0.45 [[ 9.83801569e-01 -1.79247238e-01 -2.21376841e-03 5.48810442e+01] [ 1.79246766e-01 9.83804060e-01 -4.11540042e-04 2.11614504e+00] [ 2.25168177e-03 8.06291119e-06 9.99997465e-01 -4.49816030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.707719421 meters Centerline goodness : 0.966753 Centerline is valid? [True, True] Translation: X:54.91, Y:2.12, Z:-0.45 [[ 9.83220712e-01 -1.82406503e-01 -2.21363416e-03 5.49097526e+01] [ 1.82406037e-01 9.83223203e-01 -4.12260884e-04 2.12091663e+00] [ 2.25169554e-03 1.56320474e-06 9.99997465e-01 -4.50154210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.737719421 meters Centerline goodness : 0.966323 Centerline is valid? [True, True] Translation: X:54.94, Y:2.13, Z:-0.45 [[ 9.82246128e-01 -1.87583699e-01 -2.21351675e-03 5.49375139e+01] [ 1.87583244e-01 9.82248622e-01 -4.12890364e-04 2.12627018e+00] [ 2.25167528e-03 -9.65869141e-06 9.99997465e-01 -4.49928278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.767719421 meters Centerline goodness : 0.968780 Centerline is valid? [True, True] Translation: X:54.97, Y:2.14, Z:-0.45 [[ 9.81555335e-01 -1.91165441e-01 -2.21338302e-03 5.49650519e+01] [ 1.91164994e-01 9.81557830e-01 -4.13605994e-04 2.13514331e+00] [ 2.25163061e-03 -1.71441824e-05 9.99997465e-01 -4.46686957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.797719421 meters Centerline goodness : 0.969369 Centerline is valid? [True, True] Translation: X:54.99, Y:2.14, Z:-0.45 [[ 9.81159820e-01 -1.93185168e-01 -2.21326196e-03 5.49918146e+01] [ 1.93184725e-01 9.81162316e-01 -4.14252805e-04 2.14272713e+00] [ 2.25159673e-03 -2.11201960e-05 9.99997465e-01 -4.47878142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.827719421 meters Centerline goodness : 0.972626 Centerline is valid? [True, True] Translation: X:55.02, Y:2.15, Z:-0.44 [[ 9.80227473e-01 -1.97861576e-01 -2.21321927e-03 5.50193939e+01] [ 1.97861145e-01 9.80229971e-01 -4.14480770e-04 2.15291389e+00] [ 2.25147367e-03 -3.16246599e-05 9.99997465e-01 -4.42576442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.857719421 meters Centerline goodness : 0.972674 Centerline is valid? [True, True] Translation: X:55.05, Y:2.16, Z:-0.44 [[ 9.79653038e-01 -2.00686390e-01 -2.21309634e-03 5.50475720e+01] [ 2.00685964e-01 9.79655537e-01 -4.15136066e-04 2.16148415e+00] [ 2.25138425e-03 -3.74480653e-05 9.99997465e-01 -4.42671998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.887719421 meters Centerline goodness : 0.972542 Centerline is valid? [True, True] Translation: X:55.07, Y:2.17, Z:-0.44 [[ 9.78414459e-01 -2.06640388e-01 -2.21297333e-03 5.50733105e+01] [ 2.06639975e-01 9.78416960e-01 -4.15790793e-04 2.17334315e+00] [ 2.25112981e-03 -5.04730304e-05 9.99997465e-01 -4.44540677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.917719421 meters Centerline goodness : 0.970020 Centerline is valid? [True, True] Translation: X:55.10, Y:2.18, Z:-0.45 [[ 9.77990028e-01 -2.08639899e-01 -2.21290828e-03 5.50998230e+01] [ 2.08639491e-01 9.77992530e-01 -4.16136728e-04 2.18191071e+00] [ 2.25103049e-03 -5.47224858e-05 9.99997465e-01 -4.45540517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.947719421 meters Centerline goodness : 0.970217 Centerline is valid? [True, True] Translation: X:55.13, Y:2.19, Z:-0.45 [[ 9.77843630e-01 -2.09324961e-01 -2.21276973e-03 5.51263564e+01] [ 2.09324553e-01 9.77846132e-01 -4.16872155e-04 2.19397023e+00] [ 2.25101006e-03 -5.55512536e-05 9.99997465e-01 -4.47699566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.977719421 meters Centerline goodness : 0.971087 Centerline is valid? [True, True] Translation: X:55.15, Y:2.20, Z:-0.45 [[ 9.78002092e-01 -2.08583344e-01 -2.21272676e-03 5.51533230e+01] [ 2.08582934e-01 9.78004594e-01 -4.17100069e-04 2.20299142e+00] [ 2.25105707e-03 -5.36122993e-05 9.99997465e-01 -4.45048535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.007719421 meters Centerline goodness : 0.971485 Centerline is valid? [True, True] Translation: X:55.18, Y:2.22, Z:-0.45 [[ 9.78511367e-01 -2.06181009e-01 -2.21258700e-03 5.51796817e+01] [ 2.06180591e-01 9.78513868e-01 -4.17840133e-04 2.21655429e+00] [ 2.25119777e-03 -4.73311758e-05 9.99997465e-01 -4.46808668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.03771942099999 meters Centerline goodness : 0.965397 Centerline is valid? [True, True] Translation: X:55.21, Y:2.23, Z:-0.45 [[ 9.78801456e-01 -2.04799450e-01 -2.21246461e-03 5.52058525e+01] [ 2.04799027e-01 9.78803956e-01 -4.18487223e-04 2.22604350e+00] [ 2.25127506e-03 -4.34946947e-05 9.99997465e-01 -4.53267096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06771942099999 meters Centerline goodness : 0.965397 Centerline is valid? [True, True] Translation: X:55.23, Y:2.23, Z:-0.45 [[ 9.78738272e-01 -2.05101197e-01 -2.21242148e-03 5.52337984e+01] [ 2.05100774e-01 9.78740771e-01 -4.18715107e-04 2.23163448e+00] [ 2.25126607e-03 -4.39568583e-05 9.99997465e-01 -4.53202946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.097719421 meters Centerline goodness : 0.968718 Centerline is valid? [True, True] Translation: X:55.26, Y:2.25, Z:-0.45 [[ 9.79324237e-01 -2.02284809e-01 -2.21229218e-03 5.52612260e+01] [ 2.02284377e-01 9.79326735e-01 -4.19397140e-04 2.24500988e+00] [ 2.25139455e-03 -3.67863624e-05 9.99997465e-01 -4.48146165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.127719421 meters Centerline goodness : 0.967317 Centerline is valid? [True, True] Translation: X:55.29, Y:2.25, Z:-0.45 [[ 9.79730240e-01 -2.00309170e-01 -2.21217014e-03 5.52873163e+01] [ 2.00308732e-01 9.79732737e-01 -4.20039885e-04 2.25485901e+00] [ 2.25147335e-03 -3.15912187e-05 9.99997465e-01 -4.49736692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.157719421 meters Centerline goodness : 0.967103 Centerline is valid? [True, True] Translation: X:55.31, Y:2.27, Z:-0.45 [[ 9.81176002e-01 -1.93102976e-01 -2.21210534e-03 5.53119479e+01] [ 1.93102519e-01 9.81178496e-01 -4.20380897e-04 2.27349667e+00] [ 2.25164699e-03 -1.46954659e-05 9.99997465e-01 -4.49375211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.187719421 meters Centerline goodness : 0.966576 Centerline is valid? [True, True] Translation: X:55.34, Y:2.28, Z:-0.45 [[ 9.81989473e-01 -1.88922688e-01 -2.21206087e-03 5.53373187e+01] [ 1.88922220e-01 9.81991964e-01 -4.20614745e-04 2.28408246e+00] [ 2.25168967e-03 -4.86819771e-06 9.99997465e-01 -4.51560959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.217719421 meters Centerline goodness : 0.973254 Centerline is valid? [True, True] Translation: X:55.36, Y:2.30, Z:-0.44 [[ 9.83513894e-01 -1.80819046e-01 -2.21196479e-03 5.53641077e+01] [ 1.80818556e-01 9.83516381e-01 -4.21119423e-04 2.29661368e+00] [ 2.25165002e-03 1.42125244e-05 9.99997465e-01 -4.44032589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.247719421 meters Centerline goodness : 0.976919 Centerline is valid? [True, True] Translation: X:55.39, Y:2.31, Z:-0.44 [[ 9.84286097e-01 -1.76567232e-01 -2.21183743e-03 5.53895415e+01] [ 1.76566729e-01 9.84288582e-01 -4.21787296e-04 2.31144681e+00] [ 2.25156014e-03 2.46224705e-05 9.99997465e-01 -4.40076877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.277719421 meters Centerline goodness : 0.971781 Centerline is valid? [True, True] Translation: X:55.42, Y:2.32, Z:-0.44 [[ 9.84595471e-01 -1.74833826e-01 -2.21179259e-03 5.54159790e+01] [ 1.74833319e-01 9.84597955e-01 -4.22022283e-04 2.32231118e+00] [ 2.25151023e-03 2.88261886e-05 9.99997465e-01 -4.43913456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.307719421 meters Centerline goodness : 0.973828 Centerline is valid? [True, True] Translation: X:55.44, Y:2.34, Z:-0.44 [[ 9.85471507e-01 -1.69826432e-01 -2.21174826e-03 5.54427398e+01] [ 1.69825912e-01 9.85473988e-01 -4.22254482e-04 2.33578766e+00] [ 2.25133035e-03 4.05075948e-05 9.99997465e-01 -4.44613061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.337719421 meters Centerline goodness : 0.973114 Centerline is valid? [True, True] Translation: X:55.47, Y:2.34, Z:-0.45 [[ 9.85779832e-01 -1.68027470e-01 -2.21162461e-03 5.54710287e+01] [ 1.68026944e-01 9.85782312e-01 -4.22901156e-04 2.34359371e+00] [ 2.25123943e-03 4.52749064e-05 9.99997465e-01 -4.45277370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.367719421 meters Centerline goodness : 0.972755 Centerline is valid? [True, True] Translation: X:55.50, Y:2.35, Z:-0.45 [[ 9.86380950e-01 -1.64461944e-01 -2.21150010e-03 5.54976950e+01] [ 1.64461408e-01 9.86383427e-01 -4.23551249e-04 2.35187245e+00] [ 2.25104511e-03 5.40764641e-05 9.99997465e-01 -4.46094383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.39771942099999 meters Centerline goodness : 0.971654 Centerline is valid? [True, True] Translation: X:55.52, Y:2.36, Z:-0.45 [[ 9.86551463e-01 -1.63435986e-01 -2.21135754e-03 5.55239023e+01] [ 1.63435445e-01 9.86553939e-01 -4.24294244e-04 2.35868253e+00] [ 2.25096844e-03 5.71739037e-05 9.99997465e-01 -4.47335152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42771942099999 meters Centerline goodness : 0.970374 Centerline is valid? [True, True] Translation: X:55.55, Y:2.36, Z:-0.45 [[ 9.86766786e-01 -1.62130873e-01 -2.21126062e-03 5.55512088e+01] [ 1.62130328e-01 9.86769262e-01 -4.24798761e-04 2.36480665e+00] [ 2.25087700e-03 6.06648985e-05 9.99997465e-01 -4.48762667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.457719421 meters Centerline goodness : 0.972971 Centerline is valid? [True, True] Translation: X:55.58, Y:2.37, Z:-0.45 [[ 9.86708389e-01 -1.62485896e-01 -2.21119608e-03 5.55796049e+01] [ 1.62485351e-01 9.86710864e-01 -4.25134448e-04 2.36712668e+00] [ 2.25088954e-03 6.01967557e-05 9.99997465e-01 -4.46667403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.487719421 meters Centerline goodness : 0.972226 Centerline is valid? [True, True] Translation: X:55.61, Y:2.37, Z:-0.45 [[ 9.86525131e-01 -1.63594858e-01 -2.21113095e-03 5.56076268e+01] [ 1.63594315e-01 9.86527607e-01 -4.25472920e-04 2.37001002e+00] [ 2.25094690e-03 5.80112743e-05 9.99997465e-01 -4.48699919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.517719421 meters Centerline goodness : 0.972974 Centerline is valid? [True, True] Translation: X:55.64, Y:2.37, Z:-0.45 [[ 9.85874881e-01 -1.67468891e-01 -2.21108776e-03 5.56357818e+01] [ 1.67468357e-01 9.85877360e-01 -4.25697244e-04 2.36821019e+00] [ 2.25115241e-03 4.93969855e-05 9.99997465e-01 -4.47624694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.547719421 meters Centerline goodness : 0.975730 Centerline is valid? [True, True] Translation: X:55.66, Y:2.37, Z:-0.44 [[ 9.85537969e-01 -1.69440324e-01 -2.21103763e-03 5.56641226e+01] [ 1.69439795e-01 9.85540448e-01 -4.25957444e-04 2.37106866e+00] [ 2.25124138e-03 4.51594711e-05 9.99997465e-01 -4.44510971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.577719421 meters Centerline goodness : 0.973922 Centerline is valid? [True, True] Translation: X:55.69, Y:2.37, Z:-0.45 [[ 9.85165074e-01 -1.71595131e-01 -2.21089291e-03 5.56913238e+01] [ 1.71594605e-01 9.85167554e-01 -4.26707280e-04 2.37463683e+00] [ 2.25132085e-03 4.09998129e-05 9.99997465e-01 -4.46600882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.607719421 meters Centerline goodness : 0.973892 Centerline is valid? [True, True] Translation: X:55.72, Y:2.38, Z:-0.45 [[ 9.84923898e-01 -1.72974067e-01 -2.21084838e-03 5.57197426e+01] [ 1.72973544e-01 9.84926378e-01 -4.26937905e-04 2.37898362e+00] [ 2.25137207e-03 3.80830663e-05 9.99997465e-01 -4.46530778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.637719421 meters Centerline goodness : 0.969619 Centerline is valid? [True, True] Translation: X:55.75, Y:2.38, Z:-0.45 [[ 9.84452676e-01 -1.75636102e-01 -2.21072460e-03 5.57490673e+01] [ 1.75635585e-01 9.84455158e-01 -4.27577851e-04 2.37572360e+00] [ 2.25145735e-03 3.26482507e-05 9.99997465e-01 -4.50054877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.667719421 meters Centerline goodness : 0.969514 Centerline is valid? [True, True] Translation: X:55.78, Y:2.38, Z:-0.45 [[ 9.83857918e-01 -1.78937726e-01 -2.21068054e-03 5.57778702e+01] [ 1.78937216e-01 9.83860402e-01 -4.27805555e-04 2.37748358e+00] [ 2.25155159e-03 2.53268614e-05 9.99997465e-01 -4.50050004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.697719421 meters Centerline goodness : 0.965278 Centerline is valid? [True, True] Translation: X:55.81, Y:2.38, Z:-0.45 [[ 9.82364924e-01 -1.86960610e-01 -2.21056261e-03 5.58055335e+01] [ 1.86960119e-01 9.82367411e-01 -4.28414051e-04 2.37983838e+00] [ 2.25168122e-03 7.57188789e-06 9.99997465e-01 -4.54146284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.727719421 meters Centerline goodness : 0.969495 Centerline is valid? [True, True] Translation: X:55.83, Y:2.38, Z:-0.45 [[ 9.81043004e-01 -1.93777545e-01 -2.21052087e-03 5.58339854e+01] [ 1.93777072e-01 9.81045495e-01 -4.28629332e-04 2.38328018e+00] [ 2.25168028e-03 -7.84445230e-06 9.99997465e-01 -4.49827885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.757719421 meters Centerline goodness : 0.964349 Centerline is valid? [True, True] Translation: X:55.86, Y:2.39, Z:-0.45 [[ 9.80646125e-01 -1.95776128e-01 -2.21039498e-03 5.58620787e+01] [ 1.95775658e-01 9.80648616e-01 -4.29277544e-04 2.38679756e+00] [ 2.25166307e-03 -1.17721716e-05 9.99997465e-01 -4.54611759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78771942099999 meters Centerline goodness : 0.971198 Centerline is valid? [True, True] Translation: X:55.89, Y:2.39, Z:-0.45 [[ 9.79911353e-01 -1.99421301e-01 -2.21035036e-03 5.58905456e+01] [ 1.99420840e-01 9.79913845e-01 -4.29507132e-04 2.38874033e+00] [ 2.25160580e-03 -1.99110112e-05 9.99997465e-01 -4.46769211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.81771942099999 meters Centerline goodness : 0.972696 Centerline is valid? [True, True] Translation: X:55.92, Y:2.39, Z:-0.44 [[ 9.79932309e-01 -1.99318298e-01 -2.21030769e-03 5.59189593e+01] [ 1.99317835e-01 9.79934802e-01 -4.29726614e-04 2.39268863e+00] [ 2.25160981e-03 -1.94507520e-05 9.99997465e-01 -4.44089308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.847719421 meters Centerline goodness : 0.974278 Centerline is valid? [True, True] Translation: X:55.95, Y:2.40, Z:-0.44 [[ 9.80085114e-01 -1.98565569e-01 -2.21018858e-03 5.59477426e+01] [ 1.98565104e-01 9.80087605e-01 -4.30338379e-04 2.39747248e+00] [ 2.25162882e-03 -1.70980852e-05 9.99997465e-01 -4.41110425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.877719421 meters Centerline goodness : 0.976057 Centerline is valid? [True, True] Translation: X:55.98, Y:2.41, Z:-0.44 [[ 9.80868244e-01 -1.94660225e-01 -2.21006596e-03 5.59755584e+01] [ 1.94659748e-01 9.80870734e-01 -4.30967207e-04 2.40539156e+00] [ 2.25168119e-03 -7.48883451e-06 9.99997465e-01 -4.40530094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.907719421 meters Centerline goodness : 0.973362 Centerline is valid? [True, True] Translation: X:56.00, Y:2.41, Z:-0.44 [[ 9.81994565e-01 -1.88896242e-01 -2.20993770e-03 5.60025818e+01] [ 1.88895749e-01 9.81997052e-01 -4.31623866e-04 2.41168806e+00] [ 2.25168444e-03 6.40445216e-06 9.99997465e-01 -4.43855528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.937719421 meters Centerline goodness : 0.973644 Centerline is valid? [True, True] Translation: X:56.03, Y:2.42, Z:-0.44 [[ 9.82591947e-01 -1.85763782e-01 -2.20989280e-03 5.60307047e+01] [ 1.85763281e-01 9.82594432e-01 -4.31853658e-04 2.41603461e+00] [ 2.25165113e-03 1.38189902e-05 9.99997465e-01 -4.43593656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.967719421 meters Centerline goodness : 0.973770 Centerline is valid? [True, True] Translation: X:56.06, Y:2.42, Z:-0.44 [[ 9.83502513e-01 -1.80880966e-01 -2.20975664e-03 5.60587828e+01] [ 1.80880450e-01 9.83504995e-01 -4.32549245e-04 2.42060561e+00] [ 2.25154662e-03 2.57114939e-05 9.99997465e-01 -4.43199969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.997719421 meters Centerline goodness : 0.972528 Centerline is valid? [True, True] Translation: X:56.09, Y:2.43, Z:-0.45 [[ 9.83801874e-01 -1.79245616e-01 -2.20963352e-03 5.60867583e+01] [ 1.79245095e-01 9.83804355e-01 -4.33177298e-04 2.42776930e+00] [ 2.25149221e-03 3.00946691e-05 9.99997465e-01 -4.45532084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.027719421 meters Centerline goodness : 0.970951 Centerline is valid? [True, True] Translation: X:56.11, Y:2.43, Z:-0.45 [[ 9.84598171e-01 -1.74818646e-01 -2.20951138e-03 5.61144165e+01] [ 1.74818113e-01 9.84600650e-01 -4.33799368e-04 2.43481195e+00] [ 2.25132256e-03 4.08554540e-05 9.99997465e-01 -4.47669690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.057719421 meters Centerline goodness : 0.969985 Centerline is valid? [True, True] Translation: X:56.14, Y:2.44, Z:-0.45 [[ 9.85042637e-01 -1.72296613e-01 -2.20938377e-03 5.61415423e+01] [ 1.72296072e-01 9.85045113e-01 -4.34448321e-04 2.43991219e+00] [ 2.25119666e-03 4.72819743e-05 9.99997465e-01 -4.47840771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.087719421 meters Centerline goodness : 0.971623 Centerline is valid? [True, True] Translation: X:56.17, Y:2.44, Z:-0.45 [[ 9.85736297e-01 -1.68282716e-01 -2.20923864e-03 5.61685601e+01] [ 1.68282163e-01 9.85738771e-01 -4.35185127e-04 2.44443574e+00] [ 2.25096631e-03 5.72023199e-05 9.99997465e-01 -4.47085289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.117719421 meters Centerline goodness : 0.973236 Centerline is valid? [True, True] Translation: X:56.20, Y:2.45, Z:-0.44 [[ 9.86170178e-01 -1.65721150e-01 -2.20918506e-03 5.61975589e+01] [ 1.65720590e-01 9.86172650e-01 -4.35456919e-04 2.44703217e+00] [ 2.25080231e-03 6.33271761e-05 9.99997465e-01 -4.43748865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14771942099999 meters Centerline goodness : 0.975214 Centerline is valid? [True, True] Translation: X:56.23, Y:2.45, Z:-0.44 [[ 9.86425615e-01 -1.64193867e-01 -2.20906086e-03 5.62259791e+01] [ 1.64193302e-01 9.86428086e-01 -4.36086108e-04 2.45165219e+00] [ 2.25068234e-03 6.74535112e-05 9.99997465e-01 -4.42989869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.17771942099999 meters Centerline goodness : 0.973690 Centerline is valid? [True, True] Translation: X:56.25, Y:2.46, Z:-0.45 [[ 9.86840852e-01 -1.61679478e-01 -2.20893746e-03 5.62531693e+01] [ 1.61678906e-01 9.86843321e-01 -4.36710251e-04 2.45751003e+00] [ 2.25048227e-03 7.38249254e-05 9.99997465e-01 -4.46020580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.207719421 meters Centerline goodness : 0.970259 Centerline is valid? [True, True] Translation: X:56.28, Y:2.46, Z:-0.45 [[ 9.86951381e-01 -1.61003393e-01 -2.20889368e-03 5.62815282e+01] [ 1.61002818e-01 9.86953850e-01 -4.36931608e-04 2.46199688e+00] [ 2.25042359e-03 7.55921484e-05 9.99997465e-01 -4.48488856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.237719421 meters Centerline goodness : 0.968206 Centerline is valid? [True, True] Translation: X:56.31, Y:2.46, Z:-0.45 [[ 9.86974534e-01 -1.60861405e-01 -2.20877238e-03 5.63112834e+01] [ 1.60860828e-01 9.86977002e-01 -4.37543906e-04 2.46022620e+00] [ 2.25039147e-03 7.65397383e-05 9.99997465e-01 -4.49665611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.267719421 meters Centerline goodness : 0.968657 Centerline is valid? [True, True] Translation: X:56.34, Y:2.46, Z:-0.45 [[ 9.86638675e-01 -1.62908705e-01 -2.20865202e-03 5.63392962e+01] [ 1.62908132e-01 9.86641145e-01 -4.38150663e-04 2.46143616e+00] [ 2.25052551e-03 7.24890160e-05 9.99997465e-01 -4.48646874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.297719421 meters Centerline goodness : 0.972504 Centerline is valid? [True, True] Translation: X:56.37, Y:2.46, Z:-0.44 [[ 9.85726759e-01 -1.68338581e-01 -2.20860939e-03 5.63684022e+01] [ 1.68338021e-01 9.85729232e-01 -4.38365438e-04 2.45951558e+00] [ 2.25088465e-03 6.03156103e-05 9.99997465e-01 -4.43937586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.327719421 meters Centerline goodness : 0.974655 Centerline is valid? [True, True] Translation: X:56.40, Y:2.46, Z:-0.44 [[ 9.85396427e-01 -1.70261573e-01 -2.20857566e-03 5.63972200e+01] [ 1.70261018e-01 9.85398901e-01 -4.38535316e-04 2.46171485e+00] [ 2.25099374e-03 5.60967940e-05 9.99997465e-01 -4.41552345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.357719421 meters Centerline goodness : 0.975638 Centerline is valid? [True, True] Translation: X:56.43, Y:2.46, Z:-0.44 [[ 9.84796820e-01 -1.73696132e-01 -2.20845899e-03 5.64271708e+01] [ 1.73695583e-01 9.84799295e-01 -4.39122079e-04 2.46073023e+00] [ 2.25116266e-03 4.88464554e-05 9.99997465e-01 -4.39674108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.387719421 meters Centerline goodness : 0.977047 Centerline is valid? [True, True] Translation: X:56.46, Y:2.46, Z:-0.44 [[ 9.84212731e-01 -1.76975772e-01 -2.20834250e-03 5.64564109e+01] [ 1.76975231e-01 9.84215207e-01 -4.39707115e-04 2.46197341e+00] [ 2.25130178e-03 4.19434174e-05 9.99997465e-01 -4.39676616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.417719421 meters Centerline goodness : 0.967584 Centerline is valid? [True, True] Translation: X:56.48, Y:2.46, Z:-0.45 [[ 9.83917111e-01 -1.78611991e-01 -2.20821193e-03 5.64838781e+01] [ 1.78611452e-01 9.83919588e-01 -4.40361848e-04 2.46496064e+00] [ 2.25135688e-03 3.88676166e-05 9.99997465e-01 -4.49547835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.447719421 meters Centerline goodness : 0.968353 Centerline is valid? [True, True] Translation: X:56.51, Y:2.47, Z:-0.45 [[ 9.82991889e-01 -1.83635702e-01 -2.20816573e-03 5.65129336e+01] [ 1.83635176e-01 9.82994368e-01 -4.40593414e-04 2.46675192e+00] [ 2.25152316e-03 2.76028513e-05 9.99997465e-01 -4.47967297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.477719421 meters Centerline goodness : 0.967320 Centerline is valid? [True, True] Translation: X:56.54, Y:2.47, Z:-0.45 [[ 9.82567777e-01 -1.85891600e-01 -2.20812918e-03 5.65413306e+01] [ 1.85891078e-01 9.82570258e-01 -4.40776525e-04 2.47020646e+00] [ 2.25157871e-03 2.26212969e-05 9.99997465e-01 -4.47804012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50771942099999 meters Centerline goodness : 0.968346 Centerline is valid? [True, True] Translation: X:56.57, Y:2.47, Z:-0.45 [[ 9.81783033e-01 -1.89992631e-01 -2.20799907e-03 5.65690816e+01] [ 1.89992119e-01 9.81785516e-01 -4.41427331e-04 2.47184093e+00] [ 2.25164944e-03 1.38834431e-05 9.99997465e-01 -4.46362346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.53771942099999 meters Centerline goodness : 0.968020 Centerline is valid? [True, True] Translation: X:56.60, Y:2.48, Z:-0.45 [[ 9.81618912e-01 -1.90838770e-01 -2.20785061e-03 5.65962773e+01] [ 1.90838258e-01 9.81621395e-01 -4.42168612e-04 2.47570265e+00] [ 2.25165631e-03 1.26987076e-05 9.99997465e-01 -4.46509953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56771942099999 meters Centerline goodness : 0.971705 Centerline is valid? [True, True] Translation: X:56.62, Y:2.48, Z:-0.44 [[ 9.81842246e-01 -1.89686399e-01 -2.20779577e-03 5.66242364e+01] [ 1.89685883e-01 9.81844728e-01 -4.42442244e-04 2.48327622e+00] [ 2.25163792e-03 1.56207951e-05 9.99997465e-01 -4.42212586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.597719421 meters Centerline goodness : 0.971943 Centerline is valid? [True, True] Translation: X:56.65, Y:2.49, Z:-0.44 [[ 9.82197347e-01 -1.87839021e-01 -2.20776908e-03 5.66517896e+01] [ 1.87838501e-01 9.82199828e-01 -4.42575393e-04 2.49076914e+00] [ 2.25160334e-03 1.99923419e-05 9.99997465e-01 -4.40581499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.627719421 meters Centerline goodness : 0.970980 Centerline is valid? [True, True] Translation: X:56.68, Y:2.50, Z:-0.44 [[ 9.83735498e-01 -1.79609564e-01 -2.20762382e-03 5.66792184e+01] [ 1.79609021e-01 9.83737975e-01 -4.43298777e-04 2.49676436e+00] [ 2.25134409e-03 3.95795892e-05 9.99997465e-01 -4.40581028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.657719421 meters Centerline goodness : 0.973707 Centerline is valid? [True, True] Translation: X:56.71, Y:2.50, Z:-0.44 [[ 9.85262693e-01 -1.71033778e-01 -2.20757878e-03 5.67077008e+01] [ 1.71033213e-01 9.85265164e-01 -4.43522986e-04 2.50160332e+00] [ 2.25090788e-03 5.94173608e-05 9.99997465e-01 -4.38713096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.687719421 meters Centerline goodness : 0.971348 Centerline is valid? [True, True] Translation: X:56.74, Y:2.51, Z:-0.44 [[ 9.85859197e-01 -1.67561243e-01 -2.20745318e-03 5.67350955e+01] [ 1.67560668e-01 9.85861666e-01 -4.44147194e-04 2.50636569e+00] [ 2.25066533e-03 6.79842666e-05 9.99997465e-01 -4.41118369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.717719421 meters Centerline goodness : 0.967248 Centerline is valid? [True, True] Translation: X:56.76, Y:2.51, Z:-0.45 [[ 9.86711205e-01 -1.62468841e-01 -2.20740899e-03 5.67643168e+01] [ 1.62468253e-01 9.86713671e-01 -4.44366721e-04 2.50995813e+00] [ 2.25027638e-03 7.98277404e-05 9.99997465e-01 -4.46267622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.747719421 meters Centerline goodness : 0.967915 Centerline is valid? [True, True] Translation: X:56.79, Y:2.52, Z:-0.45 [[ 9.86763260e-01 -1.62152386e-01 -2.20729618e-03 5.67924324e+01] [ 1.62151796e-01 9.86765726e-01 -4.44926379e-04 2.51581474e+00] [ 2.25023009e-03 8.11199639e-05 9.99997465e-01 -4.45173692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.777719421 meters Centerline goodness : 0.968613 Centerline is valid? [True, True] Translation: X:56.82, Y:2.52, Z:-0.44 [[ 9.86996588e-01 -1.60726051e-01 -2.20716801e-03 5.68194271e+01] [ 1.60725456e-01 9.86999052e-01 -4.45561283e-04 2.52229951e+00] [ 2.25008604e-03 8.50193807e-05 9.99997465e-01 -4.44442790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.807719421 meters Centerline goodness : 0.963204 Centerline is valid? [True, True] Translation: X:56.85, Y:2.53, Z:-0.45 [[ 9.87048737e-01 -1.60405484e-01 -2.20701973e-03 5.68465975e+01] [ 1.60404887e-01 9.87051201e-01 -4.46294585e-04 2.52671523e+00] [ 2.25002957e-03 8.64977572e-05 9.99997465e-01 -4.49601520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.837719421 meters Centerline goodness : 0.965661 Centerline is valid? [True, True] Translation: X:56.88, Y:2.53, Z:-0.45 [[ 9.87223342e-01 -1.59327344e-01 -2.20697383e-03 5.68767282e+01] [ 1.59326743e-01 9.87225805e-01 -4.46521440e-04 2.52560780e+00] [ 2.24992459e-03 8.91864354e-05 9.99997465e-01 -4.46520190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.867719421 meters Centerline goodness : 0.965357 Centerline is valid? [True, True] Translation: X:56.91, Y:2.53, Z:-0.45 [[ 9.87161162e-01 -1.59712144e-01 -2.20690691e-03 5.69051558e+01] [ 1.59711544e-01 9.87163625e-01 -4.46851926e-04 2.52537050e+00] [ 2.24994591e-03 8.86463572e-05 9.99997465e-01 -4.46998663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.89771942099999 meters Centerline goodness : 0.966124 Centerline is valid? [True, True] Translation: X:56.93, Y:2.53, Z:-0.44 [[ 9.87124824e-01 -1.59936584e-01 -2.20683979e-03 5.69334971e+01] [ 1.59935983e-01 9.87127287e-01 -4.47183174e-04 2.52870738e+00] [ 2.24995273e-03 8.84725212e-05 9.99997465e-01 -4.42575740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92771942099999 meters Centerline goodness : 0.965441 Centerline is valid? [True, True] Translation: X:56.96, Y:2.53, Z:-0.45 [[ 9.87078799e-01 -1.60220398e-01 -2.20670621e-03 5.69618800e+01] [ 1.60219796e-01 9.87081261e-01 -4.47841360e-04 2.53074501e+00] [ 2.24995167e-03 8.84966918e-05 9.99997465e-01 -4.47206634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.957719421 meters Centerline goodness : 0.965441 Centerline is valid? [True, True] Translation: X:56.99, Y:2.54, Z:-0.45 [[ 9.87028288e-01 -1.60531273e-01 -2.20665895e-03 5.69897647e+01] [ 1.60530672e-01 9.87030751e-01 -4.48074146e-04 2.53668345e+00] [ 2.24997015e-03 8.80254132e-05 9.99997465e-01 -4.47142472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.987719421 meters Centerline goodness : 0.963106 Centerline is valid? [True, True] Translation: X:57.02, Y:2.54, Z:-0.45 [[ 9.86959907e-01 -1.60951153e-01 -2.20651761e-03 5.70180363e+01] [ 1.60950551e-01 9.86962369e-01 -4.48769096e-04 2.53553459e+00] [ 2.24997975e-03 8.77768804e-05 9.99997465e-01 -4.49425340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.017719421 meters Centerline goodness : 0.966098 Centerline is valid? [True, True] Translation: X:57.05, Y:2.54, Z:-0.44 [[ 9.86775640e-01 -1.62077042e-01 -2.20647390e-03 5.70456239e+01] [ 1.62076443e-01 9.86778103e-01 -4.48983860e-04 2.53871771e+00] [ 2.25007011e-03 8.54288942e-05 9.99997465e-01 -4.44902893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.047719421 meters Centerline goodness : 0.972830 Centerline is valid? [True, True] Translation: X:57.08, Y:2.54, Z:-0.44 [[ 9.86249744e-01 -1.65247008e-01 -2.20632348e-03 5.70753500e+01] [ 1.65246415e-01 9.86252209e-01 -4.49721829e-04 2.53805485e+00] [ 2.25030659e-03 7.89509920e-05 9.99997465e-01 -4.40168979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.077719421 meters Centerline goodness : 0.972235 Centerline is valid? [True, True] Translation: X:57.10, Y:2.54, Z:-0.44 [[ 9.85240548e-01 -1.71161314e-01 -2.20629540e-03 5.71037305e+01] [ 1.71160735e-01 9.85243016e-01 -4.49859542e-04 2.53545607e+00] [ 2.25073569e-03 6.55887186e-05 9.99997465e-01 -4.36728953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.107719421 meters Centerline goodness : 0.970022 Centerline is valid? [True, True] Translation: X:57.13, Y:2.54, Z:-0.44 [[ 9.84624774e-01 -1.74668793e-01 -2.20621435e-03 5.71326192e+01] [ 1.74668223e-01 9.84627244e-01 -4.50256710e-04 2.53842108e+00] [ 2.25094455e-03 5.79783727e-05 9.99997465e-01 -4.38375401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.137719421 meters Centerline goodness : 0.969477 Centerline is valid? [True, True] Translation: X:57.16, Y:2.54, Z:-0.44 [[ 9.83934865e-01 -1.78514184e-01 -2.20608642e-03 5.71613553e+01] [ 1.78513621e-01 9.83937337e-01 -4.50882623e-04 2.53860394e+00] [ 2.25113974e-03 4.98226572e-05 9.99997465e-01 -4.37686978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.167719421 meters Centerline goodness : 0.968931 Centerline is valid? [True, True] Translation: X:57.19, Y:2.54, Z:-0.44 [[ 9.83828945e-01 -1.79097016e-01 -2.20593990e-03 5.71899026e+01] [ 1.79096453e-01 9.83831417e-01 -4.51598326e-04 2.54212763e+00] [ 2.25115289e-03 4.92194922e-05 9.99997465e-01 -4.38714568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.197719421 meters Centerline goodness : 0.963808 Centerline is valid? [True, True] Translation: X:57.22, Y:2.54, Z:-0.44 [[ 9.84308860e-01 -1.76440365e-01 -2.20581219e-03 5.72184388e+01] [ 1.76439795e-01 9.84311330e-01 -4.52221268e-04 2.54245433e+00] [ 2.25099602e-03 5.59323510e-05 9.99997465e-01 -4.42496231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.227719421 meters Centerline goodness : 0.965784 Centerline is valid? [True, True] Translation: X:57.25, Y:2.55, Z:-0.44 [[ 9.84697185e-01 -1.74260116e-01 -2.20576708e-03 5.72471975e+01] [ 1.74259540e-01 9.84699654e-01 -4.52441197e-04 2.54654447e+00] [ 2.25086054e-03 6.11416171e-05 9.99997465e-01 -4.41413780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.25771942099999 meters Centerline goodness : 0.966461 Centerline is valid? [True, True] Translation: X:57.28, Y:2.55, Z:-0.44 [[ 9.85686169e-01 -1.68576130e-01 -2.20563952e-03 5.72759471e+01] [ 1.68575538e-01 9.85688634e-01 -4.53062176e-04 2.54964054e+00] [ 2.25044928e-03 7.47602514e-05 9.99997465e-01 -4.38857797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28771942099999 meters Centerline goodness : 0.970567 Centerline is valid? [True, True] Translation: X:57.30, Y:2.55, Z:-0.44 [[ 9.86042291e-01 -1.66480437e-01 -2.20561234e-03 5.73047829e+01] [ 1.66479839e-01 9.86044754e-01 -4.53194460e-04 2.55369457e+00] [ 2.25028049e-03 7.96789159e-05 9.99997465e-01 -4.35345272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.31771942099999 meters Centerline goodness : 0.969991 Centerline is valid? [True, True] Translation: X:57.33, Y:2.55, Z:-0.43 [[ 9.86690399e-01 -1.62595180e-01 -2.20548686e-03 5.73330194e+01] [ 1.62594571e-01 9.86692860e-01 -4.53804308e-04 2.55358338e+00] [ 2.24992453e-03 8.91641633e-05 9.99997465e-01 -4.34565670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.347719421 meters Centerline goodness : 0.970176 Centerline is valid? [True, True] Translation: X:57.36, Y:2.56, Z:-0.43 [[ 9.86874942e-01 -1.61471316e-01 -2.20534397e-03 5.73618445e+01] [ 1.61470703e-01 9.86877401e-01 -4.54497655e-04 2.55681245e+00] [ 2.24979246e-03 9.24339055e-05 9.99997465e-01 -4.34517866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.377719421 meters Centerline goodness : 0.962415 Centerline is valid? [True, True] Translation: X:57.39, Y:2.56, Z:-0.44 [[ 9.87365216e-01 -1.58445786e-01 -2.20521239e-03 5.73910966e+01] [ 1.58445164e-01 9.87367674e-01 -4.55135165e-04 2.55928671e+00] [ 2.24946968e-03 9.99793913e-05 9.99997465e-01 -4.42539939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.407719421 meters Centerline goodness : 0.964057 Centerline is valid? [True, True] Translation: X:57.42, Y:2.56, Z:-0.44 [[ 9.87347851e-01 -1.58553960e-01 -2.20519383e-03 5.74190144e+01] [ 1.58553337e-01 9.87350309e-01 -4.55225071e-04 2.56458468e+00] [ 2.24947655e-03 9.98246541e-05 9.99997465e-01 -4.41764625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.437719421 meters Centerline goodness : 0.961384 Centerline is valid? [True, True] Translation: X:57.45, Y:2.57, Z:-0.44 [[ 9.87239141e-01 -1.59229444e-01 -2.20504258e-03 5.74470061e+01] [ 1.59228822e-01 9.87241599e-01 -4.55956556e-04 2.56603918e+00] [ 2.24951147e-03 9.90318275e-05 9.99997465e-01 -4.42924466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.467719421 meters Centerline goodness : 0.961057 Centerline is valid? [True, True] Translation: X:57.47, Y:2.57, Z:-0.44 [[ 9.87023829e-01 -1.60558712e-01 -2.20499615e-03 5.74748809e+01] [ 1.60558092e-01 9.87026287e-01 -4.56180958e-04 2.56845982e+00] [ 2.24963299e-03 9.62315002e-05 9.99997465e-01 -4.44245434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.497719421 meters Centerline goodness : 0.968246 Centerline is valid? [True, True] Translation: X:57.50, Y:2.57, Z:-0.44 [[ 9.86576291e-01 -1.63286131e-01 -2.20492880e-03 5.75041073e+01] [ 1.63285517e-01 9.86578751e-01 -4.56506272e-04 2.57015400e+00] [ 2.24987704e-03 9.03453246e-05 9.99997465e-01 -4.37330717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.527719421 meters Centerline goodness : 0.965849 Centerline is valid? [True, True] Translation: X:57.53, Y:2.57, Z:-0.44 [[ 9.85875549e-01 -1.67465045e-01 -2.20479309e-03 5.75318234e+01] [ 1.67464440e-01 9.85878011e-01 -4.57160772e-04 2.57253849e+00] [ 2.25021547e-03 8.14791857e-05 9.99997465e-01 -4.38270964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.557719421 meters Centerline goodness : 0.964896 Centerline is valid? [True, True] Translation: X:57.56, Y:2.58, Z:-0.44 [[ 9.85404274e-01 -1.70216204e-01 -2.20474486e-03 5.75602383e+01] [ 1.70215606e-01 9.85406737e-01 -4.57393240e-04 2.57670576e+00] [ 2.25042618e-03 7.54352701e-05 9.99997465e-01 -4.37886202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.587719421 meters Centerline goodness : 0.972374 Centerline is valid? [True, True] Translation: X:57.59, Y:2.58, Z:-0.43 [[ 9.84588156e-01 -1.74875108e-01 -2.20461995e-03 5.75896104e+01] [ 1.74874521e-01 9.84590622e-01 -4.57994531e-04 2.57695816e+00] [ 2.25073997e-03 6.54041344e-05 9.99997465e-01 -4.32709257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.617719421 meters Centerline goodness : 0.971976 Centerline is valid? [True, True] Translation: X:57.62, Y:2.58, Z:-0.43 [[ 9.84116590e-01 -1.77509653e-01 -2.20448669e-03 5.76172654e+01] [ 1.77509071e-01 9.84119058e-01 -4.58635030e-04 2.58002259e+00] [ 2.25088951e-03 6.00339566e-05 9.99997465e-01 -4.33774814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64771942099999 meters Centerline goodness : 0.969847 Centerline is valid? [True, True] Translation: X:57.64, Y:2.58, Z:-0.44 [[ 9.83148934e-01 -1.82793091e-01 -2.20433555e-03 5.76448115e+01] [ 1.82792520e-01 9.83151404e-01 -4.59360325e-04 2.58327011e+00] [ 2.25116349e-03 4.86835643e-05 9.99997465e-01 -4.35910332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.67771942099999 meters Centerline goodness : 0.966975 Centerline is valid? [True, True] Translation: X:57.67, Y:2.59, Z:-0.44 [[ 9.82769064e-01 -1.84824533e-01 -2.20428866e-03 5.76724943e+01] [ 1.84823967e-01 9.82771535e-01 -4.59585247e-04 2.58912435e+00] [ 2.25125477e-03 4.42607889e-05 9.99997465e-01 -4.39481265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.707719421 meters Centerline goodness : 0.967382 Centerline is valid? [True, True] Translation: X:57.70, Y:2.59, Z:-0.44 [[ 9.82191789e-01 -1.87868124e-01 -2.20424217e-03 5.77015133e+01] [ 1.87867565e-01 9.82194261e-01 -4.59808079e-04 2.59293101e+00] [ 2.25137729e-03 3.75141109e-05 9.99997465e-01 -4.38317065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.737719421 meters Centerline goodness : 0.963478 Centerline is valid? [True, True] Translation: X:57.73, Y:2.60, Z:-0.44 [[ 9.81978142e-01 -1.88981664e-01 -2.20422369e-03 5.77287980e+01] [ 1.88981108e-01 9.81980616e-01 -4.59896669e-04 2.59686587e+00] [ 2.25141697e-03 3.50518419e-05 9.99997465e-01 -4.41162308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.767719421 meters Centerline goodness : 0.969991 Centerline is valid? [True, True] Translation: X:57.76, Y:2.60, Z:-0.43 [[ 9.81707834e-01 -1.90380855e-01 -2.20417741e-03 5.77570927e+01] [ 1.90380302e-01 9.81710308e-01 -4.60118362e-04 2.60235217e+00] [ 2.25146141e-03 3.20698399e-05 9.99997465e-01 -4.33628573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.797719421 meters Centerline goodness : 0.973495 Centerline is valid? [True, True] Translation: X:57.78, Y:2.61, Z:-0.43 [[ 9.81744794e-01 -1.90190170e-01 -2.20404926e-03 5.77846861e+01] [ 1.90189615e-01 9.81747268e-01 -4.60731412e-04 2.60843038e+00] [ 2.25144592e-03 3.31333854e-05 9.99997465e-01 -4.30579077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.827719421 meters Centerline goodness : 0.973072 Centerline is valid? [True, True] Translation: X:57.81, Y:2.62, Z:-0.43 [[ 9.82080366e-01 -1.88449721e-01 -2.20400363e-03 5.78113193e+01] [ 1.88449161e-01 9.82082838e-01 -4.60949606e-04 2.61703834e+00] [ 2.25137996e-03 3.73469238e-05 9.99997465e-01 -4.29465137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.857719421 meters Centerline goodness : 0.971430 Centerline is valid? [True, True] Translation: X:57.84, Y:2.63, Z:-0.43 [[ 9.82393322e-01 -1.86811411e-01 -2.20395861e-03 5.78385572e+01] [ 1.86810847e-01 9.82395793e-01 -4.61164766e-04 2.62594044e+00] [ 2.25131050e-03 4.13218128e-05 9.99997465e-01 -4.30278837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.887719421 meters Centerline goodness : 0.969898 Centerline is valid? [True, True] Translation: X:57.86, Y:2.63, Z:-0.43 [[ 9.83301337e-01 -1.81971492e-01 -2.20381499e-03 5.78649806e+01] [ 1.81970914e-01 9.83303805e-01 -4.61850053e-04 2.63492016e+00] [ 2.25106321e-03 5.31075471e-05 9.99997465e-01 -4.32699426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.917719421 meters Centerline goodness : 0.969602 Centerline is valid? [True, True] Translation: X:57.89, Y:2.64, Z:-0.43 [[ 9.84001175e-01 -1.78148338e-01 -2.20374898e-03 5.78921759e+01] [ 1.78147750e-01 9.84003641e-01 -4.62164796e-04 2.64064189e+00] [ 2.25083091e-03 6.21777804e-05 9.99997465e-01 -4.32524796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.947719421 meters Centerline goodness : 0.973412 Centerline is valid? [True, True] Translation: X:57.92, Y:2.65, Z:-0.43 [[ 9.84267342e-01 -1.76671851e-01 -2.20370520e-03 5.79201823e+01] [ 1.76671259e-01 9.84269807e-01 -4.62373489e-04 2.64724994e+00] [ 2.25072887e-03 6.57677549e-05 9.99997465e-01 -4.29546576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.977719421 meters Centerline goodness : 0.967930 Centerline is valid? [True, True] Translation: X:57.95, Y:2.66, Z:-0.44 [[ 9.85123963e-01 -1.71831086e-01 -2.20357232e-03 5.79468224e+01] [ 1.71830480e-01 9.85126424e-01 -4.63005867e-04 2.65757073e+00] [ 2.25035612e-03 7.74772849e-05 9.99997465e-01 -4.36138036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00771942099999 meters Centerline goodness : 0.963510 Centerline is valid? [True, True] Translation: X:57.97, Y:2.67, Z:-0.44 [[ 9.85603376e-01 -1.69059543e-01 -2.20353451e-03 5.79740754e+01] [ 1.69058929e-01 9.85605836e-01 -4.63185748e-04 2.66503768e+00] [ 2.25012245e-03 8.39902518e-05 9.99997465e-01 -4.40387599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.03771942099999 meters Centerline goodness : 0.967339 Centerline is valid? [True, True] Translation: X:58.00, Y:2.67, Z:-0.44 [[ 9.86256939e-01 -1.65204101e-01 -2.20348998e-03 5.80013940e+01] [ 1.65203477e-01 9.86259396e-01 -4.63397508e-04 2.67316894e+00] [ 2.24976786e-03 9.30048015e-05 9.99997465e-01 -4.37475253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06771942099999 meters Centerline goodness : 0.970572 Centerline is valid? [True, True] Translation: X:58.03, Y:2.68, Z:-0.43 [[ 9.86454865e-01 -1.64018122e-01 -2.20344764e-03 5.80288959e+01] [ 1.64017495e-01 9.86457321e-01 -4.63598718e-04 2.68028231e+00] [ 2.24964565e-03 9.59152487e-05 9.99997465e-01 -4.33643233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.097719421 meters Centerline goodness : 0.975097 Centerline is valid? [True, True] Translation: X:58.06, Y:2.69, Z:-0.43 [[ 9.86598233e-01 -1.63153522e-01 -2.20340412e-03 5.80571279e+01] [ 1.63152892e-01 9.86600689e-01 -4.63805496e-04 2.68544551e+00] [ 2.24955152e-03 9.80979273e-05 9.99997465e-01 -4.26538426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.127719421 meters Centerline goodness : 0.971750 Centerline is valid? [True, True] Translation: X:58.09, Y:2.69, Z:-0.43 [[ 9.86554690e-01 -1.63416613e-01 -2.20326585e-03 5.80852934e+01] [ 1.63415982e-01 9.86557145e-01 -4.64461411e-04 2.68829446e+00] [ 2.24954838e-03 9.81677310e-05 9.99997465e-01 -4.31072759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.157719421 meters Centerline goodness : 0.973598 Centerline is valid? [True, True] Translation: X:58.11, Y:2.69, Z:-0.43 [[ 9.86336019e-01 -1.64731307e-01 -2.20321703e-03 5.81147419e+01] [ 1.64730679e-01 9.86338475e-01 -4.64692857e-04 2.68887203e+00] [ 2.24966719e-03 9.54058642e-05 9.99997465e-01 -4.28648602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.187719421 meters Centerline goodness : 0.970561 Centerline is valid? [True, True] Translation: X:58.14, Y:2.69, Z:-0.43 [[ 9.86352408e-01 -1.64633151e-01 -2.20308017e-03 5.81411786e+01] [ 1.64632521e-01 9.86354863e-01 -4.65340826e-04 2.69414012e+00] [ 2.24962936e-03 9.62914013e-05 9.99997465e-01 -4.34583180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.217719421 meters Centerline goodness : 0.969205 Centerline is valid? [True, True] Translation: X:58.17, Y:2.70, Z:-0.43 [[ 9.86631464e-01 -1.62952453e-01 -2.20301273e-03 5.81681072e+01] [ 1.62951818e-01 9.86633918e-01 -4.65659872e-04 2.70155727e+00] [ 2.24944750e-03 1.00449751e-04 9.99997465e-01 -4.34553609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.247719421 meters Centerline goodness : 0.972622 Centerline is valid? [True, True] Translation: X:58.20, Y:2.71, Z:-0.43 [[ 9.86974337e-01 -1.60862690e-01 -2.20286611e-03 5.81960895e+01] [ 1.60862049e-01 9.86976790e-01 -4.66352439e-04 2.70630495e+00] [ 2.24919643e-03 1.05920334e-04 9.99997465e-01 -4.32151739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.277719421 meters Centerline goodness : 0.971621 Centerline is valid? [True, True] Translation: X:58.22, Y:2.71, Z:-0.43 [[ 9.87560763e-01 -1.57222412e-01 -2.20271311e-03 5.82249497e+01] [ 1.57221760e-01 9.87563213e-01 -4.67074008e-04 2.70588981e+00] [ 2.24875293e-03 1.14949532e-04 9.99997465e-01 -4.30119808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.307719421 meters Centerline goodness : 0.972982 Centerline is valid? [True, True] Translation: X:58.25, Y:2.71, Z:-0.43 [[ 9.87760602e-01 -1.55961986e-01 -2.20266591e-03 5.82522409e+01] [ 1.55961331e-01 9.87763051e-01 -4.67296469e-04 2.70938198e+00] [ 2.24859249e-03 1.18046335e-04 9.99997465e-01 -4.28233180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.337719421 meters Centerline goodness : 0.974707 Centerline is valid? [True, True] Translation: X:58.28, Y:2.71, Z:-0.43 [[ 9.88174107e-01 -1.53320198e-01 -2.20256346e-03 5.82794839e+01] [ 1.53319535e-01 9.88176554e-01 -4.67778848e-04 2.71464496e+00] [ 2.24824152e-03 1.24550939e-04 9.99997465e-01 -4.27413798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.367719421 meters Centerline goodness : 0.974715 Centerline is valid? [True, True] Translation: X:58.31, Y:2.72, Z:-0.43 [[ 9.87955087e-01 -1.54725222e-01 -2.20249467e-03 5.83076653e+01] [ 1.54724562e-01 9.87957535e-01 -4.68102537e-04 2.71892551e+00] [ 2.24839847e-03 1.21684260e-04 9.99997465e-01 -4.27131118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.39771942099999 meters Centerline goodness : 0.974457 Centerline is valid? [True, True] Translation: X:58.34, Y:2.72, Z:-0.43 [[ 9.87538388e-01 -1.57362896e-01 -2.20236674e-03 5.83355588e+01] [ 1.57362241e-01 9.87540837e-01 -4.68703659e-04 2.72389259e+00] [ 2.24868366e-03 1.16293491e-04 9.99997465e-01 -4.28168526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42771942099999 meters Centerline goodness : 0.971462 Centerline is valid? [True, True] Translation: X:58.36, Y:2.73, Z:-0.43 [[ 9.86443325e-01 -1.64087528e-01 -2.20222062e-03 5.83637182e+01] [ 1.64086888e-01 9.86445778e-01 -4.69389197e-04 2.72700259e+00] [ 2.24939215e-03 1.01670311e-04 9.99997465e-01 -4.32298860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.457719421 meters Centerline goodness : 0.970557 Centerline is valid? [True, True] Translation: X:58.39, Y:2.73, Z:-0.43 [[ 9.85839347e-01 -1.67678063e-01 -2.20215466e-03 5.83921677e+01] [ 1.67677431e-01 9.85841802e-01 -4.69698461e-04 2.73151465e+00] [ 2.24973424e-03 9.37955884e-05 9.99997465e-01 -4.33451299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.487719421 meters Centerline goodness : 0.969691 Centerline is valid? [True, True] Translation: X:58.42, Y:2.74, Z:-0.43 [[ 9.84758540e-01 -1.73913107e-01 -2.20202858e-03 5.84197223e+01] [ 1.73912490e-01 9.84760999e-01 -4.70288793e-04 2.73502205e+00] [ 2.25026125e-03 8.01606325e-05 9.99997465e-01 -4.33206046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.517719421 meters Centerline goodness : 0.968937 Centerline is valid? [True, True] Translation: X:58.45, Y:2.74, Z:-0.43 [[ 9.84181504e-01 -1.77149424e-01 -2.20188511e-03 5.84470824e+01] [ 1.77148813e-01 9.84183965e-01 -4.70959538e-04 2.74070444e+00] [ 2.25049023e-03 7.34483326e-05 9.99997465e-01 -4.34346798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.547719421 meters Centerline goodness : 0.967985 Centerline is valid? [True, True] Translation: X:58.47, Y:2.75, Z:-0.43 [[ 9.82686554e-01 -1.85262754e-01 -2.20184055e-03 5.84745397e+01] [ 1.85262163e-01 9.82689020e-01 -4.71167776e-04 2.74527392e+00] [ 2.25101438e-03 5.50924955e-05 9.99997465e-01 -4.34253392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.577719421 meters Centerline goodness : 0.976029 Centerline is valid? [True, True] Translation: X:58.50, Y:2.75, Z:-0.43 [[ 9.81794905e-01 -1.89931345e-01 -2.20179646e-03 5.85028752e+01] [ 1.89930765e-01 9.81797373e-01 -4.71373721e-04 2.75150721e+00] [ 2.25124663e-03 4.46034299e-05 9.99997465e-01 -4.25722196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.607719421 meters Centerline goodness : 0.973503 Centerline is valid? [True, True] Translation: X:58.53, Y:2.76, Z:-0.43 [[ 9.79720323e-01 -2.00357785e-01 -2.20165808e-03 5.85292690e+01] [ 2.00357231e-01 9.79722796e-01 -4.72019199e-04 2.75869547e+00] [ 2.25158733e-03 2.13286866e-05 9.99997465e-01 -4.30473806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.637719421 meters Centerline goodness : 0.980192 Centerline is valid? [True, True] Translation: X:58.56, Y:2.76, Z:-0.42 [[ 9.77651937e-01 -2.10218559e-01 -2.20157229e-03 5.85578674e+01] [ 2.10218028e-01 9.77654416e-01 -4.72418981e-04 2.76499814e+00] [ 2.25168811e-03 -9.48854549e-07 9.99997465e-01 -4.22054719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.667719421 meters Centerline goodness : 0.974441 Centerline is valid? [True, True] Translation: X:58.58, Y:2.77, Z:-0.43 [[ 9.76542463e-01 -2.15313659e-01 -2.20154360e-03 5.85845909e+01] [ 2.15313141e-01 9.76544944e-01 -4.72552654e-04 2.77077037e+00] [ 2.25165331e-03 -1.25535344e-05 9.99997465e-01 -4.25597221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.697719421 meters Centerline goodness : 0.981653 Centerline is valid? [True, True] Translation: X:58.61, Y:2.78, Z:-0.42 [[ 9.74566498e-01 -2.24087695e-01 -2.20146032e-03 5.86130471e+01] [ 2.24087198e-01 9.74568984e-01 -4.72940301e-04 2.77541816e+00] [ 2.25145505e-03 -3.24073024e-05 9.99997465e-01 -4.18274642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.727719421 meters Centerline goodness : 0.980978 Centerline is valid? [True, True] Translation: X:58.64, Y:2.78, Z:-0.42 [[ 9.73559516e-01 -2.28422903e-01 -2.20132832e-03 5.86410872e+01] [ 2.28422416e-01 9.73562004e-01 -4.73553935e-04 2.78346771e+00] [ 2.25130017e-03 -4.17997925e-05 9.99997465e-01 -4.17732307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.75771942099999 meters Centerline goodness : 0.979243 Centerline is valid? [True, True] Translation: X:58.67, Y:2.80, Z:-0.42 [[ 9.72219755e-01 -2.34059613e-01 -2.20119627e-03 5.86671759e+01] [ 2.34059139e-01 9.72222246e-01 -4.74166915e-04 2.79787350e+00] [ 2.25103531e-03 -5.42156621e-05 9.99997465e-01 -4.22565759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78771942099999 meters Centerline goodness : 0.978545 Centerline is valid? [True, True] Translation: X:58.69, Y:2.81, Z:-0.42 [[ 9.71867494e-01 -2.35518001e-01 -2.20106402e-03 5.86941664e+01] [ 2.35517529e-01 9.71869985e-01 -4.74780012e-04 2.80827687e+00] [ 2.25096730e-03 -5.69659001e-05 9.99997465e-01 -4.22974776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.81771942099999 meters Centerline goodness : 0.979491 Centerline is valid? [True, True] Translation: X:58.72, Y:2.82, Z:-0.42 [[ 9.71700278e-01 -2.36206954e-01 -2.20092279e-03 5.87197730e+01] [ 2.36206483e-01 9.71702769e-01 -4.75433816e-04 2.82013835e+00] [ 2.25094355e-03 -5.78930600e-05 9.99997465e-01 -4.21458228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.847719421 meters Centerline goodness : 0.981019 Centerline is valid? [True, True] Translation: X:58.75, Y:2.83, Z:-0.42 [[ 9.71852402e-01 -2.35580271e-01 -2.20087269e-03 5.87466379e+01] [ 2.35579798e-01 9.71854893e-01 -4.75665618e-04 2.82975606e+00] [ 2.25098633e-03 -5.62043707e-05 9.99997465e-01 -4.18462861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.877719421 meters Centerline goodness : 0.981019 Centerline is valid? [True, True] Translation: X:58.77, Y:2.84, Z:-0.42 [[ 9.71770220e-01 -2.35919047e-01 -2.20070704e-03 5.87744824e+01] [ 2.35918573e-01 9.71772710e-01 -4.76430814e-04 2.83605969e+00] [ 2.25098614e-03 -5.62063859e-05 9.99997465e-01 -4.18398752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.907719421 meters Centerline goodness : 0.977604 Centerline is valid? [True, True] Translation: X:58.80, Y:2.85, Z:-0.42 [[ 9.71870860e-01 -2.35504118e-01 -2.20054068e-03 5.87996037e+01] [ 2.35503641e-01 9.71873349e-01 -4.77197926e-04 2.85310385e+00] [ 2.25102892e-03 -5.44605844e-05 9.99997465e-01 -4.22183855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.937719421 meters Centerline goodness : 0.976206 Centerline is valid? [True, True] Translation: X:58.83, Y:2.87, Z:-0.42 [[ 9.71677619e-01 -2.36300156e-01 -2.20048930e-03 5.88257550e+01] [ 2.36299680e-01 9.71680109e-01 -4.77434760e-04 2.86719732e+00] [ 2.25098959e-03 -5.60622469e-05 9.99997465e-01 -4.23779835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.967719421 meters Centerline goodness : 0.975077 Centerline is valid? [True, True] Translation: X:58.85, Y:2.89, Z:-0.43 [[ 9.71444567e-01 -2.37256427e-01 -2.20035055e-03 5.88490617e+01] [ 2.37255952e-01 9.71447057e-01 -4.78073379e-04 2.88737284e+00] [ 2.25095004e-03 -5.76244765e-05 9.99997465e-01 -4.26461182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.997719421 meters Centerline goodness : 0.973432 Centerline is valid? [True, True] Translation: X:58.88, Y:2.90, Z:-0.43 [[ 9.71190317e-01 -2.38295041e-01 -2.20028173e-03 5.88765263e+01] [ 2.38294568e-01 9.71192808e-01 -4.78389874e-04 2.89929924e+00] [ 2.25089573e-03 -5.97075724e-05 9.99997465e-01 -4.28928719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.027719421 meters Centerline goodness : 0.974523 Centerline is valid? [True, True] Translation: X:58.90, Y:2.91, Z:-0.43 [[ 9.70490750e-01 -2.41128313e-01 -2.20020808e-03 5.89020913e+01] [ 2.41127846e-01 9.70493242e-01 -4.78728396e-04 2.91468564e+00] [ 2.25072204e-03 -6.59299549e-05 9.99997465e-01 -4.28092747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.057719421 meters Centerline goodness : 0.974213 Centerline is valid? [True, True] Translation: X:58.93, Y:2.93, Z:-0.43 [[ 9.70191593e-01 -2.42329184e-01 -2.20004594e-03 5.89284451e+01] [ 2.42328719e-01 9.70194085e-01 -4.79472364e-04 2.92608669e+00] [ 2.25066170e-03 -6.79542570e-05 9.99997465e-01 -4.27909153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.087719421 meters Centerline goodness : 0.979906 Centerline is valid? [True, True] Translation: X:58.95, Y:2.95, Z:-0.42 [[ 9.70116245e-01 -2.42630649e-01 -2.19999560e-03 5.89527709e+01] [ 2.42630184e-01 9.70118737e-01 -4.79703215e-04 2.94726327e+00] [ 2.25064766e-03 -6.84174560e-05 9.99997465e-01 -4.23053305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.117719421 meters Centerline goodness : 0.978665 Centerline is valid? [True, True] Translation: X:58.98, Y:2.97, Z:-0.42 [[ 9.70824639e-01 -2.39780483e-01 -2.19994591e-03 5.89766367e+01] [ 2.39780011e-01 9.70827130e-01 -4.79931000e-04 2.96987102e+00] [ 2.25084526e-03 -6.15742139e-05 9.99997465e-01 -4.23708927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14771942099999 meters Centerline goodness : 0.980413 Centerline is valid? [True, True] Translation: X:59.00, Y:2.98, Z:-0.42 [[ 9.71557548e-01 -2.36793352e-01 -2.19978796e-03 5.90034761e+01] [ 2.36792870e-01 9.71560037e-01 -4.80653871e-04 2.98242491e+00] [ 2.25104171e-03 -5.39112089e-05 9.99997465e-01 -4.22574653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.17771942099999 meters Centerline goodness : 0.982879 Centerline is valid? [True, True] Translation: X:59.03, Y:2.99, Z:-0.42 [[ 9.72437944e-01 -2.33151466e-01 -2.19965102e-03 5.90305714e+01] [ 2.33150974e-01 9.72440431e-01 -4.81279736e-04 2.99412852e+00] [ 2.25124066e-03 -4.48361010e-05 9.99997465e-01 -4.18705499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.207719421 meters Centerline goodness : 0.982807 Centerline is valid? [True, True] Translation: X:59.06, Y:3.01, Z:-0.42 [[ 9.75015510e-01 -2.22125905e-01 -2.19950641e-03 5.90557033e+01] [ 2.22125383e-01 9.75017991e-01 -4.81939716e-04 3.01086985e+00] [ 2.25160962e-03 -1.86675065e-05 9.99997465e-01 -4.19271555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.237719421 meters Centerline goodness : 0.981855 Centerline is valid? [True, True] Translation: X:59.08, Y:3.03, Z:-0.42 [[ 9.77592562e-01 -2.10494525e-01 -2.19945565e-03 5.90811721e+01] [ 2.10493973e-01 9.77595036e-01 -4.82171253e-04 3.02763580e+00] [ 2.25167134e-03 8.39487103e-06 9.99997465e-01 -4.23007246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.267719421 meters Centerline goodness : 0.976979 Centerline is valid? [True, True] Translation: X:59.11, Y:3.04, Z:-0.43 [[ 9.78740512e-01 -2.05090647e-01 -2.19931376e-03 5.91076073e+01] [ 2.05090079e-01 9.78742983e-01 -4.82817592e-04 3.03866924e+00] [ 2.25158428e-03 2.14957030e-05 9.99997465e-01 -4.28948219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.297719421 meters Centerline goodness : 0.974451 Centerline is valid? [True, True] Translation: X:59.13, Y:3.05, Z:-0.43 [[ 9.80319435e-01 -1.97405597e-01 -2.19926337e-03 5.91334531e+01] [ 1.97405010e-01 9.80321901e-01 -4.83047009e-04 3.05300468e+00] [ 2.25134223e-03 3.93947631e-05 9.99997465e-01 -4.31491111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.327719421 meters Centerline goodness : 0.977456 Centerline is valid? [True, True] Translation: X:59.16, Y:3.06, Z:-0.43 [[ 9.80739685e-01 -1.95307024e-01 -2.19913356e-03 5.91610772e+01] [ 1.95306430e-01 9.80742150e-01 -4.83637285e-04 3.06359247e+00] [ 2.25124073e-03 4.48173545e-05 9.99997465e-01 -4.28559061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.357719421 meters Centerline goodness : 0.974412 Centerline is valid? [True, True] Translation: X:59.19, Y:3.07, Z:-0.43 [[ 9.81328664e-01 -1.92325809e-01 -2.19899534e-03 5.91870648e+01] [ 1.92325206e-01 9.81331127e-01 -4.84264913e-04 3.07453927e+00] [ 2.25107922e-03 5.23008070e-05 9.99997465e-01 -4.31279104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.387719421 meters Centerline goodness : 0.977682 Centerline is valid? [True, True] Translation: X:59.22, Y:3.08, Z:-0.43 [[ 9.81304472e-01 -1.92449209e-01 -2.19894644e-03 5.92151977e+01] [ 1.92448607e-01 9.81306934e-01 -4.84486867e-04 3.08225821e+00] [ 2.25108050e-03 5.22449505e-05 9.99997465e-01 -4.28482326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.417719421 meters Centerline goodness : 0.976050 Centerline is valid? [True, True] Translation: X:59.24, Y:3.09, Z:-0.43 [[ 9.81153177e-01 -1.93219067e-01 -2.19880962e-03 5.92428253e+01] [ 1.93218465e-01 9.81155640e-01 -4.85107034e-04 3.09075402e+00] [ 2.25110639e-03 5.11136891e-05 9.99997465e-01 -4.30886692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.447719421 meters Centerline goodness : 0.976597 Centerline is valid? [True, True] Translation: X:59.27, Y:3.10, Z:-0.43 [[ 9.80936489e-01 -1.94316159e-01 -2.19867276e-03 5.92710433e+01] [ 1.94315558e-01 9.80938952e-01 -4.85726524e-04 3.09882366e+00] [ 2.25114827e-03 4.92305476e-05 9.99997465e-01 -4.29857652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.477719421 meters Centerline goodness : 0.975643 Centerline is valid? [True, True] Translation: X:59.30, Y:3.11, Z:-0.43 [[ 9.80794199e-01 -1.95033088e-01 -2.19854053e-03 5.92989371e+01] [ 1.95032487e-01 9.80796662e-01 -4.86324322e-04 3.10740510e+00] [ 2.25117054e-03 4.81972466e-05 9.99997465e-01 -4.31732971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50771942099999 meters Centerline goodness : 0.971398 Centerline is valid? [True, True] Translation: X:59.33, Y:3.11, Z:-0.44 [[ 9.80781065e-01 -1.95099126e-01 -2.19839776e-03 5.93255895e+01] [ 1.95098525e-01 9.80783528e-01 -4.86968844e-04 3.11456258e+00] [ 2.25115950e-03 4.87056630e-05 9.99997465e-01 -4.35748294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.53771942099999 meters Centerline goodness : 0.976863 Centerline is valid? [True, True] Translation: X:59.35, Y:3.12, Z:-0.43 [[ 9.80680242e-01 -1.95605294e-01 -2.19832222e-03 5.93529852e+01] [ 1.95604693e-01 9.80682704e-01 -4.87309605e-04 3.12301679e+00] [ 2.25117692e-03 4.78927578e-05 9.99997465e-01 -4.29846175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56771942099999 meters Centerline goodness : 0.975348 Centerline is valid? [True, True] Translation: X:59.38, Y:3.13, Z:-0.43 [[ 9.80500706e-01 -1.96503268e-01 -2.19818241e-03 5.93800659e+01] [ 1.96502668e-01 9.80503169e-01 -4.87939450e-04 3.12905004e+00] [ 2.25120651e-03 4.64762676e-05 9.99997465e-01 -4.30643463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.597719421 meters Centerline goodness : 0.980310 Centerline is valid? [True, True] Translation: X:59.41, Y:3.14, Z:-0.42 [[ 9.79743395e-01 -2.00244972e-01 -2.19810821e-03 5.94081577e+01] [ 2.00244381e-01 9.79745860e-01 -4.88273498e-04 3.13616177e+00] [ 2.25136173e-03 3.82239179e-05 9.99997465e-01 -4.24671676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.627719421 meters Centerline goodness : 0.978651 Centerline is valid? [True, True] Translation: X:59.44, Y:3.14, Z:-0.43 [[ 9.79107085e-01 -2.03333435e-01 -2.19796077e-03 5.94350283e+01] [ 2.03332850e-01 9.79109551e-01 -4.88936270e-04 3.14259799e+00] [ 2.25146148e-03 3.18033375e-05 9.99997465e-01 -4.27838989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.657719421 meters Centerline goodness : 0.979121 Centerline is valid? [True, True] Translation: X:59.46, Y:3.15, Z:-0.43 [[ 9.77529848e-01 -2.10785593e-01 -2.19790880e-03 5.94625501e+01] [ 2.10785026e-01 9.77532318e-01 -4.89169782e-04 3.14801679e+00] [ 2.25163683e-03 1.48917989e-05 9.99997465e-01 -4.26819973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.687719421 meters Centerline goodness : 0.979287 Centerline is valid? [True, True] Translation: X:59.49, Y:3.15, Z:-0.43 [[ 9.75109130e-01 -2.21714580e-01 -2.19775035e-03 5.94914805e+01] [ 2.21714039e-01 9.75111606e-01 -4.89880625e-04 3.15142036e+00] [ 2.25166556e-03 -9.58503752e-06 9.99997465e-01 -4.27540709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.717719421 meters Centerline goodness : 0.981366 Centerline is valid? [True, True] Translation: X:59.52, Y:3.16, Z:-0.42 [[ 9.73536612e-01 -2.28520538e-01 -2.19760569e-03 5.95190460e+01] [ 2.28520013e-01 9.73539092e-01 -4.90528713e-04 3.15671608e+00] [ 2.25155094e-03 -2.46492202e-05 9.99997465e-01 -4.24933161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.747719421 meters Centerline goodness : 0.979187 Centerline is valid? [True, True] Translation: X:59.55, Y:3.16, Z:-0.43 [[ 9.72237783e-01 -2.33984754e-01 -2.19742913e-03 5.95464151e+01] [ 2.33984241e-01 9.72240265e-01 -4.91318401e-04 3.16391294e+00] [ 2.25139010e-03 -3.64854755e-05 9.99997465e-01 -4.25766376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.777719421 meters Centerline goodness : 0.974586 Centerline is valid? [True, True] Translation: X:59.57, Y:3.18, Z:-0.43 [[ 9.70136125e-01 -2.42551172e-01 -2.19737443e-03 5.95719463e+01] [ 2.42550680e-01 9.70138612e-01 -4.91562942e-04 3.17574899e+00] [ 2.25098694e-03 -5.60916943e-05 9.99997465e-01 -4.30779300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.807719421 meters Centerline goodness : 0.978717 Centerline is valid? [True, True] Translation: X:59.60, Y:3.18, Z:-0.43 [[ 9.69394163e-01 -2.45499754e-01 -2.19729376e-03 5.95989903e+01] [ 2.45499269e-01 9.69396651e-01 -4.91923265e-04 3.18326812e+00] [ 2.25081625e-03 -6.25664690e-05 9.99997465e-01 -4.26079589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.837719421 meters Centerline goodness : 0.979844 Centerline is valid? [True, True] Translation: X:59.63, Y:3.19, Z:-0.42 [[ 9.69031620e-01 -2.46926898e-01 -2.19712061e-03 5.96264083e+01] [ 2.46926415e-01 9.69034108e-01 -4.92695376e-04 3.19037034e+00] [ 2.25074456e-03 -6.50897185e-05 9.99997465e-01 -4.24945284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.867719421 meters Centerline goodness : 0.981139 Centerline is valid? [True, True] Translation: X:59.65, Y:3.20, Z:-0.42 [[ 9.69498046e-01 -2.45089193e-01 -2.19706715e-03 5.96521423e+01] [ 2.45088705e-01 9.69500533e-01 -4.92933679e-04 3.20180339e+00] [ 2.25087049e-03 -6.05781026e-05 9.99997465e-01 -4.24291315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.89771942099999 meters Centerline goodness : 0.980259 Centerline is valid? [True, True] Translation: X:59.68, Y:3.21, Z:-0.43 [[ 9.69798972e-01 -2.43895728e-01 -2.19701436e-03 5.96783850e+01] [ 2.43895236e-01 9.69801459e-01 -4.93168859e-04 3.21226161e+00] [ 2.25094951e-03 -5.75666827e-05 9.99997465e-01 -4.25306183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92771942099999 meters Centerline goodness : 0.977734 Centerline is valid? [True, True] Translation: X:59.70, Y:3.23, Z:-0.43 [[ 9.70578687e-01 -2.40774140e-01 -2.19684647e-03 5.97034819e+01] [ 2.40773638e-01 9.70581172e-01 -4.93915584e-04 3.22653016e+00] [ 2.25113992e-03 -4.95587793e-05 9.99997465e-01 -4.27631328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.957719421 meters Centerline goodness : 0.979456 Centerline is valid? [True, True] Translation: X:59.73, Y:3.24, Z:-0.43 [[ 9.70699463e-01 -2.40286758e-01 -2.19679465e-03 5.97305296e+01] [ 2.40286254e-01 9.70701948e-01 -4.94145985e-04 3.23559912e+00] [ 2.25116958e-03 -4.81923144e-05 9.99997465e-01 -4.28512900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.987719421 meters Centerline goodness : 0.975863 Centerline is valid? [True, True] Translation: X:59.76, Y:3.24, Z:-0.43 [[ 9.70457216e-01 -2.41263274e-01 -2.19664966e-03 5.97579576e+01] [ 2.41262772e-01 9.70459700e-01 -4.94789648e-04 3.24261852e+00] [ 2.25113454e-03 -4.97976030e-05 9.99997465e-01 -4.30743324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.017719421 meters Centerline goodness : 0.975057 Centerline is valid? [True, True] Translation: X:59.79, Y:3.25, Z:-0.43 [[ 9.70096559e-01 -2.42709375e-01 -2.19650545e-03 5.97855971e+01] [ 2.42708875e-01 9.70099045e-01 -4.95429009e-04 3.25000013e+00] [ 2.25107311e-03 -5.24973901e-05 9.99997465e-01 -4.31953207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.047719421 meters Centerline goodness : 0.974929 Centerline is valid? [True, True] Translation: X:59.81, Y:3.26, Z:-0.43 [[ 9.69853293e-01 -2.43679639e-01 -2.19636343e-03 5.98133989e+01] [ 2.43679140e-01 9.69855778e-01 -4.96057844e-04 3.25832345e+00] [ 2.25103496e-03 -5.41046168e-05 9.99997465e-01 -4.33069880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.077719421 meters Centerline goodness : 0.975728 Centerline is valid? [True, True] Translation: X:59.84, Y:3.27, Z:-0.43 [[ 9.69805745e-01 -2.43868805e-01 -2.19622222e-03 5.98395145e+01] [ 2.43868305e-01 9.69808230e-01 -4.96682245e-04 3.26814333e+00] [ 2.25103969e-03 -5.39036943e-05 9.99997465e-01 -4.32414921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.107719421 meters Centerline goodness : 0.974868 Centerline is valid? [True, True] Translation: X:59.87, Y:3.28, Z:-0.43 [[ 9.70368467e-01 -2.41619980e-01 -2.19617234e-03 5.98661421e+01] [ 2.41619474e-01 9.70370951e-01 -4.96902690e-04 3.27871741e+00] [ 2.25116346e-03 -4.84593030e-05 9.99997465e-01 -4.32618300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.137719421 meters Centerline goodness : 0.974865 Centerline is valid? [True, True] Translation: X:59.89, Y:3.29, Z:-0.43 [[ 9.70712275e-01 -2.40235004e-01 -2.19612315e-03 5.98938350e+01] [ 2.40234494e-01 9.70714758e-01 -4.97120002e-04 3.28826012e+00] [ 2.25123478e-03 -4.50240452e-05 9.99997465e-01 -4.31194469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.167719421 meters Centerline goodness : 0.978137 Centerline is valid? [True, True] Translation: X:59.92, Y:3.30, Z:-0.43 [[ 9.71229937e-01 -2.38133550e-01 -2.19598611e-03 5.99213738e+01] [ 2.38133033e-01 9.71232419e-01 -4.97724636e-04 3.29535062e+00] [ 2.25133783e-03 -3.95317647e-05 9.99997465e-01 -4.28606452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.197719421 meters Centerline goodness : 0.977856 Centerline is valid? [True, True] Translation: X:59.95, Y:3.30, Z:-0.43 [[ 9.71208832e-01 -2.38219612e-01 -2.19593671e-03 5.99492411e+01] [ 2.38219094e-01 9.71211313e-01 -4.97942487e-04 3.30111410e+00] [ 2.25133824e-03 -3.95079127e-05 9.99997465e-01 -4.29327497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.227719421 meters Centerline goodness : 0.976160 Centerline is valid? [True, True] Translation: X:59.98, Y:3.31, Z:-0.43 [[ 9.70565682e-01 -2.40826566e-01 -2.19579773e-03 5.99758588e+01] [ 2.40826054e-01 9.70568165e-01 -4.98554580e-04 3.30972909e+00] [ 2.25123656e-03 -4.49253379e-05 9.99997465e-01 -4.31891268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.25771942099999 meters Centerline goodness : 0.973468 Centerline is valid? [True, True] Translation: X:60.00, Y:3.32, Z:-0.43 [[ 9.69404526e-01 -2.45458845e-01 -2.19574882e-03 6.00013054e+01] [ 2.45458344e-01 9.69407011e-01 -4.98769901e-04 3.32308629e+00] [ 2.25100179e-03 -5.54550710e-05 9.99997465e-01 -4.33889083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28771942099999 meters Centerline goodness : 0.972587 Centerline is valid? [True, True] Translation: X:60.03, Y:3.33, Z:-0.44 [[ 9.68615496e-01 -2.48554219e-01 -2.19570040e-03 6.00288608e+01] [ 2.48553726e-01 9.68617983e-01 -4.98982983e-04 3.33221282e+00] [ 2.25081922e-03 -6.24268659e-05 9.99997465e-01 -4.35390313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.31771942099999 meters Centerline goodness : 0.972080 Centerline is valid? [True, True] Translation: X:60.06, Y:3.34, Z:-0.44 [[ 9.66639395e-01 -2.56131725e-01 -2.19556715e-03 6.00568168e+01] [ 2.56131250e-01 9.66641885e-01 -4.99568588e-04 3.33785946e+00] [ 2.25028253e-03 -7.94506814e-05 9.99997465e-01 -4.35876057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.347719421 meters Centerline goodness : 0.974284 Centerline is valid? [True, True] Translation: X:60.08, Y:3.34, Z:-0.43 [[ 9.65624227e-01 -2.59932747e-01 -2.19542839e-03 6.00847478e+01] [ 2.59932280e-01 9.65626718e-01 -5.00177644e-04 3.34394640e+00] [ 2.24997686e-03 -8.76790578e-05 9.99997465e-01 -4.32665981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.377719421 meters Centerline goodness : 0.975769 Centerline is valid? [True, True] Translation: X:60.11, Y:3.36, Z:-0.43 [[ 9.63832257e-01 -2.66500582e-01 -2.19528192e-03 6.01102555e+01] [ 2.66500131e-01 9.63834752e-01 -5.00819709e-04 3.35500158e+00] [ 2.24935774e-03 -1.02336728e-04 9.99997465e-01 -4.31120760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.407719421 meters Centerline goodness : 0.976744 Centerline is valid? [True, True] Translation: X:60.14, Y:3.36, Z:-0.43 [[ 9.63281470e-01 -2.68484620e-01 -2.19522004e-03 6.01371295e+01] [ 2.68484174e-01 9.63283965e-01 -5.01090763e-04 3.36448516e+00] [ 2.24915543e-03 -1.06690392e-04 9.99997465e-01 -4.29952708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.437719421 meters Centerline goodness : 0.977191 Centerline is valid? [True, True] Translation: X:60.16, Y:3.38, Z:-0.43 [[ 9.62648365e-01 -2.70745835e-01 -2.19516854e-03 6.01632621e+01] [ 2.70745394e-01 9.62650861e-01 -5.01316296e-04 3.37532500e+00] [ 2.24891018e-03 -1.11740458e-04 9.99997465e-01 -4.29102796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.467719421 meters Centerline goodness : 0.975672 Centerline is valid? [True, True] Translation: X:60.19, Y:3.38, Z:-0.43 [[ 9.62505862e-01 -2.71252001e-01 -2.19500178e-03 6.01894460e+01] [ 2.71251559e-01 9.62508358e-01 -5.02045393e-04 3.38400095e+00] [ 2.24888837e-03 -1.12176021e-04 9.99997465e-01 -4.31209496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.497719421 meters Centerline goodness : 0.981338 Centerline is valid? [True, True] Translation: X:60.22, Y:3.40, Z:-0.42 [[ 9.62804528e-01 -2.70189975e-01 -2.19495045e-03 6.02165143e+01] [ 2.70189531e-01 9.62807024e-01 -5.02269711e-04 3.39557257e+00] [ 2.24902195e-03 -1.09465078e-04 9.99997465e-01 -4.24994725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.527719421 meters Centerline goodness : 0.976801 Centerline is valid? [True, True] Translation: X:60.24, Y:3.40, Z:-0.43 [[ 9.63173417e-01 -2.68871998e-01 -2.19479951e-03 6.02432256e+01] [ 2.68871548e-01 9.63175912e-01 -5.02928411e-04 3.40363786e+00] [ 2.24920138e-03 -1.05711866e-04 9.99997465e-01 -4.29313073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.557719421 meters Centerline goodness : 0.979357 Centerline is valid? [True, True] Translation: X:60.27, Y:3.41, Z:-0.43 [[ 9.64503376e-01 -2.64061396e-01 -2.19474585e-03 6.02699220e+01] [ 2.64060933e-01 9.64505869e-01 -5.03162464e-04 3.41433005e+00] [ 2.24971103e-03 -9.42447416e-05 9.99997465e-01 -4.25695988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.587719421 meters Centerline goodness : 0.980583 Centerline is valid? [True, True] Translation: X:60.30, Y:3.42, Z:-0.43 [[ 9.65457695e-01 -2.60550614e-01 -2.19457677e-03 6.02972638e+01] [ 2.60550141e-01 9.65460186e-01 -5.03898856e-04 3.42489343e+00] [ 2.25006765e-03 -8.53042576e-05 9.99997465e-01 -4.25672628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.617719421 meters Centerline goodness : 0.981934 Centerline is valid? [True, True] Translation: X:60.32, Y:3.44, Z:-0.43 [[ 9.67667894e-01 -2.52218223e-01 -2.19442433e-03 6.03226613e+01] [ 2.52217727e-01 9.67670380e-01 -5.04561833e-04 3.44363654e+00] [ 2.25073911e-03 -6.52244292e-05 9.99997465e-01 -4.25266518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64771942099999 meters Centerline goodness : 0.982203 Centerline is valid? [True, True] Translation: X:60.35, Y:3.46, Z:-0.42 [[ 9.68908582e-01 -2.47409268e-01 -2.19427131e-03 6.03496435e+01] [ 2.47408758e-01 9.68911065e-01 -5.05226411e-04 3.45552343e+00] [ 2.25105145e-03 -5.33637342e-05 9.99997465e-01 -4.23575233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.67771942099999 meters Centerline goodness : 0.973102 Centerline is valid? [True, True] Translation: X:60.37, Y:3.47, Z:-0.43 [[ 9.71370610e-01 -2.37559094e-01 -2.19411843e-03 6.03748381e+01] [ 2.37558557e-01 9.71373088e-01 -5.05889477e-04 3.46832183e+00] [ 2.25148624e-03 -2.98254389e-05 9.99997465e-01 -4.32876803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.707719421 meters Centerline goodness : 0.976024 Centerline is valid? [True, True] Translation: X:60.40, Y:3.48, Z:-0.43 [[ 9.72376889e-01 -2.33406022e-01 -2.19403854e-03 6.04027296e+01] [ 2.33405474e-01 9.72379364e-01 -5.06235736e-04 3.47669591e+00] [ 2.25159627e-03 -1.98486746e-05 9.99997465e-01 -4.31094775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.737719421 meters Centerline goodness : 0.972365 Centerline is valid? [True, True] Translation: X:60.43, Y:3.49, Z:-0.43 [[ 9.73545063e-01 -2.28484565e-01 -2.19389060e-03 6.04294698e+01] [ 2.28484003e-01 9.73547535e-01 -5.06876033e-04 3.48970149e+00] [ 2.25167014e-03 -7.80224721e-06 9.99997465e-01 -4.34561270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.767719421 meters Centerline goodness : 0.972365 Centerline is valid? [True, True] Translation: X:60.46, Y:3.50, Z:-0.43 [[ 9.73467766e-01 -2.28813670e-01 -2.19374061e-03 6.04571271e+01] [ 2.28813107e-01 9.73470238e-01 -5.07524377e-04 3.49638149e+00] [ 2.25166971e-03 -7.89798292e-06 9.99997465e-01 -4.34497177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.797719421 meters Centerline goodness : 0.969269 Centerline is valid? [True, True] Translation: X:60.48, Y:3.52, Z:-0.44 [[ 9.74558678e-01 -2.24121776e-01 -2.19356878e-03 6.04811248e+01] [ 2.24121200e-01 9.74561147e-01 -5.08265936e-04 3.51553049e+00] [ 2.25168037e-03 3.70971131e-06 9.99997465e-01 -4.39535444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.827719421 meters Centerline goodness : 0.974442 Centerline is valid? [True, True] Translation: X:60.51, Y:3.53, Z:-0.43 [[ 9.75329393e-01 -2.20743662e-01 -2.19348868e-03 6.05070232e+01] [ 2.20743076e-01 9.75331859e-01 -5.08611387e-04 3.52616483e+00] [ 2.25165213e-03 1.18661961e-05 9.99997465e-01 -4.31958352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.857719421 meters Centerline goodness : 0.975311 Centerline is valid? [True, True] Translation: X:60.54, Y:3.53, Z:-0.43 [[ 9.76739262e-01 -2.14419222e-01 -2.19331787e-03 6.05350489e+01] [ 2.14418619e-01 9.76741725e-01 -5.09346925e-04 3.53247078e+00] [ 2.25151885e-03 2.72109511e-05 9.99997465e-01 -4.31719807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.887719421 meters Centerline goodness : 0.974315 Centerline is valid? [True, True] Translation: X:60.56, Y:3.54, Z:-0.43 [[ 9.77068907e-01 -2.12912049e-01 -2.19316027e-03 6.05627219e+01] [ 2.12911440e-01 9.77071368e-01 -5.10024607e-04 3.53726219e+00] [ 2.25146449e-03 3.13802734e-05 9.99997465e-01 -4.34068599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.917719421 meters Centerline goodness : 0.978014 Centerline is valid? [True, True] Translation: X:60.59, Y:3.54, Z:-0.43 [[ 9.76949531e-01 -2.13459140e-01 -2.19310443e-03 6.05912927e+01] [ 2.13458533e-01 9.76951992e-01 -5.10264622e-04 3.54285762e+00] [ 2.25147839e-03 3.03659297e-05 9.99997465e-01 -4.31581598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.947719421 meters Centerline goodness : 0.976448 Centerline is valid? [True, True] Translation: X:60.62, Y:3.55, Z:-0.43 [[ 9.76757935e-01 -2.14334149e-01 -2.19294994e-03 6.06187135e+01] [ 2.14333542e-01 9.76760396e-01 -5.10927704e-04 3.55029482e+00] [ 2.25149591e-03 2.90299618e-05 9.99997465e-01 -4.32664336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.977719421 meters Centerline goodness : 0.969791 Centerline is valid? [True, True] Translation: X:60.65, Y:3.56, Z:-0.44 [[ 9.75903655e-01 -2.18190850e-01 -2.19279512e-03 6.06463430e+01] [ 2.18190251e-01 9.75906119e-01 -5.11591283e-04 3.55695558e+00] [ 2.25158672e-03 2.08172836e-05 9.99997465e-01 -4.39656547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00771942099999 meters Centerline goodness : 0.971601 Centerline is valid? [True, True] Translation: X:60.67, Y:3.56, Z:-0.44 [[ 9.75158161e-01 -2.21498879e-01 -2.19264281e-03 6.06745280e+01] [ 2.21498288e-01 9.75160626e-01 -5.12243252e-04 3.56282046e+00] [ 2.25164024e-03 1.38515591e-05 9.99997465e-01 -4.35778299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.03771942099999 meters Centerline goodness : 0.972060 Centerline is valid? [True, True] Translation: X:60.70, Y:3.56, Z:-0.43 [[ 9.73404538e-01 -2.29082516e-01 -2.19248987e-03 6.07035514e+01] [ 2.29081941e-01 9.73407007e-01 -5.12897022e-04 3.56359688e+00] [ 2.25168075e-03 -3.00354867e-06 9.99997465e-01 -4.33532702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06771942099999 meters Centerline goodness : 0.977287 Centerline is valid? [True, True] Translation: X:60.73, Y:3.57, Z:-0.43 [[ 9.72342008e-01 -2.33551307e-01 -2.19244668e-03 6.07318695e+01] [ 2.33550744e-01 9.72344479e-01 -5.13081612e-04 3.56679092e+00] [ 2.25164430e-03 -1.31567475e-05 9.99997465e-01 -4.27988549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.097719421 meters Centerline goodness : 0.979732 Centerline is valid? [True, True] Translation: X:60.76, Y:3.57, Z:-0.43 [[ 9.70263479e-01 -2.42041266e-01 -2.19239310e-03 6.07590674e+01] [ 2.42040724e-01 9.70265956e-01 -5.13310452e-04 3.57138937e+00] [ 2.25144669e-03 -3.26020271e-05 9.99997465e-01 -4.26056217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.127719421 meters Centerline goodness : 0.974878 Centerline is valid? [True, True] Translation: X:60.79, Y:3.58, Z:-0.43 [[ 9.69403427e-01 -2.45463216e-01 -2.19221441e-03 6.07855964e+01] [ 2.45462681e-01 9.69405905e-01 -5.14072464e-04 3.57824021e+00] [ 2.25133147e-03 -3.97632179e-05 9.99997465e-01 -4.32545192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.157719421 meters Centerline goodness : 0.975348 Centerline is valid? [True, True] Translation: X:60.81, Y:3.59, Z:-0.43 [[ 9.68035481e-01 -2.50803712e-01 -2.19215935e-03 6.08136973e+01] [ 2.50803190e-01 9.68037962e-01 -5.14307124e-04 3.58676468e+00] [ 2.25108361e-03 -5.19330146e-05 9.99997465e-01 -4.30845369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.187719421 meters Centerline goodness : 0.973854 Centerline is valid? [True, True] Translation: X:60.84, Y:3.59, Z:-0.43 [[ 9.67525064e-01 -2.52765594e-01 -2.19201714e-03 6.08416649e+01] [ 2.52765076e-01 9.67527545e-01 -5.14912522e-04 3.59289437e+00] [ 2.25098913e-03 -5.58746081e-05 9.99997465e-01 -4.32734686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.217719421 meters Centerline goodness : 0.972496 Centerline is valid? [True, True] Translation: X:60.87, Y:3.60, Z:-0.43 [[ 9.66776433e-01 -2.55614013e-01 -2.19186403e-03 6.08706711e+01] [ 2.55613501e-01 9.66778916e-01 -5.15563461e-04 3.59638993e+00] [ 2.25083318e-03 -6.18354335e-05 9.99997465e-01 -4.34413673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.247719421 meters Centerline goodness : 0.970564 Centerline is valid? [True, True] Translation: X:60.90, Y:3.60, Z:-0.44 [[ 9.66636374e-01 -2.56143155e-01 -2.19171130e-03 6.08982663e+01] [ 2.56142643e-01 9.66638857e-01 -5.16211897e-04 3.60265370e+00] [ 2.25081745e-03 -6.24015283e-05 9.99997465e-01 -4.35755253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.277719421 meters Centerline goodness : 0.969937 Centerline is valid? [True, True] Translation: X:60.92, Y:3.61, Z:-0.44 [[ 9.66450912e-01 -2.56842037e-01 -2.19156062e-03 6.09239290e+01] [ 2.56841525e-01 9.66453395e-01 -5.16850834e-04 3.61299983e+00] [ 2.25079022e-03 -6.33728110e-05 9.99997465e-01 -4.35803334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.307719421 meters Centerline goodness : 0.972261 Centerline is valid? [True, True] Translation: X:60.95, Y:3.62, Z:-0.43 [[ 9.66566316e-01 -2.56407397e-01 -2.19150716e-03 6.09499051e+01] [ 2.56406883e-01 9.66568799e-01 -5.17077413e-04 3.62169502e+00] [ 2.25082492e-03 -6.21279095e-05 9.99997465e-01 -4.32920844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.337719421 meters Centerline goodness : 0.971981 Centerline is valid? [True, True] Translation: X:60.98, Y:3.63, Z:-0.43 [[ 9.66574054e-01 -2.56378229e-01 -2.19144395e-03 6.09778454e+01] [ 2.56377714e-01 9.66576536e-01 -5.17345181e-04 3.62776778e+00] [ 2.25083434e-03 -6.17849608e-05 9.99997465e-01 -4.32144405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.367719421 meters Centerline goodness : 0.973627 Centerline is valid? [True, True] Translation: X:61.01, Y:3.63, Z:-0.43 [[ 9.66533406e-01 -2.56531426e-01 -2.19129691e-03 6.10061886e+01] [ 2.56530910e-01 9.66535888e-01 -5.17967217e-04 3.63390113e+00] [ 2.25084198e-03 -6.15027728e-05 9.99997465e-01 -4.32064863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.39771942099999 meters Centerline goodness : 0.978365 Centerline is valid? [True, True] Translation: X:61.03, Y:3.64, Z:-0.43 [[ 9.66787374e-01 -2.55572635e-01 -2.19114905e-03 6.10339050e+01] [ 2.55572116e-01 9.66789855e-01 -5.18591954e-04 3.64143780e+00] [ 2.25091859e-03 -5.86284459e-05 9.99997465e-01 -4.26224458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42771942099999 meters Centerline goodness : 0.978846 Centerline is valid? [True, True] Translation: X:61.06, Y:3.65, Z:-0.43 [[ 9.67180991e-01 -2.54078985e-01 -2.19098932e-03 6.10608376e+01] [ 2.54078460e-01 9.67183471e-01 -5.19265933e-04 3.65004619e+00] [ 2.25102321e-03 -5.44590527e-05 9.99997465e-01 -4.25252279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.457719421 meters Centerline goodness : 0.977452 Centerline is valid? [True, True] Translation: X:61.09, Y:3.66, Z:-0.43 [[ 9.69128850e-01 -2.46545070e-01 -2.19093313e-03 6.10863848e+01] [ 2.46544526e-01 9.69131326e-01 -5.19502907e-04 3.66137834e+00] [ 2.25138281e-03 -3.66973140e-05 9.99997465e-01 -4.26209166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.487719421 meters Centerline goodness : 0.977341 Centerline is valid? [True, True] Translation: X:61.11, Y:3.67, Z:-0.43 [[ 9.70475304e-01 -2.41190555e-01 -2.19085547e-03 6.11143237e+01] [ 2.41189996e-01 9.70477777e-01 -5.19830180e-04 3.67051889e+00] [ 2.25155468e-03 -2.39300701e-05 9.99997465e-01 -4.27599328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.517719421 meters Centerline goodness : 0.975828 Centerline is valid? [True, True] Translation: X:61.14, Y:3.68, Z:-0.43 [[ 9.73653833e-01 -2.28020645e-01 -2.19070953e-03 6.11403301e+01] [ 2.28020051e-01 9.73656297e-01 -5.20444500e-04 3.67971474e+00] [ 2.25167022e-03 7.20708251e-06 9.99997465e-01 -4.28881061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.547719421 meters Centerline goodness : 0.975639 Centerline is valid? [True, True] Translation: X:61.17, Y:3.68, Z:-0.43 [[ 9.76007110e-01 -2.17727633e-01 -2.19065380e-03 6.11678828e+01] [ 2.17727013e-01 9.76009568e-01 -5.20678998e-04 3.68495611e+00] [ 2.25146527e-03 3.12218976e-05 9.99997465e-01 -4.29080384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.577719421 meters Centerline goodness : 0.975166 Centerline is valid? [True, True] Translation: X:61.20, Y:3.69, Z:-0.43 [[ 9.76656642e-01 -2.14795262e-01 -2.19059890e-03 6.11957923e+01] [ 2.14794634e-01 9.76659098e-01 -5.20909832e-04 3.69257115e+00] [ 2.25135731e-03 3.82211587e-05 9.99997465e-01 -4.30517315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.607719421 meters Centerline goodness : 0.972272 Centerline is valid? [True, True] Translation: X:61.22, Y:3.70, Z:-0.43 [[ 9.77267977e-01 -2.11996469e-01 -2.19044534e-03 6.12231858e+01] [ 2.11995833e-01 9.77270431e-01 -5.21554771e-04 3.70240618e+00] [ 2.25122523e-03 4.53334912e-05 9.99997465e-01 -4.33249289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.637719421 meters Centerline goodness : 0.968665 Centerline is valid? [True, True] Translation: X:61.25, Y:3.71, Z:-0.44 [[ 9.77162861e-01 -2.12480458e-01 -2.19029034e-03 6.12505589e+01] [ 2.12479821e-01 9.77165315e-01 -5.22204886e-04 3.70759276e+00] [ 2.25123409e-03 4.48867207e-05 9.99997465e-01 -4.36112510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.667719421 meters Centerline goodness : 0.966888 Centerline is valid? [True, True] Translation: X:61.28, Y:3.71, Z:-0.44 [[ 9.76989482e-01 -2.13276242e-01 -2.19023570e-03 6.12796699e+01] [ 2.13275607e-01 9.76991936e-01 -5.22433978e-04 3.71120905e+00] [ 2.25126537e-03 4.32886548e-05 9.99997465e-01 -4.36081556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.697719421 meters Centerline goodness : 0.963447 Centerline is valid? [True, True] Translation: X:61.31, Y:3.71, Z:-0.44 [[ 9.77062250e-01 -2.12942630e-01 -2.19007563e-03 6.13076541e+01] [ 2.12941992e-01 9.77064703e-01 -5.23104115e-04 3.71249155e+00] [ 2.25123677e-03 4.47462147e-05 9.99997465e-01 -4.40020336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.727719421 meters Centerline goodness : 0.966285 Centerline is valid? [True, True] Translation: X:61.34, Y:3.72, Z:-0.44 [[ 9.77601736e-01 -2.10452012e-01 -2.19001912e-03 6.13353209e+01] [ 2.10451368e-01 9.77604188e-01 -5.23340628e-04 3.71509837e+00] [ 2.25110995e-03 5.07261885e-05 9.99997465e-01 -4.39582407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.75771942099999 meters Centerline goodness : 0.969942 Centerline is valid? [True, True] Translation: X:61.36, Y:3.72, Z:-0.44 [[ 9.77949811e-01 -2.08828571e-01 -2.18996415e-03 6.13633489e+01] [ 2.08827922e-01 9.77952261e-01 -5.23570540e-04 3.71961171e+00] [ 2.25101688e-03 5.47000491e-05 9.99997465e-01 -4.35149960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78771942099999 meters Centerline goodness : 0.970054 Centerline is valid? [True, True] Translation: X:61.39, Y:3.72, Z:-0.43 [[ 9.78252069e-01 -2.07408039e-01 -2.18990820e-03 6.13914003e+01] [ 2.07407386e-01 9.78254518e-01 -5.23804459e-04 3.72055344e+00] [ 2.25092884e-03 5.82096613e-05 9.99997465e-01 -4.34321845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.81771942099999 meters Centerline goodness : 0.969252 Centerline is valid? [True, True] Translation: X:61.42, Y:3.72, Z:-0.43 [[ 9.77930626e-01 -2.08918394e-01 -2.18985288e-03 6.14198446e+01] [ 2.08917744e-01 9.77933076e-01 -5.24035614e-04 3.72397287e+00] [ 2.25101024e-03 5.49713525e-05 9.99997465e-01 -4.34667482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.847719421 meters Centerline goodness : 0.969904 Centerline is valid? [True, True] Translation: X:61.45, Y:3.72, Z:-0.43 [[ 9.76280883e-01 -2.16496749e-01 -2.18969823e-03 6.14493079e+01] [ 2.16496116e-01 9.76283338e-01 -5.24681026e-04 3.72444674e+00] [ 2.25135764e-03 3.81748917e-05 9.99997465e-01 -4.34823031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.877719421 meters Centerline goodness : 0.972343 Centerline is valid? [True, True] Translation: X:61.48, Y:3.73, Z:-0.43 [[ 9.75191370e-01 -2.21352655e-01 -2.18954471e-03 6.14776477e+01] [ 2.21352033e-01 9.75193828e-01 -5.25320905e-04 3.72807273e+00] [ 2.25151166e-03 2.76282392e-05 9.99997465e-01 -4.32893888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.907719421 meters Centerline goodness : 0.974635 Centerline is valid? [True, True] Translation: X:61.51, Y:3.73, Z:-0.43 [[ 9.73279740e-01 -2.29612181e-01 -2.18939117e-03 6.15067124e+01] [ 2.29611579e-01 9.73282203e-01 -5.25960058e-04 3.72754563e+00] [ 2.25166229e-03 9.19670562e-06 9.99997465e-01 -4.28594023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.937719421 meters Centerline goodness : 0.975452 Centerline is valid? [True, True] Translation: X:61.53, Y:3.73, Z:-0.43 [[ 9.72338890e-01 -2.33564316e-01 -2.18934779e-03 6.15346156e+01] [ 2.33563724e-01 9.72341355e-01 -5.26140553e-04 3.73018076e+00] [ 2.25168106e-03 2.34698378e-07 9.99997465e-01 -4.28092572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.967719421 meters Centerline goodness : 0.971904 Centerline is valid? [True, True] Translation: X:61.56, Y:3.73, Z:-0.43 [[ 9.70705791e-01 -2.40261264e-01 -2.18917760e-03 6.15635224e+01] [ 2.40260687e-01 9.70708259e-01 -5.26847732e-04 3.73028262e+00] [ 2.25163388e-03 -1.45591694e-05 9.99997465e-01 -4.30616008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.997719421 meters Centerline goodness : 0.971330 Centerline is valid? [True, True] Translation: X:61.59, Y:3.74, Z:-0.43 [[ 9.69862238e-01 -2.43644101e-01 -2.18912510e-03 6.15911365e+01] [ 2.43643532e-01 9.69864708e-01 -5.27065796e-04 3.73596959e+00] [ 2.25157165e-03 -2.21849578e-05 9.99997465e-01 -4.31986524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.027719421 meters Centerline goodness : 0.973216 Centerline is valid? [True, True] Translation: X:61.62, Y:3.74, Z:-0.43 [[ 9.69021004e-01 -2.46968627e-01 -2.18895863e-03 6.16185962e+01] [ 2.46968065e-01 9.69023476e-01 -5.27756254e-04 3.74325170e+00] [ 2.25149154e-03 -2.91959815e-05 9.99997465e-01 -4.31161030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.057719421 meters Centerline goodness : 0.973655 Centerline is valid? [True, True] Translation: X:61.65, Y:3.75, Z:-0.43 [[ 9.69030250e-01 -2.46932346e-01 -2.18879885e-03 6.16457846e+01] [ 2.46931783e-01 9.69032722e-01 -5.28418081e-04 3.74972707e+00] [ 2.25150122e-03 -2.84308971e-05 9.99997465e-01 -4.31426029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.087719421 meters Centerline goodness : 0.972984 Centerline is valid? [True, True] Translation: X:61.67, Y:3.76, Z:-0.43 [[ 9.70359296e-01 -2.41656876e-01 -2.18861541e-03 6.16726413e+01] [ 2.41656297e-01 9.70361764e-01 -5.29176785e-04 3.75545367e+00] [ 2.25162792e-03 -1.54010829e-05 9.99997465e-01 -4.30414572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.117719421 meters Centerline goodness : 0.966494 Centerline is valid? [True, True] Translation: X:61.70, Y:3.76, Z:-0.44 [[ 9.72591944e-01 -2.32508322e-01 -2.18855874e-03 6.16998157e+01] [ 2.32507720e-01 9.72594407e-01 -5.29411059e-04 3.76155547e+00] [ 2.25167246e-03 6.04412992e-06 9.99997465e-01 -4.38439083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14771942099999 meters Centerline goodness : 0.969436 Centerline is valid? [True, True] Translation: X:61.73, Y:3.77, Z:-0.43 [[ 9.73669904e-01 -2.27952031e-01 -2.18850298e-03 6.17270458e+01] [ 2.27951416e-01 9.73672363e-01 -5.29641443e-04 3.76741058e+00] [ 2.25161771e-03 1.68235789e-05 9.99997465e-01 -4.33468203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.17771942099999 meters Centerline goodness : 0.964128 Centerline is valid? [True, True] Translation: X:61.75, Y:3.77, Z:-0.44 [[ 9.74921652e-01 -2.22537601e-01 -2.18832439e-03 6.17545897e+01] [ 2.22536971e-01 9.74924108e-01 -5.30378315e-04 3.77284292e+00] [ 2.25147932e-03 3.00942228e-05 9.99997465e-01 -4.38233297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.207719421 meters Centerline goodness : 0.968947 Centerline is valid? [True, True] Translation: X:61.78, Y:3.78, Z:-0.43 [[ 9.76977127e-01 -2.13332852e-01 -2.18826915e-03 6.17825655e+01] [ 2.13332198e-01 9.76979576e-01 -5.30606109e-04 3.77995838e+00] [ 2.25108998e-03 5.15617632e-05 9.99997465e-01 -4.34916087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.237719421 meters Centerline goodness : 0.968166 Centerline is valid? [True, True] Translation: X:61.81, Y:3.79, Z:-0.43 [[ 9.78820338e-01 -2.04709450e-01 -2.18811550e-03 6.18089250e+01] [ 2.04708774e-01 9.78822781e-01 -5.31239007e-04 3.78795064e+00] [ 2.25052694e-03 7.20611047e-05 9.99997465e-01 -4.34715174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.267719421 meters Centerline goodness : 0.969095 Centerline is valid? [True, True] Translation: X:61.84, Y:3.79, Z:-0.43 [[ 9.79455535e-01 -2.01648374e-01 -2.18806098e-03 6.18367002e+01] [ 2.01647690e-01 9.79457976e-01 -5.31463431e-04 3.79451451e+00] [ 2.25028252e-03 7.93273564e-05 9.99997465e-01 -4.34431565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.297719421 meters Centerline goodness : 0.965097 Centerline is valid? [True, True] Translation: X:61.86, Y:3.80, Z:-0.44 [[ 9.80350743e-01 -1.97250182e-01 -2.18790825e-03 6.18641954e+01] [ 1.97249485e-01 9.80353180e-01 -5.32091476e-04 3.79913113e+00] [ 2.24987795e-03 9.00724988e-05 9.99997465e-01 -4.36837501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.327719421 meters Centerline goodness : 0.964856 Centerline is valid? [True, True] Translation: X:61.89, Y:3.80, Z:-0.44 [[ 9.80714414e-01 -1.95434005e-01 -2.18785438e-03 6.18930233e+01] [ 1.95433303e-01 9.80716850e-01 -5.32312888e-04 3.80399709e+00] [ 2.24969769e-03 9.44673145e-05 9.99997465e-01 -4.37212018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.357719421 meters Centerline goodness : 0.968889 Centerline is valid? [True, True] Translation: X:61.92, Y:3.80, Z:-0.43 [[ 9.81245437e-01 -1.92750113e-01 -2.18770360e-03 6.19221789e+01] [ 1.92749403e-01 9.81247871e-01 -5.32931828e-04 3.80470135e+00] [ 2.24940217e-03 1.01258361e-04 9.99997465e-01 -4.34208048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.387719421 meters Centerline goodness : 0.972360 Centerline is valid? [True, True] Translation: X:61.95, Y:3.81, Z:-0.43 [[ 9.81450055e-01 -1.91705511e-01 -2.18765819e-03 6.19501727e+01] [ 1.91704798e-01 9.81452488e-01 -5.33118189e-04 3.80767891e+00] [ 2.24928426e-03 1.03844306e-04 9.99997465e-01 -4.30605341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.417719421 meters Centerline goodness : 0.972529 Centerline is valid? [True, True] Translation: X:61.98, Y:3.81, Z:-0.43 [[ 9.81313276e-01 -1.92404440e-01 -2.18757979e-03 6.19785494e+01] [ 1.92403728e-01 9.81315709e-01 -5.33439687e-04 3.81309605e+00] [ 2.24934258e-03 1.02572940e-04 9.99997465e-01 -4.30548358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.447719421 meters Centerline goodness : 0.971332 Centerline is valid? [True, True] Translation: X:62.01, Y:3.81, Z:-0.43 [[ 9.80674881e-01 -1.95632291e-01 -2.18743546e-03 6.20083487e+01] [ 1.95631585e-01 9.80677316e-01 -5.34030866e-04 3.81388766e+00] [ 2.24964202e-03 9.57791893e-05 9.99997465e-01 -4.29909234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.477719421 meters Centerline goodness : 0.975993 Centerline is valid? [True, True] Translation: X:62.04, Y:3.82, Z:-0.43 [[ 9.80305154e-01 -1.97476631e-01 -2.18729280e-03 6.20370855e+01] [ 1.97475929e-01 9.80307590e-01 -5.34614545e-04 3.81595536e+00] [ 2.24979361e-03 9.21477168e-05 9.99997465e-01 -4.26536882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50771942099999 meters Centerline goodness : 0.971268 Centerline is valid? [True, True] Translation: X:62.07, Y:3.82, Z:-0.43 [[ 9.79835773e-01 -1.99792579e-01 -2.18711666e-03 6.20652767e+01] [ 1.99791881e-01 9.79838210e-01 -5.35334175e-04 3.81821597e+00] [ 2.24997627e-03 8.75714245e-05 9.99997465e-01 -4.31598883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.53771942099999 meters Centerline goodness : 0.970166 Centerline is valid? [True, True] Translation: X:62.09, Y:3.82, Z:-0.43 [[ 9.78092998e-01 -2.08156919e-01 -2.18706232e-03 6.20948420e+01] [ 2.08156242e-01 9.78095441e-01 -5.35556062e-04 3.81787583e+00] [ 2.25063539e-03 6.85729609e-05 9.99997465e-01 -4.33854742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56771942099999 meters Centerline goodness : 0.969039 Centerline is valid? [True, True] Translation: X:62.12, Y:3.82, Z:-0.44 [[ 9.76864433e-01 -2.13848306e-01 -2.18691055e-03 6.21234525e+01] [ 2.13847641e-01 9.76866879e-01 -5.36175094e-04 3.82178568e+00] [ 2.25098062e-03 5.61047166e-05 9.99997465e-01 -4.35441394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.597719421 meters Centerline goodness : 0.964816 Centerline is valid? [True, True] Translation: X:62.15, Y:3.82, Z:-0.44 [[ 9.74781881e-01 -2.23149059e-01 -2.18675892e-03 6.21525445e+01] [ 2.23148416e-01 9.74784333e-01 -5.36792812e-04 3.82152834e+00] [ 2.25140314e-03 3.52841184e-05 9.99997465e-01 -4.39231026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.627719421 meters Centerline goodness : 0.961873 Centerline is valid? [True, True] Translation: X:62.18, Y:3.82, Z:-0.44 [[ 9.72961304e-01 -2.30957828e-01 -2.18670551e-03 6.21822191e+01] [ 2.30957204e-01 9.72963762e-01 -5.37010281e-04 3.82083377e+00] [ 2.25161195e-03 1.74548312e-05 9.99997465e-01 -4.39037482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.657719421 meters Centerline goodness : 0.965593 Centerline is valid? [True, True] Translation: X:62.21, Y:3.82, Z:-0.44 [[ 9.72003275e-01 -2.34957131e-01 -2.18656690e-03 6.22098132e+01] [ 2.34956516e-01 9.72005734e-01 -5.37574062e-04 3.82484251e+00] [ 2.25166243e-03 8.77560699e-06 9.99997465e-01 -4.35857063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.687719421 meters Centerline goodness : 0.965593 Centerline is valid? [True, True] Translation: X:62.24, Y:3.83, Z:-0.44 [[ 9.71928665e-01 -2.35265575e-01 -2.18639614e-03 6.22374058e+01] [ 2.35264959e-01 9.71931124e-01 -5.38267699e-04 3.83193341e+00] [ 2.25166231e-03 8.77540824e-06 9.99997465e-01 -4.35792956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.717719421 meters Centerline goodness : 0.963721 Centerline is valid? [True, True] Translation: X:62.26, Y:3.84, Z:-0.44 [[ 9.71326475e-01 -2.37739561e-01 -2.18622510e-03 6.22646013e+01] [ 2.37738951e-01 9.71328935e-01 -5.38961475e-04 3.83818972e+00] [ 2.25167617e-03 3.75668767e-06 9.99997465e-01 -4.36872632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.747719421 meters Centerline goodness : 0.963820 Centerline is valid? [True, True] Translation: X:62.29, Y:3.85, Z:-0.44 [[ 9.71784098e-01 -2.35862009e-01 -2.18617223e-03 6.22915442e+01] [ 2.35861393e-01 9.71786557e-01 -5.39175857e-04 3.84744439e+00] [ 2.25166389e-03 8.32889640e-06 9.99997465e-01 -4.35953677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.777719421 meters Centerline goodness : 0.969417 Centerline is valid? [True, True] Translation: X:62.32, Y:3.86, Z:-0.43 [[ 9.73827505e-01 -2.27277831e-01 -2.18602545e-03 6.23193916e+01] [ 2.27277191e-01 9.73829958e-01 -5.39770308e-04 3.85566615e+00] [ 2.25149490e-03 2.88094474e-05 9.99997465e-01 -4.28915408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.807719421 meters Centerline goodness : 0.968899 Centerline is valid? [True, True] Translation: X:62.35, Y:3.86, Z:-0.43 [[ 9.74953744e-01 -2.22396986e-01 -2.18586443e-03 6.23478285e+01] [ 2.22396333e-01 9.74956193e-01 -5.40421576e-04 3.86130400e+00] [ 2.25131020e-03 4.07578031e-05 9.99997465e-01 -4.27607265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.837719421 meters Centerline goodness : 0.971266 Centerline is valid? [True, True] Translation: X:62.38, Y:3.86, Z:-0.43 [[ 9.76944186e-01 -2.13483674e-01 -2.18570422e-03 6.23755526e+01] [ 2.13482998e-01 9.76946630e-01 -5.41068761e-04 3.86490035e+00] [ 2.25082572e-03 6.19832908e-05 9.99997465e-01 -4.25962453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.867719421 meters Centerline goodness : 0.969495 Centerline is valid? [True, True] Translation: X:62.40, Y:3.87, Z:-0.43 [[ 9.78675738e-01 -2.05399666e-01 -2.18561968e-03 6.24018137e+01] [ 2.05398968e-01 9.78678175e-01 -5.41410069e-04 3.87436496e+00] [ 2.25022372e-03 8.09408717e-05 9.99997465e-01 -4.29930606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.89771942099999 meters Centerline goodness : 0.968983 Centerline is valid? [True, True] Translation: X:62.43, Y:3.88, Z:-0.43 [[ 9.79577297e-01 -2.01056067e-01 -2.18556446e-03 6.24287317e+01] [ 2.01055358e-01 9.79579731e-01 -5.41632865e-04 3.88287659e+00] [ 2.24983322e-03 9.11518118e-05 9.99997465e-01 -4.30735627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92771942099999 meters Centerline goodness : 0.967712 Centerline is valid? [True, True] Translation: X:62.46, Y:3.89, Z:-0.43 [[ 9.80373891e-01 -1.97135125e-01 -2.18550977e-03 6.24570295e+01] [ 1.97134406e-01 9.80376322e-01 -5.41853463e-04 3.88738560e+00] [ 2.24944038e-03 1.00379817e-04 9.99997465e-01 -4.31947220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.957719421 meters Centerline goodness : 0.964475 Centerline is valid? [True, True] Translation: X:62.49, Y:3.89, Z:-0.43 [[ 9.80337850e-01 -1.97314275e-01 -2.18535932e-03 6.24857345e+01] [ 1.97313555e-01 9.80340281e-01 -5.42459574e-04 3.88962636e+00] [ 2.24943079e-03 1.00592636e-04 9.99997465e-01 -4.33425676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.987719421 meters Centerline goodness : 0.963535 Centerline is valid? [True, True] Translation: X:62.52, Y:3.89, Z:-0.43 [[ 9.79902764e-01 -1.99463775e-01 -2.18518809e-03 6.25152270e+01] [ 1.99463059e-01 9.79905196e-01 -5.43148463e-04 3.89268492e+00] [ 2.24961561e-03 9.63683807e-05 9.99997465e-01 -4.34673183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.017719421 meters Centerline goodness : 0.966305 Centerline is valid? [True, True] Translation: X:62.54, Y:3.90, Z:-0.43 [[ 9.78540723e-01 -2.06041933e-01 -2.18504899e-03 6.25440296e+01] [ 2.06041232e-01 9.78543160e-01 -5.43707478e-04 3.89635717e+00] [ 2.25019128e-03 8.18297225e-05 9.99997465e-01 -4.33335464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.047719421 meters Centerline goodness : 0.968787 Centerline is valid? [True, True] Translation: X:62.57, Y:3.90, Z:-0.43 [[ 9.77202689e-01 -2.12297268e-01 -2.18490558e-03 6.25719527e+01] [ 2.12296581e-01 9.77205130e-01 -5.44283169e-04 3.90233615e+00] [ 2.25065077e-03 6.80269922e-05 9.99997465e-01 -4.30717545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.077719421 meters Centerline goodness : 0.968673 Centerline is valid? [True, True] Translation: X:62.60, Y:3.91, Z:-0.43 [[ 9.76568441e-01 -2.15195975e-01 -2.18474705e-03 6.26008678e+01] [ 2.15195294e-01 9.76570882e-01 -5.44918774e-04 3.90684841e+00] [ 2.25082468e-03 6.20031934e-05 9.99997465e-01 -4.31266232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.107719421 meters Centerline goodness : 0.961980 Centerline is valid? [True, True] Translation: X:62.63, Y:3.90, Z:-0.44 [[ 9.75897324e-01 -2.18219247e-01 -2.18458879e-03 6.26297376e+01] [ 2.18218572e-01 9.75899768e-01 -5.45552486e-04 3.90499133e+00] [ 2.25098975e-03 5.56853650e-05 9.99997465e-01 -4.36509297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.137719421 meters Centerline goodness : 0.963458 Centerline is valid? [True, True] Translation: X:62.66, Y:3.91, Z:-0.44 [[ 9.75518610e-01 -2.19906049e-01 -2.18453275e-03 6.26588237e+01] [ 2.19905378e-01 9.75521054e-01 -5.45776791e-04 3.90948799e+00] [ 2.25107731e-03 5.20249168e-05 9.99997465e-01 -4.36106747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.167719421 meters Centerline goodness : 0.963962 Centerline is valid? [True, True] Translation: X:62.69, Y:3.92, Z:-0.44 [[ 9.75102467e-01 -2.21744011e-01 -2.18439213e-03 6.26861196e+01] [ 2.21743344e-01 9.75104913e-01 -5.46339019e-04 3.91679733e+00] [ 2.25115890e-03 4.83621106e-05 9.99997465e-01 -4.35157190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.197719421 meters Centerline goodness : 0.961192 Centerline is valid? [True, True] Translation: X:62.71, Y:3.93, Z:-0.44 [[ 9.75069768e-01 -2.21887756e-01 -2.18421477e-03 6.27126384e+01] [ 2.21887087e-01 9.75072213e-01 -5.47047180e-04 3.92587826e+00] [ 2.25115020e-03 4.87601132e-05 9.99997465e-01 -4.36306231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.227719421 meters Centerline goodness : 0.962790 Centerline is valid? [True, True] Translation: X:62.74, Y:3.93, Z:-0.44 [[ 9.74609807e-01 -2.23899428e-01 -2.18415967e-03 6.27403408e+01] [ 2.23898763e-01 9.74612253e-01 -5.47267093e-04 3.93266025e+00] [ 2.25124156e-03 4.43412272e-05 9.99997465e-01 -4.35752016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.25771942099999 meters Centerline goodness : 0.959858 Centerline is valid? [True, True] Translation: X:62.77, Y:3.94, Z:-0.44 [[ 9.74177495e-01 -2.25772980e-01 -2.18400648e-03 6.27679906e+01] [ 2.25772319e-01 9.74179942e-01 -5.47877756e-04 3.93703718e+00] [ 2.25131130e-03 4.06419728e-05 9.99997465e-01 -4.36996309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28771942099999 meters Centerline goodness : 0.957734 Centerline is valid? [True, True] Translation: X:62.80, Y:3.94, Z:-0.44 [[ 9.72518534e-01 -2.32815233e-01 -2.18383227e-03 6.27963929e+01] [ 2.32814588e-01 9.72520985e-01 -5.48571246e-04 3.93879164e+00] [ 2.25153846e-03 2.50676921e-05 9.99997465e-01 -4.39647223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.31771942099999 meters Centerline goodness : 0.960313 Centerline is valid? [True, True] Translation: X:62.82, Y:3.95, Z:-0.44 [[ 9.70005569e-01 -2.43072884e-01 -2.18375701e-03 6.28242099e+01] [ 2.43072264e-01 9.70008027e-01 -5.48870700e-04 3.94700750e+00] [ 2.25167741e-03 1.59687535e-06 9.99997465e-01 -4.36161225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.347719421 meters Centerline goodness : 0.966040 Centerline is valid? [True, True] Translation: X:62.85, Y:3.96, Z:-0.43 [[ 9.68632548e-01 -2.48487862e-01 -2.18372498e-03 6.28519761e+01] [ 2.48487255e-01 9.68635010e-01 -5.48998095e-04 3.95532796e+00] [ 2.25165183e-03 -1.08504035e-05 9.99997465e-01 -4.30022789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.377719421 meters Centerline goodness : 0.968223 Centerline is valid? [True, True] Translation: X:62.88, Y:3.96, Z:-0.43 [[ 9.66175131e-01 -2.57877582e-01 -2.18355996e-03 6.28800084e+01] [ 2.57876999e-01 9.66177598e-01 -5.49653645e-04 3.96018163e+00] [ 2.25145008e-03 -3.20282068e-05 9.99997465e-01 -4.27191082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.407719421 meters Centerline goodness : 0.966877 Centerline is valid? [True, True] Translation: X:62.91, Y:3.97, Z:-0.43 [[ 9.65084048e-01 -2.61931313e-01 -2.18351141e-03 6.29070890e+01] [ 2.61930739e-01 9.65086517e-01 -5.49846464e-04 3.96596681e+00] [ 2.25129943e-03 -4.12807052e-05 9.99997465e-01 -4.28039173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.437719421 meters Centerline goodness : 0.968992 Centerline is valid? [True, True] Translation: X:62.93, Y:3.97, Z:-0.43 [[ 9.63140638e-01 -2.68989487e-01 -2.18345378e-03 6.29348646e+01] [ 2.68988931e-01 9.63143111e-01 -5.50075213e-04 3.97384364e+00] [ 2.25094292e-03 -5.75251065e-05 9.99997465e-01 -4.25452331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.467719421 meters Centerline goodness : 0.972069 Centerline is valid? [True, True] Translation: X:62.96, Y:3.98, Z:-0.42 [[ 9.62176128e-01 -2.72419403e-01 -2.18330378e-03 6.29622584e+01] [ 2.72418854e-01 9.62178603e-01 -5.50669952e-04 3.98286772e+00] [ 2.25074136e-03 -6.49316312e-05 9.99997465e-01 -4.23440732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.497719421 meters Centerline goodness : 0.968825 Centerline is valid? [True, True] Translation: X:62.99, Y:3.99, Z:-0.43 [[ 9.60868327e-01 -2.76996916e-01 -2.18313785e-03 6.29882171e+01] [ 2.76996378e-01 9.60870804e-01 -5.51326994e-04 3.99252078e+00] [ 2.25042930e-03 -7.49686293e-05 9.99997465e-01 -4.28010367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.527719421 meters Centerline goodness : 0.965576 Centerline is valid? [True, True] Translation: X:63.02, Y:4.00, Z:-0.43 [[ 9.60183935e-01 -2.79360065e-01 -2.18305202e-03 6.30154524e+01] [ 2.79359531e-01 9.60186413e-01 -5.51666645e-04 4.00394264e+00] [ 2.25025051e-03 -8.01549382e-05 9.99997465e-01 -4.27732019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.557719421 meters Centerline goodness : 0.964824 Centerline is valid? [True, True] Translation: X:63.04, Y:4.01, Z:-0.43 [[ 9.59841323e-01 -2.80534971e-01 -2.18289159e-03 6.30419290e+01] [ 2.80534439e-01 9.59843801e-01 -5.52300717e-04 4.01393372e+00] [ 2.25017463e-03 -8.22552177e-05 9.99997465e-01 -4.29173200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.587719421 meters Centerline goodness : 0.968259 Centerline is valid? [True, True] Translation: X:63.07, Y:4.03, Z:-0.43 [[ 9.58608025e-01 -2.84720722e-01 -2.18283047e-03 6.30679514e+01] [ 2.84720201e-01 9.58610506e-01 -5.52542154e-04 4.03018058e+00] [ 2.24980442e-03 -9.18245869e-05 9.99997465e-01 -4.25288758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.617719421 meters Centerline goodness : 0.966787 Centerline is valid? [True, True] Translation: X:63.09, Y:4.05, Z:-0.43 [[ 9.57335042e-01 -2.88972062e-01 -2.18266403e-03 6.30940161e+01] [ 2.88971550e-01 9.57337525e-01 -5.53198875e-04 4.04635218e+00] [ 2.24940520e-03 -1.01131138e-04 9.99997465e-01 -4.25228872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64771942099999 meters Centerline goodness : 0.963698 Centerline is valid? [True, True] Translation: X:63.12, Y:4.06, Z:-0.43 [[ 9.56365107e-01 -2.92166081e-01 -2.18250343e-03 6.31201956e+01] [ 2.92165576e-01 9.56367591e-01 -5.53831753e-04 4.05725235e+00] [ 2.24908640e-03 -1.07987006e-04 9.99997465e-01 -4.31066835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.67771942099999 meters Centerline goodness : 0.962836 Centerline is valid? [True, True] Translation: X:63.15, Y:4.07, Z:-0.43 [[ 9.55210885e-01 -2.95917898e-01 -2.18244245e-03 6.31467295e+01] [ 2.95917402e-01 9.55213371e-01 -5.54071930e-04 4.06858095e+00] [ 2.24865801e-03 -1.16567162e-04 9.99997465e-01 -4.30735107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.707719421 meters Centerline goodness : 0.964547 Centerline is valid? [True, True] Translation: X:63.17, Y:4.09, Z:-0.43 [[ 9.53733750e-01 -3.00644593e-01 -2.18227075e-03 6.31708173e+01] [ 3.00644108e-01 9.53736238e-01 -5.54747387e-04 4.08702187e+00] [ 2.24809249e-03 -1.27005537e-04 9.99997465e-01 -4.30648362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.737719421 meters Centerline goodness : 0.969059 Centerline is valid? [True, True] Translation: X:63.20, Y:4.10, Z:-0.42 [[ 9.52973882e-01 -3.03044581e-01 -2.18221031e-03 6.31969031e+01] [ 3.03044102e-01 9.52976371e-01 -5.54985017e-04 4.10063795e+00] [ 2.24778007e-03 -1.32419737e-04 9.99997465e-01 -4.24824957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.767719421 meters Centerline goodness : 0.972467 Centerline is valid? [True, True] Translation: X:63.22, Y:4.12, Z:-0.42 [[ 9.52056698e-01 -3.05913848e-01 -2.18203996e-03 6.32208218e+01] [ 3.05913375e-01 9.52059188e-01 -5.55653997e-04 4.11832066e+00] [ 2.24741344e-03 -1.38501098e-04 9.99997465e-01 -4.21906607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.797719421 meters Centerline goodness : 0.972697 Centerline is valid? [True, True] Translation: X:63.24, Y:4.14, Z:-0.42 [[ 9.52086078e-01 -3.05822398e-01 -2.18197996e-03 6.32447251e+01] [ 3.05821924e-01 9.52088568e-01 -5.55889493e-04 4.13622547e+00] [ 2.24744163e-03 -1.38042662e-04 9.99997465e-01 -4.21339818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.827719421 meters Centerline goodness : 0.971536 Centerline is valid? [True, True] Translation: X:63.27, Y:4.15, Z:-0.42 [[ 9.52034395e-01 -3.05983253e-01 -2.18192182e-03 6.32714326e+01] [ 3.05982778e-01 9.52036885e-01 -5.56117603e-04 4.14831545e+00] [ 2.24743273e-03 -1.38187415e-04 9.99997465e-01 -4.22649111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.857719421 meters Centerline goodness : 0.965646 Centerline is valid? [True, True] Translation: X:63.30, Y:4.17, Z:-0.43 [[ 9.52087355e-01 -3.05818425e-01 -2.18175959e-03 6.32953965e+01] [ 3.05817949e-01 9.52089845e-01 -5.56753348e-04 4.16555502e+00] [ 2.24749658e-03 -1.37143420e-04 9.99997465e-01 -4.29794671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.887719421 meters Centerline goodness : 0.968409 Centerline is valid? [True, True] Translation: X:63.32, Y:4.18, Z:-0.43 [[ 9.52082606e-01 -3.05833208e-01 -2.18170254e-03 6.33207267e+01] [ 3.05832731e-01 9.52085096e-01 -5.56976795e-04 4.17837117e+00] [ 2.24750848e-03 -1.36948129e-04 9.99997465e-01 -4.25745126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.917719421 meters Centerline goodness : 0.972253 Centerline is valid? [True, True] Translation: X:63.35, Y:4.20, Z:-0.42 [[ 9.51862381e-01 -3.06517942e-01 -2.18151894e-03 6.33463848e+01] [ 3.06517466e-01 9.51864871e-01 -5.57694996e-04 4.19772068e+00] [ 2.24745476e-03 -1.37824770e-04 9.99997465e-01 -4.21517002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.947719421 meters Centerline goodness : 0.975055 Centerline is valid? [True, True] Translation: X:63.37, Y:4.21, Z:-0.42 [[ 9.51484671e-01 -3.07688417e-01 -2.18149596e-03 6.33727614e+01] [ 3.07687944e-01 9.51487161e-01 -5.57784863e-04 4.21156280e+00] [ 2.24728934e-03 -1.40496259e-04 9.99997465e-01 -4.19261212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.977719421 meters Centerline goodness : 0.978815 Centerline is valid? [True, True] Translation: X:63.40, Y:4.23, Z:-0.41 [[ 9.50285086e-01 -3.11373564e-01 -2.18133440e-03 6.33974686e+01] [ 3.11373099e-01 9.50287578e-01 -5.58415965e-04 4.23241632e+00] [ 2.24677095e-03 -1.48554489e-04 9.99997465e-01 -4.13677508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00771942099999 meters Centerline goodness : 0.977439 Centerline is valid? [True, True] Translation: X:63.42, Y:4.25, Z:-0.42 [[ 9.49445099e-01 -3.13925542e-01 -2.18129926e-03 6.34227073e+01] [ 3.13925083e-01 9.49447592e-01 -5.58553209e-04 4.24595476e+00] [ 2.24637345e-03 -1.54448944e-04 9.99997465e-01 -4.15121786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.03771942099999 meters Centerline goodness : 0.974417 Centerline is valid? [True, True] Translation: X:63.45, Y:4.27, Z:-0.42 [[ 9.48212099e-01 -3.17630380e-01 -2.18121290e-03 6.34458755e+01] [ 3.17629930e-01 9.48214594e-01 -5.58890252e-04 4.26679683e+00] [ 2.24577842e-03 -1.62872000e-04 9.99997465e-01 -4.19399281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06771942099999 meters Centerline goodness : 0.975804 Centerline is valid? [True, True] Translation: X:63.47, Y:4.28, Z:-0.42 [[ 9.47822347e-01 -3.18791533e-01 -2.18115796e-03 6.34718923e+01] [ 3.18791086e-01 9.47824842e-01 -5.59104563e-04 4.28265141e+00] [ 2.24559350e-03 -1.65401916e-04 9.99997465e-01 -4.18353451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.097719421 meters Centerline goodness : 0.971855 Centerline is valid? [True, True] Translation: X:63.49, Y:4.31, Z:-0.42 [[ 9.47763002e-01 -3.18967923e-01 -2.18099050e-03 6.34936631e+01] [ 3.18967475e-01 9.47765497e-01 -5.59757027e-04 4.30819934e+00] [ 2.24561209e-03 -1.65148034e-04 9.99997465e-01 -4.23514108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.127719421 meters Centerline goodness : 0.974390 Centerline is valid? [True, True] Translation: X:63.52, Y:4.32, Z:-0.42 [[ 9.48181850e-01 -3.17720669e-01 -2.18093120e-03 6.35187138e+01] [ 3.17720217e-01 9.48184344e-01 -5.59987986e-04 4.32487934e+00] [ 2.24584458e-03 -1.61955491e-04 9.99997465e-01 -4.20207030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.157719421 meters Centerline goodness : 0.973329 Centerline is valid? [True, True] Translation: X:63.54, Y:4.35, Z:-0.42 [[ 9.49196185e-01 -3.14677369e-01 -2.18076723e-03 6.35403940e+01] [ 3.14676908e-01 9.49198678e-01 -5.60625806e-04 4.35068686e+00] [ 2.24639763e-03 -1.54093214e-04 9.99997465e-01 -4.21655120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.187719421 meters Centerline goodness : 0.972807 Centerline is valid? [True, True] Translation: X:63.56, Y:4.37, Z:-0.42 [[ 9.51023018e-01 -3.09112380e-01 -2.18064067e-03 6.35642645e+01] [ 3.09111902e-01 9.51025508e-01 -5.61117667e-04 4.37277651e+00] [ 2.24729332e-03 -1.40426168e-04 9.99997465e-01 -4.22186806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.217719421 meters Centerline goodness : 0.972329 Centerline is valid? [True, True] Translation: X:63.59, Y:4.39, Z:-0.42 [[ 9.51912632e-01 -3.06361856e-01 -2.18047967e-03 6.35910394e+01] [ 3.06361370e-01 9.51915120e-01 -5.61742602e-04 4.38603940e+00] [ 2.24772807e-03 -1.33284860e-04 9.99997465e-01 -4.22054556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.247719421 meters Centerline goodness : 0.973512 Centerline is valid? [True, True] Translation: X:63.62, Y:4.40, Z:-0.42 [[ 9.54010183e-01 -2.99766271e-01 -2.18031958e-03 6.36158168e+01] [ 2.99765766e-01 9.54012667e-01 -5.62363285e-04 4.40428562e+00] [ 2.24863004e-03 -1.17084869e-04 9.99997465e-01 -4.21391082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.277719421 meters Centerline goodness : 0.972184 Centerline is valid? [True, True] Translation: X:63.64, Y:4.42, Z:-0.42 [[ 9.54988160e-01 -2.96635907e-01 -2.18015856e-03 6.36412903e+01] [ 2.96635393e-01 9.54990642e-01 -5.62986829e-04 4.41815919e+00] [ 2.24903313e-03 -1.09066435e-04 9.99997465e-01 -4.22322376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.307719421 meters Centerline goodness : 0.966778 Centerline is valid? [True, True] Translation: X:63.67, Y:4.44, Z:-0.43 [[ 9.57138555e-01 -2.89622227e-01 -2.18010177e-03 6.36651568e+01] [ 2.89621694e-01 9.57141033e-01 -5.63206647e-04 4.43755458e+00] [ 2.24978203e-03 -9.23379736e-05 9.99997465e-01 -4.26415816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.337719421 meters Centerline goodness : 0.965037 Centerline is valid? [True, True] Translation: X:63.69, Y:4.45, Z:-0.43 [[ 9.57938082e-01 -2.86966686e-01 -2.18004591e-03 6.36921728e+01] [ 2.86966146e-01 9.57940559e-01 -5.63422796e-04 4.44861743e+00] [ 2.25003797e-03 -8.58752206e-05 9.99997465e-01 -4.26637425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.367719421 meters Centerline goodness : 0.966356 Centerline is valid? [True, True] Translation: X:63.72, Y:4.46, Z:-0.43 [[ 9.59605221e-01 -2.81341549e-01 -2.17988302e-03 6.37181345e+01] [ 2.81340993e-01 9.59607695e-01 -5.64052319e-04 4.45942645e+00] [ 2.25052387e-03 -7.20229025e-05 9.99997465e-01 -4.27438645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.39771942099999 meters Centerline goodness : 0.966441 Centerline is valid? [True, True] Translation: X:63.74, Y:4.47, Z:-0.43 [[ 9.61104897e-01 -2.76174990e-01 -2.17982532e-03 6.37431843e+01] [ 2.76174420e-01 9.61107367e-01 -5.64275225e-04 4.47251143e+00] [ 2.25088488e-03 -5.96843118e-05 9.99997465e-01 -4.27564920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42771942099999 meters Centerline goodness : 0.964717 Centerline is valid? [True, True] Translation: X:63.77, Y:4.48, Z:-0.43 [[ 9.61897146e-01 -2.73402871e-01 -2.17976831e-03 6.37685980e+01] [ 2.73402293e-01 9.61899614e-01 -5.64495373e-04 4.48232045e+00] [ 2.25105295e-03 -5.29671655e-05 9.99997465e-01 -4.29259293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.457719421 meters Centerline goodness : 0.965162 Centerline is valid? [True, True] Translation: X:63.79, Y:4.49, Z:-0.43 [[ 9.62495027e-01 -2.71290567e-01 -2.17968946e-03 6.37946553e+01] [ 2.71289983e-01 9.62497494e-01 -5.64799647e-04 4.49277372e+00] [ 2.25117046e-03 -4.77110664e-05 9.99997465e-01 -4.28678889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.487719421 meters Centerline goodness : 0.962130 Centerline is valid? [True, True] Translation: X:63.82, Y:4.51, Z:-0.43 [[ 9.64174837e-01 -2.65258617e-01 -2.17950960e-03 6.38217193e+01] [ 2.65258016e-01 9.64177300e-01 -5.65492884e-04 4.50522415e+00] [ 2.25143554e-03 -3.28983831e-05 9.99997465e-01 -4.28910579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.517719421 meters Centerline goodness : 0.959641 Centerline is valid? [True, True] Translation: X:63.85, Y:4.51, Z:-0.43 [[ 9.64948607e-01 -2.62429870e-01 -2.17935422e-03 6.38480883e+01] [ 2.62429260e-01 9.64951068e-01 -5.66091052e-04 4.51365781e+00] [ 2.25152938e-03 -2.56775445e-05 9.99997465e-01 -4.33053995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.547719421 meters Centerline goodness : 0.960536 Centerline is valid? [True, True] Translation: X:63.87, Y:4.52, Z:-0.43 [[ 9.65870184e-01 -2.59017448e-01 -2.17929520e-03 6.38748583e+01] [ 2.59016829e-01 9.65872643e-01 -5.66318162e-04 4.52041645e+00] [ 2.25160790e-03 -1.74843058e-05 9.99997465e-01 -4.30770288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.577719421 meters Centerline goodness : 0.960536 Centerline is valid? [True, True] Translation: X:63.90, Y:4.53, Z:-0.43 [[ 9.65781826e-01 -2.59346711e-01 -2.17910240e-03 6.39022784e+01] [ 2.59346092e-01 9.65784284e-01 -5.67059075e-04 4.52781647e+00] [ 2.25160776e-03 -1.74863407e-05 9.99997465e-01 -4.30706187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.607719421 meters Centerline goodness : 0.961731 Centerline is valid? [True, True] Translation: X:63.93, Y:4.53, Z:-0.43 [[ 9.65765200e-01 -2.59408617e-01 -2.17890883e-03 6.39300407e+01] [ 2.59407996e-01 9.65767658e-01 -5.67801893e-04 4.53256364e+00] [ 2.25161238e-03 -1.68630641e-05 9.99997465e-01 -4.31309793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.637719421 meters Centerline goodness : 0.963262 Centerline is valid? [True, True] Translation: X:63.96, Y:4.54, Z:-0.43 [[ 9.65286847e-01 -2.61182994e-01 -2.17884906e-03 6.39581889e+01] [ 2.61182377e-01 9.65289305e-01 -5.68031147e-04 4.54005303e+00] [ 2.25157977e-03 -2.07639826e-05 9.99997465e-01 -4.29351537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.667719421 meters Centerline goodness : 0.963687 Centerline is valid? [True, True] Translation: X:63.99, Y:4.55, Z:-0.43 [[ 9.64746065e-01 -2.63173487e-01 -2.17868688e-03 6.39856713e+01] [ 2.63172873e-01 9.64748524e-01 -5.68652491e-04 4.54649064e+00] [ 2.25153922e-03 -2.47660345e-05 9.99997465e-01 -4.28375357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.697719421 meters Centerline goodness : 0.960317 Centerline is valid? [True, True] Translation: X:64.02, Y:4.55, Z:-0.43 [[ 9.64318620e-01 -2.64735439e-01 -2.17862940e-03 6.40153917e+01] [ 2.64734829e-01 9.64321081e-01 -5.68872630e-04 4.54617436e+00] [ 2.25149901e-03 -2.81846134e-05 9.99997465e-01 -4.31498360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.727719421 meters Centerline goodness : 0.959987 Centerline is valid? [True, True] Translation: X:64.04, Y:4.55, Z:-0.43 [[ 9.64048828e-01 -2.65716222e-01 -2.17858221e-03 6.40430459e+01] [ 2.65715614e-01 9.64051289e-01 -5.69053290e-04 4.54843739e+00] [ 2.25147168e-03 -3.02881539e-05 9.99997465e-01 -4.32638541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.75771942099999 meters Centerline goodness : 0.965128 Centerline is valid? [True, True] Translation: X:64.07, Y:4.55, Z:-0.43 [[ 9.63387591e-01 -2.68103720e-01 -2.17848578e-03 6.40737098e+01] [ 2.68103117e-01 9.63390053e-01 -5.69422221e-04 4.54970121e+00] [ 2.25139575e-03 -3.54845269e-05 9.99997465e-01 -4.27090646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78771942099999 meters Centerline goodness : 0.966578 Centerline is valid? [True, True] Translation: X:64.10, Y:4.56, Z:-0.43 [[ 9.62965334e-01 -2.69616430e-01 -2.17846241e-03 6.41005733e+01] [ 2.69615831e-01 9.62967798e-01 -5.69511638e-04 4.55561637e+00] [ 2.25133884e-03 -3.89279866e-05 9.99997465e-01 -4.25663239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.81771942099999 meters Centerline goodness : 0.966262 Centerline is valid? [True, True] Translation: X:64.13, Y:4.56, Z:-0.43 [[ 9.62689346e-01 -2.70600220e-01 -2.17827590e-03 6.41284126e+01] [ 2.70599622e-01 9.62691809e-01 -5.70224087e-04 4.56105695e+00] [ 2.25131113e-03 -4.04919827e-05 9.99997465e-01 -4.25019296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.847719421 meters Centerline goodness : 0.963748 Centerline is valid? [True, True] Translation: X:64.16, Y:4.56, Z:-0.43 [[ 9.62433653e-01 -2.71508231e-01 -2.17821736e-03 6.41571907e+01] [ 2.71507635e-01 9.62436117e-01 -5.70447635e-04 4.56230079e+00] [ 2.25127628e-03 -4.23846415e-05 9.99997465e-01 -4.28549366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.877719421 meters Centerline goodness : 0.962573 Centerline is valid? [True, True] Translation: X:64.19, Y:4.57, Z:-0.43 [[ 9.62375333e-01 -2.71714875e-01 -2.17815934e-03 6.41857325e+01] [ 2.71714279e-01 9.62377797e-01 -5.70669093e-04 4.56648942e+00] [ 2.25127147e-03 -4.26391354e-05 9.99997465e-01 -4.27414430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.907719421 meters Centerline goodness : 0.963951 Centerline is valid? [True, True] Translation: X:64.21, Y:4.57, Z:-0.43 [[ 9.62606806e-01 -2.70893694e-01 -2.17799331e-03 6.42139855e+01] [ 2.70893094e-01 9.62609269e-01 -5.71302061e-04 4.56806652e+00] [ 2.25131867e-03 -4.00640936e-05 9.99997465e-01 -4.29565665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.937719421 meters Centerline goodness : 0.963921 Centerline is valid? [True, True] Translation: X:64.24, Y:4.57, Z:-0.43 [[ 9.62847303e-01 -2.70037641e-01 -2.17793490e-03 6.42413144e+01] [ 2.70037038e-01 9.62849766e-01 -5.71524640e-04 4.57486936e+00] [ 2.25135727e-03 -3.78321307e-05 9.99997465e-01 -4.29247492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.967719421 meters Centerline goodness : 0.967571 Centerline is valid? [True, True] Translation: X:64.27, Y:4.58, Z:-0.43 [[ 9.63872491e-01 -2.66355172e-01 -2.17787875e-03 6.42691647e+01] [ 2.66354560e-01 9.63874951e-01 -5.71738530e-04 4.58279354e+00] [ 2.25148828e-03 -2.90048941e-05 9.99997465e-01 -4.25503940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.997719421 meters Centerline goodness : 0.966518 Centerline is valid? [True, True] Translation: X:64.30, Y:4.59, Z:-0.42 [[ 9.64412421e-01 -2.64393532e-01 -2.17771615e-03 6.42976126e+01] [ 2.64392914e-01 9.64414879e-01 -5.72357193e-04 4.58923363e+00] [ 2.25154939e-03 -2.37843305e-05 9.99997465e-01 -4.24016840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.027719421 meters Centerline goodness : 0.966548 Centerline is valid? [True, True] Translation: X:64.33, Y:4.59, Z:-0.43 [[ 9.65229767e-01 -2.61393871e-01 -2.17754825e-03 6.43268049e+01] [ 2.61393244e-01 9.65232223e-01 -5.72995259e-04 4.59177297e+00] [ 2.25161718e-03 -1.61243203e-05 9.99997465e-01 -4.26021012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.057719421 meters Centerline goodness : 0.964959 Centerline is valid? [True, True] Translation: X:64.35, Y:4.60, Z:-0.43 [[ 9.65319415e-01 -2.61062611e-01 -2.17737948e-03 6.43541057e+01] [ 2.61061981e-01 9.65321870e-01 -5.73635839e-04 4.59599459e+00] [ 2.25162691e-03 -1.46891903e-05 9.99997465e-01 -4.27841705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.087719421 meters Centerline goodness : 0.965578 Centerline is valid? [True, True] Translation: X:64.38, Y:4.60, Z:-0.43 [[ 9.64931617e-01 -2.62492349e-01 -2.17731987e-03 6.43824606e+01] [ 2.62491722e-01 9.64934074e-01 -5.73862023e-04 4.59989441e+00] [ 2.25160452e-03 -1.77908333e-05 9.99997465e-01 -4.26274004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.117719421 meters Centerline goodness : 0.966164 Centerline is valid? [True, True] Translation: X:64.41, Y:4.61, Z:-0.43 [[ 9.64570546e-01 -2.63816077e-01 -2.17715304e-03 6.44110108e+01] [ 2.63815452e-01 9.64573002e-01 -5.74494248e-04 4.60623312e+00] [ 2.25158387e-03 -2.02263851e-05 9.99997465e-01 -4.26754276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14771942099999 meters Centerline goodness : 0.962456 Centerline is valid? [True, True] Translation: X:64.44, Y:4.61, Z:-0.43 [[ 9.64337181e-01 -2.64667833e-01 -2.17699865e-03 6.44391436e+01] [ 2.64667209e-01 9.64339638e-01 -5.75078716e-04 4.61003767e+00] [ 2.25157093e-03 -2.16103684e-05 9.99997465e-01 -4.30357168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.17771942099999 meters Centerline goodness : 0.961664 Centerline is valid? [True, True] Translation: X:64.47, Y:4.62, Z:-0.43 [[ 9.63999418e-01 -2.65895438e-01 -2.17693982e-03 6.44675661e+01] [ 2.65894817e-01 9.64001875e-01 -5.75301327e-04 4.61578550e+00] [ 2.25154407e-03 -2.42468703e-05 9.99997465e-01 -4.31014408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.207719421 meters Centerline goodness : 0.961748 Centerline is valid? [True, True] Translation: X:64.50, Y:4.62, Z:-0.43 [[ 9.63664848e-01 -2.67105452e-01 -2.17677200e-03 6.44953804e+01] [ 2.67104833e-01 9.63667306e-01 -5.75935618e-04 4.61761797e+00] [ 2.25151955e-03 -2.64174104e-05 9.99997465e-01 -4.33206815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.237719421 meters Centerline goodness : 0.963700 Centerline is valid? [True, True] Translation: X:64.52, Y:4.62, Z:-0.43 [[ 9.63272316e-01 -2.68517609e-01 -2.17671277e-03 6.45242465e+01] [ 2.68516993e-01 9.63274775e-01 -5.76159363e-04 4.62276590e+00] [ 2.25148144e-03 -2.94860047e-05 9.99997465e-01 -4.30651902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.267719421 meters Centerline goodness : 0.964472 Centerline is valid? [True, True] Translation: X:64.55, Y:4.63, Z:-0.43 [[ 9.62876155e-01 -2.69934755e-01 -2.17654807e-03 6.45517480e+01] [ 2.69934141e-01 9.62878615e-01 -5.76780904e-04 4.62589982e+00] [ 2.25144480e-03 -3.21560525e-05 9.99997465e-01 -4.30666563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.297719421 meters Centerline goodness : 0.966476 Centerline is valid? [True, True] Translation: X:64.58, Y:4.63, Z:-0.43 [[ 9.62637694e-01 -2.70783923e-01 -2.17641990e-03 6.45794563e+01] [ 2.70783310e-01 9.62640154e-01 -5.77264134e-04 4.63225183e+00] [ 2.25142303e-03 -3.36419694e-05 9.99997465e-01 -4.27647256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.327719421 meters Centerline goodness : 0.964053 Centerline is valid? [True, True] Translation: X:64.61, Y:4.64, Z:-0.43 [[ 9.62679879e-01 -2.70633911e-01 -2.17622279e-03 6.46055958e+01] [ 2.70633296e-01 9.62682339e-01 -5.78006257e-04 4.63835375e+00] [ 2.25143934e-03 -3.25233515e-05 9.99997465e-01 -4.29259644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.357719421 meters Centerline goodness : 0.964974 Centerline is valid? [True, True] Translation: X:64.63, Y:4.65, Z:-0.43 [[ 9.62860235e-01 -2.69991540e-01 -2.17613737e-03 6.46335870e+01] [ 2.69990922e-01 9.62862694e-01 -5.78327664e-04 4.64577512e+00] [ 2.25146507e-03 -3.06886261e-05 9.99997465e-01 -4.27322174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.387719421 meters Centerline goodness : 0.966242 Centerline is valid? [True, True] Translation: X:64.66, Y:4.65, Z:-0.43 [[ 9.63955661e-01 -2.66054034e-01 -2.17596095e-03 6.46610921e+01] [ 2.66053405e-01 9.63958117e-01 -5.78990709e-04 4.65230194e+00] [ 2.25157803e-03 -2.08004461e-05 9.99997465e-01 -4.27906959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.417719421 meters Centerline goodness : 0.968420 Centerline is valid? [True, True] Translation: X:64.69, Y:4.66, Z:-0.43 [[ 9.64694541e-01 -2.63362313e-01 -2.17589864e-03 6.46886287e+01] [ 2.63361676e-01 9.64696995e-01 -5.79224777e-04 4.65884668e+00] [ 2.25162885e-03 -1.42733318e-05 9.99997465e-01 -4.25403218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.447719421 meters Centerline goodness : 0.967153 Centerline is valid? [True, True] Translation: X:64.72, Y:4.67, Z:-0.43 [[ 9.66162957e-01 -2.57923255e-01 -2.17583640e-03 6.47166706e+01] [ 2.57922604e-01 9.66165407e-01 -5.79458455e-04 4.66622951e+00] [ 2.25167368e-03 -1.34609701e-06 9.99997465e-01 -4.25890791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.477719421 meters Centerline goodness : 0.967929 Centerline is valid? [True, True] Translation: X:64.74, Y:4.67, Z:-0.43 [[ 9.67803819e-01 -2.51696313e-01 -2.17566119e-03 6.47439712e+01] [ 2.51695645e-01 9.67806265e-01 -5.80115584e-04 4.67397014e+00] [ 2.25163148e-03 1.38336308e-05 9.99997465e-01 -4.26550421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50771942099999 meters Centerline goodness : 0.970640 Centerline is valid? [True, True] Translation: X:64.77, Y:4.68, Z:-0.42 [[ 9.68493314e-01 -2.49030055e-01 -2.17548582e-03 6.47717585e+01] [ 2.49029378e-01 9.68495757e-01 -5.80772480e-04 4.68110922e+00] [ 2.25157859e-03 2.07143824e-05 9.99997465e-01 -4.24157560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.53771942099999 meters Centerline goodness : 0.972071 Centerline is valid? [True, True] Translation: X:64.80, Y:4.69, Z:-0.42 [[ 9.70006799e-01 -2.43068051e-01 -2.17530953e-03 6.47988777e+01] [ 2.43067358e-01 9.70009238e-01 -5.81432037e-04 4.68657039e+00] [ 2.25139789e-03 3.52462893e-05 9.99997465e-01 -4.21709023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56771942099999 meters Centerline goodness : 0.972452 Centerline is valid? [True, True] Translation: X:64.83, Y:4.69, Z:-0.42 [[ 9.70575215e-01 -2.40788331e-01 -2.17521519e-03 6.48271823e+01] [ 2.40787632e-01 9.70577652e-01 -5.81784765e-04 4.69283487e+00] [ 2.25130223e-03 4.09009589e-05 9.99997465e-01 -4.21309215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.597719421 meters Centerline goodness : 0.973144 Centerline is valid? [True, True] Translation: X:64.86, Y:4.70, Z:-0.42 [[ 9.70976442e-01 -2.39165254e-01 -2.17504416e-03 6.48557575e+01] [ 2.39164549e-01 9.70978877e-01 -5.82423462e-04 4.69803397e+00] [ 2.25121739e-03 4.53260054e-05 9.99997465e-01 -4.20413548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.627719421 meters Centerline goodness : 0.970142 Centerline is valid? [True, True] Translation: X:64.88, Y:4.70, Z:-0.42 [[ 9.71892614e-01 -2.35414564e-01 -2.17486560e-03 6.48840891e+01] [ 2.35413849e-01 9.71895046e-01 -5.83089497e-04 4.69815371e+00] [ 2.25100886e-03 5.47068951e-05 9.99997465e-01 -4.24791923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.657719421 meters Centerline goodness : 0.967734 Centerline is valid? [True, True] Translation: X:64.91, Y:4.70, Z:-0.43 [[ 9.72353039e-01 -2.33505541e-01 -2.17480267e-03 6.49115929e+01] [ 2.33504819e-01 9.72355469e-01 -5.83324099e-04 4.70228514e+00] [ 2.25089068e-03 5.93700555e-05 9.99997465e-01 -4.28496216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.687719421 meters Centerline goodness : 0.969752 Centerline is valid? [True, True] Translation: X:64.94, Y:4.71, Z:-0.42 [[ 9.72779285e-01 -2.31723398e-01 -2.17474263e-03 6.49396597e+01] [ 2.31722672e-01 9.72781714e-01 -5.83547858e-04 4.70842910e+00] [ 2.25077156e-03 6.37260960e-05 9.99997465e-01 -4.23150142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.717719421 meters Centerline goodness : 0.967247 Centerline is valid? [True, True] Translation: X:64.97, Y:4.71, Z:-0.43 [[ 9.73975153e-01 -2.26644373e-01 -2.17456114e-03 6.49660365e+01] [ 2.26643633e-01 9.73977578e-01 -5.84223399e-04 4.71291827e+00] [ 2.25038474e-03 7.61686379e-05 9.99997465e-01 -4.26082665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.747719421 meters Centerline goodness : 0.968203 Centerline is valid? [True, True] Translation: X:65.00, Y:4.71, Z:-0.42 [[ 9.74996224e-01 -2.22210789e-01 -2.17447143e-03 6.49959301e+01] [ 2.22210037e-01 9.74998645e-01 -5.84557098e-04 4.71129912e+00] [ 2.25000159e-03 8.67515855e-05 9.99997465e-01 -4.24142263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.777719421 meters Centerline goodness : 0.969964 Centerline is valid? [True, True] Translation: X:65.02, Y:4.71, Z:-0.42 [[ 9.75219423e-01 -2.21229179e-01 -2.17429535e-03 6.50248938e+01] [ 2.21228423e-01 9.75221843e-01 -5.85211301e-04 4.71291580e+00] [ 2.24988613e-03 8.96934957e-05 9.99997465e-01 -4.24276153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.807719421 meters Centerline goodness : 0.965022 Centerline is valid? [True, True] Translation: X:65.05, Y:4.71, Z:-0.43 [[ 9.75386036e-01 -2.20493435e-01 -2.17411835e-03 6.50537691e+01] [ 2.20492676e-01 9.75388454e-01 -5.85868143e-04 4.71427507e+00] [ 2.24979002e-03 9.20704331e-05 9.99997465e-01 -4.29232734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.837719421 meters Centerline goodness : 0.967292 Centerline is valid? [True, True] Translation: X:65.08, Y:4.72, Z:-0.43 [[ 9.75413911e-01 -2.20370087e-01 -2.17402524e-03 6.50819112e+01] [ 2.20369327e-01 9.75416330e-01 -5.86213464e-04 4.72171982e+00] [ 2.24976363e-03 9.27122904e-05 9.99997465e-01 -4.25868569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.867719421 meters Centerline goodness : 0.964211 Centerline is valid? [True, True] Translation: X:65.11, Y:4.73, Z:-0.43 [[ 9.76031261e-01 -2.17619512e-01 -2.17384675e-03 6.51096956e+01] [ 2.17618744e-01 9.76033677e-01 -5.86874584e-04 4.72502010e+00] [ 2.24946300e-03 9.97381406e-05 9.99997465e-01 -4.27332079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.89771942099999 meters Centerline goodness : 0.963457 Centerline is valid? [True, True] Translation: X:65.14, Y:4.73, Z:-0.43 [[ 9.76210676e-01 -2.16813262e-01 -2.17378376e-03 6.51388328e+01] [ 2.16812491e-01 9.76213091e-01 -5.87107805e-04 4.72856055e+00] [ 2.24936893e-03 1.01837433e-04 9.99997465e-01 -4.29102354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92771942099999 meters Centerline goodness : 0.960295 Centerline is valid? [True, True] Translation: X:65.17, Y:4.73, Z:-0.43 [[ 9.76253397e-01 -2.16620822e-01 -2.17360658e-03 6.51692421e+01] [ 2.16620049e-01 9.76255811e-01 -5.87763054e-04 4.72510492e+00] [ 2.24931777e-03 1.02958915e-04 9.99997465e-01 -4.32755738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.957719421 meters Centerline goodness : 0.955977 Centerline is valid? [True, True] Translation: X:65.20, Y:4.73, Z:-0.44 [[ 9.75792081e-01 -2.18689486e-01 -2.17355680e-03 6.51970581e+01] [ 2.18688717e-01 9.75794496e-01 -5.87947088e-04 4.72752688e+00] [ 2.24952261e-03 9.83817637e-05 9.99997465e-01 -4.37159047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.987719421 meters Centerline goodness : 0.960686 Centerline is valid? [True, True] Translation: X:65.23, Y:4.73, Z:-0.43 [[ 9.74729383e-01 -2.23378392e-01 -2.17349567e-03 6.52274703e+01] [ 2.23377635e-01 9.74731802e-01 -5.88172985e-04 4.72687810e+00] [ 2.24996048e-03 8.77991690e-05 9.99997465e-01 -4.30646276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.017719421 meters Centerline goodness : 0.961725 Centerline is valid? [True, True] Translation: X:65.26, Y:4.73, Z:-0.43 [[ 9.72851271e-01 -2.31421006e-01 -2.17332359e-03 6.52570197e+01] [ 2.31420268e-01 9.72853696e-01 -5.88808124e-04 4.72579674e+00] [ 2.25058846e-03 6.98716043e-05 9.99997465e-01 -4.29852208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.047719421 meters Centerline goodness : 0.961192 Centerline is valid? [True, True] Translation: X:65.28, Y:4.73, Z:-0.43 [[ 9.71647074e-01 -2.36425972e-01 -2.17323275e-03 6.52849531e+01] [ 2.36425245e-01 9.71649503e-01 -5.89143233e-04 4.72741207e+00] [ 2.25090928e-03 5.86322135e-05 9.99997465e-01 -4.30399978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.077719421 meters Centerline goodness : 0.961533 Centerline is valid? [True, True] Translation: X:65.31, Y:4.73, Z:-0.43 [[ 9.70318905e-01 -2.41819149e-01 -2.17317264e-03 6.53140824e+01] [ 2.41818435e-01 9.70321337e-01 -5.89364873e-04 4.72907829e+00] [ 2.25119549e-03 4.63586719e-05 9.99997465e-01 -4.29795066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.107719421 meters Centerline goodness : 0.962410 Centerline is valid? [True, True] Translation: X:65.34, Y:4.73, Z:-0.43 [[ 9.68082162e-01 -2.50623633e-01 -2.17300520e-03 6.53439271e+01] [ 2.50622940e-01 9.68084601e-01 -5.89981558e-04 4.72674545e+00] [ 2.25151620e-03 2.65456688e-05 9.99997465e-01 -4.27526737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.137719421 meters Centerline goodness : 0.965857 Centerline is valid? [True, True] Translation: X:65.37, Y:4.73, Z:-0.42 [[ 9.67087971e-01 -2.54432966e-01 -2.17294575e-03 6.53714707e+01] [ 2.54432282e-01 9.67090412e-01 -5.90200446e-04 4.73030136e+00] [ 2.25160145e-03 1.79082048e-05 9.99997465e-01 -4.23509651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.167719421 meters Centerline goodness : 0.959299 Centerline is valid? [True, True] Translation: X:65.40, Y:4.73, Z:-0.43 [[ 9.65488374e-01 -2.60437091e-01 -2.17274297e-03 6.54001218e+01] [ 2.60436420e-01 9.65490819e-01 -5.90946017e-04 4.73004250e+00] [ 2.25166765e-03 4.69010758e-06 9.99997465e-01 -4.30682431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.197719421 meters Centerline goodness : 0.961942 Centerline is valid? [True, True] Translation: X:65.43, Y:4.73, Z:-0.43 [[ 9.63935174e-01 -2.66128277e-01 -2.17268020e-03 6.54294301e+01] [ 2.66127620e-01 9.63937623e-01 -5.91176705e-04 4.73323696e+00] [ 2.25165703e-03 -8.35419185e-06 9.99997465e-01 -4.26896492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.227719421 meters Centerline goodness : 0.962580 Centerline is valid? [True, True] Translation: X:65.46, Y:4.74, Z:-0.43 [[ 9.63300536e-01 -2.68416389e-01 -2.17250511e-03 6.54578365e+01] [ 2.68415737e-01 9.63302985e-01 -5.91819459e-04 4.73987519e+00] [ 2.25163470e-03 -1.30345572e-05 9.99997465e-01 -4.25712712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.25771942099999 meters Centerline goodness : 0.961741 Centerline is valid? [True, True] Translation: X:65.49, Y:4.75, Z:-0.43 [[ 9.62078160e-01 -2.72765275e-01 -2.17233053e-03 6.54856945e+01] [ 2.72764633e-01 9.62080612e-01 -5.92459581e-04 4.74623616e+00] [ 2.25155948e-03 -2.25425138e-05 9.99997465e-01 -4.25043963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28771942099999 meters Centerline goodness : 0.962759 Centerline is valid? [True, True] Translation: X:65.51, Y:4.75, Z:-0.43 [[ 9.61427413e-01 -2.75050199e-01 -2.17215594e-03 6.55133302e+01] [ 2.75049561e-01 9.61429866e-01 -5.93098965e-04 4.75256285e+00] [ 2.25150759e-03 -2.72289352e-05 9.99997465e-01 -4.25246449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.31771942099999 meters Centerline goodness : 0.966024 Centerline is valid? [True, True] Translation: X:65.54, Y:4.76, Z:-0.42 [[ 9.60756844e-01 -2.77383432e-01 -2.17195784e-03 6.55421041e+01] [ 2.77382798e-01 9.60759299e-01 -5.93823548e-04 4.75722588e+00] [ 2.25144551e-03 -3.19437054e-05 9.99997465e-01 -4.20953302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.347719421 meters Centerline goodness : 0.969045 Centerline is valid? [True, True] Translation: X:65.57, Y:4.76, Z:-0.42 [[ 9.60264570e-01 -2.79082854e-01 -2.17178149e-03 6.55697591e+01] [ 2.79082223e-01 9.60267025e-01 -5.94467824e-04 4.76486398e+00] [ 2.25139592e-03 -3.52592167e-05 9.99997465e-01 -4.17529249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.377719421 meters Centerline goodness : 0.968313 Centerline is valid? [True, True] Translation: X:65.60, Y:4.78, Z:-0.42 [[ 9.59616880e-01 -2.81301846e-01 -2.17159723e-03 6.55969313e+01] [ 2.81301219e-01 9.59619336e-01 -5.95140165e-04 4.77501118e+00] [ 2.25132072e-03 -3.97663995e-05 9.99997465e-01 -4.18320858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.407719421 meters Centerline goodness : 0.963475 Centerline is valid? [True, True] Translation: X:65.62, Y:4.78, Z:-0.42 [[ 9.59357362e-01 -2.82185644e-01 -2.17141431e-03 6.56236326e+01] [ 2.82185018e-01 9.59359818e-01 -5.95806817e-04 4.78365491e+00] [ 2.25129576e-03 -4.11489290e-05 9.99997465e-01 -4.24648762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.437719421 meters Centerline goodness : 0.966433 Centerline is valid? [True, True] Translation: X:65.65, Y:4.79, Z:-0.42 [[ 9.58959827e-01 -2.83533659e-01 -2.17134969e-03 6.56501955e+01] [ 2.83533036e-01 9.58962284e-01 -5.96042211e-04 4.79112901e+00] [ 2.25124049e-03 -4.40688347e-05 9.99997465e-01 -4.20172705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.467719421 meters Centerline goodness : 0.962798 Centerline is valid? [True, True] Translation: X:65.68, Y:4.80, Z:-0.42 [[ 9.58431359e-01 -2.85314942e-01 -2.17114411e-03 6.56770704e+01] [ 2.85314322e-01 9.58433817e-01 -5.96790133e-04 4.79816467e+00] [ 2.25117108e-03 -4.74761310e-05 9.99997465e-01 -4.24554623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.497719421 meters Centerline goodness : 0.962798 Centerline is valid? [True, True] Translation: X:65.70, Y:4.81, Z:-0.42 [[ 9.58341365e-01 -2.85617077e-01 -2.17108075e-03 6.57044457e+01] [ 2.85616457e-01 9.58343823e-01 -5.97020536e-04 4.80598927e+00] [ 2.25116108e-03 -4.79469160e-05 9.99997465e-01 -4.24490519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.527719421 meters Centerline goodness : 0.964847 Centerline is valid? [True, True] Translation: X:65.73, Y:4.82, Z:-0.42 [[ 9.58054374e-01 -2.86578268e-01 -2.17089232e-03 6.57322228e+01] [ 2.86577649e-01 9.58056832e-01 -5.97704918e-04 4.81518018e+00] [ 2.25112746e-03 -4.94954060e-05 9.99997465e-01 -4.21223977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.557719421 meters Centerline goodness : 0.959134 Centerline is valid? [True, True] Translation: X:65.76, Y:4.82, Z:-0.43 [[ 9.57930994e-01 -2.86990416e-01 -2.17071520e-03 6.57583908e+01] [ 2.86989796e-01 9.57933452e-01 -5.98347493e-04 4.82355195e+00] [ 2.25112070e-03 -4.97975034e-05 9.99997465e-01 -4.25772246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.587719421 meters Centerline goodness : 0.964095 Centerline is valid? [True, True] Translation: X:65.79, Y:4.83, Z:-0.42 [[ 9.57741825e-01 -2.87621078e-01 -2.17062221e-03 6.57860715e+01] [ 2.87620459e-01 9.57744284e-01 -5.98684625e-04 4.83219189e+00] [ 2.25109533e-03 -5.09300521e-05 9.99997465e-01 -4.21476061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.617719421 meters Centerline goodness : 0.964936 Centerline is valid? [True, True] Translation: X:65.81, Y:4.84, Z:-0.42 [[ 9.57738456e-01 -2.87632297e-01 -2.17044537e-03 6.58129316e+01] [ 2.87631677e-01 9.57740914e-01 -5.99325051e-04 4.84313507e+00] [ 2.25110958e-03 -5.02921931e-05 9.99997465e-01 -4.20317697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64771942099999 meters Centerline goodness : 0.965862 Centerline is valid? [True, True] Translation: X:65.84, Y:4.86, Z:-0.42 [[ 9.57983487e-01 -2.86815146e-01 -2.17026999e-03 6.58389762e+01] [ 2.86814523e-01 9.57985944e-01 -5.99959465e-04 4.85502755e+00] [ 2.25116561e-03 -4.77136911e-05 9.99997465e-01 -4.19311270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.67771942099999 meters Centerline goodness : 0.961560 Centerline is valid? [True, True] Translation: X:65.87, Y:4.87, Z:-0.42 [[ 9.58988062e-01 -2.83438156e-01 -2.17006635e-03 6.58657177e+01] [ 2.83437522e-01 9.58990516e-01 -6.00695136e-04 4.86561376e+00] [ 2.25133297e-03 -3.90187651e-05 9.99997465e-01 -4.22998991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.707719421 meters Centerline goodness : 0.959912 Centerline is valid? [True, True] Translation: X:65.89, Y:4.87, Z:-0.42 [[ 9.59671835e-01 -2.81114318e-01 -2.17001512e-03 6.58918432e+01] [ 2.81113678e-01 9.59674288e-01 -6.00880159e-04 4.87458500e+00] [ 2.25142373e-03 -3.33731657e-05 9.99997465e-01 -4.24855042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.737719421 meters Centerline goodness : 0.962765 Centerline is valid? [True, True] Translation: X:65.92, Y:4.88, Z:-0.42 [[ 9.60551284e-01 -2.78094449e-01 -2.16995160e-03 6.59190248e+01] [ 2.78093800e-01 9.60553735e-01 -6.01109442e-04 4.88464367e+00] [ 2.25152031e-03 -2.60536411e-05 9.99997465e-01 -4.23793753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.767719421 meters Centerline goodness : 0.967777 Centerline is valid? [True, True] Translation: X:65.95, Y:4.90, Z:-0.42 [[ 9.63425417e-01 -2.67967832e-01 -2.16977514e-03 6.59452025e+01] [ 2.67967156e-01 9.63427860e-01 -6.01745741e-04 4.89898602e+00] [ 2.25167032e-03 -1.69133146e-06 9.99997465e-01 -4.19327794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.797719421 meters Centerline goodness : 0.966106 Centerline is valid? [True, True] Translation: X:65.97, Y:4.91, Z:-0.42 [[ 9.65142607e-01 -2.61715572e-01 -2.16959839e-03 6.59710633e+01] [ 2.61714879e-01 9.65145046e-01 -6.02382326e-04 4.91051767e+00] [ 2.25162997e-03 1.35686696e-05 9.99997465e-01 -4.19724640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.827719421 meters Centerline goodness : 0.969867 Centerline is valid? [True, True] Translation: X:66.00, Y:4.92, Z:-0.42 [[ 9.68248126e-01 -2.49981720e-01 -2.16953576e-03 6.59977506e+01] [ 2.49980997e-01 9.68250555e-01 -6.02607812e-04 4.92390914e+00] [ 2.25129514e-03 4.11311727e-05 9.99997465e-01 -4.17348159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.857719421 meters Centerline goodness : 0.965926 Centerline is valid? [True, True] Translation: X:66.02, Y:4.93, Z:-0.42 [[ 9.70335296e-01 -2.41753401e-01 -2.16943593e-03 6.60248550e+01] [ 2.41752657e-01 9.70337719e-01 -6.02966988e-04 4.93101750e+00] [ 2.25085483e-03 6.06132497e-05 9.99997465e-01 -4.22293711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.887719421 meters Centerline goodness : 0.966798 Centerline is valid? [True, True] Translation: X:66.05, Y:4.94, Z:-0.42 [[ 9.70807691e-01 -2.39849373e-01 -2.16937046e-03 6.60536264e+01] [ 2.39848623e-01 9.70810112e-01 -6.03202437e-04 4.93687785e+00] [ 2.25072451e-03 6.52730453e-05 9.99997465e-01 -4.22061465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.917719421 meters Centerline goodness : 0.973058 Centerline is valid? [True, True] Translation: X:66.08, Y:4.94, Z:-0.42 [[ 9.71265835e-01 -2.37987337e-01 -2.16919864e-03 6.60823158e+01] [ 2.37986581e-01 9.71268255e-01 -6.03819723e-04 4.94365182e+00] [ 2.25057522e-03 7.02293000e-05 9.99997465e-01 -4.17051043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.947719421 meters Centerline goodness : 0.974691 Centerline is valid? [True, True] Translation: X:66.11, Y:4.95, Z:-0.42 [[ 9.71318680e-01 -2.37771564e-01 -2.16917226e-03 6.61089100e+01] [ 2.37770808e-01 9.71321100e-01 -6.03914460e-04 4.95221806e+00] [ 2.25055647e-03 7.08275557e-05 9.99997465e-01 -4.15863559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.977719421 meters Centerline goodness : 0.976216 Centerline is valid? [True, True] Translation: X:66.14, Y:4.96, Z:-0.41 [[ 9.71461188e-01 -2.37188650e-01 -2.16907458e-03 6.61366671e+01] [ 2.37187891e-01 9.71463607e-01 -6.04265083e-04 4.96057045e+00] [ 2.25050184e-03 7.25418487e-05 9.99997465e-01 -4.12703116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00771942099999 meters Centerline goodness : 0.974772 Centerline is valid? [True, True] Translation: X:66.16, Y:4.96, Z:-0.41 [[ 9.72055479e-01 -2.34741225e-01 -2.16888734e-03 6.61646675e+01] [ 2.34740458e-01 9.72057895e-01 -6.04936397e-04 4.96363127e+00] [ 2.25028758e-03 7.89061299e-05 9.99997465e-01 -4.13731322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.03771942099999 meters Centerline goodness : 0.968586 Centerline is valid? [True, True] Translation: X:66.19, Y:4.96, Z:-0.42 [[ 9.72551431e-01 -2.32677913e-01 -2.16882149e-03 6.61936806e+01] [ 2.32677141e-01 9.72553845e-01 -6.05172419e-04 4.96428479e+00] [ 2.25010593e-03 8.39261195e-05 9.99997465e-01 -4.20538966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06771942099999 meters Centerline goodness : 0.969066 Centerline is valid? [True, True] Translation: X:66.22, Y:4.97, Z:-0.42 [[ 9.72793329e-01 -2.31664489e-01 -2.16875632e-03 6.62225666e+01] [ 2.31663715e-01 9.72795743e-01 -6.05405866e-04 4.96918987e+00] [ 2.25000795e-03 8.65126430e-05 9.99997465e-01 -4.20373106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.097719421 meters Centerline goodness : 0.964938 Centerline is valid? [True, True] Translation: X:66.25, Y:4.97, Z:-0.42 [[ 9.73273964e-01 -2.29636860e-01 -2.16857412e-03 6.62509019e+01] [ 2.29636079e-01 9.73276376e-01 -6.06057809e-04 4.97291493e+00] [ 2.24979517e-03 9.18774292e-05 9.99997465e-01 -4.24895234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.127719421 meters Centerline goodness : 0.966213 Centerline is valid? [True, True] Translation: X:66.28, Y:4.98, Z:-0.42 [[ 9.73430530e-01 -2.28972273e-01 -2.16839326e-03 6.62774964e+01] [ 2.28971489e-01 9.73432940e-01 -6.06704219e-04 4.98003469e+00] [ 2.24970387e-03 9.40841777e-05 9.99997465e-01 -4.24041120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.157719421 meters Centerline goodness : 0.968323 Centerline is valid? [True, True] Translation: X:66.31, Y:4.99, Z:-0.42 [[ 9.73535329e-01 -2.28526283e-01 -2.16818791e-03 6.63054117e+01] [ 2.28525496e-01 9.73537739e-01 -6.07437198e-04 4.98663480e+00] [ 2.24962812e-03 9.58753553e-05 9.99997465e-01 -4.20008744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.187719421 meters Centerline goodness : 0.970216 Centerline is valid? [True, True] Translation: X:66.34, Y:4.99, Z:-0.42 [[ 9.73508605e-01 -2.28640102e-01 -2.16799835e-03 6.63352982e+01] [ 2.28639313e-01 9.73511014e-01 -6.08112991e-04 4.98736474e+00] [ 2.24960929e-03 9.63135763e-05 9.99997465e-01 -4.18434782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.217719421 meters Centerline goodness : 0.970081 Centerline is valid? [True, True] Translation: X:66.36, Y:4.98, Z:-0.42 [[ 9.72760202e-01 -2.31803559e-01 -2.16780912e-03 6.63649679e+01] [ 2.31802777e-01 9.72762613e-01 -6.08786813e-04 4.98271245e+00] [ 2.24988261e-03 8.96994104e-05 9.99997465e-01 -4.19547983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.247719421 meters Centerline goodness : 0.971090 Centerline is valid? [True, True] Translation: X:66.39, Y:4.99, Z:-0.42 [[ 9.72122207e-01 -2.34464744e-01 -2.16769167e-03 6.63934612e+01] [ 2.34463967e-01 9.72124620e-01 -6.09204715e-04 4.98692060e+00] [ 2.25010347e-03 8.39758424e-05 9.99997465e-01 -4.19365766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.277719421 meters Centerline goodness : 0.972223 Centerline is valid? [True, True] Translation: X:66.42, Y:4.99, Z:-0.42 [[ 9.70760532e-01 -2.40040187e-01 -2.16750843e-03 6.64208022e+01] [ 2.40039423e-01 9.70762949e-01 -6.09855983e-04 4.99229134e+00] [ 2.25052682e-03 7.17366459e-05 9.99997465e-01 -4.20177946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.307719421 meters Centerline goodness : 0.969032 Centerline is valid? [True, True] Translation: X:66.45, Y:5.00, Z:-0.42 [[ 9.70098498e-01 -2.42701889e-01 -2.16744340e-03 6.64474868e+01] [ 2.42701131e-01 9.70100917e-01 -6.10087008e-04 4.99874422e+00] [ 2.25070810e-03 6.58035254e-05 9.99997465e-01 -4.22847373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.337719421 meters Centerline goodness : 0.968979 Centerline is valid? [True, True] Translation: X:66.48, Y:5.00, Z:-0.42 [[ 9.68395156e-01 -2.49411558e-01 -2.16737946e-03 6.64766072e+01] [ 2.49410816e-01 9.68397580e-01 -6.10314073e-04 4.99878589e+00] [ 2.25110441e-03 5.04573111e-05 9.99997465e-01 -4.20406479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.367719421 meters Centerline goodness : 0.967850 Centerline is valid? [True, True] Translation: X:66.50, Y:5.00, Z:-0.42 [[ 9.67410884e-01 -2.53202459e-01 -2.16716210e-03 6.65047351e+01] [ 2.53201725e-01 9.67413310e-01 -6.11084947e-04 5.00117007e+00] [ 2.25126967e-03 4.24410484e-05 9.99997465e-01 -4.22616178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.39771942099999 meters Centerline goodness : 0.969384 Centerline is valid? [True, True] Translation: X:66.53, Y:5.00, Z:-0.42 [[ 9.65156169e-01 -2.61665573e-01 -2.16709486e-03 6.65340878e+01] [ 2.61664860e-01 9.65158602e-01 -6.11323282e-04 5.00288488e+00] [ 2.25155251e-03 2.29698623e-05 9.99997465e-01 -4.19717142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42771942099999 meters Centerline goodness : 0.968206 Centerline is valid? [True, True] Translation: X:66.56, Y:5.01, Z:-0.42 [[ 9.64269295e-01 -2.64915140e-01 -2.16690560e-03 6.65615240e+01] [ 2.64914434e-01 9.64271729e-01 -6.11993413e-04 5.00937153e+00] [ 2.25161213e-03 1.60818868e-05 9.99997465e-01 -4.20148782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.457719421 meters Centerline goodness : 0.970999 Centerline is valid? [True, True] Translation: X:66.59, Y:5.02, Z:-0.42 [[ 9.64029815e-01 -2.65785292e-01 -2.16669033e-03 6.65901310e+01] [ 2.65784586e-01 9.64032250e-01 -6.12754596e-04 5.01547996e+00] [ 2.25162051e-03 1.48408063e-05 9.99997465e-01 -4.17985230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.487719421 meters Centerline goodness : 0.972466 Centerline is valid? [True, True] Translation: X:66.62, Y:5.02, Z:-0.42 [[ 9.64392821e-01 -2.64465106e-01 -2.16649841e-03 6.66168166e+01] [ 2.64464395e-01 9.64395255e-01 -6.13432419e-04 5.02386490e+00] [ 2.25159226e-03 1.86281290e-05 9.99997465e-01 -4.17506791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.517719421 meters Centerline goodness : 0.972332 Centerline is valid? [True, True] Translation: X:66.64, Y:5.03, Z:-0.42 [[ 9.65680112e-01 -2.59725292e-01 -2.16639685e-03 6.66449192e+01] [ 2.59724569e-01 9.65682542e-01 -6.13790871e-04 5.03109988e+00] [ 2.25146863e-03 3.00591485e-05 9.99997465e-01 -4.15784552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.547719421 meters Centerline goodness : 0.970313 Centerline is valid? [True, True] Translation: X:66.67, Y:5.04, Z:-0.42 [[ 9.66372442e-01 -2.57137337e-01 -2.16620962e-03 6.66721988e+01] [ 2.57136605e-01 9.66374870e-01 -6.14450945e-04 5.03694398e+00] [ 2.25136882e-03 3.67766723e-05 9.99997465e-01 -4.19057235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.577719421 meters Centerline goodness : 0.968162 Centerline is valid? [True, True] Translation: X:66.70, Y:5.04, Z:-0.42 [[ 9.68070658e-01 -2.50668125e-01 -2.16611186e-03 6.67000527e+01] [ 2.50667377e-01 9.68073080e-01 -6.14795377e-04 5.04348779e+00] [ 2.25106419e-03 5.21917868e-05 9.99997465e-01 -4.23335714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.607719421 meters Centerline goodness : 0.968508 Centerline is valid? [True, True] Translation: X:66.73, Y:5.05, Z:-0.42 [[ 9.68930783e-01 -2.47322557e-01 -2.16592785e-03 6.67258747e+01] [ 2.47321799e-01 9.68933201e-01 -6.15442985e-04 5.05375774e+00] [ 2.25085233e-03 6.06404809e-05 9.99997465e-01 -4.24527370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.637719421 meters Centerline goodness : 0.967048 Centerline is valid? [True, True] Translation: X:66.75, Y:5.07, Z:-0.42 [[ 9.70464094e-01 -2.41235885e-01 -2.16572015e-03 6.67517986e+01] [ 2.41235110e-01 9.70466507e-01 -6.16172988e-04 5.06513414e+00] [ 2.25040191e-03 7.55260210e-05 9.99997465e-01 -4.24529884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.667719421 meters Centerline goodness : 0.966045 Centerline is valid? [True, True] Translation: X:66.78, Y:5.07, Z:-0.43 [[ 9.71277473e-01 -2.37939869e-01 -2.16551393e-03 6.67804958e+01] [ 2.37939084e-01 9.71279883e-01 -6.16896883e-04 5.07041686e+00] [ 2.25010448e-03 8.39176429e-05 9.99997465e-01 -4.25510702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.697719421 meters Centerline goodness : 0.964879 Centerline is valid? [True, True] Translation: X:66.81, Y:5.07, Z:-0.43 [[ 9.72519108e-01 -2.32813006e-01 -2.16533574e-03 6.68103555e+01] [ 2.32812207e-01 9.72521514e-01 -6.17521716e-04 5.07258681e+00] [ 2.24960268e-03 9.64350752e-05 9.99997465e-01 -4.25378905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.727719421 meters Centerline goodness : 0.964982 Centerline is valid? [True, True] Translation: X:66.84, Y:5.08, Z:-0.43 [[ 9.72943116e-01 -2.31034639e-01 -2.16516874e-03 6.68372221e+01] [ 2.31033834e-01 9.72945520e-01 -6.18106700e-04 5.07872382e+00] [ 2.24939528e-03 1.01155423e-04 9.99997465e-01 -4.25400208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.75771942099999 meters Centerline goodness : 0.964896 Centerline is valid? [True, True] Translation: X:66.87, Y:5.09, Z:-0.43 [[ 9.73371482e-01 -2.29223190e-01 -2.16496463e-03 6.68651093e+01] [ 2.29222379e-01 9.73373884e-01 -6.18820780e-04 5.08643365e+00] [ 2.24916811e-03 1.06084156e-04 9.99997465e-01 -4.25362787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78771942099999 meters Centerline goodness : 0.965560 Centerline is valid? [True, True] Translation: X:66.89, Y:5.10, Z:-0.43 [[ 9.73903985e-01 -2.26950086e-01 -2.16478668e-03 6.68913919e+01] [ 2.26949269e-01 9.73906384e-01 -6.19442678e-04 5.09546298e+00] [ 2.24888214e-03 1.11980939e-04 9.99997465e-01 -4.25519915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.81771942099999 meters Centerline goodness : 0.968418 Centerline is valid? [True, True] Translation: X:66.92, Y:5.10, Z:-0.42 [[ 9.73817558e-01 -2.27320650e-01 -2.16472374e-03 6.69215521e+01] [ 2.27319833e-01 9.73819958e-01 -6.19662534e-04 5.09846800e+00] [ 2.24891327e-03 1.11353617e-04 9.99997465e-01 -4.23560431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.847719421 meters Centerline goodness : 0.968330 Centerline is valid? [True, True] Translation: X:66.95, Y:5.10, Z:-0.42 [[ 9.73463156e-01 -2.28833561e-01 -2.16469905e-03 6.69504999e+01] [ 2.28832747e-01 9.73465556e-01 -6.19748776e-04 5.10207395e+00] [ 2.24907929e-03 1.07948567e-04 9.99997465e-01 -4.22380982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.877719421 meters Centerline goodness : 0.962925 Centerline is valid? [True, True] Translation: X:66.98, Y:5.10, Z:-0.43 [[ 9.72280749e-01 -2.33806460e-01 -2.16451619e-03 6.69800653e+01] [ 2.33805657e-01 9.72283153e-01 -6.20386765e-04 5.10146917e+00] [ 2.24957306e-03 9.71139770e-05 9.99997465e-01 -4.28340241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.907719421 meters Centerline goodness : 0.964296 Centerline is valid? [True, True] Translation: X:67.01, Y:5.11, Z:-0.43 [[ 9.71514716e-01 -2.36969349e-01 -2.16433427e-03 6.70081230e+01] [ 2.36968553e-01 9.71517122e-01 -6.21020790e-04 5.10668356e+00] [ 2.24985070e-03 9.04516763e-05 9.99997465e-01 -4.27087615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.937719421 meters Centerline goodness : 0.966521 Centerline is valid? [True, True] Translation: X:67.04, Y:5.11, Z:-0.43 [[ 9.70189155e-01 -2.42339267e-01 -2.16424268e-03 6.70368016e+01] [ 2.42338483e-01 9.70191565e-01 -6.21339812e-04 5.11115688e+00] [ 2.25030503e-03 7.83378583e-05 9.99997465e-01 -4.26060606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.967719421 meters Centerline goodness : 0.962093 Centerline is valid? [True, True] Translation: X:67.07, Y:5.11, Z:-0.43 [[ 9.68758794e-01 -2.47995395e-01 -2.16407318e-03 6.70655995e+01] [ 2.47994623e-01 9.68761209e-01 -6.21929604e-04 5.11296992e+00] [ 2.25070583e-03 6.58212586e-05 9.99997465e-01 -4.29391954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.997719421 meters Centerline goodness : 0.960075 Centerline is valid? [True, True] Translation: X:67.09, Y:5.12, Z:-0.43 [[ 9.67929467e-01 -2.51212788e-01 -2.16401308e-03 6.70943639e+01] [ 2.51212024e-01 9.67931884e-01 -6.22138680e-04 5.11734404e+00] [ 2.25090644e-03 5.85602566e-05 9.99997465e-01 -4.31902945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.027719421 meters Centerline goodness : 0.962380 Centerline is valid? [True, True] Translation: X:67.12, Y:5.12, Z:-0.43 [[ 9.67255310e-01 -2.53796146e-01 -2.16384593e-03 6.71230264e+01] [ 2.53795387e-01 9.67257729e-01 -6.22719485e-04 5.12231951e+00] [ 2.25104050e-03 5.31546132e-05 9.99997465e-01 -4.28437528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.057719421 meters Centerline goodness : 0.965162 Centerline is valid? [True, True] Translation: X:67.15, Y:5.12, Z:-0.42 [[ 9.65765257e-01 -2.59408533e-01 -2.16367057e-03 6.71519249e+01] [ 2.59407788e-01 9.65767680e-01 -6.23328178e-04 5.12439860e+00] [ 2.25129976e-03 4.07157016e-05 9.99997465e-01 -4.23820525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.087719421 meters Centerline goodness : 0.964390 Centerline is valid? [True, True] Translation: X:67.18, Y:5.13, Z:-0.43 [[ 9.64966084e-01 -2.62365728e-01 -2.16360504e-03 6.71794096e+01] [ 2.62364989e-01 9.64968509e-01 -6.23555575e-04 5.12897813e+00] [ 2.25141034e-03 3.40557701e-05 9.99997465e-01 -4.25055908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.117719421 meters Centerline goodness : 0.958138 Centerline is valid? [True, True] Translation: X:67.21, Y:5.13, Z:-0.43 [[ 9.63572638e-01 -2.67438011e-01 -2.16353993e-03 6.72066685e+01] [ 2.67437285e-01 9.63575067e-01 -6.23781376e-04 5.13439720e+00] [ 2.25155599e-03 2.24474212e-05 9.99997465e-01 -4.32645695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14771942099999 meters Centerline goodness : 0.964959 Centerline is valid? [True, True] Translation: X:67.23, Y:5.14, Z:-0.43 [[ 9.62772943e-01 -2.70302754e-01 -2.16347562e-03 6.72337406e+01] [ 2.70302035e-01 9.62775374e-01 -6.24004353e-04 5.14269834e+00] [ 2.25161115e-03 1.59826450e-05 9.99997465e-01 -4.26450124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.17771942099999 meters Centerline goodness : 0.965869 Centerline is valid? [True, True] Translation: X:67.26, Y:5.15, Z:-0.42 [[ 9.61202586e-01 -2.75834932e-01 -2.16326918e-03 6.72615752e+01] [ 2.75834224e-01 9.61205020e-01 -6.24719205e-04 5.14892336e+00] [ 2.25166458e-03 3.77803814e-06 9.99997465e-01 -4.24785987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.207719421 meters Centerline goodness : 0.966142 Centerline is valid? [True, True] Translation: X:67.29, Y:5.15, Z:-0.42 [[ 9.59389957e-01 -2.82074868e-01 -2.16305734e-03 6.72890231e+01] [ 2.82074175e-01 9.59392396e-01 -6.25451848e-04 5.15442368e+00] [ 2.25164501e-03 -1.00903914e-05 9.99997465e-01 -4.22478500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.237719421 meters Centerline goodness : 0.966091 Centerline is valid? [True, True] Translation: X:67.32, Y:5.16, Z:-0.42 [[ 9.58423621e-01 -2.85340995e-01 -2.16295836e-03 6.73153684e+01] [ 2.85340309e-01 9.58426062e-01 -6.25793964e-04 5.16308759e+00] [ 2.25160033e-03 -1.74034889e-05 9.99997465e-01 -4.23443408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.267719421 meters Centerline goodness : 0.967634 Centerline is valid? [True, True] Translation: X:67.34, Y:5.17, Z:-0.42 [[ 9.57572178e-01 -2.88185438e-01 -2.16289336e-03 6.73420741e+01] [ 2.88184759e-01 9.57574620e-01 -6.26018513e-04 5.17290624e+00] [ 2.25154121e-03 -2.38549915e-05 9.99997465e-01 -4.22894870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.297719421 meters Centerline goodness : 0.968106 Centerline is valid? [True, True] Translation: X:67.37, Y:5.18, Z:-0.42 [[ 9.56696131e-01 -2.91080461e-01 -2.16269308e-03 6.73676322e+01] [ 2.91079788e-01 9.56698575e-01 -6.26709674e-04 5.18324967e+00] [ 2.25146833e-03 -2.99455220e-05 9.99997465e-01 -4.20277488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.327719421 meters Centerline goodness : 0.971251 Centerline is valid? [True, True] Translation: X:67.39, Y:5.19, Z:-0.42 [[ 9.56447024e-01 -2.91897950e-01 -2.16261870e-03 6.73940174e+01] [ 2.91897278e-01 9.56449469e-01 -6.26966215e-04 5.19192207e+00] [ 2.25144566e-03 -3.16025416e-05 9.99997465e-01 -4.18150217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.357719421 meters Centerline goodness : 0.965420 Centerline is valid? [True, True] Translation: X:67.42, Y:5.20, Z:-0.42 [[ 9.56584537e-01 -2.91446988e-01 -2.16242372e-03 6.74199566e+01] [ 2.91446313e-01 9.56586981e-01 -6.27637993e-04 5.20137773e+00] [ 2.25146958e-03 -2.98416220e-05 9.99997465e-01 -4.23242166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.387719421 meters Centerline goodness : 0.965420 Centerline is valid? [True, True] Translation: X:67.45, Y:5.21, Z:-0.42 [[ 9.56493730e-01 -2.91744870e-01 -2.16235881e-03 6.74472492e+01] [ 2.91744196e-01 9.56496173e-01 -6.27861532e-04 5.20960527e+00] [ 2.25146331e-03 -3.03100161e-05 9.99997465e-01 -4.23178008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.417719421 meters Centerline goodness : 0.965996 Centerline is valid? [True, True] Translation: X:67.47, Y:5.22, Z:-0.42 [[ 9.57545182e-01 -2.88275129e-01 -2.16216308e-03 6.74739130e+01] [ 2.88274444e-01 9.57547623e-01 -6.28534868e-04 5.22105985e+00] [ 2.25156508e-03 -2.14458257e-05 9.99997465e-01 -4.23714030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.447719421 meters Centerline goodness : 0.962994 Centerline is valid? [True, True] Translation: X:67.50, Y:5.23, Z:-0.43 [[ 9.58130891e-01 -2.86322409e-01 -2.16197933e-03 6.74996509e+01] [ 2.86321719e-01 9.58133330e-01 -6.29166263e-04 5.23084641e+00] [ 2.25160886e-03 -1.61980065e-05 9.99997465e-01 -4.26142540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.477719421 meters Centerline goodness : 0.961734 Centerline is valid? [True, True] Translation: X:67.53, Y:5.24, Z:-0.43 [[ 9.59636720e-01 -2.81234230e-01 -2.16191423e-03 6.75258328e+01] [ 2.81233526e-01 9.59639155e-01 -6.29389891e-04 5.24205258e+00] [ 2.25166353e-03 -4.01711043e-06 9.99997465e-01 -4.27743041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50771942099999 meters Centerline goodness : 0.964391 Centerline is valid? [True, True] Translation: X:67.55, Y:5.25, Z:-0.42 [[ 9.60727722e-01 -2.77484360e-01 -2.16185114e-03 6.75519913e+01] [ 2.77483646e-01 9.60730155e-01 -6.29606533e-04 5.25287789e+00] [ 2.25166154e-03 5.00211563e-06 9.99997465e-01 -4.23435956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.53771942099999 meters Centerline goodness : 0.957463 Centerline is valid? [True, True] Translation: X:67.58, Y:5.27, Z:-0.43 [[ 9.63175506e-01 -2.68864786e-01 -2.16163219e-03 6.75772727e+01] [ 2.68864048e-01 9.63177931e-01 -6.30357353e-04 5.26615154e+00] [ 2.25151731e-03 2.59595826e-05 9.99997465e-01 -4.32361279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56771942099999 meters Centerline goodness : 0.960938 Centerline is valid? [True, True] Translation: X:67.60, Y:5.28, Z:-0.42 [[ 9.64412971e-01 -2.64391659e-01 -2.16153364e-03 6.76046779e+01] [ 2.64390909e-01 9.64415393e-01 -6.30695100e-04 5.27530006e+00] [ 2.25136684e-03 3.67606907e-05 9.99997465e-01 -4.24951753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.597719421 meters Centerline goodness : 0.963997 Centerline is valid? [True, True] Translation: X:67.63, Y:5.28, Z:-0.42 [[ 9.66595823e-01 -2.56296397e-01 -2.16134425e-03 6.76311983e+01] [ 2.56295626e-01 9.66598238e-01 -6.31343453e-04 5.28468718e+00] [ 2.25096260e-03 5.63108676e-05 9.99997465e-01 -4.21708791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.627719421 meters Centerline goodness : 0.966478 Centerline is valid? [True, True] Translation: X:67.66, Y:5.29, Z:-0.42 [[ 9.67170435e-01 -2.54119419e-01 -2.16127748e-03 6.76582362e+01] [ 2.54118642e-01 9.67172848e-01 -6.31571933e-04 5.29400112e+00] [ 2.25082359e-03 6.16168026e-05 9.99997465e-01 -4.19029035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.657719421 meters Centerline goodness : 0.969346 Centerline is valid? [True, True] Translation: X:67.69, Y:5.30, Z:-0.42 [[ 9.68110380e-01 -2.50514712e-01 -2.16108973e-03 6.76858724e+01] [ 2.50513924e-01 9.68112790e-01 -6.32213732e-04 5.30306134e+00] [ 2.25055745e-03 7.06696077e-05 9.99997465e-01 -4.16559831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.687719421 meters Centerline goodness : 0.964120 Centerline is valid? [True, True] Translation: X:67.71, Y:5.31, Z:-0.42 [[ 9.68860997e-01 -2.47595838e-01 -2.16089957e-03 6.77120207e+01] [ 2.47595042e-01 9.68863404e-01 -6.32863015e-04 5.31251813e+00] [ 2.25031076e-03 7.81282718e-05 9.99997465e-01 -4.21826168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.717719421 meters Centerline goodness : 0.965812 Centerline is valid? [True, True] Translation: X:67.74, Y:5.32, Z:-0.42 [[ 9.69271464e-01 -2.45984063e-01 -2.16083265e-03 6.77392586e+01] [ 2.45983262e-01 9.69273869e-01 -6.33091448e-04 5.32053521e+00] [ 2.25016903e-03 8.21088119e-05 9.99997465e-01 -4.18501060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.747719421 meters Centerline goodness : 0.969228 Centerline is valid? [True, True] Translation: X:67.77, Y:5.33, Z:-0.42 [[ 9.70021573e-01 -2.43009216e-01 -2.16064001e-03 6.77669902e+01] [ 2.43008406e-01 9.70023975e-01 -6.33748191e-04 5.32551578e+00] [ 2.24987927e-03 8.96957307e-05 9.99997465e-01 -4.15924976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.777719421 meters Centerline goodness : 0.968857 Centerline is valid? [True, True] Translation: X:67.79, Y:5.33, Z:-0.42 [[ 9.70193595e-01 -2.42321522e-01 -2.16053740e-03 6.77949564e+01] [ 2.42320710e-01 9.70195996e-01 -6.34097814e-04 5.33083667e+00] [ 2.24980029e-03 9.16546807e-05 9.99997465e-01 -4.15302261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.807719421 meters Centerline goodness : 0.967995 Centerline is valid? [True, True] Translation: X:67.82, Y:5.33, Z:-0.42 [[ 9.70484074e-01 -2.41155542e-01 -2.16047013e-03 6.78234445e+01] [ 2.41154726e-01 9.70486474e-01 -6.34326949e-04 5.33455928e+00] [ 2.24967849e-03 9.45966194e-05 9.99997465e-01 -4.16620246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.837719421 meters Centerline goodness : 0.967436 Centerline is valid? [True, True] Translation: X:67.85, Y:5.34, Z:-0.42 [[ 9.70594665e-01 -2.40710051e-01 -2.16025716e-03 6.78518388e+01] [ 2.40709233e-01 9.70597065e-01 -6.35051399e-04 5.34192817e+00] [ 2.24960251e-03 9.63836568e-05 9.99997465e-01 -4.18583493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.867719421 meters Centerline goodness : 0.963914 Centerline is valid? [True, True] Translation: X:67.88, Y:5.35, Z:-0.42 [[ 9.70438837e-01 -2.41337520e-01 -2.16008456e-03 6.78801604e+01] [ 2.41336702e-01 9.70441236e-01 -6.35637948e-04 5.34880214e+00] [ 2.24963842e-03 9.55400680e-05 9.99997465e-01 -4.21209011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.89771942099999 meters Centerline goodness : 0.963082 Centerline is valid? [True, True] Translation: X:67.91, Y:5.36, Z:-0.42 [[ 9.69898679e-01 -2.43499256e-01 -2.15989692e-03 6.79079195e+01] [ 2.43498441e-01 9.69901080e-01 -6.36274915e-04 5.35524018e+00] [ 2.24981882e-03 9.11906668e-05 9.99997465e-01 -4.21791925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92771942099999 meters Centerline goodness : 0.960253 Centerline is valid? [True, True] Translation: X:67.94, Y:5.36, Z:-0.42 [[ 9.68702153e-01 -2.48216589e-01 -2.15970848e-03 6.79378093e+01] [ 2.48215785e-01 9.68704557e-01 -6.36913884e-04 5.35666853e+00] [ 2.25021204e-03 8.09061150e-05 9.99997465e-01 -4.23101558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.957719421 meters Centerline goodness : 0.962539 Centerline is valid? [True, True] Translation: X:67.97, Y:5.36, Z:-0.42 [[ 9.68032240e-01 -2.50816505e-01 -2.15952142e-03 6.79666459e+01] [ 2.50815706e-01 9.68034646e-01 -6.37547512e-04 5.36081828e+00] [ 2.25039899e-03 7.55246567e-05 9.99997465e-01 -4.19824187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.987719421 meters Centerline goodness : 0.965075 Centerline is valid? [True, True] Translation: X:68.00, Y:5.36, Z:-0.42 [[ 9.66712193e-01 -2.55857136e-01 -2.15933013e-03 6.79961774e+01] [ 2.55856348e-01 9.66714602e-01 -6.38194728e-04 5.36259486e+00] [ 2.25074264e-03 6.44723032e-05 9.99997465e-01 -4.16674837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.017719421 meters Centerline goodness : 0.965740 Centerline is valid? [True, True] Translation: X:68.02, Y:5.37, Z:-0.42 [[ 9.65842815e-01 -2.59119654e-01 -2.15928975e-03 6.80231599e+01] [ 2.59118874e-01 9.65845227e-01 -6.38331328e-04 5.36915546e+00] [ 2.25094389e-03 5.70149980e-05 9.99997465e-01 -4.17262641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.047719421 meters Centerline goodness : 0.961875 Centerline is valid? [True, True] Translation: X:68.05, Y:5.38, Z:-0.42 [[ 9.63744308e-01 -2.66818752e-01 -2.15907531e-03 6.80511266e+01] [ 2.66817990e-01 9.63746726e-01 -6.39055807e-04 5.37560540e+00] [ 2.25131384e-03 3.98062608e-05 9.99997465e-01 -4.21607771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.077719421 meters Centerline goodness : 0.961065 Centerline is valid? [True, True] Translation: X:68.08, Y:5.38, Z:-0.42 [[ 9.62513290e-01 -2.71225929e-01 -2.15902110e-03 6.80778581e+01] [ 2.71225177e-01 9.62515711e-01 -6.39238905e-04 5.38199491e+00] [ 2.25146990e-03 2.96950612e-05 9.99997465e-01 -4.22035168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.107719421 meters Centerline goodness : 0.962537 Centerline is valid? [True, True] Translation: X:68.11, Y:5.39, Z:-0.42 [[ 9.60516630e-01 -2.78214203e-01 -2.15895360e-03 6.81065960e+01] [ 2.78213468e-01 9.60519056e-01 -6.39466799e-04 5.38670577e+00] [ 2.25162482e-03 1.35685246e-05 9.99997465e-01 -4.18465624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.137719421 meters Centerline goodness : 0.964658 Centerline is valid? [True, True] Translation: X:68.13, Y:5.39, Z:-0.42 [[ 9.59768264e-01 -2.80785005e-01 -2.15876247e-03 6.81349488e+01] [ 2.80784275e-01 9.59770692e-01 -6.40111387e-04 5.39226015e+00] [ 2.25165063e-03 8.21203840e-06 9.99997465e-01 -4.15645481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.167719421 meters Centerline goodness : 0.965147 Centerline is valid? [True, True] Translation: X:68.16, Y:5.40, Z:-0.41 [[ 9.58232497e-01 -2.85982205e-01 -2.15856770e-03 6.81629165e+01] [ 2.85981487e-01 9.58234929e-01 -6.40767499e-04 5.40024764e+00] [ 2.25166307e-03 -3.30616012e-06 9.99997465e-01 -4.13527811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.197719421 meters Centerline goodness : 0.965857 Centerline is valid? [True, True] Translation: X:68.19, Y:5.41, Z:-0.41 [[ 9.57934193e-01 -2.86979831e-01 -2.15837034e-03 6.81886451e+01] [ 2.86979115e-01 9.57936624e-01 -6.41431628e-04 5.41073657e+00] [ 2.25165993e-03 -4.95791902e-06 9.99997465e-01 -4.13871302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.227719421 meters Centerline goodness : 0.967917 Centerline is valid? [True, True] Translation: X:68.21, Y:5.42, Z:-0.41 [[ 9.57957192e-01 -2.86903049e-01 -2.15830085e-03 6.82144376e+01] [ 2.86902331e-01 9.57959624e-01 -6.41665340e-04 5.42392919e+00] [ 2.25166082e-03 -4.53361962e-06 9.99997465e-01 -4.13091377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.25771942099999 meters Centerline goodness : 0.965437 Centerline is valid? [True, True] Translation: X:68.24, Y:5.43, Z:-0.41 [[ 9.58042857e-01 -2.86616862e-01 -2.15810786e-03 6.82411965e+01] [ 2.86616143e-01 9.58045288e-01 -6.42313784e-04 5.43298921e+00] [ 2.25166303e-03 -3.18441708e-06 9.99997465e-01 -4.13596377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28771942099999 meters Centerline goodness : 0.964037 Centerline is valid? [True, True] Translation: X:68.27, Y:5.44, Z:-0.42 [[ 9.58434016e-01 -2.85306119e-01 -2.15788634e-03 6.82677429e+01] [ 2.85305394e-01 9.58436445e-01 -6.43057139e-04 5.44215677e+00] [ 2.25166504e-03 6.71224117e-07 9.99997465e-01 -4.16571943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.31771942099999 meters Centerline goodness : 0.962691 Centerline is valid? [True, True] Translation: X:68.30, Y:5.45, Z:-0.42 [[ 9.58298015e-01 -2.85762591e-01 -2.15781733e-03 6.82952449e+01] [ 2.85761867e-01 9.58300444e-01 -6.43288618e-04 5.45150733e+00] [ 2.25166513e-03 -1.59701696e-07 9.99997465e-01 -4.17111853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.347719421 meters Centerline goodness : 0.958994 Centerline is valid? [True, True] Translation: X:68.32, Y:5.46, Z:-0.42 [[ 9.58249758e-01 -2.85924371e-01 -2.15762160e-03 6.83211886e+01] [ 2.85923646e-01 9.58252187e-01 -6.43944443e-04 5.46156571e+00] [ 2.25166502e-03 1.44573920e-07 9.99997465e-01 -4.21453071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.377719421 meters Centerline goodness : 0.958212 Centerline is valid? [True, True] Translation: X:68.35, Y:5.47, Z:-0.42 [[ 9.58299747e-01 -2.85756783e-01 -2.15755260e-03 6.83482508e+01] [ 2.85756057e-01 9.58302176e-01 -6.44175543e-04 5.47192126e+00] [ 2.25166488e-03 7.79538000e-07 9.99997465e-01 -4.21342460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.407719421 meters Centerline goodness : 0.961837 Centerline is valid? [True, True] Translation: X:68.37, Y:5.48, Z:-0.42 [[ 9.59300826e-01 -2.82377886e-01 -2.15735529e-03 6.83734821e+01] [ 2.82377150e-01 9.59303252e-01 -6.44835668e-04 5.48485584e+00] [ 2.25164527e-03 9.40355166e-06 9.99997465e-01 -4.19106229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.437719421 meters Centerline goodness : 0.964348 Centerline is valid? [True, True] Translation: X:68.40, Y:5.50, Z:-0.42 [[ 9.60338038e-01 -2.78830054e-01 -2.15724996e-03 6.83996165e+01] [ 2.78829308e-01 9.60340461e-01 -6.45187848e-04 5.49791775e+00] [ 2.25159218e-03 1.80939197e-05 9.99997465e-01 -4.16260302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.467719421 meters Centerline goodness : 0.963924 Centerline is valid? [True, True] Translation: X:68.43, Y:5.51, Z:-0.42 [[ 9.60983282e-01 -2.76598043e-01 -2.15720853e-03 6.84252897e+01] [ 2.76597292e-01 9.60985703e-01 -6.45326324e-04 5.50769996e+00] [ 2.25154256e-03 2.34697722e-05 9.99997465e-01 -4.18575207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.497719421 meters Centerline goodness : 0.962611 Centerline is valid? [True, True] Translation: X:68.45, Y:5.52, Z:-0.42 [[ 9.62279480e-01 -2.72054312e-01 -2.15711557e-03 6.84522481e+01] [ 2.72053548e-01 9.62281898e-01 -6.45636911e-04 5.51758031e+00] [ 2.25140157e-03 3.44322075e-05 9.99997465e-01 -4.15483256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.527719421 meters Centerline goodness : 0.962299 Centerline is valid? [True, True] Translation: X:68.48, Y:5.53, Z:-0.42 [[ 9.63142908e-01 -2.68981574e-01 -2.15691994e-03 6.84790697e+01] [ 2.68980801e-01 9.63145322e-01 -6.46289812e-04 5.52568160e+00] [ 2.25126740e-03 4.22993967e-05 9.99997465e-01 -4.17057414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.557719421 meters Centerline goodness : 0.963373 Centerline is valid? [True, True] Translation: X:68.51, Y:5.54, Z:-0.41 [[ 9.64327569e-01 -2.64703018e-01 -2.15685137e-03 6.85057713e+01] [ 2.64702233e-01 9.64329980e-01 -6.46518563e-04 5.53512576e+00] [ 2.25105185e-03 5.25322996e-05 9.99997465e-01 -4.13847408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.587719421 meters Centerline goodness : 0.964487 Centerline is valid? [True, True] Translation: X:68.53, Y:5.54, Z:-0.42 [[ 9.64832823e-01 -2.62855421e-01 -2.15674600e-03 6.85318334e+01] [ 2.62854631e-01 9.64835232e-01 -6.46869893e-04 5.54451595e+00] [ 2.25093778e-03 5.72106321e-05 9.99997465e-01 -4.15632421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.617719421 meters Centerline goodness : 0.966111 Centerline is valid? [True, True] Translation: X:68.56, Y:5.55, Z:-0.41 [[ 9.65142172e-01 -2.61717283e-01 -2.15667653e-03 6.85592287e+01] [ 2.61716490e-01 9.65144580e-01 -6.47101395e-04 5.55382974e+00] [ 2.25086229e-03 6.01070349e-05 9.99997465e-01 -4.14143644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64771942099999 meters Centerline goodness : 0.966893 Centerline is valid? [True, True] Translation: X:68.59, Y:5.56, Z:-0.41 [[ 9.65844797e-01 -2.59112288e-01 -2.15649147e-03 6.85873596e+01] [ 2.59111487e-01 9.65847202e-01 -6.47717527e-04 5.56145649e+00] [ 2.25067283e-03 6.68228916e-05 9.99997465e-01 -4.11158225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.67771942099999 meters Centerline goodness : 0.963471 Centerline is valid? [True, True] Translation: X:68.61, Y:5.57, Z:-0.42 [[ 9.66497898e-01 -2.56665471e-01 -2.15629793e-03 6.86145357e+01] [ 2.56664662e-01 9.66500300e-01 -6.48361206e-04 5.56689836e+00] [ 2.25047453e-03 7.31942620e-05 9.99997465e-01 -4.15722761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.707719421 meters Centerline goodness : 0.961406 Centerline is valid? [True, True] Translation: X:68.64, Y:5.57, Z:-0.42 [[ 9.66736499e-01 -2.55765307e-01 -2.15622959e-03 6.86427970e+01] [ 2.55764496e-01 9.66738901e-01 -6.48588418e-04 5.57405066e+00] [ 2.25039744e-03 7.55271226e-05 9.99997465e-01 -4.18631172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.737719421 meters Centerline goodness : 0.960291 Centerline is valid? [True, True] Translation: X:68.67, Y:5.58, Z:-0.42 [[ 9.66810739e-01 -2.55484532e-01 -2.15604006e-03 6.86719640e+01] [ 2.55483719e-01 9.66813140e-01 -6.49217835e-04 5.57874639e+00] [ 2.25035297e-03 7.68376422e-05 9.99997465e-01 -4.19679511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.767719421 meters Centerline goodness : 0.957958 Centerline is valid? [True, True] Translation: X:68.70, Y:5.58, Z:-0.42 [[ 9.66562208e-01 -2.56423188e-01 -2.15585632e-03 6.86993978e+01] [ 2.56422375e-01 9.66564609e-01 -6.49827403e-04 5.58320811e+00] [ 2.25040524e-03 7.52888107e-05 9.99997465e-01 -4.20592608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.797719421 meters Centerline goodness : 0.959603 Centerline is valid? [True, True] Translation: X:68.73, Y:5.58, Z:-0.42 [[ 9.65570882e-01 -2.60131168e-01 -2.15578643e-03 6.87284902e+01] [ 2.60130365e-01 9.65573286e-01 -6.50059190e-04 5.58416452e+00] [ 2.25067044e-03 6.68927161e-05 9.99997465e-01 -4.20521084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.827719421 meters Centerline goodness : 0.960300 Centerline is valid? [True, True] Translation: X:68.76, Y:5.59, Z:-0.42 [[ 9.64843860e-01 -2.62814914e-01 -2.15571761e-03 6.87567115e+01] [ 2.62814116e-01 9.64846266e-01 -6.50287337e-04 5.59056546e+00] [ 2.25084129e-03 6.08727273e-05 9.99997465e-01 -4.19149216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.857719421 meters Centerline goodness : 0.960848 Centerline is valid? [True, True] Translation: X:68.78, Y:5.60, Z:-0.42 [[ 9.63374103e-01 -2.68152367e-01 -2.15552605e-03 6.87845166e+01] [ 2.68151582e-01 9.63376513e-01 -6.50921657e-04 5.59650902e+00] [ 2.25112936e-03 4.90733462e-05 9.99997465e-01 -4.18347736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.887719421 meters Centerline goodness : 0.963497 Centerline is valid? [True, True] Translation: X:68.81, Y:5.60, Z:-0.42 [[ 9.62741135e-01 -2.70416088e-01 -2.15545566e-03 6.88128016e+01] [ 2.70415308e-01 9.62743547e-01 -6.51154675e-04 5.60357751e+00] [ 2.25123373e-03 4.40251845e-05 9.99997465e-01 -4.16734082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.917719421 meters Centerline goodness : 0.967873 Centerline is valid? [True, True] Translation: X:68.84, Y:5.61, Z:-0.41 [[ 9.61335854e-01 -2.75370172e-01 -2.15525594e-03 6.88420797e+01] [ 2.75369402e-01 9.61338269e-01 -6.51815077e-04 5.60712884e+00] [ 2.25142044e-03 3.31216642e-05 9.99997465e-01 -4.10600478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.947719421 meters Centerline goodness : 0.967733 Centerline is valid? [True, True] Translation: X:68.87, Y:5.61, Z:-0.41 [[ 9.60353734e-01 -2.78776004e-01 -2.15521257e-03 6.88691415e+01] [ 2.78775243e-01 9.60356152e-01 -6.51958417e-04 5.61291035e+00] [ 2.25152202e-03 2.52907922e-05 9.99997465e-01 -4.11458203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.977719421 meters Centerline goodness : 0.967807 Centerline is valid? [True, True] Translation: X:68.90, Y:5.62, Z:-0.41 [[ 9.58364800e-01 -2.85538553e-01 -2.15514140e-03 6.88969319e+01] [ 2.85537809e-01 9.58367223e-01 -6.52193612e-04 5.62036353e+00] [ 2.25164330e-03 9.66504852e-06 9.99997465e-01 -4.11103427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00771942099999 meters Centerline goodness : 0.967496 Centerline is valid? [True, True] Translation: X:68.92, Y:5.63, Z:-0.41 [[ 9.57556652e-01 -2.88237080e-01 -2.15494158e-03 6.89245751e+01] [ 2.88236341e-01 9.57559077e-01 -6.52853180e-04 5.62898539e+00] [ 2.25166036e-03 4.01143088e-06 9.99997465e-01 -4.11740223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.03771942099999 meters Centerline goodness : 0.966697 Centerline is valid? [True, True] Translation: X:68.95, Y:5.63, Z:-0.41 [[ 9.56523666e-01 -2.91646760e-01 -2.15474278e-03 6.89526394e+01] [ 2.91646028e-01 9.56526093e-01 -6.53508671e-04 5.63439087e+00] [ 2.25166138e-03 -3.32566287e-06 9.99997465e-01 -4.13390727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06771942099999 meters Centerline goodness : 0.965203 Centerline is valid? [True, True] Translation: X:68.98, Y:5.64, Z:-0.41 [[ 9.56279912e-01 -2.92445015e-01 -2.15454671e-03 6.89796933e+01] [ 2.92444284e-01 9.56282340e-01 -6.54154453e-04 5.64125799e+00] [ 2.25165917e-03 -4.53010519e-06 9.99997465e-01 -4.13245008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.097719421 meters Centerline goodness : 0.966712 Centerline is valid? [True, True] Translation: X:69.01, Y:5.65, Z:-0.41 [[ 9.56655890e-01 -2.91212752e-01 -2.15432351e-03 6.90060948e+01] [ 2.91212016e-01 9.56658316e-01 -6.54888670e-04 5.64955251e+00] [ 2.25166344e-03 -8.61789582e-07 9.99997465e-01 -4.11304574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.127719421 meters Centerline goodness : 0.968344 Centerline is valid? [True, True] Translation: X:69.03, Y:5.66, Z:-0.41 [[ 9.58543876e-01 -2.84936828e-01 -2.15425433e-03 6.90324125e+01] [ 2.84936075e-01 9.58546297e-01 -6.55116181e-04 5.65798470e+00] [ 2.25161923e-03 1.41328306e-05 9.99997465e-01 -4.09919672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.157719421 meters Centerline goodness : 0.967903 Centerline is valid? [True, True] Translation: X:69.06, Y:5.67, Z:-0.41 [[ 9.59412229e-01 -2.81999176e-01 -2.15418646e-03 6.90594256e+01] [ 2.81998415e-01 9.59414647e-01 -6.55339254e-04 5.66632204e+00] [ 2.25156317e-03 2.12633256e-05 9.99997465e-01 -4.10738223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.187719421 meters Centerline goodness : 0.969517 Centerline is valid? [True, True] Translation: X:69.09, Y:5.67, Z:-0.41 [[ 9.61496760e-01 -2.74807824e-01 -2.15397143e-03 6.90873256e+01] [ 2.74807044e-01 9.61499172e-01 -6.56045260e-04 5.67327263e+00] [ 2.25132812e-03 3.88588701e-05 9.99997465e-01 -4.09145798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.217719421 meters Centerline goodness : 0.969252 Centerline is valid? [True, True] Translation: X:69.11, Y:5.68, Z:-0.41 [[ 9.62646936e-01 -2.70751248e-01 -2.15378189e-03 6.91137060e+01] [ 2.70750456e-01 9.62649344e-01 -6.56666921e-04 5.68056872e+00] [ 2.25113012e-03 4.90009697e-05 9.99997465e-01 -4.09080231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.247719421 meters Centerline goodness : 0.968699 Centerline is valid? [True, True] Translation: X:69.14, Y:5.69, Z:-0.41 [[ 9.64816858e-01 -2.62914039e-01 -2.15366484e-03 6.91405575e+01] [ 2.62913227e-01 9.64819259e-01 -6.57050582e-04 5.69063962e+00] [ 2.25064514e-03 6.77065036e-05 9.99997465e-01 -4.09863878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.277719421 meters Centerline goodness : 0.964346 Centerline is valid? [True, True] Translation: X:69.17, Y:5.70, Z:-0.42 [[ 9.65788621e-01 -2.59321618e-01 -2.15346836e-03 6.91675624e+01] [ 2.59320796e-01 9.65791019e-01 -6.57693936e-04 5.69947167e+00] [ 2.25035465e-03 7.67541923e-05 9.99997465e-01 -4.16219876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.307719421 meters Centerline goodness : 0.964346 Centerline is valid? [True, True] Translation: X:69.19, Y:5.71, Z:-0.42 [[ 9.65706754e-01 -2.59626326e-01 -2.15327494e-03 6.91947526e+01] [ 2.59625503e-01 9.65709151e-01 -6.58326577e-04 5.70806664e+00] [ 2.25035622e-03 7.67053323e-05 9.99997465e-01 -4.16155762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.337719421 meters Centerline goodness : 0.960622 Centerline is valid? [True, True] Translation: X:69.22, Y:5.71, Z:-0.42 [[ 9.67471751e-01 -2.52969911e-01 -2.15306701e-03 6.92223903e+01] [ 2.52969070e-01 9.67474142e-01 -6.59005901e-04 5.71353103e+00] [ 2.24974532e-03 9.29102336e-05 9.99997465e-01 -4.19511176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.367719421 meters Centerline goodness : 0.962476 Centerline is valid? [True, True] Translation: X:69.25, Y:5.72, Z:-0.42 [[ 9.67987729e-01 -2.50988289e-01 -2.15300272e-03 6.92499733e+01] [ 2.50987442e-01 9.67990118e-01 -6.59215870e-04 5.72063306e+00] [ 2.24954082e-03 9.77362258e-05 9.99997465e-01 -4.16346778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.39771942099999 meters Centerline goodness : 0.964123 Centerline is valid? [True, True] Translation: X:69.28, Y:5.73, Z:-0.41 [[ 9.69088486e-01 -2.46704018e-01 -2.15278524e-03 6.92786574e+01] [ 2.46703160e-01 9.69090871e-01 -6.59925318e-04 5.72647446e+00] [ 2.24905076e-03 1.08427105e-04 9.99997465e-01 -4.13773549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42771942099999 meters Centerline goodness : 0.963851 Centerline is valid? [True, True] Translation: X:69.30, Y:5.73, Z:-0.42 [[ 9.69352022e-01 -2.45666489e-01 -2.15258965e-03 6.93049119e+01] [ 2.45665626e-01 9.69354406e-01 -6.60562698e-04 5.73280657e+00] [ 2.24890038e-03 1.11500503e-04 9.99997465e-01 -4.15596064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.457719421 meters Centerline goodness : 0.961602 Centerline is valid? [True, True] Translation: X:69.33, Y:5.74, Z:-0.42 [[ 9.69497158e-01 -2.45093101e-01 -2.15249333e-03 6.93325610e+01] [ 2.45092236e-01 9.69499540e-01 -6.60876411e-04 5.73890337e+00] [ 2.24881755e-03 1.13158397e-04 9.99997465e-01 -4.17962664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.487719421 meters Centerline goodness : 0.962456 Centerline is valid? [True, True] Translation: X:69.36, Y:5.75, Z:-0.42 [[ 9.69273547e-01 -2.45975930e-01 -2.15242701e-03 6.93596946e+01] [ 2.45975066e-01 9.69275931e-01 -6.61092338e-04 5.74657029e+00] [ 2.24890850e-03 1.11335937e-04 9.99997465e-01 -4.18862421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.517719421 meters Centerline goodness : 0.963679 Centerline is valid? [True, True] Translation: X:69.39, Y:5.75, Z:-0.42 [[ 9.67994629e-01 -2.50961682e-01 -2.15221590e-03 6.93888945e+01] [ 2.50960830e-01 9.67997017e-01 -6.61778910e-04 5.74946662e+00] [ 2.24941972e-03 1.00476542e-04 9.99997465e-01 -4.16279894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.547719421 meters Centerline goodness : 0.963997 Centerline is valid? [True, True] Translation: X:69.42, Y:5.75, Z:-0.41 [[ 9.65615839e-01 -2.59964269e-01 -2.15202675e-03 6.94182588e+01] [ 2.59963437e-01 9.65618233e-01 -6.62393449e-04 5.74794954e+00] [ 2.25023489e-03 8.01693359e-05 9.99997465e-01 -4.14863018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.577719421 meters Centerline goodness : 0.965400 Centerline is valid? [True, True] Translation: X:69.45, Y:5.75, Z:-0.41 [[ 9.64097073e-01 -2.65541340e-01 -2.15181261e-03 6.94473715e+01] [ 2.65540521e-01 9.64099472e-01 -6.63088361e-04 5.75195359e+00] [ 2.25063877e-03 6.78881073e-05 9.99997465e-01 -4.11308496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.607719421 meters Centerline goodness : 0.963665 Centerline is valid? [True, True] Translation: X:69.47, Y:5.76, Z:-0.41 [[ 9.62516683e-01 -2.71213949e-01 -2.15161103e-03 6.94749148e+01] [ 2.71213142e-01 9.62519086e-01 -6.63741814e-04 5.75664536e+00] [ 2.25098272e-03 5.53173814e-05 9.99997465e-01 -4.12939029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.637719421 meters Centerline goodness : 0.963053 Centerline is valid? [True, True] Translation: X:69.50, Y:5.76, Z:-0.41 [[ 9.59799893e-01 -2.80676927e-01 -2.15150403e-03 6.95030649e+01] [ 2.80676143e-01 9.59802303e-01 -6.64088456e-04 5.76222647e+00] [ 2.25141283e-03 3.35161749e-05 9.99997465e-01 -4.13616843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.667719421 meters Centerline goodness : 0.960850 Centerline is valid? [True, True] Translation: X:69.53, Y:5.77, Z:-0.42 [[ 9.58935071e-01 -2.83617527e-01 -2.15130577e-03 6.95296826e+01] [ 2.83616749e-01 9.58937484e-01 -6.64730118e-04 5.76925311e+00] [ 2.25149685e-03 2.72866744e-05 9.99997465e-01 -4.17753254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.697719421 meters Centerline goodness : 0.961788 Centerline is valid? [True, True] Translation: X:69.56, Y:5.77, Z:-0.41 [[ 9.57549040e-01 -2.88262395e-01 -2.15120690e-03 6.95586551e+01] [ 2.88261629e-01 9.57551456e-01 -6.65049904e-04 5.77366579e+00] [ 2.25160018e-03 1.67074916e-05 9.99997465e-01 -4.13764703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.727719421 meters Centerline goodness : 0.959617 Centerline is valid? [True, True] Translation: X:69.59, Y:5.78, Z:-0.42 [[ 9.57026350e-01 -2.89992997e-01 -2.15100672e-03 6.95857952e+01] [ 2.89992233e-01 9.57028767e-01 -6.65696741e-04 5.77932108e+00] [ 2.25162270e-03 1.33140801e-05 9.99997465e-01 -4.17523883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.75771942099999 meters Centerline goodness : 0.962236 Centerline is valid? [True, True] Translation: X:69.61, Y:5.79, Z:-0.41 [[ 9.56290714e-01 -2.92409720e-01 -2.15093593e-03 6.96139304e+01] [ 2.92408962e-01 9.56293133e-01 -6.65925377e-04 5.78686523e+00] [ 2.25164831e-03 7.86531176e-06 9.99997465e-01 -4.13331890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78771942099999 meters Centerline goodness : 0.957901 Centerline is valid? [True, True] Translation: X:69.64, Y:5.80, Z:-0.42 [[ 9.56520011e-01 -2.91658779e-01 -2.15073668e-03 6.96401642e+01] [ 2.91658017e-01 9.56522429e-01 -6.66568269e-04 5.79745870e+00] [ 2.25163836e-03 1.03062918e-05 9.99997465e-01 -4.19446857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.81771942099999 meters Centerline goodness : 0.960896 Centerline is valid? [True, True] Translation: X:69.67, Y:5.81, Z:-0.42 [[ 9.56853805e-01 -2.90561820e-01 -2.15066619e-03 6.96679819e+01] [ 2.90561055e-01 9.56856221e-01 -6.66795655e-04 5.80681041e+00] [ 2.25162368e-03 1.31261230e-05 9.99997465e-01 -4.16300546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.847719421 meters Centerline goodness : 0.960492 Centerline is valid? [True, True] Translation: X:69.70, Y:5.82, Z:-0.42 [[ 9.57181981e-01 -2.89478894e-01 -2.15048364e-03 6.96956757e+01] [ 2.89478125e-01 9.57184397e-01 -6.67383854e-04 5.81508216e+00] [ 2.25160293e-03 1.62898278e-05 9.99997465e-01 -4.15807173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.877719421 meters Centerline goodness : 0.957061 Centerline is valid? [True, True] Translation: X:69.72, Y:5.82, Z:-0.42 [[ 9.59194134e-01 -2.82740146e-01 -2.15028148e-03 6.97226172e+01] [ 2.82739359e-01 9.59196543e-01 -6.68034568e-04 5.82167784e+00] [ 2.25142276e-03 3.28056310e-05 9.99997465e-01 -4.19076007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.907719421 meters Centerline goodness : 0.966036 Centerline is valid? [True, True] Translation: X:69.75, Y:5.83, Z:-0.41 [[ 9.61141372e-01 -2.76048256e-01 -2.15017485e-03 6.97500456e+01] [ 2.76047452e-01 9.61143776e-01 -6.68377617e-04 5.83163150e+00] [ 2.25113165e-03 4.88550927e-05 9.99997465e-01 -4.10711933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.937719421 meters Centerline goodness : 0.969638 Centerline is valid? [True, True] Translation: X:69.78, Y:5.84, Z:-0.41 [[ 9.61789176e-01 -2.73782684e-01 -2.15011447e-03 6.97783093e+01] [ 2.73781873e-01 9.61791578e-01 -6.68571792e-04 5.84036695e+00] [ 2.25100537e-03 5.43627455e-05 9.99997465e-01 -4.06112566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.967719421 meters Centerline goodness : 0.970451 Centerline is valid? [True, True] Translation: X:69.81, Y:5.85, Z:-0.40 [[ 9.61979112e-01 -2.73114563e-01 -2.15008603e-03 6.98058835e+01] [ 2.73113750e-01 9.61981514e-01 -6.68663243e-04 5.84848493e+00] [ 2.25096468e-03 5.60220146e-05 9.99997465e-01 -4.04433130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.997719421 meters Centerline goodness : 0.970689 Centerline is valid? [True, True] Translation: X:69.83, Y:5.86, Z:-0.40 [[ 9.61918086e-01 -2.73329423e-01 -2.15004361e-03 6.98329483e+01] [ 2.73328610e-01 9.61920487e-01 -6.68799613e-04 5.85630513e+00] [ 2.25097361e-03 5.56620115e-05 9.99997465e-01 -4.04444757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.027719421 meters Centerline goodness : 0.971369 Centerline is valid? [True, True] Translation: X:69.86, Y:5.86, Z:-0.40 [[ 9.61619425e-01 -2.74378313e-01 -2.14982633e-03 6.98615183e+01] [ 2.74377502e-01 9.61621827e-01 -6.69497308e-04 5.86217748e+00] [ 2.25101547e-03 5.39376386e-05 9.99997465e-01 -4.04727970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.057719421 meters Centerline goodness : 0.967379 Centerline is valid? [True, True] Translation: X:69.89, Y:5.87, Z:-0.41 [[ 9.61497664e-01 -2.74804695e-01 -2.14962748e-03 6.98885523e+01] [ 2.74803883e-01 9.61500066e-01 -6.70135183e-04 5.86932627e+00] [ 2.25102326e-03 5.36074351e-05 9.99997465e-01 -4.10014750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.087719421 meters Centerline goodness : 0.966217 Centerline is valid? [True, True] Translation: X:69.92, Y:5.88, Z:-0.41 [[ 9.61559155e-01 -2.74589457e-01 -2.14955752e-03 6.99163105e+01] [ 2.74588644e-01 9.61561557e-01 -6.70359525e-04 5.87688865e+00] [ 2.25100553e-03 5.43462549e-05 9.99997465e-01 -4.13454053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.117719421 meters Centerline goodness : 0.965117 Centerline is valid? [True, True] Translation: X:69.94, Y:5.88, Z:-0.41 [[ 9.62081457e-01 -2.72753828e-01 -2.14937250e-03 6.99447107e+01] [ 2.72753009e-01 9.62083856e-01 -6.70952216e-04 5.88316880e+00] [ 2.25088137e-03 5.92628677e-05 9.99997465e-01 -4.13334287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14771942099999 meters Centerline goodness : 0.964712 Centerline is valid? [True, True] Translation: X:69.97, Y:5.89, Z:-0.42 [[ 9.62784867e-01 -2.70260396e-01 -2.14917026e-03 6.99720957e+01] [ 2.70259570e-01 9.62787263e-01 -6.71599387e-04 5.88776400e+00] [ 2.25070047e-03 6.57718954e-05 9.99997465e-01 -4.15233132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.17771942099999 meters Centerline goodness : 0.965970 Centerline is valid? [True, True] Translation: X:70.00, Y:5.90, Z:-0.41 [[ 9.62990449e-01 -2.69526949e-01 -2.14909893e-03 6.99990431e+01] [ 2.69526120e-01 9.62992845e-01 -6.71827571e-04 5.89526026e+00] [ 2.25064253e-03 6.77252373e-05 9.99997465e-01 -4.14329900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.207719421 meters Centerline goodness : 0.962885 Centerline is valid? [True, True] Translation: X:70.03, Y:5.90, Z:-0.42 [[ 9.63031586e-01 -2.69379931e-01 -2.14886807e-03 7.00259715e+01] [ 2.69379100e-01 9.63033981e-01 -6.72565171e-04 5.90100386e+00] [ 2.25060853e-03 6.88413541e-05 9.99997465e-01 -4.17294029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.237719421 meters Centerline goodness : 0.961616 Centerline is valid? [True, True] Translation: X:70.05, Y:5.91, Z:-0.42 [[ 9.63087580e-01 -2.69179672e-01 -2.14879667e-03 7.00540263e+01] [ 2.69178841e-01 9.63089975e-01 -6.72793209e-04 5.90680486e+00] [ 2.25058679e-03 6.95481859e-05 9.99997465e-01 -4.16991950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.267719421 meters Centerline goodness : 0.963010 Centerline is valid? [True, True] Translation: X:70.08, Y:5.91, Z:-0.42 [[ 9.63076821e-01 -2.69218164e-01 -2.14859338e-03 7.00824196e+01] [ 2.69217331e-01 9.63079215e-01 -6.73441808e-04 5.90968549e+00] [ 2.25056840e-03 7.01376200e-05 9.99997465e-01 -4.16681537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.297719421 meters Centerline goodness : 0.963315 Centerline is valid? [True, True] Translation: X:70.11, Y:5.91, Z:-0.42 [[ 9.63047735e-01 -2.69322192e-01 -2.14852158e-03 7.01103163e+01] [ 2.69321358e-01 9.63050130e-01 -6.73670817e-04 5.91369966e+00] [ 2.25056848e-03 7.01344052e-05 9.99997465e-01 -4.15638234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.327719421 meters Centerline goodness : 0.962810 Centerline is valid? [True, True] Translation: X:70.14, Y:5.92, Z:-0.42 [[ 9.62766717e-01 -2.70325053e-01 -2.14828946e-03 7.01372287e+01] [ 2.70324220e-01 9.62769111e-01 -6.74410197e-04 5.92154309e+00] [ 2.25061671e-03 6.85650180e-05 9.99997465e-01 -4.17110844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.357719421 meters Centerline goodness : 0.960294 Centerline is valid? [True, True] Translation: X:70.16, Y:5.93, Z:-0.42 [[ 9.62332329e-01 -2.71867385e-01 -2.14805872e-03 7.01641339e+01] [ 2.71866554e-01 9.62334724e-01 -6.75144350e-04 5.92976438e+00] [ 2.25070122e-03 6.57279127e-05 9.99997465e-01 -4.21432103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.387719421 meters Centerline goodness : 0.958707 Centerline is valid? [True, True] Translation: X:70.19, Y:5.94, Z:-0.42 [[ 9.61052919e-01 -2.76356061e-01 -2.14798750e-03 7.01906886e+01] [ 2.76355241e-01 9.61055318e-01 -6.75370833e-04 5.93552969e+00] [ 2.25097764e-03 5.54595056e-05 9.99997465e-01 -4.22542540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.417719421 meters Centerline goodness : 0.961789 Centerline is valid? [True, True] Translation: X:70.22, Y:5.94, Z:-0.42 [[ 9.60260801e-01 -2.79096007e-01 -2.14789227e-03 7.02195899e+01] [ 2.79095194e-01 9.60263202e-01 -6.75673578e-04 5.94089091e+00] [ 2.25111970e-03 4.93564426e-05 9.99997465e-01 -4.17084554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.447719421 meters Centerline goodness : 0.965724 Centerline is valid? [True, True] Translation: X:70.25, Y:5.94, Z:-0.41 [[ 9.58646114e-01 -2.84592720e-01 -2.14769005e-03 7.02484683e+01] [ 2.84591919e-01 9.58648519e-01 -6.76315733e-04 5.94408482e+00] [ 2.25135442e-03 3.71322162e-05 9.99997465e-01 -4.12805198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.477719421 meters Centerline goodness : 0.969805 Centerline is valid? [True, True] Translation: X:70.28, Y:5.95, Z:-0.41 [[ 9.57944912e-01 -2.86944128e-01 -2.14764712e-03 7.02756376e+01] [ 2.86943333e-01 9.57947319e-01 -6.76452035e-04 5.95235241e+00] [ 2.25143674e-03 3.17507631e-05 9.99997465e-01 -4.07252933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50771942099999 meters Centerline goodness : 0.969707 Centerline is valid? [True, True] Translation: X:70.30, Y:5.96, Z:-0.41 [[ 9.56892894e-01 -2.90433086e-01 -2.14753914e-03 7.03016996e+01] [ 2.90432298e-01 9.56895304e-01 -6.76794664e-04 5.96363794e+00] [ 2.25153368e-03 2.39052760e-05 9.99997465e-01 -4.09287620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.53771942099999 meters Centerline goodness : 0.965763 Centerline is valid? [True, True] Translation: X:70.33, Y:5.97, Z:-0.41 [[ 9.55693266e-01 -2.94356536e-01 -2.14730613e-03 7.03292759e+01] [ 2.94355757e-01 9.55695678e-01 -6.77533159e-04 5.97275937e+00] [ 2.25160750e-03 1.54419583e-05 9.99997465e-01 -4.12935133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56771942099999 meters Centerline goodness : 0.964980 Centerline is valid? [True, True] Translation: X:70.36, Y:5.98, Z:-0.41 [[ 9.54813358e-01 -2.97198321e-01 -2.14710440e-03 7.03573540e+01] [ 2.97197548e-01 9.54815772e-01 -6.78171840e-04 5.98139928e+00] [ 2.25164067e-03 9.41337053e-06 9.99997465e-01 -4.13604569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.597719421 meters Centerline goodness : 0.964035 Centerline is valid? [True, True] Translation: X:70.39, Y:5.99, Z:-0.41 [[ 9.52642779e-01 -3.04084077e-01 -2.14691530e-03 7.03853787e+01] [ 3.04083320e-01 9.52645198e-01 -6.78769936e-04 5.98762239e+00] [ 2.25165168e-03 -6.21585385e-06 9.99997465e-01 -4.12577891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.627719421 meters Centerline goodness : 0.963929 Centerline is valid? [True, True] Translation: X:70.41, Y:6.00, Z:-0.41 [[ 9.50884300e-01 -3.09539077e-01 -2.14671071e-03 7.04118522e+01] [ 3.09538332e-01 9.50886723e-01 -6.79416367e-04 5.99659025e+00] [ 2.25158463e-03 -1.84428970e-05 9.99997465e-01 -4.12806037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.657719421 meters Centerline goodness : 0.963884 Centerline is valid? [True, True] Translation: X:70.44, Y:6.01, Z:-0.41 [[ 9.47460728e-01 -3.19864910e-01 -2.14663839e-03 7.04380088e+01] [ 3.19864190e-01 9.47463159e-01 -6.79644802e-04 6.00920189e+00] [ 2.25125531e-03 -4.26959900e-05 9.99997465e-01 -4.13042749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.687719421 meters Centerline goodness : 0.965067 Centerline is valid? [True, True] Translation: X:70.46, Y:6.02, Z:-0.41 [[ 9.45693122e-01 -3.25053706e-01 -2.14643690e-03 7.04648460e+01] [ 3.25052999e-01 9.45695556e-01 -6.80280531e-04 6.02134153e+00] [ 2.25100355e-03 -5.43691324e-05 9.99997465e-01 -4.12994898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.717719421 meters Centerline goodness : 0.964099 Centerline is valid? [True, True] Translation: X:70.49, Y:6.04, Z:-0.41 [[ 9.43052069e-01 -3.32638224e-01 -2.14623419e-03 7.04894290e+01] [ 3.32637535e-01 9.43054509e-01 -6.80919468e-04 6.03522540e+00] [ 2.25051567e-03 -7.17755381e-05 9.99997465e-01 -4.12311766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.747719421 meters Centerline goodness : 0.965213 Centerline is valid? [True, True] Translation: X:70.52, Y:6.05, Z:-0.41 [[ 9.42153312e-01 -3.35175373e-01 -2.14616265e-03 7.05155693e+01] [ 3.35174689e-01 9.42155753e-01 -6.81144894e-04 6.04648192e+00] [ 2.25032248e-03 -7.75964810e-05 9.99997465e-01 -4.07959043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.777719421 meters Centerline goodness : 0.967039 Centerline is valid? [True, True] Translation: X:70.54, Y:6.06, Z:-0.41 [[ 9.41669235e-01 -3.36532980e-01 -2.14608829e-03 7.05398833e+01] [ 3.36532300e-01 9.41671677e-01 -6.81379101e-04 6.06361852e+00] [ 2.25021709e-03 -8.05942903e-05 9.99997465e-01 -4.05636313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.807719421 meters Centerline goodness : 0.966807 Centerline is valid? [True, True] Translation: X:70.57, Y:6.08, Z:-0.41 [[ 9.41627229e-01 -3.36650496e-01 -2.14601289e-03 7.05656193e+01] [ 3.36649816e-01 9.41629671e-01 -6.81616466e-04 6.07832738e+00] [ 2.25021594e-03 -8.06262211e-05 9.99997465e-01 -4.06748366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.837719421 meters Centerline goodness : 0.965698 Centerline is valid? [True, True] Translation: X:70.59, Y:6.10, Z:-0.41 [[ 9.42631095e-01 -3.33829318e-01 -2.14580219e-03 7.05893348e+01] [ 3.33828628e-01 9.42633535e-01 -6.82279137e-04 6.10002912e+00] [ 2.25046988e-03 -7.31926717e-05 9.99997465e-01 -4.09172910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.867719421 meters Centerline goodness : 0.964208 Centerline is valid? [True, True] Translation: X:70.61, Y:6.12, Z:-0.41 [[ 9.43412449e-01 -3.31614758e-01 -2.14559134e-03 7.06123298e+01] [ 3.31614062e-01 9.43414886e-01 -6.82941559e-04 6.11591618e+00] [ 2.25065631e-03 -6.72126922e-05 9.99997465e-01 -4.12310503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.89771942099999 meters Centerline goodness : 0.965085 Centerline is valid? [True, True] Translation: X:70.64, Y:6.14, Z:-0.41 [[ 9.44522346e-01 -3.28440153e-01 -2.14548718e-03 7.06358917e+01] [ 3.28439448e-01 9.44524781e-01 -6.83268618e-04 6.13812314e+00] [ 2.25087866e-03 -5.93001481e-05 9.99997465e-01 -4.09749337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92771942099999 meters Centerline goodness : 0.966360 Centerline is valid? [True, True] Translation: X:70.66, Y:6.15, Z:-0.41 [[ 9.44996284e-01 -3.27074029e-01 -2.14527130e-03 7.06613283e+01] [ 3.27073318e-01 9.44998718e-01 -6.83945772e-04 6.15156802e+00] [ 2.25097952e-03 -5.53347880e-05 9.99997465e-01 -4.09299125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.957719421 meters Centerline goodness : 0.965292 Centerline is valid? [True, True] Translation: X:70.68, Y:6.17, Z:-0.41 [[ 9.45385696e-01 -3.25946749e-01 -2.14519490e-03 7.06848481e+01] [ 3.25946035e-01 9.45388129e-01 -6.84185321e-04 6.16841536e+00] [ 2.25104977e-03 -5.23987550e-05 9.99997465e-01 -4.09773346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.987719421 meters Centerline goodness : 0.965530 Centerline is valid? [True, True] Translation: X:70.71, Y:6.18, Z:-0.41 [[ 9.46011550e-01 -3.24125817e-01 -2.14511932e-03 7.07106274e+01] [ 3.24125098e-01 9.46013981e-01 -6.84422187e-04 6.18140851e+00] [ 2.25115177e-03 -4.78157156e-05 9.99997465e-01 -4.10614077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.017719421 meters Centerline goodness : 0.963653 Centerline is valid? [True, True] Translation: X:70.73, Y:6.20, Z:-0.41 [[ 9.47879203e-01 -3.18622686e-01 -2.14487685e-03 7.07347906e+01] [ 3.18621951e-01 9.47881629e-01 -6.85181206e-04 6.20161910e+00] [ 2.25140364e-03 -3.39358322e-05 9.99997465e-01 -4.13836704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.047719421 meters Centerline goodness : 0.963753 Centerline is valid? [True, True] Translation: X:70.76, Y:6.21, Z:-0.42 [[ 9.49051061e-01 -3.15115034e-01 -2.14466349e-03 7.07601877e+01] [ 3.15114289e-01 9.49053483e-01 -6.85848404e-04 6.21477147e+00] [ 2.25152150e-03 -2.49089554e-05 9.99997465e-01 -4.15556790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.077719421 meters Centerline goodness : 0.961587 Centerline is valid? [True, True] Translation: X:70.78, Y:6.23, Z:-0.42 [[ 9.51167679e-01 -3.08667212e-01 -2.14458824e-03 7.07848413e+01] [ 3.08666450e-01 9.51170096e-01 -6.86083624e-04 6.22938119e+00] [ 2.25163972e-03 -9.38187034e-06 9.99997465e-01 -4.17052145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.107719421 meters Centerline goodness : 0.960936 Centerline is valid? [True, True] Translation: X:70.81, Y:6.24, Z:-0.42 [[ 9.51725813e-01 -3.06941977e-01 -2.14451460e-03 7.08116203e+01] [ 3.06941209e-01 9.51728230e-01 -6.86313704e-04 6.24157079e+00] [ 2.25165357e-03 -5.05743781e-06 9.99997465e-01 -4.17891504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.137719421 meters Centerline goodness : 0.958689 Centerline is valid? [True, True] Translation: X:70.84, Y:6.26, Z:-0.42 [[ 9.53447757e-01 -3.01550620e-01 -2.14430987e-03 7.08370007e+01] [ 3.01549838e-01 9.53450168e-01 -6.86952763e-04 6.25622979e+00] [ 2.25164364e-03 8.35727661e-06 9.99997465e-01 -4.20379865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.167719421 meters Centerline goodness : 0.955891 Centerline is valid? [True, True] Translation: X:70.86, Y:6.27, Z:-0.42 [[ 9.55174470e-01 -2.96035699e-01 -2.14410562e-03 7.08627179e+01] [ 2.96034902e-01 9.55176876e-01 -6.87589689e-04 6.27220860e+00] [ 2.25155120e-03 2.20380205e-05 9.99997465e-01 -4.22510396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.197719421 meters Centerline goodness : 0.955891 Centerline is valid? [True, True] Translation: X:70.89, Y:6.28, Z:-0.42 [[ 9.55072328e-01 -2.96365067e-01 -2.14391291e-03 7.08897782e+01] [ 2.96364268e-01 9.55074734e-01 -6.88190049e-04 6.28117409e+00] [ 2.25155254e-03 2.18920925e-05 9.99997465e-01 -4.22446280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.227719421 meters Centerline goodness : 0.956072 Centerline is valid? [True, True] Translation: X:70.92, Y:6.29, Z:-0.42 [[ 9.56225384e-01 -2.92623340e-01 -2.14367533e-03 7.09153275e+01] [ 2.92622531e-01 9.56227787e-01 -6.88929279e-04 6.29268427e+00] [ 2.25143871e-03 3.14839633e-05 9.99997465e-01 -4.22941846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.25771942099999 meters Centerline goodness : 0.954907 Centerline is valid? [True, True] Translation: X:70.94, Y:6.30, Z:-0.42 [[ 9.57500452e-01 -2.88423803e-01 -2.14343931e-03 7.09407841e+01] [ 2.88422981e-01 9.57502850e-01 -6.89662831e-04 6.30319828e+00] [ 2.25126442e-03 4.21353166e-05 9.99997465e-01 -4.23477843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28771942099999 meters Centerline goodness : 0.955420 Centerline is valid? [True, True] Translation: X:70.97, Y:6.31, Z:-0.42 [[ 9.59793489e-01 -2.80698888e-01 -2.14327884e-03 7.09666463e+01] [ 2.80698046e-01 9.59795880e-01 -6.90161170e-04 6.31471939e+00] [ 2.25083767e-03 6.07980147e-05 9.99997465e-01 -4.22093287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.31771942099999 meters Centerline goodness : 0.954666 Centerline is valid? [True, True] Translation: X:70.99, Y:6.33, Z:-0.42 [[ 9.60740319e-01 -2.77440890e-01 -2.14304657e-03 7.09924814e+01] [ 2.77440039e-01 9.60742706e-01 -6.90881636e-04 6.32511022e+00] [ 2.25059518e-03 6.91909189e-05 9.99997465e-01 -4.22739398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.347719421 meters Centerline goodness : 0.952749 Centerline is valid? [True, True] Translation: X:71.02, Y:6.34, Z:-0.42 [[ 9.62392903e-01 -2.71652921e-01 -2.14281658e-03 7.10196871e+01] [ 2.71652053e-01 9.62395285e-01 -6.91594227e-04 6.33507717e+00] [ 2.25011017e-03 8.34848514e-05 9.99997465e-01 -4.22326026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.377719421 meters Centerline goodness : 0.955303 Centerline is valid? [True, True] Translation: X:71.05, Y:6.34, Z:-0.42 [[ 9.62756195e-01 -2.70362567e-01 -2.14260750e-03 7.10484740e+01] [ 2.70361695e-01 9.62758575e-01 -6.92241373e-04 6.33886859e+00] [ 2.24996990e-03 8.71806744e-05 9.99997465e-01 -4.20117541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.407719421 meters Centerline goodness : 0.960304 Centerline is valid? [True, True] Translation: X:71.08, Y:6.34, Z:-0.42 [[ 9.62448798e-01 -2.71454824e-01 -2.14256330e-03 7.10763831e+01] [ 2.71453954e-01 9.62451179e-01 -6.92378169e-04 6.34475297e+00] [ 2.25006196e-03 8.47712568e-05 9.99997465e-01 -4.17076790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.437719421 meters Centerline goodness : 0.963417 Centerline is valid? [True, True] Translation: X:71.10, Y:6.35, Z:-0.41 [[ 9.61977789e-01 -2.73119285e-01 -2.14248976e-03 7.11049492e+01] [ 2.73118419e-01 9.61980171e-01 -6.92605652e-04 6.34757341e+00] [ 2.25019662e-03 8.11178390e-05 9.99997465e-01 -4.13193965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.467719421 meters Centerline goodness : 0.962616 Centerline is valid? [True, True] Translation: X:71.13, Y:6.35, Z:-0.41 [[ 9.61858980e-01 -2.73537405e-01 -2.14243131e-03 7.11333088e+01] [ 2.73536539e-01 9.61861363e-01 -6.92786401e-04 6.35372343e+00] [ 2.25022489e-03 8.03295763e-05 9.99997465e-01 -4.13297605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.497719421 meters Centerline goodness : 0.961164 Centerline is valid? [True, True] Translation: X:71.16, Y:6.36, Z:-0.42 [[ 9.61871735e-01 -2.73492553e-01 -2.14222877e-03 7.11617988e+01] [ 2.73491686e-01 9.61874117e-01 -6.93412116e-04 6.35769935e+00] [ 2.25019746e-03 8.10917557e-05 9.99997465e-01 -4.16464001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.527719421 meters Centerline goodness : 0.958359 Centerline is valid? [True, True] Translation: X:71.19, Y:6.36, Z:-0.42 [[ 9.61870754e-01 -2.73496003e-01 -2.14202723e-03 7.11908427e+01] [ 2.73495134e-01 9.61873136e-01 -6.94034141e-04 6.36285867e+00] [ 2.25017401e-03 8.17371173e-05 9.99997465e-01 -4.18188507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.557719421 meters Centerline goodness : 0.953844 Centerline is valid? [True, True] Translation: X:71.22, Y:6.36, Z:-0.42 [[ 9.62480006e-01 -2.71344157e-01 -2.14182969e-03 7.12213777e+01] [ 2.71343282e-01 9.62482385e-01 -6.94643235e-04 6.36228886e+00] [ 2.24996073e-03 8.74091281e-05 9.99997465e-01 -4.21704778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.587719421 meters Centerline goodness : 0.950474 Centerline is valid? [True, True] Translation: X:71.25, Y:6.37, Z:-0.42 [[ 9.63105640e-01 -2.69115104e-01 -2.14177373e-03 7.12503428e+01] [ 2.69114223e-01 9.63108017e-01 -6.94815736e-04 6.36636332e+00] [ 2.24974486e-03 9.27991813e-05 9.99997465e-01 -4.20867849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.61771942099999 meters Centerline goodness : 0.947992 Centerline is valid? [True, False] Translation: X:71.25, Y:6.37, Z:-0.42 [[ 9.63193978e-01 -2.68794487e-01 -2.62372032e-03 7.12519871e+01] [ 2.68794990e-01 9.63197397e-01 -1.65668288e-04 6.36513719e+00] [ 2.57169130e-03 -5.45672180e-04 9.99996544e-01 -4.21549350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64771942099999 meters Centerline goodness : 0.946833 Centerline is valid? [False, False] Translation: X:71.25, Y:6.36, Z:-0.42 [[ 9.63312975e-01 -2.68361990e-01 -3.15500879e-03 7.12534632e+01] [ 2.68364974e-01 9.63317150e-01 5.55989483e-04 6.36316327e+00] [ 2.89006763e-03 -1.38228574e-03 9.99994868e-01 -4.21801078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.67771942099999 meters Centerline goodness : 0.951111 Centerline is valid? [False, True] Translation: X:71.25, Y:6.36, Z:-0.42 [[ 9.63086181e-01 -2.69173745e-01 -3.24077827e-03 7.12534019e+01] [ 2.69177087e-01 9.63090490e-01 6.35230746e-04 6.35507587e+00] [ 2.95017530e-03 -1.48412521e-03 9.99994547e-01 -4.18472490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.707719421 meters Centerline goodness : 0.954170 Centerline is valid? [True, True] Translation: X:71.28, Y:6.36, Z:-0.42 [[ 9.62618885e-01 -2.70845647e-01 -2.74182407e-03 7.12820114e+01] [ 2.70844196e-01 9.62622783e-01 -8.94380884e-04 6.36014314e+00] [ 2.88158149e-03 1.18340793e-04 9.99995841e-01 -4.15848836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.737719421 meters Centerline goodness : 0.955833 Centerline is valid? [True, True] Translation: X:71.31, Y:6.36, Z:-0.42 [[ 9.60890424e-01 -2.76915288e-01 -2.74156616e-03 7.13100589e+01] [ 2.76913859e-01 9.60894330e-01 -8.95170752e-04 6.36313371e+00] [ 2.88224185e-03 1.00983336e-04 9.99995841e-01 -4.15355675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.767719421 meters Centerline goodness : 0.956039 Centerline is valid? [True, True] Translation: X:71.34, Y:6.37, Z:-0.41 [[ 9.58495335e-01 -2.85095032e-01 -2.74147498e-03 7.13393514e+01] [ 2.85093636e-01 9.58499252e-01 -8.95449918e-04 6.36723927e+00] [ 2.88299004e-03 7.67074992e-05 9.99995841e-01 -4.14969136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.797719421 meters Centerline goodness : 0.956157 Centerline is valid? [True, True] Translation: X:71.37, Y:6.37, Z:-0.41 [[ 9.57282635e-01 -2.89140868e-01 -2.74121588e-03 7.13680867e+01] [ 2.89139486e-01 9.57286558e-01 -8.96242384e-04 6.37227193e+00] [ 2.88326942e-03 6.53635185e-05 9.99995841e-01 -4.13698348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.827719421 meters Centerline goodness : 0.957182 Centerline is valid? [True, True] Translation: X:71.40, Y:6.38, Z:-0.41 [[ 9.55982278e-01 -2.93411609e-01 -2.74095034e-03 7.13966508e+01] [ 2.93410242e-01 9.55986205e-01 -8.97053761e-04 6.37679425e+00] [ 2.88351670e-03 5.33445955e-05 9.99995841e-01 -4.11410493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.857719421 meters Centerline goodness : 0.961076 Centerline is valid? [True, True] Translation: X:71.43, Y:6.38, Z:-0.41 [[ 9.53084584e-01 -3.02691697e-01 -2.74068598e-03 7.14253109e+01] [ 3.02690367e-01 9.53088525e-01 -8.97860709e-04 6.37885447e+00] [ 2.88389134e-03 2.61579571e-05 9.99995841e-01 -4.06831426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.887719421 meters Centerline goodness : 0.962205 Centerline is valid? [True, True] Translation: X:71.45, Y:6.39, Z:-0.40 [[ 9.51784470e-01 -3.06755298e-01 -2.74059263e-03 7.14534485e+01] [ 3.06753983e-01 9.51788415e-01 -8.98145547e-04 6.38581999e+00] [ 2.88397522e-03 1.41532781e-05 9.99995841e-01 -4.03274471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.917719421 meters Centerline goodness : 0.960816 Centerline is valid? [True, True] Translation: X:71.48, Y:6.39, Z:-0.41 [[ 9.50002302e-01 -3.12230871e-01 -2.74031671e-03 7.14808832e+01] [ 3.12229577e-01 9.50006254e-01 -8.98986628e-04 6.39225228e+00] [ 2.88400939e-03 -1.56855853e-06 9.99995841e-01 -4.07106942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.947719421 meters Centerline goodness : 0.961343 Centerline is valid? [True, True] Translation: X:71.51, Y:6.40, Z:-0.41 [[ 9.48976646e-01 -3.15334452e-01 -2.74021910e-03 7.15078752e+01] [ 3.15333170e-01 9.48980602e-01 -8.99284034e-04 6.40069883e+00] [ 2.88399001e-03 -1.06824311e-05 9.99995841e-01 -4.06227188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.977719421 meters Centerline goodness : 0.962909 Centerline is valid? [True, True] Translation: X:71.53, Y:6.41, Z:-0.40 [[ 9.47387187e-01 -3.20078131e-01 -2.73991818e-03 7.15348530e+01] [ 3.20076866e-01 9.47391149e-01 -9.00199944e-04 6.40950090e+00] [ 2.88390855e-03 -2.41465330e-05 9.99995841e-01 -4.02863250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00771942099999 meters Centerline goodness : 0.963102 Centerline is valid? [True, True] Translation: X:71.56, Y:6.42, Z:-0.40 [[ 9.47450961e-01 -3.19889308e-01 -2.73982163e-03 7.15619553e+01] [ 3.19888042e-01 9.47454922e-01 -9.00493709e-04 6.41952317e+00] [ 2.88391580e-03 -2.32625456e-05 9.99995841e-01 -4.04471112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.03771942099999 meters Centerline goodness : 0.957968 Centerline is valid? [True, True] Translation: X:71.59, Y:6.43, Z:-0.41 [[ 9.47738057e-01 -3.19037726e-01 -2.73955439e-03 7.15884416e+01] [ 3.19036454e-01 9.47742016e-01 -9.01305986e-04 6.42911651e+00] [ 2.88394142e-03 -1.98157346e-05 9.99995841e-01 -4.08972204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06771942099999 meters Centerline goodness : 0.950753 Centerline is valid? [True, True] Translation: X:71.62, Y:6.44, Z:-0.41 [[ 9.49123402e-01 -3.14892463e-01 -2.73945928e-03 7.16162362e+01] [ 3.14891172e-01 9.49127355e-01 -9.01594978e-04 6.43945191e+00] [ 2.88400121e-03 -6.90665255e-06 9.99995841e-01 -4.14413330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.097719421 meters Centerline goodness : 0.947382 Centerline is valid? [True, False] Translation: X:71.62, Y:6.44, Z:-0.42 [[ 9.49320723e-01 -3.14293016e-01 -3.17261298e-03 7.16175204e+01] [ 3.14291775e-01 9.49326013e-01 -8.95639557e-04 6.44080816e+00] [ 3.29333729e-03 -1.46876973e-04 9.99994566e-01 -4.15547696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.127719421 meters Centerline goodness : 0.945940 Centerline is valid? [False, False] Translation: X:71.62, Y:6.44, Z:-0.42 [[ 9.50463247e-01 -3.10798790e-01 -4.87124060e-03 7.16187926e+01] [ 3.10813643e-01 9.50467187e-01 2.64685819e-03 6.44090638e+00] [ 3.80731403e-03 -4.02978946e-03 9.99984632e-01 -4.15692203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.157719421 meters Centerline goodness : 0.948233 Centerline is valid? [False, False] Translation: X:71.62, Y:6.44, Z:-0.41 [[ 9.50896141e-01 -3.09462292e-01 -5.44224945e-03 7.16176670e+01] [ 3.09484395e-01 9.50896840e-01 3.82221215e-03 6.44030827e+00] [ 3.99218728e-03 -5.31881806e-03 9.99977886e-01 -4.13633514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.187719421 meters Centerline goodness : 0.954202 Centerline is valid? [False, True] Translation: X:71.61, Y:6.44, Z:-0.41 [[ 9.52144485e-01 -3.05584378e-01 -6.25042964e-03 7.16136056e+01] [ 3.05627005e-01 9.52120429e-01 7.66952309e-03 6.43973385e+00] [ 3.60747531e-03 -9.21279420e-03 9.99951054e-01 -4.08838457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.217719421 meters Centerline goodness : 0.957187 Centerline is valid? [True, True] Translation: X:71.64, Y:6.45, Z:-0.41 [[ 9.52675434e-01 -3.03970301e-01 -3.40207327e-03 7.16387927e+01] [ 3.03968295e-01 9.52681508e-01 -1.10449524e-03 6.45324490e+00] [ 3.57682604e-03 1.81030687e-05 9.99993603e-01 -4.10978484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.247719421 meters Centerline goodness : 0.957722 Centerline is valid? [True, True] Translation: X:71.66, Y:6.47, Z:-0.41 [[ 9.54557795e-01 -2.98006449e-01 -3.40174227e-03 7.16648407e+01] [ 2.98004401e-01 9.54563856e-01 -1.10551374e-03 6.46691048e+00] [ 3.57663044e-03 4.15425919e-05 9.99993603e-01 -4.10021621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.277719421 meters Centerline goodness : 0.961232 Centerline is valid? [True, True] Translation: X:71.69, Y:6.48, Z:-0.41 [[ 9.55843699e-01 -2.93855839e-01 -3.40140979e-03 7.16917944e+01] [ 2.93853762e-01 9.55849749e-01 -1.10653576e-03 6.47773215e+00] [ 3.57639869e-03 5.81581747e-05 9.99993603e-01 -4.08411493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.307719421 meters Centerline goodness : 0.966705 Centerline is valid? [True, True] Translation: X:71.72, Y:6.49, Z:-0.40 [[ 9.58326713e-01 -2.85654237e-01 -3.40108317e-03 7.17189502e+01] [ 2.85652105e-01 9.58332744e-01 -1.10753877e-03 6.48765581e+00] [ 3.57574251e-03 8.98574227e-05 9.99993603e-01 -4.03091434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.337719421 meters Centerline goodness : 0.968015 Centerline is valid? [True, True] Translation: X:71.75, Y:6.50, Z:-0.40 [[ 9.59025001e-01 -2.83301042e-01 -3.40101373e-03 7.17461566e+01] [ 2.83298893e-01 9.59031027e-01 -1.10775197e-03 6.49767124e+00] [ 3.57550497e-03 9.88584075e-05 9.99993603e-01 -4.00475333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36771942099999 meters Centerline goodness : 0.967712 Centerline is valid? [True, True] Translation: X:71.77, Y:6.51, Z:-0.40 [[ 9.59881724e-01 -2.80384576e-01 -3.40067920e-03 7.17722486e+01] [ 2.80382405e-01 9.59887742e-01 -1.10877797e-03 6.50856791e+00] [ 3.57515452e-03 1.10805094e-04 9.99993603e-01 -4.02894119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.39771942099999 meters Centerline goodness : 0.965415 Centerline is valid? [True, True] Translation: X:71.80, Y:6.52, Z:-0.41 [[ 9.60262648e-01 -2.79077201e-01 -3.40029798e-03 7.17981092e+01] [ 2.79075018e-01 9.60268661e-01 -1.10994583e-03 6.51914638e+00] [ 3.57496017e-03 1.16901298e-04 9.99993603e-01 -4.05071204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42771942099999 meters Centerline goodness : 0.964671 Centerline is valid? [True, True] Translation: X:71.82, Y:6.53, Z:-0.41 [[ 9.61326817e-01 -2.75389160e-01 -3.40018042e-03 7.18244778e+01] [ 2.75386953e-01 9.61332821e-01 -1.11030586e-03 6.53186566e+00] [ 3.57447123e-03 1.31001476e-04 9.99993603e-01 -4.07169912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.457719421 meters Centerline goodness : 0.960422 Centerline is valid? [True, True] Translation: X:71.85, Y:6.54, Z:-0.41 [[ 9.62570589e-01 -2.71009782e-01 -3.39984540e-03 7.18531166e+01] [ 2.71007544e-01 9.62576582e-01 -1.11133077e-03 6.53765367e+00] [ 3.57379307e-03 1.48350566e-04 9.99993603e-01 -4.08609321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.487719421 meters Centerline goodness : 0.957662 Centerline is valid? [True, True] Translation: X:71.88, Y:6.54, Z:-0.41 [[ 9.63140517e-01 -2.68977296e-01 -3.39974932e-03 7.18807883e+01] [ 2.68975044e-01 9.63146505e-01 -1.11162462e-03 6.54299031e+00] [ 3.57345846e-03 1.56202994e-04 9.99993603e-01 -4.11668579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.517719421 meters Centerline goodness : 0.956657 Centerline is valid? [True, True] Translation: X:71.91, Y:6.55, Z:-0.41 [[ 9.63715182e-01 -2.66911017e-01 -3.39963086e-03 7.19098420e+01] [ 2.66908752e-01 9.63721164e-01 -1.11198676e-03 6.54740438e+00] [ 3.57309773e-03 1.64247296e-04 9.99993603e-01 -4.12341630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.547719421 meters Centerline goodness : 0.954637 Centerline is valid? [True, True] Translation: X:71.94, Y:6.56, Z:-0.42 [[ 9.63586780e-01 -2.67374197e-01 -3.39930886e-03 7.19370989e+01] [ 2.67371931e-01 9.63592763e-01 -1.11297025e-03 6.55527826e+00] [ 3.57312894e-03 1.63563649e-04 9.99993603e-01 -4.17997375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.577719421 meters Centerline goodness : 0.952713 Centerline is valid? [True, True] Translation: X:71.96, Y:6.56, Z:-0.42 [[ 9.63542350e-01 -2.67534273e-01 -3.39899018e-03 7.19647220e+01] [ 2.67532004e-01 9.63548331e-01 -1.11394265e-03 6.56302813e+00] [ 3.57310915e-03 1.63992262e-04 9.99993603e-01 -4.16188624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.607719421 meters Centerline goodness : 0.950977 Centerline is valid? [True, True] Translation: X:71.99, Y:6.57, Z:-0.42 [[ 9.63326184e-01 -2.68311595e-01 -3.39866199e-03 7.19917772e+01] [ 2.68309328e-01 9.63332166e-01 -1.11494306e-03 6.56980623e+00] [ 3.57319257e-03 1.62161131e-04 9.99993603e-01 -4.18352765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.637719421 meters Centerline goodness : 0.952851 Centerline is valid? [True, True] Translation: X:72.02, Y:6.57, Z:-0.42 [[ 9.63106005e-01 -2.69100861e-01 -3.39854596e-03 7.20209130e+01] [ 2.69098597e-01 9.63111988e-01 -1.11529663e-03 6.57413777e+00] [ 3.57330764e-03 1.59604930e-04 9.99993603e-01 -4.15525597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.667719421 meters Centerline goodness : 0.956924 Centerline is valid? [True, True] Translation: X:72.05, Y:6.58, Z:-0.41 [[ 9.62934505e-01 -2.69713904e-01 -3.39822282e-03 7.20492015e+01] [ 2.69711641e-01 9.62940489e-01 -1.11628033e-03 6.57950454e+00] [ 3.57336267e-03 1.58364591e-04 9.99993603e-01 -4.11900674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.697719421 meters Centerline goodness : 0.963188 Centerline is valid? [True, True] Translation: X:72.08, Y:6.58, Z:-0.40 [[ 9.62328186e-01 -2.71869299e-01 -3.39815447e-03 7.20785082e+01] [ 2.71867048e-01 9.62334174e-01 -1.11648837e-03 6.58444873e+00] [ 3.57369908e-03 1.50581997e-04 9.99993603e-01 -4.04314667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.727719421 meters Centerline goodness : 0.963411 Centerline is valid? [True, True] Translation: X:72.10, Y:6.59, Z:-0.40 [[ 9.61817538e-01 -2.73670380e-01 -3.39808517e-03 7.21040016e+01] [ 2.73668140e-01 9.61823530e-01 -1.11669926e-03 6.59194477e+00] [ 3.57396578e-03 1.44113282e-04 9.99993603e-01 -4.04025256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.75771942099999 meters Centerline goodness : 0.961117 Centerline is valid? [True, True] Translation: X:72.13, Y:6.60, Z:-0.41 [[ 9.59610538e-01 -2.81311340e-01 -3.39783311e-03 7.21310659e+01] [ 2.81309144e-01 9.59616547e-01 -1.11746567e-03 6.60021156e+00] [ 3.57497264e-03 1.16490306e-04 9.99993603e-01 -4.07632941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78771942099999 meters Centerline goodness : 0.961944 Centerline is valid? [True, True] Translation: X:72.16, Y:6.61, Z:-0.40 [[ 9.58424271e-01 -2.85326784e-01 -3.39766462e-03 7.21580060e+01] [ 2.85324612e-01 9.58430288e-01 -1.11797775e-03 6.60796239e+00] [ 3.57541367e-03 1.02059670e-04 9.99993603e-01 -4.04819735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.81771942099999 meters Centerline goodness : 0.963096 Centerline is valid? [True, True] Translation: X:72.19, Y:6.61, Z:-0.40 [[ 9.55768481e-01 -2.94100440e-01 -3.39727869e-03 7.21857008e+01] [ 2.94098319e-01 9.55774516e-01 -1.11914928e-03 6.61318049e+00] [ 3.57617469e-03 7.05136537e-05 9.99993603e-01 -4.04600163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.847719421 meters Centerline goodness : 0.960795 Centerline is valid? [True, True] Translation: X:72.21, Y:6.62, Z:-0.40 [[ 9.54156882e-01 -2.99287665e-01 -3.39689664e-03 7.22132574e+01] [ 2.99285573e-01 9.54162927e-01 -1.12030767e-03 6.61950461e+00] [ 3.57648711e-03 5.23071195e-05 9.99993603e-01 -4.04989682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.877719421 meters Centerline goodness : 0.961653 Centerline is valid? [True, True] Translation: X:72.24, Y:6.62, Z:-0.40 [[ 9.50800683e-01 -3.09784641e-01 -3.39677779e-03 7.22410536e+01] [ 3.09782614e-01 9.50806750e-01 -1.12066793e-03 6.62385787e+00] [ 3.57684496e-03 1.32691317e-05 9.99993603e-01 -4.03761536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.907719421 meters Centerline goodness : 0.963144 Centerline is valid? [True, True] Translation: X:72.27, Y:6.63, Z:-0.40 [[ 9.49556006e-01 -3.13579103e-01 -3.39665985e-03 7.22692954e+01] [ 3.13577099e-01 9.49562081e-01 -1.12102528e-03 6.63129764e+00] [ 3.57686950e-03 -6.38454510e-07 9.99993603e-01 -4.02694304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.937719421 meters Centerline goodness : 0.963639 Centerline is valid? [True, True] Translation: X:72.30, Y:6.64, Z:-0.40 [[ 9.47156016e-01 -3.20755274e-01 -3.39632949e-03 7.22962477e+01] [ 3.20753313e-01 9.47162105e-01 -1.12202527e-03 6.64049392e+00] [ 3.57677011e-03 -2.66509465e-05 9.99993603e-01 -4.04774894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.967719421 meters Centerline goodness : 0.959996 Centerline is valid? [True, True] Translation: X:72.32, Y:6.65, Z:-0.41 [[ 9.46160767e-01 -3.23679271e-01 -3.39595452e-03 7.23228516e+01] [ 3.23677324e-01 9.46166861e-01 -1.12315901e-03 6.65082858e+00] [ 3.57668292e-03 -3.65044842e-05 9.99993603e-01 -4.07988235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.997719421 meters Centerline goodness : 0.955783 Centerline is valid? [True, True] Translation: X:72.35, Y:6.66, Z:-0.41 [[ 9.45756033e-01 -3.24859963e-01 -3.39562643e-03 7.23491672e+01] [ 3.24858021e-01 9.45762128e-01 -1.12415004e-03 6.66072165e+00] [ 3.57664622e-03 -3.99247971e-05 9.99993603e-01 -4.12121693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.027719421 meters Centerline goodness : 0.955277 Centerline is valid? [True, True] Translation: X:72.38, Y:6.67, Z:-0.41 [[ 9.46223384e-01 -3.23496179e-01 -3.39551024e-03 7.23764448e+01] [ 3.23494226e-01 9.46229476e-01 -1.12450089e-03 6.66832682e+00] [ 3.57670362e-03 -3.43989173e-05 9.99993603e-01 -4.11468860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.057719421 meters Centerline goodness : 0.959206 Centerline is valid? [True, True] Translation: X:72.40, Y:6.68, Z:-0.41 [[ 9.47771155e-01 -3.18933082e-01 -3.39513918e-03 7.24037316e+01] [ 3.18931096e-01 9.47777236e-01 -1.12562008e-03 6.67714036e+00] [ 3.57683311e-03 -1.59852134e-05 9.99993603e-01 -4.06333568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.087719421 meters Centerline goodness : 0.960638 Centerline is valid? [True, True] Translation: X:72.43, Y:6.69, Z:-0.40 [[ 9.49083229e-01 -3.15007141e-01 -3.39481553e-03 7.24298840e+01] [ 3.15005126e-01 9.49089301e-01 -1.12659535e-03 6.68892680e+00] [ 3.57686868e-03 -1.51544863e-07 9.99993603e-01 -4.04682468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.11771942099999 meters Centerline goodness : 0.960638 Centerline is valid? [True, True] Translation: X:72.46, Y:6.70, Z:-0.40 [[ 9.48981078e-01 -3.15314749e-01 -3.39449338e-03 7.24568864e+01] [ 3.15312733e-01 9.48987149e-01 -1.12756519e-03 6.69817343e+00] [ 3.57686853e-03 -2.88950732e-07 9.99993603e-01 -4.04580595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14771942099999 meters Centerline goodness : 0.963344 Centerline is valid? [True, True] Translation: X:72.48, Y:6.71, Z:-0.40 [[ 9.52248722e-01 -3.05304523e-01 -3.39412755e-03 7.24803310e+01] [ 3.05302439e-01 9.52254770e-01 -1.12866532e-03 6.71472040e+00] [ 3.57666077e-03 3.85346896e-05 9.99993603e-01 -4.04250277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.17771942099999 meters Centerline goodness : 0.964425 Centerline is valid? [True, True] Translation: X:72.51, Y:6.73, Z:-0.40 [[ 9.54011309e-01 -2.99751403e-01 -3.39401451e-03 7.25053923e+01] [ 2.99749283e-01 9.54017344e-01 -1.12900512e-03 6.72700124e+00] [ 3.57636958e-03 5.97302347e-05 9.99993603e-01 -4.04458799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.207719421 meters Centerline goodness : 0.959551 Centerline is valid? [True, True] Translation: X:72.53, Y:6.74, Z:-0.41 [[ 9.56917711e-01 -2.90339418e-01 -3.39365879e-03 7.25309199e+01] [ 2.90337235e-01 9.56923724e-01 -1.13007338e-03 6.73968630e+00] [ 3.57557745e-03 9.60817240e-05 9.99993603e-01 -4.09443511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.237719421 meters Centerline goodness : 0.960493 Centerline is valid? [True, True] Translation: X:72.56, Y:6.75, Z:-0.41 [[ 9.59109852e-01 -2.83013740e-01 -3.39349863e-03 7.25579938e+01] [ 2.83011509e-01 9.59115847e-01 -1.13055411e-03 6.75113978e+00] [ 3.57472066e-03 1.23926420e-04 9.99993603e-01 -4.07858746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.267719421 meters Centerline goodness : 0.960659 Centerline is valid? [True, True] Translation: X:72.58, Y:6.76, Z:-0.41 [[ 9.59807939e-01 -2.80637145e-01 -3.39319622e-03 7.25841208e+01] [ 2.80634896e-01 9.59813927e-01 -1.13146103e-03 6.76185810e+00] [ 3.57436698e-03 1.33736010e-04 9.99993603e-01 -4.07929043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.297719421 meters Centerline goodness : 0.961533 Centerline is valid? [True, True] Translation: X:72.61, Y:6.77, Z:-0.41 [[ 9.60475693e-01 -2.78343189e-01 -3.39282239e-03 7.26103446e+01] [ 2.78340922e-01 9.60481675e-01 -1.13258090e-03 6.77179251e+00] [ 3.57398991e-03 1.43455111e-04 9.99993603e-01 -4.07157323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.327719421 meters Centerline goodness : 0.959562 Centerline is valid? [True, True] Translation: X:72.64, Y:6.78, Z:-0.41 [[ 9.60835818e-01 -2.77097494e-01 -3.39270624e-03 7.26379661e+01] [ 2.77095218e-01 9.60841796e-01 -1.13292871e-03 6.78060732e+00] [ 3.57378567e-03 1.48455810e-04 9.99993603e-01 -4.08105843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.357719421 meters Centerline goodness : 0.959764 Centerline is valid? [True, True] Translation: X:72.66, Y:6.79, Z:-0.41 [[ 9.60610360e-01 -2.77878082e-01 -3.39238461e-03 7.26648114e+01] [ 2.77875807e-01 9.60616339e-01 -1.13389096e-03 6.78839377e+00] [ 3.57386353e-03 1.46565792e-04 9.99993603e-01 -4.08354431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.387719421 meters Centerline goodness : 0.959667 Centerline is valid? [True, True] Translation: X:72.69, Y:6.80, Z:-0.41 [[ 9.59591904e-01 -2.81374967e-01 -3.39201777e-03 7.26905002e+01] [ 2.81372710e-01 9.59597890e-01 -1.13498732e-03 6.79543458e+00] [ 3.57433011e-03 1.34703414e-04 9.99993603e-01 -4.10728558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.417719421 meters Centerline goodness : 0.959245 Centerline is valid? [True, True] Translation: X:72.72, Y:6.80, Z:-0.41 [[ 9.59015272e-01 -2.83334085e-01 -3.39165515e-03 7.27177357e+01] [ 2.83331837e-01 9.59021261e-01 -1.13606989e-03 6.80314990e+00] [ 3.57455672e-03 1.28544494e-04 9.99993603e-01 -4.10506202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.447719421 meters Centerline goodness : 0.956113 Centerline is valid? [True, True] Translation: X:72.75, Y:6.81, Z:-0.41 [[ 9.58006935e-01 -2.86724976e-01 -3.39129349e-03 7.27463474e+01] [ 2.86722745e-01 9.58012930e-01 -1.13714846e-03 6.80556245e+00] [ 3.57495188e-03 1.17035130e-04 9.99993603e-01 -4.10927713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.477719421 meters Centerline goodness : 0.957998 Centerline is valid? [True, True] Translation: X:72.78, Y:6.81, Z:-0.41 [[ 9.57034792e-01 -2.89953284e-01 -3.39118238e-03 7.27756766e+01] [ 2.89951072e-01 9.57040794e-01 -1.13747971e-03 6.80884420e+00] [ 3.57531586e-03 1.05330690e-04 9.99993603e-01 -4.07628640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50771942099999 meters Centerline goodness : 0.954990 Centerline is valid? [True, True] Translation: X:72.80, Y:6.82, Z:-0.41 [[ 9.56548461e-01 -2.91553673e-01 -3.39084555e-03 7.28029643e+01] [ 2.91551468e-01 9.56554465e-01 -1.13848292e-03 6.81633435e+00] [ 3.57545733e-03 1.00408092e-04 9.99993603e-01 -4.13436224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.53771942099999 meters Centerline goodness : 0.954044 Centerline is valid? [True, True] Translation: X:72.83, Y:6.82, Z:-0.41 [[ 9.55758295e-01 -2.94133616e-01 -3.39072637e-03 7.28304706e+01] [ 2.94131425e-01 9.55764305e-01 -1.13883776e-03 6.82149430e+00] [ 3.57570570e-03 9.11344572e-05 9.99993603e-01 -4.13487205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56771942099999 meters Centerline goodness : 0.955586 Centerline is valid? [True, True] Translation: X:72.86, Y:6.83, Z:-0.41 [[ 9.55109186e-01 -2.96234615e-01 -3.39061748e-03 7.28585344e+01] [ 2.96232436e-01 9.55115200e-01 -1.13916185e-03 6.82870918e+00] [ 3.57588947e-03 8.36130706e-05 9.99993603e-01 -4.11848753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.597719421 meters Centerline goodness : 0.954950 Centerline is valid? [True, True] Translation: X:72.89, Y:6.83, Z:-0.41 [[ 9.53765024e-01 -3.00534164e-01 -3.39030738e-03 7.28869678e+01] [ 3.00532010e-01 9.53771048e-01 -1.14008402e-03 6.83008486e+00] [ 3.57621122e-03 6.84763685e-05 9.99993603e-01 -4.11777529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.627719421 meters Centerline goodness : 0.954777 Centerline is valid? [True, True] Translation: X:72.92, Y:6.84, Z:-0.41 [[ 9.52904478e-01 -3.03251648e-01 -3.39017579e-03 7.29161541e+01] [ 3.03249510e-01 9.52910507e-01 -1.14047518e-03 6.83545337e+00] [ 3.57638511e-03 5.86947589e-05 9.99993603e-01 -4.10221400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.657719421 meters Centerline goodness : 0.960891 Centerline is valid? [True, True] Translation: X:72.94, Y:6.84, Z:-0.40 [[ 9.51982884e-01 -3.06132482e-01 -3.38989143e-03 7.29449096e+01] [ 3.06130359e-01 9.51988919e-01 -1.14131978e-03 6.83966722e+00] [ 3.57653413e-03 4.87682154e-05 9.99993603e-01 -4.03757372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.687719421 meters Centerline goodness : 0.963156 Centerline is valid? [True, True] Translation: X:72.97, Y:6.85, Z:-0.40 [[ 9.52135189e-01 -3.05658456e-01 -3.38956625e-03 7.29720385e+01] [ 3.05656326e-01 9.52141221e-01 -1.14228471e-03 6.84848900e+00] [ 3.57649473e-03 5.15671000e-05 9.99993603e-01 -4.04226847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.717719421 meters Centerline goodness : 0.958843 Centerline is valid? [True, True] Translation: X:73.00, Y:6.86, Z:-0.41 [[ 9.53795430e-01 -3.00437665e-01 -3.38938441e-03 7.29986219e+01] [ 3.00435500e-01 9.53801449e-01 -1.14282399e-03 6.85578413e+00] [ 3.57614714e-03 7.17288970e-05 9.99993603e-01 -4.07130144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.747719421 meters Centerline goodness : 0.956776 Centerline is valid? [True, True] Translation: X:73.03, Y:6.86, Z:-0.41 [[ 9.54787563e-01 -2.97269612e-01 -3.38921678e-03 7.30270472e+01] [ 2.97267425e-01 9.54793575e-01 -1.14332091e-03 6.86210177e+00] [ 3.57587697e-03 8.41248427e-05 9.99993603e-01 -4.08642299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.777719421 meters Centerline goodness : 0.956294 Centerline is valid? [True, True] Translation: X:73.06, Y:6.87, Z:-0.41 [[ 9.56584470e-01 -2.91435528e-01 -3.38890030e-03 7.30562680e+01] [ 2.91433301e-01 9.56590467e-01 -1.14425823e-03 6.86565313e+00] [ 3.57526722e-03 1.06941250e-04 9.99993603e-01 -4.08566099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.807719421 meters Centerline goodness : 0.956769 Centerline is valid? [True, True] Translation: X:73.08, Y:6.87, Z:-0.41 [[ 9.57360605e-01 -2.88875735e-01 -3.38858561e-03 7.30840079e+01] [ 2.88873489e-01 9.57366594e-01 -1.14518937e-03 6.87192875e+00] [ 3.57493609e-03 1.17486638e-04 9.99993603e-01 -4.07692671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.837719421 meters Centerline goodness : 0.957800 Centerline is valid? [True, True] Translation: X:73.11, Y:6.88, Z:-0.41 [[ 9.58243066e-01 -2.85934860e-01 -3.38847472e-03 7.31119978e+01] [ 2.85932594e-01 9.58249049e-01 -1.14551738e-03 6.87790461e+00] [ 3.57454603e-03 1.28808723e-04 9.99993603e-01 -4.07769555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86771942099999 meters Centerline goodness : 0.960598 Centerline is valid? [True, True] Translation: X:73.14, Y:6.89, Z:-0.41 [[ 9.58702237e-01 -2.84391528e-01 -3.38819112e-03 7.31400554e+01] [ 2.84389250e-01 9.58708214e-01 -1.14635561e-03 6.88619539e+00] [ 3.57430048e-03 1.35448559e-04 9.99993603e-01 -4.06377475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.89771942099999 meters Centerline goodness : 0.961692 Centerline is valid? [True, True] Translation: X:73.17, Y:6.89, Z:-0.40 [[ 9.59230386e-01 -2.82605004e-01 -3.38788129e-03 7.31693828e+01] [ 2.82602712e-01 9.59236358e-01 -1.14727055e-03 6.89079131e+00] [ 3.57400331e-03 1.43072334e-04 9.99993603e-01 -4.03787993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92771942099999 meters Centerline goodness : 0.959030 Centerline is valid? [True, True] Translation: X:73.20, Y:6.89, Z:-0.41 [[ 9.60057105e-01 -2.79783630e-01 -3.38755991e-03 7.31994003e+01] [ 2.79781317e-01 9.60063069e-01 -1.14821871e-03 6.89381409e+00] [ 3.57352396e-03 1.54579557e-04 9.99993603e-01 -4.06602452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.957719421 meters Centerline goodness : 0.958433 Centerline is valid? [True, True] Translation: X:73.23, Y:6.90, Z:-0.41 [[ 9.60560826e-01 -2.78049322e-01 -3.38739575e-03 7.32272846e+01] [ 2.78046996e-01 9.60566785e-01 -1.14870280e-03 6.90051350e+00] [ 3.57321588e-03 1.61543694e-04 9.99993603e-01 -4.07230196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.987719421 meters Centerline goodness : 0.959416 Centerline is valid? [True, True] Translation: X:73.25, Y:6.91, Z:-0.41 [[ 9.60847928e-01 -2.77055567e-01 -3.38707487e-03 7.32549830e+01] [ 2.77053231e-01 9.60853883e-01 -1.14964817e-03 6.90759515e+00] [ 3.57300046e-03 1.66237023e-04 9.99993603e-01 -4.07333546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.017719421 meters Centerline goodness : 0.957951 Centerline is valid? [True, True] Translation: X:73.28, Y:6.91, Z:-0.41 [[ 9.61318323e-01 -2.75418975e-01 -3.38671015e-03 7.32836863e+01] [ 2.75416625e-01 9.61324273e-01 -1.15072158e-03 6.91004993e+00] [ 3.57265723e-03 1.73453460e-04 9.99993603e-01 -4.06818330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.047719421 meters Centerline goodness : 0.959087 Centerline is valid? [True, True] Translation: X:73.31, Y:6.92, Z:-0.41 [[ 9.61143911e-01 -2.76027018e-01 -3.38654264e-03 7.33106927e+01] [ 2.76024671e-01 9.61149861e-01 -1.15121435e-03 6.91586011e+00] [ 3.57274125e-03 1.71713347e-04 9.99993603e-01 -4.06676113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.077719421 meters Centerline goodness : 0.959172 Centerline is valid? [True, True] Translation: X:73.34, Y:6.93, Z:-0.41 [[ 9.60782940e-01 -2.77280859e-01 -3.38643127e-03 7.33374879e+01] [ 2.77278518e-01 9.60788893e-01 -1.15154187e-03 6.92501758e+00] [ 3.57294607e-03 1.67397137e-04 9.99993603e-01 -4.07605948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.107719421 meters Centerline goodness : 0.959348 Centerline is valid? [True, True] Translation: X:73.37, Y:6.93, Z:-0.41 [[ 9.59524325e-01 -2.81605404e-01 -3.38607678e-03 7.33654203e+01] [ 2.81603087e-01 9.59530288e-01 -1.15258327e-03 6.93045013e+00] [ 3.57361691e-03 1.52402009e-04 9.99993603e-01 -4.05858138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.137719421 meters Centerline goodness : 0.960433 Centerline is valid? [True, True] Translation: X:73.39, Y:6.94, Z:-0.40 [[ 9.58846417e-01 -2.83905060e-01 -3.38596697e-03 7.33930632e+01] [ 2.83902756e-01 9.58852385e-01 -1.15290579e-03 6.93571857e+00] [ 3.57395829e-03 1.44174236e-04 9.99993603e-01 -4.04211642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.167719421 meters Centerline goodness : 0.959862 Centerline is valid? [True, True] Translation: X:73.42, Y:6.94, Z:-0.40 [[ 9.57106300e-01 -2.89717221e-01 -3.38561610e-03 7.34216558e+01] [ 2.89714949e-01 9.57112280e-01 -1.15393524e-03 6.94116904e+00] [ 3.57472965e-03 1.23575088e-04 9.99993603e-01 -4.04271041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.197719421 meters Centerline goodness : 0.959006 Centerline is valid? [True, True] Translation: X:73.45, Y:6.95, Z:-0.41 [[ 9.56114642e-01 -2.92973259e-01 -3.38530057e-03 7.34480222e+01] [ 2.92971004e-01 9.56120629e-01 -1.15486016e-03 6.95104435e+00] [ 3.57509885e-03 1.12383798e-04 9.99993603e-01 -4.07795023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.227719421 meters Centerline goodness : 0.963310 Centerline is valid? [True, True] Translation: X:73.47, Y:6.96, Z:-0.40 [[ 9.53984992e-01 -2.99835247e-01 -3.38518929e-03 7.34748836e+01] [ 2.99833035e-01 9.53990994e-01 -1.15518626e-03 6.96052828e+00] [ 3.57580565e-03 8.70387735e-05 9.99993603e-01 -4.04798089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.25771942099999 meters Centerline goodness : 0.964152 Centerline is valid? [True, True] Translation: X:73.50, Y:6.97, Z:-0.40 [[ 9.52829461e-01 -3.03487333e-01 -3.38488894e-03 7.35027559e+01] [ 3.03485140e-01 9.52835470e-01 -1.15606566e-03 6.96828676e+00] [ 3.57609353e-03 7.42699275e-05 9.99993603e-01 -4.03310547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28771942099999 meters Centerline goodness : 0.961825 Centerline is valid? [True, True] Translation: X:73.53, Y:6.97, Z:-0.40 [[ 9.50440149e-01 -3.10889157e-01 -3.38456176e-03 7.35308444e+01] [ 3.10887008e-01 9.50446174e-01 -1.15702273e-03 6.97285783e+00] [ 3.57654960e-03 4.74645754e-05 9.99993603e-01 -4.02195327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.31771942099999 meters Centerline goodness : 0.959923 Centerline is valid? [True, True] Translation: X:73.56, Y:6.98, Z:-0.40 [[ 9.49348347e-01 -3.14207356e-01 -3.38439259e-03 7.35586103e+01] [ 3.14205226e-01 9.49354379e-01 -1.15751737e-03 6.97982964e+00] [ 3.57668839e-03 3.54933621e-05 9.99993603e-01 -4.02230807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.347719421 meters Centerline goodness : 0.955908 Centerline is valid? [True, True] Translation: X:73.58, Y:6.99, Z:-0.41 [[ 9.47393518e-01 -3.20053231e-01 -3.38408971e-03 7.35849310e+01] [ 3.20051135e-01 9.47399562e-01 -1.15840218e-03 6.98991498e+00] [ 3.57683547e-03 1.43809635e-05 9.99993603e-01 -4.07395461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.377719421 meters Centerline goodness : 0.956297 Centerline is valid? [True, True] Translation: X:73.61, Y:7.00, Z:-0.41 [[ 9.46863873e-01 -3.21616784e-01 -3.38399663e-03 7.36105110e+01] [ 3.21614696e-01 9.46869920e-01 -1.15867402e-03 7.00153032e+00] [ 3.57685363e-03 8.76352511e-06 9.99993603e-01 -4.09368554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.407719421 meters Centerline goodness : 0.963003 Centerline is valid? [True, True] Translation: X:73.64, Y:7.01, Z:-0.40 [[ 9.46971460e-01 -3.21299867e-01 -3.38362905e-03 7.36374573e+01] [ 3.21297774e-01 9.46977505e-01 -1.15974646e-03 7.01404048e+00] [ 3.57684698e-03 1.10943187e-05 9.99993603e-01 -4.00557989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.437719421 meters Centerline goodness : 0.965393 Centerline is valid? [True, True] Translation: X:73.66, Y:7.02, Z:-0.40 [[ 9.46914202e-01 -3.21468577e-01 -3.38357937e-03 7.36635095e+01] [ 3.21466485e-01 9.46920247e-01 -1.15989139e-03 7.02328472e+00] [ 3.57684845e-03 1.06102660e-05 9.99993603e-01 -3.98678996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.467719421 meters Centerline goodness : 0.964249 Centerline is valid? [True, True] Translation: X:73.69, Y:7.03, Z:-0.40 [[ 9.47006471e-01 -3.21196663e-01 -3.38345657e-03 7.36896028e+01] [ 3.21194567e-01 9.47012515e-01 -1.16024948e-03 7.03395622e+00] [ 3.57684398e-03 1.20158917e-05 9.99993603e-01 -3.99806658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.497719421 meters Centerline goodness : 0.964359 Centerline is valid? [True, True] Translation: X:73.72, Y:7.05, Z:-0.40 [[ 9.46834939e-01 -3.21701961e-01 -3.38333937e-03 7.37151850e+01] [ 3.21699868e-01 9.46840984e-01 -1.16059114e-03 7.04788966e+00] [ 3.57684882e-03 1.04684154e-05 9.99993603e-01 -3.99138376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.527719421 meters Centerline goodness : 0.963739 Centerline is valid? [True, True] Translation: X:73.74, Y:7.06, Z:-0.40 [[ 9.46650866e-01 -3.22243219e-01 -3.38300126e-03 7.37407206e+01] [ 3.22241126e-01 9.46656911e-01 -1.16157587e-03 7.06015947e+00] [ 3.57685147e-03 9.46467452e-06 9.99993603e-01 -4.00300980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.557719421 meters Centerline goodness : 0.964053 Centerline is valid? [True, True] Translation: X:73.77, Y:7.08, Z:-0.40 [[ 9.46149405e-01 -3.23712621e-01 -3.38261544e-03 7.37652711e+01] [ 3.23710533e-01 9.46155452e-01 -1.16269833e-03 7.07502668e+00] [ 3.57686016e-03 5.09808650e-06 9.99993603e-01 -4.00642833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.587719421 meters Centerline goodness : 0.963009 Centerline is valid? [True, True] Translation: X:73.79, Y:7.09, Z:-0.40 [[ 9.46014822e-01 -3.24105715e-01 -3.38249615e-03 7.37920924e+01] [ 3.24103629e-01 9.46020869e-01 -1.16304526e-03 7.08676260e+00] [ 3.57686156e-03 3.97878284e-06 9.99993603e-01 -4.00539732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.61771942099999 meters Centerline goodness : 0.964225 Centerline is valid? [True, True] Translation: X:73.82, Y:7.10, Z:-0.40 [[ 9.45496267e-01 -3.25615370e-01 -3.38216640e-03 7.38167731e+01] [ 3.25613290e-01 9.45502317e-01 -1.16400338e-03 7.09892356e+00] [ 3.57686356e-03 -7.17482953e-07 9.99993603e-01 -3.96539125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64771942099999 meters Centerline goodness : 0.963762 Centerline is valid? [True, True] Translation: X:73.84, Y:7.11, Z:-0.40 [[ 9.45194348e-01 -3.26490747e-01 -3.38195953e-03 7.38422608e+01] [ 3.26488670e-01 9.45200398e-01 -1.16460414e-03 7.11004647e+00] [ 3.57686197e-03 -3.39422016e-06 9.99993603e-01 -3.96051422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.67771942099999 meters Centerline goodness : 0.965698 Centerline is valid? [True, True] Translation: X:73.87, Y:7.13, Z:-0.40 [[ 9.44916063e-01 -3.27295279e-01 -3.38158496e-03 7.38669727e+01] [ 3.27293203e-01 9.44922113e-01 -1.16569072e-03 7.12514014e+00] [ 3.57685948e-03 -5.28988356e-06 9.99993603e-01 -3.96549147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.707719421 meters Centerline goodness : 0.965652 Centerline is valid? [True, True] Translation: X:73.89, Y:7.14, Z:-0.40 [[ 9.44628507e-01 -3.28124290e-01 -3.38146923e-03 7.38928559e+01] [ 3.28122218e-01 9.44634559e-01 -1.16602635e-03 7.13845315e+00] [ 3.57685426e-03 -8.07345994e-06 9.99993603e-01 -3.98091586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.737719421 meters Centerline goodness : 0.961041 Centerline is valid? [True, True] Translation: X:73.92, Y:7.15, Z:-0.40 [[ 9.44492806e-01 -3.28514698e-01 -3.38114614e-03 7.39176466e+01] [ 3.28512625e-01 9.44498858e-01 -1.16696246e-03 7.15239155e+00] [ 3.57685299e-03 -8.56154547e-06 9.99993603e-01 -4.02145100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.767719421 meters Centerline goodness : 0.961456 Centerline is valid? [True, True] Translation: X:73.94, Y:7.16, Z:-0.40 [[ 9.44489366e-01 -3.28524590e-01 -3.38103162e-03 7.39437959e+01] [ 3.28522516e-01 9.44495418e-01 -1.16729417e-03 7.16423608e+00] [ 3.57685371e-03 -8.24808367e-06 9.99993603e-01 -4.01749360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.797719421 meters Centerline goodness : 0.961375 Centerline is valid? [True, True] Translation: X:73.97, Y:7.18, Z:-0.40 [[ 9.44614265e-01 -3.28165294e-01 -3.38070530e-03 7.39705605e+01] [ 3.28163215e-01 9.44620315e-01 -1.16823849e-03 7.17560456e+00] [ 3.57685823e-03 -5.88837912e-06 9.99993603e-01 -4.02416349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.827719421 meters Centerline goodness : 0.958344 Centerline is valid? [True, True] Translation: X:73.99, Y:7.19, Z:-0.41 [[ 9.45266752e-01 -3.26281076e-01 -3.38038185e-03 7.39939520e+01] [ 3.26278981e-01 9.45272796e-01 -1.16917368e-03 7.19187676e+00] [ 3.57686225e-03 2.23346320e-06 9.99993603e-01 -4.05419063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.857719421 meters Centerline goodness : 0.960813 Centerline is valid? [True, True] Translation: X:74.02, Y:7.21, Z:-0.41 [[ 9.45645856e-01 -3.25180701e-01 -3.38026711e-03 7.40197345e+01] [ 3.25178598e-01 9.45651898e-01 -1.16950532e-03 7.20518028e+00] [ 3.57685656e-03 6.74733844e-06 9.99993603e-01 -4.05866854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.887719421 meters Centerline goodness : 0.963110 Centerline is valid? [True, True] Translation: X:74.05, Y:7.22, Z:-0.40 [[ 9.46939378e-01 -3.21394447e-01 -3.37995779e-03 7.40455222e+01] [ 3.21392317e-01 9.46945410e-01 -1.17039859e-03 7.21915149e+00] [ 3.57679512e-03 2.20040427e-05 9.99993603e-01 -4.00171823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.917719421 meters Centerline goodness : 0.959499 Centerline is valid? [True, True] Translation: X:74.07, Y:7.23, Z:-0.40 [[ 9.47850798e-01 -3.18696473e-01 -3.37962468e-03 7.40708439e+01] [ 3.18694323e-01 9.47856823e-01 -1.17135969e-03 7.22963984e+00] [ 3.57670851e-03 3.32070182e-05 9.99993603e-01 -4.03955274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.947719421 meters Centerline goodness : 0.963409 Centerline is valid? [True, True] Translation: X:74.10, Y:7.24, Z:-0.40 [[ 9.49803148e-01 -3.12829919e-01 -3.37945925e-03 7.40967931e+01] [ 3.12827730e-01 9.49809159e-01 -1.17183676e-03 7.24410540e+00] [ 3.57642695e-03 5.58256762e-05 9.99993603e-01 -3.99118065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.977719421 meters Centerline goodness : 0.968326 Centerline is valid? [True, True] Translation: X:74.12, Y:7.26, Z:-0.40 [[ 9.52661059e-01 -3.04015606e-01 -3.37913365e-03 7.41223264e+01] [ 3.04013357e-01 9.52667047e-01 -1.17277492e-03 7.25938824e+00] [ 3.57573115e-03 8.99552277e-05 9.99993603e-01 -3.95426922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00771942099999 meters Centerline goodness : 0.968326 Centerline is valid? [True, True] Translation: X:74.15, Y:7.27, Z:-0.40 [[ 9.52564442e-01 -3.04318201e-01 -3.37880868e-03 7.41492031e+01] [ 3.04315951e-01 9.52570430e-01 -1.17371042e-03 7.26900491e+00] [ 3.57573468e-03 8.98094396e-05 9.99993603e-01 -3.95325045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.03771942099999 meters Centerline goodness : 0.969219 Centerline is valid? [True, True] Translation: X:74.18, Y:7.28, Z:-0.39 [[ 9.54000907e-01 -2.99784684e-01 -3.37843551e-03 7.41753287e+01] [ 2.99782401e-01 9.54006882e-01 -1.17478357e-03 7.28166022e+00] [ 3.57523285e-03 1.07949079e-04 9.99993603e-01 -3.94010995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06771942099999 meters Centerline goodness : 0.967304 Centerline is valid? [True, True] Translation: X:74.20, Y:7.30, Z:-0.39 [[ 9.56259757e-01 -2.92499343e-01 -3.37810576e-03 7.41997481e+01] [ 2.92497012e-01 9.56265714e-01 -1.17573101e-03 7.29503875e+00] [ 3.57426727e-03 1.36218403e-04 9.99993603e-01 -3.94492396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.097719421 meters Centerline goodness : 0.967307 Centerline is valid? [True, True] Translation: X:74.23, Y:7.31, Z:-0.40 [[ 9.57004315e-01 -2.90054012e-01 -3.37798967e-03 7.42265607e+01] [ 2.90051665e-01 9.57010266e-01 -1.17606445e-03 7.30590739e+00] [ 3.57389301e-03 1.45707228e-04 9.99993603e-01 -3.96075050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.127719421 meters Centerline goodness : 0.957907 Centerline is valid? [True, True] Translation: X:74.25, Y:7.32, Z:-0.40 [[ 9.58199539e-01 -2.86080820e-01 -3.37767040e-03 7.42533422e+01] [ 2.86078445e-01 9.58205478e-01 -1.17698068e-03 7.31502602e+00] [ 3.57321388e-03 1.61503653e-04 9.99993603e-01 -4.04929311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.157719421 meters Centerline goodness : 0.960181 Centerline is valid? [True, True] Translation: X:74.28, Y:7.32, Z:-0.40 [[ 9.58448577e-01 -2.85245363e-01 -3.37758072e-03 7.42809108e+01] [ 2.85242981e-01 9.58454514e-01 -1.17723800e-03 7.32454799e+00] [ 3.57305917e-03 1.64890894e-04 9.99993603e-01 -4.01786675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.187719421 meters Centerline goodness : 0.961457 Centerline is valid? [True, True] Translation: X:74.31, Y:7.33, Z:-0.40 [[ 9.58878460e-01 -2.83796923e-01 -3.37726717e-03 7.43078409e+01] [ 2.83794529e-01 9.58884392e-01 -1.17813683e-03 7.33461418e+00] [ 3.57276038e-03 1.71240082e-04 9.99993603e-01 -4.01945107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.217719421 meters Centerline goodness : 0.961748 Centerline is valid? [True, True] Translation: X:74.34, Y:7.34, Z:-0.40 [[ 9.58877962e-01 -2.83798609e-01 -3.37695527e-03 7.43359729e+01] [ 2.83796212e-01 9.58883893e-01 -1.17903017e-03 7.34220004e+00] [ 3.57271513e-03 1.72178929e-04 9.99993603e-01 -4.01974281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.247719421 meters Centerline goodness : 0.958402 Centerline is valid? [True, True] Translation: X:74.36, Y:7.35, Z:-0.41 [[ 9.58399939e-01 -2.85408751e-01 -3.37663304e-03 7.43629441e+01] [ 2.85406361e-01 9.58405873e-01 -1.17995226e-03 7.34833866e+00] [ 3.57295364e-03 1.67153628e-04 9.99993603e-01 -4.05881581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.277719421 meters Centerline goodness : 0.958970 Centerline is valid? [True, True] Translation: X:74.39, Y:7.35, Z:-0.40 [[ 9.57322866e-01 -2.89000915e-01 -3.37651861e-03 7.43920716e+01] [ 2.88998546e-01 9.57328808e-01 -1.18027964e-03 7.35189953e+00] [ 3.57354043e-03 1.54099720e-04 9.99993603e-01 -4.03813450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.307719421 meters Centerline goodness : 0.959199 Centerline is valid? [True, True] Translation: X:74.42, Y:7.36, Z:-0.40 [[ 9.56502505e-01 -2.91704576e-01 -3.37620094e-03 7.44206504e+01] [ 2.91702220e-01 9.56508452e-01 -1.18118763e-03 7.35910536e+00] [ 3.57392257e-03 1.44963617e-04 9.99993603e-01 -4.04305798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.337719421 meters Centerline goodness : 0.956803 Centerline is valid? [True, True] Translation: X:74.45, Y:7.36, Z:-0.41 [[ 9.54232326e-01 -2.99047273e-01 -3.37590736e-03 7.44484991e+01] [ 2.99044960e-01 9.54238290e-01 -1.18202610e-03 7.36419075e+00] [ 3.57490175e-03 1.18379432e-04 9.99993603e-01 -4.06365917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36771942099999 meters Centerline goodness : 0.955823 Centerline is valid? [True, True] Translation: X:74.48, Y:7.37, Z:-0.41 [[ 9.52662833e-01 -3.04010082e-01 -3.37579505e-03 7.44751511e+01] [ 3.04007799e-01 9.52668809e-01 -1.18234676e-03 7.37212140e+00] [ 3.57545999e-03 1.00109785e-04 9.99993603e-01 -4.07535648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.39771942099999 meters Centerline goodness : 0.957070 Centerline is valid? [True, True] Translation: X:74.50, Y:7.38, Z:-0.41 [[ 9.49706194e-01 -3.13124178e-01 -3.37546094e-03 7.45030060e+01] [ 3.13121950e-01 9.49712190e-01 -1.18329985e-03 7.37660401e+00] [ 3.57623619e-03 6.68562824e-05 9.99993603e-01 -4.05297672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42771942099999 meters Centerline goodness : 0.958330 Centerline is valid? [True, True] Translation: X:74.53, Y:7.38, Z:-0.40 [[ 9.48026300e-01 -3.18174073e-01 -3.37534975e-03 7.45308056e+01] [ 3.18171875e-01 9.48032308e-01 -1.18361692e-03 7.38417949e+00] [ 3.57653683e-03 4.81586086e-05 9.99993603e-01 -4.03138407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.457719421 meters Centerline goodness : 0.962544 Centerline is valid? [True, True] Translation: X:74.56, Y:7.39, Z:-0.40 [[ 9.45936299e-01 -3.24334899e-01 -3.37503969e-03 7.45588808e+01] [ 3.24332737e-01 9.45942320e-01 -1.18450040e-03 7.39079746e+00] [ 3.57676769e-03 2.58260642e-05 9.99993603e-01 -3.98709863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.487719421 meters Centerline goodness : 0.964622 Centerline is valid? [True, True] Translation: X:74.59, Y:7.40, Z:-0.40 [[ 9.44967286e-01 -3.27147428e-01 -3.37472298e-03 7.45869653e+01] [ 3.27145281e-01 9.44973312e-01 -1.18540204e-03 7.39938523e+00] [ 3.57682438e-03 1.61414551e-05 9.99993603e-01 -3.96153914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.517719421 meters Centerline goodness : 0.962454 Centerline is valid? [True, True] Translation: X:74.61, Y:7.41, Z:-0.40 [[ 9.45029176e-01 -3.26968608e-01 -3.37438525e-03 7.46148570e+01] [ 3.26966456e-01 9.45035200e-01 -1.18636265e-03 7.40800497e+00] [ 3.57681618e-03 1.78365336e-05 9.99993603e-01 -3.97081008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.547719421 meters Centerline goodness : 0.959932 Centerline is valid? [True, True] Translation: X:74.64, Y:7.42, Z:-0.40 [[ 9.45731217e-01 -3.24932426e-01 -3.37404786e-03 7.46416060e+01] [ 3.24930258e-01 9.45737235e-01 -1.18732143e-03 7.41671735e+00] [ 3.57676192e-03 2.65567001e-05 9.99993603e-01 -3.99193031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.577719421 meters Centerline goodness : 0.959197 Centerline is valid? [True, True] Translation: X:74.67, Y:7.43, Z:-0.40 [[ 9.45950695e-01 -3.24292925e-01 -3.37371544e-03 7.46687449e+01] [ 3.24290749e-01 9.45956710e-01 -1.18826523e-03 7.42673726e+00] [ 3.57673476e-03 2.99756161e-05 9.99993603e-01 -4.00175859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.607719421 meters Centerline goodness : 0.959149 Centerline is valid? [True, True] Translation: X:74.70, Y:7.44, Z:-0.40 [[ 9.45866307e-01 -3.24538980e-01 -3.37338165e-03 7.46951036e+01] [ 3.24536803e-01 9.45872322e-01 -1.18921207e-03 7.43552679e+00] [ 3.57673401e-03 3.00491368e-05 9.99993603e-01 -4.00683176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.637719421 meters Centerline goodness : 0.960616 Centerline is valid? [True, True] Translation: X:74.72, Y:7.44, Z:-0.40 [[ 9.45489852e-01 -3.25634091e-01 -3.37326358e-03 7.47218375e+01] [ 3.25631919e-01 9.45495869e-01 -1.18954688e-03 7.44338676e+00] [ 3.57676380e-03 2.62622096e-05 9.99993603e-01 -4.00411486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.667719421 meters Centerline goodness : 0.963075 Centerline is valid? [True, True] Translation: X:74.75, Y:7.45, Z:-0.40 [[ 9.43494345e-01 -3.31371459e-01 -3.37308973e-03 7.47486178e+01] [ 3.31369322e-01 9.43500374e-01 -1.19003966e-03 7.45076042e+00] [ 3.57685660e-03 5.05722862e-06 9.99993603e-01 -3.98588308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.697719421 meters Centerline goodness : 0.962661 Centerline is valid? [True, True] Translation: X:74.78, Y:7.46, Z:-0.40 [[ 9.42345418e-01 -3.34624770e-01 -3.37297414e-03 7.47750410e+01] [ 3.34622653e-01 9.42351454e-01 -1.19036717e-03 7.46012365e+00] [ 3.57685343e-03 -6.93650313e-06 9.99993603e-01 -3.98565753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.727719421 meters Centerline goodness : 0.962561 Centerline is valid? [True, True] Translation: X:74.80, Y:7.47, Z:-0.40 [[ 9.39654481e-01 -3.42108289e-01 -3.37285983e-03 7.48006726e+01] [ 3.42106218e-01 9.39660533e-01 -1.19069099e-03 7.47008556e+00] [ 3.57668852e-03 -3.50382013e-05 9.99993603e-01 -3.97866274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.75771942099999 meters Centerline goodness : 0.966631 Centerline is valid? [True, True] Translation: X:74.83, Y:7.48, Z:-0.39 [[ 9.38406490e-01 -3.45516836e-01 -3.37274643e-03 7.48272766e+01] [ 3.45514786e-01 9.38412550e-01 -1.19101211e-03 7.47999894e+00] [ 3.57654232e-03 -4.76802727e-05 9.99993603e-01 -3.93626894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78771942099999 meters Centerline goodness : 0.967305 Centerline is valid? [True, True] Translation: X:74.85, Y:7.49, Z:-0.39 [[ 9.36588830e-01 -3.50414026e-01 -3.37235966e-03 7.48531135e+01] [ 3.50412005e-01 9.36594900e-01 -1.19210625e-03 7.49234353e+00] [ 3.57626561e-03 -6.52019099e-05 9.99993603e-01 -3.90655603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.81771942099999 meters Centerline goodness : 0.963697 Centerline is valid? [True, True] Translation: X:74.88, Y:7.50, Z:-0.39 [[ 9.36059778e-01 -3.51824843e-01 -3.37217917e-03 7.48784779e+01] [ 3.51822829e-01 9.36065850e-01 -1.19261661e-03 7.50369849e+00] [ 3.57617391e-03 -7.00491781e-05 9.99993603e-01 -3.92867702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.847719421 meters Centerline goodness : 0.963327 Centerline is valid? [True, True] Translation: X:74.90, Y:7.52, Z:-0.40 [[ 9.34262122e-01 -3.56571054e-01 -3.37205991e-03 7.49030978e+01] [ 3.56569070e-01 9.34268203e-01 -1.19295369e-03 7.51998898e+00] [ 3.57578111e-03 -8.78408182e-05 9.99993603e-01 -3.95103054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.877719421 meters Centerline goodness : 0.964444 Centerline is valid? [True, True] Translation: X:74.93, Y:7.53, Z:-0.40 [[ 9.33529732e-01 -3.58484129e-01 -3.37176278e-03 7.49293874e+01] [ 3.58482153e-01 9.33535816e-01 -1.19379293e-03 7.53294048e+00] [ 3.57561714e-03 -9.42755902e-05 9.99993603e-01 -3.95698415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.907719421 meters Centerline goodness : 0.965322 Centerline is valid? [True, True] Translation: X:74.96, Y:7.55, Z:-0.39 [[ 9.33339560e-01 -3.58978967e-01 -3.37144053e-03 7.49550952e+01] [ 3.58976991e-01 9.33345645e-01 -1.19470231e-03 7.54723074e+00] [ 3.57559234e-03 -9.52066532e-05 9.99993603e-01 -3.91464450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.937719421 meters Centerline goodness : 0.967517 Centerline is valid? [True, True] Translation: X:74.98, Y:7.56, Z:-0.39 [[ 9.33893908e-01 -3.57534339e-01 -3.37110749e-03 7.49801194e+01] [ 3.57532351e-01 9.33899989e-01 -1.19564132e-03 7.56299586e+00] [ 3.57576007e-03 -8.86778407e-05 9.99993603e-01 -3.88822132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.967719421 meters Centerline goodness : 0.960008 Centerline is valid? [True, True] Translation: X:75.01, Y:7.58, Z:-0.40 [[ 9.34672421e-01 -3.55494167e-01 -3.37074920e-03 7.50053678e+01] [ 3.55492162e-01 9.34678496e-01 -1.19665054e-03 7.57588075e+00] [ 3.57596908e-03 -7.97986596e-05 9.99993603e-01 -3.96528990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.997719421 meters Centerline goodness : 0.964276 Centerline is valid? [True, True] Translation: X:75.03, Y:7.60, Z:-0.39 [[ 9.36686477e-01 -3.50152942e-01 -3.37056168e-03 7.50290828e+01] [ 3.50150901e-01 9.36692539e-01 -1.19717849e-03 7.59637807e+00] [ 3.57637555e-03 -5.88243108e-05 9.99993603e-01 -3.94071162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.027719421 meters Centerline goodness : 0.961894 Centerline is valid? [True, True] Translation: X:75.05, Y:7.61, Z:-0.40 [[ 9.37612526e-01 -3.47665635e-01 -3.37020088e-03 7.50525129e+01] [ 3.47663574e-01 9.37618581e-01 -1.19819335e-03 7.61081889e+00] [ 3.57653361e-03 -4.82549909e-05 9.99993603e-01 -3.96915784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.057719421 meters Centerline goodness : 0.958882 Centerline is valid? [True, True] Translation: X:75.08, Y:7.63, Z:-0.40 [[ 9.40170574e-01 -3.40687446e-01 -3.36992373e-03 7.50777179e+01] [ 3.40685337e-01 9.40176613e-01 -1.19897232e-03 7.62518160e+00] [ 3.57679829e-03 -2.08451022e-05 9.99993603e-01 -3.98205052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.087719421 meters Centerline goodness : 0.960733 Centerline is valid? [True, True] Translation: X:75.10, Y:7.64, Z:-0.40 [[ 9.41658331e-01 -3.36553460e-01 -3.36982476e-03 7.51040282e+01] [ 3.36551323e-01 9.41664361e-01 -1.19925042e-03 7.63621836e+00] [ 3.57685576e-03 -4.83483483e-06 9.99993603e-01 -3.96629564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.11771942099999 meters Centerline goodness : 0.958929 Centerline is valid? [True, True] Translation: X:75.13, Y:7.65, Z:-0.40 [[ 9.44624370e-01 -3.28136324e-01 -3.36942656e-03 7.51284754e+01] [ 3.28134130e-01 9.44630379e-01 -1.20036817e-03 7.65171771e+00] [ 3.57674708e-03 2.82731760e-05 9.99993603e-01 -3.96853333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14771942099999 meters Centerline goodness : 0.959433 Centerline is valid? [True, True] Translation: X:75.15, Y:7.67, Z:-0.40 [[ 9.47722333e-01 -3.19078402e-01 -3.36930435e-03 7.51517255e+01] [ 3.19076149e-01 9.47728320e-01 -1.20071110e-03 7.67083503e+00] [ 3.57630613e-03 6.28760740e-05 9.99993603e-01 -3.99599501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.17771942099999 meters Centerline goodness : 0.960698 Centerline is valid? [True, True] Translation: X:75.18, Y:7.69, Z:-0.40 [[ 9.49164838e-01 -3.14761432e-01 -3.36918367e-03 7.51767543e+01] [ 3.14759151e-01 9.49170814e-01 -1.20104961e-03 7.68522818e+00] [ 3.57597491e-03 7.95126692e-05 9.99993603e-01 -3.97194318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.207719421 meters Centerline goodness : 0.959415 Centerline is valid? [True, True] Translation: X:75.20, Y:7.70, Z:-0.40 [[ 9.51031015e-01 -3.09077110e-01 -3.36882601e-03 7.52017825e+01] [ 3.09074789e-01 9.51036976e-01 -1.20205198e-03 7.69697146e+00] [ 3.57540486e-03 1.01969529e-04 9.99993603e-01 -3.98506360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.237719421 meters Centerline goodness : 0.959462 Centerline is valid? [True, True] Translation: X:75.23, Y:7.71, Z:-0.40 [[ 9.51444300e-01 -3.07802528e-01 -3.36869931e-03 7.52297731e+01] [ 3.07800198e-01 9.51450258e-01 -1.20240696e-03 7.70512816e+00] [ 3.57525373e-03 1.07136936e-04 9.99993603e-01 -3.95899984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.267719421 meters Centerline goodness : 0.965094 Centerline is valid? [True, True] Translation: X:75.26, Y:7.72, Z:-0.39 [[ 9.51264761e-01 -3.08356949e-01 -3.36836008e-03 7.52564618e+01] [ 3.08354619e-01 9.51270719e-01 -1.20335651e-03 7.71503000e+00] [ 3.57528566e-03 1.06061258e-04 9.99993603e-01 -3.91530475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.297719421 meters Centerline goodness : 0.965110 Centerline is valid? [True, True] Translation: X:75.28, Y:7.73, Z:-0.39 [[ 9.50743995e-01 -3.09958889e-01 -3.36800979e-03 7.52823922e+01] [ 3.09956566e-01 9.50749955e-01 -1.20433611e-03 7.72746589e+00] [ 3.57542984e-03 1.01078576e-04 9.99993603e-01 -3.92915690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.327719421 meters Centerline goodness : 0.964966 Centerline is valid? [True, True] Translation: X:75.31, Y:7.74, Z:-0.39 [[ 9.50903837e-01 -3.09468176e-01 -3.36766135e-03 7.53063738e+01] [ 3.09465846e-01 9.50909795e-01 -1.20530968e-03 7.74082297e+00] [ 3.57534715e-03 1.03957430e-04 9.99993603e-01 -3.94653383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.357719421 meters Centerline goodness : 0.964316 Centerline is valid? [True, True] Translation: X:75.33, Y:7.75, Z:-0.39 [[ 9.51332486e-01 -3.08147952e-01 -3.36748819e-03 7.53324246e+01] [ 3.08145613e-01 9.51338440e-01 -1.20579325e-03 7.75034141e+00] [ 3.57518369e-03 1.09433582e-04 9.99993603e-01 -3.94764202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.387719421 meters Centerline goodness : 0.963855 Centerline is valid? [True, True] Translation: X:75.36, Y:7.76, Z:-0.39 [[ 9.52460793e-01 -3.04642579e-01 -3.36709507e-03 7.53601569e+01] [ 3.04640213e-01 9.52466736e-01 -1.20689002e-03 7.75589252e+00] [ 3.57471614e-03 1.23762868e-04 9.99993603e-01 -3.92856982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.417719421 meters Centerline goodness : 0.961921 Centerline is valid? [True, True] Translation: X:75.39, Y:7.76, Z:-0.39 [[ 9.52223740e-01 -3.05382731e-01 -3.36697340e-03 7.53883637e+01] [ 3.05380369e-01 9.52229685e-01 -1.20722935e-03 7.76236092e+00] [ 3.57479902e-03 1.21344869e-04 9.99993603e-01 -3.94096635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.447719421 meters Centerline goodness : 0.964642 Centerline is valid? [True, True] Translation: X:75.42, Y:7.77, Z:-0.39 [[ 9.51559259e-01 -3.07446975e-01 -3.36663567e-03 7.54155272e+01] [ 3.07444623e-01 9.51565208e-01 -1.20817045e-03 7.77108034e+00] [ 3.57502173e-03 1.14591744e-04 9.99993603e-01 -3.93000928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.477719421 meters Centerline goodness : 0.958822 Centerline is valid? [True, True] Translation: X:75.44, Y:7.78, Z:-0.40 [[ 9.49618960e-01 -3.13388733e-01 -3.36628203e-03 7.54430252e+01] [ 3.13386414e-01 9.49624922e-01 -1.20915501e-03 7.77679026e+00] [ 3.57564086e-03 9.32894686e-05 9.99993603e-01 -3.98544858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50771942099999 meters Centerline goodness : 0.960206 Centerline is valid? [True, True] Translation: X:75.47, Y:7.78, Z:-0.40 [[ 9.47952327e-01 -3.18394496e-01 -3.36615691e-03 7.54706158e+01] [ 3.18392207e-01 9.47958300e-01 -1.20950321e-03 7.78441175e+00] [ 3.57607555e-03 7.47932480e-05 9.99993603e-01 -3.95558263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.53771942099999 meters Centerline goodness : 0.956673 Centerline is valid? [True, True] Translation: X:75.50, Y:7.79, Z:-0.40 [[ 9.44493140e-01 -3.28513897e-01 -3.36579945e-03 7.54986119e+01] [ 3.28511669e-01 9.44499136e-01 -1.21049714e-03 7.78778787e+00] [ 3.57665980e-03 3.76018501e-05 9.99993603e-01 -3.97538929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56771942099999 meters Centerline goodness : 0.955532 Centerline is valid? [True, True] Translation: X:75.53, Y:7.80, Z:-0.40 [[ 9.42674117e-01 -3.33697739e-01 -3.36561551e-03 7.55256362e+01] [ 3.33695542e-01 9.42680125e-01 -1.21100835e-03 7.79500580e+00] [ 3.57680960e-03 1.84953397e-05 9.99993603e-01 -4.00296758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.597719421 meters Centerline goodness : 0.958826 Centerline is valid? [True, True] Translation: X:75.55, Y:7.80, Z:-0.40 [[ 9.39498987e-01 -3.42535148e-01 -3.36549073e-03 7.55540431e+01] [ 3.42533007e-01 9.39505014e-01 -1.21135501e-03 7.80266227e+00] [ 3.57682709e-03 -1.47248596e-05 9.99993603e-01 -3.95348486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.627719421 meters Centerline goodness : 0.956311 Centerline is valid? [True, True] Translation: X:75.58, Y:7.81, Z:-0.40 [[ 9.38243292e-01 -3.45959827e-01 -3.36513859e-03 7.55801433e+01] [ 3.45957703e-01 9.38249326e-01 -1.21233247e-03 7.81238122e+00] [ 3.57675735e-03 -2.67328098e-05 9.99993603e-01 -3.97117885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.657719421 meters Centerline goodness : 0.956609 Centerline is valid? [True, True] Translation: X:75.61, Y:7.82, Z:-0.40 [[ 9.37906196e-01 -3.46872662e-01 -3.36501362e-03 7.56058277e+01] [ 3.46870543e-01 9.37912232e-01 -1.21267924e-03 7.82332163e+00] [ 3.57673271e-03 -2.98447268e-05 9.99993603e-01 -3.97185417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.687719421 meters Centerline goodness : 0.958633 Centerline is valid? [True, True] Translation: X:75.63, Y:7.84, Z:-0.40 [[ 9.38737133e-01 -3.44617577e-01 -3.36462009e-03 7.56311822e+01] [ 3.44615440e-01 9.38743162e-01 -1.21377012e-03 7.83754718e+00] [ 3.57680062e-03 -2.00889563e-05 9.99993603e-01 -3.95567093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.717719421 meters Centerline goodness : 0.962077 Centerline is valid? [True, True] Translation: X:75.66, Y:7.85, Z:-0.39 [[ 9.39497848e-01 -3.42538282e-01 -3.36427871e-03 7.56578036e+01] [ 3.42536129e-01 9.39503872e-01 -1.21471561e-03 7.84894898e+00] [ 3.57683947e-03 -1.11643031e-05 9.99993603e-01 -3.92780616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.747719421 meters Centerline goodness : 0.961933 Centerline is valid? [True, True] Translation: X:75.68, Y:7.86, Z:-0.39 [[ 9.40108612e-01 -3.40858448e-01 -3.36393353e-03 7.56849778e+01] [ 3.40856280e-01 9.40114631e-01 -1.21567077e-03 7.85970014e+00] [ 3.57685478e-03 -3.75531220e-06 9.99993603e-01 -3.91333455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.777719421 meters Centerline goodness : 0.963191 Centerline is valid? [True, True] Translation: X:75.71, Y:7.87, Z:-0.39 [[ 9.41940614e-01 -3.35762663e-01 -3.36359100e-03 7.57113090e+01] [ 3.35760459e-01 9.41946619e-01 -1.21661776e-03 7.87192638e+00] [ 3.57681799e-03 1.66208219e-05 9.99993603e-01 -3.89022864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.807719421 meters Centerline goodness : 0.962706 Centerline is valid? [True, True] Translation: X:75.74, Y:7.89, Z:-0.39 [[ 9.44383312e-01 -3.28829513e-01 -3.36324011e-03 7.57350463e+01] [ 3.28827261e-01 9.44389300e-01 -1.21758699e-03 7.88506401e+00] [ 3.57658651e-03 4.39438024e-05 9.99993603e-01 -3.90978618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.837719421 meters Centerline goodness : 0.962420 Centerline is valid? [True, True] Translation: X:75.76, Y:7.90, Z:-0.39 [[ 9.45479774e-01 -3.25663456e-01 -3.36306672e-03 7.57606718e+01] [ 3.25661183e-01 9.45485754e-01 -1.21806572e-03 7.89743759e+00] [ 3.57641117e-03 5.64362144e-05 9.99993603e-01 -3.92146843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86771942099999 meters Centerline goodness : 0.961968 Centerline is valid? [True, True] Translation: X:75.79, Y:7.91, Z:-0.39 [[ 9.48289900e-01 -3.17387708e-01 -3.36268401e-03 7.57873557e+01] [ 3.17385379e-01 9.48295858e-01 -1.21912135e-03 7.90833295e+00] [ 3.57575345e-03 8.88137212e-05 9.99993603e-01 -3.93061380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.89771942099999 meters Centerline goodness : 0.960279 Centerline is valid? [True, True] Translation: X:75.81, Y:7.92, Z:-0.39 [[ 9.49345579e-01 -3.14215954e-01 -3.36234529e-03 7.58142848e+01] [ 3.14213602e-01 9.49351528e-01 -1.22005484e-03 7.91693640e+00] [ 3.57540833e-03 1.01759051e-04 9.99993603e-01 -3.94855741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92771942099999 meters Centerline goodness : 0.960279 Centerline is valid? [True, True] Translation: X:75.84, Y:7.93, Z:-0.39 [[ 9.49249653e-01 -3.14505631e-01 -3.36222543e-03 7.58410065e+01] [ 3.14503279e-01 9.49255602e-01 -1.22038505e-03 7.92692792e+00] [ 3.57542930e-03 1.01019163e-04 9.99993603e-01 -3.94753767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.957719421 meters Centerline goodness : 0.959290 Centerline is valid? [True, True] Translation: X:75.87, Y:7.93, Z:-0.40 [[ 9.50845309e-01 -3.09648019e-01 -3.36185272e-03 7.58685773e+01] [ 3.09645633e-01 9.50851245e-01 -1.22141092e-03 7.93455253e+00] [ 3.57482931e-03 1.20389827e-04 9.99993603e-01 -3.95607616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.987719421 meters Centerline goodness : 0.961113 Centerline is valid? [True, True] Translation: X:75.90, Y:7.94, Z:-0.39 [[ 9.51262054e-01 -3.08365376e-01 -3.36152172e-03 7.58956496e+01] [ 3.08362979e-01 9.51267985e-01 -1.22232120e-03 7.94433476e+00] [ 3.57462953e-03 1.26178922e-04 9.99993603e-01 -3.93077733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.017719421 meters Centerline goodness : 0.965033 Centerline is valid? [True, True] Translation: X:75.92, Y:7.95, Z:-0.39 [[ 9.51682619e-01 -3.07064968e-01 -3.36117688e-03 7.59225538e+01] [ 3.07062560e-01 9.51688546e-01 -1.22326873e-03 7.95308467e+00] [ 3.57441651e-03 1.32072010e-04 9.99993603e-01 -3.88717683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.047719421 meters Centerline goodness : 0.962183 Centerline is valid? [True, True] Translation: X:75.95, Y:7.96, Z:-0.39 [[ 9.51453946e-01 -3.07772792e-01 -3.36104814e-03 7.59487772e+01] [ 3.07770387e-01 9.51459874e-01 -1.22362233e-03 7.96126552e+00] [ 3.57450010e-03 1.29789204e-04 9.99993603e-01 -3.90180901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.077719421 meters Centerline goodness : 0.960114 Centerline is valid? [True, True] Translation: X:75.98, Y:7.97, Z:-0.39 [[ 9.51212821e-01 -3.08517217e-01 -3.36092053e-03 7.59756289e+01] [ 3.08514816e-01 9.51218750e-01 -1.22397275e-03 7.96746151e+00] [ 3.57458729e-03 1.27364799e-04 9.99993603e-01 -3.92144681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.107719421 meters Centerline goodness : 0.964973 Centerline is valid? [True, True] Translation: X:76.00, Y:7.98, Z:-0.39 [[ 9.50972569e-01 -3.09256978e-01 -3.36077808e-03 7.60031725e+01] [ 3.09254579e-01 9.50978499e-01 -1.22436375e-03 7.97600504e+00] [ 3.57467073e-03 1.25000330e-04 9.99993603e-01 -3.86665639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.137719421 meters Centerline goodness : 0.965902 Centerline is valid? [True, True] Translation: X:76.03, Y:7.99, Z:-0.39 [[ 9.51041815e-01 -3.09043967e-01 -3.36043124e-03 7.60305985e+01] [ 3.09041564e-01 9.51047743e-01 -1.22531497e-03 7.98568690e+00] [ 3.57460675e-03 1.26812843e-04 9.99993603e-01 -3.85328998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.167719421 meters Centerline goodness : 0.963131 Centerline is valid? [True, True] Translation: X:76.06, Y:8.00, Z:-0.39 [[ 9.51699355e-01 -3.07013107e-01 -3.36009745e-03 7.60574440e+01] [ 3.07010688e-01 9.51705277e-01 -1.22622961e-03 7.99504432e+00] [ 3.57429104e-03 1.35416100e-04 9.99993603e-01 -3.88566715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.197719421 meters Centerline goodness : 0.961235 Centerline is valid? [True, True] Translation: X:76.08, Y:8.00, Z:-0.39 [[ 9.52003828e-01 -3.06067678e-01 -3.35973766e-03 7.60839623e+01] [ 3.06065249e-01 9.52009746e-01 -1.22721462e-03 8.00476058e+00] [ 3.57411372e-03 1.40014071e-04 9.99993603e-01 -3.90772045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.227719421 meters Centerline goodness : 0.958013 Centerline is valid? [True, True] Translation: X:76.11, Y:8.01, Z:-0.39 [[ 9.52873987e-01 -3.03347783e-01 -3.35961438e-03 7.61109846e+01] [ 3.03345337e-01 9.52879898e-01 -1.22755201e-03 8.01091016e+00] [ 3.57368419e-03 1.50579017e-04 9.99993603e-01 -3.93769511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.25771942099999 meters Centerline goodness : 0.955581 Centerline is valid? [True, True] Translation: X:76.14, Y:8.02, Z:-0.39 [[ 9.53333136e-01 -3.01901714e-01 -3.35949225e-03 7.61390308e+01] [ 3.01899258e-01 9.53339043e-01 -1.22788615e-03 8.01740144e+00] [ 3.57343606e-03 1.56356332e-04 9.99993603e-01 -3.93931754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28771942099999 meters Centerline goodness : 0.958019 Centerline is valid? [True, True] Translation: X:76.17, Y:8.02, Z:-0.39 [[ 9.54177861e-01 -2.99221198e-01 -3.35915152e-03 7.61672706e+01] [ 2.99218722e-01 9.54183759e-01 -1.22881758e-03 8.02090159e+00] [ 3.57293610e-03 1.67389506e-04 9.99993603e-01 -3.94313708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.31771942099999 meters Centerline goodness : 0.957367 Centerline is valid? [True, True] Translation: X:76.19, Y:8.03, Z:-0.39 [[ 9.54510556e-01 -2.98158208e-01 -3.35876565e-03 7.61945728e+01] [ 2.98155722e-01 9.54516450e-01 -1.22987140e-03 8.02919842e+00] [ 3.57269332e-03 1.72490035e-04 9.99993603e-01 -3.94912292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.347719421 meters Centerline goodness : 0.958927 Centerline is valid? [True, True] Translation: X:76.22, Y:8.04, Z:-0.39 [[ 9.54625603e-01 -2.97789656e-01 -3.35838164e-03 7.62226944e+01] [ 2.97787164e-01 9.54631494e-01 -1.23091910e-03 8.03501835e+00] [ 3.57257186e-03 1.74983949e-04 9.99993603e-01 -3.91319955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.377719421 meters Centerline goodness : 0.955178 Centerline is valid? [True, True] Translation: X:76.25, Y:8.04, Z:-0.40 [[ 9.54302541e-01 -2.98823333e-01 -3.35801380e-03 7.62505572e+01] [ 2.98820843e-01 9.54308433e-01 -1.23192178e-03 8.04138174e+00] [ 3.57270786e-03 1.72181572e-04 9.99993603e-01 -3.96393103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.407719421 meters Centerline goodness : 0.956469 Centerline is valid? [True, True] Translation: X:76.28, Y:8.04, Z:-0.39 [[ 9.52566365e-01 -3.04312414e-01 -3.35781928e-03 7.62808435e+01] [ 3.04309957e-01 9.52572271e-01 -1.23245176e-03 8.04255418e+00] [ 3.57361591e-03 1.52174259e-04 9.99993603e-01 -3.92004269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.437719421 meters Centerline goodness : 0.955229 Centerline is valid? [True, True] Translation: X:76.31, Y:8.05, Z:-0.39 [[ 9.51336932e-01 -3.08134336e-01 -3.35745920e-03 7.63084755e+01] [ 3.08131899e-01 9.51342847e-01 -1.23343192e-03 8.04729291e+00] [ 3.57415751e-03 1.38869060e-04 9.99993603e-01 -3.92355559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.467719421 meters Centerline goodness : 0.953965 Centerline is valid? [True, True] Translation: X:76.34, Y:8.05, Z:-0.40 [[ 9.48294329e-01 -3.17374535e-01 -3.35704954e-03 7.63366881e+01] [ 3.17372152e-01 9.48300265e-01 -1.23454589e-03 8.05014537e+00] [ 3.57530439e-03 1.05278830e-04 9.99993603e-01 -3.97108451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.497719421 meters Centerline goodness : 0.959208 Centerline is valid? [True, True] Translation: X:76.36, Y:8.06, Z:-0.39 [[ 9.46408109e-01 -3.22955760e-01 -3.35692240e-03 7.63644509e+01] [ 3.22953410e-01 9.46414058e-01 -1.23489149e-03 8.05920560e+00] [ 3.57585387e-03 8.45817817e-05 9.99993603e-01 -3.89060410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.527719421 meters Centerline goodness : 0.961691 Centerline is valid? [True, True] Translation: X:76.39, Y:8.07, Z:-0.39 [[ 9.45678472e-01 -3.25086084e-01 -3.35656199e-03 7.63914064e+01] [ 3.25083744e-01 9.45684425e-01 -1.23587034e-03 8.07030841e+00] [ 3.57601265e-03 7.75722345e-05 9.99993603e-01 -3.87368771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.557719421 meters Centerline goodness : 0.960849 Centerline is valid? [True, True] Translation: X:76.42, Y:8.08, Z:-0.39 [[ 9.44745134e-01 -3.27788602e-01 -3.35620168e-03 7.64180630e+01] [ 3.27786275e-01 9.44751093e-01 -1.23684805e-03 8.07787560e+00] [ 3.57619990e-03 6.83893297e-05 9.99993603e-01 -3.86548573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.587719421 meters Centerline goodness : 0.959875 Centerline is valid? [True, True] Translation: X:76.45, Y:8.09, Z:-0.39 [[ 9.44198055e-01 -3.29361155e-01 -3.35607425e-03 7.64462854e+01] [ 3.29358838e-01 9.44204017e-01 -1.23719373e-03 8.08600103e+00] [ 3.57630234e-03 6.28032037e-05 9.99993603e-01 -3.87156302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.61771942099999 meters Centerline goodness : 0.958464 Centerline is valid? [True, True] Translation: X:76.47, Y:8.09, Z:-0.39 [[ 9.43474722e-01 -3.31427501e-01 -3.35574954e-03 7.64733138e+01] [ 3.31425193e-01 9.43480688e-01 -1.23807384e-03 8.09455627e+00] [ 3.57641660e-03 5.59114321e-05 9.99993603e-01 -3.89130094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64771942099999 meters Centerline goodness : 0.958587 Centerline is valid? [True, True] Translation: X:76.50, Y:8.10, Z:-0.39 [[ 9.43263328e-01 -3.32028667e-01 -3.35539954e-03 7.64990165e+01] [ 3.32026359e-01 9.43269294e-01 -1.23902168e-03 8.10471749e+00] [ 3.57643607e-03 5.46426226e-05 9.99993603e-01 -3.89753060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.67771942099999 meters Centerline goodness : 0.955598 Centerline is valid? [True, True] Translation: X:76.52, Y:8.11, Z:-0.39 [[ 9.43077849e-01 -3.32555131e-01 -3.35499956e-03 7.65248126e+01] [ 3.32552824e-01 9.43083815e-01 -1.24010380e-03 8.11423714e+00] [ 3.57644866e-03 5.37998444e-05 9.99993603e-01 -3.92377073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.707719421 meters Centerline goodness : 0.954447 Centerline is valid? [True, True] Translation: X:76.55, Y:8.12, Z:-0.39 [[ 9.43316494e-01 -3.31877595e-01 -3.35487644e-03 7.65522355e+01] [ 3.31875281e-01 9.43322458e-01 -1.24043678e-03 8.12388847e+00] [ 3.57640346e-03 5.67239099e-05 9.99993603e-01 -3.92593892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.737719421 meters Centerline goodness : 0.954473 Centerline is valid? [True, True] Translation: X:76.58, Y:8.13, Z:-0.39 [[ 9.43640407e-01 -3.30955481e-01 -3.35452176e-03 7.65784641e+01] [ 3.30953158e-01 9.43646367e-01 -1.24139520e-03 8.13334245e+00] [ 3.57632882e-03 6.12411048e-05 9.99993603e-01 -3.94204750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.767719421 meters Centerline goodness : 0.959169 Centerline is valid? [True, True] Translation: X:76.61, Y:8.14, Z:-0.39 [[ 9.44951159e-01 -3.27194217e-01 -3.35433380e-03 7.66062526e+01] [ 3.27191869e-01 9.44957109e-01 -1.24190287e-03 8.14250553e+00] [ 3.57604501e-03 7.60268093e-05 9.99993603e-01 -3.89664716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.797719421 meters Centerline goodness : 0.957951 Centerline is valid? [True, True] Translation: X:76.63, Y:8.15, Z:-0.39 [[ 9.45722256e-01 -3.24958714e-01 -3.35398558e-03 7.66340595e+01] [ 3.24956349e-01 9.45728199e-01 -1.24284259e-03 8.15187687e+00] [ 3.57583128e-03 8.54849866e-05 9.99993603e-01 -3.91318170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.827719421 meters Centerline goodness : 0.954821 Centerline is valid? [True, True] Translation: X:76.66, Y:8.16, Z:-0.39 [[ 9.47198791e-01 -3.20629388e-01 -3.35364184e-03 7.66601117e+01] [ 3.20626992e-01 9.47204722e-01 -1.24376946e-03 8.16088035e+00] [ 3.57537442e-03 1.02828832e-04 9.99993603e-01 -3.94513139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.857719421 meters Centerline goodness : 0.955984 Centerline is valid? [True, True] Translation: X:76.69, Y:8.17, Z:-0.39 [[ 9.47725098e-01 -3.19070359e-01 -3.35346405e-03 7.66871401e+01] [ 3.19067951e-01 9.47731024e-01 -1.24424863e-03 8.17101334e+00] [ 3.57518477e-03 1.09222753e-04 9.99993603e-01 -3.93462376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.887719421 meters Centerline goodness : 0.959788 Centerline is valid? [True, True] Translation: X:76.72, Y:8.18, Z:-0.39 [[ 9.49517502e-01 -3.13696143e-01 -3.35312786e-03 7.67152691e+01] [ 3.13693698e-01 9.49523414e-01 -1.24515396e-03 8.18071155e+00] [ 3.57447341e-03 1.30440402e-04 9.99993603e-01 -3.86723064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.917719421 meters Centerline goodness : 0.962735 Centerline is valid? [True, True] Translation: X:76.74, Y:8.19, Z:-0.39 [[ 9.50134593e-01 -3.11822085e-01 -3.35307870e-03 7.67408672e+01] [ 3.11819629e-01 9.50140499e-01 -1.24528633e-03 8.19047090e+00] [ 3.57420365e-03 1.37633861e-04 9.99993603e-01 -3.85165340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.947719421 meters Centerline goodness : 0.964843 Centerline is valid? [True, True] Translation: X:76.77, Y:8.20, Z:-0.38 [[ 9.50546799e-01 -3.10563264e-01 -3.35293254e-03 7.67671334e+01] [ 3.10560798e-01 9.50552702e-01 -1.24567973e-03 8.20125609e+00] [ 3.57400145e-03 1.42787470e-04 9.99993603e-01 -3.82065385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.977719421 meters Centerline goodness : 0.965132 Centerline is valid? [True, True] Translation: X:76.79, Y:8.21, Z:-0.38 [[ 9.51304160e-01 -3.08235549e-01 -3.35283559e-03 7.67936859e+01] [ 3.08233068e-01 9.51310056e-01 -1.24594063e-03 8.21009113e+00] [ 3.57362941e-03 1.51813701e-04 9.99993603e-01 -3.81633972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00771942099999 meters Centerline goodness : 0.964968 Centerline is valid? [True, True] Translation: X:76.82, Y:8.22, Z:-0.38 [[ 9.51936647e-01 -3.06276640e-01 -3.35246733e-03 7.68217071e+01] [ 3.06274144e-01 9.51942537e-01 -1.24693072e-03 8.21907113e+00] [ 3.57326201e-03 1.60224982e-04 9.99993603e-01 -3.81692180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.03771942099999 meters Centerline goodness : 0.961043 Centerline is valid? [True, True] Translation: X:76.85, Y:8.23, Z:-0.39 [[ 9.53490421e-01 -3.01404677e-01 -3.35215788e-03 7.68482679e+01] [ 3.01402148e-01 9.53496297e-01 -1.24776207e-03 8.22706041e+00] [ 3.57235145e-03 1.79381599e-04 9.99993603e-01 -3.88212760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06771942099999 meters Centerline goodness : 0.958896 Centerline is valid? [True, True] Translation: X:76.87, Y:8.24, Z:-0.39 [[ 9.54262281e-01 -2.98951942e-01 -3.35204092e-03 7.68739300e+01] [ 2.98949396e-01 9.54268149e-01 -1.24807620e-03 8.23723688e+00] [ 3.57186069e-03 1.88901433e-04 9.99993603e-01 -3.91188052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.097719421 meters Centerline goodness : 0.955027 Centerline is valid? [True, True] Translation: X:76.90, Y:8.25, Z:-0.40 [[ 9.56414848e-01 -2.91992129e-01 -3.35192449e-03 7.69008387e+01] [ 2.91989540e-01 9.56420697e-01 -1.24838883e-03 8.24559583e+00] [ 3.57036967e-03 2.15250725e-04 9.99993603e-01 -3.96491222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.127719421 meters Centerline goodness : 0.955043 Centerline is valid? [True, True] Translation: X:76.93, Y:8.25, Z:-0.40 [[ 9.57169969e-01 -2.89507195e-01 -3.35175295e-03 7.69288199e+01] [ 2.89504589e-01 9.57175811e-01 -1.24884920e-03 8.25318184e+00] [ 3.56976768e-03 2.25013087e-04 9.99993603e-01 -3.95929662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.157719421 meters Centerline goodness : 0.953202 Centerline is valid? [True, True] Translation: X:76.96, Y:8.26, Z:-0.40 [[ 9.57654803e-01 -2.87899369e-01 -3.35143216e-03 7.69588394e+01] [ 2.87896750e-01 9.57660639e-01 -1.24970950e-03 8.25699892e+00] [ 3.56932524e-03 2.31923877e-04 9.99993603e-01 -3.98469206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.187719421 meters Centerline goodness : 0.954435 Centerline is valid? [True, True] Translation: X:76.99, Y:8.26, Z:-0.40 [[ 9.57411744e-01 -2.88706635e-01 -3.35127136e-03 7.69866902e+01] [ 2.88704019e-01 9.57417582e-01 -1.25014055e-03 8.26345596e+00] [ 3.56948999e-03 2.29373738e-04 9.99993603e-01 -3.98063539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.217719421 meters Centerline goodness : 0.957926 Centerline is valid? [True, True] Translation: X:77.02, Y:8.27, Z:-0.39 [[ 9.56149402e-01 -2.92860188e-01 -3.35115823e-03 7.70159436e+01] [ 2.92857597e-01 9.56155251e-01 -1.25044374e-03 8.26680121e+00] [ 3.57043273e-03 2.14198889e-04 9.99993603e-01 -3.92890116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.247719421 meters Centerline goodness : 0.960229 Centerline is valid? [True, True] Translation: X:77.05, Y:8.27, Z:-0.39 [[ 9.54293814e-01 -2.98851280e-01 -3.35081273e-03 7.70451943e+01] [ 2.98848723e-01 9.54299678e-01 -1.25136889e-03 8.27041479e+00] [ 3.57165270e-03 1.92787491e-04 9.99993603e-01 -3.91028060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.277719421 meters Centerline goodness : 0.961613 Centerline is valid? [True, True] Translation: X:77.07, Y:8.28, Z:-0.39 [[ 9.53288472e-01 -3.02042819e-01 -3.35046913e-03 7.70736966e+01] [ 3.02040277e-01 9.53294342e-01 -1.25228818e-03 8.27722975e+00] [ 3.57222792e-03 1.81815262e-04 9.99993603e-01 -3.89376924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.307719421 meters Centerline goodness : 0.961610 Centerline is valid? [True, True] Translation: X:77.10, Y:8.28, Z:-0.39 [[ 9.50799768e-01 -3.09787956e-01 -3.35012767e-03 7.71020589e+01] [ 3.09785460e-01 9.50805658e-01 -1.25320100e-03 8.28109409e+00] [ 3.57354692e-03 1.53722377e-04 9.99993603e-01 -3.89052026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.337719421 meters Centerline goodness : 0.962354 Centerline is valid? [True, True] Translation: X:77.13, Y:8.29, Z:-0.39 [[ 9.49306054e-01 -3.14335480e-01 -3.35000685e-03 7.71297613e+01] [ 3.14333010e-01 9.49311955e-01 -1.25352389e-03 8.28848989e+00] [ 3.57422858e-03 1.36960081e-04 9.99993603e-01 -3.88086363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36771942099999 meters Centerline goodness : 0.961549 Centerline is valid? [True, True] Translation: X:77.16, Y:8.29, Z:-0.39 [[ 9.46360273e-01 -3.23095982e-01 -3.34966866e-03 7.71573501e+01] [ 3.23093564e-01 9.46366195e-01 -1.25442696e-03 8.29443275e+00] [ 3.57531349e-03 1.04883455e-04 9.99993603e-01 -3.89222779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.39771942099999 meters Centerline goodness : 0.963912 Centerline is valid? [True, True] Translation: X:77.18, Y:8.30, Z:-0.39 [[ 9.44639167e-01 -3.28093926e-01 -3.34948854e-03 7.71844951e+01] [ 3.28091538e-01 9.44645102e-01 -1.25490769e-03 8.30495080e+00] [ 3.57580554e-03 8.64961134e-05 9.99993603e-01 -3.86637403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42771942099999 meters Centerline goodness : 0.968656 Centerline is valid? [True, True] Translation: X:77.21, Y:8.31, Z:-0.38 [[ 9.42172277e-01 -3.35112196e-01 -3.34918777e-03 7.72104460e+01] [ 3.35109849e-01 9.42178227e-01 -1.25570992e-03 8.31496385e+00] [ 3.57633550e-03 6.07492668e-05 9.99993603e-01 -3.80879363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.457719421 meters Centerline goodness : 0.968668 Centerline is valid? [True, True] Translation: X:77.24, Y:8.33, Z:-0.38 [[ 9.41304281e-01 -3.37542642e-01 -3.34878143e-03 7.72378802e+01] [ 3.37540307e-01 9.41310237e-01 -1.25679261e-03 8.32535792e+00] [ 3.57646334e-03 5.26755551e-05 9.99993603e-01 -3.81065304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.487719421 meters Centerline goodness : 0.964555 Centerline is valid? [True, True] Translation: X:77.26, Y:8.34, Z:-0.39 [[ 9.40089411e-01 -3.40911553e-01 -3.34845151e-03 7.72633265e+01] [ 3.40909236e-01 9.40095373e-01 -1.25767101e-03 8.33625169e+00] [ 3.57661835e-03 4.08051586e-05 9.99993603e-01 -3.85197054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.517719421 meters Centerline goodness : 0.962837 Centerline is valid? [True, True] Translation: X:77.29, Y:8.35, Z:-0.39 [[ 9.39417016e-01 -3.42760061e-01 -3.34809923e-03 7.72900893e+01] [ 3.42757752e-01 9.39422982e-01 -1.25860813e-03 8.34737497e+00] [ 3.57668196e-03 3.47709248e-05 9.99993603e-01 -3.86931003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.547719421 meters Centerline goodness : 0.961266 Centerline is valid? [True, True] Translation: X:77.32, Y:8.36, Z:-0.39 [[ 9.39153475e-01 -3.43481503e-01 -3.34774812e-03 7.73164771e+01] [ 3.43479196e-01 9.39159441e-01 -1.25954134e-03 8.36002863e+00] [ 3.57669841e-03 3.30207900e-05 9.99993603e-01 -3.89185541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.577719421 meters Centerline goodness : 0.959963 Centerline is valid? [True, True] Translation: X:77.34, Y:8.37, Z:-0.39 [[ 9.38965990e-01 -3.43993699e-01 -3.34739756e-03 7.73416649e+01] [ 3.43991392e-01 9.38971956e-01 -1.26047233e-03 8.37250555e+00] [ 3.57670697e-03 3.20647032e-05 9.99993603e-01 -3.91275676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.607719421 meters Centerline goodness : 0.960397 Centerline is valid? [True, True] Translation: X:77.37, Y:8.38, Z:-0.39 [[ 9.38781452e-01 -3.44496996e-01 -3.34727347e-03 7.73680860e+01] [ 3.44494690e-01 9.38787419e-01 -1.26080175e-03 8.38384199e+00] [ 3.57672064e-03 3.04993576e-05 9.99993603e-01 -3.89519342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.637719421 meters Centerline goodness : 0.961666 Centerline is valid? [True, True] Translation: X:77.39, Y:8.39, Z:-0.39 [[ 9.38425593e-01 -3.45465201e-01 -3.34692764e-03 7.73940373e+01] [ 3.45462898e-01 9.38431561e-01 -1.26171915e-03 8.39311767e+00] [ 3.57674258e-03 2.77902200e-05 9.99993603e-01 -3.87629630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.667719421 meters Centerline goodness : 0.962063 Centerline is valid? [True, True] Translation: X:77.42, Y:8.40, Z:-0.39 [[ 9.38395841e-01 -3.45546008e-01 -3.34680576e-03 7.74200033e+01] [ 3.45543704e-01 9.38401809e-01 -1.26204235e-03 8.40481146e+00] [ 3.57674228e-03 2.78276375e-05 9.99993603e-01 -3.86081313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.697719421 meters Centerline goodness : 0.964572 Centerline is valid? [True, True] Translation: X:77.45, Y:8.42, Z:-0.38 [[ 9.38995345e-01 -3.43913569e-01 -3.34662437e-03 7.74459694e+01] [ 3.43911253e-01 9.39001308e-01 -1.26252315e-03 8.41848348e+00] [ 3.57668351e-03 3.45615815e-05 9.99993603e-01 -3.83817766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.727719421 meters Centerline goodness : 0.962514 Centerline is valid? [True, True] Translation: X:77.47, Y:8.43, Z:-0.39 [[ 9.39913533e-01 -3.41396183e-01 -3.34626178e-03 7.74717926e+01] [ 3.41393848e-01 9.39919488e-01 -1.26348346e-03 8.42987627e+00] [ 3.57656509e-03 4.51720207e-05 9.99993603e-01 -3.87745970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.75771942099999 meters Centerline goodness : 0.962731 Centerline is valid? [True, True] Translation: X:77.50, Y:8.45, Z:-0.39 [[ 9.42271984e-01 -3.34831766e-01 -3.34613256e-03 7.74972797e+01] [ 3.34829388e-01 9.42277923e-01 -1.26382560e-03 8.44513750e+00] [ 3.57615579e-03 7.04839357e-05 9.99993603e-01 -3.87157932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78771942099999 meters Centerline goodness : 0.961201 Centerline is valid? [True, True] Translation: X:77.52, Y:8.46, Z:-0.39 [[ 9.43956977e-01 -3.30051558e-01 -3.34580682e-03 7.75224557e+01] [ 3.30049147e-01 9.43962902e-01 -1.26468736e-03 8.45684156e+00] [ 3.57572955e-03 8.95297712e-05 9.99993603e-01 -3.88963258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.81771942099999 meters Centerline goodness : 0.961201 Centerline is valid? [True, True] Translation: X:77.55, Y:8.47, Z:-0.39 [[ 9.43859487e-01 -3.30330251e-01 -3.34568158e-03 7.75490715e+01] [ 3.30327841e-01 9.43865413e-01 -1.26501858e-03 8.46719150e+00] [ 3.57574703e-03 8.88280172e-05 9.99993603e-01 -3.88861217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.847719421 meters Centerline goodness : 0.962565 Centerline is valid? [True, True] Translation: X:77.57, Y:8.48, Z:-0.39 [[ 9.46391907e-01 -3.23003356e-01 -3.34530779e-03 7.75739389e+01] [ 3.23000897e-01 9.46397812e-01 -1.26600630e-03 8.48098393e+00] [ 3.57491625e-03 1.17600700e-04 9.99993603e-01 -3.86604511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.877719421 meters Centerline goodness : 0.961173 Centerline is valid? [True, True] Translation: X:77.60, Y:8.49, Z:-0.39 [[ 9.47241971e-01 -3.20501886e-01 -3.34519220e-03 7.75991895e+01] [ 3.20499410e-01 9.47247869e-01 -1.26631164e-03 8.49254214e+00] [ 3.57458145e-03 1.27371406e-04 9.99993603e-01 -3.86828764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.907719421 meters Centerline goodness : 0.963848 Centerline is valid? [True, True] Translation: X:77.63, Y:8.51, Z:-0.39 [[ 9.48106661e-01 -3.17934851e-01 -3.34507834e-03 7.76252990e+01] [ 3.17932358e-01 9.48112552e-01 -1.26661235e-03 8.50522369e+00] [ 3.57421097e-03 1.37374967e-04 9.99993603e-01 -3.85766977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.937719421 meters Centerline goodness : 0.960497 Centerline is valid? [True, True] Translation: X:77.65, Y:8.52, Z:-0.39 [[ 9.48534578e-01 -3.16655914e-01 -3.34473357e-03 7.76513317e+01] [ 3.16653410e-01 9.48540464e-01 -1.26752212e-03 8.51717843e+00] [ 3.57398351e-03 1.43167272e-04 9.99993603e-01 -3.89129212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.967719421 meters Centerline goodness : 0.961109 Centerline is valid? [True, True] Translation: X:77.68, Y:8.53, Z:-0.39 [[ 9.48264208e-01 -3.17464654e-01 -3.34438873e-03 7.76787477e+01] [ 3.17462151e-01 9.48270095e-01 -1.26843135e-03 8.52710470e+00] [ 3.57406594e-03 1.41091210e-04 9.99993603e-01 -3.88616369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.997719421 meters Centerline goodness : 0.960797 Centerline is valid? [True, True] Translation: X:77.71, Y:8.53, Z:-0.39 [[ 9.49164370e-01 -3.14763112e-01 -3.34404635e-03 7.77068678e+01] [ 3.14760590e-01 9.49170248e-01 -1.26933334e-03 8.53359348e+00] [ 3.57360862e-03 1.52231980e-04 9.99993603e-01 -3.87409628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.027719421 meters Centerline goodness : 0.961716 Centerline is valid? [True, True] Translation: X:77.73, Y:8.54, Z:-0.39 [[ 9.49452295e-01 -3.13893547e-01 -3.34370532e-03 7.77342990e+01] [ 3.13891016e-01 9.49458170e-01 -1.27023106e-03 8.54347109e+00] [ 3.57342566e-03 1.56464734e-04 9.99993603e-01 -3.87240451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.057719421 meters Centerline goodness : 0.961586 Centerline is valid? [True, True] Translation: X:77.76, Y:8.55, Z:-0.39 [[ 9.49801926e-01 -3.12834017e-01 -3.34335897e-03 7.77615916e+01] [ 3.12831476e-01 9.49807797e-01 -1.27114203e-03 8.55212360e+00] [ 3.57320488e-03 1.61425224e-04 9.99993603e-01 -3.89058190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.087719421 meters Centerline goodness : 0.960422 Centerline is valid? [True, True] Translation: X:77.79, Y:8.56, Z:-0.39 [[ 9.50012473e-01 -3.12194052e-01 -3.34301029e-03 7.77898241e+01] [ 3.12191503e-01 9.50018340e-01 -1.27205835e-03 8.56047060e+00] [ 3.57305014e-03 1.64811891e-04 9.99993603e-01 -3.90557222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.11771942099999 meters Centerline goodness : 0.959061 Centerline is valid? [True, True] Translation: X:77.82, Y:8.56, Z:-0.39 [[ 9.49179916e-01 -3.14716243e-01 -3.34268610e-03 7.78186546e+01] [ 3.14713708e-01 9.49185789e-01 -1.27290970e-03 8.56265009e+00] [ 3.57343550e-03 1.56231183e-04 9.99993603e-01 -3.89788328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14771942099999 meters Centerline goodness : 0.961061 Centerline is valid? [True, True] Translation: X:77.85, Y:8.57, Z:-0.39 [[ 9.46458762e-01 -3.22807434e-01 -3.34250135e-03 7.78470653e+01] [ 3.22804947e-01 9.46464656e-01 -1.27339464e-03 8.56615908e+00] [ 3.57462065e-03 1.26239539e-04 9.99993603e-01 -3.87443352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.17771942099999 meters Centerline goodness : 0.962742 Centerline is valid? [True, True] Translation: X:77.88, Y:8.57, Z:-0.39 [[ 9.44932885e-01 -3.27247112e-01 -3.34231976e-03 7.78751550e+01] [ 3.27244651e-01 9.44938789e-01 -1.27387109e-03 8.57431278e+00] [ 3.57515822e-03 1.09966425e-04 9.99993603e-01 -3.86486445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.207719421 meters Centerline goodness : 0.964061 Centerline is valid? [True, True] Translation: X:77.90, Y:8.58, Z:-0.39 [[ 9.43119823e-01 -3.32436205e-01 -3.34198270e-03 7.79019644e+01] [ 3.32433774e-01 9.43125740e-01 -1.27475476e-03 8.58274974e+00] [ 3.57568454e-03 9.12585614e-05 9.99993603e-01 -3.85286704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.237719421 meters Centerline goodness : 0.964830 Centerline is valid? [True, True] Translation: X:77.93, Y:8.59, Z:-0.39 [[ 9.39163734e-01 -3.43453511e-01 -3.34158328e-03 7.79288397e+01] [ 3.43451145e-01 9.39169677e-01 -1.27580091e-03 8.59017795e+00] [ 3.57649199e-03 5.05153422e-05 9.99993603e-01 -3.85804591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.267719421 meters Centerline goodness : 0.966429 Centerline is valid? [True, True] Translation: X:77.96, Y:8.60, Z:-0.38 [[ 9.37050849e-01 -3.49176949e-01 -3.34146004e-03 7.79566544e+01] [ 3.49174618e-01 9.37056806e-01 -1.27612360e-03 8.59936249e+00] [ 3.57673082e-03 2.90396687e-05 9.99993603e-01 -3.82993540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.297719421 meters Centerline goodness : 0.968834 Centerline is valid? [True, True] Translation: X:77.98, Y:8.61, Z:-0.38 [[ 9.33011581e-01 -3.59830831e-01 -3.34110965e-03 7.79836322e+01] [ 3.59828565e-01 9.33017563e-01 -1.27704032e-03 8.60693329e+00] [ 3.57683247e-03 -1.07332835e-05 9.99993603e-01 -3.78531551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.327719421 meters Centerline goodness : 0.968635 Centerline is valid? [True, True] Translation: X:78.01, Y:8.62, Z:-0.38 [[ 9.31145895e-01 -3.64631543e-01 -3.34068374e-03 7.80101635e+01] [ 3.64629304e-01 9.31151887e-01 -1.27815351e-03 8.61669377e+00] [ 3.57673906e-03 -2.79637988e-05 9.99993603e-01 -3.78221392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.357719421 meters Centerline goodness : 0.968183 Centerline is valid? [True, True] Translation: X:78.03, Y:8.63, Z:-0.38 [[ 9.29045628e-01 -3.69950083e-01 -3.34025697e-03 7.80349013e+01] [ 3.69947874e-01 9.29051631e-01 -1.27926785e-03 8.63009342e+00] [ 3.57653643e-03 -4.72227629e-05 9.99993603e-01 -3.81139998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.387719421 meters Centerline goodness : 0.964141 Centerline is valid? [True, True] Translation: X:78.06, Y:8.65, Z:-0.39 [[ 9.29193293e-01 -3.69579042e-01 -3.34012552e-03 7.80583559e+01] [ 3.69576830e-01 9.29199295e-01 -1.27961098e-03 8.64596455e+00] [ 3.57655967e-03 -4.54270642e-05 9.99993603e-01 -3.88034841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.417719421 meters Centerline goodness : 0.965933 Centerline is valid? [True, True] Translation: X:78.08, Y:8.66, Z:-0.39 [[ 9.29512987e-01 -3.68774259e-01 -3.33976275e-03 7.80843688e+01] [ 3.68772037e-01 9.29518986e-01 -1.28055708e-03 8.65892770e+00] [ 3.57660937e-03 -4.13166840e-05 9.99993603e-01 -3.85531690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.447719421 meters Centerline goodness : 0.963565 Centerline is valid? [True, True] Translation: X:78.11, Y:8.67, Z:-0.39 [[ 9.31578795e-01 -3.63524135e-01 -3.33939450e-03 7.81096960e+01] [ 3.63521877e-01 9.31584780e-01 -1.28151667e-03 8.67137414e+00] [ 3.57679133e-03 -2.01092040e-05 9.99993603e-01 -3.86196484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.477719421 meters Centerline goodness : 0.962393 Centerline is valid? [True, True] Translation: X:78.14, Y:8.68, Z:-0.39 [[ 9.32514461e-01 -3.61117197e-01 -3.33926466e-03 7.81360098e+01] [ 3.61114922e-01 9.32520439e-01 -1.28185493e-03 8.68377775e+00] [ 3.57683240e-03 -1.05100410e-05 9.99993603e-01 -3.86260692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50771942099999 meters Centerline goodness : 0.959124 Centerline is valid? [True, True] Translation: X:78.16, Y:8.70, Z:-0.39 [[ 9.34797736e-01 -3.55164812e-01 -3.33890247e-03 7.81608472e+01] [ 3.55162496e-01 9.34803699e-01 -1.28279763e-03 8.69787505e+00] [ 3.57682296e-03 1.33033831e-05 9.99993603e-01 -3.90530021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.53771942099999 meters Centerline goodness : 0.959469 Centerline is valid? [True, True] Translation: X:78.19, Y:8.71, Z:-0.39 [[ 9.35956484e-01 -3.52099863e-01 -3.33880023e-03 7.81871007e+01] [ 3.52097526e-01 9.35962438e-01 -1.28306368e-03 8.71087676e+00] [ 3.57675815e-03 2.53084637e-05 9.99993603e-01 -3.91094998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56771942099999 meters Centerline goodness : 0.959182 Centerline is valid? [True, True] Translation: X:78.21, Y:8.73, Z:-0.39 [[ 9.39232300e-01 -3.43265993e-01 -3.33844358e-03 7.82118801e+01] [ 3.43263597e-01 9.39238231e-01 -1.28399100e-03 8.72708633e+00] [ 3.57634429e-03 5.99996721e-05 9.99993603e-01 -3.89777584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.597719421 meters Centerline goodness : 0.960456 Centerline is valid? [True, True] Translation: X:78.24, Y:8.74, Z:-0.39 [[ 9.40681510e-01 -3.39274453e-01 -3.33807395e-03 7.82364819e+01] [ 3.39272028e-01 9.40687429e-01 -1.28495122e-03 8.74039305e+00] [ 3.57603533e-03 7.62147366e-05 9.99993603e-01 -3.91636346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.627719421 meters Centerline goodness : 0.962558 Centerline is valid? [True, True] Translation: X:78.26, Y:8.76, Z:-0.39 [[ 9.42828403e-01 -3.33261850e-01 -3.33794408e-03 7.82617881e+01] [ 3.33259386e-01 9.42834307e-01 -1.28528850e-03 8.75588000e+00] [ 3.57546582e-03 9.94053123e-05 9.99993603e-01 -3.86142797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.657719421 meters Centerline goodness : 0.960774 Centerline is valid? [True, True] Translation: X:78.29, Y:8.77, Z:-0.39 [[ 9.43400744e-01 -3.31638203e-01 -3.33756838e-03 7.82869209e+01] [ 3.31635726e-01 9.43406641e-01 -1.28626336e-03 8.76774786e+00] [ 3.57525825e-03 1.06604903e-04 9.99993603e-01 -3.85392263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.687719421 meters Centerline goodness : 0.960990 Centerline is valid? [True, True] Translation: X:78.31, Y:8.78, Z:-0.38 [[ 9.44348432e-01 -3.28929936e-01 -3.33713915e-03 7.83111864e+01] [ 3.28927438e-01 9.44354321e-01 -1.28737602e-03 8.78263356e+00] [ 3.57489828e-03 1.18054893e-04 9.99993603e-01 -3.84928588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.717719421 meters Centerline goodness : 0.958596 Centerline is valid? [True, True] Translation: X:78.34, Y:8.80, Z:-0.39 [[ 9.44828489e-01 -3.27548455e-01 -3.33700699e-03 7.83356482e+01] [ 3.27545947e-01 9.44834374e-01 -1.28771849e-03 8.79587492e+00] [ 3.57470911e-03 1.23650003e-04 9.99993603e-01 -3.90351107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.747719421 meters Centerline goodness : 0.962780 Centerline is valid? [True, True] Translation: X:78.36, Y:8.81, Z:-0.39 [[ 9.45237887e-01 -3.26365137e-01 -3.33687631e-03 7.83586120e+01] [ 3.26362620e-01 9.45243768e-01 -1.28805703e-03 8.81312543e+00] [ 3.57453845e-03 1.28488612e-04 9.99993603e-01 -3.85741085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.777719421 meters Centerline goodness : 0.959661 Centerline is valid? [True, True] Translation: X:78.38, Y:8.83, Z:-0.39 [[ 9.45431695e-01 -3.25803282e-01 -3.33645923e-03 7.83839195e+01] [ 3.25800759e-01 9.45437573e-01 -1.28913649e-03 8.82571290e+00] [ 3.57441882e-03 1.31769550e-04 9.99993603e-01 -3.87112263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.807719421 meters Centerline goodness : 0.958023 Centerline is valid? [True, True] Translation: X:78.41, Y:8.84, Z:-0.39 [[ 9.45220577e-01 -3.26415271e-01 -3.33633078e-03 7.84108358e+01] [ 3.26412750e-01 9.45226457e-01 -1.28946883e-03 8.83677485e+00] [ 3.57449044e-03 1.29811572e-04 9.99993603e-01 -3.88241468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.837719421 meters Centerline goodness : 0.955989 Centerline is valid? [True, True] Translation: X:78.44, Y:8.85, Z:-0.39 [[ 9.44922939e-01 -3.27275893e-01 -3.33597325e-03 7.84368691e+01] [ 3.27273374e-01 9.44928819e-01 -1.29039314e-03 8.84899239e+00] [ 3.57457183e-03 1.27546856e-04 9.99993603e-01 -3.90288575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86771942099999 meters Centerline goodness : 0.954669 Centerline is valid? [True, True] Translation: X:78.46, Y:8.86, Z:-0.39 [[ 9.45079219e-01 -3.26824331e-01 -3.33561447e-03 7.84627084e+01] [ 3.26821805e-01 9.45085097e-01 -1.29131991e-03 8.85968282e+00] [ 3.57447429e-03 1.30248071e-04 9.99993603e-01 -3.92061182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.89771942099999 meters Centerline goodness : 0.955111 Centerline is valid? [True, True] Translation: X:78.49, Y:8.87, Z:-0.39 [[ 9.45425112e-01 -3.25822395e-01 -3.33548805e-03 7.84894956e+01] [ 3.25819862e-01 9.45430986e-01 -1.29164636e-03 8.87041266e+00] [ 3.57432107e-03 1.34386646e-04 9.99993603e-01 -3.89854533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92771942099999 meters Centerline goodness : 0.954741 Centerline is valid? [True, True] Translation: X:78.51, Y:8.88, Z:-0.39 [[ 9.45544130e-01 -3.25476844e-01 -3.33513534e-03 7.85146239e+01] [ 3.25474306e-01 9.45550002e-01 -1.29255644e-03 8.87914241e+00] [ 3.57423442e-03 1.36668295e-04 9.99993603e-01 -3.89485864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.957719421 meters Centerline goodness : 0.955705 Centerline is valid? [True, True] Translation: X:78.54, Y:8.89, Z:-0.39 [[ 9.46157091e-01 -3.23690652e-01 -3.33496113e-03 7.85429072e+01] [ 3.23688101e-01 9.46162957e-01 -1.29300577e-03 8.88692029e+00] [ 3.57395057e-03 1.43899340e-04 9.99993603e-01 -3.86159122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.987719421 meters Centerline goodness : 0.955712 Centerline is valid? [True, True] Translation: X:78.57, Y:8.90, Z:-0.39 [[ 9.46648122e-01 -3.22251786e-01 -3.33459316e-03 7.85692554e+01] [ 3.22249223e-01 9.46653983e-01 -1.29395407e-03 8.89676313e+00] [ 3.57368490e-03 1.50349131e-04 9.99993603e-01 -3.86670250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.017719421 meters Centerline goodness : 0.955190 Centerline is valid? [True, True] Translation: X:78.59, Y:8.91, Z:-0.39 [[ 9.47892068e-01 -3.18574182e-01 -3.33446306e-03 7.85949950e+01] [ 3.18571596e-01 9.47897918e-01 -1.29428925e-03 8.90719686e+00] [ 3.57305773e-03 1.64581291e-04 9.99993603e-01 -3.87560253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.047719421 meters Centerline goodness : 0.955645 Centerline is valid? [True, True] Translation: X:78.62, Y:8.92, Z:-0.39 [[ 9.48854623e-01 -3.15695720e-01 -3.33433470e-03 7.86215602e+01] [ 3.15693114e-01 9.48860465e-01 -1.29461984e-03 8.91523138e+00] [ 3.57252431e-03 1.75779517e-04 9.99993603e-01 -3.85660905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.077719421 meters Centerline goodness : 0.956418 Centerline is valid? [True, True] Translation: X:78.65, Y:8.92, Z:-0.39 [[ 9.49534449e-01 -3.13645047e-01 -3.33392153e-03 7.86484235e+01] [ 3.13642425e-01 9.49540284e-01 -1.29568296e-03 8.92431693e+00] [ 3.57207734e-03 1.84636369e-04 9.99993603e-01 -3.85112357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.107719421 meters Centerline goodness : 0.954763 Centerline is valid? [True, True] Translation: X:78.67, Y:8.93, Z:-0.39 [[ 9.50272598e-01 -3.11401471e-01 -3.33351076e-03 7.86748387e+01] [ 3.11398832e-01 9.50278426e-01 -1.29673892e-03 8.93442865e+00] [ 3.57156976e-03 1.94204111e-04 9.99993603e-01 -3.85502551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.137719421 meters Centerline goodness : 0.954128 Centerline is valid? [True, True] Translation: X:78.70, Y:8.94, Z:-0.39 [[ 9.51582029e-01 -3.07376855e-01 -3.33338343e-03 7.87018256e+01] [ 3.07374190e-01 9.51587844e-01 -1.29706615e-03 8.94496849e+00] [ 3.57069527e-03 2.09668802e-04 9.99993603e-01 -3.86286668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.167719421 meters Centerline goodness : 0.954199 Centerline is valid? [True, True] Translation: X:78.73, Y:8.96, Z:-0.39 [[ 9.52149817e-01 -3.05613509e-01 -3.33302827e-03 7.87291593e+01] [ 3.05610830e-01 9.52155626e-01 -1.29797814e-03 8.95578900e+00] [ 3.57024128e-03 2.17260117e-04 9.99993603e-01 -3.87081985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.197719421 meters Centerline goodness : 0.955422 Centerline is valid? [True, True] Translation: X:78.76, Y:8.97, Z:-0.39 [[ 9.53229691e-01 -3.02228471e-01 -3.33270139e-03 7.87559625e+01] [ 3.02225768e-01 9.53235489e-01 -1.29881690e-03 8.96531459e+00] [ 3.56938869e-03 2.30842596e-04 9.99993603e-01 -3.85820106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.227719421 meters Centerline goodness : 0.953630 Centerline is valid? [True, True] Translation: X:78.78, Y:8.97, Z:-0.39 [[ 9.53377729e-01 -3.01761164e-01 -3.33257581e-03 7.87829663e+01] [ 3.01758457e-01 9.53383525e-01 -1.29913906e-03 8.97214180e+00] [ 3.56925258e-03 2.32937315e-04 9.99993603e-01 -3.85544872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.25771942099999 meters Centerline goodness : 0.951600 Centerline is valid? [True, True] Translation: X:78.81, Y:8.98, Z:-0.39 [[ 9.53258201e-01 -3.02138542e-01 -3.33217524e-03 7.88099591e+01] [ 3.02135834e-01 9.53263997e-01 -1.30016567e-03 8.98003881e+00] [ 3.56927285e-03 2.32624045e-04 9.99993603e-01 -3.88019915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28771942099999 meters Centerline goodness : 0.947358 Centerline is valid? [True, False] Translation: X:78.81, Y:8.97, Z:-0.38 [[ 9.52486124e-01 -3.04199709e-01 -1.52551711e-02 7.88081021e+01] [ 3.04234372e-01 9.52597210e-01 -5.08875833e-05 8.97134968e+00] [ 1.45475134e-02 -4.59267770e-03 9.99883632e-01 -3.83554728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.31771942099999 meters Centerline goodness : 0.945877 Centerline is valid? [False, False] Translation: X:78.81, Y:8.97, Z:-0.38 [[ 9.52396449e-01 -3.04447745e-01 -1.58926139e-02 7.88102070e+01] [ 3.04494664e-01 9.52513876e-01 5.62226755e-04 8.96913200e+00] [ 1.49667666e-02 -5.37467889e-03 9.99873546e-01 -3.83904101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.347719421 meters Centerline goodness : 0.945218 Centerline is valid? [False, False] Translation: X:78.80, Y:8.96, Z:-0.38 [[ 9.50827255e-01 -3.08830492e-01 -2.34788824e-02 7.88011942e+01] [ 3.09039164e-01 9.51031875e-01 5.75914415e-03 8.95890808e+00] [ 2.05505662e-02 -1.27318454e-02 9.99707744e-01 -3.78486337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.377719421 meters Centerline goodness : 0.946619 Centerline is valid? [False, False] Translation: X:78.80, Y:8.96, Z:-0.38 [[ 9.49823888e-01 -3.11949587e-01 -2.28481227e-02 7.88015893e+01] [ 3.12101146e-01 9.50043124e-01 3.30722601e-03 8.95593852e+00] [ 2.06750141e-02 -1.02722075e-02 9.99733477e-01 -3.77328713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.407719421 meters Centerline goodness : 0.947797 Centerline is valid? [False, False] Translation: X:78.80, Y:8.95, Z:-0.38 [[ 9.47544165e-01 -3.18940906e-01 -2.08986639e-02 7.88020890e+01] [ 3.18969999e-01 9.47762669e-01 -2.01560365e-03 8.94977874e+00] [ 2.04498320e-02 -4.75617332e-03 9.99779567e-01 -3.75426813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.437719421 meters Centerline goodness : 0.949057 Centerline is valid? [False, False] Translation: X:78.80, Y:8.95, Z:-0.38 [[ 9.46322099e-01 -3.22604609e-01 -2.00187809e-02 7.88027993e+01] [ 3.22568062e-01 9.46532439e-01 -5.11725605e-03 8.94829072e+00] [ 2.05992759e-02 -1.61484687e-03 9.99786508e-01 -3.75150950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.467719421 meters Centerline goodness : 0.948787 Centerline is valid? [False, False] Translation: X:78.79, Y:8.94, Z:-0.37 [[ 9.43995611e-01 -3.28874600e-01 -2.67167114e-02 7.87949157e+01] [ 3.28962313e-01 9.44342327e-01 -1.16875963e-03 8.94131270e+00] [ 2.56140968e-02 -7.68548723e-03 9.99642362e-01 -3.71868379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.497719421 meters Centerline goodness : 0.950157 Centerline is valid? [False, True] Translation: X:78.79, Y:8.94, Z:-0.37 [[ 9.41291044e-01 -3.36728778e-01 -2.41847138e-02 7.87943732e+01] [ 3.36630923e-01 9.41601557e-01 -8.13196804e-03 8.93979240e+00] [ 2.55106319e-02 -4.86773847e-04 9.99674432e-01 -3.70594540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.527719421 meters Centerline goodness : 0.951630 Centerline is valid? [True, True] Translation: X:78.82, Y:8.95, Z:-0.37 [[ 9.39259304e-01 -3.42380107e-01 -2.38290277e-02 7.88208315e+01] [ 3.42260223e-01 9.39561458e-01 -9.06680447e-03 8.94966584e+00] [ 2.54931295e-02 3.60352106e-04 9.99674932e-01 -3.69901481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.557719421 meters Centerline goodness : 0.953586 Centerline is valid? [True, True] Translation: X:78.85, Y:8.96, Z:-0.36 [[ 9.34551299e-01 -3.55029701e-01 -2.38281585e-02 7.88477140e+01] [ 3.54913850e-01 9.34855021e-01 -9.06908818e-03 8.96061587e+00] [ 2.54956693e-02 1.85846677e-05 9.99674932e-01 -3.62926574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.587719421 meters Centerline goodness : 0.955393 Centerline is valid? [True, True] Translation: X:78.87, Y:8.97, Z:-0.36 [[ 9.32140885e-01 -3.61311105e-01 -2.38255367e-02 7.88745231e+01] [ 3.61197125e-01 9.32445314e-01 -9.07597092e-03 8.97222421e+00] [ 2.54952591e-02 -1.45631767e-04 9.99674932e-01 -3.61352788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.61771942099999 meters Centerline goodness : 0.958415 Centerline is valid? [True, True] Translation: X:78.90, Y:8.99, Z:-0.36 [[ 9.28413410e-01 -3.70784316e-01 -2.38228996e-02 7.89001185e+01] [ 3.70673264e-01 9.28718920e-01 -9.08288740e-03 8.98617078e+00] [ 2.54925698e-02 -3.97837496e-04 9.99674932e-01 -3.57547374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64771942099999 meters Centerline goodness : 0.957618 Centerline is valid? [True, True] Translation: X:78.93, Y:9.00, Z:-0.36 [[ 9.26702337e-01 -3.75040499e-01 -2.38202188e-02 7.89257270e+01] [ 3.74930669e-01 9.27008289e-01 -9.08991253e-03 8.99805417e+00] [ 2.54906256e-02 -5.07287383e-04 9.99674932e-01 -3.57887879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.67771942099999 meters Centerline goodness : 0.956021 Centerline is valid? [True, True] Translation: X:78.95, Y:9.01, Z:-0.35 [[ 9.24254441e-01 -3.81033293e-01 -2.38192644e-02 7.89514225e+01] [ 3.80925383e-01 9.24561075e-01 -9.09241276e-03 9.01165293e+00] [ 2.54868767e-02 -6.69659534e-04 9.99674933e-01 -3.54801636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.707719421 meters Centerline goodness : 0.954130 Centerline is valid? [True, True] Translation: X:78.98, Y:9.02, Z:-0.36 [[ 9.23084699e-01 -3.83858582e-01 -2.38165331e-02 7.89758021e+01] [ 3.83751426e-01 9.23391597e-01 -9.09956141e-03 9.02485350e+00] [ 2.54849313e-02 -7.39962643e-04 9.99674933e-01 -3.57303116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.737719421 meters Centerline goodness : 0.954130 Centerline is valid? [True, True] Translation: X:79.00, Y:9.04, Z:-0.36 [[ 9.22956992e-01 -3.84165673e-01 -2.38144092e-02 7.90023729e+01] [ 3.84058475e-01 9.23263876e-01 -9.10511665e-03 9.03530303e+00] [ 2.54848570e-02 -7.42494591e-04 9.99674933e-01 -3.56576615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.767719421 meters Centerline goodness : 0.952926 Centerline is valid? [True, True] Translation: X:79.03, Y:9.05, Z:-0.36 [[ 9.21548970e-01 -3.87531308e-01 -2.38113776e-02 7.90256300e+01] [ 3.87425026e-01 9.21856172e-01 -9.11303765e-03 9.05447607e+00] [ 2.54822528e-02 -8.27013148e-04 9.99674933e-01 -3.56984644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.797719421 meters Centerline goodness : 0.953386 Centerline is valid? [True, True] Translation: X:79.05, Y:9.07, Z:-0.36 [[ 9.20442626e-01 -3.90151921e-01 -2.38086372e-02 7.90495894e+01] [ 3.90046329e-01 9.20750065e-01 -9.12019177e-03 9.06951027e+00] [ 2.54800646e-02 -8.91858280e-04 9.99674933e-01 -3.58423765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.827719421 meters Centerline goodness : 0.955545 Centerline is valid? [True, True] Translation: X:79.07, Y:9.09, Z:-0.35 [[ 9.17785312e-01 -3.96362636e-01 -2.38071842e-02 7.90735875e+01] [ 3.96259026e-01 9.18093425e-01 -9.12398308e-03 9.08666022e+00] [ 2.54736252e-02 -1.05995397e-03 9.99674933e-01 -3.53688017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.857719421 meters Centerline goodness : 0.958274 Centerline is valid? [True, True] Translation: X:79.10, Y:9.10, Z:-0.35 [[ 9.16222390e-01 -3.99962348e-01 -2.38044434e-02 7.90985192e+01] [ 3.99859763e-01 9.16530846e-01 -9.13112811e-03 9.10133373e+00] [ 2.54696141e-02 -1.15229509e-03 9.99674933e-01 -3.48754964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.887719421 meters Centerline goodness : 0.962563 Centerline is valid? [True, True] Translation: X:79.12, Y:9.12, Z:-0.35 [[ 9.13593883e-01 -4.05930661e-01 -2.38015785e-02 7.91202383e+01] [ 4.05829897e-01 9.13902939e-01 -9.13858995e-03 9.12317231e+00] [ 2.54619664e-02 -1.31043225e-03 9.99674933e-01 -3.47262403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.917719421 meters Centerline goodness : 0.960920 Centerline is valid? [True, True] Translation: X:79.14, Y:9.14, Z:-0.35 [[ 9.12325180e-01 -4.08774142e-01 -2.38005614e-02 7.91431956e+01] [ 4.08674272e-01 9.12634525e-01 -9.14123813e-03 9.14009147e+00] [ 2.54579158e-02 -1.38689537e-03 9.99674933e-01 -3.50261031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.947719421 meters Centerline goodness : 0.959697 Centerline is valid? [True, True] Translation: X:79.16, Y:9.16, Z:-0.35 [[ 9.09664740e-01 -4.14660875e-01 -2.37995703e-02 7.91635258e+01] [ 4.14562938e-01 9.09974703e-01 -9.14381773e-03 9.16415701e+00] [ 2.54485904e-02 -1.54861120e-03 9.99674933e-01 -3.50622142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.977719421 meters Centerline goodness : 0.958894 Centerline is valid? [True, True] Translation: X:79.19, Y:9.18, Z:-0.35 [[ 9.08427087e-01 -4.17365499e-01 -2.37964018e-02 7.91871368e+01] [ 4.17268270e-01 9.08737273e-01 -9.15205599e-03 9.18064464e+00] [ 2.54444297e-02 -1.61550787e-03 9.99674933e-01 -3.48529188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00771942099999 meters Centerline goodness : 0.959809 Centerline is valid? [True, True] Translation: X:79.21, Y:9.20, Z:-0.35 [[ 9.06701006e-01 -4.21102334e-01 -2.37930755e-02 7.92069882e+01] [ 4.21006158e-01 9.07011520e-01 -9.16069548e-03 9.20489369e+00] [ 2.54381838e-02 -1.71101949e-03 9.99674933e-01 -3.48943884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.03771942099999 meters Centerline goodness : 0.959438 Centerline is valid? [True, True] Translation: X:79.23, Y:9.22, Z:-0.35 [[ 9.06454618e-01 -4.21632522e-01 -2.37916445e-02 7.92308156e+01] [ 4.21536431e-01 9.06765158e-01 -9.16441046e-03 9.22397976e+00] [ 2.54374478e-02 -1.72192274e-03 9.99674933e-01 -3.48098548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06771942099999 meters Centerline goodness : 0.957118 Centerline is valid? [True, True] Translation: X:79.25, Y:9.25, Z:-0.36 [[ 9.06838814e-01 -4.20805725e-01 -2.37888072e-02 7.92502840e+01] [ 4.20709158e-01 9.07149207e-01 -9.17176969e-03 9.25209176e+00] [ 2.54395307e-02 -1.69085229e-03 9.99674933e-01 -3.55751027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.097719421 meters Centerline goodness : 0.958442 Centerline is valid? [True, True] Translation: X:79.27, Y:9.27, Z:-0.35 [[ 9.07385472e-01 -4.19625721e-01 -2.37878095e-02 7.92740884e+01] [ 4.19528684e-01 9.07695717e-01 -9.17435658e-03 9.27090393e+00] [ 2.54418888e-02 -1.65499052e-03 9.99674933e-01 -3.50716287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.127719421 meters Centerline goodness : 0.956066 Centerline is valid? [True, True] Translation: X:79.30, Y:9.30, Z:-0.35 [[ 9.08079581e-01 -4.18121692e-01 -2.37849762e-02 7.92950810e+01] [ 4.18023949e-01 9.08389605e-01 -9.18169609e-03 9.29537036e+00] [ 2.54450915e-02 -1.60497894e-03 9.99674933e-01 -3.53134501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.157719421 meters Centerline goodness : 0.958237 Centerline is valid? [True, True] Translation: X:79.32, Y:9.31, Z:-0.35 [[ 9.08509637e-01 -4.17186586e-01 -2.37821737e-02 7.93190686e+01] [ 4.17088334e-01 9.08819501e-01 -9.18894926e-03 9.31185149e+00] [ 2.54472096e-02 -1.57101827e-03 9.99674933e-01 -3.51912735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.187719421 meters Centerline goodness : 0.961608 Centerline is valid? [True, True] Translation: X:79.34, Y:9.34, Z:-0.35 [[ 9.09737857e-01 -4.14501520e-01 -2.37807002e-02 7.93405715e+01] [ 4.14402254e-01 9.10047397e-01 -9.19276108e-03 9.33560869e+00] [ 2.54519778e-02 -1.49177301e-03 9.99674933e-01 -3.47663785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.217719421 meters Centerline goodness : 0.961218 Centerline is valid? [True, True] Translation: X:79.36, Y:9.35, Z:-0.35 [[ 9.10965370e-01 -4.11796923e-01 -2.37779129e-02 7.93635679e+01] [ 4.11696551e-01 9.11274553e-01 -9.19996501e-03 9.35222956e+00] [ 2.54567243e-02 -1.40843521e-03 9.99674933e-01 -3.48438057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.247719421 meters Centerline goodness : 0.963106 Centerline is valid? [True, True] Translation: X:79.38, Y:9.37, Z:-0.35 [[ 9.13959319e-01 -4.05108653e-01 -2.37769286e-02 7.93847424e+01] [ 4.05005951e-01 9.14267736e-01 -9.20250816e-03 9.37496376e+00] [ 2.54664944e-02 -1.21907950e-03 9.99674933e-01 -3.45732921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.277719421 meters Centerline goodness : 0.964691 Centerline is valid? [True, True] Translation: X:79.41, Y:9.39, Z:-0.34 [[ 9.15725350e-01 -4.01100853e-01 -2.37737045e-02 7.94093593e+01] [ 4.00996585e-01 9.16033241e-01 -9.21082980e-03 9.39108189e+00] [ 2.54719753e-02 -1.09858400e-03 9.99674933e-01 -3.43030351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.307719421 meters Centerline goodness : 0.965785 Centerline is valid? [True, True] Translation: X:79.43, Y:9.41, Z:-0.34 [[ 9.18800973e-01 -3.94004721e-01 -2.37708080e-02 7.94312488e+01] [ 3.93897882e-01 9.19107981e-01 -9.21829900e-03 9.41152653e+00] [ 2.54799927e-02 -8.93488842e-04 9.99674933e-01 -3.43527524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.337719421 meters Centerline goodness : 0.964872 Centerline is valid? [True, True] Translation: X:79.46, Y:9.43, Z:-0.34 [[ 9.20280268e-01 -3.90537129e-01 -2.37692971e-02 7.94557205e+01] [ 3.90429033e-01 9.20586835e-01 -9.22219311e-03 9.42768121e+00] [ 2.54833108e-02 -7.93221328e-04 9.99674933e-01 -3.43193421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36771942099999 meters Centerline goodness : 0.966273 Centerline is valid? [True, True] Translation: X:79.48, Y:9.45, Z:-0.34 [[ 9.23954017e-01 -3.81764495e-01 -2.37664563e-02 7.94775865e+01] [ 3.81653299e-01 9.24259474e-01 -9.22950839e-03 9.44739816e+00] [ 2.54898710e-02 -5.42905096e-04 9.99674933e-01 -3.40987109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.39771942099999 meters Centerline goodness : 0.967453 Centerline is valid? [True, True] Translation: X:79.50, Y:9.46, Z:-0.34 [[ 9.25461325e-01 -3.78095939e-01 -2.37654506e-02 7.95018549e+01] [ 3.77983465e-01 9.25766314e-01 -9.23209716e-03 9.46152069e+00] [ 2.54918721e-02 -4.38998513e-04 9.99674933e-01 -3.39608947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42771942099999 meters Centerline goodness : 0.967189 Centerline is valid? [True, True] Translation: X:79.52, Y:9.48, Z:-0.34 [[ 9.27722663e-01 -3.72513110e-01 -2.37622391e-02 7.95241466e+01] [ 3.72398590e-01 9.28026889e-01 -9.24035589e-03 9.48040746e+00] [ 2.54941505e-02 -2.76536760e-04 9.99674933e-01 -3.39586312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.457719421 meters Centerline goodness : 0.967003 Centerline is valid? [True, True] Translation: X:79.55, Y:9.50, Z:-0.34 [[ 9.28341502e-01 -3.70968272e-01 -2.37612531e-02 7.95477631e+01] [ 3.70853181e-01 9.28645512e-01 -9.24289067e-03 9.49594554e+00] [ 2.54946002e-02 -2.31377281e-04 9.99674933e-01 -3.39322104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.487719421 meters Centerline goodness : 0.964028 Centerline is valid? [True, True] Translation: X:79.57, Y:9.51, Z:-0.34 [[ 9.29455041e-01 -3.68169634e-01 -2.37580973e-02 7.95714031e+01] [ 3.68053420e-01 9.29758624e-01 -9.25099513e-03 9.51459817e+00] [ 2.54952314e-02 -1.45864909e-04 9.99674933e-01 -3.41998385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.517719421 meters Centerline goodness : 0.963241 Centerline is valid? [True, True] Translation: X:79.60, Y:9.53, Z:-0.34 [[ 9.30161528e-01 -3.66381115e-01 -2.37573094e-02 7.95960839e+01] [ 3.66264265e-01 9.30464868e-01 -9.25301812e-03 9.53156393e+00] [ 2.54954729e-02 -9.46520013e-05 9.99674933e-01 -3.41596229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.547719421 meters Centerline goodness : 0.962985 Centerline is valid? [True, True] Translation: X:79.62, Y:9.54, Z:-0.34 [[ 9.30516330e-01 -3.65479253e-01 -2.37544938e-02 7.96214291e+01] [ 3.65361925e-01 9.30819484e-01 -9.26024081e-03 9.54354720e+00] [ 2.54955716e-02 -6.21822864e-05 9.99674933e-01 -3.43368500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.577719421 meters Centerline goodness : 0.967385 Centerline is valid? [True, True] Translation: X:79.65, Y:9.56, Z:-0.34 [[ 9.30238174e-01 -3.66186715e-01 -2.37534959e-02 7.96474366e+01] [ 3.66069552e-01 9.30541393e-01 -9.26279977e-03 9.55686404e+00] [ 2.54955254e-02 -7.88216694e-05 9.99674933e-01 -3.36892151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.607719421 meters Centerline goodness : 0.967768 Centerline is valid? [True, True] Translation: X:79.67, Y:9.57, Z:-0.34 [[ 9.29562508e-01 -3.67898697e-01 -2.37506273e-02 7.96728790e+01] [ 3.67781905e-01 9.29865869e-01 -9.27014925e-03 9.56836567e+00] [ 2.54953736e-02 -1.17867773e-04 9.99674933e-01 -3.36401962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.637719421 meters Centerline goodness : 0.967976 Centerline is valid? [True, True] Translation: X:79.70, Y:9.58, Z:-0.34 [[ 9.28927515e-01 -3.69499303e-01 -2.37473731e-02 7.96974264e+01] [ 3.69382820e-01 9.29230995e-01 -9.27847813e-03 9.57885207e+00] [ 2.54951863e-02 -1.52838029e-04 9.99674933e-01 -3.36448318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.667719421 meters Centerline goodness : 0.966888 Centerline is valid? [True, True] Translation: X:79.72, Y:9.59, Z:-0.34 [[ 9.26617330e-01 -3.75255183e-01 -2.37459622e-02 7.97241799e+01] [ 3.75140493e-01 9.26921493e-01 -9.28208758e-03 9.59057418e+00] [ 2.54937942e-02 -3.07128752e-04 9.99674933e-01 -3.35440528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.697719421 meters Centerline goodness : 0.966721 Centerline is valid? [True, True] Translation: X:79.75, Y:9.60, Z:-0.34 [[ 9.23533015e-01 -3.82783275e-01 -2.37430860e-02 7.97517412e+01] [ 3.82670875e-01 9.23838031e-01 -9.28943892e-03 9.60028700e+00] [ 2.54906077e-02 -5.06683980e-04 9.99674933e-01 -3.36527023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.727719421 meters Centerline goodness : 0.964943 Centerline is valid? [True, True] Translation: X:79.78, Y:9.61, Z:-0.34 [[ 9.21794432e-01 -3.86951453e-01 -2.37402253e-02 7.97787246e+01] [ 3.86840244e-01 9.22099884e-01 -9.29674409e-03 9.61005865e+00] [ 2.54882476e-02 -6.13987604e-04 9.99674933e-01 -3.35780332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.75771942099999 meters Centerline goodness : 0.965366 Centerline is valid? [True, True] Translation: X:79.81, Y:9.62, Z:-0.34 [[ 9.18884669e-01 -3.93811510e-01 -2.37373092e-02 7.98054664e+01] [ 3.93702389e-01 9.19190873e-01 -9.30418368e-03 9.62185738e+00] [ 2.54832126e-02 -7.95963612e-04 9.99674933e-01 -3.35143340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78771942099999 meters Centerline goodness : 0.963852 Centerline is valid? [True, True] Translation: X:79.83, Y:9.63, Z:-0.34 [[ 9.17730674e-01 -3.96493491e-01 -2.37344000e-02 7.98310145e+01] [ 3.96385073e-01 9.18037128e-01 -9.31159909e-03 9.63358361e+00] [ 2.54810488e-02 -8.62421765e-04 9.99674933e-01 -3.35705803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.81771942099999 meters Centerline goodness : 0.968699 Centerline is valid? [True, True] Translation: X:79.86, Y:9.65, Z:-0.33 [[ 9.16486534e-01 -3.99360969e-01 -2.37328837e-02 7.98566966e+01] [ 3.99253410e-01 9.16793290e-01 -9.31546208e-03 9.64541950e+00] [ 2.54783805e-02 -9.37939185e-04 9.99674933e-01 -3.31700208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.847719421 meters Centerline goodness : 0.967345 Centerline is valid? [True, True] Translation: X:79.88, Y:9.66, Z:-0.33 [[ 9.17034055e-01 -3.98102204e-01 -2.37313685e-02 7.98817615e+01] [ 3.97994124e-01 9.17340628e-01 -9.31932059e-03 9.65836760e+00] [ 2.54797905e-02 -8.98810857e-04 9.99674933e-01 -3.30922208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.877719421 meters Centerline goodness : 0.965675 Centerline is valid? [True, True] Translation: X:79.91, Y:9.67, Z:-0.33 [[ 9.18297986e-01 -3.95178167e-01 -2.37281657e-02 7.99060635e+01] [ 3.95068900e-01 9.18604138e-01 -9.32746819e-03 9.67160958e+00] [ 2.54828030e-02 -8.08865063e-04 9.99674933e-01 -3.32985645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.907719421 meters Centerline goodness : 0.966775 Centerline is valid? [True, True] Translation: X:79.93, Y:9.69, Z:-0.33 [[ 9.22555521e-01 -3.85134174e-01 -2.37271789e-02 7.99297548e+01] [ 3.85021509e-01 9.22860439e-01 -9.32997763e-03 9.68908001e+00] [ 2.54901680e-02 -5.28051859e-04 9.99674933e-01 -3.31166719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.937719421 meters Centerline goodness : 0.967748 Centerline is valid? [True, True] Translation: X:79.95, Y:9.70, Z:-0.33 [[ 9.25195252e-01 -3.78749124e-01 -2.37243748e-02 7.99548933e+01] [ 3.78634172e-01 9.25499315e-01 -9.33710248e-03 9.70187041e+00] [ 2.54933120e-02 -3.44216124e-04 9.99674933e-01 -3.28792610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.967719421 meters Centerline goodness : 0.973012 Centerline is valid? [True, True] Translation: X:79.98, Y:9.72, Z:-0.32 [[ 9.29571873e-01 -3.67876792e-01 -2.37233790e-02 7.99804230e+01] [ 3.67758218e-01 9.29874542e-01 -9.33963194e-03 9.71571935e+00] [ 2.54956000e-02 -4.26084327e-05 9.99674933e-01 -3.22669737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.997719421 meters Centerline goodness : 0.970615 Centerline is valid? [True, True] Translation: X:80.01, Y:9.73, Z:-0.32 [[ 9.31625404e-01 -3.62645065e-01 -2.37205410e-02 8.00054572e+01] [ 3.62524608e-01 9.31927328e-01 -9.34683434e-03 9.72637200e+00] [ 2.54954037e-02 1.08468486e-04 9.99674933e-01 -3.23705869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.027719421 meters Centerline goodness : 0.967753 Centerline is valid? [True, True] Translation: X:80.03, Y:9.74, Z:-0.33 [[ 9.35298947e-01 -3.53062772e-01 -2.37183300e-02 8.00309884e+01] [ 3.52939080e-01 9.35599561e-01 -9.35244147e-03 9.73792947e+00] [ 2.54928580e-02 3.76203089e-04 9.99674933e-01 -3.27041826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.057719421 meters Centerline goodness : 0.969180 Centerline is valid? [True, True] Translation: X:80.06, Y:9.75, Z:-0.32 [[ 9.36466667e-01 -3.49953811e-01 -2.37173438e-02 8.00562679e+01] [ 3.49829058e-01 9.36766841e-01 -9.35494179e-03 9.74986825e+00] [ 2.54914188e-02 4.63575107e-04 9.99674933e-01 -3.24541695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.087719421 meters Centerline goodness : 0.967878 Centerline is valid? [True, True] Translation: X:80.08, Y:9.76, Z:-0.33 [[ 9.38416120e-01 -3.44692362e-01 -2.37141508e-02 8.00836121e+01] [ 3.44565722e-01 9.38715504e-01 -9.36302885e-03 9.75983194e+00] [ 2.54882055e-02 6.15333718e-04 9.99674934e-01 -3.26089215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.11771942099999 meters Centerline goodness : 0.967406 Centerline is valid? [True, True] Translation: X:80.11, Y:9.77, Z:-0.33 [[ 9.38956516e-01 -3.43217760e-01 -2.37113874e-02 8.01115250e+01] [ 3.43090474e-01 9.39255625e-01 -9.37002188e-03 9.76863463e+00] [ 2.54870119e-02 6.62891984e-04 9.99674934e-01 -3.26473661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14771942099999 meters Centerline goodness : 0.967586 Centerline is valid? [True, True] Translation: X:80.14, Y:9.77, Z:-0.33 [[ 9.39527528e-01 -3.41651761e-01 -2.37086285e-02 8.01398256e+01] [ 3.41523800e-01 9.39826349e-01 -9.37699730e-03 9.77459336e+00] [ 2.54856614e-02 7.12886189e-04 9.99674934e-01 -3.25217177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.17771942099999 meters Centerline goodness : 0.966586 Centerline is valid? [True, True] Translation: X:80.17, Y:9.78, Z:-0.33 [[ 9.39123780e-01 -3.42760210e-01 -2.37057917e-02 8.01660677e+01] [ 3.42632421e-01 9.39422675e-01 -9.38416354e-03 9.78391142e+00] [ 2.54862761e-02 6.90518334e-04 9.99674934e-01 -3.25440334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.207719421 meters Centerline goodness : 0.964651 Centerline is valid? [True, True] Translation: X:80.19, Y:9.79, Z:-0.33 [[ 9.37986840e-01 -3.45859621e-01 -2.37025581e-02 8.01939992e+01] [ 3.45732614e-01 9.38286067e-01 -9.39232392e-03 9.79145667e+00] [ 2.54882056e-02 6.15128875e-04 9.99674934e-01 -3.25422096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.237719421 meters Centerline goodness : 0.961531 Centerline is valid? [True, True] Translation: X:80.22, Y:9.80, Z:-0.33 [[ 9.35784318e-01 -3.51775542e-01 -2.36997375e-02 8.02221150e+01] [ 3.51650246e-01 9.36084267e-01 -9.39943559e-03 9.79645762e+00] [ 2.54914430e-02 4.61825881e-04 9.99674934e-01 -3.27285137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.267719421 meters Centerline goodness : 0.956525 Centerline is valid? [True, True] Translation: X:80.25, Y:9.80, Z:-0.33 [[ 9.34445646e-01 -3.55316343e-01 -2.36987406e-02 8.02488735e+01] [ 3.55192120e-01 9.34746041e-01 -9.40194858e-03 9.80401185e+00] [ 2.54929699e-02 3.68004006e-04 9.99674934e-01 -3.31453633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.297719421 meters Centerline goodness : 0.960488 Centerline is valid? [True, True] Translation: X:80.28, Y:9.81, Z:-0.33 [[ 9.33165241e-01 -3.58665651e-01 -2.36977498e-02 8.02762724e+01] [ 3.58542443e-01 9.33466053e-01 -9.40444529e-03 9.81155209e+00] [ 2.54940964e-02 2.79252362e-04 9.99674934e-01 -3.25628913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.327719421 meters Centerline goodness : 0.960566 Centerline is valid? [True, True] Translation: X:80.30, Y:9.81, Z:-0.32 [[ 9.30170328e-01 -3.66362814e-01 -2.36949093e-02 8.03046344e+01] [ 3.66241914e-01 9.30472075e-01 -9.41159644e-03 9.81462887e+00] [ 2.54955104e-02 7.63188165e-05 9.99674934e-01 -3.24622632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.357719421 meters Centerline goodness : 0.963961 Centerline is valid? [True, True] Translation: X:80.33, Y:9.82, Z:-0.32 [[ 9.26845064e-01 -3.74695645e-01 -2.36939054e-02 8.03325800e+01] [ 3.74577393e-01 9.27147858e-01 -9.41412327e-03 9.82068825e+00] [ 2.54951846e-02 -1.49767614e-04 9.99674934e-01 -3.20521101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.387719421 meters Centerline goodness : 0.961879 Centerline is valid? [True, True] Translation: X:80.36, Y:9.83, Z:-0.32 [[ 9.25676113e-01 -3.77574371e-01 -2.36923758e-02 8.03600886e+01] [ 3.77456962e-01 9.25979235e-01 -9.41797118e-03 9.83001443e+00] [ 2.54946325e-02 -2.24861237e-04 9.99674934e-01 -3.22036453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.417719421 meters Centerline goodness : 0.958734 Centerline is valid? [True, True] Translation: X:80.39, Y:9.84, Z:-0.33 [[ 9.23511616e-01 -3.82838218e-01 -2.36895313e-02 8.03883500e+01] [ 3.82722353e-01 9.23815332e-01 -9.42512071e-03 9.83667004e+00] [ 2.54930486e-02 -3.62304680e-04 9.99674934e-01 -3.25551131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.447719421 meters Centerline goodness : 0.959552 Centerline is valid? [True, True] Translation: X:80.42, Y:9.84, Z:-0.32 [[ 9.22637196e-01 -3.84940837e-01 -2.36887311e-02 8.04157034e+01] [ 3.84825613e-01 9.22941156e-01 -9.42713128e-03 9.84454095e+00] [ 2.54921927e-02 -4.18208498e-04 9.99674934e-01 -3.22894352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.477719421 meters Centerline goodness : 0.960483 Centerline is valid? [True, True] Translation: X:80.44, Y:9.85, Z:-0.32 [[ 9.21135201e-01 -3.88521460e-01 -2.36857776e-02 8.04446195e+01] [ 3.88407226e-01 9.21439535e-01 -9.43454624e-03 9.85226981e+00] [ 2.54905356e-02 -5.09234533e-04 9.99674934e-01 -3.18705655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50771942099999 meters Centerline goodness : 0.958811 Centerline is valid? [True, True] Translation: X:80.47, Y:9.86, Z:-0.32 [[ 9.19312455e-01 -3.92814986e-01 -2.36853587e-02 8.04705094e+01] [ 3.92702147e-01 9.19617308e-01 -9.43559789e-03 9.86273784e+00] [ 2.54879100e-02 -6.27028534e-04 9.99674934e-01 -3.22522182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.53771942099999 meters Centerline goodness : 0.956977 Centerline is valid? [True, True] Translation: X:80.50, Y:9.87, Z:-0.32 [[ 9.18306970e-01 -3.95159919e-01 -2.36843254e-02 8.04956614e+01] [ 3.95047791e-01 9.18612085e-01 -9.43819075e-03 9.87359027e+00] [ 2.54863022e-02 -6.89284091e-04 9.99674934e-01 -3.22548689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56771942099999 meters Centerline goodness : 0.966535 Centerline is valid? [True, True] Translation: X:80.52, Y:9.88, Z:-0.31 [[ 9.17147635e-01 -3.97843338e-01 -2.36832034e-02 8.05221178e+01] [ 3.97732030e-01 9.17453050e-01 -9.44100534e-03 9.88496789e+00] [ 2.54842683e-02 -7.60772854e-04 9.99674934e-01 -3.09688362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.597719421 meters Centerline goodness : 0.961108 Centerline is valid? [True, True] Translation: X:80.55, Y:9.90, Z:-0.32 [[ 9.16962895e-01 -3.98269122e-01 -2.36802648e-02 8.05472100e+01] [ 3.98157766e-01 9.17268293e-01 -9.44837034e-03 9.89618783e+00] [ 2.54841502e-02 -7.64676297e-04 9.99674934e-01 -3.15112435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.627719421 meters Centerline goodness : 0.961108 Centerline is valid? [True, True] Translation: X:80.57, Y:9.91, Z:-0.31 [[ 9.16841784e-01 -3.98547922e-01 -2.36790211e-02 8.05735454e+01] [ 3.98436579e-01 9.17147187e-01 -9.45148610e-03 9.90702388e+00] [ 2.54840178e-02 -7.69070784e-04 9.99674934e-01 -3.14386353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.657719421 meters Centerline goodness : 0.966416 Centerline is valid? [True, True] Translation: X:80.60, Y:9.92, Z:-0.31 [[ 9.17064021e-01 -3.98036457e-01 -2.36761449e-02 8.05988577e+01] [ 3.97924757e-01 9.17369294e-01 -9.45868554e-03 9.91815866e+00] [ 2.54846700e-02 -7.47104028e-04 9.99674934e-01 -3.07479975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.687719421 meters Centerline goodness : 0.965160 Centerline is valid? [True, True] Translation: X:80.62, Y:9.93, Z:-0.31 [[ 9.18031825e-01 -3.95799398e-01 -2.36728457e-02 8.06240955e+01] [ 3.95686742e-01 9.18336746e-01 -9.46693556e-03 9.93017138e+00] [ 2.54866515e-02 -6.76083059e-04 9.99674934e-01 -3.07219808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.717719421 meters Centerline goodness : 0.967038 Centerline is valid? [True, True] Translation: X:80.65, Y:9.94, Z:-0.31 [[ 9.19274609e-01 -3.92904499e-01 -2.36695456e-02 8.06494003e+01] [ 3.92790670e-01 9.19579094e-01 -9.47517941e-03 9.94308238e+00] [ 2.54888599e-02 -5.86884823e-04 9.99674934e-01 -3.05386179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.747719421 meters Centerline goodness : 0.965299 Centerline is valid? [True, True] Translation: X:80.67, Y:9.96, Z:-0.31 [[ 9.22375028e-01 -3.85569993e-01 -2.36661996e-02 8.06725925e+01] [ 3.85453529e-01 9.22678514e-01 -9.48352944e-03 9.96160787e+00] [ 2.54928582e-02 -3.74849399e-04 9.99674934e-01 -3.07292768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.777719421 meters Centerline goodness : 0.959976 Centerline is valid? [True, True] Translation: X:80.70, Y:9.98, Z:-0.31 [[ 9.25796041e-01 -3.77282041e-01 -2.36632994e-02 8.06976293e+01] [ 3.77162675e-01 9.26098398e-01 -9.49076038e-03 9.97810379e+00] [ 2.54952371e-02 -1.38404917e-04 9.99674934e-01 -3.10066364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.807719421 meters Centerline goodness : 0.956725 Centerline is valid? [True, True] Translation: X:80.72, Y:9.99, Z:-0.31 [[ 9.27670494e-01 -3.72649475e-01 -2.36605789e-02 8.07231857e+01] [ 3.72528425e-01 9.27972181e-01 -9.49753782e-03 9.98946968e+00] [ 2.54956115e-02 -3.65259885e-06 9.99674934e-01 -3.12229337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.837719421 meters Centerline goodness : 0.951916 Centerline is valid? [True, True] Translation: X:80.75, Y:10.00, Z:-0.32 [[ 9.30304102e-01 -3.66025277e-01 -2.36595423e-02 8.07492006e+01] [ 3.65902015e-01 9.30604891e-01 -9.50011934e-03 1.00011990e+01] [ 2.54949696e-02 1.80925791e-04 9.99674934e-01 -3.15503233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86771942099999 meters Centerline goodness : 0.953496 Centerline is valid? [True, True] Translation: X:80.78, Y:10.01, Z:-0.31 [[ 9.31060993e-01 -3.64095717e-01 -2.36587271e-02 8.07757869e+01] [ 3.63971779e-01 9.31361505e-01 -9.50214917e-03 1.00112353e+01] [ 2.54945195e-02 2.35971455e-04 9.99674934e-01 -3.13416379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.89771942099999 meters Centerline goodness : 0.954893 Centerline is valid? [True, True] Translation: X:80.80, Y:10.02, Z:-0.31 [[ 9.31699303e-01 -3.62459419e-01 -2.36554257e-02 8.08036537e+01] [ 3.62334745e-01 9.31999509e-01 -9.51036080e-03 1.00216824e+01] [ 2.54939650e-02 2.89613887e-04 9.99674934e-01 -3.10849748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92771942099999 meters Centerline goodness : 0.959260 Centerline is valid? [True, True] Translation: X:80.83, Y:10.03, Z:-0.31 [[ 9.31812815e-01 -3.62167527e-01 -2.36550177e-02 8.08300528e+01] [ 3.62042733e-01 9.32112973e-01 -9.51137550e-03 1.00334980e+01] [ 2.54938602e-02 2.98694336e-04 9.99674934e-01 -3.06848925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.957719421 meters Centerline goodness : 0.956836 Centerline is valid? [True, True] Translation: X:80.85, Y:10.04, Z:-0.31 [[ 9.32386273e-01 -3.60688811e-01 -2.36520555e-02 8.08541812e+01] [ 3.60563354e-01 9.32686154e-01 -9.51873595e-03 1.00448281e+01] [ 2.54932462e-02 3.47074262e-04 9.99674934e-01 -3.08507614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.987719421 meters Centerline goodness : 0.957833 Centerline is valid? [True, True] Translation: X:80.88, Y:10.06, Z:-0.31 [[ 9.32300998e-01 -3.60909267e-01 -2.36506001e-02 8.08812543e+01] [ 3.60783790e-01 9.32600870e-01 -9.52235074e-03 1.00550367e+01] [ 2.54932748e-02 3.44943964e-04 9.99674934e-01 -3.06254328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.017719421 meters Centerline goodness : 0.956066 Centerline is valid? [True, True] Translation: X:80.91, Y:10.06, Z:-0.31 [[ 9.32007765e-01 -3.61666027e-01 -2.36476545e-02 8.09083568e+01] [ 3.61540607e-01 9.32307661e-01 -9.52966018e-03 1.00612747e+01] [ 2.54934438e-02 3.32129910e-04 9.99674934e-01 -3.06914869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.047719421 meters Centerline goodness : 0.956089 Centerline is valid? [True, True] Translation: X:80.94, Y:10.07, Z:-0.31 [[ 9.30451853e-01 -3.65650361e-01 -2.36466180e-02 8.09367443e+01] [ 3.65526160e-01 9.30752256e-01 -9.53223140e-03 1.00693532e+01] [ 2.54946069e-02 2.25824880e-04 9.99674934e-01 -3.07582405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.077719421 meters Centerline goodness : 0.954286 Centerline is valid? [True, True] Translation: X:80.96, Y:10.08, Z:-0.31 [[ 9.29564544e-01 -3.67900428e-01 -2.36439124e-02 8.09641214e+01] [ 3.67776784e-01 9.29865176e-01 -9.53893772e-03 1.00794259e+01] [ 2.54950300e-02 1.71376232e-04 9.99674934e-01 -3.06370994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.107719421 meters Centerline goodness : 0.953292 Centerline is valid? [True, True] Translation: X:80.99, Y:10.09, Z:-0.31 [[ 9.28881184e-01 -3.69622579e-01 -2.36409733e-02 8.09906560e+01] [ 3.69499308e-01 9.29181969e-01 -9.54621640e-03 1.00889811e+01] [ 2.54952632e-02 1.31977530e-04 9.99674934e-01 -3.08729705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.137719421 meters Centerline goodness : 0.954329 Centerline is valid? [True, True] Translation: X:81.02, Y:10.10, Z:-0.31 [[ 9.27726164e-01 -3.72512172e-01 -2.36399435e-02 8.10183376e+01] [ 3.72389772e-01 9.28027305e-01 -9.54876572e-03 1.00970796e+01] [ 2.54955446e-02 5.53666073e-05 9.99674934e-01 -3.06945802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.167719421 meters Centerline goodness : 0.951490 Centerline is valid? [True, True] Translation: X:81.05, Y:10.10, Z:-0.31 [[ 9.27138434e-01 -3.73972741e-01 -2.36371261e-02 8.10466716e+01] [ 3.73850638e-01 9.27439695e-01 -9.55573500e-03 1.01039351e+01] [ 2.54955934e-02 2.27345083e-05 9.99674934e-01 -3.09016932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.197719421 meters Centerline goodness : 0.951498 Centerline is valid? [True, True] Translation: X:81.07, Y:10.11, Z:-0.31 [[ 9.27081733e-01 -3.74113455e-01 -2.36343679e-02 8.10744175e+01] [ 3.73991224e-01 9.27382943e-01 -9.56255195e-03 1.01116261e+01] [ 2.54955890e-02 2.62210450e-05 9.99674934e-01 -3.09890726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.227719421 meters Centerline goodness : 0.952479 Centerline is valid? [True, True] Translation: X:81.10, Y:10.12, Z:-0.31 [[ 9.26375873e-01 -3.75858072e-01 -2.36315852e-02 8.11023820e+01] [ 3.75736233e-01 9.26677241e-01 -9.56942377e-03 1.01188103e+01] [ 2.54955974e-02 -1.43595266e-05 9.99674934e-01 -3.06671309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.25771942099999 meters Centerline goodness : 0.954157 Centerline is valid? [True, True] Translation: X:81.13, Y:10.13, Z:-0.30 [[ 9.25321596e-01 -3.78446334e-01 -2.36287241e-02 8.11294429e+01] [ 3.78325158e-01 9.25623231e-01 -9.57648328e-03 1.01290952e+01] [ 2.54954809e-02 -7.80139757e-05 9.99674934e-01 -3.04113791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28771942099999 meters Centerline goodness : 0.951438 Centerline is valid? [True, True] Translation: X:81.16, Y:10.14, Z:-0.31 [[ 9.23063168e-01 -3.83922138e-01 -2.36258149e-02 8.11568331e+01] [ 3.83802567e-01 9.23365444e-01 -9.58365495e-03 1.01355003e+01] [ 2.54946384e-02 -2.21329524e-04 9.99674934e-01 -3.08985442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.31771942099999 meters Centerline goodness : 0.951753 Centerline is valid? [True, True] Translation: X:81.18, Y:10.15, Z:-0.31 [[ 9.20913745e-01 -3.89049827e-01 -2.36242815e-02 8.11845151e+01] [ 3.88931843e-01 9.21216643e-01 -9.58743348e-03 1.01450300e+01] [ 2.54930706e-02 -3.59036067e-04 9.99674934e-01 -3.06556881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.347719421 meters Centerline goodness : 0.949679 Centerline is valid? [True, False] Translation: X:81.18, Y:10.14, Z:-0.30 [[ 9.17192970e-01 -3.97354769e-01 -2.94320175e-02 8.11787440e+01] [ 3.97278542e-01 9.17657356e-01 -8.64503632e-03 1.01388433e+01] [ 3.04436538e-02 -3.76354249e-03 9.99529399e-01 -3.04845643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.377719421 meters Centerline goodness : 0.951350 Centerline is valid? [False, True] Translation: X:81.17, Y:10.13, Z:-0.30 [[ 9.14759653e-01 -4.02733807e-01 -3.19414908e-02 8.11706005e+01] [ 4.02818955e-01 9.15270905e-01 -4.00757977e-03 1.01342141e+01] [ 3.08491050e-02 -9.20066565e-03 9.99481706e-01 -3.04461502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.407719421 meters Centerline goodness : 0.955286 Centerline is valid? [True, True] Translation: X:81.19, Y:10.15, Z:-0.30 [[ 9.10467490e-01 -4.12573781e-01 -2.88413726e-02 8.11949676e+01] [ 4.12410614e-01 9.10923305e-01 -1.16712568e-02 1.01483540e+01] [ 3.10875330e-02 -1.26818827e-03 9.99515861e-01 -3.00762972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.437719421 meters Centerline goodness : 0.957179 Centerline is valid? [True, True] Translation: X:81.22, Y:10.16, Z:-0.30 [[ 9.07186440e-01 -4.19739218e-01 -2.88401133e-02 8.12202566e+01] [ 4.19579552e-01 9.07643492e-01 -1.16743678e-02 1.01609894e+01] [ 3.10767311e-02 -1.50989363e-03 9.99515861e-01 -2.95852834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.467719421 meters Centerline goodness : 0.960716 Centerline is valid? [True, True] Translation: X:81.25, Y:10.17, Z:-0.29 [[ 9.06132353e-01 -4.22010045e-01 -2.88388639e-02 8.12461954e+01] [ 4.21851426e-01 9.06589770e-01 -1.16774532e-02 1.01731799e+01] [ 3.10730216e-02 -1.58439767e-03 9.99515861e-01 -2.91237909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.497719421 meters Centerline goodness : 0.960338 Centerline is valid? [True, True] Translation: X:81.27, Y:10.19, Z:-0.29 [[ 9.05089951e-01 -4.24241337e-01 -2.88351891e-02 8.12694621e+01] [ 4.24083558e-01 9.05547658e-01 -1.16865204e-02 1.01884881e+01] [ 3.10695430e-02 -1.65117736e-03 9.99515861e-01 -2.91257746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.527719421 meters Centerline goodness : 0.962840 Centerline is valid? [True, True] Translation: X:81.29, Y:10.20, Z:-0.29 [[ 9.04647614e-01 -4.25183911e-01 -2.88329096e-02 8.12944847e+01] [ 4.25026430e-01 9.05105424e-01 -1.16921418e-02 1.02019195e+01] [ 3.10681334e-02 -1.67748044e-03 9.99515861e-01 -2.85734061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.557719421 meters Centerline goodness : 0.959864 Centerline is valid? [True, True] Translation: X:81.32, Y:10.22, Z:-0.29 [[ 9.04033920e-01 -4.26487493e-01 -2.88286373e-02 8.13175686e+01] [ 4.26330337e-01 9.04491841e-01 -1.17026661e-02 1.02186800e+01] [ 3.10663080e-02 -1.71091554e-03 9.99515861e-01 -2.87683390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.587719421 meters Centerline goodness : 0.954107 Centerline is valid? [True, True] Translation: X:81.34, Y:10.23, Z:-0.30 [[ 9.03440527e-01 -4.27743146e-01 -2.88273197e-02 8.13424966e+01] [ 4.27586524e-01 9.03898632e-01 -1.17059110e-02 1.02328361e+01] [ 3.10640980e-02 -1.75057897e-03 9.99515861e-01 -2.95366756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.61771942099999 meters Centerline goodness : 0.953519 Centerline is valid? [True, True] Translation: X:81.37, Y:10.25, Z:-0.29 [[ 9.01632564e-01 -4.31541318e-01 -2.88237782e-02 8.13670731e+01] [ 4.31386347e-01 9.02091230e-01 -1.17146248e-02 1.02499830e+01] [ 3.10570222e-02 -1.87189718e-03 9.99515861e-01 -2.89479827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64771942099999 meters Centerline goodness : 0.953443 Centerline is valid? [True, True] Translation: X:81.39, Y:10.27, Z:-0.29 [[ 9.00332132e-01 -4.34247954e-01 -2.88230171e-02 8.13908898e+01] [ 4.34094302e-01 9.00791241e-01 -1.17164972e-02 1.02650090e+01] [ 3.10513863e-02 -1.96316853e-03 9.99515861e-01 -2.90780388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.67771942099999 meters Centerline goodness : 0.956044 Centerline is valid? [True, True] Translation: X:81.41, Y:10.28, Z:-0.29 [[ 8.98166706e-01 -4.38709329e-01 -2.88217254e-02 8.14140102e+01] [ 4.38557856e-01 8.98626539e-01 -1.17196739e-02 1.02837717e+01] [ 3.10414976e-02 -2.11377317e-03 9.99515862e-01 -2.86347092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.707719421 meters Centerline goodness : 0.960055 Centerline is valid? [True, True] Translation: X:81.44, Y:10.30, Z:-0.28 [[ 8.96356682e-01 -4.42395991e-01 -2.88181636e-02 8.14377906e+01] [ 4.42246128e-01 8.96817042e-01 -1.17284255e-02 1.03021830e+01] [ 3.10332287e-02 -2.23186873e-03 9.99515862e-01 -2.81243684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.737719421 meters Centerline goodness : 0.961217 Centerline is valid? [True, True] Translation: X:81.46, Y:10.32, Z:-0.28 [[ 8.95682530e-01 -4.43759531e-01 -2.88146353e-02 8.14621710e+01] [ 4.43610092e-01 8.96143028e-01 -1.17370876e-02 1.03172622e+01] [ 3.10304790e-02 -2.26975874e-03 9.99515862e-01 -2.80518974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.767719421 meters Centerline goodness : 0.962827 Centerline is valid? [True, True] Translation: X:81.49, Y:10.33, Z:-0.28 [[ 8.95096219e-01 -4.44941061e-01 -2.88133936e-02 8.14855938e+01] [ 4.44792132e-01 8.95556882e-01 -1.17401350e-02 1.03339176e+01] [ 3.10277011e-02 -2.30742028e-03 9.99515862e-01 -2.79023228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.797719421 meters Centerline goodness : 0.961874 Centerline is valid? [True, True] Translation: X:81.51, Y:10.36, Z:-0.28 [[ 8.95096424e-01 -4.44940906e-01 -2.88094236e-02 8.15057493e+01] [ 4.44791666e-01 8.95556986e-01 -1.17498691e-02 1.03579812e+01] [ 3.10284779e-02 -2.29692568e-03 9.99515862e-01 -2.79298550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.827719421 meters Centerline goodness : 0.959736 Centerline is valid? [True, True] Translation: X:81.53, Y:10.38, Z:-0.28 [[ 8.96711597e-01 -4.41676844e-01 -2.88075910e-02 8.15278902e+01] [ 4.41525784e-01 8.97171565e-01 -1.17543603e-02 1.03803241e+01] [ 3.10369803e-02 -2.17902300e-03 9.99515862e-01 -2.80226444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.857719421 meters Centerline goodness : 0.958531 Centerline is valid? [True, True] Translation: X:81.55, Y:10.40, Z:-0.28 [[ 8.97534773e-01 -4.40001874e-01 -2.88042023e-02 8.15528351e+01] [ 4.39849690e-01 8.97994371e-01 -1.17626586e-02 1.03967640e+01] [ 3.10416033e-02 -2.11212431e-03 9.99515862e-01 -2.80937171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.887719421 meters Centerline goodness : 0.958319 Centerline is valid? [True, True] Translation: X:81.57, Y:10.42, Z:-0.28 [[ 8.98684460e-01 -4.37649107e-01 -2.88010711e-02 8.15739751e+01] [ 4.37495475e-01 8.99143575e-01 -1.17703203e-02 1.04184288e+01] [ 3.10475682e-02 -2.02253436e-03 9.99515862e-01 -2.81207597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.917719421 meters Centerline goodness : 0.961237 Centerline is valid? [True, True] Translation: X:81.60, Y:10.44, Z:-0.28 [[ 8.98747013e-01 -4.37520713e-01 -2.87998816e-02 8.15973588e+01] [ 4.37366923e-01 8.99206075e-01 -1.17732301e-02 1.04361280e+01] [ 3.10480605e-02 -2.01496028e-03 9.99515862e-01 -2.77646474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.947719421 meters Centerline goodness : 0.962201 Centerline is valid? [True, True] Translation: X:81.62, Y:10.46, Z:-0.27 [[ 8.99194377e-01 -4.36600769e-01 -2.87965623e-02 8.16187127e+01] [ 4.36446250e-01 8.99653195e-01 -1.17813434e-02 1.04598155e+01] [ 3.10506628e-02 -1.97443385e-03 9.99515862e-01 -2.73476899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.977719421 meters Centerline goodness : 0.963493 Centerline is valid? [True, True] Translation: X:81.64, Y:10.48, Z:-0.27 [[ 8.98955931e-01 -4.37091581e-01 -2.87955621e-02 8.16425212e+01] [ 4.36937235e-01 8.99414807e-01 -1.17837875e-02 1.04766762e+01] [ 3.10497492e-02 -1.98874762e-03 9.99515862e-01 -2.73038674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00771942099999 meters Centerline goodness : 0.961325 Centerline is valid? [True, True] Translation: X:81.66, Y:10.50, Z:-0.27 [[ 8.98813654e-01 -4.37384290e-01 -2.87923203e-02 8.16645933e+01] [ 4.37229841e-01 8.99272496e-01 -1.17917031e-02 1.04971498e+01] [ 3.10496474e-02 -1.99031792e-03 9.99515862e-01 -2.73850811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.03771942099999 meters Centerline goodness : 0.961892 Centerline is valid? [True, True] Translation: X:81.69, Y:10.51, Z:-0.27 [[ 8.98960116e-01 -4.37083262e-01 -2.87911745e-02 8.16897116e+01] [ 4.36928571e-01 8.99418876e-01 -1.17945000e-02 1.05127265e+01] [ 3.10505044e-02 -1.97690161e-03 9.99515862e-01 -2.72190526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06771942099999 meters Centerline goodness : 0.960894 Centerline is valid? [True, True] Translation: X:81.71, Y:10.53, Z:-0.27 [[ 9.00730391e-01 -4.33423596e-01 -2.87879911e-02 8.17127461e+01] [ 4.33266793e-01 9.01188434e-01 -1.18022650e-02 1.05333300e+01] [ 3.10587848e-02 -1.84222185e-03 9.99515862e-01 -2.71153902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.097719421 meters Centerline goodness : 0.954709 Centerline is valid? [True, True] Translation: X:81.74, Y:10.55, Z:-0.27 [[ 9.04182332e-01 -4.26175719e-01 -2.87848366e-02 8.17364323e+01] [ 4.26014999e-01 9.04639014e-01 -1.18099536e-02 1.05541103e+01] [ 3.10730017e-02 -1.58442074e-03 9.99515862e-01 -2.70149932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.127719421 meters Centerline goodness : 0.950716 Centerline is valid? [True, True] Translation: X:81.76, Y:10.57, Z:-0.28 [[ 9.05827496e-01 -4.22667728e-01 -2.87843473e-02 8.17605387e+01] [ 4.22505201e-01 9.06283538e-01 -1.18111462e-02 1.05703790e+01] [ 3.10789704e-02 -1.46267547e-03 9.99515862e-01 -2.78174560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.157719421 meters Centerline goodness : 0.947238 Centerline is valid? [True, False] Translation: X:81.73, Y:10.57, Z:-0.28 [[ 9.11081725e-01 -4.10755140e-01 -3.47894527e-02 8.17304020e+01] [ 4.10782976e-01 9.11708728e-01 -6.67397048e-03 1.05659915e+01] [ 3.44592154e-02 -8.21038241e-03 9.99372379e-01 -2.80291742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.187719421 meters Centerline goodness : 0.947456 Centerline is valid? [False, False] Translation: X:81.71, Y:10.56, Z:-0.28 [[ 9.13826705e-01 -4.04474254e-01 -3.63501305e-02 8.17147273e+01] [ 4.04565809e-01 9.14494504e-01 -5.12905956e-03 1.05625861e+01] [ 3.53165672e-02 -1.00189484e-02 9.99325953e-01 -2.80958333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.217719421 meters Centerline goodness : 0.945983 Centerline is valid? [False, False] Translation: X:81.71, Y:10.57, Z:-0.28 [[ 9.15708851e-01 -4.00151888e-01 -3.68207448e-02 8.17111839e+01] [ 4.00319760e-01 9.16370554e-01 -3.01621352e-03 1.05666197e+01] [ 3.49483899e-02 -1.19780983e-02 9.99317335e-01 -2.80324772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.247719421 meters Centerline goodness : 0.946966 Centerline is valid? [False, False] Translation: X:81.70, Y:10.56, Z:-0.28 [[ 9.17984172e-01 -3.93924984e-01 -4.61320508e-02 8.17003339e+01] [ 3.94493730e-01 9.18891705e-01 3.56801297e-03 1.05598445e+01] [ 4.09848294e-02 -2.14741842e-02 9.98928978e-01 -2.77532656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.277719421 meters Centerline goodness : 0.947605 Centerline is valid? [False, False] Translation: X:81.69, Y:10.56, Z:-0.28 [[ 9.21868351e-01 -3.84667461e-01 -4.67940922e-02 8.16897475e+01] [ 3.85180590e-01 9.22838755e-01 2.13178239e-03 1.05598140e+01] [ 4.23633745e-02 -1.99893988e-02 9.98902282e-01 -2.76167218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.307719421 meters Centerline goodness : 0.948133 Centerline is valid? [False, False] Translation: X:81.69, Y:10.56, Z:-0.28 [[ 9.23200349e-01 -3.81449034e-01 -4.68801618e-02 8.16875299e+01] [ 3.82041634e-01 9.24136216e-01 4.05510328e-03 1.05608083e+01] [ 4.17768401e-02 -2.16538464e-02 9.98892290e-01 -2.76118533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.337719421 meters Centerline goodness : 0.947257 Centerline is valid? [False, False] Translation: X:81.68, Y:10.56, Z:-0.28 [[ 9.27356649e-01 -3.71437178e-01 -4.52113779e-02 8.16772573e+01] [ 3.71908625e-01 9.28266753e-01 2.19308959e-03 1.05570337e+01] [ 4.11536239e-02 -1.88482776e-02 9.98975036e-01 -2.76586246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36771942099999 meters Centerline goodness : 0.950435 Centerline is valid? [False, True] Translation: X:81.67, Y:10.56, Z:-0.28 [[ 9.30027710e-01 -3.64934360e-01 -4.32593549e-02 8.16704742e+01] [ 3.65452451e-01 9.30819323e-01 4.46037132e-03 1.05555723e+01] [ 3.86389007e-02 -1.99575062e-02 9.99053919e-01 -2.76408146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.39771942099999 meters Centerline goodness : 0.952590 Centerline is valid? [True, True] Translation: X:81.69, Y:10.57, Z:-0.27 [[ 9.31012159e-01 -3.63247000e-01 -3.56086609e-02 8.16944316e+01] [ 3.62960456e-01 9.31692735e-01 -1.44344918e-02 1.05732360e+01] [ 3.84196165e-02 5.14151537e-04 9.99261562e-01 -2.67322720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42771942099999 meters Centerline goodness : 0.952594 Centerline is valid? [True, True] Translation: X:81.72, Y:10.58, Z:-0.27 [[ 9.31703851e-01 -3.61469613e-01 -3.56041134e-02 8.17206453e+01] [ 3.61181342e-01 9.32383698e-01 -1.44456998e-02 1.05812858e+01] [ 3.84183765e-02 5.99572691e-04 9.99261562e-01 -2.67219562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.457719421 meters Centerline goodness : 0.950838 Centerline is valid? [True, True] Translation: X:81.75, Y:10.59, Z:-0.27 [[ 9.31606314e-01 -3.61721196e-01 -3.56012914e-02 8.17480656e+01] [ 3.61432844e-01 9.32286126e-01 -1.44526514e-02 1.05890149e+01] [ 3.84184204e-02 5.96705269e-04 9.99261562e-01 -2.69529288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.487719421 meters Centerline goodness : 0.951992 Centerline is valid? [True, True] Translation: X:81.78, Y:10.59, Z:-0.26 [[ 9.30903369e-01 -3.63526584e-01 -3.55997160e-02 8.17773867e+01] [ 3.63239402e-01 9.31583676e-01 -1.44565308e-02 1.05935066e+01] [ 3.84194476e-02 5.26413712e-04 9.99261562e-01 -2.64164674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.517719421 meters Centerline goodness : 0.952872 Centerline is valid? [True, True] Translation: X:81.80, Y:10.60, Z:-0.27 [[ 9.30502670e-01 -3.64551455e-01 -3.55951850e-02 8.18042607e+01] [ 3.64264595e-01 9.31183113e-01 -1.44676787e-02 1.06020274e+01] [ 3.84198485e-02 4.96148011e-04 9.99261562e-01 -2.67150341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.547719421 meters Centerline goodness : 0.952872 Centerline is valid? [True, True] Translation: X:81.83, Y:10.61, Z:-0.27 [[ 9.30385010e-01 -3.64851792e-01 -3.55935877e-02 8.18304668e+01] [ 3.64565002e-01 9.31065482e-01 -1.44716073e-02 1.06129870e+01] [ 3.84199527e-02 4.87990133e-04 9.99261562e-01 -2.66057632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.577719421 meters Centerline goodness : 0.955577 Centerline is valid? [True, True] Translation: X:81.86, Y:10.62, Z:-0.26 [[ 9.30758874e-01 -3.63897442e-01 -3.55889116e-02 8.18586100e+01] [ 3.63609515e-01 9.31438866e-01 -1.44830977e-02 1.06179926e+01] [ 3.84192576e-02 5.39804830e-04 9.99261562e-01 -2.58077646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.607719421 meters Centerline goodness : 0.956756 Centerline is valid? [True, True] Translation: X:81.89, Y:10.62, Z:-0.26 [[ 9.31456184e-01 -3.62108988e-01 -3.55873153e-02 8.18856150e+01] [ 3.61819606e-01 9.32135558e-01 -1.44870190e-02 1.06246814e+01] [ 3.84180818e-02 6.17835030e-04 9.99261562e-01 -2.56807291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.637719421 meters Centerline goodness : 0.959550 Centerline is valid? [True, True] Translation: X:81.91, Y:10.63, Z:-0.26 [[ 9.33574908e-01 -3.56611550e-01 -3.55822117e-02 8.19141594e+01] [ 3.56317691e-01 9.34252357e-01 -1.44995434e-02 1.06274350e+01] [ 3.84134698e-02 8.57838422e-04 9.99261562e-01 -2.55251131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.667719421 meters Centerline goodness : 0.958468 Centerline is valid? [True, True] Translation: X:81.94, Y:10.63, Z:-0.25 [[ 9.34979227e-01 -3.52913395e-01 -3.55806330e-02 8.19427275e+01] [ 3.52616709e-01 9.35655443e-01 -1.45034164e-02 1.06346722e+01] [ 3.84096628e-02 1.01406732e-03 9.99261562e-01 -2.54617804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.697719421 meters Centerline goodness : 0.957059 Centerline is valid? [True, True] Translation: X:81.97, Y:10.64, Z:-0.26 [[ 9.37696892e-01 -3.45628230e-01 -3.55761959e-02 8.19731911e+01] [ 3.45325880e-01 9.38370594e-01 -1.45142921e-02 1.06372452e+01] [ 3.84002052e-02 1.32462542e-03 9.99261562e-01 -2.56360976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.727719421 meters Centerline goodness : 0.956696 Centerline is valid? [True, True] Translation: X:82.00, Y:10.64, Z:-0.26 [[ 9.38532848e-01 -3.43352179e-01 -3.55721065e-02 8.20014377e+01] [ 3.43047816e-01 9.39205643e-01 -1.45243076e-02 1.06438575e+01] [ 3.83964759e-02 1.42860631e-03 9.99261562e-01 -2.55468003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.75771942099999 meters Centerline goodness : 0.958471 Centerline is valid? [True, True] Translation: X:82.03, Y:10.64, Z:-0.25 [[ 9.39554990e-01 -3.40545694e-01 -3.55675659e-02 8.20312449e+01] [ 3.40238902e-01 9.40226681e-01 -1.45354184e-02 1.06434079e+01] [ 3.83915486e-02 1.55535535e-03 9.99261562e-01 -2.53224590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78771942099999 meters Centerline goodness : 0.957437 Centerline is valid? [True, True] Translation: X:82.06, Y:10.65, Z:-0.25 [[ 9.39609429e-01 -3.40396012e-01 -3.55622844e-02 8.20593614e+01] [ 3.40088625e-01 9.40280848e-01 -1.45483286e-02 1.06472479e+01] [ 3.83907280e-02 1.57541827e-03 9.99261562e-01 -2.54397449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.81771942099999 meters Centerline goodness : 0.954733 Centerline is valid? [True, True] Translation: X:82.09, Y:10.64, Z:-0.25 [[ 9.39664910e-01 -3.40243081e-01 -3.55598387e-02 8.20912259e+01] [ 3.39935359e-01 9.40336176e-01 -1.45543039e-02 1.06446666e+01] [ 3.83902040e-02 1.58812214e-03 9.99261562e-01 -2.54454550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.847719421 meters Centerline goodness : 0.954892 Centerline is valid? [True, True] Translation: X:82.12, Y:10.64, Z:-0.25 [[ 9.39164673e-01 -3.41621586e-01 -3.55585321e-02 8.21228682e+01] [ 3.41314729e-01 9.39836334e-01 -1.45574955e-02 1.06444751e+01] [ 3.83923552e-02 1.53523479e-03 9.99261562e-01 -2.54104019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.877719421 meters Centerline goodness : 0.956058 Centerline is valid? [True, True] Translation: X:82.15, Y:10.65, Z:-0.25 [[ 9.38672789e-01 -3.42971300e-01 -3.55539327e-02 8.21508511e+01] [ 3.42664985e-01 9.39344698e-01 -1.45687200e-02 1.06491633e+01] [ 3.83940510e-02 1.49217320e-03 9.99261562e-01 -2.53452191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.907719421 meters Centerline goodness : 0.958329 Centerline is valid? [True, True] Translation: X:82.18, Y:10.65, Z:-0.25 [[ 9.37269839e-01 -3.46787166e-01 -3.55515058e-02 8.21831400e+01] [ 3.46483363e-01 9.37942887e-01 -1.45746400e-02 1.06475032e+01] [ 3.83995801e-02 1.34236517e-03 9.99261563e-01 -2.48556813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.937719421 meters Centerline goodness : 0.959547 Centerline is valid? [True, True] Translation: X:82.21, Y:10.65, Z:-0.25 [[ 9.36250295e-01 -3.49530459e-01 -3.55505607e-02 8.22127858e+01] [ 3.49228540e-01 9.36924191e-01 -1.45769449e-02 1.06509284e+01] [ 3.84032666e-02 1.23239852e-03 9.99261563e-01 -2.45934560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.967719421 meters Centerline goodness : 0.960802 Centerline is valid? [True, True] Translation: X:82.24, Y:10.65, Z:-0.24 [[ 9.35105051e-01 -3.52583345e-01 -3.55461575e-02 8.22426884e+01] [ 3.52283219e-01 9.35779746e-01 -1.45876743e-02 1.06546587e+01] [ 3.84067452e-02 1.11869309e-03 9.99261563e-01 -2.43373834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.997719421 meters Centerline goodness : 0.959764 Centerline is valid? [True, True] Translation: X:82.27, Y:10.65, Z:-0.25 [[ 9.33295590e-01 -3.57345954e-01 -3.55416798e-02 8.22727552e+01] [ 3.57048857e-01 9.33971624e-01 -1.45985758e-02 1.06531739e+01] [ 3.84116624e-02 9.34670262e-04 9.99261563e-01 -2.45503755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.027719421 meters Centerline goodness : 0.954091 Centerline is valid? [True, True] Translation: X:82.30, Y:10.65, Z:-0.25 [[ 9.31116464e-01 -3.62986330e-01 -3.55394736e-02 8.23022548e+01] [ 3.62693124e-01 9.31794195e-01 -1.46039445e-02 1.06547079e+01] [ 3.84165075e-02 7.08050450e-04 9.99261563e-01 -2.49659298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.057719421 meters Centerline goodness : 0.954533 Centerline is valid? [True, True] Translation: X:82.33, Y:10.66, Z:-0.25 [[ 9.30020853e-01 -3.65784454e-01 -3.55379511e-02 8.23297098e+01] [ 3.65493145e-01 9.30699402e-01 -1.46076485e-02 1.06605661e+01] [ 3.84184006e-02 5.96540164e-04 9.99261563e-01 -2.46655966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.087719421 meters Centerline goodness : 0.953445 Centerline is valid? [True, True] Translation: X:82.36, Y:10.66, Z:-0.25 [[ 9.27554455e-01 -3.71994808e-01 -3.55330088e-02 8.23605310e+01] [ 3.71707583e-01 9.28234743e-01 -1.46196609e-02 1.06615568e+01] [ 3.84214112e-02 3.52642786e-04 9.99261563e-01 -2.46509811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.11771942099999 meters Centerline goodness : 0.952416 Centerline is valid? [True, True] Translation: X:82.39, Y:10.67, Z:-0.25 [[ 9.26526451e-01 -3.74548332e-01 -3.55286156e-02 8.23887557e+01] [ 3.74262573e-01 9.27207355e-01 -1.46303294e-02 1.06677650e+01] [ 3.84221592e-02 2.58356095e-04 9.99261563e-01 -2.45841274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14771942099999 meters Centerline goodness : 0.951268 Centerline is valid? [True, True] Translation: X:82.42, Y:10.67, Z:-0.25 [[ 9.26102369e-01 -3.75596109e-01 -3.55241559e-02 8.24180972e+01] [ 3.75310705e-01 9.26783422e-01 -1.46411502e-02 1.06709631e+01] [ 3.84223578e-02 2.26607881e-04 9.99261563e-01 -2.46785939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.17771942099999 meters Centerline goodness : 0.953492 Centerline is valid? [True, True] Translation: X:82.45, Y:10.68, Z:-0.24 [[ 9.26492101e-01 -3.74634135e-01 -3.55197442e-02 8.24452796e+01] [ 3.74347613e-01 9.27172685e-01 -1.46518452e-02 1.06786437e+01] [ 3.84220179e-02 2.78087414e-04 9.99261563e-01 -2.44954061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.207719421 meters Centerline goodness : 0.955020 Centerline is valid? [True, True] Translation: X:82.47, Y:10.69, Z:-0.24 [[ 9.27130707e-01 -3.73051082e-01 -3.55182027e-02 8.24727708e+01] [ 3.72763255e-01 9.27810740e-01 -1.46555810e-02 1.06874508e+01] [ 3.84214503e-02 3.47758298e-04 9.99261563e-01 -2.40656389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.237719421 meters Centerline goodness : 0.954743 Centerline is valid? [True, True] Translation: X:82.50, Y:10.69, Z:-0.24 [[ 9.29293139e-01 -3.67631646e-01 -3.55138697e-02 8.25003493e+01] [ 3.67339454e-01 9.29971307e-01 -1.46660733e-02 1.06935424e+01] [ 3.84185925e-02 5.83435740e-04 9.99261563e-01 -2.38990444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.267719421 meters Centerline goodness : 0.954862 Centerline is valid? [True, True] Translation: X:82.53, Y:10.70, Z:-0.24 [[ 9.31367097e-01 -3.62345422e-01 -3.55123432e-02 8.25286524e+01] [ 3.62049239e-01 9.32043532e-01 -1.46697687e-02 1.06978275e+01] [ 3.84145733e-02 8.05723027e-04 9.99261563e-01 -2.37304663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.297719421 meters Centerline goodness : 0.956000 Centerline is valid? [True, True] Translation: X:82.56, Y:10.71, Z:-0.24 [[ 9.32487384e-01 -3.59452719e-01 -3.55108640e-02 8.25552065e+01] [ 3.59154302e-01 9.33162837e-01 -1.46733484e-02 1.07068392e+01] [ 3.84117936e-02 9.28832712e-04 9.99261563e-01 -2.36654185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.327719421 meters Centerline goodness : 0.956511 Centerline is valid? [True, True] Translation: X:82.58, Y:10.72, Z:-0.23 [[ 9.34884088e-01 -3.53172513e-01 -3.55094062e-02 8.25824212e+01] [ 3.52869426e-01 9.35557458e-01 -1.46768754e-02 1.07162429e+01] [ 3.84045588e-02 1.19099353e-03 9.99261563e-01 -2.34844728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.357719421 meters Centerline goodness : 0.956018 Centerline is valid? [True, True] Translation: X:82.61, Y:10.73, Z:-0.23 [[ 9.36187810e-01 -3.49702406e-01 -3.55051085e-02 8.26096502e+01] [ 3.49396430e-01 9.36859872e-01 -1.46872647e-02 1.07257940e+01] [ 3.83994832e-02 1.34468001e-03 9.99261563e-01 -2.34416092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.387719421 meters Centerline goodness : 0.955895 Centerline is valid? [True, True] Translation: X:82.64, Y:10.73, Z:-0.23 [[ 9.38203594e-01 -3.44258204e-01 -3.55007883e-02 8.26377012e+01] [ 3.43947934e-01 9.38873685e-01 -1.46976999e-02 1.07314569e+01] [ 3.83905597e-02 1.57901205e-03 9.99261563e-01 -2.33868874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.417719421 meters Centerline goodness : 0.957161 Centerline is valid? [True, True] Translation: X:82.67, Y:10.74, Z:-0.23 [[ 9.39334861e-01 -3.41159525e-01 -3.54992674e-02 8.26662279e+01] [ 3.40846908e-01 9.40003859e-01 -1.47013724e-02 1.07366418e+01] [ 3.83849616e-02 1.70969610e-03 9.99261563e-01 -2.30640736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.447719421 meters Centerline goodness : 0.959055 Centerline is valid? [True, True] Translation: X:82.69, Y:10.74, Z:-0.23 [[ 9.39459508e-01 -3.40816566e-01 -3.54950817e-02 8.26931057e+01] [ 3.40503323e-01 9.40128214e-01 -1.47114713e-02 1.07443636e+01] [ 3.83838409e-02 1.73463835e-03 9.99261563e-01 -2.28693092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.477719421 meters Centerline goodness : 0.960086 Centerline is valid? [True, True] Translation: X:82.72, Y:10.75, Z:-0.23 [[ 9.39594088e-01 -3.40445524e-01 -3.54936036e-02 8.27197840e+01] [ 3.40131883e-01 9.40262607e-01 -1.47150367e-02 1.07517339e+01] [ 3.83829766e-02 1.75365526e-03 9.99261563e-01 -2.28595365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50771942099999 meters Centerline goodness : 0.958614 Centerline is valid? [True, True] Translation: X:82.75, Y:10.76, Z:-0.23 [[ 9.39517535e-01 -3.40656880e-01 -3.54921476e-02 8.27470185e+01] [ 3.40343257e-01 9.40186062e-01 -1.47185477e-02 1.07611826e+01] [ 3.83831970e-02 1.74882051e-03 9.99261563e-01 -2.25658463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.53771942099999 meters Centerline goodness : 0.958694 Centerline is valid? [True, True] Translation: X:82.78, Y:10.76, Z:-0.22 [[ 9.39414225e-01 -3.40942105e-01 -3.54879472e-02 8.27775357e+01] [ 3.40628304e-01 9.40082669e-01 -1.47286682e-02 1.07627781e+01] [ 3.83832273e-02 1.74812110e-03 9.99261563e-01 -2.21877349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56771942099999 meters Centerline goodness : 0.959917 Centerline is valid? [True, True] Translation: X:82.81, Y:10.77, Z:-0.22 [[ 9.39486455e-01 -3.40743484e-01 -3.54835068e-02 8.28059102e+01] [ 3.40429138e-01 9.40154643e-01 -1.47393581e-02 1.07672905e+01] [ 3.83823239e-02 1.76780768e-03 9.99261563e-01 -2.22126616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.597719421 meters Centerline goodness : 0.958539 Centerline is valid? [True, True] Translation: X:82.84, Y:10.77, Z:-0.22 [[ 9.39817318e-01 -3.39830016e-01 -3.54819504e-02 8.28353088e+01] [ 3.39514880e-01 9.40485134e-01 -1.47431040e-02 1.07691122e+01] [ 3.83803961e-02 1.80917428e-03 9.99261563e-01 -2.23643518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.627719421 meters Centerline goodness : 0.957933 Centerline is valid? [True, True] Translation: X:82.86, Y:10.78, Z:-0.22 [[ 9.40127701e-01 -3.38970564e-01 -3.54804553e-02 8.28635153e+01] [ 3.38654683e-01 9.40795164e-01 -1.47467011e-02 1.07778408e+01] [ 3.83785383e-02 1.84815986e-03 9.99261563e-01 -2.23953603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.657719421 meters Centerline goodness : 0.954037 Centerline is valid? [True, True] Translation: X:82.89, Y:10.78, Z:-0.23 [[ 9.41102552e-01 -3.36254959e-01 -3.54765934e-02 8.28922570e+01] [ 3.35936803e-01 9.41768934e-01 -1.47559859e-02 1.07816530e+01] [ 3.83725270e-02 1.96900261e-03 9.99261563e-01 -2.26154386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.687719421 meters Centerline goodness : 0.949825 Centerline is valid? [True, False] Translation: X:82.89, Y:10.77, Z:-0.22 [[ 9.41096654e-01 -3.35118797e-01 -4.50830286e-02 8.28869594e+01] [ 3.35091931e-01 9.42148194e-01 -8.37729958e-03 1.07680725e+01] [ 4.52822845e-02 -7.22311049e-03 9.98948117e-01 -2.23931422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.717719421 meters Centerline goodness : 0.950762 Centerline is valid? [False, True] Translation: X:82.88, Y:10.76, Z:-0.23 [[ 9.41513858e-01 -3.34394199e-01 -4.16193943e-02 8.28809053e+01] [ 3.34181932e-01 9.42430096e-01 -1.21634720e-02 1.07622054e+01] [ 4.32907643e-02 -2.45637214e-03 9.99059496e-01 -2.25085921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.747719421 meters Centerline goodness : 0.949603 Centerline is valid? [True, False] Translation: X:82.87, Y:10.75, Z:-0.22 [[ 9.41036480e-01 -3.34947627e-01 -4.75439934e-02 8.28716051e+01] [ 3.35121324e-01 9.42164203e-01 -4.50683465e-03 1.07534884e+01] [ 4.63038023e-02 -1.16919102e-02 9.98858978e-01 -2.22648208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.777719421 meters Centerline goodness : 0.951117 Centerline is valid? [False, True] Translation: X:82.87, Y:10.75, Z:-0.22 [[ 9.41722745e-01 -3.32902575e-01 -4.83130202e-02 8.28731284e+01] [ 3.33218119e-01 9.42848401e-01 -1.60573808e-03 1.07465116e+01] [ 4.60864082e-02 -1.45866137e-02 9.98830954e-01 -2.22002283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.807719421 meters Centerline goodness : 0.950207 Centerline is valid? [True, True] Translation: X:82.90, Y:10.76, Z:-0.22 [[ 9.42336576e-01 -3.32079096e-01 -4.15361464e-02 8.28988463e+01] [ 3.31623891e-01 9.43247331e-01 -1.76087371e-02 1.07593123e+01] [ 4.50263527e-02 2.81897854e-03 9.98981822e-01 -2.24424560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.837719421 meters Centerline goodness : 0.947390 Centerline is valid? [True, False] Translation: X:82.89, Y:10.75, Z:-0.22 [[ 9.42209095e-01 -3.31164878e-01 -5.07133585e-02 8.28934592e+01] [ 3.31111929e-01 9.43541767e-01 -9.68627237e-03 1.07460871e+01] [ 5.10579251e-02 -7.66530403e-03 9.98666276e-01 -2.22874633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86771942099999 meters Centerline goodness : 0.947400 Centerline is valid? [False, False] Translation: X:82.89, Y:10.74, Z:-0.22 [[ 9.41089633e-01 -3.33110053e-01 -5.82064831e-02 8.28853413e+01] [ 3.33436741e-01 9.42762701e-01 -4.29288202e-03 1.07366803e+01] [ 5.63049034e-02 -1.53681932e-02 9.98295335e-01 -2.20073932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.89771942099999 meters Centerline goodness : 0.948214 Centerline is valid? [False, False] Translation: X:82.89, Y:10.73, Z:-0.22 [[ 9.39302767e-01 -3.38366616e-01 -5.67304555e-02 8.28868249e+01] [ 3.38490874e-01 9.40938193e-01 -7.69706892e-03 1.07270159e+01] [ 5.59842835e-02 -1.19728633e-02 9.98359860e-01 -2.18231963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92771942099999 meters Centerline goodness : 0.948465 Centerline is valid? [False, False] Translation: X:82.88, Y:10.71, Z:-0.21 [[ 9.36652985e-01 -3.44452580e-01 -6.35106681e-02 8.28807527e+01] [ 3.44888897e-01 9.38633632e-01 -4.30733322e-03 1.07106968e+01] [ 6.10969211e-02 -1.78696477e-02 9.97971864e-01 -2.13855101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.957719421 meters Centerline goodness : 0.947777 Centerline is valid? [False, False] Translation: X:82.88, Y:10.71, Z:-0.21 [[ 9.35494705e-01 -3.47716951e-01 -6.27899499e-02 8.28823586e+01] [ 3.48010580e-01 9.37467714e-01 -6.55137142e-03 1.07068820e+01] [ 6.11415737e-02 -1.57227936e-02 9.98005261e-01 -2.13735517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.987719421 meters Centerline goodness : 0.948119 Centerline is valid? [False, False] Translation: X:82.87, Y:10.69, Z:-0.21 [[ 9.32821422e-01 -3.53663190e-01 -6.90401488e-02 8.28749074e+01] [ 3.54309946e-01 9.35123066e-01 -3.05183178e-03 1.06938584e+01] [ 6.56403562e-02 -2.16147973e-02 9.97609214e-01 -2.09803416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.017719421 meters Centerline goodness : 0.949234 Centerline is valid? [False, False] Translation: X:82.88, Y:10.69, Z:-0.21 [[ 9.31712556e-01 -3.56740263e-01 -6.81769539e-02 8.28750638e+01] [ 3.57234551e-01 9.34000150e-01 -5.21499385e-03 1.06901569e+01] [ 6.55376835e-02 -1.94962883e-02 9.97659615e-01 -2.08469024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.047719421 meters Centerline goodness : 0.953775 Centerline is valid? [False, True] Translation: X:82.88, Y:10.68, Z:-0.21 [[ 9.29527083e-01 -3.62754440e-01 -6.62466489e-02 8.28755285e+01] [ 3.62961455e-01 9.31757649e-01 -9.30947640e-03 1.06821240e+01] [ 6.51028757e-02 -1.53915696e-02 9.97759848e-01 -2.06053649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.077719421 meters Centerline goodness : 0.954193 Centerline is valid? [True, True] Translation: X:82.90, Y:10.70, Z:-0.21 [[ 9.28650288e-01 -3.66162675e-01 -5.94435693e-02 8.29004446e+01] [ 3.65291181e-01 9.30549132e-01 -2.53113834e-02 1.06950284e+01] [ 6.45832456e-02 1.79121181e-03 9.97910715e-01 -2.08623610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.107719421 meters Centerline goodness : 0.952584 Centerline is valid? [True, True] Translation: X:82.93, Y:10.70, Z:-0.21 [[ 9.27385102e-01 -3.69355718e-01 -5.94409395e-02 8.29286896e+01] [ 3.68490367e-01 9.29286754e-01 -2.53175575e-02 1.07016814e+01] [ 6.45888624e-02 1.57571206e-03 9.97910715e-01 -2.06971183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.137719421 meters Centerline goodness : 0.951258 Centerline is valid? [True, True] Translation: X:82.96, Y:10.71, Z:-0.21 [[ 9.25999561e-01 -3.72816942e-01 -5.94334924e-02 8.29569796e+01] [ 3.71957579e-01 9.27903926e-01 -2.53350279e-02 1.07095091e+01] [ 6.45938985e-02 1.35348675e-03 9.97910716e-01 -2.06162190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.167719421 meters Centerline goodness : 0.951824 Centerline is valid? [True, True] Translation: X:82.98, Y:10.72, Z:-0.20 [[ 9.25367417e-01 -3.74384414e-01 -5.94260381e-02 8.29832138e+01] [ 3.73527155e-01 9.27272729e-01 -2.53525006e-02 1.07184188e+01] [ 6.45957256e-02 1.26313903e-03 9.97910716e-01 -2.03169024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.197719421 meters Centerline goodness : 0.953611 Centerline is valid? [True, True] Translation: X:83.01, Y:10.73, Z:-0.20 [[ 9.24779108e-01 -3.75835684e-01 -5.94234054e-02 8.30095080e+01] [ 3.74981019e-01 9.26685585e-01 -2.53586700e-02 1.07274817e+01] [ 6.45975062e-02 1.16851910e-03 9.97910716e-01 -2.01383233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22771942099999 meters Centerline goodness : 0.953027 Centerline is valid? [True, True] Translation: X:83.04, Y:10.74, Z:-0.20 [[ 9.24953477e-01 -3.75406756e-01 -5.94208171e-02 8.30350305e+01] [ 3.74550818e-01 9.26859383e-01 -2.53647335e-02 1.07377202e+01] [ 6.45968341e-02 1.20508280e-03 9.97910716e-01 -1.95974196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.25771942099999 meters Centerline goodness : 0.955060 Centerline is valid? [True, True] Translation: X:83.06, Y:10.75, Z:-0.20 [[ 9.26309991e-01 -3.72048397e-01 -5.94120369e-02 8.30612827e+01] [ 3.71184232e-01 9.28212181e-01 -2.53852827e-02 1.07478276e+01] [ 6.45915301e-02 1.46182970e-03 9.97910716e-01 -1.95937167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28771942099999 meters Centerline goodness : 0.955136 Centerline is valid? [True, True] Translation: X:83.09, Y:10.76, Z:-0.19 [[ 9.27472807e-01 -3.69140525e-01 -5.94093070e-02 8.30854579e+01] [ 3.68269988e-01 9.29372089e-01 -2.53916699e-02 1.07588688e+01] [ 6.45864461e-02 1.67141858e-03 9.97910716e-01 -1.94598859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.31771942099999 meters Centerline goodness : 0.953362 Centerline is valid? [True, True] Translation: X:83.11, Y:10.77, Z:-0.20 [[ 9.30091608e-01 -3.62492466e-01 -5.94038151e-02 8.31107801e+01] [ 3.61607537e-01 9.31984227e-01 -2.54045117e-02 1.07717097e+01] [ 6.45723628e-02 2.14765586e-03 9.97910716e-01 -1.95809709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.347719421 meters Centerline goodness : 0.952433 Centerline is valid? [True, True] Translation: X:83.14, Y:10.78, Z:-0.19 [[ 9.31014806e-01 -3.60115136e-01 -5.94013502e-02 8.31374824e+01] [ 3.59225008e-01 9.32904985e-01 -2.54102739e-02 1.07833292e+01] [ 6.45664400e-02 2.31889077e-03 9.97910716e-01 -1.90258265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.377719421 meters Centerline goodness : 0.949211 Centerline is valid? [True, False] Translation: X:83.14, Y:10.78, Z:-0.19 [[ 9.31534603e-01 -3.58693522e-01 -5.98518140e-02 8.31377774e+01] [ 3.57879037e-01 9.33454727e-01 -2.41840119e-02 1.07812888e+01] [ 6.45436072e-02 1.10853430e-03 9.97914272e-01 -1.89880676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.407719421 meters Centerline goodness : 0.949740 Centerline is valid? [False, False] Translation: X:83.14, Y:10.78, Z:-0.19 [[ 9.31702284e-01 -3.58228469e-01 -6.00268088e-02 8.31379868e+01] [ 3.57437834e-01 9.33633681e-01 -2.37979927e-02 1.07809666e+01] [ 6.45681690e-02 7.16791581e-04 9.97913041e-01 -1.89964250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.437719421 meters Centerline goodness : 0.949740 Centerline is valid? [False, False] Translation: X:83.14, Y:10.78, Z:-0.19 [[ 9.31702284e-01 -3.58228469e-01 -6.00268088e-02 8.31379868e+01] [ 3.57437834e-01 9.33633681e-01 -2.37979927e-02 1.07809666e+01] [ 6.45681690e-02 7.16791581e-04 9.97913041e-01 -1.89964250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.467719421 meters Centerline goodness : 0.951107 Centerline is valid? [False, True] Translation: X:83.14, Y:10.78, Z:-0.19 [[ 9.33098821e-01 -3.54276656e-01 -6.17627854e-02 8.31387888e+01] [ 3.53731554e-01 9.35134959e-01 -1.99147503e-02 1.07813153e+01] [ 6.48118709e-02 -3.26501599e-03 9.97892159e-01 -1.90368909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.497719421 meters Centerline goodness : 0.949932 Centerline is valid? [True, False] Translation: X:83.14, Y:10.78, Z:-0.19 [[ 9.33246479e-01 -3.53845137e-01 -6.20050638e-02 8.31386808e+01] [ 3.53318165e-01 9.35297158e-01 -1.96341614e-02 1.07813163e+01] [ 6.49406125e-02 -3.58400340e-03 9.97882694e-01 -1.90007556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.527719421 meters Centerline goodness : 0.947883 Centerline is valid? [False, False] Translation: X:83.14, Y:10.78, Z:-0.19 [[ 9.33569442e-01 -3.52897787e-01 -6.25399778e-02 8.31394876e+01] [ 3.52440150e-01 9.35650057e-01 -1.85718021e-02 1.07787910e+01] [ 6.50694816e-02 -4.70353226e-03 9.97869650e-01 -1.89590071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.557719421 meters Centerline goodness : 0.947832 Centerline is valid? [False, False] Translation: X:83.14, Y:10.78, Z:-0.19 [[ 9.33675964e-01 -3.52531488e-01 -6.30138489e-02 8.31413586e+01] [ 3.52128777e-01 9.35783130e-01 -1.77555142e-02 1.07765893e+01] [ 6.52266746e-02 -5.61109273e-03 9.97854697e-01 -1.90232182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.587719421 meters Centerline goodness : 0.945502 Centerline is valid? [False, False] Translation: X:83.14, Y:10.78, Z:-0.19 [[ 9.33721704e-01 -3.52349605e-01 -6.33524670e-02 8.31422335e+01] [ 3.51972920e-01 9.35848775e-01 -1.73819857e-02 1.07758309e+01] [ 6.54128644e-02 -6.06841552e-03 9.97839833e-01 -1.90386912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.61771942099999 meters Centerline goodness : 0.942241 Centerline is valid? [False, False] Translation: X:83.13, Y:10.77, Z:-0.19 [[ 9.32279606e-01 -3.54515047e-01 -7.19292551e-02 8.31348053e+01] [ 3.54627129e-01 9.34935391e-01 -1.16367719e-02 1.07680089e+01] [ 7.13746169e-02 -1.46593401e-02 9.97341851e-01 -1.87393633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64771942099999 meters Centerline goodness : 0.941572 Centerline is valid? [False, False] Translation: X:83.14, Y:10.77, Z:-0.19 [[ 9.31017419e-01 -3.58053349e-01 -7.07415415e-02 8.31352124e+01] [ 3.57926590e-01 9.33630901e-01 -1.48962063e-02 1.07673813e+01] [ 7.13801257e-02 -1.14516512e-02 9.97383445e-01 -1.87513327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.67771942099999 meters Centerline goodness : 0.941450 Centerline is valid? [False, False] Translation: X:83.14, Y:10.77, Z:-0.19 [[ 9.29787000e-01 -3.61467264e-01 -6.95525076e-02 8.31352844e+01] [ 3.61127511e-01 9.32345782e-01 -1.78399659e-02 1.07658655e+01] [ 7.12955508e-02 -8.52995557e-03 9.97418761e-01 -1.87104912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.707719421 meters Centerline goodness : 0.944792 Centerline is valid? [False, False] Translation: X:83.13, Y:10.76, Z:-0.18 [[ 9.27153650e-01 -3.68620748e-01 -6.71182064e-02 8.31348777e+01] [ 3.67894791e-01 9.29574819e-01 -2.33255108e-02 1.07609650e+01] [ 7.09896617e-02 -3.06610603e-03 9.97472339e-01 -1.84971310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.737719421 meters Centerline goodness : 0.945572 Centerline is valid? [False, False] Translation: X:83.13, Y:10.75, Z:-0.18 [[ 9.23681066e-01 -3.76233450e-01 -7.25374387e-02 8.31280007e+01] [ 3.75841146e-01 9.26478778e-01 -1.95065788e-02 1.07515758e+01] [ 7.45434251e-02 -9.24469656e-03 9.97174916e-01 -1.81536548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.767719421 meters Centerline goodness : 0.948748 Centerline is valid? [False, False] Translation: X:83.12, Y:10.74, Z:-0.18 [[ 9.21563889e-01 -3.80063773e-01 -7.91929685e-02 8.31188028e+01] [ 3.80171301e-01 9.24805455e-01 -1.43056611e-02 1.07445586e+01] [ 7.86751528e-02 -1.69233132e-02 9.96756651e-01 -1.78174828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.797719421 meters Centerline goodness : 0.945458 Centerline is valid? [False, False] Translation: X:83.11, Y:10.74, Z:-0.18 [[ 9.18599391e-01 -3.85703522e-01 -8.60694589e-02 8.31112731e+01] [ 3.86254858e-01 9.22328551e-01 -1.08272246e-02 1.07384984e+01] [ 8.35604180e-02 -2.32988646e-02 9.96230304e-01 -1.75990384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.827719421 meters Centerline goodness : 0.946271 Centerline is valid? [False, False] Translation: X:83.10, Y:10.73, Z:-0.17 [[ 9.16727239e-01 -3.88510194e-01 -9.31181912e-02 8.31024653e+01] [ 3.89708987e-01 9.20920459e-01 -5.69322228e-03 1.07330018e+01] [ 8.79663223e-02 -3.10698640e-02 9.95638785e-01 -1.73314412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.857719421 meters Centerline goodness : 0.951610 Centerline is valid? [False, True] Translation: X:83.10, Y:10.73, Z:-0.17 [[ 9.15643067e-01 -3.91383358e-01 -9.17433385e-02 8.31004027e+01] [ 3.92340763e-01 9.19784180e-01 -8.11090367e-03 1.07302881e+01] [ 8.75585441e-02 -2.85679587e-02 9.95749654e-01 -1.70731346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.887719421 meters Centerline goodness : 0.954825 Centerline is valid? [True, True] Translation: X:83.12, Y:10.75, Z:-0.18 [[ 9.15995561e-01 -3.93031945e-01 -8.04861703e-02 8.31228351e+01] [ 3.91516607e-01 9.19524815e-01 -3.44798656e-02 1.07496478e+01] [ 8.75607195e-02 7.17315064e-05 9.96159182e-01 -1.75407849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.917719421 meters Centerline goodness : 0.956549 Centerline is valid? [True, True] Translation: X:83.15, Y:10.76, Z:-0.17 [[ 9.16864970e-01 -3.91000261e-01 -8.04824417e-02 8.31465346e+01] [ 3.89476339e-01 9.20390526e-01 -3.44885666e-02 1.07636695e+01] [ 8.75603154e-02 2.75351800e-04 9.96159182e-01 -1.73899375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.947719421 meters Centerline goodness : 0.958062 Centerline is valid? [True, True] Translation: X:83.17, Y:10.78, Z:-0.17 [[ 9.17085572e-01 -3.90483863e-01 -8.04761223e-02 8.31712287e+01] [ 3.88956663e-01 9.20609709e-01 -3.45033062e-02 1.07765014e+01] [ 8.75600838e-02 3.40760306e-04 9.96159182e-01 -1.71912258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.97771942099999 meters Centerline goodness : 0.956395 Centerline is valid? [True, True] Translation: X:83.20, Y:10.79, Z:-0.17 [[ 9.17749480e-01 -3.88923283e-01 -8.04647219e-02 8.31966321e+01] [ 3.87387760e-01 9.21269999e-01 -3.45298725e-02 1.07898049e+01] [ 8.75592056e-02 5.18724116e-04 9.96159182e-01 -1.65698901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00771942099999 meters Centerline goodness : 0.957654 Centerline is valid? [True, True] Translation: X:83.22, Y:10.80, Z:-0.16 [[ 9.17185972e-01 -3.90252535e-01 -8.04540335e-02 8.32222396e+01] [ 3.88719931e-01 9.20707762e-01 -3.45547584e-02 1.08034362e+01] [ 8.75597352e-02 4.19053261e-04 9.96159183e-01 -1.64365736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.03771942099999 meters Centerline goodness : 0.956129 Centerline is valid? [True, True] Translation: X:83.25, Y:10.82, Z:-0.16 [[ 9.16762538e-01 -3.91248388e-01 -8.04434473e-02 8.32475606e+01] [ 3.89717449e-01 9.20285051e-01 -3.45793857e-02 1.08152843e+01] [ 8.75600309e-02 3.50870301e-04 9.96159183e-01 -1.64460594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06771942099999 meters Centerline goodness : 0.952721 Centerline is valid? [True, True] Translation: X:83.27, Y:10.83, Z:-0.17 [[ 9.15944570e-01 -3.93160644e-01 -8.04378772e-02 8.32732741e+01] [ 3.91635922e-01 9.19469779e-01 -3.45923378e-02 1.08300370e+01] [ 8.75605430e-02 1.82301746e-04 9.96159183e-01 -1.65421680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.097719421 meters Centerline goodness : 0.950900 Centerline is valid? [True, True] Translation: X:83.30, Y:10.84, Z:-0.16 [[ 9.15817169e-01 -3.93459296e-01 -8.04282019e-02 8.32986260e+01] [ 3.91933749e-01 9.19342021e-01 -3.46148187e-02 1.08425833e+01] [ 8.75605478e-02 1.78318608e-04 9.96159183e-01 -1.64150054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.127719421 meters Centerline goodness : 0.953864 Centerline is valid? [True, True] Translation: X:83.32, Y:10.86, Z:-0.16 [[ 9.16329930e-01 -3.92266063e-01 -8.04163849e-02 8.33236182e+01] [ 3.90733518e-01 9.19851745e-01 -3.46422500e-02 1.08575133e+01] [ 8.75601310e-02 3.22353552e-04 9.96159184e-01 -1.59933585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.157719421 meters Centerline goodness : 0.955514 Centerline is valid? [True, True] Translation: X:83.35, Y:10.87, Z:-0.16 [[ 9.17217826e-01 -3.90187567e-01 -8.04059798e-02 8.33487159e+01] [ 3.88644927e-01 9.20735229e-01 -3.46663839e-02 1.08697490e+01] [ 8.75590103e-02 5.47249160e-04 9.96159184e-01 -1.57030168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.187719421 meters Centerline goodness : 0.954934 Centerline is valid? [True, True] Translation: X:83.37, Y:10.89, Z:-0.16 [[ 9.20484885e-01 -3.82417371e-01 -8.04023060e-02 8.33724294e+01] [ 3.80844297e-01 9.23988784e-01 -3.46749027e-02 1.08857797e+01] [ 8.75511140e-02 1.29696409e-03 9.96159184e-01 -1.55358414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.217719421 meters Centerline goodness : 0.955625 Centerline is valid? [True, True] Translation: X:83.40, Y:10.90, Z:-0.15 [[ 9.22697803e-01 -3.77047495e-01 -8.03986970e-02 8.33975164e+01] [ 3.75453303e-01 9.26192144e-01 -3.46832684e-02 1.09014840e+01] [ 8.75418811e-02 1.81621920e-03 9.96159184e-01 -1.53305780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.247719421 meters Centerline goodness : 0.951146 Centerline is valid? [True, True] Translation: X:83.42, Y:10.92, Z:-0.15 [[ 9.27697307e-01 -3.64575625e-01 -8.03885610e-02 8.34206886e+01] [ 3.62932444e-01 9.31168880e-01 -3.47067459e-02 1.09177824e+01] [ 8.75085598e-02 3.02173777e-03 9.96159185e-01 -1.54840861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.277719421 meters Centerline goodness : 0.951210 Centerline is valid? [True, True] Translation: X:83.45, Y:10.93, Z:-0.15 [[ 9.29381830e-01 -3.60260550e-01 -8.03850068e-02 8.34463233e+01] [ 3.58600544e-01 9.32845389e-01 -3.47149758e-02 1.09293969e+01] [ 8.74932193e-02 3.43736065e-03 9.96159185e-01 -1.50271238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.307719421 meters Centerline goodness : 0.952465 Centerline is valid? [True, True] Translation: X:83.47, Y:10.94, Z:-0.15 [[ 9.31234409e-01 -3.55446738e-01 -8.03746950e-02 8.34723291e+01] [ 3.53766778e-01 9.34688333e-01 -3.47388343e-02 1.09404301e+01] [ 8.74730950e-02 3.91610095e-03 9.96159185e-01 -1.46057126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.337719421 meters Centerline goodness : 0.953954 Centerline is valid? [True, True] Translation: X:83.50, Y:10.95, Z:-0.15 [[ 9.31557433e-01 -3.54601662e-01 -8.03642410e-02 8.34973770e+01] [ 3.52916488e-01 9.35008816e-01 -3.47630016e-02 1.09519414e+01] [ 8.74682919e-02 4.02186680e-03 9.96159185e-01 -1.46839786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36771942099999 meters Centerline goodness : 0.955636 Centerline is valid? [True, True] Translation: X:83.52, Y:10.96, Z:-0.14 [[ 9.31761491e-01 -3.54066130e-01 -8.03598147e-02 8.35234068e+01] [ 3.52378093e-01 9.35211474e-01 -3.47732307e-02 1.09625341e+01] [ 8.74654440e-02 4.08331895e-03 9.96159185e-01 -1.38847618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.39771942099999 meters Centerline goodness : 0.957649 Centerline is valid? [True, True] Translation: X:83.55, Y:10.97, Z:-0.14 [[ 9.31955507e-01 -3.53557462e-01 -8.03495792e-02 8.35492396e+01] [ 3.51865510e-01 9.35403571e-01 -3.47968654e-02 1.09733565e+01] [ 8.74619748e-02 4.15688470e-03 9.96159186e-01 -1.38644121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42771942099999 meters Centerline goodness : 0.955031 Centerline is valid? [True, True] Translation: X:83.58, Y:10.98, Z:-0.14 [[ 9.31847874e-01 -3.53841871e-01 -8.03459443e-02 8.35762594e+01] [ 3.52150249e-01 9.35296101e-01 -3.48052564e-02 1.09844773e+01] [ 8.74628055e-02 4.13935984e-03 9.96159186e-01 -1.37792686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.457719421 meters Centerline goodness : 0.952076 Centerline is valid? [True, True] Translation: X:83.60, Y:10.99, Z:-0.14 [[ 9.32081108e-01 -3.53229372e-01 -8.03356583e-02 8.36038431e+01] [ 3.51533445e-01 9.35527220e-01 -3.48289820e-02 1.09919887e+01] [ 8.74588145e-02 4.22276548e-03 9.96159186e-01 -1.38498203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.487719421 meters Centerline goodness : 0.952892 Centerline is valid? [True, True] Translation: X:83.63, Y:11.00, Z:-0.14 [[ 9.32180762e-01 -3.52967125e-01 -8.03320311e-02 8.36316964e+01] [ 3.51269509e-01 9.35626042e-01 -3.48373460e-02 1.10007412e+01] [ 8.74571782e-02 4.25651054e-03 9.96159186e-01 -1.35978340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.517719421 meters Centerline goodness : 0.950554 Centerline is valid? [True, True] Translation: X:83.66, Y:11.01, Z:-0.13 [[ 9.31380386e-01 -3.55075994e-01 -8.03219436e-02 8.36591645e+01] [ 3.53384181e-01 9.34828519e-01 -3.48605886e-02 1.10068538e+01] [ 8.74654017e-02 4.08396421e-03 9.96159186e-01 -1.34988193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.547719421 meters Centerline goodness : 0.950662 Centerline is valid? [True, True] Translation: X:83.69, Y:11.02, Z:-0.13 [[ 9.30922959e-01 -3.56274333e-01 -8.03183869e-02 8.36856994e+01] [ 3.54586255e-01 9.34372921e-01 -3.48687814e-02 1.10164369e+01] [ 8.74701776e-02 3.98035316e-03 9.96159186e-01 -1.34255996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.577719421 meters Centerline goodness : 0.951669 Centerline is valid? [True, True] Translation: X:83.71, Y:11.02, Z:-0.13 [[ 9.30544245e-01 -3.57263509e-01 -8.03130930e-02 8.37131369e+01] [ 3.55578048e-01 9.33995487e-01 -3.48809704e-02 1.10226463e+01] [ 8.74737643e-02 3.90071344e-03 9.96159187e-01 -1.30971450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.607719421 meters Centerline goodness : 0.952086 Centerline is valid? [True, True] Translation: X:83.74, Y:11.03, Z:-0.13 [[ 9.30511545e-01 -3.57351168e-01 -8.03019700e-02 8.37396135e+01] [ 3.55663829e-01 9.33961869e-01 -3.49065587e-02 1.10319437e+01] [ 8.74728775e-02 3.92044973e-03 9.96159187e-01 -1.28378320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.637719421 meters Centerline goodness : 0.954520 Centerline is valid? [True, True] Translation: X:83.77, Y:11.04, Z:-0.13 [[ 9.31182686e-01 -3.55601149e-01 -8.02909016e-02 8.37671303e+01] [ 3.53905139e-01 9.34628754e-01 -3.49319995e-02 1.10407072e+01] [ 8.74640445e-02 4.11271049e-03 9.96159187e-01 -1.25153761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.667719421 meters Centerline goodness : 0.954512 Centerline is valid? [True, True] Translation: X:83.79, Y:11.05, Z:-0.12 [[ 9.31649179e-01 -3.54379355e-01 -8.02812621e-02 8.37942665e+01] [ 3.52676923e-01 9.35092079e-01 -3.49541393e-02 1.10509237e+01] [ 8.74573976e-02 4.25164667e-03 9.96159188e-01 -1.19696088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.697719421 meters Centerline goodness : 0.951877 Centerline is valid? [True, True] Translation: X:83.82, Y:11.06, Z:-0.12 [[ 9.34117821e-01 -3.47822487e-01 -8.02708792e-02 8.38223540e+01] [ 3.46093858e-01 9.37547643e-01 -3.49779669e-02 1.10575435e+01] [ 8.74238971e-02 4.89228387e-03 9.96159188e-01 -1.21544292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72771942099999 meters Centerline goodness : 0.950362 Centerline is valid? [True, True] Translation: X:83.85, Y:11.07, Z:-0.12 [[ 9.35473713e-01 -3.44160001e-01 -8.02672214e-02 8.38490398e+01] [ 3.42417230e-01 9.38896371e-01 -3.49863588e-02 1.10674609e+01] [ 8.74035081e-02 5.24393935e-03 9.96159188e-01 -1.20674061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.75771942099999 meters Centerline goodness : 0.951056 Centerline is valid? [True, True] Translation: X:83.87, Y:11.08, Z:-0.12 [[ 9.37750723e-01 -3.37908655e-01 -8.02578481e-02 8.38749668e+01] [ 3.36141250e-01 9.41160725e-01 -3.50078478e-02 1.10768549e+01] [ 8.73649893e-02 5.85066125e-03 9.96159188e-01 -1.16463890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78771942099999 meters Centerline goodness : 0.952399 Centerline is valid? [True, True] Translation: X:83.90, Y:11.09, Z:-0.11 [[ 9.38366034e-01 -3.36198941e-01 -8.02462365e-02 8.39015033e+01] [ 3.34423062e-01 9.41771630e-01 -3.50344443e-02 1.10872030e+01] [ 8.73521720e-02 6.03894043e-03 9.96159189e-01 -1.12666383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.81771942099999 meters Centerline goodness : 0.958889 Centerline is valid? [True, True] Translation: X:83.93, Y:11.09, Z:-0.11 [[ 9.38746402e-01 -3.35137866e-01 -8.02359186e-02 8.39294072e+01] [ 3.33356132e-01 9.42148938e-01 -3.50580584e-02 1.10935034e+01] [ 8.73434684e-02 6.16349072e-03 9.96159189e-01 -1.05096813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.847719421 meters Centerline goodness : 0.957461 Centerline is valid? [True, True] Translation: X:83.96, Y:11.10, Z:-0.10 [[ 9.37515430e-01 -3.38566633e-01 -8.02337424e-02 8.39578037e+01] [ 3.36796922e-01 9.40924235e-01 -3.50630382e-02 1.10993186e+01] [ 8.73650475e-02 5.84966193e-03 9.96159189e-01 -1.01293927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.877719421 meters Centerline goodness : 0.957053 Centerline is valid? [True, True] Translation: X:83.99, Y:11.11, Z:-0.10 [[ 9.36765230e-01 -3.40639424e-01 -8.02227333e-02 8.39850363e+01] [ 3.38875112e-01 9.40176832e-01 -3.50882086e-02 1.11074568e+01] [ 8.73759824e-02 5.68392605e-03 9.96159189e-01 -1.01222995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.907719421 meters Centerline goodness : 0.958018 Centerline is valid? [True, True] Translation: X:84.01, Y:11.11, Z:-0.10 [[ 9.34986720e-01 -3.45492009e-01 -8.02191004e-02 8.40127727e+01] [ 3.43744701e-01 9.38407063e-01 -3.50965122e-02 1.11130961e+01] [ 8.74037349e-02 5.23988210e-03 9.96159189e-01 -9.94127541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.937719421 meters Centerline goodness : 0.958439 Centerline is valid? [True, True] Translation: X:84.04, Y:11.12, Z:-0.10 [[ 9.34121844e-01 -3.47826339e-01 -8.02073516e-02 8.40404686e+01] [ 3.46085285e-01 9.37545373e-01 -3.51233418e-02 1.11221127e+01] [ 8.74148547e-02 5.05089667e-03 9.96159190e-01 -9.64648765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.967719421 meters Centerline goodness : 0.961280 Centerline is valid? [True, True] Translation: X:84.07, Y:11.13, Z:-0.09 [[ 9.31201092e-01 -3.55574123e-01 -8.01970625e-02 8.40685452e+01] [ 3.53859553e-01 9.34637961e-01 -3.51468191e-02 1.11272184e+01] [ 8.74525184e-02 4.35025965e-03 9.96159190e-01 -9.24920764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.997719421 meters Centerline goodness : 0.962419 Centerline is valid? [True, True] Translation: X:84.10, Y:11.14, Z:-0.09 [[ 9.29635631e-01 -3.59647898e-01 -8.01934103e-02 8.40960522e+01] [ 3.57947675e-01 9.33079620e-01 -3.51551503e-02 1.11351668e+01] [ 8.74703127e-02 3.97643562e-03 9.96159190e-01 -8.93758571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.027719421 meters Centerline goodness : 0.961096 Centerline is valid? [True, True] Translation: X:84.12, Y:11.14, Z:-0.09 [[ 9.26470888e-01 -3.67726223e-01 -8.01817899e-02 8.41246128e+01] [ 3.66053754e-01 9.29928439e-01 -3.51816343e-02 1.11419592e+01] [ 8.75005362e-02 3.24391481e-03 9.96159191e-01 -8.77544035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.057719421 meters Centerline goodness : 0.959130 Centerline is valid? [True, True] Translation: X:84.15, Y:11.15, Z:-0.09 [[ 9.24841397e-01 -3.71807655e-01 -8.01714287e-02 8.41512005e+01] [ 3.70148405e-01 9.28305311e-01 -3.52052294e-02 1.11513841e+01] [ 8.75131369e-02 2.88392712e-03 9.96159191e-01 -8.75085880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.087719421 meters Centerline goodness : 0.962121 Centerline is valid? [True, True] Translation: X:84.18, Y:11.16, Z:-0.08 [[ 9.21510387e-01 -3.79989131e-01 -8.01677413e-02 8.41791645e+01] [ 3.78359913e-01 9.24988528e-01 -3.52136244e-02 1.11575811e+01] [ 8.75350355e-02 2.11746099e-03 9.96159191e-01 -8.40766396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.11771942099999 meters Centerline goodness : 0.961752 Centerline is valid? [True, True] Translation: X:84.21, Y:11.17, Z:-0.08 [[ 9.19881276e-01 -3.83916841e-01 -8.01641926e-02 8.42059523e+01] [ 3.82301773e-01 9.23366009e-01 -3.52217011e-02 1.11676497e+01] [ 8.75430948e-02 1.75287036e-03 9.96159191e-01 -7.97702143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14771942099999 meters Centerline goodness : 0.965161 Centerline is valid? [True, True] Translation: X:84.23, Y:11.18, Z:-0.07 [[ 9.17752101e-01 -3.88981203e-01 -8.01542571e-02 8.42325598e+01] [ 3.87383393e-01 9.21244781e-01 -3.52442968e-02 1.11785701e+01] [ 8.75510600e-02 1.29509937e-03 9.96159191e-01 -7.34454058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.17771942099999 meters Centerline goodness : 0.964921 Centerline is valid? [True, True] Translation: X:84.26, Y:11.19, Z:-0.07 [[ 9.16811265e-01 -3.91195727e-01 -8.01436628e-02 8.42579190e+01] [ 3.89604250e-01 9.20306835e-01 -3.52683715e-02 1.11893546e+01] [ 8.75535969e-02 1.11012866e-03 9.96159192e-01 -7.07345254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.207719421 meters Centerline goodness : 0.964499 Centerline is valid? [True, True] Translation: X:84.28, Y:11.20, Z:-0.07 [[ 9.15808402e-01 -3.93540207e-01 -8.01316157e-02 8.42831355e+01] [ 3.91955286e-01 9.19306949e-01 -3.52957219e-02 1.12013316e+01] [ 8.75558369e-02 9.16108327e-04 9.96159192e-01 -7.11880141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.237719421 meters Centerline goodness : 0.963085 Centerline is valid? [True, True] Translation: X:84.31, Y:11.21, Z:-0.07 [[ 9.15622276e-01 -3.93974189e-01 -8.01260640e-02 8.43085571e+01] [ 3.92389823e-01 9.19121074e-01 -3.53083207e-02 1.12145127e+01] [ 8.75561210e-02 8.88432893e-04 9.96159192e-01 -6.99786076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.267719421 meters Centerline goodness : 0.960309 Centerline is valid? [True, True] Translation: X:84.33, Y:11.23, Z:-0.07 [[ 9.15792371e-01 -3.93580778e-01 -8.01155704e-02 8.43337328e+01] [ 3.91992828e-01 9.19289543e-01 -3.53321149e-02 1.12268891e+01] [ 8.75554474e-02 9.52152234e-04 9.96159193e-01 -6.92483273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.297719421 meters Centerline goodness : 0.962609 Centerline is valid? [True, True] Translation: X:84.36, Y:11.24, Z:-0.06 [[ 9.14832021e-01 -3.95808618e-01 -8.01118737e-02 8.43586865e+01] [ 3.94228450e-01 9.18332717e-01 -3.53404947e-02 1.12388759e+01] [ 8.75574270e-02 7.48236380e-04 9.96159193e-01 -6.41987150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.327719421 meters Centerline goodness : 0.964248 Centerline is valid? [True, True] Translation: X:84.38, Y:11.25, Z:-0.06 [[ 9.13494491e-01 -3.98888270e-01 -8.00997032e-02 8.43843372e+01] [ 3.97317488e-01 9.16999408e-01 -3.53680580e-02 1.12532583e+01] [ 8.75592839e-02 4.83513276e-04 9.96159193e-01 -6.17463419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.357719421 meters Centerline goodness : 0.964248 Centerline is valid? [True, True] Translation: X:84.41, Y:11.26, Z:-0.06 [[ 9.13356668e-01 -3.99205895e-01 -8.00890134e-02 8.44102844e+01] [ 3.97634211e-01 9.16861180e-01 -3.53922481e-02 1.12649944e+01] [ 8.75593014e-02 4.79614202e-04 9.96159193e-01 -5.92516660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.387719421 meters Centerline goodness : 0.964929 Centerline is valid? [True, True] Translation: X:84.43, Y:11.28, Z:-0.06 [[ 9.10687859e-01 -4.05259596e-01 -8.00767318e-02 8.44334530e+01] [ 4.03708767e-01 9.14201649e-01 -3.54200141e-02 1.12813827e+01] [ 8.75605808e-02 -7.11018391e-05 9.96159194e-01 -5.61572361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.417719421 meters Centerline goodness : 0.965687 Centerline is valid? [True, True] Translation: X:84.46, Y:11.29, Z:-0.05 [[ 9.09588313e-01 -4.07722240e-01 -8.00729410e-02 8.44595087e+01] [ 4.06180169e-01 9.13105956e-01 -3.54285818e-02 1.12945261e+01] [ 8.75601000e-02 -2.98616670e-04 9.96159194e-01 -5.29947482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.447719421 meters Centerline goodness : 0.966171 Centerline is valid? [True, True] Translation: X:84.48, Y:11.31, Z:-0.05 [[ 9.07859682e-01 -4.11559017e-01 -8.00623144e-02 8.44834718e+01] [ 4.10029695e-01 9.11382885e-01 -3.54525799e-02 1.13087346e+01] [ 8.75582520e-02 -6.41958489e-04 9.96159194e-01 -4.92422807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.47771942099999 meters Centerline goodness : 0.968642 Centerline is valid? [True, True] Translation: X:84.51, Y:11.32, Z:-0.05 [[ 9.07563671e-01 -4.12213725e-01 -8.00501560e-02 8.45070989e+01] [ 4.10684525e-01 9.11086927e-01 -3.54800117e-02 1.13227193e+01] [ 8.75579985e-02 -6.74990698e-04 9.96159195e-01 -4.54637759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50771942099999 meters Centerline goodness : 0.966512 Centerline is valid? [True, True] Translation: X:84.53, Y:11.34, Z:-0.04 [[ 9.08579643e-01 -4.09970251e-01 -8.00464020e-02 8.45300455e+01] [ 4.08431605e-01 9.12098784e-01 -3.54884790e-02 1.13429902e+01] [ 8.75594466e-02 -4.49370907e-04 9.96159195e-01 -4.29575286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.53771942099999 meters Centerline goodness : 0.964473 Centerline is valid? [True, True] Translation: X:84.55, Y:11.36, Z:-0.04 [[ 9.11860655e-01 -4.02621946e-01 -8.00357052e-02 8.45520470e+01] [ 4.01052824e-01 9.15366314e-01 -3.55125869e-02 1.13635607e+01] [ 8.75601352e-02 2.83985207e-04 9.96159195e-01 -4.45201284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56771942099999 meters Centerline goodness : 0.963882 Centerline is valid? [True, True] Translation: X:84.58, Y:11.38, Z:-0.04 [[ 9.14108173e-01 -3.97493577e-01 -8.00318963e-02 8.45755083e+01] [ 3.95904037e-01 9.17604621e-01 -3.55211686e-02 1.13785844e+01] [ 8.75570742e-02 7.85239683e-04 9.96159195e-01 -4.12301119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.597719421 meters Centerline goodness : 0.963893 Centerline is valid? [True, True] Translation: X:84.60, Y:11.39, Z:-0.04 [[ 9.16095118e-01 -3.92895206e-01 -8.00193210e-02 8.46003558e+01] [ 3.91285645e-01 9.19582394e-01 -3.55494749e-02 1.13940883e+01] [ 8.75515770e-02 1.25628876e-03 9.96159196e-01 -3.95694071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.627719421 meters Centerline goodness : 0.959651 Centerline is valid? [True, True] Translation: X:84.62, Y:11.41, Z:-0.04 [[ 9.19752304e-01 -3.84258183e-01 -8.00084212e-02 8.46228910e+01] [ 3.82613750e-01 9.23223272e-01 -3.55739893e-02 1.14122751e+01] [ 8.75352329e-02 2.10693657e-03 9.96159196e-01 -4.14181744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.657719421 meters Centerline goodness : 0.955937 Centerline is valid? [True, True] Translation: X:84.65, Y:11.43, Z:-0.04 [[ 9.21085189e-01 -3.81052940e-01 -8.00045704e-02 8.46467507e+01] [ 3.79395678e-01 9.24550050e-01 -3.55826474e-02 1.14273873e+01] [ 8.75271020e-02 2.42126127e-03 9.96159196e-01 -4.43958236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.687719421 meters Centerline goodness : 0.955716 Centerline is valid? [True, True] Translation: X:84.67, Y:11.45, Z:-0.05 [[ 9.22910166e-01 -3.76612515e-01 -7.99989929e-02 8.46700191e+01] [ 3.74937500e-01 9.26366479e-01 -3.55951827e-02 1.14462187e+01] [ 8.75139767e-02 2.85653355e-03 9.96159196e-01 -4.50390516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.717719421 meters Centerline goodness : 0.953018 Centerline is valid? [True, True] Translation: X:84.69, Y:11.46, Z:-0.04 [[ 9.23426036e-01 -3.75347969e-01 -7.99891088e-02 8.46946212e+01] [ 3.73666301e-01 9.26879117e-01 -3.56173805e-02 1.14615373e+01] [ 8.75091459e-02 3.00078204e-03 9.96159196e-01 -4.28070900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.747719421 meters Centerline goodness : 0.950308 Centerline is valid? [True, True] Translation: X:84.72, Y:11.47, Z:-0.04 [[ 9.23418465e-01 -3.75368753e-01 -7.99789842e-02 8.47199263e+01] [ 3.73685198e-01 9.26870625e-01 -3.56401009e-02 1.14731696e+01] [ 8.75083513e-02 3.02376481e-03 9.96159197e-01 -4.15690672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.777719421 meters Centerline goodness : 0.950851 Centerline is valid? [True, True] Translation: X:84.75, Y:11.49, Z:-0.04 [[ 9.23700955e-01 -3.74673838e-01 -7.99753759e-02 8.47456284e+01] [ 3.72986986e-01 9.27151506e-01 -3.56481959e-02 1.14854194e+01] [ 8.75057366e-02 3.09849812e-03 9.96159197e-01 -3.75084810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.807719421 meters Centerline goodness : 0.950881 Centerline is valid? [True, True] Translation: X:84.77, Y:11.50, Z:-0.04 [[ 9.23942672e-01 -3.74079584e-01 -7.99650212e-02 8.47704903e+01] [ 3.72388507e-01 9.27391153e-01 -3.56714083e-02 1.14974542e+01] [ 8.75027988e-02 3.18028141e-03 9.96159197e-01 -3.52725812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.837719421 meters Centerline goodness : 0.952212 Centerline is valid? [True, True] Translation: X:84.79, Y:11.51, Z:-0.03 [[ 9.24585343e-01 -3.72490869e-01 -7.99530852e-02 8.47949612e+01] [ 3.70791559e-01 9.28029775e-01 -3.56981415e-02 1.15099051e+01] [ 8.74960754e-02 3.36004930e-03 9.96159198e-01 -3.13346680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86771942099999 meters Centerline goodness : 0.954148 Centerline is valid? [True, True] Translation: X:84.82, Y:11.52, Z:-0.03 [[ 9.24948119e-01 -3.71589922e-01 -7.99494026e-02 8.48201097e+01] [ 3.69886545e-01 9.28390542e-01 -3.57063872e-02 1.15215220e+01] [ 8.74924027e-02 3.45434735e-03 9.96159198e-01 -2.90397590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.89771942099999 meters Centerline goodness : 0.953698 Centerline is valid? [True, True] Translation: X:84.85, Y:11.53, Z:-0.03 [[ 9.26257800e-01 -3.68313948e-01 -7.99457591e-02 8.48451988e+01] [ 3.66597696e-01 9.29693821e-01 -3.57145428e-02 1.15329979e+01] [ 8.74792425e-02 3.77294279e-03 9.96159198e-01 -2.68735586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92771942099999 meters Centerline goodness : 0.954257 Centerline is valid? [True, True] Translation: X:84.87, Y:11.54, Z:-0.02 [[ 9.26888461e-01 -3.66724738e-01 -7.99421524e-02 8.48714854e+01] [ 3.65001901e-01 9.30321185e-01 -3.57226143e-02 1.15444710e+01] [ 8.74722443e-02 3.93184135e-03 9.96159198e-01 -2.13774063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.957719421 meters Centerline goodness : 0.955500 Centerline is valid? [True, True] Translation: X:84.90, Y:11.56, Z:-0.02 [[ 9.27610299e-01 -3.64897184e-01 -7.99323330e-02 8.48966427e+01] [ 3.63165697e-01 9.31038668e-01 -3.57445725e-02 1.15562761e+01] [ 8.74631867e-02 4.12835215e-03 9.96159198e-01 -2.09557026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.987719421 meters Centerline goodness : 0.956513 Centerline is valid? [True, True] Translation: X:84.92, Y:11.57, Z:-0.02 [[ 9.27825384e-01 -3.64350768e-01 -7.99285590e-02 8.49217407e+01] [ 3.62616537e-01 9.31252366e-01 -3.57530096e-02 1.15672497e+01] [ 8.74602962e-02 4.18913262e-03 9.96159198e-01 -1.91737440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.017719421 meters Centerline goodness : 0.958391 Centerline is valid? [True, True] Translation: X:84.95, Y:11.58, Z:-0.01 [[ 9.28315184e-01 -3.63101789e-01 -7.99250313e-02 8.49480985e+01] [ 3.61362271e-01 9.31739485e-01 -3.57608939e-02 1.15774437e+01] [ 8.74541520e-02 4.31548989e-03 9.96159198e-01 -1.00236454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.047719421 meters Centerline goodness : 0.959343 Centerline is valid? [True, True] Translation: X:84.97, Y:11.59, Z:-0.01 [[ 9.28595818e-01 -3.62385873e-01 -7.99142347e-02 8.49739292e+01] [ 3.60641647e-01 9.32017723e-01 -3.57850047e-02 1.15877956e+01] [ 8.74494632e-02 4.40940446e-03 9.96159198e-01 -6.70687123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.077719421 meters Centerline goodness : 0.956708 Centerline is valid? [True, True] Translation: X:85.00, Y:11.60, Z:-0.01 [[ 9.29288686e-01 -3.60608123e-01 -7.99019351e-02 8.50003820e+01] [ 3.58854999e-01 9.32706041e-01 -3.58124468e-02 1.15969210e+01] [ 8.74392767e-02 4.60689274e-03 9.96159199e-01 -6.35695229e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.107719421 meters Centerline goodness : 0.955306 Centerline is valid? [True, True] Translation: X:85.03, Y:11.61, Z:-0.01 [[ 9.29488140e-01 -3.60094546e-01 -7.98981558e-02 8.50269465e+01] [ 3.58338812e-01 9.32904154e-01 -3.58208765e-02 1.16078552e+01] [ 8.74362237e-02 4.66446963e-03 9.96159199e-01 -5.68054598e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.137719421 meters Centerline goodness : 0.950483 Centerline is valid? [True, True] Translation: X:85.05, Y:11.62, Z:-0.01 [[ 9.30017164e-01 -3.58728356e-01 -7.98876793e-02 8.50544570e+01] [ 3.56965606e-01 9.33429562e-01 -3.58442260e-02 1.16162530e+01] [ 8.74278618e-02 4.81859161e-03 9.96159199e-01 -9.51378884e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.167719421 meters Centerline goodness : 0.952911 Centerline is valid? [True, True] Translation: X:85.08, Y:11.62, Z:-0.01 [[ 9.29993112e-01 -3.58791536e-01 -7.98839464e-02 8.50823658e+01] [ 3.57028306e-01 9.33405262e-01 -3.58525433e-02 1.16227190e+01] [ 8.74276851e-02 4.82178827e-03 9.96159199e-01 -7.35788166e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.197719421 meters Centerline goodness : 0.952489 Centerline is valid? [True, True] Translation: X:85.11, Y:11.63, Z:-0.00 [[ 9.30028228e-01 -3.58701679e-01 -7.98786658e-02 8.51089424e+01] [ 3.56937113e-01 9.33439687e-01 -3.58643045e-02 1.16315677e+01] [ 8.74265031e-02 4.84315514e-03 9.96159199e-01 -1.90862340e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22771942099999 meters Centerline goodness : 0.954001 Centerline is valid? [True, True] Translation: X:85.14, Y:11.64, Z:0.00 [[ 9.29890031e-01 -3.59062394e-01 -7.98669369e-02 8.51352975e+01] [ 3.57296917e-01 9.33301019e-01 -3.58904049e-02 1.16412800e+01] [ 8.74267883e-02 4.83791941e-03 9.96159200e-01 4.02789238e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.25771942099999 meters Centerline goodness : 0.953016 Centerline is valid? [True, True] Translation: X:85.16, Y:11.65, Z:0.00 [[ 9.29509826e-01 -3.60048088e-01 -7.98552292e-02 8.51621699e+01] [ 3.58284000e-01 9.32921532e-01 -3.59164354e-02 1.16488043e+01] [ 8.74303067e-02 4.77382872e-03 9.96159200e-01 9.77946579e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28771942099999 meters Centerline goodness : 0.951345 Centerline is valid? [True, True] Translation: X:85.19, Y:11.66, Z:0.00 [[ 9.29053128e-01 -3.61225697e-01 -7.98516242e-02 8.51898818e+01] [ 3.59465248e-01 9.32466712e-01 -3.59244485e-02 1.16587476e+01] [ 8.74358155e-02 4.67183735e-03 9.96159200e-01 2.53400544e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.31771942099999 meters Centerline goodness : 0.951359 Centerline is valid? [True, True] Translation: X:85.22, Y:11.66, Z:0.01 [[ 9.27150997e-01 -3.66081432e-01 -7.98461926e-02 8.52185096e+01] [ 3.64337830e-01 9.30573217e-01 -3.59365169e-02 1.16645603e+01] [ 8.74584199e-02 4.22758892e-03 9.96159200e-01 6.84824632e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.347719421 meters Centerline goodness : 0.954641 Centerline is valid? [True, True] Translation: X:85.25, Y:11.67, Z:0.01 [[ 9.24338368e-01 -3.73128349e-01 -7.98361835e-02 8.52465595e+01] [ 3.71408932e-01 9.27772803e-01 -3.59587393e-02 1.16717214e+01] [ 8.74870648e-02 3.58617076e-03 9.96159201e-01 1.30408334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.377719421 meters Centerline goodness : 0.954920 Centerline is valid? [True, True] Translation: X:85.27, Y:11.68, Z:0.02 [[ 9.22936967e-01 -3.76583491e-01 -7.98262510e-02 8.52722686e+01] [ 3.74875030e-01 9.26376865e-01 -3.59807754e-02 1.16815469e+01] [ 8.74989581e-02 3.28311946e-03 9.96159201e-01 1.53410848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.407719421 meters Centerline goodness : 0.956757 Centerline is valid? [True, True] Translation: X:85.30, Y:11.69, Z:0.02 [[ 9.21475548e-01 -3.80146585e-01 -7.98209778e-02 8.52989037e+01] [ 3.78450416e-01 9.24921524e-01 -3.59924698e-02 1.16917337e+01] [ 8.75105549e-02 2.95789857e-03 9.96159201e-01 2.16606562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.437719421 meters Centerline goodness : 0.960501 Centerline is valid? [True, True] Translation: X:85.33, Y:11.70, Z:0.02 [[ 9.18144676e-01 -3.88124479e-01 -7.98106670e-02 8.53253430e+01] [ 3.86456277e-01 9.21604277e-01 -3.60153189e-02 1.16995336e+01] [ 8.75322789e-02 2.22394002e-03 9.96159201e-01 2.46967512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.467719421 meters Centerline goodness : 0.959834 Centerline is valid? [True, True] Translation: X:85.35, Y:11.71, Z:0.03 [[ 9.16300610e-01 -3.92458953e-01 -7.98070282e-02 8.53512430e+01] [ 3.90806417e-01 9.19767721e-01 -3.60233805e-02 1.17112134e+01] [ 8.75416266e-02 1.81914682e-03 9.96159201e-01 2.61522155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.497719421 meters Centerline goodness : 0.956412 Centerline is valid? [True, True] Translation: X:85.38, Y:11.72, Z:0.02 [[ 9.13367292e-01 -3.99240404e-01 -7.97953053e-02 8.53775192e+01] [ 3.97611346e-01 9.16845496e-01 -3.60493291e-02 1.17242181e+01] [ 8.75523150e-02 1.19875936e-03 9.96159202e-01 2.38440850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.527719421 meters Centerline goodness : 0.954385 Centerline is valid? [True, True] Translation: X:85.40, Y:11.73, Z:0.03 [[ 9.11997233e-01 -4.02362267e-01 -7.97850395e-02 8.54048695e+01] [ 4.00743131e-01 9.15480066e-01 -3.60720354e-02 1.17343031e+01] [ 8.75556392e-02 9.24289952e-04 9.96159202e-01 2.70934862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.557719421 meters Centerline goodness : 0.954113 Centerline is valid? [True, True] Translation: X:85.43, Y:11.74, Z:0.03 [[ 9.11361099e-01 -4.03803015e-01 -7.97751376e-02 8.54305885e+01] [ 4.02187469e-01 9.14845598e-01 -3.60939207e-02 1.17445234e+01] [ 8.75567675e-02 8.10034528e-04 9.96159202e-01 2.80220550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.587719421 meters Centerline goodness : 0.958790 Centerline is valid? [True, True] Translation: X:85.46, Y:11.76, Z:0.04 [[ 9.10149217e-01 -4.06527899e-01 -7.97713571e-02 8.54569532e+01] [ 4.04922053e-01 9.13638198e-01 -3.61022741e-02 1.17550171e+01] [ 8.75587406e-02 5.57274832e-04 9.96159202e-01 3.81468456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.61771942099999 meters Centerline goodness : 0.956457 Centerline is valid? [True, True] Translation: X:85.48, Y:11.77, Z:0.04 [[ 9.09775444e-01 -4.07365823e-01 -7.97604366e-02 8.54819367e+01] [ 4.05761076e-01 9.13264931e-01 -3.61263846e-02 1.17673530e+01] [ 8.75590640e-02 5.03217009e-04 9.96159203e-01 3.77144000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64771942099999 meters Centerline goodness : 0.955570 Centerline is valid? [True, True] Translation: X:85.51, Y:11.78, Z:0.04 [[ 9.09332953e-01 -4.08353740e-01 -7.97546426e-02 8.55072629e+01] [ 4.06751663e-01 9.12823666e-01 -3.61391714e-02 1.17816206e+01] [ 8.75594910e-02 4.22205972e-04 9.96159203e-01 3.72973259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.67771942099999 meters Centerline goodness : 0.957633 Centerline is valid? [True, True] Translation: X:85.53, Y:11.80, Z:0.04 [[ 9.09607560e-01 -4.07743749e-01 -7.97441065e-02 8.55325005e+01] [ 4.06137294e-01 9.13096259e-01 -3.61624052e-02 1.17955563e+01] [ 8.75590400e-02 5.06541450e-04 9.96159203e-01 4.17075025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.707719421 meters Centerline goodness : 0.958339 Centerline is valid? [True, True] Translation: X:85.56, Y:11.81, Z:0.05 [[ 9.09382402e-01 -4.08247777e-01 -7.97332982e-02 8.55588694e+01] [ 4.06641168e-01 9.12871030e-01 -3.61862205e-02 1.18069887e+01] [ 8.75591621e-02 4.84270654e-04 9.96159203e-01 4.61698360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.737719421 meters Centerline goodness : 0.962163 Centerline is valid? [True, True] Translation: X:85.58, Y:11.82, Z:0.05 [[ 9.09192868e-01 -4.08671828e-01 -7.97224268e-02 8.55836386e+01] [ 4.07064747e-01 9.12681279e-01 -3.62101557e-02 1.18181206e+01] [ 8.75592369e-02 4.69825875e-04 9.96159204e-01 5.19450561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.767719421 meters Centerline goodness : 0.962470 Centerline is valid? [True, True] Translation: X:85.61, Y:11.84, Z:0.05 [[ 9.10229749e-01 -4.06357909e-01 -7.97185889e-02 8.56064122e+01] [ 4.04741221e-01 9.13713717e-01 -3.62186030e-02 1.18358845e+01] [ 8.75576840e-02 7.01850933e-04 9.96159204e-01 5.29103283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.797719421 meters Centerline goodness : 0.960676 Centerline is valid? [True, True] Translation: X:85.63, Y:11.85, Z:0.05 [[ 9.11097768e-01 -4.04410399e-01 -7.97062450e-02 8.56293210e+01] [ 4.02783889e-01 9.14577162e-01 -3.62457480e-02 1.18513353e+01] [ 8.75556687e-02 9.19028830e-04 9.96159204e-01 5.21299189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.827719421 meters Centerline goodness : 0.958583 Centerline is valid? [True, True] Translation: X:85.65, Y:11.87, Z:0.05 [[ 9.12786439e-01 -4.00585419e-01 -7.97009319e-02 8.56535709e+01] [ 3.98943310e-01 9.16258498e-01 -3.62574273e-02 1.18676057e+01] [ 8.75508528e-02 1.29913440e-03 9.96159204e-01 5.26204662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.857719421 meters Centerline goodness : 0.959052 Centerline is valid? [True, True] Translation: X:85.68, Y:11.88, Z:0.06 [[ 9.13430859e-01 -3.99115881e-01 -7.96905208e-02 8.56790588e+01] [ 3.97466192e-01 9.16899322e-01 -3.62802955e-02 1.18791952e+01] [ 8.75482266e-02 1.46525363e-03 9.96159205e-01 5.93748177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.887719421 meters Centerline goodness : 0.960255 Centerline is valid? [True, True] Translation: X:85.70, Y:11.89, Z:0.06 [[ 9.14251084e-01 -3.97235610e-01 -7.96795163e-02 8.57033111e+01] [ 3.95576684e-01 9.17715138e-01 -3.63044478e-02 1.18928140e+01] [ 8.75445178e-02 1.67202190e-03 9.96159205e-01 6.13924964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.917719421 meters Centerline goodness : 0.962445 Centerline is valid? [True, True] Translation: X:85.73, Y:11.91, Z:0.06 [[ 9.15919648e-01 -3.93373850e-01 -7.96756685e-02 8.57261067e+01] [ 3.91699586e-01 9.19376315e-01 -3.63128905e-02 1.19131563e+01] [ 8.75364640e-02 2.05076358e-03 9.96159205e-01 6.39165727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.947719421 meters Centerline goodness : 0.961344 Centerline is valid? [True, True] Translation: X:85.75, Y:11.93, Z:0.07 [[ 9.17471610e-01 -3.89742648e-01 -7.96650057e-02 8.57510053e+01] [ 3.88052676e-01 9.20920624e-01 -3.63362680e-02 1.19281308e+01] [ 8.75269401e-02 2.42327563e-03 9.96159205e-01 6.51533628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.97771942099999 meters Centerline goodness : 0.957827 Centerline is valid? [True, True] Translation: X:85.78, Y:11.94, Z:0.06 [[ 9.19278817e-01 -3.85462922e-01 -7.96541981e-02 8.57765312e+01] [ 3.83754847e-01 9.22718902e-01 -3.63599444e-02 1.19399636e+01] [ 8.75138447e-02 2.85724204e-03 9.96159206e-01 6.19578220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00771942099999 meters Centerline goodness : 0.958277 Centerline is valid? [True, True] Translation: X:85.80, Y:11.95, Z:0.07 [[ 9.21455984e-01 -3.80229781e-01 -7.96503837e-02 8.58040786e+01] [ 3.78501452e-01 9.24885938e-01 -3.63682985e-02 1.19489384e+01] [ 8.74958299e-02 3.36400035e-03 9.96159206e-01 6.78525587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.03771942099999 meters Centerline goodness : 0.957325 Centerline is valid? [True, True] Translation: X:85.83, Y:11.96, Z:0.07 [[ 9.22006414e-01 -3.78895195e-01 -7.96404647e-02 8.58308309e+01] [ 3.77160030e-01 9.25432914e-01 -3.63900065e-02 1.19606324e+01] [ 8.74899059e-02 3.51461934e-03 9.96159206e-01 7.14879908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06771942099999 meters Centerline goodness : 0.953699 Centerline is valid? [True, True] Translation: X:85.86, Y:11.97, Z:0.07 [[ 9.22530670e-01 -3.77619011e-01 -7.96306871e-02 8.58558364e+01] [ 3.75877265e-01 9.25953828e-01 -3.64113898e-02 1.19739968e+01] [ 8.74839726e-02 3.65925892e-03 9.96159206e-01 6.85569826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.097719421 meters Centerline goodness : 0.953861 Centerline is valid? [True, True] Translation: X:85.88, Y:11.99, Z:0.07 [[ 9.22908191e-01 -3.76696187e-01 -7.96269722e-02 8.58819399e+01] [ 3.74950319e-01 9.26329249e-01 -3.64195120e-02 1.19864117e+01] [ 8.74798847e-02 3.75570730e-03 9.96159206e-01 6.95401485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.127719421 meters Centerline goodness : 0.952706 Centerline is valid? [True, True] Translation: X:85.91, Y:12.00, Z:0.07 [[ 9.23911891e-01 -3.74229877e-01 -7.96166834e-02 8.59083064e+01] [ 3.72472945e-01 9.27327281e-01 -3.64419907e-02 1.19964083e+01] [ 8.74684042e-02 4.01412799e-03 9.96159207e-01 7.05351930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.157719421 meters Centerline goodness : 0.951834 Centerline is valid? [True, True] Translation: X:85.94, Y:12.00, Z:0.07 [[ 9.24606988e-01 -3.72509977e-01 -7.96130351e-02 8.59354466e+01] [ 3.70746009e-01 9.28018748e-01 -3.64499592e-02 1.20035474e+01] [ 8.74603626e-02 4.18567197e-03 9.96159207e-01 7.37930081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.187719421 meters Centerline goodness : 0.952741 Centerline is valid? [True, True] Translation: X:85.96, Y:12.01, Z:0.08 [[ 9.24837995e-01 -3.71936851e-01 -7.96094333e-02 8.59626129e+01] [ 3.70170094e-01 9.28248312e-01 -3.64578241e-02 1.20131375e+01] [ 8.74573303e-02 4.24854953e-03 9.96159207e-01 7.71486467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.217719421 meters Centerline goodness : 0.961037 Centerline is valid? [True, True] Translation: X:85.99, Y:12.02, Z:0.09 [[ 9.25540165e-01 -3.70188234e-01 -7.95994578e-02 8.59894242e+01] [ 3.68413168e-01 9.28946165e-01 -3.64795908e-02 1.20209202e+01] [ 8.74479264e-02 4.43783811e-03 9.96159207e-01 8.63203656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.247719421 meters Centerline goodness : 0.961037 Centerline is valid? [True, True] Translation: X:86.02, Y:12.03, Z:0.09 [[ 9.25416258e-01 -3.70498695e-01 -7.95956407e-02 8.60151959e+01] [ 3.68724058e-01 9.28822481e-01 -3.64879177e-02 1.20329945e+01] [ 8.74489463e-02 4.41768460e-03 9.96159207e-01 8.88192216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.277719421 meters Centerline goodness : 0.962839 Centerline is valid? [True, True] Translation: X:86.04, Y:12.04, Z:0.09 [[ 9.25870569e-01 -3.69364557e-01 -7.95833731e-02 8.60406914e+01] [ 3.67583457e-01 9.29273416e-01 -3.65146548e-02 1.20438511e+01] [ 8.74419323e-02 4.55431282e-03 9.96159208e-01 9.22464141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.307719421 meters Centerline goodness : 0.965909 Centerline is valid? [True, True] Translation: X:86.07, Y:12.06, Z:0.10 [[ 9.26439977e-01 -3.67934857e-01 -7.95795829e-02 8.60668255e+01] [ 3.66147799e-01 9.29839699e-01 -3.65229133e-02 1.20555527e+01] [ 8.74343083e-02 4.69839784e-03 9.96159208e-01 9.64218838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.337719421 meters Centerline goodness : 0.965951 Centerline is valid? [True, True] Translation: X:86.10, Y:12.06, Z:0.10 [[ 9.27751332e-01 -3.64617965e-01 -7.95688785e-02 8.60950242e+01] [ 3.62816764e-01 9.31143582e-01 -3.65462192e-02 1.20618209e+01] [ 8.74154586e-02 5.03688049e-03 9.96159208e-01 9.96661883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36771942099999 meters Centerline goodness : 0.963325 Centerline is valid? [True, True] Translation: X:86.13, Y:12.07, Z:0.10 [[ 9.28809487e-01 -3.61915235e-01 -7.95631837e-02 8.61250936e+01] [ 3.60103108e-01 9.32195913e-01 -3.65586128e-02 1.20666068e+01] [ 8.73995936e-02 5.30503666e-03 9.96159208e-01 1.01420061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.39771942099999 meters Centerline goodness : 0.963372 Centerline is valid? [True, True] Translation: X:86.15, Y:12.08, Z:0.10 [[ 9.28910245e-01 -3.61657794e-01 -7.95575014e-02 8.61521384e+01] [ 3.59843675e-01 9.32295604e-01 -3.65709743e-02 1.20753170e+01] [ 8.73972867e-02 5.34288900e-03 9.96159208e-01 1.03010530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42771942099999 meters Centerline goodness : 0.964241 Centerline is valid? [True, True] Translation: X:86.18, Y:12.08, Z:0.11 [[ 9.28878909e-01 -3.61740885e-01 -7.95456122e-02 8.61802634e+01] [ 3.59924865e-01 9.32263249e-01 -3.65968164e-02 1.20835295e+01] [ 8.73960156e-02 5.36356717e-03 9.96159208e-01 1.06350602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.457719421 meters Centerline goodness : 0.964112 Centerline is valid? [True, True] Translation: X:86.21, Y:12.09, Z:0.11 [[ 9.28784506e-01 -3.61985486e-01 -7.95352147e-02 8.62089343e+01] [ 3.60168432e-01 9.32168289e-01 -3.66193992e-02 1.20881198e+01] [ 8.73958960e-02 5.36545703e-03 9.96159209e-01 1.08183049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.487719421 meters Centerline goodness : 0.963044 Centerline is valid? [True, True] Translation: X:86.24, Y:12.09, Z:0.11 [[ 9.29522257e-01 -3.60087641e-01 -7.95315353e-02 8.62372679e+01] [ 3.58262999e-01 9.32901955e-01 -3.66273886e-02 1.20941818e+01] [ 8.73841947e-02 5.55276654e-03 9.96159209e-01 1.08126587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.517719421 meters Centerline goodness : 0.964009 Centerline is valid? [True, True] Translation: X:86.26, Y:12.10, Z:0.11 [[ 9.29867122e-01 -3.59196914e-01 -7.95280556e-02 8.62639612e+01] [ 3.57368392e-01 9.33244723e-01 -3.66349423e-02 1.21027082e+01] [ 8.73782965e-02 5.64481497e-03 9.96159209e-01 1.09839475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.547719421 meters Centerline goodness : 0.961783 Centerline is valid? [True, True] Translation: X:86.29, Y:12.11, Z:0.11 [[ 9.29989289e-01 -3.58882965e-01 -7.95169205e-02 8.62910124e+01] [ 3.57051248e-01 9.33365157e-01 -3.66590955e-02 1.21104875e+01] [ 8.73746479e-02 5.70095043e-03 9.96159209e-01 1.11390000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.577719421 meters Centerline goodness : 0.958852 Centerline is valid? [True, True] Translation: X:86.32, Y:12.11, Z:0.11 [[ 9.29528864e-01 -3.60074574e-01 -7.95134762e-02 8.63215966e+01] [ 3.58246550e-01 9.32906733e-01 -3.66665647e-02 1.21129764e+01] [ 8.73813549e-02 5.59720175e-03 9.96159209e-01 1.13786520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.607719421 meters Centerline goodness : 0.957254 Centerline is valid? [True, True] Translation: X:86.35, Y:12.12, Z:0.12 [[ 9.29162051e-01 -3.61022193e-01 -7.95038310e-02 8.63480695e+01] [ 3.59195834e-01 9.32540821e-01 -3.66874664e-02 1.21197002e+01] [ 8.73855574e-02 5.53115663e-03 9.96159209e-01 1.16227879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.637719421 meters Centerline goodness : 0.957343 Centerline is valid? [True, True] Translation: X:86.38, Y:12.13, Z:0.12 [[ 9.27808173e-01 -3.64488539e-01 -7.94990545e-02 8.63768584e+01] [ 3.62673924e-01 9.31193264e-01 -3.66978137e-02 1.21261882e+01] [ 8.74049166e-02 5.21629740e-03 9.96159210e-01 1.18141212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.667719421 meters Centerline goodness : 0.957696 Centerline is valid? [True, True] Translation: X:86.40, Y:12.14, Z:0.12 [[ 9.26946648e-01 -3.66676059e-01 -7.94894968e-02 8.64029843e+01] [ 3.64867666e-01 9.30335067e-01 -3.67185046e-02 1.21361670e+01] [ 8.74156629e-02 5.03294755e-03 9.96159210e-01 1.18294734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.697719421 meters Centerline goodness : 0.955519 Centerline is valid? [True, True] Translation: X:86.43, Y:12.14, Z:0.12 [[ 9.25001474e-01 -3.71556496e-01 -7.94861179e-02 8.64310601e+01] [ 3.69765361e-01 9.28399048e-01 -3.67258176e-02 1.21420317e+01] [ 8.74405523e-02 4.58022238e-03 9.96159210e-01 1.20040467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72771942099999 meters Centerline goodness : 0.956255 Centerline is valid? [True, True] Translation: X:86.46, Y:12.15, Z:0.12 [[ 9.23907413e-01 -3.74270953e-01 -7.94754434e-02 8.64589753e+01] [ 3.72487822e-01 9.27309194e-01 -3.67489032e-02 1.21508384e+01] [ 8.74523563e-02 4.34894926e-03 9.96159210e-01 1.23093005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.75771942099999 meters Centerline goodness : 0.957807 Centerline is valid? [True, True] Translation: X:86.49, Y:12.16, Z:0.13 [[ 9.21220863e-01 -3.80837561e-01 -7.94661763e-02 8.64876795e+01] [ 3.79076965e-01 9.24634360e-01 -3.67689315e-02 1.21562359e+01] [ 8.74801473e-02 3.74850987e-03 9.96159210e-01 1.32092224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78771942099999 meters Centerline goodness : 0.961466 Centerline is valid? [True, True] Translation: X:86.51, Y:12.17, Z:0.14 [[ 9.19758407e-01 -3.84358116e-01 -7.94563521e-02 8.65144344e+01] [ 3.82608758e-01 9.23177677e-01 -3.67901492e-02 1.21651679e+01] [ 8.74929229e-02 3.43735281e-03 9.96159211e-01 1.36776876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.81771942099999 meters Centerline goodness : 0.962934 Centerline is valid? [True, True] Translation: X:86.54, Y:12.17, Z:0.14 [[ 9.16844777e-01 -3.91258117e-01 -7.94527636e-02 8.65415456e+01] [ 3.89533829e-01 9.20276758e-01 -3.67978973e-02 1.21745367e+01] [ 8.75160077e-02 2.78842074e-03 9.96159211e-01 1.35261214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.847719421 meters Centerline goodness : 0.964047 Centerline is valid? [True, True] Translation: X:86.57, Y:12.19, Z:0.14 [[ 9.15287761e-01 -3.94887853e-01 -7.94474497e-02 8.65677671e+01] [ 3.93176183e-01 9.18726053e-01 -3.68093664e-02 1.21863777e+01] [ 8.75260136e-02 2.45431753e-03 9.96159211e-01 1.39860503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.877719421 meters Centerline goodness : 0.965142 Centerline is valid? [True, True] Translation: X:86.59, Y:12.20, Z:0.14 [[ 9.12319258e-01 -4.01700421e-01 -7.94376692e-02 8.65939274e+01] [ 4.00012595e-01 9.15769316e-01 -3.68304617e-02 1.21955442e+01] [ 8.75413920e-02 1.82507131e-03 9.96159211e-01 1.43571793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.907719421 meters Centerline goodness : 0.964525 Centerline is valid? [True, True] Translation: X:86.62, Y:12.21, Z:0.15 [[ 9.10533763e-01 -4.05732356e-01 -7.94325021e-02 8.66206775e+01] [ 4.04058837e-01 9.13990783e-01 -3.68416022e-02 1.22054031e+01] [ 8.75484049e-02 1.45011827e-03 9.96159211e-01 1.48539877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.937719421 meters Centerline goodness : 0.962846 Centerline is valid? [True, True] Translation: X:86.65, Y:12.21, Z:0.15 [[ 9.07018847e-01 -4.13532230e-01 -7.94223309e-02 8.66471756e+01] [ 4.11886524e-01 9.10489194e-01 -3.68635160e-02 1.22147183e+01] [ 8.75574260e-02 7.22915892e-04 9.96159211e-01 1.48678160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.967719421 meters Centerline goodness : 0.961142 Centerline is valid? [True, True] Translation: X:86.67, Y:12.23, Z:0.15 [[ 9.05329058e-01 -4.17219318e-01 -7.94187423e-02 8.66718980e+01] [ 4.15587069e-01 9.08805755e-01 -3.68712458e-02 1.22270650e+01] [ 8.75596060e-02 3.75207956e-04 9.96159211e-01 1.49442817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.997719421 meters Centerline goodness : 0.961839 Centerline is valid? [True, True] Translation: X:86.70, Y:12.24, Z:0.15 [[ 9.03236456e-01 -4.21731111e-01 -7.94152088e-02 8.66965545e+01] [ 4.20115559e-01 9.06720942e-01 -3.68788548e-02 1.22411196e+01] [ 8.75603934e-02 -5.32387543e-05 9.96159212e-01 1.51290159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.027719421 meters Centerline goodness : 0.961556 Centerline is valid? [True, True] Translation: X:86.72, Y:12.25, Z:0.15 [[ 9.02651032e-01 -4.22984813e-01 -7.94037955e-02 8.67212672e+01] [ 4.21371940e-01 9.06136759e-01 -3.69034124e-02 1.22542003e+01] [ 8.75602809e-02 -1.47628070e-04 9.96159212e-01 1.52948233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.057719421 meters Centerline goodness : 0.961000 Centerline is valid? [True, True] Translation: X:86.75, Y:12.27, Z:0.15 [[ 9.01235176e-01 -4.25993846e-01 -7.94002642e-02 8.67458850e+01] [ 4.24391941e-01 9.04725957e-01 -3.69110089e-02 1.22671786e+01] [ 8.75593426e-02 -4.31332698e-04 9.96159212e-01 1.54131590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.087719421 meters Centerline goodness : 0.959238 Centerline is valid? [True, True] Translation: X:86.77, Y:12.28, Z:0.16 [[ 9.00116175e-01 -4.28353848e-01 -7.93968011e-02 8.67718108e+01] [ 4.26760439e-01 9.03610843e-01 -3.69184565e-02 1.22796269e+01] [ 8.75579733e-02 -6.52513820e-04 9.96159212e-01 1.55337944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.11771942099999 meters Centerline goodness : 0.956452 Centerline is valid? [True, True] Translation: X:86.80, Y:12.30, Z:0.15 [[ 8.98657042e-01 -4.31408354e-01 -7.93873646e-02 8.67964483e+01] [ 4.29825032e-01 9.02156290e-01 -3.69387371e-02 1.22966180e+01] [ 8.75554901e-02 -9.27420307e-04 9.96159212e-01 1.54659587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14771942099999 meters Centerline goodness : 0.954494 Centerline is valid? [True, True] Translation: X:86.82, Y:12.31, Z:0.16 [[ 8.98322524e-01 -4.32106250e-01 -7.93777818e-02 8.68193689e+01] [ 4.30523828e-01 9.01822179e-01 -3.69593183e-02 1.23130920e+01] [ 8.75549966e-02 -9.72638369e-04 9.96159212e-01 1.57178414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.17771942099999 meters Centerline goodness : 0.956387 Centerline is valid? [True, True] Translation: X:86.84, Y:12.33, Z:0.16 [[ 8.99488781e-01 -4.29675527e-01 -7.93654456e-02 8.68410816e+01] [ 4.28081311e-01 9.02983080e-01 -3.69857898e-02 1.23321049e+01] [ 8.75575432e-02 -7.06561029e-04 9.96159213e-01 1.61319729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.207719421 meters Centerline goodness : 0.958577 Centerline is valid? [True, True] Translation: X:86.87, Y:12.35, Z:0.17 [[ 9.00721448e-01 -4.27086184e-01 -7.93616065e-02 8.68656153e+01] [ 4.25481197e-01 9.04210812e-01 -3.69940256e-02 1.23473157e+01] [ 8.75592599e-02 -4.45559041e-04 9.96159213e-01 1.66781052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.237719421 meters Centerline goodness : 0.957758 Centerline is valid? [True, True] Translation: X:86.89, Y:12.37, Z:0.16 [[ 9.04806224e-01 -4.18364779e-01 -7.93511768e-02 8.68866985e+01] [ 4.16724197e-01 9.08278994e-01 -3.70163836e-02 1.23695201e+01] [ 8.75593582e-02 4.25098918e-04 9.96159213e-01 1.64228638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.267719421 meters Centerline goodness : 0.957923 Centerline is valid? [True, True] Translation: X:86.91, Y:12.39, Z:0.17 [[ 9.10059272e-01 -4.06812113e-01 -7.93474990e-02 8.69073468e+01] [ 4.05126766e-01 9.13510540e-01 -3.70242655e-02 1.23918251e+01] [ 8.75466964e-02 1.54848047e-03 9.96159213e-01 1.66811549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.297719421 meters Centerline goodness : 0.961466 Centerline is valid? [True, True] Translation: X:86.93, Y:12.41, Z:0.18 [[ 9.12387869e-01 -4.01563384e-01 -7.93424532e-02 8.69308008e+01] [ 3.99857246e-01 9.15828906e-01 -3.70350755e-02 1.24072632e+01] [ 8.75360424e-02 2.06469879e-03 9.96159213e-01 1.76882799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.327719421 meters Centerline goodness : 0.963270 Centerline is valid? [True, True] Translation: X:86.95, Y:12.42, Z:0.18 [[ 9.14690769e-01 -3.96291946e-01 -7.93315204e-02 8.69546282e+01] [ 3.94563953e-01 9.18120883e-01 -3.70584795e-02 1.24218887e+01] [ 8.75219025e-02 2.59569079e-03 9.96159214e-01 1.80554870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.357719421 meters Centerline goodness : 0.962541 Centerline is valid? [True, True] Translation: X:86.98, Y:12.44, Z:0.18 [[ 9.17436739e-01 -3.89895256e-01 -7.93190956e-02 8.69758774e+01] [ 3.88141060e-01 9.20853526e-01 -3.70850543e-02 1.24399465e+01] [ 8.75005556e-02 3.23619344e-03 9.96159214e-01 1.81277339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.387719421 meters Centerline goodness : 0.963242 Centerline is valid? [True, True] Translation: X:87.00, Y:12.46, Z:0.18 [[ 9.17566424e-01 -3.89591676e-01 -7.93106705e-02 8.70005253e+01] [ 3.87834796e-01 9.20981832e-01 -3.71030637e-02 1.24564995e+01] [ 8.74987314e-02 3.28508780e-03 9.96159214e-01 1.82429156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.417719421 meters Centerline goodness : 0.963278 Centerline is valid? [True, True] Translation: X:87.02, Y:12.47, Z:0.18 [[ 9.17386025e-01 -3.90018422e-01 -7.93001320e-02 8.70242262e+01] [ 3.88261188e-01 9.20801250e-01 -3.71255740e-02 1.24729607e+01] [ 8.74993184e-02 3.26931934e-03 9.96159215e-01 1.83910905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.447719421 meters Centerline goodness : 0.961091 Centerline is valid? [True, True] Translation: X:87.05, Y:12.48, Z:0.19 [[ 9.16804267e-01 -3.91386121e-01 -7.92895925e-02 8.70500844e+01] [ 3.89632039e-01 9.20221112e-01 -3.71480697e-02 1.24846809e+01] [ 8.75031959e-02 3.16374315e-03 9.96159215e-01 1.86312344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.47771942099999 meters Centerline goodness : 0.960184 Centerline is valid? [True, True] Translation: X:87.08, Y:12.49, Z:0.19 [[ 9.15664074e-01 -3.94048391e-01 -7.92790575e-02 8.70765520e+01] [ 3.92302302e-01 9.19085010e-01 -3.71705393e-02 1.24936974e+01] [ 8.75111846e-02 2.93437072e-03 9.96159215e-01 1.88966480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50771942099999 meters Centerline goodness : 0.959121 Centerline is valid? [True, True] Translation: X:87.10, Y:12.51, Z:0.19 [[ 9.14997248e-01 -3.95595066e-01 -7.92753398e-02 8.71032806e+01] [ 3.93854074e-01 9.18420780e-01 -3.71784666e-02 1.25057375e+01] [ 8.75157374e-02 2.79527907e-03 9.96159215e-01 1.90951907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.53771942099999 meters Centerline goodness : 0.959925 Centerline is valid? [True, True] Translation: X:87.13, Y:12.52, Z:0.19 [[ 9.14075110e-01 -3.97723065e-01 -7.92657363e-02 8.71274102e+01] [ 3.95988271e-01 9.17501787e-01 -3.71989304e-02 1.25188318e+01] [ 8.75213273e-02 2.61431453e-03 9.96159216e-01 1.90044553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56771942099999 meters Centerline goodness : 0.958634 Centerline is valid? [True, True] Translation: X:87.15, Y:12.53, Z:0.19 [[ 9.13676065e-01 -3.98639938e-01 -7.92606332e-02 8.71522799e+01] [ 3.96907641e-01 9.17104005e-01 -3.72098004e-02 1.25318557e+01] [ 8.75235567e-02 2.53855310e-03 9.96159216e-01 1.90574997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.597719421 meters Centerline goodness : 0.955348 Centerline is valid? [True, True] Translation: X:87.18, Y:12.54, Z:0.19 [[ 9.13061655e-01 -4.00047526e-01 -7.92489234e-02 8.71777907e+01] [ 3.98318352e-01 9.16491171e-01 -3.72347233e-02 1.25442357e+01] [ 8.75265975e-02 2.43129747e-03 9.96159216e-01 1.88486619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.627719421 meters Centerline goodness : 0.954536 Centerline is valid? [True, True] Translation: X:87.20, Y:12.56, Z:0.19 [[ 9.12522355e-01 -4.01277153e-01 -7.92439146e-02 8.72044510e+01] [ 3.99551676e-01 9.15953732e-01 -3.72453802e-02 1.25553817e+01] [ 8.75294794e-02 2.32520317e-03 9.96159216e-01 1.91993838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.657719421 meters Centerline goodness : 0.956893 Centerline is valid? [True, True] Translation: X:87.23, Y:12.56, Z:0.20 [[ 9.10071486e-01 -4.06806944e-01 -7.92338313e-02 8.72312453e+01] [ 4.05100455e-01 9.13512346e-01 -3.72668185e-02 1.25634534e+01] [ 8.75414836e-02 1.81780785e-03 9.96159216e-01 2.03880446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.687719421 meters Centerline goodness : 0.956630 Centerline is valid? [True, True] Translation: X:87.26, Y:12.57, Z:0.21 [[ 9.08314004e-01 -4.10718015e-01 -7.92236231e-02 8.72569436e+01] [ 4.09024452e-01 9.11761243e-01 -3.72885069e-02 1.25747549e+01] [ 8.75480907e-02 1.46527398e-03 9.96159217e-01 2.07452689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.717719421 meters Centerline goodness : 0.957583 Centerline is valid? [True, True] Translation: X:87.28, Y:12.59, Z:0.21 [[ 9.05576692e-01 -4.16721105e-01 -7.92109597e-02 8.72817198e+01] [ 4.15048045e-01 9.09033928e-01 -3.73153882e-02 1.25888312e+01] [ 8.75555596e-02 9.15591863e-04 9.96159217e-01 2.09493300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.747719421 meters Centerline goodness : 0.957958 Centerline is valid? [True, True] Translation: X:87.31, Y:12.60, Z:0.21 [[ 9.04461177e-01 -4.19138850e-01 -7.91997706e-02 8.73064701e+01] [ 4.17472953e-01 9.07921871e-01 -3.73391213e-02 1.26033553e+01] [ 8.75574803e-02 7.08023463e-04 9.96159217e-01 2.12079098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.777719421 meters Centerline goodness : 0.959640 Centerline is valid? [True, True] Translation: X:87.33, Y:12.62, Z:0.22 [[ 9.03401708e-01 -4.21419662e-01 -7.91885225e-02 8.73313092e+01] [ 4.19760413e-01 9.06865593e-01 -3.73629611e-02 1.26166001e+01] [ 8.75588329e-02 5.13555957e-04 9.96159218e-01 2.15626738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.807719421 meters Centerline goodness : 0.956869 Centerline is valid? [True, True] Translation: X:87.36, Y:12.63, Z:0.22 [[ 9.01741821e-01 -4.24960598e-01 -7.91844534e-02 8.73579908e+01] [ 4.23314194e-01 9.05211830e-01 -3.73715829e-02 1.26285975e+01] [ 8.75601542e-02 1.79616134e-04 9.96159218e-01 2.18340021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.837719421 meters Centerline goodness : 0.953833 Centerline is valid? [True, True] Translation: X:87.38, Y:12.64, Z:0.22 [[ 9.00309927e-01 -4.27987765e-01 -7.91739096e-02 8.73829562e+01] [ 4.26351065e-01 9.03784524e-01 -3.73939072e-02 1.26404149e+01] [ 8.75602890e-02 -8.97747541e-05 9.96159218e-01 2.20345205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86771942099999 meters Centerline goodness : 0.954655 Centerline is valid? [True, True] Translation: X:87.41, Y:12.65, Z:0.22 [[ 8.99643597e-01 -4.29387385e-01 -7.91698884e-02 8.74091004e+01] [ 4.27755342e-01 9.03120383e-01 -3.74024189e-02 1.26531192e+01] [ 8.75600669e-02 -2.16495970e-04 9.96159218e-01 2.22834211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.89771942099999 meters Centerline goodness : 0.955195 Centerline is valid? [True, True] Translation: X:87.43, Y:12.67, Z:0.22 [[ 8.98814849e-01 -4.31121529e-01 -7.91586703e-02 8.74340739e+01] [ 4.29494103e-01 9.02293798e-01 -3.74261461e-02 1.26667510e+01] [ 8.75595946e-02 -3.59006249e-04 9.96159218e-01 2.24714359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92771942099999 meters Centerline goodness : 0.956246 Centerline is valid? [True, True] Translation: X:87.46, Y:12.68, Z:0.23 [[ 8.97842736e-01 -4.33144416e-01 -7.91475567e-02 8.74568246e+01] [ 4.31522759e-01 9.01324378e-01 -3.74496340e-02 1.26840380e+01] [ 8.75587222e-02 -5.30090168e-04 9.96159219e-01 2.26344480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.957719421 meters Centerline goodness : 0.957312 Centerline is valid? [True, True] Translation: X:87.48, Y:12.70, Z:0.23 [[ 8.97334453e-01 -4.34197151e-01 -7.91436236e-02 8.74806387e+01] [ 4.32578845e-01 9.00817654e-01 -3.74579441e-02 1.26981817e+01] [ 8.75581060e-02 -6.23553529e-04 9.96159219e-01 2.31503999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.987719421 meters Centerline goodness : 0.957930 Centerline is valid? [True, True] Translation: X:87.51, Y:12.71, Z:0.24 [[ 8.96967316e-01 -4.34956140e-01 -7.91377992e-02 8.75068713e+01] [ 4.33339696e-01 9.00451380e-01 -3.74702455e-02 1.27106511e+01] [ 8.75576539e-02 -6.83964302e-04 9.96159219e-01 2.36273538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.017719421 meters Centerline goodness : 0.957261 Centerline is valid? [True, True] Translation: X:87.53, Y:12.72, Z:0.24 [[ 8.96805327e-01 -4.35292000e-01 -7.91269839e-02 8.75316767e+01] [ 4.33674847e-01 9.00289063e-01 -3.74930706e-02 1.27241638e+01] [ 8.75575919e-02 -6.91397224e-04 9.96159219e-01 2.39080698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.047719421 meters Centerline goodness : 0.955307 Centerline is valid? [True, True] Translation: X:87.56, Y:12.74, Z:0.24 [[ 8.98082715e-01 -4.32652649e-01 -7.91146160e-02 8.75553269e+01] [ 4.31022960e-01 9.01560603e-01 -3.75191502e-02 1.27414728e+01] [ 8.75593807e-02 -4.04915709e-04 9.96159220e-01 2.36053035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.077719421 meters Centerline goodness : 0.954696 Centerline is valid? [True, True] Translation: X:87.58, Y:12.76, Z:0.24 [[ 8.98975374e-01 -4.30796537e-01 -7.91051249e-02 8.75796845e+01] [ 4.29157907e-01 9.02449058e-01 -3.75391505e-02 1.27573865e+01] [ 8.75600815e-02 -2.01817974e-04 9.96159220e-01 2.39454363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.107719421 meters Centerline goodness : 0.952300 Centerline is valid? [True, True] Translation: X:87.60, Y:12.77, Z:0.24 [[ 9.01812178e-01 -4.24828186e-01 -7.90936633e-02 8.76032397e+01] [ 4.23164450e-01 9.05273908e-01 -3.75632843e-02 1.27746985e+01] [ 8.75593716e-02 4.05400662e-04 9.96159220e-01 2.37557885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.137719421 meters Centerline goodness : 0.953105 Centerline is valid? [True, True] Translation: X:87.63, Y:12.79, Z:0.24 [[ 9.03900072e-01 -4.20369651e-01 -7.90823354e-02 8.76280683e+01] [ 4.18686755e-01 9.07352528e-01 -3.75871180e-02 1.27883421e+01] [ 8.75560406e-02 8.64272247e-04 9.96159221e-01 2.44052862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.167719421 meters Centerline goodness : 0.953105 Centerline is valid? [True, True] Translation: X:87.65, Y:12.80, Z:0.25 [[ 9.03757386e-01 -4.20678417e-01 -7.90712190e-02 8.76536561e+01] [ 4.18994656e-01 9.07209419e-01 -3.76104888e-02 1.28007996e+01] [ 8.75560755e-02 8.60338829e-04 9.96159221e-01 2.46546622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.197719421 meters Centerline goodness : 0.951699 Centerline is valid? [True, True] Translation: X:87.68, Y:12.82, Z:0.25 [[ 9.07326520e-01 -4.12926575e-01 -7.90583973e-02 8.76772472e+01] [ 4.11210979e-01 9.10762842e-01 -3.76374212e-02 1.28170639e+01] [ 8.75449421e-02 1.63974937e-03 9.96159221e-01 2.48483992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22771942099999 meters Centerline goodness : 0.948799 Centerline is valid? [True, False] Translation: X:87.67, Y:12.81, Z:0.26 [[ 9.08602467e-01 -4.07541608e-01 -9.13859698e-02 8.76710755e+01] [ 4.06054675e-01 9.13172065e-01 -3.51622044e-02 1.28138884e+01] [ 9.77811760e-02 -5.15923465e-03 9.95194566e-01 2.56060179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.25771942099999 meters Centerline goodness : 0.946690 Centerline is valid? [False, False] Translation: X:87.67, Y:12.82, Z:0.26 [[ 9.10403331e-01 -4.03174404e-01 -9.28233540e-02 8.76701100e+01] [ 4.01964910e-01 9.15088313e-01 -3.22116430e-02 1.28176582e+01] [ 9.79284764e-02 -7.98614405e-03 9.95161412e-01 2.55305886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28771942099999 meters Centerline goodness : 0.945171 Centerline is valid? [False, False] Translation: X:87.67, Y:12.82, Z:0.26 [[ 9.11499815e-01 -4.00451950e-01 -9.38420086e-02 8.76680873e+01] [ 3.99467945e-01 9.16260336e-01 -2.98723397e-02 1.28182746e+01] [ 9.79461470e-02 -1.02582422e-02 9.95138845e-01 2.56794514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.31771942099999 meters Centerline goodness : 0.945438 Centerline is valid? [False, False] Translation: X:87.67, Y:12.82, Z:0.26 [[ 9.12088797e-01 -3.99040769e-01 -9.41301833e-02 8.76663275e+01] [ 3.98168140e-01 9.16863481e-01 -2.86965154e-02 1.28167049e+01] [ 9.77556070e-02 -1.13058699e-02 9.95146230e-01 2.58675562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.347719421 meters Centerline goodness : 0.945301 Centerline is valid? [False, False] Translation: X:87.66, Y:12.81, Z:0.26 [[ 9.10670107e-01 -4.00482295e-01 -1.01458800e-01 8.76561661e+01] [ 4.00258053e-01 9.16102267e-01 -2.34547828e-02 1.28087049e+01] [ 1.02339862e-01 -1.92501323e-02 9.94563213e-01 2.62295126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.377719421 meters Centerline goodness : 0.946939 Centerline is valid? [False, False] Translation: X:87.65, Y:12.80, Z:0.27 [[ 9.08915267e-01 -4.02347909e-01 -1.09495196e-01 8.76475471e+01] [ 4.02892291e-01 9.15068569e-01 -1.80918591e-02 1.27990054e+01] [ 1.07474834e-01 -2.76708032e-02 9.93822664e-01 2.65825192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.407719421 meters Centerline goodness : 0.947011 Centerline is valid? [False, False] Translation: X:87.65, Y:12.80, Z:0.27 [[ 9.08834328e-01 -4.02437670e-01 -1.09836633e-01 8.76486036e+01] [ 4.03037212e-01 9.15012856e-01 -1.76770588e-02 1.27977094e+01] [ 1.07615846e-01 -2.82027325e-02 9.93792451e-01 2.65811766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.437719421 meters Centerline goodness : 0.948104 Centerline is valid? [False, False] Translation: X:87.64, Y:12.79, Z:0.27 [[ 9.06076389e-01 -4.06803952e-01 -1.16344840e-01 8.76390371e+01] [ 4.08098334e-01 9.12837278e-01 -1.35592375e-02 1.27881470e+01] [ 1.11719859e-01 -3.51944307e-02 9.93116320e-01 2.69565251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.467719421 meters Centerline goodness : 0.949192 Centerline is valid? [False, False] Translation: X:87.64, Y:12.79, Z:0.27 [[ 9.04737084e-01 -4.10113592e-01 -1.15141868e-01 8.76387677e+01] [ 4.11100901e-01 9.11446930e-01 -1.61413315e-02 1.27858848e+01] [ 1.11565482e-01 -3.27312647e-02 9.93217905e-01 2.70731861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.497719421 meters Centerline goodness : 0.950493 Centerline is valid? [False, True] Translation: X:87.63, Y:12.78, Z:0.27 [[ 9.01317971e-01 -4.16256657e-01 -1.19817822e-01 8.76277388e+01] [ 4.17642550e-01 9.08495544e-01 -1.45102140e-02 1.27751967e+01] [ 1.14893931e-01 -3.69627043e-02 9.92689852e-01 2.74890138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.527719421 meters Centerline goodness : 0.950633 Centerline is valid? [True, True] Translation: X:87.65, Y:12.80, Z:0.27 [[ 9.00226922e-01 -4.23061869e-01 -1.03005549e-01 8.76503298e+01] [ 4.20144847e-01 9.06099736e-01 -4.96142759e-02 1.27976608e+01] [ 1.14323209e-01 1.38685611e-03 9.93442641e-01 2.66024094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.557719421 meters Centerline goodness : 0.945186 Centerline is valid? [True, False] Translation: X:87.64, Y:12.79, Z:0.27 [[ 8.97600544e-01 -4.26465148e-01 -1.11538069e-01 8.76440890e+01] [ 4.24064841e-01 9.04481741e-01 -4.56266469e-02 1.27916551e+01] [ 1.20342321e-01 -6.34487030e-03 9.92712178e-01 2.67484168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.587719421 meters Centerline goodness : 0.946494 Centerline is valid? [False, False] Translation: X:87.63, Y:12.79, Z:0.27 [[ 8.96339008e-01 -4.26774314e-01 -1.20166834e-01 8.76346183e+01] [ 4.25341755e-01 9.04207912e-01 -3.86321613e-02 1.27859992e+01] [ 1.25143016e-01 -1.64844591e-02 9.92001758e-01 2.70443072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.61771942099999 meters Centerline goodness : 0.947142 Centerline is valid? [False, False] Translation: X:87.62, Y:12.78, Z:0.27 [[ 8.94144129e-01 -4.29399009e-01 -1.26975461e-01 8.76230640e+01] [ 4.28798355e-01 9.02781184e-01 -3.34380720e-02 1.27804368e+01] [ 1.28989332e-01 -2.45484131e-02 9.91342084e-01 2.74582703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64771942099999 meters Centerline goodness : 0.948237 Centerline is valid? [False, False] Translation: X:87.61, Y:12.77, Z:0.28 [[ 8.92355757e-01 -4.32016229e-01 -1.30626111e-01 8.76085324e+01] [ 4.32023024e-01 9.01371103e-01 -2.97697933e-02 1.27728454e+01] [ 1.30603635e-01 -2.98682409e-02 9.90984651e-01 2.77603969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.67771942099999 meters Centerline goodness : 0.947319 Centerline is valid? [False, False] Translation: X:87.59, Y:12.77, Z:0.28 [[ 8.90609040e-01 -4.35136793e-01 -1.32179839e-01 8.75937812e+01] [ 4.35686120e-01 8.99715059e-01 -2.62757806e-02 1.27688240e+01] [ 1.30357751e-01 -3.41874736e-02 9.90877426e-01 2.79069053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.707719421 meters Centerline goodness : 0.947050 Centerline is valid? [False, False] Translation: X:87.57, Y:12.76, Z:0.28 [[ 8.91169352e-01 -4.32204113e-01 -1.37901382e-01 8.75707358e+01] [ 4.32853738e-01 9.01065198e-01 -2.68169907e-02 1.27582308e+01] [ 1.35848550e-01 -3.57926486e-02 9.90082854e-01 2.78886361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.737719421 meters Centerline goodness : 0.945976 Centerline is valid? [False, False] Translation: X:87.56, Y:12.76, Z:0.28 [[ 8.90289612e-01 -4.31352485e-01 -1.46011778e-01 8.75589202e+01] [ 4.33055594e-01 9.01108892e-01 -2.15781461e-02 1.27571411e+01] [ 1.40880299e-01 -4.40204181e-02 9.89047493e-01 2.80266658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.767719421 meters Centerline goodness : 0.946305 Centerline is valid? [False, False] Translation: X:87.56, Y:12.76, Z:0.28 [[ 8.90626018e-01 -4.30677740e-01 -1.45951978e-01 8.75571634e+01] [ 4.32411175e-01 9.01425188e-01 -2.12886437e-02 1.27579520e+01] [ 1.40733334e-01 -4.41510463e-02 9.89062593e-01 2.80923549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.797719421 meters Centerline goodness : 0.949596 Centerline is valid? [False, False] Translation: X:87.55, Y:12.76, Z:0.28 [[ 8.92217118e-01 -4.27085603e-01 -1.46787269e-01 8.75517240e+01] [ 4.29200451e-01 9.03018303e-01 -1.85719589e-02 1.27586449e+01] [ 1.40483406e-01 -4.64309423e-02 9.88993721e-01 2.84309184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.827719421 meters Centerline goodness : 0.950354 Centerline is valid? [False, True] Translation: X:87.55, Y:12.76, Z:0.29 [[ 8.92982356e-01 -4.25356121e-01 -1.47155298e-01 8.75487101e+01] [ 4.27636816e-01 9.03783520e-01 -1.73811012e-02 1.27602517e+01] [ 1.40389691e-01 -4.74080063e-02 9.88960674e-01 2.85632309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.857719421 meters Centerline goodness : 0.949215 Centerline is valid? [True, False] Translation: X:87.54, Y:12.76, Z:0.29 [[ 8.93984959e-01 -4.23821383e-01 -1.45486521e-01 8.75415753e+01] [ 4.25615956e-01 9.04679994e-01 -2.01287584e-02 1.27598903e+01] [ 1.40149744e-01 -4.39265777e-02 9.89155450e-01 2.85323227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.887719421 meters Centerline goodness : 0.945722 Centerline is valid? [False, False] Translation: X:87.53, Y:12.76, Z:0.29 [[ 8.94714340e-01 -4.21328643e-01 -1.48217491e-01 8.75318704e+01] [ 4.22133802e-01 9.06114893e-01 -2.75473084e-02 1.27593171e+01] [ 1.45908546e-01 -3.79206409e-02 9.88571050e-01 2.86769509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.917719421 meters Centerline goodness : 0.944294 Centerline is valid? [False, False] Translation: X:87.53, Y:12.76, Z:0.29 [[ 8.96457058e-01 -4.17075998e-01 -1.49707567e-01 8.75306079e+01] [ 4.18352078e-01 9.07957213e-01 -2.43974864e-02 1.27615342e+01] [ 1.46103672e-01 -4.07591730e-02 9.88429262e-01 2.86895069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.947719421 meters Centerline goodness : 0.945227 Centerline is valid? [False, False] Translation: X:87.53, Y:12.76, Z:0.29 [[ 8.96918535e-01 -4.16057840e-01 -1.49776552e-01 8.75286023e+01] [ 4.17415778e-01 9.08404554e-01 -2.37746674e-02 1.27619334e+01] [ 1.45949338e-01 -4.11951561e-02 9.88433989e-01 2.87868858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.97771942099999 meters Centerline goodness : 0.949786 Centerline is valid? [False, False] Translation: X:87.52, Y:12.76, Z:0.29 [[ 8.97668268e-01 -4.14403835e-01 -1.49870418e-01 8.75249460e+01] [ 4.15921397e-01 9.09120294e-01 -2.25761466e-02 1.27624545e+01] [ 1.45605881e-01 -4.20684233e-02 9.88447862e-01 2.89839262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00771942099999 meters Centerline goodness : 0.950394 Centerline is valid? [False, True] Translation: X:87.52, Y:12.76, Z:0.29 [[ 8.98043078e-01 -4.13595298e-01 -1.49858466e-01 8.75230384e+01] [ 4.15190098e-01 9.09469161e-01 -2.19779057e-02 1.27628596e+01] [ 1.45381611e-01 -4.24826448e-02 9.88463157e-01 2.90663466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.03771942099999 meters Centerline goodness : 0.950124 Centerline is valid? [True, True] Translation: X:87.54, Y:12.79, Z:0.28 [[ 8.98590810e-01 -4.19181885e-01 -1.29696196e-01 8.75431163e+01] [ 4.14356843e-01 9.07896191e-01 -6.35052235e-02 1.27916956e+01] [ 1.44370922e-01 3.32470396e-03 9.89518056e-01 2.82266653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06771942099999 meters Centerline goodness : 0.943506 Centerline is valid? [True, False] Translation: X:87.54, Y:12.79, Z:0.28 [[ 8.98941995e-01 -4.14850964e-01 -1.40719462e-01 8.75353523e+01] [ 4.11481317e-01 9.09837915e-01 -5.36478742e-02 1.27881016e+01] [ 1.50287774e-01 -9.67710236e-03 9.88594932e-01 2.84521818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.097719421 meters Centerline goodness : 0.940500 Centerline is valid? [False, False] Translation: X:87.53, Y:12.78, Z:0.29 [[ 8.98465882e-01 -4.12618296e-01 -1.50017339e-01 8.75262124e+01] [ 4.10604062e-01 9.10671117e-01 -4.56335506e-02 1.27823523e+01] [ 1.55445695e-01 -2.05975402e-02 9.87629676e-01 2.87316980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.127719421 meters Centerline goodness : 0.940431 Centerline is valid? [False, False] Translation: X:87.53, Y:12.78, Z:0.29 [[ 9.00041939e-01 -4.08617311e-01 -1.51513699e-01 8.75260275e+01] [ 4.07108768e-01 9.12400132e-01 -4.22900634e-02 1.27829043e+01] [ 1.55521571e-01 -2.36197245e-02 9.87550075e-01 2.87296568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.157719421 meters Centerline goodness : 0.938418 Centerline is valid? [False, False] Translation: X:87.53, Y:12.78, Z:0.29 [[ 9.01604344e-01 -4.04434497e-01 -1.53435148e-01 8.75265928e+01] [ 4.03544245e-01 9.14157357e-01 -3.83192951e-02 1.27816408e+01] [ 1.55761515e-01 -2.73690282e-02 9.87415458e-01 2.87826408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.187719421 meters Centerline goodness : 0.938957 Centerline is valid? [False, False] Translation: X:87.53, Y:12.78, Z:0.29 [[ 9.01789365e-01 -4.03922824e-01 -1.53695459e-01 8.75265389e+01] [ 4.03110860e-01 9.14369143e-01 -3.78246736e-02 1.27808097e+01] [ 1.55812634e-01 -2.78464201e-02 9.87394045e-01 2.88280292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.217719421 meters Centerline goodness : 0.937824 Centerline is valid? [False, False] Translation: X:87.53, Y:12.78, Z:0.29 [[ 9.02093003e-01 -4.03110318e-01 -1.54046377e-01 8.75266566e+01] [ 4.02400303e-01 9.14708861e-01 -3.71711548e-02 1.27801575e+01] [ 1.55891662e-01 -2.84564704e-02 9.87364177e-01 2.88507120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.247719421 meters Centerline goodness : 0.935672 Centerline is valid? [False, False] Translation: X:87.53, Y:12.78, Z:0.29 [[ 9.02211821e-01 -4.02737575e-01 -1.54325224e-01 8.75273017e+01] [ 4.02093398e-01 9.14859895e-01 -3.67732405e-02 1.27795239e+01] [ 1.55995924e-01 -2.88759015e-02 9.87335533e-01 2.88398147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.277719421 meters Centerline goodness : 0.936568 Centerline is valid? [False, False] Translation: X:87.53, Y:12.78, Z:0.29 [[ 9.01249196e-01 -4.05245213e-01 -1.53382540e-01 8.75271461e+01] [ 4.04334947e-01 9.13799954e-01 -3.85083644e-02 1.27755001e+01] [ 1.55766289e-01 -2.73122888e-02 9.87416276e-01 2.89779635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.307719421 meters Centerline goodness : 0.936481 Centerline is valid? [False, False] Translation: X:87.51, Y:12.77, Z:0.29 [[ 8.99512841e-01 -4.07062766e-01 -1.58671213e-01 8.75149896e+01] [ 4.07170625e-01 9.12743712e-01 -3.33316591e-02 1.27661158e+01] [ 1.58394229e-01 -3.46240014e-02 9.86768690e-01 2.92585594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.337719421 meters Centerline goodness : 0.935417 Centerline is valid? [False, False] Translation: X:87.51, Y:12.75, Z:0.30 [[ 8.96859282e-01 -4.09842404e-01 -1.66350928e-01 8.75063155e+01] [ 4.11017201e-01 9.11168729e-01 -2.89207303e-02 1.27546385e+01] [ 1.63426705e-01 -4.24352675e-02 9.85642410e-01 2.96165233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36771942099999 meters Centerline goodness : 0.935374 Centerline is valid? [False, False] Translation: X:87.51, Y:12.75, Z:0.30 [[ 8.95466944e-01 -4.13333880e-01 -1.65209130e-01 8.75069733e+01] [ 4.14046572e-01 9.09701772e-01 -3.17509372e-02 1.27532151e+01] [ 1.63414777e-01 -3.99723593e-02 9.85747341e-01 2.96412396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.39771942099999 meters Centerline goodness : 0.933956 Centerline is valid? [False, False] Translation: X:87.51, Y:12.75, Z:0.30 [[ 8.94026464e-01 -4.16987278e-01 -1.63823967e-01 8.75074971e+01] [ 4.17235715e-01 9.08140581e-01 -3.45694113e-02 1.27518578e+01] [ 1.63190197e-01 -3.74472413e-02 9.85883697e-01 2.96360244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42771942099999 meters Centerline goodness : 0.934655 Centerline is valid? [False, False] Translation: X:87.50, Y:12.74, Z:0.30 [[ 8.90662364e-01 -4.21709247e-01 -1.69946653e-01 8.74974389e+01] [ 4.22815965e-01 9.05670014e-01 -3.14401765e-02 1.27413173e+01] [ 1.67174201e-01 -4.38535762e-02 9.84951598e-01 2.99930260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.457719421 meters Centerline goodness : 0.937375 Centerline is valid? [False, False] Translation: X:87.48, Y:12.73, Z:0.30 [[ 8.86956889e-01 -4.30049722e-01 -1.68418273e-01 8.74824416e+01] [ 4.31152803e-01 9.01715662e-01 -3.18767138e-02 1.27292912e+01] [ 1.65573966e-01 -4.43407395e-02 9.85200061e-01 3.01540155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.487719421 meters Centerline goodness : 0.938481 Centerline is valid? [False, False] Translation: X:87.48, Y:12.73, Z:0.30 [[ 8.85768428e-01 -4.33020277e-01 -1.67056073e-01 8.74812167e+01] [ 4.33713741e-01 9.00399611e-01 -3.42480829e-02 1.27273257e+01] [ 1.65247338e-01 -4.21186440e-02 9.85352392e-01 3.02915234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.517719421 meters Centerline goodness : 0.944173 Centerline is valid? [False, False] Translation: X:87.46, Y:12.72, Z:0.30 [[ 8.84425411e-01 -4.36208311e-01 -1.65873450e-01 8.74642150e+01] [ 4.37538822e-01 8.98685294e-01 -3.04059603e-02 1.27185895e+01] [ 1.62331363e-01 -4.56842700e-02 9.85678181e-01 3.03392517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.547719421 meters Centerline goodness : 0.944498 Centerline is valid? [False, False] Translation: X:87.46, Y:12.72, Z:0.30 [[ 8.84590743e-01 -4.35791318e-01 -1.66087759e-01 8.74639535e+01] [ 4.37201421e-01 8.98865011e-01 -2.99434377e-02 1.27179758e+01] [ 1.62339565e-01 -4.61261164e-02 9.85656252e-01 3.03841051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.577719421 meters Centerline goodness : 0.944118 Centerline is valid? [False, False] Translation: X:87.45, Y:12.71, Z:0.30 [[ 8.83912370e-01 -4.36600990e-01 -1.67566396e-01 8.74480933e+01] [ 4.38721339e-01 8.98242512e-01 -2.61529228e-02 1.27108844e+01] [ 1.61933653e-01 -5.03980616e-02 9.85513839e-01 3.02638887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.607719421 meters Centerline goodness : 0.941848 Centerline is valid? [False, False] Translation: X:87.44, Y:12.71, Z:0.30 [[ 8.85064371e-01 -4.33863026e-01 -1.68593993e-01 8.74409149e+01] [ 4.35009713e-01 8.99855402e-01 -3.20437825e-02 1.27086238e+01] [ 1.65612828e-01 -4.49792143e-02 9.85164586e-01 3.01632405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.637719421 meters Centerline goodness : 0.938918 Centerline is valid? [False, False] Translation: X:87.43, Y:12.71, Z:0.30 [[ 8.85428692e-01 -4.33073633e-01 -1.68710578e-01 8.74330904e+01] [ 4.32842594e-01 9.00577265e-01 -4.00983500e-02 1.27052998e+01] [ 1.69302449e-01 -3.75208948e-02 9.84849665e-01 3.01013028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.667719421 meters Centerline goodness : 0.934177 Centerline is valid? [False, False] Translation: X:87.41, Y:12.69, Z:0.30 [[ 8.89140235e-01 -4.25734563e-01 -1.67868176e-01 8.74148378e+01] [ 4.23803012e-01 9.04427884e-01 -4.90021409e-02 1.26941267e+01] [ 1.72686564e-01 -2.75732634e-02 9.84590811e-01 2.96802847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.697719421 meters Centerline goodness : 0.934236 Centerline is valid? [False, False] Translation: X:87.42, Y:12.69, Z:0.30 [[ 8.91041498e-01 -4.20845260e-01 -1.70100900e-01 8.74151447e+01] [ 4.19647614e-01 9.06584396e-01 -4.47282075e-02 1.26924234e+01] [ 1.73034476e-01 -3.15277478e-02 9.84411028e-01 2.97787992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72771942099999 meters Centerline goodness : 0.936518 Centerline is valid? [False, False] Translation: X:87.41, Y:12.69, Z:0.30 [[ 8.93643745e-01 -4.14282341e-01 -1.72542747e-01 8.74130121e+01] [ 4.14044359e-01 9.09416403e-01 -3.91033806e-02 1.26898658e+01] [ 1.73113044e-01 -3.64958595e-02 9.84225546e-01 3.00230762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.75771942099999 meters Centerline goodness : 0.937040 Centerline is valid? [False, False] Translation: X:87.41, Y:12.69, Z:0.30 [[ 8.94680154e-01 -4.11678781e-01 -1.73401277e-01 8.74114303e+01] [ 4.11820996e-01 9.10518615e-01 -3.68689423e-02 1.26889657e+01] [ 1.73063252e-01 -3.84243757e-02 9.84160901e-01 3.01395151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78771942099999 meters Centerline goodness : 0.935005 Centerline is valid? [False, False] Translation: X:87.41, Y:12.69, Z:0.30 [[ 8.96633005e-01 -4.06464128e-01 -1.75602299e-01 8.74126170e+01] [ 4.07427288e-01 9.12669729e-01 -3.22020356e-02 1.26871738e+01] [ 1.73355875e-01 -4.26717607e-02 9.83934379e-01 3.01379216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.81771942099999 meters Centerline goodness : 0.930034 Centerline is valid? [False, False] Translation: X:87.41, Y:12.69, Z:0.30 [[ 8.96888463e-01 -4.05684813e-01 -1.76099169e-01 8.74135226e+01] [ 4.06788443e-01 9.12980813e-01 -3.14515327e-02 1.26852449e+01] [ 1.73534572e-01 -4.34265900e-02 9.83869851e-01 3.01717980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.847719421 meters Centerline goodness : 0.930615 Centerline is valid? [False, False] Translation: X:87.41, Y:12.68, Z:0.30 [[ 8.96998716e-01 -4.06134836e-01 -1.74492976e-01 8.74117002e+01] [ 4.07116992e-01 9.12822902e-01 -3.17821414e-02 1.26769561e+01] [ 1.72189020e-01 -4.25305154e-02 9.84145364e-01 3.03060523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.877719421 meters Centerline goodness : 0.929406 Centerline is valid? [False, False] Translation: X:87.41, Y:12.67, Z:0.30 [[ 8.96785804e-01 -4.06826932e-01 -1.73974332e-01 8.74114306e+01] [ 4.07756006e-01 9.12529124e-01 -3.20255674e-02 1.26717555e+01] [ 1.71785508e-01 -4.22190043e-02 9.84229290e-01 3.04496538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.907719421 meters Centerline goodness : 0.930478 Centerline is valid? [False, False] Translation: X:87.41, Y:12.67, Z:0.30 [[ 8.97119766e-01 -4.05900523e-01 -1.74415854e-01 8.74117524e+01] [ 4.07022806e-01 9.12893932e-01 -3.09370963e-02 1.26698487e+01] [ 1.71780559e-01 -4.32369500e-02 9.84185961e-01 3.04979348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.937719421 meters Centerline goodness : 0.924867 Centerline is valid? [False, False] Translation: X:87.41, Y:12.67, Z:0.31 [[ 8.97492516e-01 -4.04857677e-01 -1.74921254e-01 8.74117001e+01] [ 4.06196555e-01 9.13302222e-01 -2.97222189e-02 1.26676286e+01] [ 1.71789238e-01 -4.43769417e-02 9.84133703e-01 3.05863167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.967719421 meters Centerline goodness : 0.930508 Centerline is valid? [False, False] Translation: X:87.41, Y:12.66, Z:0.31 [[ 8.97177854e-01 -4.05789043e-01 -1.74376463e-01 8.74105618e+01] [ 4.07060657e-01 9.12906387e-01 -3.00591148e-02 1.26622293e+01] [ 1.71387047e-01 -4.40134257e-02 9.84220147e-01 3.08141396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.997719421 meters Centerline goodness : 0.928046 Centerline is valid? [False, False] Translation: X:87.41, Y:12.66, Z:0.31 [[ 8.96321734e-01 -4.08178717e-01 -1.73197818e-01 8.74099912e+01] [ 4.09120210e-01 9.11922886e-01 -3.18951925e-02 1.26590325e+01] [ 1.70961993e-01 -4.22703734e-02 9.84370465e-01 3.09151964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.027719421 meters Centerline goodness : 0.926515 Centerline is valid? [False, False] Translation: X:87.41, Y:12.65, Z:0.31 [[ 8.95517953e-01 -4.10361311e-01 -1.72195208e-01 8.74112800e+01] [ 4.11112598e-01 9.10988479e-01 -3.29609261e-02 1.26517255e+01] [ 1.70393740e-01 -4.12745185e-02 9.84511243e-01 3.10182114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.057719421 meters Centerline goodness : 0.926515 Centerline is valid? [False, False] Translation: X:87.41, Y:12.65, Z:0.31 [[ 8.95517953e-01 -4.10361311e-01 -1.72195208e-01 8.74112800e+01] [ 4.11112598e-01 9.10988479e-01 -3.29609261e-02 1.26517255e+01] [ 1.70393740e-01 -4.12745185e-02 9.84511243e-01 3.10182114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.087719421 meters Centerline goodness : 0.928470 Centerline is valid? [False, False] Translation: X:87.41, Y:12.65, Z:0.31 [[ 8.94792632e-01 -4.12349341e-01 -1.71213804e-01 8.74112910e+01] [ 4.12889850e-01 9.10140894e-01 -3.41397854e-02 1.26473203e+01] [ 1.69906203e-01 -4.01444134e-02 9.84642224e-01 3.11141963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.11771942099999 meters Centerline goodness : 0.927628 Centerline is valid? [False, False] Translation: X:87.41, Y:12.65, Z:0.31 [[ 8.94957030e-01 -4.11818088e-01 -1.71632682e-01 8.74123670e+01] [ 4.12497778e-01 9.10346754e-01 -3.33821794e-02 1.26456058e+01] [ 1.69992640e-01 -4.09224839e-02 9.84595273e-01 3.11162821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14771942099999 meters Centerline goodness : 0.922346 Centerline is valid? [False, False] Translation: X:87.41, Y:12.64, Z:0.31 [[ 8.95055284e-01 -4.11342653e-01 -1.72259283e-01 8.74140032e+01] [ 4.12154048e-01 9.10526198e-01 -3.27274273e-02 1.26439109e+01] [ 1.70308777e-01 -4.17045040e-02 9.84507824e-01 3.11163206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.17771942099999 meters Centerline goodness : 0.915463 Centerline is valid? [False, False] Translation: X:87.42, Y:12.64, Z:0.31 [[ 8.94068279e-01 -4.13773681e-01 -1.71561225e-01 8.74163190e+01] [ 4.14341753e-01 9.09478353e-01 -3.42057924e-02 1.26388461e+01] [ 1.70184677e-01 -4.05026646e-02 9.84579458e-01 3.11446557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.207719421 meters Centerline goodness : 0.913244 Centerline is valid? [False, False] Translation: X:87.42, Y:12.63, Z:0.31 [[ 8.91837070e-01 -4.19532912e-01 -1.69170850e-01 8.74166991e+01] [ 4.19360323e-01 9.07002330e-01 -3.85187347e-02 1.26325542e+01] [ 1.69598232e-01 -3.65911070e-02 9.84833758e-01 3.12839360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.237719421 meters Centerline goodness : 0.912831 Centerline is valid? [False, False] Translation: X:87.40, Y:12.61, Z:0.31 [[ 8.90658422e-01 -4.20447745e-01 -1.73064350e-01 8.73965477e+01] [ 4.20031164e-01 9.06589895e-01 -4.08482945e-02 1.26149257e+01] [ 1.74072964e-01 -3.63105427e-02 9.84063081e-01 3.12276225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.267719421 meters Centerline goodness : 0.910979 Centerline is valid? [False, False] Translation: X:87.39, Y:12.60, Z:0.31 [[ 8.87077198e-01 -4.24913112e-01 -1.80396488e-01 8.73903732e+01] [ 4.25576927e-01 9.04166027e-01 -3.69874875e-02 1.26030547e+01] [ 1.78824844e-01 -4.39618262e-02 9.82898282e-01 3.14455487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.297719421 meters Centerline goodness : 0.910344 Centerline is valid? [False, False] Translation: X:87.38, Y:12.59, Z:0.32 [[ 8.84406169e-01 -4.27327713e-01 -1.87661275e-01 8.73815269e+01] [ 4.29400520e-01 9.02562045e-01 -3.15744737e-02 1.25943535e+01] [ 1.82868592e-01 -5.26571897e-02 9.81726183e-01 3.17056040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.327719421 meters Centerline goodness : 0.911962 Centerline is valid? [False, False] Translation: X:87.37, Y:12.58, Z:0.32 [[ 8.81615256e-01 -4.30005830e-01 -1.94549549e-01 8.73715675e+01] [ 4.33501602e-01 9.00763613e-01 -2.64815803e-02 1.25842671e+01] [ 1.86630389e-01 -6.09909761e-02 9.80535159e-01 3.20396980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.357719421 meters Centerline goodness : 0.910690 Centerline is valid? [False, False] Translation: X:87.36, Y:12.57, Z:0.32 [[ 8.76904911e-01 -4.38227361e-01 -1.97470396e-01 8.73574599e+01] [ 4.41784043e-01 8.96681429e-01 -2.80940333e-02 1.25684456e+01] [ 1.89379611e-01 -6.26034742e-02 9.79906204e-01 3.23625304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.387719421 meters Centerline goodness : 0.913478 Centerline is valid? [False, False] Translation: X:87.34, Y:12.56, Z:0.32 [[ 8.74704417e-01 -4.41306793e-01 -2.00350933e-01 8.73396243e+01] [ 4.45320486e-01 8.94961166e-01 -2.70956869e-02 1.25550749e+01] [ 1.91263816e-01 -6.55196579e-02 9.79349441e-01 3.24602550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.417719421 meters Centerline goodness : 0.919480 Centerline is valid? [False, False] Translation: X:87.33, Y:12.55, Z:0.33 [[ 8.70691148e-01 -4.48932028e-01 -2.00890416e-01 8.73272390e+01] [ 4.53666677e-01 8.90834760e-01 -2.44944302e-02 1.25457040e+01] [ 1.89956500e-01 -6.98102040e-02 9.79307441e-01 3.26068733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.447719421 meters Centerline goodness : 0.919999 Centerline is valid? [False, False] Translation: X:87.30, Y:12.53, Z:0.32 [[ 8.70684230e-01 -4.47497374e-01 -2.04095742e-01 8.72988565e+01] [ 4.51785561e-01 8.91694173e-01 -2.77724451e-02 1.25258635e+01] [ 1.94419080e-01 -6.80264794e-02 9.78556907e-01 3.24367777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.47771942099999 meters Centerline goodness : 0.922849 Centerline is valid? [False, False] Translation: X:87.27, Y:12.51, Z:0.32 [[ 8.70205331e-01 -4.46069971e-01 -2.09199101e-01 8.72727422e+01] [ 4.50573727e-01 8.92288841e-01 -2.83538400e-02 1.25078618e+01] [ 1.99313820e-01 -6.95859560e-02 9.77461915e-01 3.24821110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50771942099999 meters Centerline goodness : 0.924279 Centerline is valid? [False, False] Translation: X:87.25, Y:12.49, Z:0.32 [[ 8.70682895e-01 -4.43527099e-01 -2.12591180e-01 8.72462749e+01] [ 4.47974075e-01 8.93559265e-01 -2.95138522e-02 1.24909498e+01] [ 2.03053012e-01 -6.95381308e-02 9.76695409e-01 3.22630559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.53771942099999 meters Centerline goodness : 0.923356 Centerline is valid? [False, False] Translation: X:87.22, Y:12.48, Z:0.32 [[ 8.69582076e-01 -4.42793088e-01 -2.18543573e-01 8.72239518e+01] [ 4.47748059e-01 8.93685450e-01 -2.91202985e-02 1.24780288e+01] [ 2.08203479e-01 -7.25299711e-02 9.75392595e-01 3.23934899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56771942099999 meters Centerline goodness : 0.921424 Centerline is valid? [False, False] Translation: X:87.21, Y:12.47, Z:0.33 [[ 8.67079589e-01 -4.44053141e-01 -2.25809200e-01 8.72140727e+01] [ 4.50798889e-01 8.92310497e-01 -2.37136630e-02 1.24731793e+01] [ 2.12022046e-01 -8.12329031e-02 9.73882882e-01 3.25832644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.597719421 meters Centerline goodness : 0.920114 Centerline is valid? [False, False] Translation: X:87.21, Y:12.47, Z:0.33 [[ 8.63173511e-01 -4.47881311e-01 -2.33096164e-01 8.72050872e+01] [ 4.55995942e-01 8.89734389e-01 -2.09861312e-02 1.24681635e+01] [ 2.16792970e-01 -8.81762325e-02 9.72227216e-01 3.27917982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.627719421 meters Centerline goodness : 0.919332 Centerline is valid? [False, False] Translation: X:87.20, Y:12.46, Z:0.33 [[ 8.58947915e-01 -4.52453444e-01 -2.39779814e-01 8.71951112e+01] [ 4.61665427e-01 8.86836996e-01 -1.96259104e-02 1.24631562e+01] [ 2.21525421e-01 -9.38404156e-02 9.70628901e-01 3.29429731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.657719421 meters Centerline goodness : 0.918076 Centerline is valid? [False, False] Translation: X:87.17, Y:12.45, Z:0.33 [[ 8.58750489e-01 -4.49961994e-01 -2.45115896e-01 8.71673634e+01] [ 4.59092239e-01 8.88118064e-01 -2.19230603e-02 1.24470725e+01] [ 2.27556399e-01 -9.37043665e-02 9.69245881e-01 3.25925255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.687719421 meters Centerline goodness : 0.916048 Centerline is valid? [False, False] Translation: X:87.14, Y:12.43, Z:0.32 [[ 8.58238269e-01 -4.47198753e-01 -2.51873677e-01 8.71403318e+01] [ 4.56714137e-01 8.89322156e-01 -2.27662088e-02 1.24336717e+01] [ 2.34177861e-01 -9.54954373e-02 9.67492300e-01 3.23087206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.717719421 meters Centerline goodness : 0.916228 Centerline is valid? [False, False] Translation: X:87.11, Y:12.42, Z:0.32 [[ 8.58848214e-01 -4.44587902e-01 -2.54403896e-01 8.71129666e+01] [ 4.53770277e-01 8.90773733e-01 -2.47929906e-02 1.24180081e+01] [ 2.37638972e-01 -9.41475106e-02 9.66780205e-01 3.18489339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.747719421 meters Centerline goodness : 0.917203 Centerline is valid? [False, False] Translation: X:87.09, Y:12.40, Z:0.31 [[ 8.59593352e-01 -4.42375154e-01 -2.55741064e-01 8.70864116e+01] [ 4.51111774e-01 8.92064885e-01 -2.68031202e-02 1.24021823e+01] [ 2.39994658e-01 -9.23280214e-02 9.66373686e-01 3.12951096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.777719421 meters Centerline goodness : 0.917943 Centerline is valid? [False, False] Translation: X:87.06, Y:12.39, Z:0.31 [[ 8.59436803e-01 -4.39924180e-01 -2.60451720e-01 8.70566714e+01] [ 4.48400127e-01 8.93352034e-01 -2.93167144e-02 1.23882287e+01] [ 2.45572205e-01 -9.15907212e-02 9.65041674e-01 3.09547262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.807719421 meters Centerline goodness : 0.921738 Centerline is valid? [False, False] Translation: X:87.02, Y:12.38, Z:0.30 [[ 8.60238396e-01 -4.35845127e-01 -2.64629792e-01 8.70199204e+01] [ 4.46902294e-01 8.94353687e-01 -2.02440697e-02 1.23761672e+01] [ 2.45495910e-01 -1.00848935e-01 9.64137568e-01 3.03202392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.837719421 meters Centerline goodness : 0.920429 Centerline is valid? [False, False] Translation: X:86.99, Y:12.36, Z:0.30 [[ 8.61580562e-01 -4.32104759e-01 -2.66391465e-01 8.69883286e+01] [ 4.42660008e-01 8.96410742e-01 -2.23584087e-02 1.23624356e+01] [ 2.48457346e-01 -9.86572776e-02 9.63605567e-01 2.96991262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86771942099999 meters Centerline goodness : 0.926648 Centerline is valid? [False, False] Translation: X:86.96, Y:12.35, Z:0.29 [[ 8.63673590e-01 -4.32672157e-01 -2.58578295e-01 8.69553375e+01] [ 4.41689062e-01 8.96810552e-01 -2.53299580e-02 1.23538481e+01] [ 2.42855311e-01 -9.23343890e-02 9.65658148e-01 2.87967957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.89771942099999 meters Centerline goodness : 0.930915 Centerline is valid? [False, False] Translation: X:86.92, Y:12.34, Z:0.28 [[ 8.65453704e-01 -4.33858000e-01 -2.50513714e-01 8.69237861e+01] [ 4.41322469e-01 8.96890864e-01 -2.86575588e-02 1.23407375e+01] [ 2.37116773e-01 -8.57555404e-02 9.67688805e-01 2.78866326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92771942099999 meters Centerline goodness : 0.936537 Centerline is valid? [False, False] Translation: X:86.88, Y:12.32, Z:0.27 [[ 8.64222474e-01 -4.38327819e-01 -2.46957967e-01 8.68811603e+01] [ 4.45482124e-01 8.94812618e-01 -2.92584201e-02 1.23249836e+01] [ 2.33805884e-01 -8.47295754e-02 9.68584383e-01 2.70293297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.957719421 meters Centerline goodness : 0.938116 Centerline is valid? [False, False] Translation: X:86.84, Y:12.31, Z:0.26 [[ 8.63984997e-01 -4.38160136e-01 -2.48083898e-01 8.68447298e+01] [ 4.46580934e-01 8.94410214e-01 -2.44097834e-02 1.23093687e+01] [ 2.32584167e-01 -8.96998524e-02 9.68430969e-01 2.60744612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.987719421 meters Centerline goodness : 0.938898 Centerline is valid? [False, False] Translation: X:86.81, Y:12.29, Z:0.25 [[ 8.63907716e-01 -4.37685521e-01 -2.49188369e-01 8.68073530e+01] [ 4.47149273e-01 8.94225725e-01 -2.04421495e-02 1.22943394e+01] [ 2.31777882e-01 -9.37642672e-02 9.68239266e-01 2.50507117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.017719421 meters Centerline goodness : 0.940251 Centerline is valid? [False, False] Translation: X:86.76, Y:12.28, Z:0.24 [[ 8.62625721e-01 -4.40464334e-01 -2.48732858e-01 8.67576000e+01] [ 4.51554454e-01 8.92136869e-01 -1.37978770e-02 1.22800328e+01] [ 2.27981226e-01 -1.00414026e-01 9.68473843e-01 2.35330375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.047719421 meters Centerline goodness : 0.939445 Centerline is valid? [False, False] Translation: X:86.72, Y:12.27, Z:0.23 [[ 8.62721722e-01 -4.41279122e-01 -2.46949322e-01 8.67223084e+01] [ 4.50173781e-01 8.92659393e-01 -2.24226341e-02 1.22696627e+01] [ 2.30336272e-01 -9.18256163e-02 9.68768939e-01 2.26579366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.077719421 meters Centerline goodness : 0.939302 Centerline is valid? [False, False] Translation: X:86.69, Y:12.26, Z:0.22 [[ 8.64492889e-01 -4.40172747e-01 -2.42693219e-01 8.66935731e+01] [ 4.47540543e-01 8.93855633e-01 -2.70105313e-02 1.22584522e+01] [ 2.28822001e-01 -8.52646427e-02 9.69726989e-01 2.16241074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.107719421 meters Centerline goodness : 0.938952 Centerline is valid? [False, False] Translation: X:86.66, Y:12.25, Z:0.20 [[ 8.66949024e-01 -4.37903348e-01 -2.37991697e-01 8.66627857e+01] [ 4.43538407e-01 8.95672304e-01 -3.23234435e-02 1.22521371e+01] [ 2.27317116e-01 -7.75356804e-02 9.70729183e-01 2.04792818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.137719421 meters Centerline goodness : 0.940374 Centerline is valid? [False, False] Translation: X:86.63, Y:12.24, Z:0.19 [[ 8.68593383e-01 -4.34382987e-01 -2.38446967e-01 8.66262123e+01] [ 4.41295947e-01 8.96969897e-01 -2.65120738e-02 1.22388322e+01] [ 2.25396145e-01 -8.21974684e-02 9.70793569e-01 1.93795556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.167719421 meters Centerline goodness : 0.936522 Centerline is valid? [False, False] Translation: X:86.59, Y:12.23, Z:0.18 [[ 8.72461664e-01 -4.26489677e-01 -2.38573259e-01 8.65939406e+01] [ 4.32565078e-01 9.01134897e-01 -2.90404868e-02 1.22328511e+01] [ 2.27372157e-01 -7.78617488e-02 9.70690193e-01 1.82853286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.197719421 meters Centerline goodness : 0.937861 Centerline is valid? [False, False] Translation: X:86.57, Y:12.22, Z:0.17 [[ 8.75726252e-01 -4.22086728e-01 -2.34406328e-01 8.65656439e+01] [ 4.27315838e-01 9.03583546e-01 -3.06259879e-02 1.22237814e+01] [ 2.24732524e-01 -7.33455548e-02 9.71656175e-01 1.72098869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22771942099999 meters Centerline goodness : 0.934330 Centerline is valid? [False, False] Translation: X:86.54, Y:12.22, Z:0.16 [[ 8.79024863e-01 -4.16382555e-01 -2.32251712e-01 8.65400380e+01] [ 4.21172142e-01 9.06449438e-01 -3.10393792e-02 1.22222235e+01] [ 2.23448690e-01 -7.05335649e-02 9.72160326e-01 1.62994747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.25771942099999 meters Centerline goodness : 0.935506 Centerline is valid? [False, False] Translation: X:86.51, Y:12.22, Z:0.15 [[ 8.84170462e-01 -4.07740731e-01 -2.28013354e-01 8.65084248e+01] [ 4.11598283e-01 9.10781145e-01 -3.26275877e-02 1.22162897e+01] [ 2.20973860e-01 -6.50015556e-02 9.73111171e-01 1.51556389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28771942099999 meters Centerline goodness : 0.936553 Centerline is valid? [False, False] Translation: X:86.49, Y:12.21, Z:0.15 [[ 8.85623531e-01 -4.05685323e-01 -2.26031811e-01 8.64885965e+01] [ 4.10328060e-01 9.11500220e-01 -2.82529930e-02 1.22127587e+01] [ 2.17489870e-01 -6.77256791e-02 9.73710115e-01 1.47939974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.31771942099999 meters Centerline goodness : 0.937803 Centerline is valid? [False, False] Translation: X:86.47, Y:12.21, Z:0.15 [[ 8.86707164e-01 -4.04021487e-01 -2.24759966e-01 8.64713768e+01] [ 4.09813255e-01 9.11893744e-01 -2.24253340e-02 1.22101431e+01] [ 2.14017524e-01 -7.22249092e-02 9.74156077e-01 1.45518672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.347719421 meters Centerline goodness : 0.940844 Centerline is valid? [False, False] Translation: X:86.47, Y:12.21, Z:0.15 [[ 8.89662119e-01 -3.96532988e-01 -2.26413126e-01 8.64650258e+01] [ 4.03440007e-01 9.14848706e-01 -1.69707453e-02 1.22139942e+01] [ 2.13863216e-01 -7.62458840e-02 9.73883509e-01 1.47396358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.377719421 meters Centerline goodness : 0.942316 Centerline is valid? [False, False] Translation: X:86.45, Y:12.21, Z:0.14 [[ 8.90946175e-01 -3.94885302e-01 -2.24233161e-01 8.64457622e+01] [ 4.02476638e-01 9.15340801e-01 -1.27974290e-02 1.22101968e+01] [ 2.10303278e-01 -7.88467883e-02 9.74451495e-01 1.43800751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.407719421 meters Centerline goodness : 0.941684 Centerline is valid? [False, False] Translation: X:86.44, Y:12.21, Z:0.14 [[ 8.93934054e-01 -3.86964566e-01 -2.26142281e-01 8.64417326e+01] [ 3.95702959e-01 9.18350040e-01 -7.23692206e-03 1.22147043e+01] [ 2.10478206e-01 -8.30158388e-02 9.74067398e-01 1.44197476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.437719421 meters Centerline goodness : 0.943830 Centerline is valid? [False, False] Translation: X:86.44, Y:12.22, Z:0.14 [[ 8.95384860e-01 -3.82887108e-01 -2.27339866e-01 8.64409970e+01] [ 3.92251709e-01 9.19847788e-01 -4.31784450e-03 1.22167451e+01] [ 2.10771320e-01 -8.53083185e-02 9.73805905e-01 1.43889380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.467719421 meters Centerline goodness : 0.943442 Centerline is valid? [False, False] Translation: X:86.43, Y:12.22, Z:0.14 [[ 8.97622834e-01 -3.78560038e-01 -2.25755500e-01 8.64344562e+01] [ 3.86837743e-01 9.22111767e-01 -8.15162518e-03 1.22188688e+01] [ 2.11257683e-01 -8.00136633e-02 9.74149888e-01 1.39232375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.497719421 meters Centerline goodness : 0.941152 Centerline is valid? [False, False] Translation: X:86.43, Y:12.22, Z:0.14 [[ 8.98116228e-01 -3.77462707e-01 -2.25630553e-01 8.64334815e+01] [ 3.85732472e-01 9.22575976e-01 -8.00171948e-03 1.22206304e+01] [ 2.11181678e-01 -7.98465569e-02 9.74180079e-01 1.38748692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.527719421 meters Centerline goodness : 0.941675 Centerline is valid? [False, False] Translation: X:86.43, Y:12.22, Z:0.14 [[ 8.99981453e-01 -3.72412735e-01 -2.26588039e-01 8.64325962e+01] [ 3.81396788e-01 9.24400713e-01 -4.45108471e-03 1.22228495e+01] [ 2.11115786e-01 -8.24140568e-02 9.73980517e-01 1.37635389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.557719421 meters Centerline goodness : 0.943542 Centerline is valid? [False, False] Translation: X:86.43, Y:12.22, Z:0.14 [[ 9.00598599e-01 -3.70820981e-01 -2.26746474e-01 8.64303725e+01] [ 3.80045183e-01 9.24962362e-01 -3.20750941e-03 1.22223665e+01] [ 2.10921366e-01 -8.32852267e-02 9.73948535e-01 1.38725737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.587719421 meters Centerline goodness : 0.947036 Centerline is valid? [False, False] Translation: X:86.43, Y:12.22, Z:0.14 [[ 9.00445571e-01 -3.71582614e-01 -2.26106467e-01 8.64272856e+01] [ 3.80676461e-01 9.24701107e-01 -3.64616266e-03 1.22187165e+01] [ 2.10435751e-01 -8.27902389e-02 9.74095771e-01 1.41352609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.61771942099999 meters Centerline goodness : 0.947665 Centerline is valid? [False, False] Translation: X:86.43, Y:12.22, Z:0.14 [[ 8.99501543e-01 -3.74489184e-01 -2.25066269e-01 8.64270219e+01] [ 3.83076729e-01 9.23697435e-01 -5.93864795e-03 1.22163286e+01] [ 2.10117095e-01 -8.08758272e-02 9.74325360e-01 1.42160219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64771942099999 meters Centerline goodness : 0.948326 Centerline is valid? [False, False] Translation: X:86.43, Y:12.21, Z:0.14 [[ 8.98121263e-01 -3.78411524e-01 -2.24015435e-01 8.64295363e+01] [ 3.86480812e-01 9.22258988e-01 -8.42261058e-03 1.22121736e+01] [ 2.09787462e-01 -7.90131417e-02 9.74549201e-01 1.41949333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.67771942099999 meters Centerline goodness : 0.948184 Centerline is valid? [False, False] Translation: X:86.43, Y:12.21, Z:0.14 [[ 8.96899887e-01 -3.82079677e-01 -2.22678499e-01 8.64298929e+01] [ 3.89540458e-01 9.20941245e-01 -1.12006346e-02 1.22108648e+01] [ 2.09353349e-01 -7.66964367e-02 9.74827591e-01 1.41803096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.707719421 meters Centerline goodness : 0.947500 Centerline is valid? [False, False] Translation: X:86.42, Y:12.20, Z:0.14 [[ 8.93354981e-01 -3.86162638e-01 -2.29772270e-01 8.64234179e+01] [ 3.94947869e-01 9.18665309e-01 -8.38035643e-03 1.22025084e+01] [ 2.14319994e-01 -8.32614350e-02 9.73208340e-01 1.42317423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.737719421 meters Centerline goodness : 0.945134 Centerline is valid? [False, False] Translation: X:86.42, Y:12.20, Z:0.14 [[ 8.91963383e-01 -3.90014968e-01 -2.28669300e-01 8.64248335e+01] [ 3.98195586e-01 9.17232301e-01 -1.11884040e-02 1.22004832e+01] [ 2.14106513e-01 -8.10754591e-02 9.73439865e-01 1.42236032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.767719421 meters Centerline goodness : 0.947645 Centerline is valid? [False, False] Translation: X:86.41, Y:12.19, Z:0.14 [[ 8.87427436e-01 -3.99631230e-01 -2.29711616e-01 8.64138000e+01] [ 4.07909851e-01 9.12938017e-01 -1.23988034e-02 1.21893264e+01] [ 2.14667417e-01 -8.26985929e-02 9.73179759e-01 1.42612368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.797719421 meters Centerline goodness : 0.950659 Centerline is valid? [False, True] Translation: X:86.40, Y:12.18, Z:0.14 [[ 8.83096773e-01 -4.06664087e-01 -2.34017971e-01 8.64037686e+01] [ 4.15711058e-01 9.09422660e-01 -1.16078332e-02 1.21800299e+01] [ 2.17541735e-01 -8.70330184e-02 9.72162974e-01 1.44361382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.827719421 meters Centerline goodness : 0.948997 Centerline is valid? [True, False] Translation: X:86.39, Y:12.17, Z:0.14 [[ 8.79945270e-01 -4.10960037e-01 -2.38344644e-01 8.63925808e+01] [ 4.20793470e-01 9.07095591e-01 -1.05092110e-02 1.21743829e+01] [ 2.20520241e-01 -9.10463392e-02 9.71123776e-01 1.43796598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.857719421 meters Centerline goodness : 0.948945 Centerline is valid? [False, False] Translation: X:86.38, Y:12.17, Z:0.14 [[ 8.77333827e-01 -4.12405370e-01 -2.45371489e-01 8.63846895e+01] [ 4.24157203e-01 9.05572221e-01 -5.44229755e-03 1.21699031e+01] [ 2.24446037e-01 -9.93013728e-02 9.69413851e-01 1.44139235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.887719421 meters Centerline goodness : 0.945732 Centerline is valid? [False, False] Translation: X:86.36, Y:12.16, Z:0.13 [[ 8.77515732e-01 -4.14769528e-01 -2.40691460e-01 8.63613375e+01] [ 4.25027509e-01 9.05123235e-01 -1.01757344e-02 1.21578273e+01] [ 2.22076017e-01 -9.33711244e-02 9.70548338e-01 1.33831420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.917719421 meters Centerline goodness : 0.944901 Centerline is valid? [False, False] Translation: X:86.34, Y:12.15, Z:0.12 [[ 8.78210391e-01 -4.16489839e-01 -2.35122784e-01 8.63374134e+01] [ 4.25526174e-01 9.04846448e-01 -1.34306138e-02 1.21450070e+01] [ 2.18343730e-01 -8.82559941e-02 9.71872880e-01 1.24907470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.947719421 meters Centerline goodness : 0.943819 Centerline is valid? [False, False] Translation: X:86.31, Y:12.13, Z:0.12 [[ 8.78033854e-01 -4.20408461e-01 -2.28720958e-01 8.63123537e+01] [ 4.27942579e-01 9.03624369e-01 -1.81149037e-02 1.21310714e+01] [ 2.14293490e-01 -8.19739379e-02 9.73323468e-01 1.16921096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.97771942099999 meters Centerline goodness : 0.943819 Centerline is valid? [False, False] Translation: X:86.31, Y:12.13, Z:0.11 [[ 8.76993948e-01 -4.24041595e-01 -2.25987480e-01 8.63070884e+01] [ 4.32214218e-01 9.01653487e-01 -1.45553608e-02 1.21302020e+01] [ 2.09934478e-01 -8.49100386e-02 9.74021458e-01 1.13027095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00771942099999 meters Centerline goodness : 0.942850 Centerline is valid? [False, False] Translation: X:86.30, Y:12.13, Z:0.11 [[ 8.74162329e-01 -4.25925329e-01 -2.33297741e-01 8.62985020e+01] [ 4.35777694e-01 8.99995998e-01 -1.02471971e-02 1.21287200e+01] [ 2.14331574e-01 -9.27082378e-02 9.72351356e-01 1.12944283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.03771942099999 meters Centerline goodness : 0.940690 Centerline is valid? [False, False] Translation: X:86.29, Y:12.12, Z:0.11 [[ 8.71879510e-01 -4.29245151e-01 -2.35742911e-01 8.62852965e+01] [ 4.40035729e-01 8.97948454e-01 -7.55858922e-03 1.21248725e+01] [ 2.14929470e-01 -9.71451246e-02 9.71786061e-01 1.12069922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06771942099999 meters Centerline goodness : 0.941997 Centerline is valid? [False, False] Translation: X:86.26, Y:12.11, Z:0.10 [[ 8.72865226e-01 -4.31017210e-01 -2.28758524e-01 8.62579897e+01] [ 4.40309827e-01 8.97772605e-01 -1.14719514e-02 1.21114348e+01] [ 2.10317744e-01 -9.07111586e-02 9.73415601e-01 1.03147162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.097719421 meters Centerline goodness : 0.947557 Centerline is valid? [False, False] Translation: X:86.25, Y:12.11, Z:0.10 [[ 8.69494997e-01 -4.40807977e-01 -2.22860443e-01 8.62479546e+01] [ 4.49825194e-01 8.93043888e-01 -1.13977801e-02 1.21093820e+01] [ 2.04048389e-01 -9.03379290e-02 9.74783727e-01 1.00347910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.127719421 meters Centerline goodness : 0.946720 Centerline is valid? [False, False] Translation: X:86.22, Y:12.10, Z:0.09 [[ 8.66110002e-01 -4.48371237e-01 -2.20945014e-01 8.62157742e+01] [ 4.57445323e-01 8.89166967e-01 -1.12196403e-02 1.20959446e+01] [ 2.01487572e-01 -9.13528205e-02 9.75221729e-01 9.23548046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.157719421 meters Centerline goodness : 0.945388 Centerline is valid? [False, False] Translation: X:86.18, Y:12.08, Z:0.08 [[ 8.65215598e-01 -4.50709021e-01 -2.19689206e-01 8.61826397e+01] [ 4.60322473e-01 8.87713035e-01 -8.29394240e-03 1.20813598e+01] [ 1.98759126e-01 -9.39518302e-02 9.75534655e-01 8.23979135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.187719421 meters Centerline goodness : 0.945568 Centerline is valid? [False, False] Translation: X:86.15, Y:12.07, Z:0.07 [[ 8.65237539e-01 -4.51297720e-01 -2.18390404e-01 8.61485292e+01] [ 4.61240797e-01 8.87254011e-01 -6.10310548e-03 1.20663691e+01] [ 1.96522080e-01 -9.54499281e-02 9.75842397e-01 7.04530694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.217719421 meters Centerline goodness : 0.942934 Centerline is valid? [False, False] Translation: X:86.11, Y:12.06, Z:0.06 [[ 8.65361963e-01 -4.50925646e-01 -2.18665804e-01 8.61142506e+01] [ 4.61129132e-01 8.87319509e-01 -4.90022492e-03 1.20553323e+01] [ 1.96236071e-01 -9.65927043e-02 9.75787504e-01 5.73844575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.247719421 meters Centerline goodness : 0.943590 Centerline is valid? [False, False] Translation: X:86.09, Y:12.05, Z:0.05 [[ 8.66599777e-01 -4.51069734e-01 -2.13403188e-01 8.60880206e+01] [ 4.59601558e-01 8.88060580e-01 -1.07151257e-02 1.20503790e+01] [ 1.94348228e-01 -8.87947122e-02 9.76905454e-01 4.64226579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.277719421 meters Centerline goodness : 0.943347 Centerline is valid? [False, False] Translation: X:86.06, Y:12.04, Z:0.04 [[ 8.67668921e-01 -4.50735336e-01 -2.09733877e-01 8.60644468e+01] [ 4.58524214e-01 8.88590593e-01 -1.27398121e-02 1.20444773e+01] [ 1.92109834e-01 -8.51141222e-02 9.77675507e-01 3.90478459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.307719421 meters Centerline goodness : 0.943616 Centerline is valid? [False, False] Translation: X:86.05, Y:12.05, Z:0.04 [[ 8.68676237e-01 -4.48614990e-01 -2.10109939e-01 8.60451142e+01] [ 4.56763045e-01 8.89522563e-01 -1.08226801e-02 1.20466360e+01] [ 1.91752748e-01 -8.65690503e-02 9.77617862e-01 3.50320602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.337719421 meters Centerline goodness : 0.943026 Centerline is valid? [False, False] Translation: X:86.02, Y:12.04, Z:0.03 [[ 8.71123252e-01 -4.46347009e-01 -2.04740391e-01 8.60167473e+01] [ 4.52917976e-01 8.91403989e-01 -1.62553372e-02 1.20362879e+01] [ 1.89761922e-01 -7.85702013e-02 9.78681325e-01 2.51725779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36771942099999 meters Centerline goodness : 0.944248 Centerline is valid? [False, False] Translation: X:85.99, Y:12.03, Z:0.01 [[ 8.73451635e-01 -4.44007186e-01 -1.99849592e-01 8.59888575e+01] [ 4.48978467e-01 8.93264486e-01 -2.22911367e-02 1.20295299e+01] [ 1.88415968e-01 -7.02579339e-02 9.79572991e-01 1.49960750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.39771942099999 meters Centerline goodness : 0.941602 Centerline is valid? [False, False] Translation: X:85.98, Y:12.03, Z:0.01 [[ 8.72743733e-01 -4.44480288e-01 -2.01880284e-01 8.59766381e+01] [ 4.50815080e-01 8.92473019e-01 -1.60522269e-02 1.20290587e+01] [ 1.87307605e-01 -7.70011962e-02 9.79278651e-01 1.36068141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42771942099999 meters Centerline goodness : 0.941076 Centerline is valid? [False, False] Translation: X:85.95, Y:12.03, Z:0.01 [[ 8.71241206e-01 -4.46314691e-01 -2.04308486e-01 8.59529521e+01] [ 4.54644080e-01 8.90646694e-01 -6.87218892e-03 1.20284947e+01] [ 1.85033837e-01 -8.69003096e-02 9.78882432e-01 7.59004503e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.457719421 meters Centerline goodness : 0.944950 Centerline is valid? [False, False] Translation: X:85.94, Y:12.03, Z:0.01 [[ 8.69607553e-01 -4.49862521e-01 -2.03485666e-01 8.59362245e+01] [ 4.58165152e-01 8.88839242e-01 -7.03531446e-03 1.20250847e+01] [ 1.84030969e-01 -8.71120785e-02 9.79052648e-01 5.29402634e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.487719421 meters Centerline goodness : 0.946864 Centerline is valid? [False, False] Translation: X:85.90, Y:12.01, Z:-0.01 [[ 8.68380442e-01 -4.55344792e-01 -1.96409083e-01 8.58992731e+01] [ 4.62690967e-01 8.86469200e-01 -9.45652503e-03 1.20133986e+01] [ 1.78416582e-01 -8.26648472e-02 9.80476438e-01 -5.88784323e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.517719421 meters Centerline goodness : 0.947405 Centerline is valid? [False, False] Translation: X:85.86, Y:12.00, Z:-0.02 [[ 8.69526504e-01 -4.56561015e-01 -1.88349937e-01 8.58643369e+01] [ 4.63809398e-01 8.85912906e-01 -6.25819916e-03 1.19992291e+01] [ 1.69718889e-01 -8.19168005e-02 9.82082042e-01 -1.85039858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.547719421 meters Centerline goodness : 0.948180 Centerline is valid? [False, False] Translation: X:85.83, Y:11.99, Z:-0.03 [[ 8.69768113e-01 -4.59289151e-01 -1.80435322e-01 8.58257682e+01] [ 4.66347490e-01 8.84593818e-01 -3.71416954e-03 1.19899633e+01] [ 1.61317849e-01 -8.09150935e-02 9.83579839e-01 -2.90755772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.577719421 meters Centerline goodness : 0.950592 Centerline is valid? [False, True] Translation: X:85.79, Y:11.98, Z:-0.04 [[ 8.70757045e-01 -4.58746940e-01 -1.77012467e-01 8.57872734e+01] [ 4.65832792e-01 8.84871090e-01 -1.72145541e-03 1.19758595e+01] [ 1.57422927e-01 -8.09592422e-02 9.84207104e-01 -3.87944591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.607719421 meters Centerline goodness : 0.949717 Centerline is valid? [True, False] Translation: X:85.76, Y:11.98, Z:-0.05 [[ 8.69503001e-01 -4.61986899e-01 -1.74735904e-01 8.57619576e+01] [ 4.69501441e-01 8.82929674e-01 1.89411389e-03 1.19768456e+01] [ 1.53404459e-01 -8.36856964e-02 9.84613516e-01 -4.63886877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.637719421 meters Centerline goodness : 0.952774 Centerline is valid? [False, True] Translation: X:85.73, Y:11.97, Z:-0.06 [[ 8.70048654e-01 -4.61902327e-01 -1.72225376e-01 8.57265505e+01] [ 4.69039152e-01 8.83176970e-01 8.44156311e-04 1.19657295e+01] [ 1.51715568e-01 -8.15149014e-02 9.85057210e-01 -5.72722539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.667719421 meters Centerline goodness : 0.953114 Centerline is valid? [True, True] Translation: X:85.74, Y:12.01, Z:-0.07 [[ 8.68620211e-01 -4.75121962e-01 -1.40563328e-01 8.57403870e+01] [ 4.70473043e-01 8.79882573e-01 -6.67965140e-02 1.20094530e+01] [ 1.55415714e-01 -8.11045464e-03 9.87815862e-01 -6.75945213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.697719421 meters Centerline goodness : 0.953311 Centerline is valid? [True, True] Translation: X:85.76, Y:12.03, Z:-0.06 [[ 8.68199421e-01 -4.75896715e-01 -1.40542098e-01 8.57630122e+01] [ 4.71250643e-01 8.79462956e-01 -6.68411543e-02 1.20269662e+01] [ 1.55411054e-01 -8.19910245e-03 9.87815863e-01 -6.37142341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72771942099999 meters Centerline goodness : 0.956469 Centerline is valid? [True, True] Translation: X:85.78, Y:12.05, Z:-0.06 [[ 8.67862960e-01 -4.76517148e-01 -1.40517936e-01 8.57821145e+01] [ 4.71870938e-01 8.79126436e-01 -6.68919106e-02 1.20529999e+01] [ 1.55408175e-01 -8.25331869e-03 9.87815864e-01 -5.87975454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.75771942099999 meters Centerline goodness : 0.956947 Centerline is valid? [True, True] Translation: X:85.80, Y:12.07, Z:-0.06 [[ 8.68031365e-01 -4.76216752e-01 -1.40496102e-01 8.58027273e+01] [ 4.71559250e-01 8.79290175e-01 -6.69377393e-02 1.20711061e+01] [ 1.55413715e-01 -8.14817910e-03 9.87815866e-01 -5.50330026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78771942099999 meters Centerline goodness : 0.957554 Centerline is valid? [True, True] Translation: X:85.82, Y:12.09, Z:-0.05 [[ 8.68984634e-01 -4.74480025e-01 -1.40479222e-01 8.58227990e+01] [ 4.69794313e-01 8.80231732e-01 -6.69731443e-02 1.20947813e+01] [ 1.55431688e-01 -7.79770654e-03 9.87815866e-01 -5.11060497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.81771942099999 meters Centerline goodness : 0.957726 Centerline is valid? [True, True] Translation: X:85.84, Y:12.12, Z:-0.05 [[ 8.70751193e-01 -4.71236613e-01 -1.40457875e-01 8.58416856e+01] [ 4.66501798e-01 8.81977707e-01 -6.70178852e-02 1.21181858e+01] [ 1.55461996e-01 -7.16794778e-03 9.87815868e-01 -4.77198003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.847719421 meters Centerline goodness : 0.959202 Centerline is valid? [True, True] Translation: X:85.86, Y:12.14, Z:-0.04 [[ 8.71845870e-01 -4.69211384e-01 -1.40447342e-01 8.58639314e+01] [ 4.64446941e-01 8.83059842e-01 -6.70399517e-02 1.21363437e+01] [ 1.55479316e-01 -6.78183343e-03 9.87815868e-01 -4.34254886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.877719421 meters Centerline goodness : 0.959530 Centerline is valid? [True, True] Translation: X:85.88, Y:12.16, Z:-0.04 [[ 8.75497063e-01 -4.62370180e-01 -1.40423321e-01 8.58839734e+01] [ 4.57510022e-01 8.86669883e-01 -6.70902298e-02 1.21598191e+01] [ 1.55529651e-01 -5.50777747e-03 9.87815869e-01 -3.91635294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.907719421 meters Centerline goodness : 0.959637 Centerline is valid? [True, True] Translation: X:85.91, Y:12.18, Z:-0.04 [[ 8.78039548e-01 -4.57530198e-01 -1.40401813e-01 8.59058070e+01] [ 4.52601252e-01 8.89182192e-01 -6.71352106e-02 1.21764347e+01] [ 1.55559178e-01 -4.59866632e-03 9.87815871e-01 -3.56798045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.937719421 meters Centerline goodness : 0.960741 Centerline is valid? [True, True] Translation: X:85.93, Y:12.20, Z:-0.03 [[ 8.83462694e-01 -4.46972013e-01 -1.40391195e-01 8.59272463e+01] [ 4.41906325e-01 8.94543840e-01 -6.71574071e-02 1.21974001e+01] [ 1.55603560e-01 -2.70869335e-03 9.87815871e-01 -3.44532898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.967719421 meters Centerline goodness : 0.960185 Centerline is valid? [True, True] Translation: X:85.95, Y:12.21, Z:-0.03 [[ 8.85825411e-01 -4.42273350e-01 -1.40383848e-01 8.59513084e+01] [ 4.37146444e-01 8.96878367e-01 -6.71727627e-02 1.22139163e+01] [ 1.55615959e-01 -1.86495961e-03 9.87815871e-01 -3.14865379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.997719421 meters Centerline goodness : 0.962001 Centerline is valid? [True, True] Translation: X:85.97, Y:12.23, Z:-0.03 [[ 8.90552462e-01 -4.32682802e-01 -1.40363475e-01 8.59726638e+01] [ 4.27430144e-01 9.01546213e-01 -6.72153067e-02 1.22339672e+01] [ 1.55627066e-01 -1.36823461e-04 9.87815872e-01 -2.64957282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.027719421 meters Centerline goodness : 0.961609 Centerline is valid? [True, True] Translation: X:86.00, Y:12.25, Z:-0.02 [[ 8.92650736e-01 -4.28345386e-01 -1.40338497e-01 8.59962478e+01] [ 4.23031116e-01 9.03614835e-01 -6.72674187e-02 1.22498384e+01] [ 1.55625636e-01 6.78759980e-04 9.87815874e-01 -2.44193377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.057719421 meters Centerline goodness : 0.961245 Centerline is valid? [True, True] Translation: X:86.02, Y:12.27, Z:-0.02 [[ 8.96130995e-01 -4.21018409e-01 -1.40330820e-01 8.60203837e+01] [ 4.15611992e-01 9.07049950e-01 -6.72834294e-02 1.22653112e+01] [ 1.55614626e-01 1.97159487e-03 9.87815874e-01 -1.91429666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.087719421 meters Centerline goodness : 0.960920 Centerline is valid? [True, True] Translation: X:86.05, Y:12.28, Z:-0.02 [[ 8.97165614e-01 -4.18816516e-01 -1.40308897e-01 8.60451360e+01] [ 4.13376158e-01 9.08067697e-01 -6.73291168e-02 1.22764149e+01] [ 1.55608523e-01 2.40501578e-03 9.87815875e-01 -1.54991205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.11771942099999 meters Centerline goodness : 0.960534 Centerline is valid? [True, True] Translation: X:86.07, Y:12.29, Z:-0.01 [[ 8.97845784e-01 -4.17360304e-01 -1.40297276e-01 8.60722894e+01] [ 4.11898483e-01 9.08737129e-01 -6.73533235e-02 1.22867511e+01] [ 1.55603947e-01 2.68466249e-03 9.87815876e-01 -1.19281595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14771942099999 meters Centerline goodness : 0.962626 Centerline is valid? [True, True] Translation: X:86.10, Y:12.30, Z:-0.01 [[ 8.98144190e-01 -4.16725071e-01 -1.40275546e-01 8.60974043e+01] [ 4.11248486e-01 9.09028117e-01 -6.73985499e-02 1.22978407e+01] [ 1.55601081e-01 2.84551015e-03 9.87815877e-01 -7.62296369e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.17771942099999 meters Centerline goodness : 0.962411 Centerline is valid? [True, True] Translation: X:86.12, Y:12.31, Z:-0.00 [[ 8.97476846e-01 -4.18162924e-01 -1.40267886e-01 8.61230970e+01] [ 4.12701287e-01 9.08368281e-01 -6.74144881e-02 1.23090982e+01] [ 1.55605138e-01 2.61420514e-03 9.87815877e-01 -1.31868029e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.207719421 meters Centerline goodness : 0.963225 Centerline is valid? [True, True] Translation: X:86.15, Y:12.32, Z:0.00 [[ 8.97243364e-01 -4.18670846e-01 -1.40246453e-01 8.61489377e+01] [ 4.13208411e-01 9.08134398e-01 -6.74590471e-02 1.23197710e+01] [ 1.55605765e-01 2.57616836e-03 9.87815878e-01 1.16985898e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.237719421 meters Centerline goodness : 0.961906 Centerline is valid? [True, True] Translation: X:86.18, Y:12.33, Z:0.00 [[ 8.96330354e-01 -4.20624479e-01 -1.40238881e-01 8.61773111e+01] [ 4.15183322e-01 9.07232034e-01 -6.74747847e-02 1.23264617e+01] [ 1.55610751e-01 2.25485325e-03 9.87815878e-01 1.70023347e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.267719421 meters Centerline goodness : 0.960120 Centerline is valid? [True, True] Translation: X:86.20, Y:12.34, Z:0.01 [[ 8.96049195e-01 -4.21225513e-01 -1.40231622e-01 8.62042504e+01] [ 4.15789307e-01 9.06953345e-01 -6.74898670e-02 1.23358319e+01] [ 1.55611993e-01 2.16743193e-03 9.87815879e-01 5.89053164e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.297719421 meters Centerline goodness : 0.960918 Centerline is valid? [True, True] Translation: X:86.23, Y:12.34, Z:0.01 [[ 8.95469952e-01 -4.22462365e-01 -1.40210968e-01 8.62320039e+01] [ 4.17034507e-01 9.06378258e-01 -6.75327499e-02 1.23422406e+01] [ 1.55614218e-01 2.00073640e-03 9.87815880e-01 1.13592307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.327719421 meters Centerline goodness : 0.960373 Centerline is valid? [True, True] Translation: X:86.26, Y:12.35, Z:0.01 [[ 8.95020611e-01 -4.23421688e-01 -1.40186235e-01 8.62580835e+01] [ 4.17997488e-01 9.05930734e-01 -6.75840536e-02 1.23510288e+01] [ 1.55615572e-01 1.89162705e-03 9.87815881e-01 1.44078784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.357719421 meters Centerline goodness : 0.961312 Centerline is valid? [True, True] Translation: X:86.28, Y:12.36, Z:0.02 [[ 8.94122048e-01 -4.25318372e-01 -1.40178619e-01 8.62846329e+01] [ 4.19914840e-01 9.05042423e-01 -6.75998462e-02 1.23612297e+01] [ 1.55619053e-01 1.57943066e-03 9.87815881e-01 1.81106121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.387719421 meters Centerline goodness : 0.961592 Centerline is valid? [True, True] Translation: X:86.31, Y:12.37, Z:0.02 [[ 8.92120343e-01 -4.29508098e-01 -1.40157370e-01 8.63122805e+01] [ 4.24148937e-01 9.03062559e-01 -6.76438741e-02 1.23674775e+01] [ 1.55624465e-01 8.98876726e-04 9.87815883e-01 2.19521299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.417719421 meters Centerline goodness : 0.961624 Centerline is valid? [True, True] Translation: X:86.34, Y:12.37, Z:0.03 [[ 8.88074446e-01 -4.37814786e-01 -1.40149887e-01 8.63403546e+01] [ 4.32555527e-01 8.99065029e-01 -6.76593735e-02 1.23749006e+01] [ 1.55626137e-01 -5.36047672e-04 9.87815883e-01 2.86504132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.447719421 meters Centerline goodness : 0.961540 Centerline is valid? [True, True] Translation: X:86.37, Y:12.39, Z:0.03 [[ 8.85979914e-01 -4.42044570e-01 -1.40129187e-01 8.63673812e+01] [ 4.36831002e-01 8.96992244e-01 -6.77022196e-02 1.23853796e+01] [ 1.55622192e-01 -1.22996633e-03 9.87815884e-01 3.11417247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.47771942099999 meters Centerline goodness : 0.960057 Centerline is valid? [True, True] Translation: X:86.40, Y:12.39, Z:0.04 [[ 8.83141712e-01 -4.47694450e-01 -1.40108513e-01 8.63955532e+01] [ 4.42544543e-01 8.94183955e-01 -6.77449773e-02 1.23925891e+01] [ 1.55611834e-01 -2.17584258e-03 9.87815885e-01 3.65544407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50771942099999 meters Centerline goodness : 0.962194 Centerline is valid? [True, True] Translation: X:86.42, Y:12.40, Z:0.04 [[ 8.82283158e-01 -4.49390493e-01 -1.40087877e-01 8.64215230e+01] [ 4.44255043e-01 8.93332130e-01 -6.77876232e-02 1.24024254e+01] [ 1.55608115e-01 -2.42686750e-03 9.87815886e-01 4.34807852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.53771942099999 meters Centerline goodness : 0.962232 Centerline is valid? [True, True] Translation: X:86.45, Y:12.41, Z:0.05 [[ 8.82270356e-01 -4.49419029e-01 -1.40076960e-01 8.64468257e+01] [ 4.44280357e-01 8.93317830e-01 -6.78101741e-02 1.24122681e+01] [ 1.55608429e-01 -2.40653555e-03 9.87815886e-01 4.92694395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.56771942099999 meters Centerline goodness : 0.961506 Centerline is valid? [True, True] Translation: X:86.47, Y:12.42, Z:0.05 [[ 8.83206433e-01 -4.47580042e-01 -1.40066064e-01 8.64728991e+01] [ 4.42414799e-01 8.94241508e-01 -6.78326746e-02 1.24230799e+01] [ 1.55613439e-01 -2.05704474e-03 9.87815887e-01 5.09263277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.597719421 meters Centerline goodness : 0.958699 Centerline is valid? [True, True] Translation: X:86.50, Y:12.44, Z:0.05 [[ 8.85094444e-01 -4.43837053e-01 -1.40058902e-01 8.64984625e+01] [ 4.38622800e-01 8.96106445e-01 -6.78474578e-02 1.24364710e+01] [ 1.55620901e-01 -1.38162006e-03 9.87815887e-01 5.30826769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.627719421 meters Centerline goodness : 0.959690 Centerline is valid? [True, True] Translation: X:86.52, Y:12.45, Z:0.05 [[ 8.86694118e-01 -4.40639266e-01 -1.40037772e-01 8.65238112e+01] [ 4.35378414e-01 8.97683932e-01 -6.78910424e-02 1.24483381e+01] [ 1.55625117e-01 -7.70835383e-04 9.87815888e-01 5.48010530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.657719421 meters Centerline goodness : 0.960221 Centerline is valid? [True, True] Translation: X:86.55, Y:12.46, Z:0.06 [[ 8.89397542e-01 -4.35159196e-01 -1.40030304e-01 8.65490840e+01] [ 4.29828202e-01 9.00353504e-01 -6.79064435e-02 1.24581902e+01] [ 1.55626888e-01 2.06850167e-04 9.87815888e-01 6.22794144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.687719421 meters Centerline goodness : 0.960625 Centerline is valid? [True, True] Translation: X:86.58, Y:12.47, Z:0.07 [[ 8.90774883e-01 -4.32340555e-01 -1.40006257e-01 8.65751712e+01] [ 4.26967107e-01 9.01710083e-01 -6.79559866e-02 1.24702052e+01] [ 1.55625183e-01 7.55419587e-04 9.87815890e-01 6.70488670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.717719421 meters Centerline goodness : 0.960643 Centerline is valid? [True, True] Translation: X:86.60, Y:12.48, Z:0.07 [[ 8.92237189e-01 -4.29321781e-01 -1.39984307e-01 8.65996367e+01] [ 4.23904246e-01 9.03150614e-01 -6.80011717e-02 1.24825409e+01] [ 1.55621297e-01 1.33323208e-03 9.87815891e-01 7.00729775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.747719421 meters Centerline goodness : 0.963522 Centerline is valid? [True, True] Translation: X:86.62, Y:12.50, Z:0.08 [[ 8.96012626e-01 -4.21388110e-01 -1.39976551e-01 8.66233697e+01] [ 4.15871462e-01 9.06876285e-01 -6.80171335e-02 1.24959909e+01] [ 1.55603026e-01 2.73195749e-03 9.87815891e-01 7.52975160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.777719421 meters Centerline goodness : 0.961746 Centerline is valid? [True, True] Translation: X:86.65, Y:12.51, Z:0.08 [[ 8.99258246e-01 -4.14419153e-01 -1.39969186e-01 8.66489225e+01] [ 4.08815973e-01 9.10077529e-01 -6.80322860e-02 1.25087235e+01] [ 1.55576694e-01 3.95695508e-03 9.87815891e-01 7.73359043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.807719421 meters Centerline goodness : 0.961179 Centerline is valid? [True, True] Translation: X:86.68, Y:12.52, Z:0.08 [[ 9.00366933e-01 -4.12011906e-01 -1.39948474e-01 8.66751296e+01] [ 4.06373190e-01 9.11167736e-01 -6.80748664e-02 1.25207431e+01] [ 1.55564190e-01 4.42105076e-03 9.87815892e-01 7.67066806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.837719421 meters Centerline goodness : 0.959953 Centerline is valid? [True, True] Translation: X:86.70, Y:12.53, Z:0.08 [[ 9.01443710e-01 -4.09657655e-01 -1.39927996e-01 8.67010963e+01] [ 4.03984210e-01 9.12226310e-01 -6.81169346e-02 1.25319380e+01] [ 1.55550623e-01 4.87488145e-03 9.87815893e-01 8.39097844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86771942099999 meters Centerline goodness : 0.959953 Centerline is valid? [True, True] Translation: X:86.73, Y:12.54, Z:0.09 [[ 9.01301705e-01 -4.09977147e-01 -1.39907028e-01 8.67263017e+01] [ 4.04300851e-01 9.12082803e-01 -6.81599731e-02 1.25445177e+01] [ 1.55550826e-01 4.86816936e-03 9.87815895e-01 8.83423729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.89771942099999 meters Centerline goodness : 0.959102 Centerline is valid? [True, True] Translation: X:86.75, Y:12.55, Z:0.09 [[ 9.02597749e-01 -4.07124099e-01 -1.39883066e-01 8.67528977e+01] [ 4.01406123e-01 9.13356798e-01 -6.82091145e-02 1.25536088e+01] [ 1.55532724e-01 5.41547374e-03 9.87815896e-01 9.10694786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92771942099999 meters Centerline goodness : 0.958246 Centerline is valid? [True, True] Translation: X:86.78, Y:12.56, Z:0.09 [[ 9.03187969e-01 -4.05816834e-01 -1.39872047e-01 8.67790316e+01] [ 4.00079794e-01 9.13936865e-01 -6.82317048e-02 1.25635284e+01] [ 1.55523794e-01 5.66607527e-03 9.87815896e-01 9.07264796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.957719421 meters Centerline goodness : 0.960194 Centerline is valid? [True, True] Translation: X:86.80, Y:12.57, Z:0.10 [[ 9.04020032e-01 -4.03963413e-01 -1.39861868e-01 8.68048635e+01] [ 3.98201116e-01 9.14755409e-01 -6.82525622e-02 1.25727769e+01] [ 1.55510939e-01 6.00853141e-03 9.87815897e-01 1.00188130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.987719421 meters Centerline goodness : 0.960591 Centerline is valid? [True, True] Translation: X:86.83, Y:12.58, Z:0.10 [[ 9.04413565e-01 -4.03089754e-01 -1.39838314e-01 8.68310602e+01] [ 3.97309645e-01 9.15139360e-01 -6.83007875e-02 1.25841457e+01] [ 1.55502893e-01 6.21304779e-03 9.87815898e-01 1.04409509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.017719421 meters Centerline goodness : 0.957610 Centerline is valid? [True, True] Translation: X:86.86, Y:12.59, Z:0.11 [[ 9.05134720e-01 -4.01475051e-01 -1.39817457e-01 8.68592202e+01] [ 3.95669233e-01 9.15846619e-01 -6.83434563e-02 1.25912155e+01] [ 1.55489538e-01 6.53856913e-03 9.87815899e-01 1.06411009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.047719421 meters Centerline goodness : 0.959730 Centerline is valid? [True, True] Translation: X:86.89, Y:12.59, Z:0.11 [[ 9.05441008e-01 -4.00791027e-01 -1.39796758e-01 8.68883851e+01] [ 3.94970597e-01 9.16144974e-01 -6.83857708e-02 1.25947432e+01] [ 1.55482501e-01 6.70367214e-03 9.87815900e-01 1.14233836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.077719421 meters Centerline goodness : 0.960232 Centerline is valid? [True, True] Translation: X:86.91, Y:12.60, Z:0.12 [[ 9.05457301e-01 -4.00761567e-01 -1.39775685e-01 8.69144933e+01] [ 3.94934159e-01 9.16157469e-01 -6.84288162e-02 1.26032412e+01] [ 1.55480177e-01 6.75717856e-03 9.87815901e-01 1.18345626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.107719421 meters Centerline goodness : 0.960787 Centerline is valid? [True, True] Translation: X:86.94, Y:12.61, Z:0.12 [[ 9.05407432e-01 -4.00876807e-01 -1.39768264e-01 8.69404019e+01] [ 3.95048427e-01 9.16107069e-01 -6.84439717e-02 1.26124872e+01] [ 1.55480295e-01 6.75444790e-03 9.87815901e-01 1.22422618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.137719421 meters Centerline goodness : 0.959472 Centerline is valid? [True, True] Translation: X:86.97, Y:12.62, Z:0.13 [[ 9.05340638e-01 -4.01035762e-01 -1.39744937e-01 8.69698655e+01] [ 3.95201931e-01 9.16037302e-01 -6.84915661e-02 1.26177193e+01] [ 1.55479142e-01 6.78072923e-03 9.87815903e-01 1.26214953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.167719421 meters Centerline goodness : 0.957192 Centerline is valid? [True, True] Translation: X:87.00, Y:12.62, Z:0.13 [[ 9.05248775e-01 -4.01250270e-01 -1.39724283e-01 8.70001205e+01] [ 3.95412489e-01 9.15943284e-01 -6.85336753e-02 1.26209562e+01] [ 1.55478674e-01 6.79129913e-03 9.87815904e-01 1.28700433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.197719421 meters Centerline goodness : 0.954171 Centerline is valid? [True, True] Translation: X:87.03, Y:12.63, Z:0.13 [[ 9.04991719e-01 -4.01836847e-01 -1.39703744e-01 8.70280242e+01] [ 3.95999553e-01 9.15686492e-01 -6.85755176e-02 1.26303995e+01] [ 1.55481001e-01 6.73765530e-03 9.87815905e-01 1.31894764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22771942099999 meters Centerline goodness : 0.953551 Centerline is valid? [True, True] Translation: X:87.05, Y:12.64, Z:0.13 [[ 9.04964001e-01 -4.01905865e-01 -1.39684762e-01 8.70541713e+01] [ 3.96063435e-01 9.15655968e-01 -6.86141620e-02 1.26396700e+01] [ 1.55479620e-01 6.76931997e-03 9.87815906e-01 1.34696480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.25771942099999 meters Centerline goodness : 0.953901 Centerline is valid? [True, True] Translation: X:87.08, Y:12.65, Z:0.14 [[ 9.04975025e-01 -4.01883555e-01 -1.39677530e-01 8.70816473e+01] [ 3.96038595e-01 9.15665609e-01 -6.86288815e-02 1.26462524e+01] [ 1.55478729e-01 6.78973120e-03 9.87815906e-01 1.40172630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28771942099999 meters Centerline goodness : 0.954768 Centerline is valid? [True, True] Translation: X:87.11, Y:12.65, Z:0.15 [[ 9.05238023e-01 -4.01293292e-01 -1.39670383e-01 8.71082917e+01] [ 3.95439124e-01 9.15923567e-01 -6.86434223e-02 1.26545795e+01] [ 1.55473541e-01 6.90750192e-03 9.87815906e-01 1.45260958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.31771942099999 meters Centerline goodness : 0.955856 Centerline is valid? [True, True] Translation: X:87.14, Y:12.66, Z:0.15 [[ 9.05686679e-01 -4.00287676e-01 -1.39647468e-01 8.71364302e+01] [ 3.94414479e-01 9.16361774e-01 -6.86900106e-02 1.26592674e+01] [ 1.55463366e-01 7.13264451e-03 9.87815908e-01 1.51019359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.347719421 meters Centerline goodness : 0.955282 Centerline is valid? [True, True] Translation: X:87.17, Y:12.67, Z:0.15 [[ 9.06214747e-01 -3.99093213e-01 -1.39640396e-01 8.71657117e+01] [ 3.93203737e-01 9.16880869e-01 -6.87043833e-02 1.26654223e+01] [ 1.55453061e-01 7.35379963e-03 9.87815908e-01 1.54740049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.377719421 meters Centerline goodness : 0.954576 Centerline is valid? [True, True] Translation: X:87.19, Y:12.67, Z:0.16 [[ 9.06637503e-01 -3.98138734e-01 -1.39620868e-01 8.71917212e+01] [ 3.92231940e-01 9.17294043e-01 -6.87440452e-02 1.26740952e+01] [ 1.55443058e-01 7.56216550e-03 9.87815909e-01 1.60101758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.407719421 meters Centerline goodness : 0.955478 Centerline is valid? [True, True] Translation: X:87.22, Y:12.68, Z:0.17 [[ 9.07596487e-01 -3.95955893e-01 -1.39597803e-01 8.72207973e+01] [ 3.90016296e-01 9.18234778e-01 -6.87908514e-02 1.26796500e+01] [ 1.55421701e-01 7.98891688e-03 9.87815910e-01 1.66339363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.437719421 meters Centerline goodness : 0.955906 Centerline is valid? [True, True] Translation: X:87.25, Y:12.69, Z:0.17 [[ 9.08022068e-01 -3.94986219e-01 -1.39577260e-01 8.72476823e+01] [ 3.89028880e-01 9.18650432e-01 -6.88325102e-02 1.26881684e+01] [ 1.55410603e-01 8.20185328e-03 9.87815911e-01 1.67436601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.467719421 meters Centerline goodness : 0.952762 Centerline is valid? [True, True] Translation: X:87.28, Y:12.69, Z:0.17 [[ 9.08828188e-01 -3.93130429e-01 -1.39570016e-01 8.72777343e+01] [ 3.87149143e-01 9.19443095e-01 -6.88471950e-02 1.26933304e+01] [ 1.55392615e-01 8.53585939e-03 9.87815911e-01 1.70472044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.497719421 meters Centerline goodness : 0.953150 Centerline is valid? [True, True] Translation: X:87.30, Y:12.70, Z:0.18 [[ 9.09010974e-01 -3.92714046e-01 -1.39551876e-01 8.73045934e+01] [ 3.86722277e-01 9.19619966e-01 -6.88839455e-02 1.27027246e+01] [ 1.55386384e-01 8.64844328e-03 9.87815912e-01 1.76927748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.527719421 meters Centerline goodness : 0.952627 Centerline is valid? [True, True] Translation: X:87.33, Y:12.71, Z:0.18 [[ 9.08910155e-01 -3.92954676e-01 -1.39531187e-01 8.73304365e+01] [ 3.86959311e-01 9.19517114e-01 -6.89258267e-02 1.27121666e+01] [ 1.55386041e-01 8.65449168e-03 9.87815913e-01 1.80624363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.557719421 meters Centerline goodness : 0.954441 Centerline is valid? [True, True] Translation: X:87.36, Y:12.72, Z:0.19 [[ 9.08249841e-01 -3.94481060e-01 -1.39523904e-01 8.73580914e+01] [ 3.88501266e-01 9.18865586e-01 -6.89405679e-02 1.27191567e+01] [ 1.55399462e-01 8.41004662e-03 9.87815913e-01 1.86544770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.587719421 meters Centerline goodness : 0.953095 Centerline is valid? [True, True] Translation: X:87.39, Y:12.72, Z:0.19 [[ 9.06569943e-01 -3.98329062e-01 -1.39516653e-01 8.73880985e+01] [ 3.92392089e-01 9.17209695e-01 -6.89552381e-02 1.27236783e+01] [ 1.55432902e-01 7.76751544e-03 9.87815913e-01 1.91710229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.61771942099999 meters Centerline goodness : 0.952631 Centerline is valid? [True, True] Translation: X:87.42, Y:12.73, Z:0.20 [[ 9.05002267e-01 -4.01884628e-01 -1.39497822e-01 8.74155429e+01] [ 3.95983611e-01 9.15662002e-01 -6.89933133e-02 1.27313289e+01] [ 1.55460207e-01 7.20025372e-03 9.87815914e-01 1.97817855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64771942099999 meters Centerline goodness : 0.955742 Centerline is valid? [True, True] Translation: X:87.44, Y:12.74, Z:0.20 [[ 9.01739505e-01 -4.09160202e-01 -1.39476857e-01 8.74434307e+01] [ 4.03338687e-01 9.12442864e-01 -6.90356691e-02 1.27379247e+01] [ 1.55511312e-01 5.99577757e-03 9.87815915e-01 2.00562922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.67771942099999 meters Centerline goodness : 0.956372 Centerline is valid? [True, True] Translation: X:87.47, Y:12.75, Z:0.21 [[ 9.00051642e-01 -4.12863600e-01 -1.39465728e-01 8.74693486e+01] [ 4.07082656e-01 9.10776967e-01 -6.90581458e-02 1.27483852e+01] [ 1.55533767e-01 5.38181857e-03 9.87815916e-01 2.05771641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.707719421 meters Centerline goodness : 0.956599 Centerline is valid? [True, True] Translation: X:87.50, Y:12.76, Z:0.21 [[ 8.99031848e-01 -4.15081947e-01 -1.39458645e-01 8.74962942e+01] [ 4.09325254e-01 9.09770209e-01 -6.90724468e-02 1.27576912e+01] [ 1.55546046e-01 5.01438427e-03 9.87815916e-01 2.13851715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.737719421 meters Centerline goodness : 0.956005 Centerline is valid? [True, True] Translation: X:87.52, Y:12.76, Z:0.22 [[ 8.97757685e-01 -4.17837785e-01 -1.39437170e-01 8.75243145e+01] [ 4.12107337e-01 9.08510073e-01 -6.91157718e-02 1.27637146e+01] [ 1.55559254e-01 4.58613455e-03 9.87815917e-01 2.16855934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.767719421 meters Centerline goodness : 0.952923 Centerline is valid? [True, True] Translation: X:87.55, Y:12.77, Z:0.22 [[ 8.98482195e-01 -4.16280116e-01 -1.39429588e-01 8.75524363e+01] [ 4.10528658e-01 9.09223359e-01 -6.91310640e-02 1.27715035e+01] [ 1.55550525e-01 4.87318859e-03 9.87815917e-01 2.20691065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.797719421 meters Centerline goodness : 0.952779 Centerline is valid? [True, True] Translation: X:87.58, Y:12.78, Z:0.22 [[ 8.99545804e-01 -4.13983757e-01 -1.39408735e-01 8.75785043e+01] [ 4.08198377e-01 9.10268734e-01 -6.91730893e-02 1.27814393e+01] [ 1.55535949e-01 5.31794265e-03 9.87815918e-01 2.23398585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.827719421 meters Centerline goodness : 0.952652 Centerline is valid? [True, True] Translation: X:87.61, Y:12.79, Z:0.23 [[ 9.01985107e-01 -4.08644243e-01 -1.39401394e-01 8.76068019e+01] [ 4.02793121e-01 9.12672306e-01 -6.91878811e-02 1.27891277e+01] [ 1.55501021e-01 6.25651576e-03 9.87815918e-01 2.28965113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.857719421 meters Centerline goodness : 0.952190 Centerline is valid? [True, True] Translation: X:87.63, Y:12.80, Z:0.23 [[ 9.02870206e-01 -4.06691990e-01 -1.39380831e-01 8.76323469e+01] [ 4.00811385e-01 9.13541209e-01 -6.92292814e-02 1.27998924e+01] [ 1.55485127e-01 6.63963170e-03 9.87815919e-01 2.33709557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.887719421 meters Centerline goodness : 0.952657 Centerline is valid? [True, True] Translation: X:87.66, Y:12.81, Z:0.24 [[ 9.04250764e-01 -4.03621325e-01 -1.39357032e-01 8.76591607e+01] [ 3.97697130e-01 9.14897627e-01 -6.92771565e-02 1.28106671e+01] [ 1.55459155e-01 7.22203013e-03 9.87815921e-01 2.37685331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.917719421 meters Centerline goodness : 0.951169 Centerline is valid? [True, True] Translation: X:87.69, Y:12.82, Z:0.24 [[ 9.04817603e-01 -4.02356163e-01 -1.39336370e-01 8.76851598e+01] [ 3.96410705e-01 9.15452605e-01 -6.93186876e-02 1.28215112e+01] [ 1.55446644e-01 7.48633997e-03 9.87815922e-01 2.38522416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.947719421 meters Centerline goodness : 0.949534 Centerline is valid? [True, False] Translation: X:87.68, Y:12.81, Z:0.24 [[ 9.04478757e-01 -3.99972987e-01 -1.48120858e-01 8.76766843e+01] [ 3.95376736e-01 9.16519171e-01 -6.05792548e-02 1.28070631e+01] [ 1.59985671e-01 -3.77089222e-03 9.87112134e-01 2.41730365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97771942099999 meters Centerline goodness : 0.950584 Centerline is valid? [False, True] Translation: X:87.68, Y:12.80, Z:0.24 [[ 9.04862230e-01 -3.98835679e-01 -1.48843697e-01 8.76775019e+01] [ 3.94472084e-01 9.17007304e-01 -5.90709697e-02 1.28029568e+01] [ 1.60050368e-01 -5.26359407e-03 9.87094815e-01 2.42830478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.007719421 meters Centerline goodness : 0.953150 Centerline is valid? [True, True] Translation: X:87.70, Y:12.82, Z:0.25 [[ 9.05786124e-01 -3.98983985e-01 -1.42699955e-01 8.77026667e+01] [ 3.92640731e-01 9.16917276e-01 -7.13860255e-02 1.28174221e+01] [ 1.59325935e-01 8.63065657e-03 9.87188309e-01 2.45787425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.037719421 meters Centerline goodness : 0.955052 Centerline is valid? [True, True] Translation: X:87.73, Y:12.83, Z:0.25 [[ 9.06408599e-01 -3.97575393e-01 -1.42678866e-01 8.77280236e+01] [ 3.91208237e-01 9.17526095e-01 -7.14281515e-02 1.28298104e+01] [ 1.59309658e-01 8.92594290e-03 9.87188310e-01 2.49710337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.067719421 meters Centerline goodness : 0.953653 Centerline is valid? [True, True] Translation: X:87.75, Y:12.84, Z:0.26 [[ 9.06956621e-01 -3.96331167e-01 -1.42657959e-01 8.77538859e+01] [ 3.89942223e-01 9.18061609e-01 -7.14698839e-02 1.28408697e+01] [ 1.59294538e-01 9.19172275e-03 9.87188312e-01 2.55248307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.097719421 meters Centerline goodness : 0.951359 Centerline is valid? [True, True] Translation: X:87.78, Y:12.85, Z:0.26 [[ 9.07485773e-01 -3.95125708e-01 -1.42636767e-01 8.77817511e+01] [ 3.88715399e-01 9.18578440e-01 -7.15121542e-02 1.28490317e+01] [ 1.59279349e-01 9.45115474e-03 9.87188313e-01 2.61502580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.127719421 meters Centerline goodness : 0.947968 Centerline is valid? [True, False] Translation: X:87.78, Y:12.84, Z:0.26 [[ 9.07008535e-01 -3.92325009e-01 -1.53024848e-01 8.77762738e+01] [ 3.87457205e-01 9.19820641e-01 -6.17001009e-02 1.28391437e+01] [ 1.64961907e-01 -3.32806196e-03 9.86294324e-01 2.63238049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.157719421 meters Centerline goodness : 0.947988 Centerline is valid? [False, False] Translation: X:87.77, Y:12.83, Z:0.27 [[ 9.06345000e-01 -3.90140951e-01 -1.62261457e-01 8.77684450e+01] [ 3.86971169e-01 9.20622483e-01 -5.20342068e-02 1.28304473e+01] [ 1.69682220e-01 -1.56295625e-02 9.85374884e-01 2.65748127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.187719421 meters Centerline goodness : 0.945485 Centerline is valid? [False, False] Translation: X:87.76, Y:12.82, Z:0.27 [[ 9.05315541e-01 -3.88569332e-01 -1.71515730e-01 8.77598437e+01] [ 3.87081585e-01 9.21021829e-01 -4.34354493e-02 1.28186605e+01] [ 1.74847415e-01 -2.70677934e-02 9.84223408e-01 2.69402951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.217719421 meters Centerline goodness : 0.945422 Centerline is valid? [False, False] Translation: X:87.76, Y:12.82, Z:0.27 [[ 9.04322844e-01 -3.91382130e-01 -1.70353227e-01 8.77592242e+01] [ 3.89508741e-01 9.19888009e-01 -4.57054822e-02 1.28167996e+01] [ 1.74594200e-01 -2.50215592e-02 9.84322502e-01 2.70120243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.247719421 meters Centerline goodness : 0.945116 Centerline is valid? [False, False] Translation: X:87.76, Y:12.81, Z:0.27 [[ 9.04440050e-01 -3.90833510e-01 -1.70989367e-01 8.77603512e+01] [ 3.89159413e-01 9.20088936e-01 -4.46240006e-02 1.28139767e+01] [ 1.74765980e-01 -2.61823885e-02 9.84261822e-01 2.70772095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.277719421 meters Centerline goodness : 0.944899 Centerline is valid? [False, False] Translation: X:87.76, Y:12.81, Z:0.27 [[ 9.03335731e-01 -3.93712047e-01 -1.70221565e-01 8.77612262e+01] [ 3.91791197e-01 9.18894478e-01 -4.61800404e-02 1.28087086e+01] [ 1.74597295e-01 -2.49752303e-02 9.84323129e-01 2.72029742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.307719421 meters Centerline goodness : 0.945220 Centerline is valid? [False, False] Translation: X:87.76, Y:12.80, Z:0.27 [[ 9.02250906e-01 -3.96585414e-01 -1.69302428e-01 8.77627966e+01] [ 3.94406377e-01 9.17692876e-01 -4.77848880e-02 1.28032463e+01] [ 1.74318422e-01 -2.36599988e-02 9.84405045e-01 2.72542023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.337719421 meters Centerline goodness : 0.946793 Centerline is valid? [False, False] Translation: X:87.76, Y:12.80, Z:0.27 [[ 9.02387846e-01 -3.96068706e-01 -1.69781491e-01 8.77637388e+01] [ 3.94068188e-01 9.17889177e-01 -4.67944676e-02 1.28005382e+01] [ 1.74374418e-01 -2.46787259e-02 9.84370115e-01 2.73054666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.367719421 meters Centerline goodness : 0.948762 Centerline is valid? [False, False] Translation: X:87.76, Y:12.80, Z:0.27 [[ 9.02776301e-01 -3.94852526e-01 -1.70547450e-01 8.77647015e+01] [ 3.93247971e-01 9.18352261e-01 -4.45551135e-02 1.27950211e+01] [ 1.74215335e-01 -2.68441380e-02 9.84341612e-01 2.74403065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.397719421 meters Centerline goodness : 0.950407 Centerline is valid? [False, True] Translation: X:87.77, Y:12.79, Z:0.28 [[ 9.02963822e-01 -3.94198875e-01 -1.71066020e-01 8.77653526e+01] [ 3.92780809e-01 9.18601754e-01 -4.35207301e-02 1.27926539e+01] [ 1.74297369e-01 -2.78938049e-02 9.84297904e-01 2.75035584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.427719421 meters Centerline goodness : 0.947575 Centerline is valid? [True, False] Translation: X:87.77, Y:12.79, Z:0.28 [[ 9.03196025e-01 -3.93290400e-01 -1.71929059e-01 8.77668389e+01] [ 3.92147178e-01 9.18942050e-01 -4.20249766e-02 1.27887174e+01] [ 1.74520862e-01 -2.94647037e-02 9.84212528e-01 2.75928299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.457719421 meters Centerline goodness : 0.944886 Centerline is valid? [False, False] Translation: X:87.77, Y:12.79, Z:0.28 [[ 9.03348356e-01 -3.92655933e-01 -1.72577711e-01 8.77680606e+01] [ 3.91697765e-01 9.19178524e-01 -4.10329310e-02 1.27860773e+01] [ 1.74741550e-01 -3.05312730e-02 9.84140860e-01 2.76464286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.487719421 meters Centerline goodness : 0.940592 Centerline is valid? [False, False] Translation: X:87.77, Y:12.78, Z:0.28 [[ 9.03429910e-01 -3.92099427e-01 -1.73414065e-01 8.77715026e+01] [ 3.91389703e-01 9.19366890e-01 -3.97318775e-02 1.27803710e+01] [ 1.75009996e-01 -3.19775128e-02 9.84047225e-01 2.76586080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.517719421 meters Centerline goodness : 0.940087 Centerline is valid? [False, False] Translation: X:87.77, Y:12.78, Z:0.28 [[ 9.03552433e-01 -3.91586044e-01 -1.73934963e-01 8.77731086e+01] [ 3.91064762e-01 9.19548318e-01 -3.87200531e-02 1.27773637e+01] [ 1.75103835e-01 -3.30342369e-02 9.83995623e-01 2.76760392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54771942099998 meters Centerline goodness : 0.941152 Centerline is valid? [False, False] Translation: X:87.77, Y:12.77, Z:0.28 [[ 9.02556306e-01 -3.94448500e-01 -1.72633991e-01 8.77733961e+01] [ 3.93593470e-01 9.18385895e-01 -4.06389871e-02 1.27743581e+01] [ 1.74574610e-01 -3.12686376e-02 9.84147335e-01 2.76740791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.57771942099998 meters Centerline goodness : 0.940705 Centerline is valid? [False, False] Translation: X:87.77, Y:12.77, Z:0.28 [[ 9.02594223e-01 -3.94201568e-01 -1.72999401e-01 8.77741644e+01] [ 3.93474356e-01 9.18466662e-01 -3.99615099e-02 1.27726245e+01] [ 1.74647072e-01 -3.20017998e-02 9.84110911e-01 2.77093514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60771942099998 meters Centerline goodness : 0.945754 Centerline is valid? [False, False] Translation: X:87.77, Y:12.77, Z:0.28 [[ 9.01449673e-01 -3.97401468e-01 -1.71640787e-01 8.77735712e+01] [ 3.96276162e-01 9.17157426e-01 -4.22783553e-02 1.27702151e+01] [ 1.74223103e-01 -2.99053430e-02 9.84251990e-01 2.77834846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.63771942099999 meters Centerline goodness : 0.943845 Centerline is valid? [False, False] Translation: X:87.77, Y:12.77, Z:0.28 [[ 9.00344645e-01 -4.00572577e-01 -1.70062137e-01 8.77721918e+01] [ 3.98964560e-01 9.15858750e-01 -4.50558531e-02 1.27693555e+01] [ 1.73801035e-01 -2.72829695e-02 9.84402783e-01 2.78419155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.667719421 meters Centerline goodness : 0.943506 Centerline is valid? [False, False] Translation: X:87.76, Y:12.76, Z:0.28 [[ 8.98371463e-01 -4.02438019e-01 -1.75989646e-01 8.77600027e+01] [ 4.01945472e-01 9.14787211e-01 -4.00524188e-02 1.27576303e+01] [ 1.77111694e-01 -3.47562914e-02 9.83576864e-01 2.81589273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.697719421 meters Centerline goodness : 0.944326 Centerline is valid? [False, False] Translation: X:87.75, Y:12.75, Z:0.28 [[ 8.96545492e-01 -4.03582465e-01 -1.82557867e-01 8.77485591e+01] [ 4.04394204e-01 9.13935445e-01 -3.44576719e-02 1.27482039e+01] [ 1.80752618e-01 -4.29324729e-02 9.82591112e-01 2.84279282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.727719421 meters Centerline goodness : 0.946755 Centerline is valid? [False, False] Translation: X:87.74, Y:12.74, Z:0.29 [[ 8.94460608e-01 -4.05299707e-01 -1.88871301e-01 8.77369576e+01] [ 4.07353678e-01 9.12790455e-01 -2.96068567e-02 1.27394113e+01] [ 1.84399571e-01 -5.04552521e-02 9.81555432e-01 2.86131371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.757719421 meters Centerline goodness : 0.945873 Centerline is valid? [False, False] Translation: X:87.73, Y:12.73, Z:0.29 [[ 8.92897209e-01 -4.04655019e-01 -1.97456046e-01 8.77274450e+01] [ 4.08615674e-01 9.12438073e-01 -2.21358173e-02 1.27332370e+01] [ 1.89123783e-01 -6.09186256e-02 9.80061792e-01 2.88582605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.787719421 meters Centerline goodness : 0.945873 Centerline is valid? [False, False] Translation: X:87.73, Y:12.73, Z:0.29 [[ 8.92897209e-01 -4.04655019e-01 -1.97456046e-01 8.77274450e+01] [ 4.08615674e-01 9.12438073e-01 -2.21358173e-02 1.27332370e+01] [ 1.89123783e-01 -6.09186256e-02 9.80061792e-01 2.88582605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.817719421 meters Centerline goodness : 0.944390 Centerline is valid? [False, False] Translation: X:87.72, Y:12.73, Z:0.29 [[ 8.89901015e-01 -4.08129099e-01 -2.03732232e-01 8.77168960e+01] [ 4.13248704e-01 9.10425090e-01 -1.87527071e-02 1.27265470e+01] [ 1.93136461e-01 -6.75040276e-02 9.78847033e-01 2.90200596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.847719421 meters Centerline goodness : 0.943585 Centerline is valid? [False, False] Translation: X:87.72, Y:12.73, Z:0.29 [[ 8.87256969e-01 -4.15726502e-01 -1.99866321e-01 8.77153935e+01] [ 4.19445015e-01 9.07424180e-01 -2.54408457e-02 1.27263439e+01] [ 1.91939967e-01 -6.12603644e-02 9.79492837e-01 2.89438244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.877719421 meters Centerline goodness : 0.943816 Centerline is valid? [False, False] Translation: X:87.70, Y:12.72, Z:0.29 [[ 8.84195834e-01 -4.20388565e-01 -2.03644744e-01 8.77009825e+01] [ 4.24344819e-01 9.05126460e-01 -2.60301000e-02 1.27166129e+01] [ 1.95267002e-01 -6.33998858e-02 9.78698755e-01 2.88991969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.907719421 meters Centerline goodness : 0.940726 Centerline is valid? [False, False] Translation: X:87.69, Y:12.71, Z:0.29 [[ 8.78938305e-01 -4.28147729e-01 -2.10135618e-01 8.76939073e+01] [ 4.32801030e-01 9.01122050e-01 -2.57355473e-02 1.27105076e+01] [ 2.00376455e-01 -6.83269535e-02 9.77333466e-01 2.90880183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.937719421 meters Centerline goodness : 0.948207 Centerline is valid? [False, False] Translation: X:87.68, Y:12.70, Z:0.29 [[ 8.74679760e-01 -4.33937874e-01 -2.15947306e-01 8.76834449e+01] [ 4.39935987e-01 8.97757670e-01 -2.20792319e-02 1.27035375e+01] [ 2.03449365e-01 -7.56907338e-02 9.76155351e-01 2.94643936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.967719421 meters Centerline goodness : 0.950964 Centerline is valid? [False, True] Translation: X:87.67, Y:12.70, Z:0.30 [[ 8.71738628e-01 -4.37120080e-01 -2.21354467e-01 8.76714331e+01] [ 4.44591934e-01 8.95559994e-01 -1.76156072e-02 1.26963331e+01] [ 2.05936341e-01 -8.30562055e-02 9.75034302e-01 2.97279733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.997719421 meters Centerline goodness : 0.952784 Centerline is valid? [True, True] Translation: X:87.69, Y:12.74, Z:0.27 [[ 8.68499750e-01 -4.61035646e-01 -1.82083271e-01 8.76889376e+01] [ 4.51194013e-01 8.87381606e-01 -9.47515073e-02 1.27368018e+01] [ 2.05261168e-01 1.36778636e-04 9.78707226e-01 2.68856573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.027719421 meters Centerline goodness : 0.952850 Centerline is valid? [True, True] Translation: X:87.71, Y:12.75, Z:0.27 [[ 8.67028153e-01 -4.63800850e-01 -1.82074033e-01 8.77130670e+01] [ 4.54015708e-01 8.85939346e-01 -9.47692554e-02 1.27515114e+01] [ 2.05260611e-01 -4.96858710e-04 9.78707226e-01 2.73483413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.057719421 meters Centerline goodness : 0.953153 Centerline is valid? [True, True] Translation: X:87.74, Y:12.77, Z:0.28 [[ 8.65857817e-01 -4.65992066e-01 -1.82048442e-01 8.77360439e+01] [ 4.56244451e-01 8.84788378e-01 -9.48183910e-02 1.27666407e+01] [ 2.05258964e-01 -9.59346280e-04 9.78707228e-01 2.79673124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.087719421 meters Centerline goodness : 0.954912 Centerline is valid? [True, True] Translation: X:87.76, Y:12.78, Z:0.29 [[ 8.65297222e-01 -4.67037479e-01 -1.82034915e-01 8.77578742e+01] [ 4.57307272e-01 8.84236737e-01 -9.48443524e-02 1.27848692e+01] [ 2.05257827e-01 -1.17733594e-03 9.78707228e-01 2.88466280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.117719421 meters Centerline goodness : 0.954359 Centerline is valid? [True, True] Translation: X:87.78, Y:12.80, Z:0.29 [[ 8.65721178e-01 -4.66261386e-01 -1.82008686e-01 8.77796752e+01] [ 4.56503623e-01 8.84646509e-01 -9.48946617e-02 1.28039530e+01] [ 2.05259065e-01 -9.35306155e-04 9.78707230e-01 2.94093854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.147719421 meters Centerline goodness : 0.955439 Centerline is valid? [True, True] Translation: X:87.80, Y:12.82, Z:0.30 [[ 8.65849202e-01 -4.66033762e-01 -1.81982673e-01 8.78023333e+01] [ 4.56260543e-01 8.84766554e-01 -9.49445222e-02 1.28212767e+01] [ 2.05259535e-01 -8.23874480e-04 9.78707231e-01 2.97001274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.177719421 meters Centerline goodness : 0.954969 Centerline is valid? [True, True] Translation: X:87.82, Y:12.84, Z:0.30 [[ 8.66433230e-01 -4.64958599e-01 -1.81953180e-01 8.78213999e+01] [ 4.55150042e-01 8.85332281e-01 -9.50010106e-02 1.28433163e+01] [ 2.05260560e-01 -5.03964908e-04 9.78707233e-01 3.04070322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.207719421 meters Centerline goodness : 0.954614 Centerline is valid? [True, True] Translation: X:87.84, Y:12.86, Z:0.31 [[ 8.67025417e-01 -4.63866440e-01 -1.81919904e-01 8.78443334e+01] [ 4.54020714e-01 8.85905128e-01 -9.50646897e-02 1.28600363e+01] [ 2.05261095e-01 -1.71902300e-04 9.78707236e-01 3.09678842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.237719421 meters Centerline goodness : 0.953288 Centerline is valid? [True, True] Translation: X:87.87, Y:12.88, Z:0.31 [[ 8.69221606e-01 -4.59749582e-01 -1.81890412e-01 8.78656137e+01] [ 4.49802632e-01 8.88048181e-01 -9.51210860e-02 1.28785113e+01] [ 2.05259329e-01 8.66517357e-04 9.78707238e-01 3.13202190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.267719421 meters Centerline goodness : 0.954449 Centerline is valid? [True, True] Translation: X:87.89, Y:12.89, Z:0.32 [[ 8.70055958e-01 -4.58172779e-01 -1.81880000e-01 8.78877248e+01] [ 4.48187549e-01 8.88862258e-01 -9.51409890e-02 1.28949183e+01] [ 2.05257279e-01 1.26163269e-03 9.78707238e-01 3.18731005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.29771942099998 meters Centerline goodness : 0.953743 Centerline is valid? [True, True] Translation: X:87.91, Y:12.91, Z:0.32 [[ 8.71776431e-01 -4.54903805e-01 -1.81847140e-01 8.79090409e+01] [ 4.44834964e-01 8.90538096e-01 -9.52037562e-02 1.29149765e+01] [ 2.05250357e-01 2.10442493e-03 9.78707240e-01 3.23695462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32771942099998 meters Centerline goodness : 0.952290 Centerline is valid? [True, True] Translation: X:87.93, Y:12.93, Z:0.33 [[ 8.72226889e-01 -4.54051333e-01 -1.81817604e-01 8.79318756e+01] [ 4.43952405e-01 8.90972373e-01 -9.52601299e-02 1.29310067e+01] [ 2.05247451e-01 2.37008402e-03 9.78707242e-01 3.27023648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.35771942099998 meters Centerline goodness : 0.951438 Centerline is valid? [True, True] Translation: X:87.95, Y:12.95, Z:0.33 [[ 8.73331982e-01 -4.51926314e-01 -1.81807195e-01 8.79540129e+01] [ 4.41777641e-01 8.92050581e-01 -9.52799924e-02 1.29492482e+01] [ 2.05240750e-01 2.89271090e-03 9.78707243e-01 3.32472657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38771942099999 meters Centerline goodness : 0.950906 Centerline is valid? [True, True] Translation: X:87.98, Y:12.96, Z:0.34 [[ 8.74001848e-01 -4.50641389e-01 -1.81777636e-01 8.79771400e+01] [ 4.40453477e-01 8.92699117e-01 -9.53363537e-02 1.29640979e+01] [ 2.05235242e-01 3.25955744e-03 9.78707245e-01 3.36898032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.417719421 meters Centerline goodness : 0.955125 Centerline is valid? [True, True] Translation: X:88.00, Y:12.98, Z:0.35 [[ 8.75511471e-01 -4.47705642e-01 -1.81767218e-01 8.79995320e+01] [ 4.37450917e-01 8.94172180e-01 -9.53562119e-02 1.29814500e+01] [ 2.05222704e-01 3.97122096e-03 9.78707245e-01 3.46020385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.447719421 meters Centerline goodness : 0.956142 Centerline is valid? [True, True] Translation: X:88.02, Y:13.00, Z:0.35 [[ 8.76471246e-01 -4.45835355e-01 -1.81738801e-01 8.80225660e+01] [ 4.35529594e-01 8.95103815e-01 -9.54103429e-02 1.29966313e+01] [ 2.05212398e-01 4.47179611e-03 9.78707247e-01 3.53315267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.477719421 meters Centerline goodness : 0.955643 Centerline is valid? [True, True] Translation: X:88.04, Y:13.01, Z:0.36 [[ 8.78566759e-01 -4.41695795e-01 -1.81728574e-01 8.80433554e+01] [ 4.31298228e-01 8.97148253e-01 -9.54298174e-02 1.30142214e+01] [ 2.05188422e-01 5.46225326e-03 9.78707247e-01 3.57213884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.507719421 meters Centerline goodness : 0.955899 Centerline is valid? [True, True] Translation: X:88.07, Y:13.03, Z:0.36 [[ 8.79446205e-01 -4.39948025e-01 -1.81714359e-01 8.80670423e+01] [ 4.29507947e-01 8.98003846e-01 -9.54568773e-02 1.30297489e+01] [ 2.05176258e-01 5.90142701e-03 9.78707247e-01 3.61802260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.537719421 meters Centerline goodness : 0.958146 Centerline is valid? [True, True] Translation: X:88.09, Y:13.04, Z:0.37 [[ 8.80763949e-01 -4.37317353e-01 -1.81682137e-01 8.80900197e+01] [ 4.26809224e-01 8.99283140e-01 -9.55181673e-02 1.30448013e+01] [ 2.05155435e-01 6.58534619e-03 9.78707250e-01 3.69884667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.567719421 meters Centerline goodness : 0.958730 Centerline is valid? [True, True] Translation: X:88.11, Y:13.06, Z:0.38 [[ 8.80716399e-01 -4.37417295e-01 -1.81672051e-01 8.81137994e+01] [ 4.26907316e-01 8.99234540e-01 -9.55373473e-02 1.30577481e+01] [ 2.05155471e-01 6.58418078e-03 9.78707250e-01 3.75639205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.597719421 meters Centerline goodness : 0.959846 Centerline is valid? [True, True] Translation: X:88.14, Y:13.07, Z:0.38 [[ 8.80226753e-01 -4.38405908e-01 -1.81662114e-01 8.81385284e+01] [ 4.27912834e-01 8.98754478e-01 -9.55562394e-02 1.30719801e+01] [ 2.05162058e-01 6.37560851e-03 9.78707250e-01 3.82785717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.627719421 meters Centerline goodness : 0.960061 Centerline is valid? [True, True] Translation: X:88.16, Y:13.09, Z:0.39 [[ 8.79664248e-01 -4.39545077e-01 -1.81634072e-01 8.81617226e+01] [ 4.29065009e-01 8.98199331e-01 -9.56095123e-02 1.30850328e+01] [ 2.05168292e-01 6.17144502e-03 9.78707252e-01 3.87626082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.657719421 meters Centerline goodness : 0.958470 Centerline is valid? [True, True] Translation: X:88.19, Y:13.10, Z:0.39 [[ 8.77531306e-01 -4.43796937e-01 -1.81612459e-01 8.81867295e+01] [ 4.33398203e-01 8.96112141e-01 -9.56505496e-02 1.30972150e+01] [ 2.05194550e-01 5.22583832e-03 9.78707253e-01 3.93640221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.687719421 meters Centerline goodness : 0.957885 Centerline is valid? [True, True] Translation: X:88.21, Y:13.11, Z:0.40 [[ 8.76232815e-01 -4.46366480e-01 -1.81584744e-01 8.82102913e+01] [ 4.36011348e-01 8.94837982e-01 -9.57031354e-02 1.31091234e+01] [ 2.05207598e-01 4.68521861e-03 9.78707255e-01 3.97600103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.717719421 meters Centerline goodness : 0.955979 Centerline is valid? [True, True] Translation: X:88.24, Y:13.12, Z:0.40 [[ 8.73941146e-01 -4.50842268e-01 -1.81571258e-01 8.82366487e+01] [ 4.40577118e-01 8.92596110e-01 -9.57287148e-02 1.31206026e+01] [ 2.05228350e-01 3.66512102e-03 9.78707255e-01 4.02843051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.747719421 meters Centerline goodness : 0.956390 Centerline is valid? [True, True] Translation: X:88.26, Y:13.13, Z:0.41 [[ 8.72922536e-01 -4.52822239e-01 -1.81544116e-01 8.82606109e+01] [ 4.42588707e-01 8.91594861e-01 -9.57801616e-02 1.31323542e+01] [ 2.05235188e-01 3.25928599e-03 9.78707257e-01 4.11874381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.777719421 meters Centerline goodness : 0.957876 Centerline is valid? [True, True] Translation: X:88.29, Y:13.15, Z:0.42 [[ 8.71808918e-01 -4.54975880e-01 -1.81510766e-01 8.82854242e+01] [ 4.44775329e-01 8.90499278e-01 -9.58433222e-02 1.31456323e+01] [ 2.05241606e-01 2.82555244e-03 9.78707259e-01 4.16410524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.807719421 meters Centerline goodness : 0.957043 Centerline is valid? [True, True] Translation: X:88.31, Y:13.16, Z:0.42 [[ 8.71648236e-01 -4.55295120e-01 -1.81481971e-01 8.83098038e+01] [ 4.45090070e-01 8.90336138e-01 -9.58978169e-02 1.31585845e+01] [ 2.05241765e-01 2.81334002e-03 9.78707261e-01 4.22994462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.837719421 meters Centerline goodness : 0.953418 Centerline is valid? [True, True] Translation: X:88.34, Y:13.17, Z:0.43 [[ 8.72106577e-01 -4.54430180e-01 -1.81447868e-01 8.83358298e+01] [ 4.44193182e-01 8.90776995e-01 -9.59622994e-02 1.31696160e+01] [ 2.05237752e-01 3.09144655e-03 9.78707264e-01 4.27047688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.867719421 meters Centerline goodness : 0.953027 Centerline is valid? [True, True] Translation: X:88.36, Y:13.18, Z:0.43 [[ 8.72512253e-01 -4.53662602e-01 -1.81418334e-01 8.83605888e+01] [ 4.43397578e-01 8.91167275e-01 -9.60181026e-02 1.31814721e+01] [ 2.05233905e-01 3.33652101e-03 9.78707266e-01 4.33402564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.897719421 meters Centerline goodness : 0.954995 Centerline is valid? [True, True] Translation: X:88.38, Y:13.20, Z:0.44 [[ 8.74380931e-01 -4.50063926e-01 -1.81384812e-01 8.83847325e+01] [ 4.39709007e-01 8.92986201e-01 -9.60813874e-02 1.31974799e+01] [ 2.05216901e-01 4.25519738e-03 9.78707268e-01 4.37824055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.927719421 meters Centerline goodness : 0.954972 Centerline is valid? [True, True] Translation: X:88.41, Y:13.21, Z:0.44 [[ 8.75874293e-01 -4.47162627e-01 -1.81355474e-01 8.84077801e+01] [ 4.36734632e-01 8.94438701e-01 -9.61367317e-02 1.32115286e+01] [ 2.05200109e-01 4.99947548e-03 9.78707270e-01 4.42753597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.957719421 meters Centerline goodness : 0.955958 Centerline is valid? [True, True] Translation: X:88.43, Y:13.22, Z:0.45 [[ 8.77598415e-01 -4.43773549e-01 -1.81345137e-01 8.84330150e+01] [ 4.33269845e-01 8.96120093e-01 -9.61562276e-02 1.32245776e+01] [ 2.05178611e-01 5.81517343e-03 9.78707270e-01 4.49337930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.987719421 meters Centerline goodness : 0.956634 Centerline is valid? [True, True] Translation: X:88.46, Y:13.24, Z:0.46 [[ 8.80813262e-01 -4.37369830e-01 -1.81316379e-01 8.84585211e+01] [ 4.26720364e-01 8.99251514e-01 -9.62104262e-02 1.32351068e+01] [ 2.05128566e-01 7.37202818e-03 9.78707272e-01 4.56210441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.017719421 meters Centerline goodness : 0.955949 Centerline is valid? [True, True] Translation: X:88.48, Y:13.25, Z:0.46 [[ 8.83276977e-01 -4.32376948e-01 -1.81306251e-01 8.84831677e+01] [ 4.21619374e-01 9.01652364e-01 -9.62295073e-02 1.32491150e+01] [ 2.05082631e-01 8.55508007e-03 9.78707272e-01 4.61349396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04771942099998 meters Centerline goodness : 0.958765 Centerline is valid? [True, True] Translation: X:88.51, Y:13.26, Z:0.47 [[ 8.84391882e-01 -4.30103699e-01 -1.81278260e-01 8.85072538e+01] [ 4.19288122e-01 9.02733187e-01 -9.62822084e-02 1.32625111e+01] [ 2.05057236e-01 9.14338211e-03 9.78707274e-01 4.69418672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.07771942099998 meters Centerline goodness : 0.959546 Centerline is valid? [True, True] Translation: X:88.53, Y:13.27, Z:0.48 [[ 8.86595772e-01 -4.25554475e-01 -1.81249349e-01 8.85307165e+01] [ 4.14633728e-01 9.04874649e-01 -9.63366044e-02 1.32741732e+01] [ 2.05004414e-01 1.02595330e-02 9.78707276e-01 4.77523325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10771942099998 meters Centerline goodness : 0.959068 Centerline is valid? [True, True] Translation: X:88.56, Y:13.29, Z:0.48 [[ 8.87472866e-01 -4.23730006e-01 -1.81231329e-01 8.85555457e+01] [ 4.12764789e-01 9.05725100e-01 -9.63704911e-02 1.32858490e+01] [ 2.04980833e-01 1.07202844e-02 9.78707277e-01 4.83199504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.13771942099999 meters Centerline goodness : 0.958511 Centerline is valid? [True, True] Translation: X:88.58, Y:13.30, Z:0.49 [[ 8.88032959e-01 -4.22558918e-01 -1.81222030e-01 8.85809731e+01] [ 4.11566077e-01 9.06268571e-01 -9.63879757e-02 1.32968580e+01] [ 2.04965429e-01 1.10108594e-02 9.78707277e-01 4.88970836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.167719421 meters Centerline goodness : 0.957788 Centerline is valid? [True, True] Translation: X:88.61, Y:13.31, Z:0.49 [[ 8.88833343e-01 -4.20885604e-01 -1.81192154e-01 8.86083140e+01] [ 4.09847039e-01 9.07041310e-01 -9.64441052e-02 1.33069652e+01] [ 2.04940704e-01 1.14616686e-02 9.78707279e-01 4.94654217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.197719421 meters Centerline goodness : 0.956539 Centerline is valid? [True, True] Translation: X:88.63, Y:13.32, Z:0.50 [[ 8.89089823e-01 -4.20354376e-01 -1.81167007e-01 8.86342783e+01] [ 4.09295351e-01 9.07285369e-01 -9.64913207e-02 1.33185769e+01] [ 2.04930724e-01 1.16386375e-02 9.78707280e-01 5.02488866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.227719421 meters Centerline goodness : 0.956817 Centerline is valid? [True, True] Translation: X:88.66, Y:13.33, Z:0.51 [[ 8.89619300e-01 -4.19239409e-01 -1.81151373e-01 8.86613723e+01] [ 4.08151632e-01 9.07797338e-01 -9.65206631e-02 1.33271743e+01] [ 2.04914000e-01 1.19294163e-02 9.78707281e-01 5.05828234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.257719421 meters Centerline goodness : 0.954297 Centerline is valid? [True, True] Translation: X:88.69, Y:13.33, Z:0.51 [[ 8.89270287e-01 -4.19983521e-01 -1.81141375e-01 8.86898306e+01] [ 4.08907151e-01 9.07455278e-01 -9.65394225e-02 1.33348075e+01] [ 2.04922663e-01 1.17796365e-02 9.78707281e-01 5.11069364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.287719421 meters Centerline goodness : 0.952652 Centerline is valid? [True, True] Translation: X:88.72, Y:13.34, Z:0.51 [[ 8.88788541e-01 -4.21014054e-01 -1.81113489e-01 8.87160625e+01] [ 4.09948158e-01 9.06979906e-01 -9.65917102e-02 1.33445313e+01] [ 2.04932763e-01 1.16024638e-02 9.78707283e-01 5.14340669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.317719421 meters Centerline goodness : 0.951481 Centerline is valid? [True, True] Translation: X:88.74, Y:13.35, Z:0.52 [[ 8.87924639e-01 -4.22837210e-01 -1.81103641e-01 8.87430139e+01] [ 4.11804920e-01 9.06136404e-01 -9.66101710e-02 1.33543816e+01] [ 2.04954978e-01 1.12031807e-02 9.78707283e-01 5.21115423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.347719421 meters Centerline goodness : 0.950043 Centerline is valid? [True, True] Translation: X:88.77, Y:13.36, Z:0.53 [[ 8.85704427e-01 -4.27480078e-01 -1.81075814e-01 8.87713851e+01] [ 4.16532661e-01 9.03967335e-01 -9.66623003e-02 1.33603474e+01] [ 2.05007829e-01 1.01902367e-02 9.78707285e-01 5.26545008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.377719421 meters Centerline goodness : 0.949578 Centerline is valid? [True, False] Translation: X:88.77, Y:13.35, Z:0.53 [[ 8.82615688e-01 -4.30440913e-01 -1.88971342e-01 8.87676785e+01] [ 4.21644398e-01 9.02613039e-01 -8.66354649e-02 1.33470001e+01] [ 2.07859446e-01 -3.21288714e-03 9.78153428e-01 5.30862414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.407719421 meters Centerline goodness : 0.953060 Centerline is valid? [False, True] Translation: X:88.76, Y:13.34, Z:0.53 [[ 8.80038074e-01 -4.32558644e-01 -1.96025528e-01 8.87599383e+01] [ 4.25505931e-01 9.01499109e-01 -7.90193595e-02 1.33364174e+01] [ 2.10897346e-01 -1.38699801e-02 9.77409808e-01 5.34263455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.437719421 meters Centerline goodness : 0.955120 Centerline is valid? [True, True] Translation: X:88.79, Y:13.35, Z:0.53 [[ 8.77120208e-01 -4.43029486e-01 -1.85431972e-01 8.87859727e+01] [ 4.31883629e-01 8.96481765e-01 -9.89796788e-02 1.33510052e+01] [ 2.10087297e-01 6.73204361e-03 9.77659454e-01 5.34355661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.467719421 meters Centerline goodness : 0.956939 Centerline is valid? [True, True] Translation: X:88.81, Y:13.36, Z:0.54 [[ 8.75363897e-01 -4.46501480e-01 -1.85403548e-01 8.88113239e+01] [ 4.35421168e-01 8.94763037e-01 -9.90328934e-02 1.33621989e+01] [ 2.10110575e-01 5.96119024e-03 9.77659455e-01 5.40156096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.497719421 meters Centerline goodness : 0.955649 Centerline is valid? [True, True] Translation: X:88.84, Y:13.37, Z:0.54 [[ 8.72717907e-01 -4.51655511e-01 -1.85393512e-01 8.88369173e+01] [ 4.40685796e-01 8.92179800e-01 -9.90516774e-02 1.33731093e+01] [ 2.10141582e-01 4.74388533e-03 9.77659456e-01 5.44851298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.527719421 meters Centerline goodness : 0.954077 Centerline is valid? [True, True] Translation: X:88.86, Y:13.39, Z:0.55 [[ 8.71658953e-01 -4.53701907e-01 -1.85378662e-01 8.88624000e+01] [ 4.42771979e-01 8.91143218e-01 -9.90794608e-02 1.33862769e+01] [ 2.10151478e-01 4.28302196e-03 9.77659456e-01 5.50949193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.557719421 meters Centerline goodness : 0.952847 Centerline is valid? [True, True] Translation: X:88.89, Y:13.40, Z:0.56 [[ 8.69628474e-01 -4.57593159e-01 -1.85350526e-01 8.88867729e+01] [ 4.46739213e-01 8.89155166e-01 -9.91320691e-02 1.33975162e+01] [ 2.10167534e-01 3.40472187e-03 9.77659458e-01 5.58375396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.587719421 meters Centerline goodness : 0.952948 Centerline is valid? [True, True] Translation: X:88.91, Y:13.41, Z:0.56 [[ 8.68842512e-01 -4.59096912e-01 -1.85317875e-01 8.89113185e+01] [ 4.48263754e-01 8.88380742e-01 -9.91930705e-02 1.34093772e+01] [ 2.10172064e-01 3.11187028e-03 9.77659460e-01 5.64502341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.617719421 meters Centerline goodness : 0.953261 Centerline is valid? [True, True] Translation: X:88.94, Y:13.42, Z:0.57 [[ 8.67582317e-01 -4.61486970e-01 -1.85285453e-01 8.89352566e+01] [ 4.50694714e-01 8.87143167e-01 -9.92535963e-02 1.34223298e+01] [ 2.10178965e-01 2.60349072e-03 9.77659462e-01 5.71329345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.647719421 meters Centerline goodness : 0.952966 Centerline is valid? [True, True] Translation: X:88.96, Y:13.44, Z:0.58 [[ 8.67426159e-01 -4.61793419e-01 -1.85253061e-01 8.89594911e+01] [ 4.50995171e-01 8.86983699e-01 -9.93140193e-02 1.34377905e+01] [ 2.10179006e-01 2.59934238e-03 9.77659465e-01 5.76963305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.677719421 meters Centerline goodness : 0.953340 Centerline is valid? [True, True] Translation: X:88.98, Y:13.45, Z:0.58 [[ 8.66984241e-01 -4.62633914e-01 -1.85224693e-01 8.89819799e+01] [ 4.51843330e-01 8.86546008e-01 -9.93668989e-02 1.34525696e+01] [ 2.10180710e-01 2.45699310e-03 9.77659466e-01 5.81274459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.707719421 meters Centerline goodness : 0.953340 Centerline is valid? [True, True] Translation: X:89.01, Y:13.47, Z:0.59 [[ 8.66838812e-01 -4.62911957e-01 -1.85210673e-01 8.90065254e+01] [ 4.52122066e-01 8.86400961e-01 -9.93930257e-02 1.34659577e+01] [ 2.10181138e-01 2.41990046e-03 9.77659467e-01 5.87274048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.737719421 meters Centerline goodness : 0.951537 Centerline is valid? [True, True] Translation: X:89.03, Y:13.48, Z:0.59 [[ 8.66520876e-01 -4.63519604e-01 -1.85178691e-01 8.90310703e+01] [ 4.52730706e-01 8.86083570e-01 -9.94525752e-02 1.34786598e+01] [ 2.10182014e-01 2.34165289e-03 9.77659469e-01 5.92510696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.767719421 meters Centerline goodness : 0.952447 Centerline is valid? [True, True] Translation: X:89.06, Y:13.49, Z:0.60 [[ 8.66426884e-01 -4.63699221e-01 -1.85168807e-01 8.90557336e+01] [ 4.52910447e-01 8.85989646e-01 -9.94709744e-02 1.34918446e+01] [ 2.10182260e-01 2.31943896e-03 9.77659469e-01 5.96181760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.79771942099998 meters Centerline goodness : 0.952099 Centerline is valid? [True, True] Translation: X:89.08, Y:13.51, Z:0.60 [[ 8.64792407e-01 -4.66744285e-01 -1.85159028e-01 8.90784289e+01] [ 4.56020499e-01 8.84390869e-01 -9.94891751e-02 1.35076953e+01] [ 2.10188957e-01 1.60117094e-03 9.77659470e-01 5.99760885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82771942099998 meters Centerline goodness : 0.954937 Centerline is valid? [True, True] Translation: X:89.10, Y:13.52, Z:0.61 [[ 8.61990702e-01 -4.71904282e-01 -1.85144209e-01 8.91020392e+01] [ 4.61291893e-01 8.81649707e-01 -9.95167446e-02 1.35220245e+01] [ 2.10194716e-01 3.76985780e-04 9.77659470e-01 6.10137035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.85771942099998 meters Centerline goodness : 0.958157 Centerline is valid? [True, True] Translation: X:89.13, Y:13.54, Z:0.62 [[ 8.60723524e-01 -4.74222034e-01 -1.85117468e-01 8.91255045e+01] [ 4.63651889e-01 8.80405273e-01 -9.95664636e-02 1.35352267e+01] [ 2.10195006e-01 -1.30866208e-04 9.77659472e-01 6.20867826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88771942099999 meters Centerline goodness : 0.959210 Centerline is valid? [True, True] Translation: X:89.15, Y:13.55, Z:0.63 [[ 8.59376612e-01 -4.76669509e-01 -1.85089215e-01 8.91479912e+01] [ 4.66144109e-01 8.79082324e-01 -9.96189582e-02 1.35495733e+01] [ 2.10193977e-01 -6.68044176e-04 9.77659473e-01 6.25822518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.917719421 meters Centerline goodness : 0.960135 Centerline is valid? [True, True] Translation: X:89.17, Y:13.57, Z:0.63 [[ 8.57121067e-01 -4.80718882e-01 -1.85075207e-01 8.91711865e+01] [ 4.70280956e-01 8.76873253e-01 -9.96449755e-02 1.35688612e+01] [ 2.10188720e-01 -1.62953756e-03 9.77659474e-01 6.28093450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.947719421 meters Centerline goodness : 0.961147 Centerline is valid? [True, True] Translation: X:89.19, Y:13.59, Z:0.64 [[ 8.55466641e-01 -4.83662319e-01 -1.85061036e-01 8.91938601e+01] [ 4.73286660e-01 8.75251605e-01 -9.96712871e-02 1.35862274e+01] [ 2.10182215e-01 -2.32145852e-03 9.77659474e-01 6.35776195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.977719421 meters Centerline goodness : 0.964139 Centerline is valid? [True, True] Translation: X:89.21, Y:13.61, Z:0.64 [[ 8.52751944e-01 -4.88444418e-01 -1.85030193e-01 8.92142468e+01] [ 4.78167283e-01 8.72588261e-01 -9.97285132e-02 1.36083551e+01] [ 2.10167010e-01 -3.43170083e-03 9.77659476e-01 6.41336873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.007719421 meters Centerline goodness : 0.965225 Centerline is valid? [True, True] Translation: X:89.23, Y:13.63, Z:0.65 [[ 8.50453860e-01 -4.92446398e-01 -1.84999399e-01 8.92342577e+01] [ 4.82250180e-01 8.70331889e-01 -9.97856037e-02 1.36256689e+01] [ 2.10149938e-01 -4.35294171e-03 9.77659478e-01 6.49097133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.037719421 meters Centerline goodness : 0.965264 Centerline is valid? [True, True] Translation: X:89.26, Y:13.64, Z:0.65 [[ 8.48964822e-01 -4.95014768e-01 -1.84984081e-01 8.92571696e+01] [ 4.84872499e-01 8.68870431e-01 -9.98139929e-02 1.36419213e+01] [ 2.10136599e-01 -4.95512493e-03 9.77659479e-01 6.54982773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.067719421 meters Centerline goodness : 0.964593 Centerline is valid? [True, True] Translation: X:89.28, Y:13.66, Z:0.66 [[ 8.47748059e-01 -4.97108643e-01 -1.84949254e-01 8.92791787e+01] [ 4.87001476e-01 8.67671511e-01 -9.98784854e-02 1.36578616e+01] [ 2.10125657e-01 -5.39876745e-03 9.77659481e-01 6.61519238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.097719421 meters Centerline goodness : 0.964631 Centerline is valid? [True, True] Translation: X:89.30, Y:13.68, Z:0.66 [[ 8.45271655e-01 -5.01320865e-01 -1.84914086e-01 8.93005283e+01] [ 4.91298743e-01 8.65238020e-01 -9.99435534e-02 1.36798486e+01] [ 2.10098486e-01 -6.36860517e-03 9.77659484e-01 6.64978144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.127719421 meters Centerline goodness : 0.963503 Centerline is valid? [True, True] Translation: X:89.32, Y:13.70, Z:0.67 [[ 8.44305388e-01 -5.02957834e-01 -1.84883286e-01 8.93237829e+01] [ 4.92961966e-01 8.64284907e-01 -1.00000499e-01 1.36981509e+01] [ 2.10087868e-01 -6.70946804e-03 9.77659486e-01 6.68774573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.157719421 meters Centerline goodness : 0.960686 Centerline is valid? [True, True] Translation: X:89.34, Y:13.72, Z:0.67 [[ 8.43585776e-01 -5.04175322e-01 -1.84852057e-01 8.93439170e+01] [ 4.94195662e-01 8.63573393e-01 -1.00058193e-01 1.37198363e+01] [ 2.10080190e-01 -6.94541616e-03 9.77659488e-01 6.70807517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.187719421 meters Centerline goodness : 0.960792 Centerline is valid? [True, True] Translation: X:89.37, Y:13.74, Z:0.68 [[ 8.44100405e-01 -5.03319959e-01 -1.84833778e-01 8.93666651e+01] [ 4.93312661e-01 8.64074199e-01 -1.00091949e-01 1.37362578e+01] [ 2.10088374e-01 -6.69318784e-03 9.77659489e-01 6.79172215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.217719421 meters Centerline goodness : 0.962530 Centerline is valid? [True, True] Translation: X:89.39, Y:13.76, Z:0.69 [[ 8.46770967e-01 -4.98826263e-01 -1.84800670e-01 8.93874259e+01] [ 4.88699620e-01 8.66684516e-01 -1.00153039e-01 1.37561466e+01] [ 2.10122846e-01 -5.50533150e-03 9.77659491e-01 6.87320756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.247719421 meters Centerline goodness : 0.963429 Centerline is valid? [True, True] Translation: X:89.41, Y:13.77, Z:0.69 [[ 8.48831022e-01 -4.95324174e-01 -1.84769746e-01 8.94079714e+01] [ 4.85102953e-01 8.68696189e-01 -1.00210059e-01 1.37739310e+01] [ 2.10145239e-01 -4.57094285e-03 9.77659493e-01 6.91805374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.277719421 meters Centerline goodness : 0.961182 Centerline is valid? [True, True] Translation: X:89.43, Y:13.80, Z:0.69 [[ 8.53475455e-01 -4.87283743e-01 -1.84754438e-01 8.94268446e+01] [ 4.76869218e-01 8.73239965e-01 -1.00238274e-01 1.37991094e+01] [ 2.10179440e-01 -2.55279789e-03 9.77659494e-01 6.94609141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.307719421 meters Centerline goodness : 0.961453 Centerline is valid? [True, True] Translation: X:89.45, Y:13.82, Z:0.70 [[ 8.55963497e-01 -4.82911609e-01 -1.84723765e-01 8.94479839e+01] [ 4.72383927e-01 8.75667965e-01 -1.00294768e-01 1.38172852e+01] [ 2.10190192e-01 -1.41187710e-03 9.77659496e-01 6.99365615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.337719421 meters Centerline goodness : 0.959243 Centerline is valid? [True, True] Translation: X:89.47, Y:13.84, Z:0.71 [[ 8.59512542e-01 -4.76570365e-01 -1.84712959e-01 8.94679353e+01] [ 4.65893021e-01 8.79136315e-01 -1.00314667e-01 1.38385685e+01] [ 2.10194867e-01 1.65236319e-04 9.77659496e-01 7.05792332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.367719421 meters Centerline goodness : 0.959711 Centerline is valid? [True, True] Translation: X:89.49, Y:13.85, Z:0.72 [[ 8.61079851e-01 -4.73745842e-01 -1.84679095e-01 8.94907055e+01] [ 4.62990763e-01 8.80661125e-01 -1.00376973e-01 1.38543796e+01] [ 2.10192873e-01 9.27873737e-04 9.77659499e-01 7.15139062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.397719421 meters Centerline goodness : 0.959808 Centerline is valid? [True, True] Translation: X:89.51, Y:13.87, Z:0.72 [[ 8.62336676e-01 -4.71466375e-01 -1.84648084e-01 8.95120743e+01] [ 4.60647327e-01 8.81882676e-01 -1.00433987e-01 1.38743146e+01] [ 2.10189194e-01 1.55026362e-03 9.77659501e-01 7.22422520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.427719421 meters Centerline goodness : 0.960252 Centerline is valid? [True, True] Translation: X:89.53, Y:13.89, Z:0.73 [[ 8.62606499e-01 -4.70984792e-01 -1.84616772e-01 8.95339025e+01] [ 4.60142521e-01 8.82139624e-01 -1.00491512e-01 1.38912787e+01] [ 2.10187744e-01 1.73460394e-03 9.77659503e-01 7.28008482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.457719421 meters Centerline goodness : 0.956669 Centerline is valid? [True, True] Translation: X:89.56, Y:13.91, Z:0.73 [[ 8.63702236e-01 -4.68986765e-01 -1.84580232e-01 8.95557382e+01] [ 4.58084973e-01 8.83202201e-01 -1.00558585e-01 1.39109849e+01] [ 2.10182313e-01 2.29924414e-03 9.77659506e-01 7.26632731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.487719421 meters Centerline goodness : 0.956092 Centerline is valid? [True, True] Translation: X:89.58, Y:13.93, Z:0.73 [[ 8.64301478e-01 -4.67885931e-01 -1.84568986e-01 8.95792398e+01] [ 4.56954897e-01 8.83785066e-01 -1.00579222e-01 1.39272166e+01] [ 2.10178916e-01 2.59106834e-03 9.77659506e-01 7.34035101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.517719421 meters Centerline goodness : 0.955644 Centerline is valid? [True, True] Translation: X:89.60, Y:13.95, Z:0.74 [[ 8.66384682e-01 -4.64029374e-01 -1.84538134e-01 8.96015144e+01] [ 4.52999569e-01 8.85812523e-01 -1.00635798e-01 1.39457328e+01] [ 2.10164156e-01 3.59361857e-03 9.77659508e-01 7.40179698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54771942099998 meters Centerline goodness : 0.952264 Centerline is valid? [True, True] Translation: X:89.63, Y:13.96, Z:0.75 [[ 8.67867019e-01 -4.61263670e-01 -1.84506540e-01 8.96252203e+01] [ 4.50159655e-01 8.87252538e-01 -1.00693689e-01 1.39601918e+01] [ 2.10150237e-01 4.33133162e-03 9.77659510e-01 7.45652049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.57771942099998 meters Centerline goodness : 0.951881 Centerline is valid? [True, True] Translation: X:89.65, Y:13.98, Z:0.75 [[ 8.70740339e-01 -4.55820910e-01 -1.84495422e-01 8.96497260e+01] [ 4.44591428e-01 8.90053448e-01 -1.00714056e-01 1.39750599e+01] [ 2.10118359e-01 5.67070853e-03 9.77659510e-01 7.49208021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60771942099998 meters Centerline goodness : 0.950509 Centerline is valid? [True, True] Translation: X:89.67, Y:13.99, Z:0.75 [[ 8.71852346e-01 -4.53702914e-01 -1.84464503e-01 8.96727423e+01] [ 4.42414555e-01 8.91131100e-01 -1.00770656e-01 1.39903322e+01] [ 2.10101995e-01 6.24735212e-03 9.77659512e-01 7.53858220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.63771942099999 meters Centerline goodness : 0.947706 Centerline is valid? [True, False] Translation: X:89.66, Y:13.98, Z:0.76 [[ 8.73399389e-01 -4.45856133e-01 -1.95922987e-01 8.96644732e+01] [ 4.37385806e-01 8.95052314e-01 -8.70345464e-02 1.39847144e+01] [ 2.14166209e-01 -9.67801380e-03 9.76749288e-01 7.55790726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.667719421 meters Centerline goodness : 0.948645 Centerline is valid? [False, False] Translation: X:89.66, Y:13.98, Z:0.76 [[ 8.73341727e-01 -4.41292052e-01 -2.06241492e-01 8.96556436e+01] [ 4.35072740e-01 8.97084886e-01 -7.71389488e-02 1.39760456e+01] [ 2.19056930e-01 -2.23613882e-02 9.75455806e-01 7.58334872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.697719421 meters Centerline goodness : 0.946932 Centerline is valid? [False, False] Translation: X:89.65, Y:13.97, Z:0.76 [[ 8.72615227e-01 -4.38290226e-01 -2.15509497e-01 8.96466052e+01] [ 4.34225728e-01 8.98197042e-01 -6.84842320e-02 1.39672601e+01] [ 2.23585962e-01 -3.38193845e-02 9.74097309e-01 7.60733390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.727719421 meters Centerline goodness : 0.948602 Centerline is valid? [False, False] Translation: X:89.64, Y:13.96, Z:0.76 [[ 8.70560316e-01 -4.38776405e-01 -2.22710581e-01 8.96369028e+01] [ 4.36510480e-01 8.97557206e-01 -6.20456502e-02 1.39567156e+01] [ 2.27119654e-01 -4.32010220e-02 9.72908184e-01 7.63247809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.757719421 meters Centerline goodness : 0.951355 Centerline is valid? [False, True] Translation: X:89.62, Y:13.94, Z:0.76 [[ 8.66705035e-01 -4.44663729e-01 -2.26045459e-01 8.96207868e+01] [ 4.45803183e-01 8.93793365e-01 -4.89177155e-02 1.39419790e+01] [ 2.23789865e-01 -5.83745548e-02 9.72887716e-01 7.62842036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.787719421 meters Centerline goodness : 0.953379 Centerline is valid? [True, True] Translation: X:89.64, Y:13.97, Z:0.76 [[ 8.64402448e-01 -4.63521448e-01 -1.94823700e-01 8.96386422e+01] [ 4.51060638e-01 8.86074362e-01 -1.06848146e-01 1.39745378e+01] [ 2.22154693e-01 4.48249639e-03 9.75001128e-01 7.55206205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.817719421 meters Centerline goodness : 0.957361 Centerline is valid? [True, True] Translation: X:89.66, Y:13.99, Z:0.76 [[ 8.59369399e-01 -4.72800780e-01 -1.94791321e-01 8.96622505e+01] [ 4.60560641e-01 8.81166703e-01 -1.06907143e-01 1.39880979e+01] [ 2.22189407e-01 2.15951185e-03 9.75001130e-01 7.64794087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.847719421 meters Centerline goodness : 0.958104 Centerline is valid? [True, True] Translation: X:89.69, Y:14.00, Z:0.77 [[ 8.56701524e-01 -4.77631147e-01 -1.94758792e-01 8.96862204e+01] [ 4.65500444e-01 8.78559919e-01 -1.06966372e-01 1.40028674e+01] [ 2.22197739e-01 9.77950069e-04 9.75001132e-01 7.72547370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.877719421 meters Centerline goodness : 0.954916 Centerline is valid? [True, True] Translation: X:89.71, Y:14.02, Z:0.78 [[ 8.52255681e-01 -4.85532770e-01 -1.94725918e-01 8.97105226e+01] [ 4.73591048e-01 8.74217888e-01 -1.07026186e-01 1.40162844e+01] [ 2.22197601e-01 -1.00677664e-03 9.75001135e-01 7.78799484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.907719421 meters Centerline goodness : 0.954367 Centerline is valid? [True, True] Translation: X:89.73, Y:14.03, Z:0.78 [[ 8.50268410e-01 -4.89017707e-01 -1.94692872e-01 8.97347392e+01] [ 4.77152236e-01 8.72271904e-01 -1.07086267e-01 1.40294573e+01] [ 2.22192203e-01 -1.84606940e-03 9.75001137e-01 7.83184437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.937719421 meters Centerline goodness : 0.950898 Centerline is valid? [True, True] Translation: X:89.76, Y:14.05, Z:0.79 [[ 8.46423903e-01 -4.95649121e-01 -1.94675439e-01 8.97570670e+01] [ 4.83948724e-01 8.68515617e-01 -1.07117950e-01 1.40477454e+01] [ 2.22171576e-01 -3.54573729e-03 9.75001138e-01 7.88790504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.967719421 meters Centerline goodness : 0.951828 Centerline is valid? [True, True] Translation: X:89.78, Y:14.06, Z:0.80 [[ 8.44701106e-01 -4.98592596e-01 -1.94641887e-01 8.97788848e+01] [ 4.86955139e-01 8.66826038e-01 -1.07178882e-01 1.40643943e+01] [ 2.22159253e-01 -4.24774712e-03 9.75001140e-01 7.95025583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.997719421 meters Centerline goodness : 0.950708 Centerline is valid? [True, True] Translation: X:89.80, Y:14.08, Z:0.80 [[ 8.41942942e-01 -5.03251466e-01 -1.94602271e-01 8.97993514e+01] [ 4.91719811e-01 8.64123198e-01 -1.07250766e-01 1.40834000e+01] [ 2.22134442e-01 -5.39076681e-03 9.75001143e-01 7.99632225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.027719421 meters Centerline goodness : 0.950781 Centerline is valid? [True, True] Translation: X:89.82, Y:14.10, Z:0.81 [[ 8.40215724e-01 -5.06136259e-01 -1.94585776e-01 8.98218406e+01] [ 4.94673824e-01 8.62431830e-01 -1.07280685e-01 1.40982349e+01] [ 2.22115611e-01 -6.11757161e-03 9.75001144e-01 8.05957134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.057719421 meters Centerline goodness : 0.950895 Centerline is valid? [True, True] Translation: X:89.84, Y:14.11, Z:0.81 [[ 8.36474394e-01 -5.12300345e-01 -1.94573752e-01 8.98430226e+01] [ 5.00996502e-01 8.58771612e-01 -1.07302489e-01 1.41141149e+01] [ 2.22065516e-01 -7.72498482e-03 9.75001144e-01 8.13254452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.087719421 meters Centerline goodness : 0.951113 Centerline is valid? [True, True] Translation: X:89.87, Y:14.13, Z:0.82 [[ 8.35038198e-01 -5.14644254e-01 -1.94557191e-01 8.98652861e+01] [ 5.03396007e-01 8.57363513e-01 -1.07332508e-01 1.41297592e+01] [ 2.22044295e-01 -8.31256904e-03 9.75001145e-01 8.20329093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.117719421 meters Centerline goodness : 0.953253 Centerline is valid? [True, True] Translation: X:89.89, Y:14.15, Z:0.83 [[ 8.35114581e-01 -5.14534715e-01 -1.94519057e-01 8.98865914e+01] [ 5.03267479e-01 8.57430316e-01 -1.07401576e-01 1.41507115e+01] [ 2.22048375e-01 -8.20249363e-03 9.75001148e-01 8.26235123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.147719421 meters Centerline goodness : 0.951256 Centerline is valid? [True, True] Translation: X:89.91, Y:14.17, Z:0.83 [[ 8.35523225e-01 -5.13878108e-01 -1.94499950e-01 8.99078216e+01] [ 5.02585295e-01 8.57826026e-01 -1.07436167e-01 1.41689925e+01] [ 2.22056213e-01 -7.98740163e-03 9.75001148e-01 8.31293073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.177719421 meters Centerline goodness : 0.951150 Centerline is valid? [True, True] Translation: X:89.93, Y:14.19, Z:0.84 [[ 8.38446177e-01 -5.09109717e-01 -1.94461577e-01 8.99292004e+01] [ 4.97673944e-01 8.60676011e-01 -1.07505580e-01 1.41894533e+01] [ 2.22100549e-01 -6.64081768e-03 9.75001152e-01 8.35774473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.207719421 meters Centerline goodness : 0.950493 Centerline is valid? [True, True] Translation: X:89.95, Y:14.21, Z:0.84 [[ 8.40412434e-01 -5.05870399e-01 -1.94427573e-01 8.99509833e+01] [ 4.94334719e-01 8.62590585e-01 -1.07567042e-01 1.42061758e+01] [ 2.22126377e-01 -5.71162020e-03 9.75001154e-01 8.41664156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.237719421 meters Centerline goodness : 0.953272 Centerline is valid? [True, True] Translation: X:89.97, Y:14.23, Z:0.85 [[ 8.44726250e-01 -4.98640624e-01 -1.94409596e-01 8.99705509e+01] [ 4.86907597e-01 8.66800631e-01 -1.07599523e-01 1.42281949e+01] [ 2.22167854e-01 -3.76736781e-03 9.75001155e-01 8.51359997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.267719421 meters Centerline goodness : 0.954584 Centerline is valid? [True, True] Translation: X:89.99, Y:14.25, Z:0.86 [[ 8.46799617e-01 -4.95124865e-01 -1.94375352e-01 8.99915771e+01] [ 4.83285987e-01 8.68817408e-01 -1.07661350e-01 1.42463318e+01] [ 2.22182501e-01 -2.77129341e-03 9.75001157e-01 8.56277675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.29771942099998 meters Centerline goodness : 0.957221 Centerline is valid? [True, True] Translation: X:90.01, Y:14.27, Z:0.86 [[ 8.51373916e-01 -4.87222093e-01 -1.94363285e-01 9.00112363e+01] [ 4.75173832e-01 8.73277833e-01 -1.07683131e-01 1.42694841e+01] [ 2.22198748e-01 -6.77738143e-04 9.75001157e-01 8.63579550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32771942099998 meters Centerline goodness : 0.954920 Centerline is valid? [True, True] Translation: X:90.03, Y:14.29, Z:0.87 [[ 8.53135460e-01 -4.84144180e-01 -1.94330388e-01 9.00335373e+01] [ 4.72003375e-01 8.74988214e-01 -1.07742467e-01 1.42866265e+01] [ 2.22199687e-01 1.94319883e-04 9.75001160e-01 8.67173649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.35771942099998 meters Centerline goodness : 0.951781 Centerline is valid? [True, True] Translation: X:90.05, Y:14.31, Z:0.87 [[ 8.56449326e-01 -4.78264477e-01 -1.94313257e-01 9.00549451e+01] [ 4.65966638e-01 8.78214095e-01 -1.07773353e-01 1.43071058e+01] [ 2.22192808e-01 1.75892088e-03 9.75001160e-01 8.67429230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38771942099999 meters Centerline goodness : 0.950583 Centerline is valid? [True, True] Translation: X:90.08, Y:14.32, Z:0.87 [[ 8.57713359e-01 -4.75998523e-01 -1.94301827e-01 9.00769389e+01] [ 4.63638518e-01 8.79442884e-01 -1.07793957e-01 1.43237466e+01] [ 2.22187123e-01 2.37050615e-03 9.75001161e-01 8.74308626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.417719421 meters Centerline goodness : 0.950775 Centerline is valid? [True, True] Translation: X:90.10, Y:14.34, Z:0.88 [[ 8.58797190e-01 -4.74055616e-01 -1.94264407e-01 9.01001691e+01] [ 4.61631208e-01 8.80489952e-01 -1.07861354e-01 1.43399687e+01] [ 2.22180139e-01 2.95251513e-03 9.75001163e-01 8.80155727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.447719421 meters Centerline goodness : 0.949640 Centerline is valid? [True, False] Translation: X:90.09, Y:14.33, Z:0.88 [[ 8.59547618e-01 -4.68790146e-01 -2.03503541e-01 9.00907424e+01] [ 4.58694787e-01 8.83255744e-01 -9.72542151e-02 1.43330913e+01] [ 2.25337489e-01 -9.75138454e-03 9.74231967e-01 8.81831124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.477719421 meters Centerline goodness : 0.952391 Centerline is valid? [False, True] Translation: X:90.08, Y:14.32, Z:0.88 [[ 8.60292808e-01 -4.63736687e-01 -2.11765365e-01 9.00805121e+01] [ 4.56068659e-01 8.85702083e-01 -8.67940015e-02 1.43230732e+01] [ 2.27810588e-01 -2.19112910e-02 9.73458901e-01 8.83018425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.507719421 meters Centerline goodness : 0.952525 Centerline is valid? [True, True] Translation: X:90.10, Y:14.35, Z:0.89 [[ 8.60826531e-01 -4.68561917e-01 -1.98563373e-01 9.01012420e+01] [ 4.55333607e-01 8.83417378e-01 -1.10657323e-01 1.43450552e+01] [ 2.27264142e-01 4.84418241e-03 9.73821105e-01 8.86759910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.537719421 meters Centerline goodness : 0.952157 Centerline is valid? [True, True] Translation: X:90.13, Y:14.36, Z:0.89 [[ 8.62059041e-01 -4.66305094e-01 -1.98529015e-01 9.01255008e+01] [ 4.53003466e-01 8.84606793e-01 -1.10718931e-01 1.43585699e+01] [ 2.27248917e-01 5.51192402e-03 9.73821107e-01 8.90803741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.567719421 meters Centerline goodness : 0.949714 Centerline is valid? [True, False] Translation: X:90.11, Y:14.35, Z:0.89 [[ 8.61773444e-01 -4.63275176e-01 -2.06694564e-01 9.01130309e+01] [ 4.53066435e-01 8.86159591e-01 -9.72213203e-02 1.43480852e+01] [ 2.28204594e-01 -9.86361694e-03 9.73563235e-01 8.88143585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.597719421 meters Centerline goodness : 0.949714 Centerline is valid? [False, False] Translation: X:90.11, Y:14.34, Z:0.89 [[ 8.60605720e-01 -4.62687513e-01 -2.12786418e-01 9.01060739e+01] [ 4.54560902e-01 8.86287154e-01 -8.87100156e-02 1.43432153e+01] [ 2.29634885e-01 -2.03800393e-02 9.73063448e-01 8.86790775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.627719421 meters Centerline goodness : 0.946712 Centerline is valid? [False, False] Translation: X:90.10, Y:14.33, Z:0.89 [[ 8.59739071e-01 -4.59250102e-01 -2.23468283e-01 9.01008200e+01] [ 4.53132138e-01 8.87746946e-01 -8.10963951e-02 1.43322635e+01] [ 2.35626813e-01 -3.15389214e-02 9.71331715e-01 8.88135608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.657719421 meters Centerline goodness : 0.946357 Centerline is valid? [False, False] Translation: X:90.08, Y:14.32, Z:0.89 [[ 8.58303789e-01 -4.58441000e-01 -2.30535151e-01 9.00848182e+01] [ 4.55692021e-01 8.87511943e-01 -6.83178850e-02 1.43183243e+01] [ 2.35922420e-01 -4.64155295e-02 9.70662769e-01 8.85219390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.687719421 meters Centerline goodness : 0.947672 Centerline is valid? [False, False] Translation: X:90.07, Y:14.30, Z:0.88 [[ 8.57607344e-01 -4.56635869e-01 -2.36629093e-01 9.00662343e+01] [ 4.57625615e-01 8.87497940e-01 -5.40943813e-02 1.43005364e+01] [ 2.34709268e-01 -6.18957958e-02 9.70093021e-01 8.82799886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.717719421 meters Centerline goodness : 0.949125 Centerline is valid? [False, False] Translation: X:90.05, Y:14.29, Z:0.88 [[ 8.56938363e-01 -4.55032305e-01 -2.42079003e-01 9.00469473e+01] [ 4.59299541e-01 8.87290481e-01 -4.19467878e-02 1.42865988e+01] [ 2.33881539e-01 -7.52409635e-02 9.69349381e-01 8.78258404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.747719421 meters Centerline goodness : 0.949223 Centerline is valid? [False, False] Translation: X:90.03, Y:14.27, Z:0.88 [[ 8.57108086e-01 -4.52954414e-01 -2.45352866e-01 9.00330614e+01] [ 4.58863365e-01 8.87778090e-01 -3.59788081e-02 1.42749674e+01] [ 2.34115659e-01 -8.17457144e-02 9.68765966e-01 8.76970339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.777719421 meters Centerline goodness : 0.950804 Centerline is valid? [False, True] Translation: X:90.02, Y:14.26, Z:0.87 [[ 8.57140570e-01 -4.52484753e-01 -2.46104840e-01 9.00176584e+01] [ 4.59397014e-01 8.87653477e-01 -3.20263745e-02 1.42638343e+01] [ 2.32947263e-01 -8.56087238e-02 9.68713951e-01 8.74699677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.807719421 meters Centerline goodness : 0.952413 Centerline is valid? [True, True] Translation: X:90.03, Y:14.30, Z:0.86 [[ 8.58700284e-01 -4.72030951e-01 -1.99551005e-01 9.00311960e+01] [ 4.57881720e-01 8.81551516e-01 -1.14940222e-01 1.43040385e+01] [ 2.30169834e-01 7.32844357e-03 9.73122881e-01 8.64623661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.837719421 meters Centerline goodness : 0.952079 Centerline is valid? [True, True] Translation: X:90.06, Y:14.31, Z:0.87 [[ 8.60170646e-01 -4.69361185e-01 -1.99515758e-01 9.00588180e+01] [ 4.55126875e-01 8.82968975e-01 -1.15001375e-01 1.43118478e+01] [ 2.30143405e-01 8.11582332e-03 9.73122883e-01 8.74185112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.867719421 meters Centerline goodness : 0.950556 Centerline is valid? [True, True] Translation: X:90.09, Y:14.32, Z:0.88 [[ 8.61743421e-01 -4.66482687e-01 -1.99479768e-01 9.00852563e+01] [ 4.52157818e-01 8.84484956e-01 -1.15063769e-01 1.43221508e+01] [ 2.30112110e-01 8.95910941e-03 9.73122886e-01 8.79532852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.897719421 meters Centerline goodness : 0.947767 Centerline is valid? [True, False] Translation: X:90.08, Y:14.31, Z:0.88 [[ 8.61981288e-01 -4.61289015e-01 -2.10239634e-01 9.00792961e+01] [ 4.49535759e-01 8.87234627e-01 -1.03596898e-01 1.43138087e+01] [ 2.34319995e-01 -5.21164577e-03 9.72145554e-01 8.80215810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.927719421 meters Centerline goodness : 0.947820 Centerline is valid? [False, False] Translation: X:90.06, Y:14.30, Z:0.88 [[ 8.61147160e-01 -4.58389434e-01 -2.19783292e-01 9.00636009e+01] [ 4.50360212e-01 8.88457945e-01 -8.84203539e-02 1.42999599e+01] [ 2.35799168e-01 -2.28387134e-02 9.71533399e-01 8.77719454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.957719421 meters Centerline goodness : 0.942779 Centerline is valid? [False, False] Translation: X:90.06, Y:14.29, Z:0.88 [[ 8.60574709e-01 -4.54040901e-01 -2.30777013e-01 9.00595638e+01] [ 4.48361173e-01 8.90296188e-01 -7.96552349e-02 1.42864424e+01] [ 2.41626630e-01 -3.49221718e-02 9.69740694e-01 8.79185187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.987719421 meters Centerline goodness : 0.942467 Centerline is valid? [False, False] Translation: X:90.05, Y:14.27, Z:0.88 [[ 8.59453451e-01 -4.51033844e-01 -2.40641305e-01 9.00523507e+01] [ 4.47526996e-01 8.91343308e-01 -7.22958900e-02 1.42747335e+01] [ 2.47101910e-01 -4.55585283e-02 9.67917903e-01 8.81240511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.017719421 meters Centerline goodness : 0.941472 Centerline is valid? [False, False] Translation: X:90.05, Y:14.26, Z:0.88 [[ 8.57751246e-01 -4.49741081e-01 -2.48989476e-01 9.00454066e+01] [ 4.48289693e-01 8.91457198e-01 -6.58818274e-02 1.42593097e+01] [ 2.51593225e-01 -5.51091959e-02 9.66262814e-01 8.83597937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04771942099998 meters Centerline goodness : 0.943654 Centerline is valid? [False, False] Translation: X:90.04, Y:14.24, Z:0.89 [[ 8.55521922e-01 -4.49007479e-01 -2.57826541e-01 9.00385571e+01] [ 4.50024739e-01 8.91093167e-01 -5.85721974e-02 1.42444358e+01] [ 2.56046823e-01 -6.59185229e-02 9.64414212e-01 8.86893566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.07771942099998 meters Centerline goodness : 0.944638 Centerline is valid? [False, False] Translation: X:90.03, Y:14.23, Z:0.89 [[ 8.53880913e-01 -4.46931202e-01 -2.66720615e-01 9.00298216e+01] [ 4.50535081e-01 8.91292172e-01 -5.11508084e-02 1.42325424e+01] [ 2.60586888e-01 -7.64902948e-02 9.62415559e-01 8.89410148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10771942099998 meters Centerline goodness : 0.947524 Centerline is valid? [False, False] Translation: X:90.01, Y:14.21, Z:0.89 [[ 8.50973794e-01 -4.48439156e-01 -2.73397009e-01 9.00093320e+01] [ 4.56189669e-01 8.89056237e-01 -3.83404899e-02 1.42104916e+01] [ 2.60258693e-01 -9.20941388e-02 9.61136870e-01 8.87792673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.13771942099999 meters Centerline goodness : 0.948113 Centerline is valid? [False, False] Translation: X:90.00, Y:14.20, Z:0.89 [[ 8.48162908e-01 -4.49353343e-01 -2.80537437e-01 9.00000037e+01] [ 4.58968242e-01 8.87786524e-01 -3.43982749e-02 1.41999670e+01] [ 2.64514336e-01 -9.95824333e-02 9.59226514e-01 8.89302522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.167719421 meters Centerline goodness : 0.945430 Centerline is valid? [False, False] Translation: X:90.00, Y:14.20, Z:0.89 [[ 8.46796951e-01 -4.52670432e-01 -2.79328487e-01 9.00013053e+01] [ 4.61668379e-01 8.86291974e-01 -3.67266359e-02 1.41974815e+01] [ 2.64191659e-01 -9.78571266e-02 9.59492965e-01 8.89508294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.197719421 meters Centerline goodness : 0.943944 Centerline is valid? [False, False] Translation: X:89.98, Y:14.17, Z:0.88 [[ 8.47265704e-01 -4.52008663e-01 -2.78978485e-01 8.99792712e+01] [ 4.59422050e-01 8.87214501e-01 -4.22114761e-02 1.41726795e+01] [ 2.66593710e-01 -9.24045315e-02 9.59369166e-01 8.82680223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.227719421 meters Centerline goodness : 0.944388 Centerline is valid? [False, False] Translation: X:89.96, Y:14.15, Z:0.87 [[ 8.50550342e-01 -4.47956249e-01 -2.75498303e-01 8.99561507e+01] [ 4.55448343e-01 8.89364044e-01 -3.99800535e-02 1.41497075e+01] [ 2.62927600e-01 -9.14701974e-02 9.60469823e-01 8.74583908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.257719421 meters Centerline goodness : 0.946886 Centerline is valid? [False, False] Translation: X:89.94, Y:14.14, Z:0.87 [[ 8.50502487e-01 -4.46890960e-01 -2.77369769e-01 8.99417012e+01] [ 4.56053147e-01 8.89287624e-01 -3.43954730e-02 1.41396745e+01] [ 2.62032529e-01 -9.72419207e-02 9.60147365e-01 8.72736052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.287719421 meters Centerline goodness : 0.948000 Centerline is valid? [False, False] Translation: X:89.92, Y:14.12, Z:0.86 [[ 8.54915187e-01 -4.40025313e-01 -2.74768534e-01 8.99153134e+01] [ 4.48818229e-01 8.92990531e-01 -3.36170881e-02 1.41167389e+01] [ 2.60158069e-01 -9.45813676e-02 9.60922549e-01 8.63684058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.317719421 meters Centerline goodness : 0.947436 Centerline is valid? [False, False] Translation: X:89.92, Y:14.11, Z:0.86 [[ 8.55491323e-01 -4.38597081e-01 -2.75258419e-01 8.99152579e+01] [ 4.47715684e-01 8.93590002e-01 -3.23662532e-02 1.41146130e+01] [ 2.60163916e-01 -9.55484629e-02 9.60825285e-01 8.64375630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.347719421 meters Centerline goodness : 0.948859 Centerline is valid? [False, False] Translation: X:89.91, Y:14.11, Z:0.87 [[ 8.56112574e-01 -4.37060401e-01 -2.75770677e-01 8.99148904e+01] [ 4.46546856e-01 8.94224714e-01 -3.09526530e-02 1.41120379e+01] [ 2.60129133e-01 -9.66455731e-02 9.60724970e-01 8.65449660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.377719421 meters Centerline goodness : 0.950542 Centerline is valid? [False, True] Translation: X:89.92, Y:14.11, Z:0.87 [[ 8.57315072e-01 -4.34215721e-01 -2.76527712e-01 8.99155493e+01] [ 4.44406047e-01 8.95382079e-01 -2.81815267e-02 1.41057222e+01] [ 2.59834819e-01 -9.87301397e-02 9.60592643e-01 8.66569075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.407719421 meters Centerline goodness : 0.948245 Centerline is valid? [True, False] Translation: X:89.89, Y:14.08, Z:0.86 [[ 8.59056961e-01 -4.29537069e-01 -2.78422420e-01 8.98935595e+01] [ 4.38780395e-01 8.98037892e-01 -3.16181847e-02 1.40814622e+01] [ 2.63615065e-01 -9.50044774e-02 9.59938147e-01 8.58252678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.437719421 meters Centerline goodness : 0.946694 Centerline is valid? [False, False] Translation: X:89.89, Y:14.07, Z:0.86 [[ 8.56393287e-01 -4.29462045e-01 -2.86623254e-01 8.98852406e+01] [ 4.40492863e-01 8.97308479e-01 -2.83466315e-02 1.40725937e+01] [ 2.69363279e-01 -1.01979633e-01 9.57623923e-01 8.58887687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.467719421 meters Centerline goodness : 0.943680 Centerline is valid? [False, False] Translation: X:89.88, Y:14.06, Z:0.86 [[ 8.53566206e-01 -4.28901503e-01 -2.95750288e-01 8.98803045e+01] [ 4.42134040e-01 8.96621159e-01 -2.42484534e-02 1.40609310e+01] [ 2.75576164e-01 -1.10063609e-01 9.54957475e-01 8.59265052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.497719421 meters Centerline goodness : 0.941024 Centerline is valid? [False, False] Translation: X:89.87, Y:14.05, Z:0.86 [[ 8.51035942e-01 -4.30696136e-01 -3.00397510e-01 8.98683379e+01] [ 4.44921448e-01 8.95271076e-01 -2.31215295e-02 1.40493807e+01] [ 2.78895555e-01 -1.13976042e-01 9.53533812e-01 8.57647964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.527719421 meters Centerline goodness : 0.940971 Centerline is valid? [False, False] Translation: X:89.86, Y:14.03, Z:0.86 [[ 8.47205987e-01 -4.34269361e-01 -3.06026366e-01 8.98590563e+01] [ 4.49883636e-01 8.92828022e-01 -2.15136523e-02 1.40333328e+01] [ 2.82571635e-01 -1.19449759e-01 9.51779925e-01 8.59285326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.557719421 meters Centerline goodness : 0.942084 Centerline is valid? [False, False] Translation: X:89.83, Y:14.01, Z:0.85 [[ 8.48216827e-01 -4.36463006e-01 -3.00047095e-01 8.98340996e+01] [ 4.50533823e-01 8.92422402e-01 -2.45261314e-02 1.40122473e+01] [ 2.78473499e-01 -1.14377888e-01 9.53609044e-01 8.49928516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.587719421 meters Centerline goodness : 0.943437 Centerline is valid? [False, False] Translation: X:89.82, Y:14.00, Z:0.85 [[ 8.46829943e-01 -4.41166186e-01 -2.97071447e-01 8.98162987e+01] [ 4.55235480e-01 8.90045625e-01 -2.40716452e-02 1.39982910e+01] [ 2.75026738e-01 -1.14852873e-01 9.54551785e-01 8.45781126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.617719421 meters Centerline goodness : 0.951163 Centerline is valid? [False, True] Translation: X:89.79, Y:13.97, Z:0.84 [[ 8.47055314e-01 -4.44956982e-01 -2.90707032e-01 8.97920691e+01] [ 4.57987901e-01 8.88589641e-01 -2.56033719e-02 1.39747260e+01] [ 2.69711657e-01 -1.11452831e-01 9.56469492e-01 8.38825548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.647719421 meters Centerline goodness : 0.952500 Centerline is valid? [True, True] Translation: X:89.81, Y:14.02, Z:0.81 [[ 8.45965981e-01 -4.81868336e-01 -2.28351626e-01 8.98080148e+01] [ 4.62614746e-01 8.76200680e-01 -1.35129436e-01 1.40237439e+01] [ 2.65196447e-01 8.67607700e-03 9.64155366e-01 8.07661849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.677719421 meters Centerline goodness : 0.952942 Centerline is valid? [True, True] Translation: X:89.83, Y:14.04, Z:0.82 [[ 8.44916726e-01 -4.83725389e-01 -2.28310039e-01 8.98320751e+01] [ 4.64519303e-01 8.75181620e-01 -1.35199666e-01 1.40356930e+01] [ 2.65212261e-01 8.17803909e-03 9.64155370e-01 8.15723821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.707719421 meters Centerline goodness : 0.954560 Centerline is valid? [True, True] Translation: X:89.86, Y:14.05, Z:0.82 [[ 8.42782262e-01 -4.87441620e-01 -2.28295260e-01 8.98580663e+01] [ 4.68362251e-01 8.73127199e-01 -1.35224617e-01 1.40472474e+01] [ 2.65244907e-01 7.04002673e-03 9.64155370e-01 8.23439776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.737719421 meters Centerline goodness : 0.953163 Centerline is valid? [True, True] Translation: X:89.88, Y:14.06, Z:0.83 [[ 8.41946010e-01 -4.88903725e-01 -2.28254382e-01 8.98819598e+01] [ 4.69858372e-01 8.72312304e-01 -1.35293583e-01 1.40591081e+01] [ 2.65254643e-01 6.66265969e-03 9.64155373e-01 8.30214681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.767719421 meters Centerline goodness : 0.952824 Centerline is valid? [True, True] Translation: X:89.91, Y:14.07, Z:0.84 [[ 8.40682580e-01 -4.91084967e-01 -2.28228734e-01 8.99076913e+01] [ 4.72106672e-01 8.71090828e-01 -1.35336837e-01 1.40677798e+01] [ 2.65269843e-01 6.02701305e-03 9.64155374e-01 8.38524266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79771942099998 meters Centerline goodness : 0.953914 Centerline is valid? [True, True] Translation: X:89.93, Y:14.08, Z:0.85 [[ 8.39893935e-01 -4.92454065e-01 -2.28182323e-01 8.99321481e+01] [ 4.73504104e-01 8.70319843e-01 -1.35415043e-01 1.40793346e+01] [ 2.65277292e-01 5.68900677e-03 9.64155378e-01 8.46534098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82771942099998 meters Centerline goodness : 0.951677 Centerline is valid? [True, True] Translation: X:89.96, Y:14.09, Z:0.85 [[ 8.39979258e-01 -4.92319853e-01 -2.28157858e-01 8.99558011e+01] [ 4.73353844e-01 8.70395164e-01 -1.35456253e-01 1.40938787e+01] [ 2.65275299e-01 5.78104406e-03 9.64155379e-01 8.52831623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85771942099998 meters Centerline goodness : 0.951190 Centerline is valid? [True, True] Translation: X:89.98, Y:14.11, Z:0.86 [[ 8.40500880e-01 -4.91449081e-01 -2.28114165e-01 8.99803430e+01] [ 4.72431614e-01 8.70884634e-01 -1.35529795e-01 1.41083633e+01] [ 2.65267114e-01 6.14456840e-03 9.64155383e-01 8.58405009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88771942099999 meters Centerline goodness : 0.949387 Centerline is valid? [True, False] Translation: X:89.96, Y:14.09, Z:0.86 [[ 8.39536016e-01 -4.88079522e-01 -2.38658036e-01 8.99612363e+01] [ 4.73378714e-01 8.72708125e-01 -1.19553841e-01 1.40936174e+01] [ 2.66630589e-01 -1.26058794e-02 9.63716359e-01 8.56294165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.917719421 meters Centerline goodness : 0.944268 Centerline is valid? [False, False] Translation: X:89.95, Y:14.08, Z:0.86 [[ 8.40447716e-01 -4.80872262e-01 -2.49818943e-01 8.99526092e+01] [ 4.69205120e-01 8.76403289e-01 -1.08461190e-01 1.40813696e+01] [ 2.71098121e-01 -2.60603677e-02 9.62198870e-01 8.58498944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.947719421 meters Centerline goodness : 0.941855 Centerline is valid? [False, False] Translation: X:89.94, Y:14.07, Z:0.86 [[ 8.41421624e-01 -4.73011318e-01 -2.61285177e-01 8.99433669e+01] [ 4.64595481e-01 8.80167381e-01 -9.72441279e-02 1.40700917e+01] [ 2.75972263e-01 -3.95686005e-02 9.60350788e-01 8.60510469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.977719421 meters Centerline goodness : 0.940020 Centerline is valid? [False, False] Translation: X:89.94, Y:14.06, Z:0.86 [[ 8.41174856e-01 -4.67239621e-01 -2.72235191e-01 8.99350643e+01] [ 4.62066718e-01 8.82565268e-01 -8.70223861e-02 1.40625008e+01] [ 2.80925631e-01 -5.25897782e-02 9.58287590e-01 8.62178393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.007719421 meters Centerline goodness : 0.942250 Centerline is valid? [False, False] Translation: X:89.91, Y:14.05, Z:0.86 [[ 8.42122884e-01 -4.59365314e-01 -2.82511162e-01 8.99099537e+01] [ 4.59655816e-01 8.85376315e-01 -6.94644650e-02 1.40456103e+01] [ 2.82038257e-01 -7.13602830e-02 9.56745594e-01 8.59447799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.037719421 meters Centerline goodness : 0.941922 Centerline is valid? [False, False] Translation: X:89.90, Y:14.04, Z:0.86 [[ 8.41254213e-01 -4.56276955e-01 -2.90004638e-01 8.98978669e+01] [ 4.59384182e-01 8.86102677e-01 -6.15485090e-02 1.40359416e+01] [ 2.85057052e-01 -8.14456006e-02 9.55044026e-01 8.60797942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.067719421 meters Centerline goodness : 0.943230 Centerline is valid? [False, False] Translation: X:89.88, Y:14.03, Z:0.86 [[ 8.40426651e-01 -4.56851364e-01 -2.91495926e-01 8.98830837e+01] [ 4.61734972e-01 8.85238799e-01 -5.61523332e-02 1.40256044e+01] [ 2.83696774e-01 -8.74019459e-02 9.54922531e-01 8.59363893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.097719421 meters Centerline goodness : 0.947365 Centerline is valid? [False, False] Translation: X:89.86, Y:14.01, Z:0.85 [[ 8.38941546e-01 -4.62300387e-01 -2.87150542e-01 8.98641122e+01] [ 4.67188429e-01 8.82402239e-01 -5.56889561e-02 1.40120656e+01] [ 2.79127307e-01 -8.74336316e-02 9.56265291e-01 8.54581564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.127719421 meters Centerline goodness : 0.950038 Centerline is valid? [False, True] Translation: X:89.84, Y:13.99, Z:0.85 [[ 8.34928994e-01 -4.66271996e-01 -2.92376473e-01 8.98383635e+01] [ 4.74247168e-01 8.79100301e-01 -4.76684783e-02 1.39944866e+01] [ 2.79254722e-01 -9.88589195e-02 9.55114503e-01 8.51268786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.157719421 meters Centerline goodness : 0.950914 Centerline is valid? [True, True] Translation: X:89.85, Y:14.04, Z:0.82 [[ 8.33516179e-01 -5.00100139e-01 -2.34841713e-01 8.98520144e+01] [ 4.78832010e-01 8.65930585e-01 -1.44513419e-01 1.40444671e+01] [ 2.75627803e-01 8.00454343e-03 9.61231107e-01 8.20085180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.187719421 meters Centerline goodness : 0.953290 Centerline is valid? [True, True] Translation: X:89.88, Y:14.06, Z:0.83 [[ 8.28504055e-01 -5.08382379e-01 -2.34794352e-01 8.98755468e+01] [ 4.87416570e-01 8.61114814e-01 -1.44590330e-01 1.40585535e+01] [ 2.75692070e-01 5.35101742e-03 9.61231111e-01 8.29798446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.217719421 meters Centerline goodness : 0.953622 Centerline is valid? [True, True] Translation: X:89.90, Y:14.07, Z:0.84 [[ 8.26112111e-01 -5.12279541e-01 -2.34751895e-01 8.98983540e+01] [ 4.91448009e-01 8.58808804e-01 -1.44659230e-01 1.40716305e+01] [ 2.75712958e-01 4.13638999e-03 9.61231114e-01 8.39233618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.247719421 meters Centerline goodness : 0.952814 Centerline is valid? [True, True] Translation: X:89.92, Y:14.09, Z:0.85 [[ 8.21749425e-01 -5.19271005e-01 -2.34703015e-01 8.99214610e+01] [ 4.98695027e-01 8.54607534e-01 -1.44738494e-01 1.40850661e+01] [ 2.75737468e-01 1.89354777e-03 9.61231118e-01 8.46015215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.277719421 meters Centerline goodness : 0.950789 Centerline is valid? [True, True] Translation: X:89.95, Y:14.10, Z:0.85 [[ 8.19434165e-01 -5.22923738e-01 -2.34687907e-01 8.99451077e+01] [ 5.02487212e-01 8.52379188e-01 -1.44762987e-01 1.41010079e+01] [ 2.75743090e-01 6.96065107e-04 9.61231119e-01 8.50420876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.307719421 meters Centerline goodness : 0.952083 Centerline is valid? [True, True] Translation: X:89.97, Y:14.12, Z:0.86 [[ 8.17180227e-01 -5.26457741e-01 -2.34645955e-01 8.99679190e+01] [ 5.06144165e-01 8.50201198e-01 -1.44830958e-01 1.41173195e+01] [ 2.75743651e-01 -4.11685558e-04 9.61231122e-01 8.56556801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.337719421 meters Centerline goodness : 0.950278 Centerline is valid? [True, True] Translation: X:89.99, Y:14.14, Z:0.86 [[ 8.14189862e-01 -5.31093910e-01 -2.34593536e-01 8.99895329e+01] [ 5.10943895e-01 8.47310889e-01 -1.44915818e-01 1.41350166e+01] [ 2.75737565e-01 -1.87514510e-03 9.61231127e-01 8.62087796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.367719421 meters Centerline goodness : 0.951281 Centerline is valid? [True, True] Translation: X:90.01, Y:14.15, Z:0.87 [[ 8.12663373e-01 -5.33433891e-01 -2.34577333e-01 9.00101926e+01] [ 5.13371670e-01 8.45837652e-01 -1.44942040e-01 1.41520835e+01] [ 2.75731337e-01 -2.63627041e-03 9.61231127e-01 8.73648426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.397719421 meters Centerline goodness : 0.952079 Centerline is valid? [True, True] Translation: X:90.03, Y:14.17, Z:0.88 [[ 8.12783900e-01 -5.33270183e-01 -2.34531968e-01 9.00319488e+01] [ 5.13180108e-01 8.45941314e-01 -1.45015412e-01 1.41686424e+01] [ 2.75732676e-01 -2.49094859e-03 9.61231131e-01 8.81080135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.427719421 meters Centerline goodness : 0.950508 Centerline is valid? [True, True] Translation: X:90.05, Y:14.19, Z:0.89 [[ 8.13797676e-01 -5.31728888e-01 -2.34515955e-01 9.00535361e+01] [ 5.11568550e-01 8.46912415e-01 -1.45041303e-01 1.41854379e+01] [ 2.75737124e-01 -1.93671139e-03 9.61231131e-01 8.87703625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.457719421 meters Centerline goodness : 0.951117 Centerline is valid? [True, True] Translation: X:90.07, Y:14.21, Z:0.90 [[ 8.15082782e-01 -5.29764326e-01 -2.34499075e-01 9.00726748e+01] [ 5.09516319e-01 8.48143989e-01 -1.45068588e-01 1.42053853e+01] [ 2.75741144e-01 -1.23819683e-03 9.61231132e-01 8.95889714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.487719421 meters Centerline goodness : 0.952209 Centerline is valid? [True, True] Translation: X:90.09, Y:14.22, Z:0.90 [[ 8.15269875e-01 -5.29499547e-01 -2.34446712e-01 9.00930969e+01] [ 5.09216478e-01 8.48309576e-01 -1.45153166e-01 1.42225565e+01] [ 2.75741927e-01 -1.04512603e-03 9.61231136e-01 9.02551858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.517719421 meters Centerline goodness : 0.952209 Centerline is valid? [True, True] Translation: X:90.12, Y:14.24, Z:0.91 [[ 8.15090955e-01 -5.29788430e-01 -2.34416199e-01 9.01163204e+01] [ 5.09502902e-01 8.48129146e-01 -1.45202429e-01 1.42372541e+01] [ 2.75741777e-01 -1.08254725e-03 9.61231138e-01 9.10415597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54771942099998 meters Centerline goodness : 0.951222 Centerline is valid? [True, True] Translation: X:90.14, Y:14.26, Z:0.91 [[ 8.16028260e-01 -5.28366210e-01 -2.34365156e-01 9.01352807e+01] [ 5.07999447e-01 8.49016429e-01 -1.45284770e-01 1.42599799e+01] [ 2.75743431e-01 -5.00891664e-04 9.61231142e-01 9.14824513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57771942099998 meters Centerline goodness : 0.950906 Centerline is valid? [True, True] Translation: X:90.16, Y:14.28, Z:0.92 [[ 8.17040050e-01 -5.26807287e-01 -2.34349394e-01 9.01554550e+01] [ 5.06370289e-01 8.49984752e-01 -1.45310190e-01 1.42803692e+01] [ 2.75743879e-01 5.66739707e-05 9.61231143e-01 9.23931293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60771942099998 meters Centerline goodness : 0.950580 Centerline is valid? [True, True] Translation: X:90.18, Y:14.30, Z:0.93 [[ 8.17652609e-01 -5.25876260e-01 -2.34304013e-01 9.01771768e+01] [ 5.05380787e-01 8.50560961e-01 -1.45383330e-01 1.42972207e+01] [ 2.75743488e-01 4.60313207e-04 9.61231146e-01 9.29145983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.63771942099999 meters Centerline goodness : 0.953301 Centerline is valid? [True, True] Translation: X:90.19, Y:14.32, Z:0.94 [[ 8.18951386e-01 -5.23858514e-01 -2.34288037e-01 9.01947979e+01] [ 5.03274594e-01 8.51804487e-01 -1.45409071e-01 1.43185140e+01] [ 2.75741381e-01 1.17174405e-03 9.61231147e-01 9.42113442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.667719421 meters Centerline goodness : 0.954212 Centerline is valid? [True, True] Translation: X:90.22, Y:14.34, Z:0.95 [[ 8.20024554e-01 -5.22197941e-01 -2.34241414e-01 9.02151355e+01] [ 5.01526047e-01 8.52822367e-01 -1.45484139e-01 1.43378034e+01] [ 2.75737835e-01 1.82239558e-03 9.61231151e-01 9.48610662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.697719421 meters Centerline goodness : 0.956571 Centerline is valid? [True, True] Translation: X:90.23, Y:14.36, Z:0.96 [[ 8.21895632e-01 -5.19255441e-01 -2.34225014e-01 9.02325848e+01] [ 4.98458603e-01 8.54614360e-01 -1.45510539e-01 1.43599291e+01] [ 2.75729199e-01 2.84300255e-03 9.61231151e-01 9.59215879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.727719421 meters Centerline goodness : 0.958340 Centerline is valid? [True, True] Translation: X:90.25, Y:14.38, Z:0.97 [[ 8.22849462e-01 -5.17750002e-01 -2.34208663e-01 9.02539282e+01] [ 4.96885815e-01 8.55525284e-01 -1.45536852e-01 1.43772174e+01] [ 2.75723138e-01 3.37995833e-03 9.61231152e-01 9.67378521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.757719421 meters Centerline goodness : 0.958153 Centerline is valid? [True, True] Translation: X:90.27, Y:14.40, Z:0.97 [[ 8.25602202e-01 -5.13372868e-01 -2.34156579e-01 9.02735615e+01] [ 4.92311700e-01 8.58151402e-01 -1.45620606e-01 1.43960658e+01] [ 2.75699464e-01 4.94666971e-03 9.61231156e-01 9.74900770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.787719421 meters Centerline goodness : 0.955901 Centerline is valid? [True, True] Translation: X:90.29, Y:14.41, Z:0.98 [[ 8.27160502e-01 -5.10882097e-01 -2.34104651e-01 9.02941437e+01] [ 4.89699316e-01 8.59630683e-01 -1.45704042e-01 1.44129845e+01] [ 2.75681127e-01 5.87974141e-03 9.61231161e-01 9.80895662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.817719421 meters Centerline goodness : 0.955029 Centerline is valid? [True, True] Translation: X:90.32, Y:14.43, Z:0.99 [[ 8.31007482e-01 -5.04613601e-01 -2.34076225e-01 9.03162021e+01] [ 4.83173084e-01 8.63308055e-01 -1.45749695e-01 1.44310061e+01] [ 2.75627169e-01 8.01975520e-03 9.61231162e-01 9.86196469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.847719421 meters Centerline goodness : 0.953889 Centerline is valid? [True, True] Translation: X:90.34, Y:14.45, Z:0.99 [[ 8.32757483e-01 -5.01740886e-01 -2.34032173e-01 9.03384464e+01] [ 4.80169112e-01 8.64970540e-01 -1.45820397e-01 1.44453879e+01] [ 2.75594990e-01 9.05800582e-03 9.61231166e-01 9.92475425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.877719421 meters Centerline goodness : 0.955084 Centerline is valid? [True, True] Translation: X:90.36, Y:14.46, Z:1.00 [[ 8.34878915e-01 -4.98215761e-01 -2.34004814e-01 9.03611059e+01] [ 4.76495713e-01 8.66992182e-01 -1.45864289e-01 1.44615123e+01] [ 2.75552232e-01 1.02767287e-02 9.61231167e-01 9.99337406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.907719421 meters Centerline goodness : 0.955399 Centerline is valid? [True, True] Translation: X:90.38, Y:14.48, Z:1.01 [[ 8.35545206e-01 -4.97117942e-01 -2.33961450e-01 9.03844788e+01] [ 4.75336274e-01 8.67616706e-01 -1.45933813e-01 1.44761450e+01] [ 2.75535179e-01 1.07239338e-02 9.61231170e-01 1.00876608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.937719421 meters Centerline goodness : 0.952574 Centerline is valid? [True, True] Translation: X:90.41, Y:14.49, Z:1.02 [[ 8.35271248e-01 -4.97599279e-01 -2.33916438e-01 9.04088063e+01] [ 4.75815937e-01 8.67341607e-01 -1.46005927e-01 1.44899399e+01] [ 2.75537904e-01 1.06533832e-02 9.61231174e-01 1.01513207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.967719421 meters Centerline goodness : 0.951059 Centerline is valid? [True, True] Translation: X:90.43, Y:14.50, Z:1.02 [[ 8.34882262e-01 -4.98272883e-01 -2.33871210e-01 9.04335457e+01] [ 4.76495172e-01 8.66956440e-01 -1.46078340e-01 1.45028478e+01] [ 2.75543027e-01 1.05197122e-02 9.61231177e-01 1.01904854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.997719421 meters Centerline goodness : 0.952847 Centerline is valid? [True, True] Translation: X:90.46, Y:14.51, Z:1.03 [[ 8.32403426e-01 -5.02410452e-01 -2.33855243e-01 9.04584975e+01] [ 4.80785031e-01 8.64580479e-01 -1.46103897e-01 1.45146499e+01] [ 2.75590803e-01 9.18328387e-03 9.61231178e-01 1.02990978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.027719421 meters Centerline goodness : 0.952279 Centerline is valid? [True, True] Translation: X:90.48, Y:14.53, Z:1.03 [[ 8.30752552e-01 -5.05156459e-01 -2.33810070e-01 9.04821187e+01] [ 4.83617098e-01 8.62987274e-01 -1.46176154e-01 1.45275558e+01] [ 2.75616943e-01 8.36166554e-03 9.61231181e-01 1.03352740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.057719421 meters Centerline goodness : 0.948200 Centerline is valid? [True, False] Translation: X:90.46, Y:14.51, Z:1.03 [[ 8.25826645e-01 -5.08069900e-01 -2.44694357e-01 9.04601586e+01] [ 4.92139077e-01 8.61178055e-01 -1.27167155e-01 1.45070410e+01] [ 2.75335214e-01 -1.54056298e-02 9.61224837e-01 1.02821734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.087719421 meters Centerline goodness : 0.948958 Centerline is valid? [False, False] Translation: X:90.44, Y:14.49, Z:1.02 [[ 8.23324300e-01 -5.07968505e-01 -2.53189840e-01 9.04380769e+01] [ 4.97341962e-01 8.60629262e-01 -1.09399480e-01 1.44891256e+01] [ 2.73474075e-01 -3.58506816e-02 9.61211038e-01 1.02406106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.117719421 meters Centerline goodness : 0.951983 Centerline is valid? [False, True] Translation: X:90.41, Y:14.47, Z:1.02 [[ 8.19413313e-01 -5.10673806e-01 -2.60334567e-01 9.04093304e+01] [ 5.05920385e-01 8.57837032e-01 -9.03337710e-02 1.44681341e+01] [ 2.69455723e-01 -5.76878697e-02 9.61283373e-01 1.01994398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.147719421 meters Centerline goodness : 0.951008 Centerline is valid? [True, True] Translation: X:90.43, Y:14.50, Z:1.01 [[ 8.17999492e-01 -5.28749225e-01 -2.26497434e-01 9.04261835e+01] [ 5.08652483e-01 8.48773051e-01 -1.44419387e-01 1.45026902e+01] [ 2.68606558e-01 2.92650312e-03 9.63245531e-01 1.01160928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.177719421 meters Centerline goodness : 0.952736 Centerline is valid? [True, True] Translation: X:90.45, Y:14.52, Z:1.02 [[ 8.14561175e-01 -5.34050072e-01 -2.26452228e-01 9.04505539e+01] [ 5.14133895e-01 8.45451896e-01 -1.44490239e-01 1.45161880e+01] [ 2.68619488e-01 1.26937284e-03 9.63245534e-01 1.01984105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.207719421 meters Centerline goodness : 0.951222 Centerline is valid? [True, True] Translation: X:90.47, Y:14.53, Z:1.03 [[ 8.12500578e-01 -5.37198969e-01 -2.26406888e-01 9.04735250e+01] [ 5.17382719e-01 8.43455492e-01 -1.44561251e-01 1.45315399e+01] [ 2.68622288e-01 3.17088886e-04 9.63245538e-01 1.02753245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.237719421 meters Centerline goodness : 0.951232 Centerline is valid? [True, True] Translation: X:90.50, Y:14.55, Z:1.04 [[ 8.09325225e-01 -5.41989972e-01 -2.26361550e-01 9.04960381e+01] [ 5.22337105e-01 8.40384122e-01 -1.44632210e-01 1.45479862e+01] [ 2.68619860e-01 -1.18254071e-03 9.63245541e-01 1.03622337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.267719421 meters Centerline goodness : 0.951106 Centerline is valid? [True, True] Translation: X:90.52, Y:14.56, Z:1.05 [[ 8.08196047e-01 -5.43691346e-01 -2.26315864e-01 9.05192360e+01] [ 5.24083851e-01 8.39283603e-01 -1.44703665e-01 1.45635595e+01] [ 2.68617324e-01 -1.65955931e-03 9.63245545e-01 1.04502500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.29771942099998 meters Centerline goodness : 0.952308 Centerline is valid? [True, True] Translation: X:90.54, Y:14.58, Z:1.05 [[ 8.06747516e-01 -5.45857391e-01 -2.26270092e-01 9.05402806e+01] [ 5.26313295e-01 8.37874964e-01 -1.44775205e-01 1.45802896e+01] [ 2.68612660e-01 -2.29192096e-03 9.63245548e-01 1.05189246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32771942099998 meters Centerline goodness : 0.949826 Centerline is valid? [True, False] Translation: X:90.51, Y:14.56, Z:1.05 [[ 8.03863990e-01 -5.43885435e-01 -2.40813867e-01 9.05079899e+01] [ 5.29419553e-01 8.38778459e-01 -1.27144145e-01 1.45565092e+01] [ 2.71141333e-01 -2.52849698e-02 9.62207383e-01 1.04970026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.35771942099998 meters Centerline goodness : 0.947327 Centerline is valid? [False, False] Translation: X:90.48, Y:14.53, Z:1.05 [[ 8.01528938e-01 -5.41986378e-01 -2.52590831e-01 9.04755740e+01] [ 5.32826566e-01 8.39089172e-01 -1.09659522e-01 1.45326488e+01] [ 2.71380199e-01 -4.66918248e-02 9.61338994e-01 1.04567676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38771942099999 meters Centerline goodness : 0.946760 Centerline is valid? [False, False] Translation: X:90.45, Y:14.52, Z:1.04 [[ 7.99259281e-01 -5.41091354e-01 -2.61543014e-01 9.04464030e+01] [ 5.37562926e-01 8.38250118e-01 -9.14485663e-02 1.45151315e+01] [ 2.68720491e-01 -6.75047126e-02 9.60849838e-01 1.04042885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.417719421 meters Centerline goodness : 0.947083 Centerline is valid? [False, False] Translation: X:90.41, Y:14.49, Z:1.03 [[ 7.98106235e-01 -5.36982027e-01 -2.73270452e-01 9.04063794e+01] [ 5.38387651e-01 8.39203871e-01 -7.66524658e-02 1.44883240e+01] [ 2.70490617e-01 -8.59486257e-02 9.58878334e-01 1.03429213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.447719421 meters Centerline goodness : 0.945715 Centerline is valid? [False, False] Translation: X:90.37, Y:14.47, Z:1.03 [[ 7.95965481e-01 -5.36241414e-01 -2.80863131e-01 9.03680466e+01] [ 5.42293944e-01 8.37838956e-01 -6.27945951e-02 1.44677042e+01] [ 2.68991135e-01 -1.02328045e-01 9.57691360e-01 1.02527469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.477719421 meters Centerline goodness : 0.945020 Centerline is valid? [False, False] Translation: X:90.33, Y:14.44, Z:1.02 [[ 7.96390079e-01 -5.34599370e-01 -2.82783229e-01 9.03327270e+01] [ 5.41807580e-01 8.38418365e-01 -5.91539633e-02 1.44431161e+01] [ 2.68714324e-01 -1.06104467e-01 9.57358059e-01 1.01650188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.507719421 meters Centerline goodness : 0.946217 Centerline is valid? [False, False] Translation: X:90.28, Y:14.41, Z:1.00 [[ 7.95340019e-01 -5.35931452e-01 -2.83216758e-01 9.02838291e+01] [ 5.44487435e-01 8.36979129e-01 -5.47665085e-02 1.44114800e+01] [ 2.66397610e-01 -1.10649970e-01 9.57490939e-01 1.00188965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.537719421 meters Centerline goodness : 0.946814 Centerline is valid? [False, False] Translation: X:90.25, Y:14.40, Z:1.00 [[ 7.92057672e-01 -5.39456592e-01 -2.85711794e-01 9.02520982e+01] [ 5.49061678e-01 8.34113685e-01 -5.27791017e-02 1.43950054e+01] [ 2.66788152e-01 -1.15069305e-01 9.56861086e-01 9.95345847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.567719421 meters Centerline goodness : 0.946716 Centerline is valid? [False, False] Translation: X:90.20, Y:14.37, Z:0.98 [[ 7.91047215e-01 -5.39062292e-01 -2.89233727e-01 9.02048647e+01] [ 5.51219163e-01 8.33135609e-01 -4.51939267e-02 1.43723529e+01] [ 2.65333259e-01 -1.23680643e-01 9.56191069e-01 9.80589413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.597719421 meters Centerline goodness : 0.948212 Centerline is valid? [False, False] Translation: X:90.16, Y:14.35, Z:0.97 [[ 7.91296246e-01 -5.37778369e-01 -2.90937583e-01 9.01567503e+01] [ 5.52003943e-01 8.32960406e-01 -3.83224501e-02 1.43455270e+01] [ 2.62948472e-01 -1.30274282e-01 9.55974222e-01 9.65255254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.627719421 meters Centerline goodness : 0.948353 Centerline is valid? [False, False] Translation: X:90.12, Y:14.33, Z:0.95 [[ 7.92287833e-01 -5.36428490e-01 -2.90730913e-01 9.01206769e+01] [ 5.51501399e-01 8.33445111e-01 -3.48633520e-02 1.43328069e+01] [ 2.61009954e-01 -1.32716696e-01 9.56169484e-01 9.53849390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.657719421 meters Centerline goodness : 0.947309 Centerline is valid? [False, False] Translation: X:90.08, Y:14.31, Z:0.94 [[ 7.94665973e-01 -5.33893270e-01 -2.88901312e-01 9.00787667e+01] [ 5.48226873e-01 8.35549056e-01 -3.61257508e-02 1.43096976e+01] [ 2.60678514e-01 -1.29675558e-01 9.56677042e-01 9.40203243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.687719421 meters Centerline goodness : 0.948377 Centerline is valid? [False, False] Translation: X:90.04, Y:14.29, Z:0.93 [[ 7.97189558e-01 -5.31401912e-01 -2.86532401e-01 9.00385369e+01] [ 5.45331565e-01 8.37450731e-01 -3.59131838e-02 1.42877192e+01] [ 2.59041103e-01 -1.27625548e-01 9.57397215e-01 9.26418035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.717719421 meters Centerline goodness : 0.948279 Centerline is valid? [False, False] Translation: X:89.99, Y:14.27, Z:0.91 [[ 8.01034951e-01 -5.27215965e-01 -2.83524838e-01 8.99942719e+01] [ 5.40466194e-01 8.40590156e-01 -3.61176072e-02 1.42707084e+01] [ 2.57369967e-01 -1.24304125e-01 9.58284501e-01 9.11780769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.747719421 meters Centerline goodness : 0.949042 Centerline is valid? [False, False] Translation: X:89.95, Y:14.26, Z:0.90 [[ 8.04975783e-01 -5.22089515e-01 -2.81844865e-01 8.99531556e+01] [ 5.35395686e-01 8.43911835e-01 -3.41214634e-02 1.42558804e+01] [ 2.55666675e-01 -1.23431573e-01 9.58853064e-01 8.97687931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.777719421 meters Centerline goodness : 0.947523 Centerline is valid? [False, False] Translation: X:89.91, Y:14.23, Z:0.88 [[ 8.07637384e-01 -5.18510238e-01 -2.80836232e-01 8.99142940e+01] [ 5.31832305e-01 8.46210166e-01 -3.29052405e-02 1.42347747e+01] [ 2.54708178e-01 -1.22782278e-01 9.59191460e-01 8.84529761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.807719421 meters Centerline goodness : 0.948573 Centerline is valid? [False, False] Translation: X:89.87, Y:14.22, Z:0.87 [[ 8.10720293e-01 -5.14715210e-01 -2.78928054e-01 8.98744115e+01] [ 5.27683449e-01 8.48815121e-01 -3.26047282e-02 1.42190862e+01] [ 2.53540500e-01 -1.20752403e-01 9.59758341e-01 8.70085569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.837719421 meters Centerline goodness : 0.946471 Centerline is valid? [False, False] Translation: X:89.84, Y:14.20, Z:0.86 [[ 8.13268758e-01 -5.11032908e-01 -2.78279165e-01 8.98367332e+01] [ 5.23823433e-01 8.51214154e-01 -3.23028554e-02 1.41993845e+01] [ 2.53382987e-01 -1.19498245e-01 9.59956891e-01 8.56255728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.867719421 meters Centerline goodness : 0.943576 Centerline is valid? [False, False] Translation: X:89.80, Y:14.19, Z:0.84 [[ 8.16128957e-01 -5.06487302e-01 -2.78215992e-01 8.98017051e+01] [ 5.19323578e-01 8.54004396e-01 -3.12971678e-02 1.41854953e+01] [ 2.53449299e-01 -1.18941600e-01 9.60008515e-01 8.41170906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.897719421 meters Centerline goodness : 0.942022 Centerline is valid? [False, False] Translation: X:89.77, Y:14.17, Z:0.83 [[ 8.18050938e-01 -5.03901018e-01 -2.77265987e-01 8.97671261e+01] [ 5.16758573e-01 8.55594922e-01 -3.02969602e-02 1.41674803e+01] [ 2.52494040e-01 -1.18495119e-01 9.60315400e-01 8.27735030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.927719421 meters Centerline goodness : 0.940415 Centerline is valid? [False, False] Translation: X:89.73, Y:14.15, Z:0.81 [[ 8.20404509e-01 -5.00358537e-01 -2.76726897e-01 8.97327053e+01] [ 5.13440874e-01 8.57649603e-01 -2.85591778e-02 1.41495914e+01] [ 2.51624542e-01 -1.18652822e-01 9.60524126e-01 8.14103985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.957719421 meters Centerline goodness : 0.939737 Centerline is valid? [False, False] Translation: X:89.70, Y:14.14, Z:0.80 [[ 8.25103828e-01 -4.94408230e-01 -2.73430383e-01 8.97033975e+01] [ 5.05855202e-01 8.62017100e-01 -3.22030230e-02 1.41416817e+01] [ 2.51623105e-01 -1.11745344e-01 9.61352584e-01 8.03660335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.987719421 meters Centerline goodness : 0.937902 Centerline is valid? [False, False] Translation: X:89.68, Y:14.13, Z:0.79 [[ 8.29169643e-01 -4.89050832e-01 -2.70752630e-01 8.96766968e+01] [ 4.98836884e-01 8.65929940e-01 -3.64294036e-02 1.41325496e+01] [ 2.52268639e-01 -1.04855243e-01 9.61959413e-01 7.94719667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.017719421 meters Centerline goodness : 0.936576 Centerline is valid? [False, False] Translation: X:89.65, Y:14.12, Z:0.79 [[ 8.32001823e-01 -4.85711487e-01 -2.68062154e-01 8.96523437e+01] [ 4.94291442e-01 8.68405996e-01 -3.93318746e-02 1.41217404e+01] [ 2.51890725e-01 -9.97766374e-02 9.62598403e-01 7.86641526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04771942099998 meters Centerline goodness : 0.938386 Centerline is valid? [False, False] Translation: X:89.63, Y:14.12, Z:0.78 [[ 8.33966894e-01 -4.82331685e-01 -2.68058512e-01 8.96341520e+01] [ 4.91858869e-01 8.69965767e-01 -3.51342739e-02 1.41163691e+01] [ 2.50148102e-01 -1.02546135e-01 9.62761766e-01 7.83247480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.07771942099998 meters Centerline goodness : 0.946001 Centerline is valid? [False, False] Translation: X:89.61, Y:14.11, Z:0.77 [[ 8.42078285e-01 -4.75451442e-01 -2.54656806e-01 8.96080868e+01] [ 4.81617015e-01 8.75384572e-01 -4.17959651e-02 1.41116261e+01] [ 2.42794591e-01 -8.74515762e-02 9.66127843e-01 7.74672584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10771942099998 meters Centerline goodness : 0.950346 Centerline is valid? [False, True] Translation: X:89.58, Y:14.11, Z:0.77 [[ 8.49077841e-01 -4.67943228e-01 -2.45144765e-01 8.95837347e+01] [ 4.71290701e-01 8.80635454e-01 -4.86443444e-02 1.41054320e+01] [ 2.38645963e-01 -7.42316133e-02 9.68265342e-01 7.67856121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.13771942099999 meters Centerline goodness : 0.951862 Centerline is valid? [True, True] Translation: X:89.59, Y:14.15, Z:0.76 [[ 8.51118434e-01 -4.83903488e-01 -2.03555459e-01 8.95942437e+01] [ 4.68714323e-01 8.75092148e-01 -1.20501520e-01 1.41473101e+01] [ 2.36440890e-01 7.15170638e-03 9.71619555e-01 7.64654429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.167719421 meters Centerline goodness : 0.951700 Centerline is valid? [True, True] Translation: X:89.62, Y:14.16, Z:0.77 [[ 8.52570566e-01 -4.81355995e-01 -2.03518639e-01 8.96164837e+01] [ 4.66080386e-01 8.76489289e-01 -1.20563676e-01 1.41632141e+01] [ 2.36415955e-01 7.93299585e-03 9.71619557e-01 7.69527389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.197719421 meters Centerline goodness : 0.950656 Centerline is valid? [True, True] Translation: X:89.64, Y:14.18, Z:0.78 [[ 8.52349091e-01 -4.81753541e-01 -2.03505658e-01 8.96396167e+01] [ 4.66483865e-01 8.76271602e-01 -1.20585584e-01 1.41774679e+01] [ 2.36418761e-01 7.84890734e-03 9.71619557e-01 7.75942469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.227719421 meters Centerline goodness : 0.948587 Centerline is valid? [True, False] Translation: X:89.63, Y:14.17, Z:0.77 [[ 8.50703426e-01 -4.81102595e-01 -2.11763960e-01 8.96261821e+01] [ 4.68932794e-01 8.76631335e-01 -1.07793960e-01 1.41671470e+01] [ 2.37498877e-01 -7.60237474e-03 9.71358063e-01 7.72406733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.257719421 meters Centerline goodness : 0.948098 Centerline is valid? [False, False] Translation: X:89.62, Y:14.16, Z:0.77 [[ 8.48845125e-01 -4.81123289e-01 -2.19048704e-01 8.96160943e+01] [ 4.71848423e-01 8.76389381e-01 -9.64402334e-02 1.41571045e+01] [ 2.38371600e-01 -2.14949635e-02 9.70936119e-01 7.68850478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.287719421 meters Centerline goodness : 0.951342 Centerline is valid? [False, True] Translation: X:89.60, Y:14.14, Z:0.77 [[ 8.47540610e-01 -4.80479085e-01 -2.25421301e-01 8.96012315e+01] [ 4.75070150e-01 8.76177217e-01 -8.13746687e-02 1.41427175e+01] [ 2.36607835e-01 -3.81225950e-02 9.70857044e-01 7.66311028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.317719421 meters Centerline goodness : 0.951161 Centerline is valid? [True, True] Translation: X:89.62, Y:14.17, Z:0.76 [[ 8.47939852e-01 -4.90236070e-01 -2.01659624e-01 8.96194521e+01] [ 4.75031606e-01 8.71560723e-01 -1.21354357e-01 1.41695915e+01] [ 2.35250891e-01 7.10650054e-03 9.71908697e-01 7.64114425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.347719421 meters Centerline goodness : 0.946761 Centerline is valid? [True, False] Translation: X:89.61, Y:14.16, Z:0.76 [[ 8.47092463e-01 -4.87507673e-01 -2.11590710e-01 8.96085479e+01] [ 4.75589892e-01 8.73066808e-01 -1.07557443e-01 1.41554310e+01] [ 2.37167904e-01 -9.51930352e-03 9.71422034e-01 7.59675984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.377719421 meters Centerline goodness : 0.944532 Centerline is valid? [False, False] Translation: X:89.61, Y:14.15, Z:0.76 [[ 8.46108766e-01 -4.84508417e-01 -2.22152087e-01 8.96054894e+01] [ 4.74841697e-01 8.74511877e-01 -9.87640615e-02 1.41472656e+01] [ 2.42126658e-01 -2.19219359e-02 9.69996964e-01 7.59748671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.407719421 meters Centerline goodness : 0.944532 Centerline is valid? [False, False] Translation: X:89.60, Y:14.14, Z:0.76 [[ 8.44885406e-01 -4.83645363e-01 -2.28595306e-01 8.95986931e+01] [ 4.76201014e-01 8.74664958e-01 -9.05196384e-02 1.41422388e+01] [ 2.43723707e-01 -3.23785951e-02 9.69304071e-01 7.58306381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.437719421 meters Centerline goodness : 0.942561 Centerline is valid? [False, False] Translation: X:89.58, Y:14.12, Z:0.75 [[ 8.43464541e-01 -4.81601435e-01 -2.37965598e-01 8.95777009e+01] [ 4.77105583e-01 8.75185148e-01 -8.01325139e-02 1.41237057e+01] [ 2.46855890e-01 -4.59457811e-02 9.67962372e-01 7.54833599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.467719421 meters Centerline goodness : 0.942120 Centerline is valid? [False, False] Translation: X:89.56, Y:14.11, Z:0.75 [[ 8.40646202e-01 -4.82628181e-01 -2.45731564e-01 8.95623314e+01] [ 4.81457439e-01 8.73747804e-01 -6.90181819e-02 1.41063761e+01] [ 2.48017534e-01 -6.02894170e-02 9.66877701e-01 7.50459707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.497719421 meters Centerline goodness : 0.942469 Centerline is valid? [False, False] Translation: X:89.55, Y:14.09, Z:0.75 [[ 8.37631508e-01 -4.83990704e-01 -2.53232018e-01 8.95458392e+01] [ 4.86103002e-01 8.71936074e-01 -5.85777589e-02 1.40928708e+01] [ 2.49153223e-01 -7.40302678e-02 9.65630463e-01 7.47284162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.527719421 meters Centerline goodness : 0.940688 Centerline is valid? [False, False] Translation: X:89.53, Y:14.08, Z:0.74 [[ 8.32830503e-01 -4.88457538e-01 -2.60389298e-01 8.95286818e+01] [ 4.93445361e-01 8.68304216e-01 -5.05911422e-02 1.40763007e+01] [ 2.50808750e-01 -8.63540448e-02 9.64177343e-01 7.44866513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.557719421 meters Centerline goodness : 0.940220 Centerline is valid? [False, False] Translation: X:89.50, Y:14.05, Z:0.74 [[ 8.30482730e-01 -4.90131302e-01 -2.64706900e-01 8.95018806e+01] [ 4.96499406e-01 8.66753903e-01 -4.71806227e-02 1.40549767e+01] [ 2.52560439e-01 -9.22441263e-02 9.63174048e-01 7.39359078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.587719421 meters Centerline goodness : 0.939837 Centerline is valid? [False, False] Translation: X:89.48, Y:14.04, Z:0.73 [[ 8.26643841e-01 -4.94226288e-01 -2.69073108e-01 8.94767146e+01] [ 5.01927264e-01 8.63763220e-01 -4.45210187e-02 1.40351839e+01] [ 2.54418912e-01 -9.82521029e-02 9.62090194e-01 7.34501770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.617719421 meters Centerline goodness : 0.940989 Centerline is valid? [False, False] Translation: X:89.45, Y:14.02, Z:0.73 [[ 8.25362234e-01 -4.94433235e-01 -2.72604034e-01 8.94476835e+01] [ 5.03793193e-01 8.62908753e-01 -3.97605666e-02 1.40158526e+01] [ 2.54891353e-01 -1.04519187e-01 9.61304394e-01 7.28543312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.647719421 meters Centerline goodness : 0.943618 Centerline is valid? [False, False] Translation: X:89.42, Y:14.00, Z:0.73 [[ 8.22044482e-01 -4.98221948e-01 -2.75713185e-01 8.94223130e+01] [ 5.09663224e-01 8.59704294e-01 -3.39400035e-02 1.40009752e+01] [ 2.53941464e-01 -1.12620678e-01 9.60640576e-01 7.25022232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.677719421 meters Centerline goodness : 0.943995 Centerline is valid? [False, False] Translation: X:89.39, Y:13.98, Z:0.72 [[ 8.20444938e-01 -5.00491847e-01 -2.76365726e-01 8.93907252e+01] [ 5.12460560e-01 8.58090091e-01 -3.26430576e-02 1.39813957e+01] [ 2.53484275e-01 -1.14844703e-01 9.60498004e-01 7.16567897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.707719421 meters Centerline goodness : 0.944522 Centerline is valid? [False, False] Translation: X:89.36, Y:13.96, Z:0.71 [[ 8.19287038e-01 -5.01247660e-01 -2.78423299e-01 8.93597096e+01] [ 5.14098923e-01 8.57191189e-01 -3.04230776e-02 1.39612621e+01] [ 2.53911495e-01 -1.18211885e-01 9.59976512e-01 7.08849165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.737719421 meters Centerline goodness : 0.944743 Centerline is valid? [False, False] Translation: X:89.33, Y:13.94, Z:0.70 [[ 8.19817269e-01 -5.00624961e-01 -2.77982542e-01 8.93257768e+01] [ 5.13898448e-01 8.57377561e-01 -2.84974218e-02 1.39372342e+01] [ 2.52602514e-01 -1.19492118e-01 9.60163321e-01 6.98060083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.767719421 meters Centerline goodness : 0.946715 Centerline is valid? [False, False] Translation: X:89.29, Y:13.91, Z:0.69 [[ 8.18985591e-01 -5.04004458e-01 -2.74302949e-01 8.92878771e+01] [ 5.18193846e-01 8.54935083e-01 -2.36884050e-02 1.39100057e+01] [ 2.46450276e-01 -1.22741638e-01 9.61351523e-01 6.85372856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.79771942099998 meters Centerline goodness : 0.948404 Centerline is valid? [False, False] Translation: X:89.25, Y:13.89, Z:0.67 [[ 8.19215115e-01 -5.04492254e-01 -2.72716266e-01 8.92527830e+01] [ 5.18877839e-01 8.54560810e-01 -2.21722797e-02 1.38858427e+01] [ 2.44238377e-01 -1.23342560e-01 9.61838983e-01 6.74975391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82771942099998 meters Centerline goodness : 0.950132 Centerline is valid? [False, True] Translation: X:89.23, Y:13.87, Z:0.67 [[ 8.14295542e-01 -5.10588730e-01 -2.76083172e-01 8.92251957e+01] [ 5.25978911e-01 8.50236420e-01 -2.10764452e-02 1.38689787e+01] [ 2.45497363e-01 -1.28051471e-01 9.60902631e-01 6.71028533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.85771942099998 meters Centerline goodness : 0.950407 Centerline is valid? [True, True] Translation: X:89.23, Y:13.92, Z:0.66 [[ 8.10846164e-01 -5.45119026e-01 -2.13011140e-01 8.92323883e+01] [ 5.29700369e-01 8.38318209e-01 -1.28996509e-01 1.39207026e+01] [ 2.48889568e-01 -8.23575487e-03 9.68496853e-01 6.56625284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88771942099999 meters Centerline goodness : 0.950826 Centerline is valid? [True, True] Translation: X:89.26, Y:13.93, Z:0.66 [[ 8.07648857e-01 -5.49863075e-01 -2.12964604e-01 8.92554007e+01] [ 5.34585525e-01 8.35199618e-01 -1.29073292e-01 1.39346003e+01] [ 2.48840593e-01 -9.60189852e-03 9.68496857e-01 6.64095167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.917719421 meters Centerline goodness : 0.952418 Centerline is valid? [True, True] Translation: X:89.28, Y:13.95, Z:0.67 [[ 8.05478300e-01 -5.53046077e-01 -2.12943056e-01 8.92760902e+01] [ 5.37867998e-01 8.33083985e-01 -1.29108832e-01 1.39531361e+01] [ 2.48802583e-01 -1.05408924e-02 9.68496858e-01 6.72197365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.947719421 meters Centerline goodness : 0.950528 Centerline is valid? [True, True] Translation: X:89.30, Y:13.97, Z:0.68 [[ 8.05279685e-01 -5.53350989e-01 -2.12902119e-01 8.92983118e+01] [ 5.38165566e-01 8.32881327e-01 -1.29176304e-01 1.39696566e+01] [ 2.48802035e-01 -1.05535364e-02 9.68496861e-01 6.76885675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.977719421 meters Centerline goodness : 0.948587 Centerline is valid? [True, False] Translation: X:89.27, Y:13.96, Z:0.67 [[ 8.04891112e-01 -5.49846008e-01 -2.23203193e-01 8.92702728e+01] [ 5.39305138e-01 8.34702803e-01 -1.11450429e-01 1.39586460e+01] [ 2.47588905e-01 -3.06691690e-02 9.68379645e-01 6.69207679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.007719421 meters Centerline goodness : 0.948530 Centerline is valid? [False, False] Translation: X:89.23, Y:13.94, Z:0.66 [[ 8.05125835e-01 -5.45109078e-01 -2.33727369e-01 8.92346921e+01] [ 5.39043572e-01 8.36902643e-01 -9.50052276e-02 1.39393569e+01] [ 2.47395265e-01 -4.94980726e-02 9.67649484e-01 6.62161037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.037719421 meters Centerline goodness : 0.946851 Centerline is valid? [False, False] Translation: X:89.20, Y:13.93, Z:0.65 [[ 8.08383105e-01 -5.36996559e-01 -2.41146119e-01 8.92034027e+01] [ 5.32726999e-01 8.41656685e-01 -8.84079664e-02 1.39292153e+01] [ 2.50437017e-01 -5.69975418e-02 9.66453610e-01 6.54728806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.067719421 meters Centerline goodness : 0.945363 Centerline is valid? [False, False] Translation: X:89.18, Y:13.91, Z:0.65 [[ 8.09642261e-01 -5.31049401e-01 -2.49931878e-01 8.91759415e+01] [ 5.29081321e-01 8.44707702e-01 -8.08817283e-02 1.39148861e+01] [ 2.54071575e-01 -6.67490227e-02 9.64879372e-01 6.49465496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.097719421 meters Centerline goodness : 0.943660 Centerline is valid? [False, False] Translation: X:89.16, Y:13.92, Z:0.65 [[ 8.12052957e-01 -5.24072684e-01 -2.56744654e-01 8.91611392e+01] [ 5.22039857e-01 8.48987455e-01 -8.18210801e-02 1.39171545e+01] [ 2.60853184e-01 -6.75878925e-02 9.63009602e-01 6.48427193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.127719421 meters Centerline goodness : 0.942710 Centerline is valid? [False, False] Translation: X:89.13, Y:13.90, Z:0.64 [[ 8.13521906e-01 -5.16988671e-01 -2.66279595e-01 8.91337250e+01] [ 5.18474741e-01 8.52180379e-01 -7.05162646e-02 1.39031265e+01] [ 2.63374356e-01 -8.06927183e-02 9.61312974e-01 6.44445990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.157719421 meters Centerline goodness : 0.946214 Centerline is valid? [False, False] Translation: X:89.10, Y:13.89, Z:0.63 [[ 8.19484804e-01 -5.06824348e-01 -2.67532683e-01 8.91002332e+01] [ 5.11264328e-01 8.57443163e-01 -5.83096019e-02 1.38907279e+01] [ 2.58946796e-01 -8.89960846e-02 9.61782852e-01 6.33950104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.187719421 meters Centerline goodness : 0.948791 Centerline is valid? [False, False] Translation: X:89.08, Y:13.88, Z:0.63 [[ 8.22134487e-01 -5.02309671e-01 -2.67917672e-01 8.90821616e+01] [ 5.08019965e-01 8.59716897e-01 -5.29393153e-02 1.38828214e+01] [ 2.56925280e-01 -9.25842895e-02 9.61986253e-01 6.29970615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.217719421 meters Centerline goodness : 0.948994 Centerline is valid? [False, False] Translation: X:89.06, Y:13.87, Z:0.62 [[ 8.27300561e-01 -4.95849763e-01 -2.64020444e-01 8.90569405e+01] [ 5.01288048e-01 8.63751474e-01 -5.14167788e-02 1.38703587e+01] [ 2.53543045e-01 -8.98131631e-02 9.63145638e-01 6.21874273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.247719421 meters Centerline goodness : 0.952944 Centerline is valid? [False, True] Translation: X:89.04, Y:13.86, Z:0.62 [[ 8.28316378e-01 -4.94429901e-01 -2.63497726e-01 8.90403513e+01] [ 5.00693657e-01 8.64301937e-01 -4.78332932e-02 1.38601661e+01] [ 2.51391805e-01 -9.23105401e-02 9.63473365e-01 6.18382972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.277719421 meters Centerline goodness : 0.950323 Centerline is valid? [True, True] Translation: X:89.05, Y:13.90, Z:0.61 [[ 8.29290152e-01 -5.16344604e-01 -2.13696265e-01 8.90492029e+01] [ 4.99400030e-01 8.56378351e-01 -1.31208725e-01 1.39043982e+01] [ 2.50753772e-01 2.09018203e-03 9.68048644e-01 6.09707949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.307719421 meters Centerline goodness : 0.950014 Centerline is valid? [True, True] Translation: X:89.07, Y:13.92, Z:0.62 [[ 8.28748947e-01 -5.17218803e-01 -2.13681754e-01 8.90709709e+01] [ 5.00296711e-01 8.55851197e-01 -1.31232353e-01 1.39194820e+01] [ 2.50755625e-01 1.85439614e-03 9.68048644e-01 6.19952507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.337719421 meters Centerline goodness : 0.948028 Centerline is valid? [True, False] Translation: X:89.05, Y:13.91, Z:0.62 [[ 8.26568547e-01 -5.16590570e-01 -2.23424751e-01 8.90539502e+01] [ 5.04096648e-01 8.56041318e-01 -1.14367089e-01 1.39054016e+01] [ 2.50341778e-01 -1.80954292e-02 9.67988404e-01 6.16049884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.367719421 meters Centerline goodness : 0.947859 Centerline is valid? [False, False] Translation: X:89.04, Y:13.89, Z:0.61 [[ 8.23119424e-01 -5.18545799e-01 -2.31483624e-01 8.90371984e+01] [ 5.09424477e-01 8.54390757e-01 -1.02484813e-01 1.38904829e+01] [ 2.50920538e-01 -3.35661838e-02 9.67425550e-01 6.13831777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.397719421 meters Centerline goodness : 0.949373 Centerline is valid? [False, False] Translation: X:89.02, Y:13.88, Z:0.61 [[ 8.20531028e-01 -5.18484626e-01 -2.40629435e-01 8.90186897e+01] [ 5.12709732e-01 8.53706983e-01 -9.11763009e-02 1.38771207e+01] [ 2.52700539e-01 -4.85600696e-02 9.66325182e-01 6.10953380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.427719421 meters Centerline goodness : 0.950704 Centerline is valid? [False, True] Translation: X:89.00, Y:13.87, Z:0.61 [[ 8.18089323e-01 -5.18439718e-01 -2.48897806e-01 8.90021701e+01] [ 5.16005645e-01 8.52810843e-01 -8.03233440e-02 1.38664299e+01] [ 2.53905560e-01 -6.27210031e-02 9.65193267e-01 6.07753113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.457719421 meters Centerline goodness : 0.948967 Centerline is valid? [True, False] Translation: X:88.98, Y:13.86, Z:0.60 [[ 8.15319471e-01 -5.18762336e-01 -2.57176590e-01 8.89833962e+01] [ 5.19597772e-01 8.51509666e-01 -7.03522905e-02 1.38567368e+01] [ 2.55484471e-01 -7.62687910e-02 9.63800164e-01 6.04879801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.487719421 meters Centerline goodness : 0.950389 Centerline is valid? [False, True] Translation: X:88.97, Y:13.85, Z:0.60 [[ 8.13122245e-01 -5.18692976e-01 -2.64177613e-01 8.89674083e+01] [ 5.22895950e-01 8.50280697e-01 -6.00213473e-02 1.38474645e+01] [ 2.55757776e-01 -8.93327112e-02 9.62604606e-01 6.01700410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.517719421 meters Centerline goodness : 0.950443 Centerline is valid? [True, True] Translation: X:88.97, Y:13.89, Z:0.60 [[ 8.11271092e-01 -5.42794876e-01 -2.17285382e-01 8.89745384e+01] [ 5.25343039e-01 8.39858613e-01 -1.36573066e-01 1.38917646e+01] [ 2.56620160e-01 -3.35158231e-03 9.66506524e-01 6.00752098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54771942099998 meters Centerline goodness : 0.950803 Centerline is valid? [True, True] Translation: X:89.00, Y:13.91, Z:0.61 [[ 8.09805329e-01 -5.44998515e-01 -2.17237075e-01 8.89956482e+01] [ 5.27603868e-01 8.38427679e-01 -1.36649862e-01 1.39081414e+01] [ 2.56611549e-01 -3.95533433e-03 9.66506528e-01 6.09322798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.57771942099998 meters Centerline goodness : 0.949054 Centerline is valid? [True, False] Translation: X:88.97, Y:13.89, Z:0.60 [[ 8.04964001e-01 -5.47349788e-01 -2.29000363e-01 8.89720482e+01] [ 5.33903347e-01 8.36576928e-01 -1.22826135e-01 1.38940055e+01] [ 2.58805279e-01 -2.33934432e-02 9.65646195e-01 6.03255569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60771942099998 meters Centerline goodness : 0.946730 Centerline is valid? [False, False] Translation: X:88.95, Y:13.88, Z:0.60 [[ 8.01913000e-01 -5.47515653e-01 -2.39086073e-01 8.89540437e+01] [ 5.37630027e-01 8.35857188e-01 -1.10890555e-01 1.38812222e+01] [ 2.60556127e-01 -3.96152741e-02 9.64645600e-01 5.99432804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.63771942099999 meters Centerline goodness : 0.945252 Centerline is valid? [False, False] Translation: X:88.92, Y:13.86, Z:0.59 [[ 7.96401488e-01 -5.50337433e-01 -2.50745647e-01 8.89209560e+01] [ 5.46220721e-01 8.32532158e-01 -9.23749448e-02 1.38612553e+01] [ 2.59591205e-01 -6.33949248e-02 9.63635559e-01 5.90709407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.667719421 meters Centerline goodness : 0.947651 Centerline is valid? [False, False] Translation: X:88.89, Y:13.84, Z:0.58 [[ 7.93607271e-01 -5.50195190e-01 -2.59755178e-01 8.88875334e+01] [ 5.50269577e-01 8.31202877e-01 -7.94051050e-02 1.38405264e+01] [ 2.59597558e-01 -7.99189034e-02 9.62404321e-01 5.84453756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.697719421 meters Centerline goodness : 0.950627 Centerline is valid? [False, True] Translation: X:88.85, Y:13.82, Z:0.58 [[ 7.89777357e-01 -5.52082374e-01 -2.67314008e-01 8.88548624e+01] [ 5.56713696e-01 8.28117993e-01 -6.55015293e-02 1.38225714e+01] [ 2.57529780e-01 -9.70857446e-02 9.61380659e-01 5.80155757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.727719421 meters Centerline goodness : 0.951715 Centerline is valid? [True, True] Translation: X:88.86, Y:13.87, Z:0.58 [[ 7.85910710e-01 -5.77999461e-01 -2.19683817e-01 8.88594324e+01] [ 5.60557904e-01 8.15948981e-01 -1.41428767e-01 1.38674395e+01] [ 2.60996538e-01 -1.19951171e-02 9.65265209e-01 5.84988612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.757719421 meters Centerline goodness : 0.951454 Centerline is valid? [True, True] Translation: X:88.88, Y:13.88, Z:0.59 [[ 7.84290330e-01 -5.80213672e-01 -2.19637823e-01 8.88797022e+01] [ 5.62836972e-01 8.14366163e-01 -1.41500161e-01 1.38847979e+01] [ 2.60965939e-01 -1.26430796e-02 9.65265213e-01 5.93075633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.787719421 meters Centerline goodness : 0.950177 Centerline is valid? [True, True] Translation: X:88.90, Y:13.90, Z:0.60 [[ 7.83072947e-01 -5.81875898e-01 -2.19584150e-01 8.89007233e+01] [ 5.64539768e-01 8.13172177e-01 -1.41583405e-01 1.39022199e+01] [ 2.60943693e-01 -1.30938507e-02 9.65265218e-01 5.98515772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.817719421 meters Centerline goodness : 0.948630 Centerline is valid? [True, False] Translation: X:88.86, Y:13.88, Z:0.59 [[ 7.80057380e-01 -5.81191886e-01 -2.31789723e-01 8.88643443e+01] [ 5.68892955e-01 8.13008017e-01 -1.24011169e-01 1.38831988e+01] [ 2.60521189e-01 -3.51277131e-02 9.64828873e-01 5.89207263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.847719421 meters Centerline goodness : 0.949783 Centerline is valid? [False, False] Translation: X:88.83, Y:13.86, Z:0.58 [[ 7.78032351e-01 -5.78886136e-01 -2.44042010e-01 8.88303682e+01] [ 5.71789375e-01 8.13442601e-01 -1.06621035e-01 1.38631725e+01] [ 2.60235606e-01 -5.65860135e-02 9.63885601e-01 5.80732090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.877719421 meters Centerline goodness : 0.949999 Centerline is valid? [False, False] Translation: X:88.80, Y:13.86, Z:0.57 [[ 7.75642217e-01 -5.77399351e-01 -2.54929679e-01 8.88045262e+01] [ 5.75161030e-01 8.12932629e-01 -9.12706418e-02 1.38562358e+01] [ 2.59940264e-01 -7.58322541e-02 9.62642472e-01 5.74296640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.907719421 meters Centerline goodness : 0.950033 Centerline is valid? [False, True] Translation: X:88.77, Y:13.84, Z:0.56 [[ 7.74732350e-01 -5.75995386e-01 -2.60804719e-01 8.87658052e+01] [ 5.76535740e-01 8.12881220e-01 -8.26478259e-02 1.38405307e+01] [ 2.59608025e-01 -8.63332976e-02 9.61847303e-01 5.63699125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.937719421 meters Centerline goodness : 0.950257 Centerline is valid? [True, True] Translation: X:88.77, Y:13.88, Z:0.57 [[ 7.73290960e-01 -5.94373642e-01 -2.20773789e-01 8.87719931e+01] [ 5.76630956e-01 8.04044942e-01 -1.44942997e-01 1.38802192e+01] [ 2.63662345e-01 -1.52218916e-02 9.64494926e-01 5.70833149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.967719421 meters Centerline goodness : 0.953000 Centerline is valid? [True, True] Translation: X:88.79, Y:13.90, Z:0.58 [[ 7.74561183e-01 -5.92736677e-01 -2.20722009e-01 8.87889189e+01] [ 5.74906619e-01 8.05264587e-01 -1.45021808e-01 1.39041615e+01] [ 2.63699362e-01 -1.45662809e-02 9.64494930e-01 5.80894007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.997719421 meters Centerline goodness : 0.955117 Centerline is valid? [True, True] Translation: X:88.81, Y:13.93, Z:0.59 [[ 7.75653824e-01 -5.91323499e-01 -2.20675474e-01 8.88070728e+01] [ 5.73417434e-01 8.06312959e-01 -1.45092585e-01 1.39254090e+01] [ 2.63730150e-01 -1.39975452e-02 9.64494934e-01 5.88620530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.027719421 meters Centerline goodness : 0.955801 Centerline is valid? [True, True] Translation: X:88.82, Y:13.95, Z:0.59 [[ 7.79252264e-01 -5.86579487e-01 -2.20659046e-01 8.88215798e+01] [ 5.68479623e-01 8.09797389e-01 -1.45117566e-01 1.39525027e+01] [ 2.63812106e-01 -1.23569794e-02 9.64494934e-01 5.94915598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.057719421 meters Centerline goodness : 0.951725 Centerline is valid? [True, True] Translation: X:88.84, Y:13.97, Z:0.60 [[ 7.80690064e-01 -5.84684286e-01 -2.20606687e-01 8.88411496e+01] [ 5.66487834e-01 8.11177742e-01 -1.45197120e-01 1.39729275e+01] [ 2.63845709e-01 -1.16170552e-02 9.64494938e-01 5.98827971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.087719421 meters Centerline goodness : 0.948478 Centerline is valid? [True, False] Translation: X:88.80, Y:13.96, Z:0.59 [[ 7.79966966e-01 -5.80698467e-01 -2.33325570e-01 8.88023108e+01] [ 5.67024278e-01 8.13507519e-01 -1.29185856e-01 1.39565170e+01] [ 2.64830134e-01 -3.15405629e-02 9.63779120e-01 5.87031440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.117719421 meters Centerline goodness : 0.951735 Centerline is valid? [False, True] Translation: X:88.76, Y:13.93, Z:0.58 [[ 7.78010258e-01 -5.79168554e-01 -2.43441625e-01 8.87638708e+01] [ 5.70110343e-01 8.13655221e-01 -1.13751388e-01 1.39341339e+01] [ 2.63958776e-01 -5.02888416e-02 9.63222091e-01 5.76121922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.147719421 meters Centerline goodness : 0.952307 Centerline is valid? [True, True] Translation: X:88.77, Y:13.97, Z:0.59 [[ 7.75354128e-01 -5.91686122e-01 -2.20756674e-01 8.87737149e+01] [ 5.72999667e-01 8.06082841e-01 -1.47992684e-01 1.39676661e+01] [ 2.65513384e-01 -1.17467622e-02 9.64035610e-01 5.86383515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.177719421 meters Centerline goodness : 0.951499 Centerline is valid? [True, True] Translation: X:88.79, Y:13.99, Z:0.59 [[ 7.73696836e-01 -5.93868359e-01 -2.20711527e-01 8.87948553e+01] [ 5.75249417e-01 8.04466499e-01 -1.48059985e-01 1.39860662e+01] [ 2.65483170e-01 -1.24106354e-02 9.64035613e-01 5.92690823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.207719421 meters Centerline goodness : 0.953466 Centerline is valid? [True, True] Translation: X:88.81, Y:14.01, Z:0.60 [[ 7.70555563e-01 -5.97955027e-01 -2.20666968e-01 8.88128471e+01] [ 5.79480264e-01 8.01412006e-01 -1.48126368e-01 1.40072264e+01] [ 2.65418063e-01 -1.37325559e-02 9.64035616e-01 6.00358807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.237719421 meters Centerline goodness : 0.952781 Centerline is valid? [True, True] Translation: X:88.83, Y:14.03, Z:0.61 [[ 7.69167998e-01 -5.99757815e-01 -2.20615399e-01 8.88323081e+01] [ 5.81333431e-01 8.00054544e-01 -1.48203135e-01 1.40260025e+01] [ 2.65390341e-01 -1.42579981e-02 9.64035620e-01 6.08378455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.267719421 meters Centerline goodness : 0.952347 Centerline is valid? [True, True] Translation: X:88.85, Y:14.05, Z:0.62 [[ 7.68301896e-01 -6.00875641e-01 -2.20591614e-01 8.88498454e+01] [ 5.82486071e-01 7.99209182e-01 -1.48238530e-01 1.40480414e+01] [ 2.65371765e-01 -1.45995984e-02 9.64035621e-01 6.15249963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.29771942099998 meters Centerline goodness : 0.952347 Centerline is valid? [True, True] Translation: X:88.87, Y:14.06, Z:0.62 [[ 7.68105638e-01 -6.01134826e-01 -2.20568921e-01 8.88724519e+01] [ 5.82746033e-01 7.99013385e-01 -1.48272288e-01 1.40635696e+01] [ 2.65369156e-01 -1.46468837e-02 9.64035622e-01 6.22813397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32771942099998 meters Centerline goodness : 0.952562 Centerline is valid? [True, True] Translation: X:88.89, Y:14.08, Z:0.63 [[ 7.67736957e-01 -6.01623989e-01 -2.20518799e-01 8.88920585e+01] [ 5.83233579e-01 7.98643738e-01 -1.48346797e-01 1.40818469e+01] [ 2.65364949e-01 -1.47226494e-02 9.64035625e-01 6.32005095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.35771942099998 meters Centerline goodness : 0.950601 Centerline is valid? [True, True] Translation: X:88.91, Y:14.11, Z:0.64 [[ 7.65918287e-01 -6.03956746e-01 -2.20466382e-01 8.89087308e+01] [ 5.85638139e-01 7.96867674e-01 -1.48424658e-01 1.41055231e+01] [ 2.65324607e-01 -1.54323617e-02 9.64035630e-01 6.37657574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38771942099999 meters Centerline goodness : 0.951247 Centerline is valid? [True, True] Translation: X:88.93, Y:14.13, Z:0.64 [[ 7.64641148e-01 -6.05578746e-01 -2.20450216e-01 8.89276115e+01] [ 5.87318891e-01 7.95625235e-01 -1.48448665e-01 1.41252902e+01] [ 2.65293111e-01 -1.59646183e-02 9.64035630e-01 6.43965503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.417719421 meters Centerline goodness : 0.951064 Centerline is valid? [True, True] Translation: X:88.94, Y:14.15, Z:0.65 [[ 7.62007108e-01 -6.08902216e-01 -2.20416103e-01 8.89447556e+01] [ 5.90762878e-01 7.93061901e-01 -1.48499299e-01 1.41499131e+01] [ 2.65225166e-01 -1.70561297e-02 9.64035632e-01 6.52099711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.447719421 meters Centerline goodness : 0.950802 Centerline is valid? [True, True] Translation: X:88.96, Y:14.17, Z:0.66 [[ 7.60805428e-01 -6.10418901e-01 -2.20372108e-01 8.89646055e+01] [ 5.92322673e-01 7.91885359e-01 -1.48564561e-01 1.41697128e+01] [ 2.65196062e-01 -1.75026718e-02 9.64035635e-01 6.62207207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.477719421 meters Centerline goodness : 0.952396 Centerline is valid? [True, True] Translation: X:88.98, Y:14.19, Z:0.67 [[ 7.59927292e-01 -6.11528313e-01 -2.20326197e-01 8.89806036e+01] [ 5.93457847e-01 7.91022205e-01 -1.48632618e-01 1.41946488e+01] [ 2.65175968e-01 -1.78043282e-02 9.64035638e-01 6.65760552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.507719421 meters Centerline goodness : 0.949162 Centerline is valid? [True, False] Translation: X:88.96, Y:14.18, Z:0.66 [[ 7.59416654e-01 -6.06350800e-01 -2.35849641e-01 8.89564183e+01] [ 5.94135003e-01 7.94053758e-01 -1.28383131e-01 1.41844483e+01] [ 2.65122508e-01 -4.26302388e-02 9.63271882e-01 6.55579757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.537719421 meters Centerline goodness : 0.949002 Centerline is valid? [False, False] Translation: X:88.94, Y:14.17, Z:0.65 [[ 7.58292280e-01 -6.02394119e-01 -2.49227094e-01 8.89350729e+01] [ 5.95623643e-01 7.95591619e-01 -1.10754019e-01 1.41703736e+01] [ 2.65000557e-01 -6.44616321e-02 9.62091161e-01 6.47462423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.567719421 meters Centerline goodness : 0.950278 Centerline is valid? [False, True] Translation: X:88.91, Y:14.16, Z:0.64 [[ 0.75732288 -0.59706418 -0.26453056 88.90828488] [ 0.59730222 0.7970615 -0.08901137 14.1559086 ] [ 0.26399263 -0.09059434 0.96026067 0.63796342] [ 0. 0. 0. 1. ]] SLAMing on 138.597719421 meters Centerline goodness : 0.951335 Centerline is valid? [True, True] Translation: X:88.91, Y:14.19, Z:0.66 [[ 7.56207758e-01 -6.15575450e-01 -2.21848355e-01 8.89115576e+01] [ 5.96630790e-01 7.87893664e-01 -1.52496803e-01 1.41949475e+01] [ 2.68666201e-01 -1.70422940e-02 9.63082568e-01 6.56762344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.627719421 meters Centerline goodness : 0.955609 Centerline is valid? [True, True] Translation: X:88.93, Y:14.22, Z:0.67 [[ 7.55963584e-01 -6.15892004e-01 -2.21801938e-01 8.89284344e+01] [ 5.96940927e-01 7.87645649e-01 -1.52564287e-01 1.42164675e+01] [ 2.68664456e-01 -1.70696093e-02 9.63082571e-01 6.69430170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.657719421 meters Centerline goodness : 0.957810 Centerline is valid? [True, True] Translation: X:88.95, Y:14.24, Z:0.68 [[ 7.55380470e-01 -6.16614809e-01 -2.21780349e-01 8.89479834e+01] [ 5.97684888e-01 7.87075179e-01 -1.52595665e-01 1.42354152e+01] [ 2.68650554e-01 -1.72869778e-02 9.63082572e-01 6.78828894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.687719421 meters Centerline goodness : 0.956456 Centerline is valid? [True, True] Translation: X:88.97, Y:14.26, Z:0.68 [[ 7.53642860e-01 -6.18754296e-01 -2.21733082e-01 8.89666981e+01] [ 5.99894257e-01 7.85379199e-01 -1.52664318e-01 1.42569391e+01] [ 2.68606253e-01 -1.79620297e-02 9.63082575e-01 6.80052464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.717719421 meters Centerline goodness : 0.955167 Centerline is valid? [True, True] Translation: X:88.99, Y:14.27, Z:0.69 [[ 7.52024176e-01 -6.20728502e-01 -2.21710996e-01 8.89874616e+01] [ 6.01942364e-01 7.83804315e-01 -1.52696386e-01 1.42744727e+01] [ 2.68561034e-01 -1.86258678e-02 9.63082576e-01 6.90532616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.747719421 meters Centerline goodness : 0.952393 Centerline is valid? [True, True] Translation: X:89.01, Y:14.30, Z:0.70 [[ 7.48993569e-01 -6.24398046e-01 -2.21665772e-01 8.90077466e+01] [ 6.05748251e-01 7.80853907e-01 -1.52762010e-01 1.42956872e+01] [ 2.68472885e-01 -1.98558912e-02 9.63082579e-01 6.96227072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.777719421 meters Centerline goodness : 0.949492 Centerline is valid? [True, False] Translation: X:89.00, Y:14.29, Z:0.69 [[ 7.47628661e-01 -6.21811284e-01 -2.33242604e-01 8.89986410e+01] [ 6.06800732e-01 7.82320034e-01 -1.40599556e-01 1.42949884e+01] [ 2.69896753e-01 -3.64155248e-02 9.62200422e-01 6.90730640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.807719421 meters Centerline goodness : 0.949094 Centerline is valid? [False, False] Translation: X:88.99, Y:14.29, Z:0.69 [[ 7.47145626e-01 -6.18004720e-01 -2.44629472e-01 8.89942488e+01] [ 6.06176707e-01 7.84536406e-01 -1.30584946e-01 1.42915513e+01] [ 2.72622840e-01 -5.07227167e-02 9.60783010e-01 6.88832915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.837719421 meters Centerline goodness : 0.948720 Centerline is valid? [False, False] Translation: X:88.99, Y:14.29, Z:0.69 [[ 7.48440190e-01 -6.14394555e-01 -2.49713059e-01 8.89917972e+01] [ 6.05047525e-01 7.86746034e-01 -1.22262710e-01 1.42893222e+01] [ 2.71578302e-01 -5.95819420e-02 9.60570257e-01 6.85569749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.867719421 meters Centerline goodness : 0.952093 Centerline is valid? [False, True] Translation: X:88.99, Y:14.29, Z:0.68 [[ 7.51169956e-01 -6.09997231e-01 -2.52283721e-01 8.89855410e+01] [ 6.02645971e-01 7.89679032e-01 -1.14999395e-01 1.42892862e+01] [ 2.69372476e-01 -6.56536774e-02 9.60795537e-01 6.82723409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.897719421 meters Centerline goodness : 0.949080 Centerline is valid? [True, False] Translation: X:88.98, Y:14.29, Z:0.68 [[ 7.52602198e-01 -6.05137381e-01 -2.59612561e-01 8.89827519e+01] [ 6.00715876e-01 7.92445648e-01 -1.05689786e-01 1.42872451e+01] [ 2.69685684e-01 -7.64110219e-02 9.59911969e-01 6.80130802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.927719421 meters Centerline goodness : 0.950943 Centerline is valid? [False, True] Translation: X:88.97, Y:14.28, Z:0.68 [[ 7.55891380e-01 -5.96903796e-01 -2.68949960e-01 8.89729899e+01] [ 5.93220537e-01 7.98247523e-01 -1.04356535e-01 1.42843012e+01] [ 2.76979451e-01 -8.06644344e-02 9.57484012e-01 6.78747760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.957719421 meters Centerline goodness : 0.952592 Centerline is valid? [True, True] Translation: X:88.98, Y:14.32, Z:0.70 [[ 7.55053716e-01 -6.12187315e-01 -2.34777718e-01 8.89788107e+01] [ 5.92188556e-01 7.90439077e-01 -1.56584735e-01 1.43189394e+01] [ 2.81436672e-01 -2.08027918e-02 9.59354285e-01 6.95570600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.987719421 meters Centerline goodness : 0.952760 Centerline is valid? [True, True] Translation: X:89.00, Y:14.34, Z:0.71 [[ 7.55581282e-01 -6.11542214e-01 -2.34761679e-01 8.89969637e+01] [ 5.91505827e-01 7.90945350e-01 -1.56608779e-01 1.43397524e+01] [ 2.81456538e-01 -2.05322387e-02 9.59354285e-01 7.07424146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.01771942099998 meters Centerline goodness : 0.952335 Centerline is valid? [True, True] Translation: X:89.02, Y:14.36, Z:0.71 [[ 7.55937038e-01 -6.11120593e-01 -2.34714329e-01 8.90185189e+01] [ 5.91042617e-01 7.91277506e-01 -1.56679714e-01 1.43576686e+01] [ 2.81474368e-01 -2.02861725e-02 9.59354289e-01 7.12338210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04771942099998 meters Centerline goodness : 0.949651 Centerline is valid? [True, False] Translation: X:89.02, Y:14.36, Z:0.71 [[ 7.59037065e-01 -6.05360683e-01 -2.39585430e-01 8.90202944e+01] [ 5.87095210e-01 7.95499781e-01 -1.49997709e-01 1.43575520e+01] [ 2.81392873e-01 -2.68056372e-02 9.59218176e-01 7.11441811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.07771942099998 meters Centerline goodness : 0.951864 Centerline is valid? [False, True] Translation: X:89.02, Y:14.36, Z:0.71 [[ 7.62667289e-01 -5.98426550e-01 -2.45406337e-01 8.90180855e+01] [ 5.82915897e-01 8.00359974e-01 -1.40117697e-01 1.43582046e+01] [ 2.80263559e-01 -3.61880710e-02 9.59240721e-01 7.09245446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10771942099998 meters Centerline goodness : 0.952683 Centerline is valid? [True, True] Translation: X:89.03, Y:14.38, Z:0.72 [[ 7.64077586e-01 -6.00444173e-01 -2.35907267e-01 8.90345891e+01] [ 5.80480902e-01 7.99446825e-01 -1.54682567e-01 1.43803167e+01] [ 2.81473562e-01 -1.87501814e-02 9.59385775e-01 7.19310005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.13771942099999 meters Centerline goodness : 0.951258 Centerline is valid? [True, True] Translation: X:89.06, Y:14.40, Z:0.73 [[ 7.64579091e-01 -5.99811902e-01 -2.35890855e-01 8.90562685e+01] [ 5.79811706e-01 7.99927463e-01 -1.54707592e-01 1.43963089e+01] [ 2.81491028e-01 -1.84860885e-02 9.59385775e-01 7.26155383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.167719421 meters Centerline goodness : 0.951331 Centerline is valid? [True, True] Translation: X:89.08, Y:14.42, Z:0.73 [[ 7.65717184e-01 -5.98378937e-01 -2.35838591e-01 8.90771027e+01] [ 5.78288187e-01 8.01014162e-01 -1.54787225e-01 1.44150010e+01] [ 2.81531467e-01 -1.78594331e-02 9.59385780e-01 7.34616623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.197719421 meters Centerline goodness : 0.951869 Centerline is valid? [True, True] Translation: X:89.10, Y:14.43, Z:0.74 [[ 7.65651748e-01 -5.98480708e-01 -2.35792796e-01 8.90978642e+01] [ 5.78373295e-01 8.00939233e-01 -1.54856957e-01 1.44318210e+01] [ 2.81534602e-01 -1.78097567e-02 9.59385783e-01 7.44095110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.227719421 meters Centerline goodness : 0.951638 Centerline is valid? [True, True] Translation: X:89.12, Y:14.45, Z:0.75 [[ 7.65330205e-01 -5.98913150e-01 -2.35738661e-01 8.91191649e+01] [ 5.78800447e-01 8.00614669e-01 -1.54939325e-01 1.44487065e+01] [ 2.81531029e-01 -1.78658973e-02 9.59385788e-01 7.53022650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.257719421 meters Centerline goodness : 0.953799 Centerline is valid? [True, True] Translation: X:89.14, Y:14.47, Z:0.76 [[ 7.64857706e-01 -5.99535453e-01 -2.35690326e-01 8.91400965e+01] [ 5.79428939e-01 8.00145694e-01 -1.55012819e-01 1.44660558e+01] [ 2.81522280e-01 -1.80030460e-02 9.59385791e-01 7.57936538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.287719421 meters Centerline goodness : 0.950756 Centerline is valid? [True, True] Translation: X:89.16, Y:14.48, Z:0.77 [[ 7.63885114e-01 -6.00782187e-01 -2.35669889e-01 8.91607237e+01] [ 5.80723731e-01 7.99200440e-01 -1.55043883e-01 1.44841699e+01] [ 2.81495082e-01 -1.84233834e-02 9.59385792e-01 7.68300031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.317719421 meters Centerline goodness : 0.953398 Centerline is valid? [True, True] Translation: X:89.18, Y:14.50, Z:0.77 [[ 7.63614373e-01 -6.01144655e-01 -2.35622989e-01 8.91820866e+01] [ 5.81081112e-01 7.98926805e-01 -1.55115127e-01 1.44992409e+01] [ 2.81492151e-01 -1.84679280e-02 9.59385795e-01 7.74559551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.347719421 meters Centerline goodness : 0.956476 Centerline is valid? [True, True] Translation: X:89.20, Y:14.51, Z:0.78 [[ 7.63907985e-01 -6.00780581e-01 -2.35599836e-01 8.92034013e+01] [ 5.80689429e-01 7.99204715e-01 -1.55150285e-01 1.45146454e+01] [ 2.81503779e-01 -1.82897924e-02 9.59385796e-01 7.83577640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.377719421 meters Centerline goodness : 0.958585 Centerline is valid? [True, True] Translation: X:89.22, Y:14.53, Z:0.79 [[ 7.63295707e-01 -6.01564555e-01 -2.35583848e-01 8.92246401e+01] [ 5.81502206e-01 7.98608816e-01 -1.55174559e-01 1.45316056e+01] [ 2.81486852e-01 -1.85484531e-02 9.59385797e-01 7.94957509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.407719421 meters Centerline goodness : 0.961522 Centerline is valid? [True, True] Translation: X:89.24, Y:14.55, Z:0.80 [[ 7.63200296e-01 -6.01703916e-01 -2.35537057e-01 8.92430143e+01] [ 5.81626239e-01 7.98504688e-01 -1.55245552e-01 1.45504984e+01] [ 2.81489301e-01 -1.85110812e-02 9.59385800e-01 8.04640092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.437719421 meters Centerline goodness : 0.960693 Centerline is valid? [True, True] Translation: X:89.26, Y:14.57, Z:0.81 [[ 7.63001127e-01 -6.01962922e-01 -2.35520533e-01 8.92637438e+01] [ 5.81889539e-01 7.98307961e-01 -1.55270616e-01 1.45668217e+01] [ 2.81485070e-01 -1.85752791e-02 9.59385801e-01 8.13244966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.467719421 meters Centerline goodness : 0.957944 Centerline is valid? [True, True] Translation: X:89.29, Y:14.58, Z:0.82 [[ 7.62304170e-01 -6.02866229e-01 -2.35466902e-01 8.92860127e+01] [ 5.82809727e-01 7.97620591e-01 -1.55351907e-01 1.45827684e+01] [ 2.81469668e-01 -1.88069945e-02 9.59385805e-01 8.19422276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.497719421 meters Centerline goodness : 0.958837 Centerline is valid? [True, True] Translation: X:89.31, Y:14.60, Z:0.82 [[ 7.61448041e-01 -6.03968084e-01 -2.35413328e-01 8.93085134e+01] [ 5.83937755e-01 7.96779307e-01 -1.55433051e-01 1.45986820e+01] [ 2.81449070e-01 -1.91125384e-02 9.59385810e-01 8.24605514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.527719421 meters Centerline goodness : 0.958014 Centerline is valid? [True, True] Translation: X:89.33, Y:14.62, Z:0.83 [[ 7.59747878e-01 -6.06115010e-01 -2.35388522e-01 8.93310556e+01] [ 5.86172937e-01 7.95129032e-01 -1.55470609e-01 1.46159101e+01] [ 2.81397317e-01 -1.98599162e-02 9.59385811e-01 8.30348178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.557719421 meters Centerline goodness : 0.956109 Centerline is valid? [True, True] Translation: X:89.35, Y:14.63, Z:0.84 [[ 7.58465473e-01 -6.07736900e-01 -2.35342274e-01 8.93530711e+01] [ 5.87848915e-01 7.93877056e-01 -1.55540586e-01 1.46320694e+01] [ 2.81360585e-01 -2.03735362e-02 9.59385814e-01 8.37810595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.587719421 meters Centerline goodness : 0.956532 Centerline is valid? [True, True] Translation: X:89.37, Y:14.65, Z:0.84 [[ 7.56805280e-01 -6.09823740e-01 -2.35288704e-01 8.93725358e+01] [ 5.90008386e-01 7.92257551e-01 -1.55621582e-01 1.46513378e+01] [ 2.81310988e-01 -2.10470734e-02 9.59385818e-01 8.43338687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.617719421 meters Centerline goodness : 0.951131 Centerline is valid? [True, True] Translation: X:89.39, Y:14.67, Z:0.85 [[ 7.57006977e-01 -6.09579701e-01 -2.35272235e-01 8.93928876e+01] [ 5.89745243e-01 7.92448562e-01 -1.55646477e-01 1.46712352e+01] [ 2.81320077e-01 -2.09252123e-02 9.59385819e-01 8.51980588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.647719421 meters Centerline goodness : 0.951043 Centerline is valid? [True, True] Translation: X:89.41, Y:14.69, Z:0.86 [[ 7.57615880e-01 -6.08839289e-01 -2.35229461e-01 8.94145037e+01] [ 5.88950277e-01 7.93026876e-01 -1.55711096e-01 1.46875600e+01] [ 2.81346318e-01 -2.05692571e-02 9.59385822e-01 8.58663115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.677719421 meters Centerline goodness : 0.950876 Centerline is valid? [True, True] Translation: X:89.44, Y:14.71, Z:0.87 [[ 7.59990376e-01 -6.05882122e-01 -2.35205194e-01 8.94352982e+01] [ 5.85843994e-01 7.95317204e-01 -1.55747744e-01 1.47065138e+01] [ 2.81427511e-01 -1.94267635e-02 9.59385823e-01 8.67245769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.707719421 meters Centerline goodness : 0.951751 Centerline is valid? [True, True] Translation: X:89.46, Y:14.72, Z:0.88 [[ 7.61525686e-01 -6.03969310e-01 -2.35158888e-01 8.94555297e+01] [ 5.83820973e-01 7.96789770e-01 -1.55817631e-01 1.47238934e+01] [ 2.81481263e-01 -1.86315622e-02 9.59385826e-01 8.76235971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.737719421 meters Centerline goodness : 0.951841 Centerline is valid? [True, True] Translation: X:89.48, Y:14.74, Z:0.88 [[ 7.62888719e-01 -6.02267641e-01 -2.35105276e-01 8.94763063e+01] [ 5.82015850e-01 7.98093487e-01 -1.55898484e-01 1.47416351e+01] [ 2.81528602e-01 -1.79018026e-02 9.59385831e-01 8.84028735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76771942099998 meters Centerline goodness : 0.951022 Centerline is valid? [True, True] Translation: X:89.50, Y:14.76, Z:0.89 [[ 7.66998984e-01 -5.97045365e-01 -2.35051889e-01 8.94962472e+01] [ 5.76529156e-01 8.02050312e-01 -1.55978937e-01 1.47598823e+01] [ 2.81649942e-01 -1.58785806e-02 9.59385835e-01 8.90629299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.79771942099998 meters Centerline goodness : 0.950698 Centerline is valid? [True, True] Translation: X:89.52, Y:14.78, Z:0.90 [[ 7.69535050e-01 -5.93782726e-01 -2.35027406e-01 8.95179812e+01] [ 5.73106627e-01 8.04492298e-01 -1.56015819e-01 1.47762444e+01] [ 2.81717237e-01 -1.46361228e-02 9.59385836e-01 8.98741538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82771942099998 meters Centerline goodness : 0.952735 Centerline is valid? [True, True] Translation: X:89.54, Y:14.79, Z:0.91 [[ 7.75289926e-01 -5.86269966e-01 -2.34974589e-01 8.95379092e+01] [ 5.65230803e-01 8.10029869e-01 -1.56095328e-01 1.47936203e+01] [ 2.81850439e-01 -1.17957402e-02 9.59385840e-01 9.10719653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.85771942099998 meters Centerline goodness : 0.953984 Centerline is valid? [True, True] Translation: X:89.56, Y:14.81, Z:0.92 [[ 7.78199691e-01 -5.82421502e-01 -2.34926444e-01 8.95593657e+01] [ 5.61188649e-01 8.12821587e-01 -1.56167757e-01 1.48092285e+01] [ 2.81908744e-01 -1.03083535e-02 9.59385844e-01 9.18907814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88771942099999 meters Centerline goodness : 0.955527 Centerline is valid? [True, True] Translation: X:89.58, Y:14.82, Z:0.93 [[ 7.81226631e-01 -5.78365381e-01 -2.34900910e-01 8.95809805e+01] [ 5.56941180e-01 8.15730445e-01 -1.56206155e-01 1.48242317e+01] [ 2.81960056e-01 -8.79358181e-03 9.59385845e-01 9.26948358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.917719421 meters Centerline goodness : 0.956152 Centerline is valid? [True, True] Translation: X:89.60, Y:14.84, Z:0.94 [[ 7.86169651e-01 -5.71650661e-01 -2.34846336e-01 8.96016027e+01] [ 5.49907138e-01 8.20473126e-01 -1.56288163e-01 1.48407014e+01] [ 2.82027339e-01 -6.27466592e-03 9.59385850e-01 9.36917176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.947719421 meters Centerline goodness : 0.957563 Centerline is valid? [True, True] Translation: X:89.62, Y:14.86, Z:0.94 [[ 7.88176653e-01 -5.68903273e-01 -2.34790607e-01 8.96229716e+01] [ 5.47015237e-01 8.22388094e-01 -1.56371843e-01 1.48557394e+01] [ 2.82049453e-01 -5.18540365e-03 9.59385855e-01 9.44850176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.977719421 meters Centerline goodness : 0.958524 Centerline is valid? [True, True] Translation: X:89.65, Y:14.87, Z:0.96 [[ 7.91762045e-01 -5.63911316e-01 -2.34769868e-01 8.96459462e+01] [ 5.41798301e-01 8.25828500e-01 -1.56402973e-01 1.48688222e+01] [ 2.82077054e-01 -3.36397780e-03 9.59385855e-01 9.55421383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.007719421 meters Centerline goodness : 0.959980 Centerline is valid? [True, True] Translation: X:89.67, Y:14.88, Z:0.96 [[ 7.94630486e-01 -5.59869506e-01 -2.34752056e-01 8.96701996e+01] [ 5.37575293e-01 8.28578634e-01 -1.56429704e-01 1.48807750e+01] [ 2.82090759e-01 -1.89309341e-03 9.59385856e-01 9.63127077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.037719421 meters Centerline goodness : 0.961471 Centerline is valid? [True, True] Translation: X:89.69, Y:14.89, Z:0.97 [[ 7.95687570e-01 -5.58377225e-01 -2.34725721e-01 8.96928338e+01] [ 5.36007686e-01 8.29586130e-01 -1.56469209e-01 1.48942033e+01] [ 2.82094046e-01 -1.31418582e-03 9.59385857e-01 9.71423936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.067719421 meters Centerline goodness : 0.962443 Centerline is valid? [True, True] Translation: X:89.72, Y:14.91, Z:0.98 [[ 7.98524117e-01 -5.54320553e-01 -2.34708241e-01 8.97160931e+01] [ 5.31771079e-01 8.32303250e-01 -1.56495427e-01 1.49074037e+01] [ 2.82097063e-01 1.54318266e-04 9.59385857e-01 9.80485802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.097719421 meters Centerline goodness : 0.961936 Centerline is valid? [True, True] Translation: X:89.74, Y:14.92, Z:0.99 [[ 8.00403954e-01 -5.51610031e-01 -2.34691039e-01 8.97393450e+01] [ 5.28938598e-01 8.34101353e-01 -1.56521220e-01 1.49211510e+01] [ 2.82094788e-01 1.14305466e-03 9.59385858e-01 9.88827826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.127719421 meters Centerline goodness : 0.961389 Centerline is valid? [True, True] Translation: X:89.76, Y:14.93, Z:1.00 [[ 8.03368221e-01 -5.47307326e-01 -2.34636299e-01 8.97648428e+01] [ 5.24431453e-01 8.36927163e-01 -1.56603238e-01 1.49307174e+01] [ 2.82083592e-01 2.75940942e-03 9.59385862e-01 9.96141069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.157719421 meters Centerline goodness : 0.960158 Centerline is valid? [True, True] Translation: X:89.79, Y:14.94, Z:1.00 [[ 8.04402956e-01 -5.45792692e-01 -2.34619315e-01 8.97904929e+01] [ 5.22846210e-01 8.37913657e-01 -1.56628680e-01 1.49422858e+01] [ 2.82077517e-01 3.32275356e-03 9.59385863e-01 1.00322058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.187719421 meters Centerline goodness : 0.957990 Centerline is valid? [True, True] Translation: X:89.82, Y:14.95, Z:1.01 [[ 8.05916255e-01 -5.43576560e-01 -2.34570913e-01 8.98193690e+01] [ 5.20516845e-01 8.39349134e-01 -1.56701135e-01 1.49490820e+01] [ 2.82065957e-01 4.18988022e-03 9.59385866e-01 1.00888204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.217719421 meters Centerline goodness : 0.957990 Centerline is valid? [True, True] Translation: X:89.84, Y:14.96, Z:1.02 [[ 8.05730504e-01 -5.43874238e-01 -2.34519013e-01 8.98418422e+01] [ 5.20804282e-01 8.39156312e-01 -1.56778774e-01 1.49644508e+01] [ 2.82066046e-01 4.18293451e-03 9.59385871e-01 1.01691302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.247719421 meters Centerline goodness : 0.956759 Centerline is valid? [True, True] Translation: X:89.87, Y:14.98, Z:1.02 [[ 8.06267001e-01 -5.43102751e-01 -2.34463058e-01 8.98667680e+01] [ 5.19976494e-01 8.39653875e-01 -1.56862412e-01 1.49763432e+01] [ 2.82060223e-01 4.55770724e-03 9.59385876e-01 1.02444661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.277719421 meters Centerline goodness : 0.954929 Centerline is valid? [True, True] Translation: X:89.89, Y:14.99, Z:1.03 [[ 8.06675791e-01 -5.42516606e-01 -2.34413949e-01 8.98920976e+01] [ 5.19344780e-01 8.40031050e-01 -1.56935767e-01 1.49892256e+01] [ 2.82055256e-01 4.85462346e-03 9.59385879e-01 1.03221104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.307719421 meters Centerline goodness : 0.951025 Centerline is valid? [True, True] Translation: X:89.92, Y:15.00, Z:1.04 [[ 8.07852712e-01 -5.40782274e-01 -2.34368360e-01 8.99207369e+01] [ 5.17519105e-01 8.41144325e-01 -1.57003823e-01 1.49965775e+01] [ 2.82042500e-01 5.54586040e-03 9.59385882e-01 1.03931683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.337719421 meters Centerline goodness : 0.947924 Centerline is valid? [True, False] Translation: X:89.93, Y:14.98, Z:1.04 [[ 8.08792623e-01 -5.33846177e-01 -2.46703774e-01 8.99279708e+01] [ 5.10310706e-01 8.45581136e-01 -1.56765831e-01 1.49826048e+01] [ 2.92296897e-01 8.95471008e-04 9.56327205e-01 1.03861489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.367719421 meters Centerline goodness : 0.946394 Centerline is valid? [False, False] Translation: X:89.93, Y:14.97, Z:1.04 [[ 8.09546850e-01 -5.25987625e-01 -2.60712324e-01 8.99319764e+01] [ 5.02555472e-01 8.50475881e-01 -1.55334388e-01 1.49724997e+01] [ 3.03433510e-01 -5.27194041e-03 9.52838030e-01 1.04032759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.397719421 meters Centerline goodness : 0.947201 Centerline is valid? [False, False] Translation: X:89.94, Y:14.96, Z:1.04 [[ 8.09911469e-01 -5.18038860e-01 -2.75098441e-01 8.99350697e+01] [ 4.94947132e-01 8.55274112e-01 -1.53406421e-01 1.49623056e+01] [ 3.14755062e-01 -1.19135652e-02 9.49098160e-01 1.04304045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.427719421 meters Centerline goodness : 0.947903 Centerline is valid? [False, False] Translation: X:89.94, Y:14.95, Z:1.04 [[ 8.09975983e-01 -5.15389908e-01 -2.79843080e-01 8.99439923e+01] [ 4.94265406e-01 8.56744566e-01 -1.47276805e-01 1.49522503e+01] [ 3.15659017e-01 -1.90260785e-02 9.48681924e-01 1.04382847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.457719421 meters Centerline goodness : 0.949319 Centerline is valid? [False, False] Translation: X:89.95, Y:14.95, Z:1.04 [[ 8.10111363e-01 -5.13921137e-01 -2.82142950e-01 8.99497547e+01] [ 4.93802400e-01 8.57541330e-01 -1.44159831e-01 1.49466798e+01] [ 3.16036025e-01 -2.25373484e-02 9.48479467e-01 1.04403665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.487719421 meters Centerline goodness : 0.948931 Centerline is valid? [False, False] Translation: X:89.96, Y:14.93, Z:1.05 [[ 8.09149985e-01 -5.11598731e-01 -2.89038129e-01 8.99611692e+01] [ 4.93992729e-01 8.58626869e-01 -1.36861553e-01 1.49332680e+01] [ 3.18194100e-01 -3.20412100e-02 9.47483971e-01 1.04627785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.51771942099998 meters Centerline goodness : 0.952060 Centerline is valid? [False, True] Translation: X:89.97, Y:14.93, Z:1.05 [[ 8.09355804e-01 -5.08939920e-01 -2.93126834e-01 8.99676421e+01] [ 4.92933098e-01 8.59981332e-01 -1.32094925e-01 1.49268070e+01] [ 3.19311985e-01 -3.75801242e-02 9.46904214e-01 1.04803373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54771942099998 meters Centerline goodness : 0.953609 Centerline is valid? [True, True] Translation: X:89.99, Y:14.94, Z:1.06 [[ 8.07058567e-01 -5.25612393e-01 -2.69050332e-01 8.99867963e+01] [ 4.97149205e-01 8.50714862e-01 -1.70666023e-01 1.49414150e+01] [ 3.18589293e-01 3.97931688e-03 9.47884501e-01 1.06474558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.57771942099998 meters Centerline goodness : 0.957211 Centerline is valid? [True, True] Translation: X:90.02, Y:14.94, Z:1.08 [[ 8.03536963e-01 -5.30990098e-01 -2.69031345e-01 9.00176454e+01] [ 5.02809055e-01 8.47375918e-01 -1.70695949e-01 1.49423040e+01] [ 3.18608541e-01 1.88910798e-03 9.47884502e-01 1.07649101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60771942099998 meters Centerline goodness : 0.956664 Centerline is valid? [True, True] Translation: X:90.05, Y:14.95, Z:1.08 [[ 8.01228562e-01 -5.34493541e-01 -2.68978525e-01 9.00452700e+01] [ 5.06476250e-01 8.45172345e-01 -1.70779144e-01 1.49504713e+01] [ 3.18613560e-01 6.01893252e-04 9.47884506e-01 1.08232647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.63771942099999 meters Centerline goodness : 0.958582 Centerline is valid? [True, True] Translation: X:90.07, Y:14.96, Z:1.10 [[ 7.97961043e-01 -5.39373453e-01 -2.68950649e-01 9.00697273e+01] [ 5.11610078e-01 8.42065686e-01 -1.70823033e-01 1.49579285e+01] [ 3.18611522e-01 -1.28773657e-03 9.47884508e-01 1.09619257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.667719421 meters Centerline goodness : 0.957002 Centerline is valid? [True, True] Translation: X:90.10, Y:14.96, Z:1.10 [[ 7.91162759e-01 -5.49327117e-01 -2.68888840e-01 9.00987532e+01] [ 5.22085374e-01 8.35591481e-01 -1.70920275e-01 1.49637602e+01] [ 3.18572365e-01 -5.15717419e-03 9.47884514e-01 1.10228225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.697719421 meters Centerline goodness : 0.954751 Centerline is valid? [True, True] Translation: X:90.12, Y:14.97, Z:1.11 [[ 7.87975397e-01 -5.53898739e-01 -2.68869784e-01 9.01234944e+01] [ 5.26904475e-01 8.32554916e-01 -1.70950246e-01 1.49746104e+01] [ 3.18537986e-01 -6.96410404e-03 9.47884514e-01 1.11201835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.727719421 meters Centerline goodness : 0.951460 Centerline is valid? [True, True] Translation: X:90.15, Y:14.98, Z:1.12 [[ 7.82953451e-01 -5.61000747e-01 -2.68816024e-01 9.01518526e+01] [ 5.34381686e-01 8.27758014e-01 -1.71034743e-01 1.49807993e+01] [ 3.18465237e-01 -9.73811822e-03 9.47884519e-01 1.11754670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.757719421 meters Centerline goodness : 0.950404 Centerline is valid? [True, True] Translation: X:90.18, Y:14.99, Z:1.13 [[ 7.80492672e-01 -5.64428331e-01 -2.68797038e-01 9.01770780e+01] [ 5.37995720e-01 8.25407485e-01 -1.71064577e-01 1.49921001e+01] [ 3.18420781e-01 -1.10970076e-02 9.47884520e-01 1.12525382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.787719421 meters Centerline goodness : 0.948214 Centerline is valid? [True, False] Translation: X:90.18, Y:14.98, Z:1.13 [[ 7.77768934e-01 -5.62139298e-01 -2.81202586e-01 9.01804820e+01] [ 5.40803618e-01 8.26482254e-01 -1.56392231e-01 1.49803546e+01] [ 3.20323167e-01 -3.04383572e-02 9.46819188e-01 1.12583796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.817719421 meters Centerline goodness : 0.950287 Centerline is valid? [False, True] Translation: X:90.18, Y:14.97, Z:1.13 [[ 7.78392670e-01 -5.55616248e-01 -2.92224976e-01 9.01783782e+01] [ 5.38654228e-01 8.30188417e-01 -1.43662159e-01 1.49704280e+01] [ 3.22422819e-01 -4.55826475e-02 9.45497619e-01 1.12506210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.847719421 meters Centerline goodness : 0.951709 Centerline is valid? [True, True] Translation: X:90.19, Y:14.99, Z:1.14 [[ 7.80559882e-01 -5.61926211e-01 -2.73797742e-01 9.01941074e+01] [ 5.34697259e-01 8.27111084e-01 -1.73164936e-01 1.49916935e+01] [ 3.23767063e-01 -1.12333001e-02 9.46070136e-01 1.13840035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.877719421 meters Centerline goodness : 0.953109 Centerline is valid? [True, True] Translation: X:90.22, Y:15.01, Z:1.15 [[ 7.82608073e-01 -5.59079336e-01 -2.73778924e-01 9.02164226e+01] [ 5.31670612e-01 8.29053655e-01 -1.73194682e-01 1.50058982e+01] [ 3.23806986e-01 -1.00166521e-02 9.46070136e-01 1.15002933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.907719421 meters Centerline goodness : 0.954575 Centerline is valid? [True, True] Translation: X:90.24, Y:15.02, Z:1.16 [[ 7.88989112e-01 -5.50064672e-01 -2.73724385e-01 9.02387341e+01] [ 5.22095061e-01 8.35099095e-01 -1.73280839e-01 1.50199789e+01] [ 3.23902654e-01 -6.19345406e-03 9.46070141e-01 1.15846192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.937719421 meters Centerline goodness : 0.955992 Centerline is valid? [True, True] Translation: X:90.26, Y:15.03, Z:1.17 [[ 7.92626179e-01 -5.44825245e-01 -2.73695438e-01 9.02611727e+01] [ 5.16534970e-01 8.38540119e-01 -1.73326549e-01 1.50340988e+01] [ 3.23937285e-01 -3.99010451e-03 9.46070143e-01 1.16842238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.967719421 meters Centerline goodness : 0.958144 Centerline is valid? [True, True] Translation: X:90.28, Y:15.05, Z:1.18 [[ 7.96438573e-01 -5.39246180e-01 -2.73677102e-01 9.02832598e+01] [ 5.10624259e-01 8.42146506e-01 -1.73355497e-01 1.50472276e+01] [ 3.23957504e-01 -1.67916256e-03 9.46070143e-01 1.18060673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.997719421 meters Centerline goodness : 0.956961 Centerline is valid? [True, True] Translation: X:90.31, Y:15.06, Z:1.18 [[ 8.03086174e-01 -5.29328197e-01 -2.73613335e-01 9.03062876e+01] [ 5.00107386e-01 8.48413571e-01 -1.73456088e-01 1.50608446e+01] [ 3.23952465e-01 2.46413702e-03 9.46070150e-01 1.18496957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.027719421 meters Centerline goodness : 0.951975 Centerline is valid? [True, True] Translation: X:90.33, Y:15.08, Z:1.19 [[ 8.07114395e-01 -5.23179337e-01 -2.73586794e-01 9.03288949e+01] [ 4.93599016e-01 8.52208000e-01 -1.73497941e-01 1.50755941e+01] [ 3.23923392e-01 4.99051364e-03 9.46070151e-01 1.19487258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.057719421 meters Centerline goodness : 0.949277 Centerline is valid? [True, False] Translation: X:90.33, Y:15.07, Z:1.19 [[ 8.07134625e-01 -5.16577649e-01 -2.85799281e-01 9.03289664e+01] [ 4.90696426e-01 8.56185560e-01 -1.61750749e-01 1.50686890e+01] [ 3.28254039e-01 -9.68605578e-03 9.44539817e-01 1.19357886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.087719421 meters Centerline goodness : 0.948575 Centerline is valid? [False, False] Translation: X:90.33, Y:15.06, Z:1.19 [[ 8.06440891e-01 -5.11314018e-01 -2.97003475e-01 9.03276516e+01] [ 4.89276255e-01 8.59058517e-01 -1.50423435e-01 1.50598956e+01] [ 3.32056976e-01 -2.40091391e-02 9.42953724e-01 1.19287519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.117719421 meters Centerline goodness : 0.948911 Centerline is valid? [False, False] Translation: X:90.33, Y:15.05, Z:1.19 [[ 8.04510490e-01 -5.09462108e-01 -3.05305145e-01 9.03318742e+01] [ 4.90565729e-01 8.59758737e-01 -1.41986548e-01 1.50504515e+01] [ 3.34825531e-01 -3.55425735e-02 9.41609574e-01 1.19125417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.147719421 meters Centerline goodness : 0.948120 Centerline is valid? [False, False] Translation: X:90.33, Y:15.04, Z:1.19 [[ 8.04315135e-01 -5.06570983e-01 -3.10584937e-01 9.03335991e+01] [ 4.91025531e-01 8.60981647e-01 -1.32682072e-01 1.50428984e+01] [ 3.34620818e-01 -4.57869351e-02 9.41239855e-01 1.18807927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.177719421 meters Centerline goodness : 0.951980 Centerline is valid? [False, True] Translation: X:90.34, Y:15.04, Z:1.19 [[ 8.02490409e-01 -5.06410892e-01 -3.15526786e-01 9.03416296e+01] [ 4.94563963e-01 8.60386367e-01 -1.23051965e-01 1.50377374e+01] [ 3.33789800e-01 -5.73001559e-02 9.40904385e-01 1.19376083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.207719421 meters Centerline goodness : 0.953622 Centerline is valid? [True, True] Translation: X:90.35, Y:15.07, Z:1.21 [[ 8.00577278e-01 -5.28417123e-01 -2.82579840e-01 9.03527692e+01] [ 4.97917992e-01 8.48984367e-01 -1.76927153e-01 1.50663513e+01] [ 3.33397204e-01 9.42271620e-04 9.42785987e-01 1.21174511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.237719421 meters Centerline goodness : 0.951665 Centerline is valid? [True, True] Translation: X:90.38, Y:15.08, Z:1.22 [[ 7.99989597e-01 -5.29337513e-01 -2.82521579e-01 9.03774459e+01] [ 4.98861231e-01 8.48411069e-01 -1.77020141e-01 1.50792026e+01] [ 3.33397836e-01 6.75209026e-04 9.42785992e-01 1.22045466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26771942099998 meters Centerline goodness : 0.948371 Centerline is valid? [True, False] Translation: X:90.38, Y:15.07, Z:1.22 [[ 7.97074454e-01 -5.28309973e-01 -2.92507926e-01 9.03812560e+01] [ 5.00211758e-01 8.48985984e-01 -1.70326147e-01 1.50700618e+01] [ 3.38320132e-01 -1.05532834e-02 9.40971900e-01 1.21888998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.29771942099998 meters Centerline goodness : 0.947659 Centerline is valid? [False, False] Translation: X:90.38, Y:15.06, Z:1.22 [[ 7.95227790e-01 -5.23911020e-01 -3.05172093e-01 9.03848482e+01] [ 4.99980343e-01 8.51365335e-01 -1.58734758e-01 1.50634061e+01] [ 3.42975830e-01 -2.63497564e-02 9.38974585e-01 1.21981505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32771942099998 meters Centerline goodness : 0.943858 Centerline is valid? [False, False] Translation: X:90.39, Y:15.06, Z:1.22 [[ 7.93638770e-01 -5.20580878e-01 -3.14854017e-01 9.03857430e+01] [ 5.00123144e-01 8.52933324e-01 -1.49604765e-01 1.50565299e+01] [ 3.46430863e-01 -3.87336394e-02 9.37275500e-01 1.21740121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.35771942099998 meters Centerline goodness : 0.940787 Centerline is valid? [False, False] Translation: X:90.38, Y:15.05, Z:1.22 [[ 7.92622251e-01 -5.16000367e-01 -3.24797766e-01 9.03825374e+01] [ 4.99567656e-01 8.55014169e-01 -1.39222587e-01 1.50486387e+01] [ 3.49545598e-01 -5.19075386e-02 9.35480349e-01 1.21521644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38771942099999 meters Centerline goodness : 0.938155 Centerline is valid? [False, False] Translation: X:90.38, Y:15.04, Z:1.21 [[ 7.90850699e-01 -5.11913263e-01 -3.35410170e-01 9.03814308e+01] [ 4.99209759e-01 8.56622512e-01 -1.30336056e-01 1.50381238e+01] [ 3.54040658e-01 -6.43636694e-02 9.33012610e-01 1.21466155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.417719421 meters Centerline goodness : 0.937355 Centerline is valid? [False, False] Translation: X:90.38, Y:15.03, Z:1.21 [[ 7.91721059e-01 -5.09933861e-01 -3.36370661e-01 9.03786009e+01] [ 5.00112416e-01 8.57256737e-01 -1.22468190e-01 1.50306767e+01] [ 3.50806693e-01 -7.12624988e-02 9.33732467e-01 1.21077212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.447719421 meters Centerline goodness : 0.941689 Centerline is valid? [False, False] Translation: X:90.36, Y:15.01, Z:1.21 [[ 0.79010557 -0.50360127 -0.34945522 90.35920353] [ 0.504305 0.85812441 -0.09643111 15.00629521] [ 0.34843889 -0.10004126 0.93197752 1.20592653] [ 0. 0. 0. 1. ]] SLAMing on 141.477719421 meters Centerline goodness : 0.943771 Centerline is valid? [False, False] Translation: X:90.35, Y:14.99, Z:1.20 [[ 0.79126622 -0.50271823 -0.34809792 90.34500781] [ 0.50448217 0.85840432 -0.09295028 14.99258731] [ 0.34553656 -0.10206078 0.93283872 1.20064846] [ 0. 0. 0. 1. ]] SLAMing on 141.507719421 meters Centerline goodness : 0.942588 Centerline is valid? [False, False] Translation: X:90.32, Y:14.97, Z:1.19 [[ 7.90450910e-01 -4.99207636e-01 -3.54935341e-01 9.03204321e+01] [ 5.07211025e-01 8.58318431e-01 -7.76301923e-02 1.49697744e+01] [ 3.43401130e-01 -1.18664262e-01 9.31662201e-01 1.18903529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.537719421 meters Centerline goodness : 0.944116 Centerline is valid? [False, False] Translation: X:90.30, Y:14.95, Z:1.18 [[ 7.91958318e-01 -4.96119784e-01 -3.55903333e-01 9.03026583e+01] [ 5.07049598e-01 8.59125739e-01 -6.93085081e-02 1.49546102e+01] [ 3.40151036e-01 -1.25571193e-01 9.31949113e-01 1.17916555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.567719421 meters Centerline goodness : 0.946533 Centerline is valid? [False, False] Translation: X:90.28, Y:14.94, Z:1.17 [[ 7.94023619e-01 -4.93067967e-01 -3.55542504e-01 9.02830516e+01] [ 5.06614204e-01 8.59995361e-01 -6.12374625e-02 1.49395064e+01] [ 3.35959136e-01 -1.31498891e-01 9.32651865e-01 1.17017733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.597719421 meters Centerline goodness : 0.951100 Centerline is valid? [False, True] Translation: X:90.25, Y:14.91, Z:1.16 [[ 7.99796661e-01 -4.86227397e-01 -3.52005994e-01 9.02478196e+01] [ 4.99588090e-01 8.64271787e-01 -5.87027929e-02 1.49126469e+01] [ 3.32771756e-01 -1.28907705e-01 9.34155106e-01 1.15610164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.627719421 meters Centerline goodness : 0.951285 Centerline is valid? [True, True] Translation: X:90.25, Y:14.96, Z:1.16 [[ 8.04810949e-01 -5.21959101e-01 -2.82556249e-01 9.02463827e+01] [ 4.91382582e-01 8.52965781e-01 -1.76046965e-01 1.49647776e+01] [ 3.32900128e-01 2.84130596e-03 9.42957810e-01 1.16435037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.657719421 meters Centerline goodness : 0.949022 Centerline is valid? [True, False] Translation: X:90.23, Y:14.95, Z:1.16 [[ 8.05518460e-01 -5.13734367e-01 -2.95325263e-01 9.02304411e+01] [ 4.88855917e-01 8.57791313e-01 -1.58789028e-01 1.49519643e+01] [ 3.34902826e-01 -1.64640085e-02 9.42108823e-01 1.15863606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.687719421 meters Centerline goodness : 0.945113 Centerline is valid? [False, False] Translation: X:90.21, Y:14.93, Z:1.15 [[ 8.09477690e-01 -5.03166181e-01 -3.02604799e-01 9.02052441e+01] [ 4.80222843e-01 8.63899696e-01 -1.51866177e-01 1.49329835e+01] [ 3.37834118e-01 -2.23854548e-02 9.40939424e-01 1.14679072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.717719421 meters Centerline goodness : 0.942164 Centerline is valid? [False, False] Translation: X:90.20, Y:14.92, Z:1.14 [[ 8.09664675e-01 -4.96954762e-01 -3.12216397e-01 9.01983377e+01] [ 4.78407839e-01 8.67007480e-01 -1.39369903e-01 1.49234428e+01] [ 3.39954489e-01 -3.65238845e-02 9.39732383e-01 1.14325430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.747719421 meters Centerline goodness : 0.941500 Centerline is valid? [False, False] Translation: X:90.19, Y:14.91, Z:1.14 [[ 8.08644493e-01 -4.93473350e-01 -3.20278217e-01 9.01900551e+01] [ 4.79066018e-01 8.68343281e-01 -1.28357686e-01 1.49133681e+01] [ 3.41452535e-01 -4.96386744e-02 9.38587326e-01 1.13889786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.777719421 meters Centerline goodness : 0.940134 Centerline is valid? [False, False] Translation: X:90.17, Y:14.90, Z:1.13 [[ 8.08776038e-01 -4.89820591e-01 -3.25510535e-01 9.01716613e+01] [ 4.79245957e-01 8.69715643e-01 -1.17974628e-01 1.48955938e+01] [ 3.40888006e-01 -6.05845560e-02 9.38149710e-01 1.12975883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.807719421 meters Centerline goodness : 0.941928 Centerline is valid? [False, False] Translation: X:90.15, Y:14.88, Z:1.12 [[ 8.08885338e-01 -4.86198805e-01 -3.30628542e-01 9.01521737e+01] [ 4.79671116e-01 8.70882792e-01 -1.07139085e-01 1.48789190e+01] [ 3.40029603e-01 -7.19297270e-02 9.37659844e-01 1.12120311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.837719421 meters Centerline goodness : 0.942188 Centerline is valid? [False, False] Translation: X:90.14, Y:14.86, Z:1.12 [[ 8.09789673e-01 -4.83614160e-01 -3.32201791e-01 9.01401749e+01] [ 4.79065819e-01 8.71891549e-01 -1.01494171e-01 1.48625991e+01] [ 3.38727953e-01 -7.69575915e-02 9.37731786e-01 1.11673706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.867719421 meters Centerline goodness : 0.941483 Centerline is valid? [False, False] Translation: X:90.13, Y:14.85, Z:1.11 [[ 8.10741730e-01 -4.80928284e-01 -3.33775122e-01 9.01260579e+01] [ 4.79244265e-01 8.72701336e-01 -9.33665516e-02 1.48471655e+01] [ 3.36188611e-01 -8.42636534e-02 9.38017513e-01 1.10832007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.897719421 meters Centerline goodness : 0.939529 Centerline is valid? [False, False] Translation: X:90.12, Y:14.83, Z:1.11 [[ 8.08371589e-01 -4.78967001e-01 -3.42236741e-01 9.01215669e+01] [ 4.79735065e-01 8.72934393e-01 -8.85427196e-02 1.48334247e+01] [ 3.41159263e-01 -9.26075462e-02 9.35432627e-01 1.10829996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.927719421 meters Centerline goodness : 0.940109 Centerline is valid? [False, False] Translation: X:90.10, Y:14.81, Z:1.10 [[ 8.06787428e-01 -4.76687475e-01 -3.49088953e-01 9.01009272e+01] [ 4.80965530e-01 8.73029755e-01 -8.05680217e-02 1.48144370e+01] [ 3.43170810e-01 -1.02898486e-01 9.33619675e-01 1.10080777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.957719421 meters Centerline goodness : 0.938398 Centerline is valid? [False, False] Translation: X:90.09, Y:14.80, Z:1.09 [[ 8.06130343e-01 -4.73851285e-01 -3.54427469e-01 9.00877041e+01] [ 4.82364148e-01 8.73150151e-01 -7.02398867e-02 1.47952482e+01] [ 3.42751658e-01 -1.14340600e-01 9.32441702e-01 1.09285190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.987719421 meters Centerline goodness : 0.938154 Centerline is valid? [False, False] Translation: X:90.06, Y:14.77, Z:1.08 [[ 8.05617644e-01 -4.71129715e-01 -3.59189369e-01 9.00638206e+01] [ 4.82076807e-01 8.73730293e-01 -6.47867804e-02 1.47694867e+01] [ 3.44357610e-01 -1.20963491e-01 9.31013249e-01 1.08379419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.01771942099998 meters Centerline goodness : 0.937252 Centerline is valid? [False, False] Translation: X:90.05, Y:14.76, Z:1.08 [[ 8.06274119e-01 -4.69485551e-01 -3.59868535e-01 9.00507060e+01] [ 4.81679039e-01 8.74201215e-01 -6.12987654e-02 1.47559003e+01] [ 3.43376395e-01 -1.23917522e-01 9.30987164e-01 1.07805355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04771942099998 meters Centerline goodness : 0.938757 Centerline is valid? [False, False] Translation: X:90.02, Y:14.73, Z:1.06 [[ 8.07525828e-01 -4.69266644e-01 -3.57338571e-01 9.00207111e+01] [ 4.80806155e-01 8.74629030e-01 -6.20443548e-02 1.47320445e+01] [ 3.41654034e-01 -1.21708165e-01 9.31911822e-01 1.06359009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.07771942099998 meters Centerline goodness : 0.939295 Centerline is valid? [False, False] Translation: X:90.01, Y:14.72, Z:1.06 [[ 8.07776012e-01 -4.69223435e-01 -3.56829486e-01 9.00072791e+01] [ 4.81775054e-01 8.74301981e-01 -5.90664372e-02 1.47173557e+01] [ 3.39692083e-01 -1.24199094e-01 9.32300313e-01 1.05817610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10771942099998 meters Centerline goodness : 0.939295 Centerline is valid? [False, False] Translation: X:89.98, Y:14.70, Z:1.05 [[ 8.07639266e-01 -4.68438851e-01 -3.58167362e-01 8.99789444e+01] [ 4.81369195e-01 8.74571450e-01 -5.83821536e-02 1.46987580e+01] [ 3.40591418e-01 -1.25259015e-01 9.31830277e-01 1.04639383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.13771942099999 meters Centerline goodness : 0.937428 Centerline is valid? [False, False] Translation: X:89.95, Y:14.67, Z:1.03 [[ 8.06647681e-01 -4.68830880e-01 -3.59884876e-01 8.99481302e+01] [ 4.84599056e-01 8.73225542e-01 -5.13897519e-02 1.46736897e+01] [ 3.38353769e-01 -1.32946447e-01 9.31580361e-01 1.03026657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.167719421 meters Centerline goodness : 0.937446 Centerline is valid? [False, False] Translation: X:89.92, Y:14.65, Z:1.02 [[ 8.05439006e-01 -4.70617538e-01 -3.60259823e-01 8.99200791e+01] [ 4.86380076e-01 8.72200307e-01 -5.19715918e-02 1.46524510e+01] [ 3.38677471e-01 -1.33363253e-01 9.31403142e-01 1.01863282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.197719421 meters Centerline goodness : 0.936672 Centerline is valid? [False, False] Translation: X:89.90, Y:14.64, Z:1.01 [[ 8.04377364e-01 -4.74804564e-01 -3.57124182e-01 8.99042144e+01] [ 4.89905947e-01 8.70137324e-01 -5.34153641e-02 1.46396892e+01] [ 3.36108939e-01 -1.31991151e-01 9.32528347e-01 1.01304158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.227719421 meters Centerline goodness : 0.936239 Centerline is valid? [False, False] Translation: X:89.88, Y:14.62, Z:1.00 [[ 7.99125504e-01 -4.82259838e-01 -3.58920433e-01 8.98822748e+01] [ 4.97906332e-01 8.65524208e-01 -5.43795032e-02 1.46200161e+01] [ 3.36879374e-01 -1.35252709e-01 9.31782696e-01 1.00471433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.257719421 meters Centerline goodness : 0.934909 Centerline is valid? [False, False] Translation: X:89.86, Y:14.60, Z:0.99 [[ 7.96373672e-01 -4.85127957e-01 -3.61164560e-01 8.98577151e+01] [ 5.01488082e-01 8.63474105e-01 -5.40571382e-02 1.46008965e+01] [ 3.38080874e-01 -1.38070041e-01 9.30933932e-01 9.93968727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.287719421 meters Centerline goodness : 0.929372 Centerline is valid? [False, False] Translation: X:89.85, Y:14.59, Z:0.99 [[ 7.88598626e-01 -4.94739337e-01 -3.65164615e-01 8.98453837e+01] [ 5.13423099e-01 8.56573985e-01 -5.17467851e-02 1.45891456e+01] [ 3.38391679e-01 -1.46676505e-01 9.29503671e-01 9.87694519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.317719421 meters Centerline goodness : 0.931246 Centerline is valid? [False, False] Translation: X:89.82, Y:14.57, Z:0.97 [[ 7.86825696e-01 -4.98023137e-01 -3.64524731e-01 8.98161427e+01] [ 5.18591583e-01 8.53728893e-01 -4.70079455e-02 1.45673726e+01] [ 3.34616339e-01 -1.52052398e-01 9.30006437e-01 9.71662601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.347719421 meters Centerline goodness : 0.929737 Centerline is valid? [False, False] Translation: X:89.78, Y:14.54, Z:0.96 [[ 7.83053700e-01 -5.05218744e-01 -3.62740849e-01 8.97813168e+01] [ 5.27471862e-01 8.48479276e-01 -4.30854156e-02 1.45418467e+01] [ 3.29545652e-01 -1.57597397e-01 9.30893508e-01 9.56722828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.377719421 meters Centerline goodness : 0.932347 Centerline is valid? [False, False] Translation: X:89.75, Y:14.52, Z:0.94 [[ 7.81954862e-01 -5.08691748e-01 -3.60248939e-01 8.97513224e+01] [ 5.30478794e-01 8.46558961e-01 -4.39337470e-02 1.45208666e+01] [ 3.27320702e-01 -1.56750216e-01 9.31821081e-01 9.44167282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.407719421 meters Centerline goodness : 0.933572 Centerline is valid? [False, False] Translation: X:89.71, Y:14.49, Z:0.92 [[ 7.83744505e-01 -5.10144720e-01 -3.54255438e-01 8.97130503e+01] [ 5.31973042e-01 8.45766988e-01 -4.10229833e-02 1.44931473e+01] [ 3.20545213e-01 -1.56302805e-01 9.34248468e-01 9.23898723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.437719421 meters Centerline goodness : 0.935465 Centerline is valid? [False, False] Translation: X:89.68, Y:14.47, Z:0.91 [[ 7.82368909e-01 -5.13977257e-01 -3.51747452e-01 8.96790597e+01] [ 5.37400254e-01 8.42564542e-01 -3.58602805e-02 1.44715791e+01] [ 3.14801299e-01 -1.60973201e-01 9.35407810e-01 9.07527582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.467719421 meters Centerline goodness : 0.939790 Centerline is valid? [False, False] Translation: X:89.64, Y:14.45, Z:0.89 [[ 7.81899140e-01 -5.16218543e-01 -3.49502720e-01 8.96415436e+01] [ 5.41226540e-01 8.40328792e-01 -3.03538088e-02 1.44496396e+01] [ 3.09366398e-01 -1.65426531e-01 9.36443535e-01 8.90722626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.497719421 meters Centerline goodness : 0.938910 Centerline is valid? [False, False] Translation: X:89.60, Y:14.43, Z:0.87 [[ 7.80022121e-01 -5.21334078e-01 -3.46087084e-01 8.96042416e+01] [ 5.47283363e-01 8.36523720e-01 -2.66268045e-02 1.44296738e+01] [ 3.03391515e-01 -1.68638207e-01 9.37824474e-01 8.73706115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.527719421 meters Centerline goodness : 0.940126 Centerline is valid? [False, False] Translation: X:89.57, Y:14.41, Z:0.86 [[ 7.77176721e-01 -5.28472622e-01 -3.41632891e-01 8.95693130e+01] [ 5.53811654e-01 8.32189192e-01 -2.74554336e-02 1.44108433e+01] [ 2.98812645e-01 -1.67862553e-01 9.39432364e-01 8.56710659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.557719421 meters Centerline goodness : 0.940130 Centerline is valid? [False, False] Translation: X:89.53, Y:14.39, Z:0.84 [[ 7.78216233e-01 -5.30917132e-01 -3.35419876e-01 8.95294220e+01] [ 5.55339623e-01 8.31179712e-01 -2.71696479e-02 1.43873310e+01] [ 2.93219027e-01 -1.65128086e-01 9.41676865e-01 8.36079102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.587719421 meters Centerline goodness : 0.939406 Centerline is valid? [False, False] Translation: X:89.49, Y:14.37, Z:0.82 [[ 7.79062967e-01 -5.32882751e-01 -3.30298149e-01 8.94896981e+01] [ 5.56930532e-01 8.30160825e-01 -2.57174682e-02 1.43660482e+01] [ 2.87904979e-01 -1.63917597e-01 9.43526229e-01 8.15593030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.617719421 meters Centerline goodness : 0.941268 Centerline is valid? [False, False] Translation: X:89.45, Y:14.35, Z:0.80 [[ 7.77707472e-01 -5.35056331e-01 -3.29978501e-01 8.94503584e+01] [ 5.59966262e-01 8.28191893e-01 -2.31511127e-02 1.43543222e+01] [ 2.85672669e-01 -1.66772035e-01 9.43704517e-01 7.97684965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.647719421 meters Centerline goodness : 0.942587 Centerline is valid? [False, False] Translation: X:89.42, Y:14.34, Z:0.79 [[ 7.77031278e-01 -5.36301443e-01 -3.29549927e-01 8.94179561e+01] [ 5.60226816e-01 8.27918449e-01 -2.63999437e-02 1.43420210e+01] [ 2.86998792e-01 -1.64109125e-01 9.43768980e-01 7.85573963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.677719421 meters Centerline goodness : 0.939539 Centerline is valid? [False, False] Translation: X:89.39, Y:14.34, Z:0.77 [[ 7.77273787e-01 -5.37827489e-01 -3.26476725e-01 8.93854774e+01] [ 5.59696947e-01 8.28092719e-01 -3.16508390e-02 1.43362290e+01] [ 2.87375690e-01 -1.58126659e-01 9.44675168e-01 7.71767320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.707719421 meters Centerline goodness : 0.939998 Centerline is valid? [False, False] Translation: X:89.35, Y:14.32, Z:0.76 [[ 7.79886004e-01 -5.37693045e-01 -3.20412249e-01 8.93474756e+01] [ 5.57168711e-01 8.29616427e-01 -3.60501299e-02 1.43190363e+01] [ 2.85203169e-01 -1.50408688e-01 9.46591981e-01 7.56075919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.737719421 meters Centerline goodness : 0.942674 Centerline is valid? [False, False] Translation: X:89.32, Y:14.32, Z:0.75 [[ 7.82307456e-01 -5.35453922e-01 -3.18251695e-01 8.93244861e+01] [ 5.54008288e-01 8.31668818e-01 -3.74405422e-02 1.43206082e+01] [ 2.84727696e-01 -1.47024061e-01 9.47266628e-01 7.49055908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76771942099998 meters Centerline goodness : 0.943825 Centerline is valid? [False, False] Translation: X:89.29, Y:14.31, Z:0.74 [[ 7.83570257e-01 -5.34448855e-01 -3.16831302e-01 8.92899828e+01] [ 5.51988899e-01 8.32899539e-01 -3.98323081e-02 1.43090636e+01] [ 2.85176977e-01 -1.43675950e-01 9.47645141e-01 7.37223480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.79771942099998 meters Centerline goodness : 0.942665 Centerline is valid? [False, False] Translation: X:89.25, Y:14.30, Z:0.72 [[ 7.85130811e-01 -5.31704025e-01 -3.17585325e-01 8.92450762e+01] [ 5.50255648e-01 8.34206813e-01 -3.63003459e-02 1.42994135e+01] [ 2.84232882e-01 -1.46252599e-01 9.47534615e-01 7.21471210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82771942099998 meters Centerline goodness : 0.940661 Centerline is valid? [False, False] Translation: X:89.20, Y:14.29, Z:0.71 [[ 7.86253023e-01 -5.30400507e-01 -3.16988148e-01 8.92042974e+01] [ 5.49227319e-01 8.34948819e-01 -3.47824897e-02 1.42882395e+01] [ 2.83117530e-01 -1.46750713e-01 9.47791481e-01 7.06000396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.85771942099998 meters Centerline goodness : 0.940045 Centerline is valid? [False, False] Translation: X:89.17, Y:14.27, Z:0.69 [[ 7.86848241e-01 -5.29218128e-01 -3.17487037e-01 8.91655074e+01] [ 5.49071226e-01 8.35186565e-01 -3.13718067e-02 1.42705853e+01] [ 2.81763437e-01 -1.49638146e-01 9.47743526e-01 6.91416083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88771942099999 meters Centerline goodness : 0.940798 Centerline is valid? [False, False] Translation: X:89.13, Y:14.25, Z:0.68 [[ 7.87716990e-01 -5.27310428e-01 -3.18505348e-01 8.91263914e+01] [ 5.48321957e-01 8.35809876e-01 -2.76564962e-02 1.42532589e+01] [ 2.80793474e-01 -1.52857984e-01 9.47517526e-01 6.76844473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.917719421 meters Centerline goodness : 0.944113 Centerline is valid? [False, False] Translation: X:89.08, Y:14.24, Z:0.66 [[ 7.91871753e-01 -5.17046393e-01 -3.24964852e-01 8.90813256e+01] [ 5.42890938e-01 8.39700685e-01 -1.31220715e-02 1.42370693e+01] [ 2.79657928e-01 -1.66029475e-01 9.45635055e-01 6.59594732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.947719421 meters Centerline goodness : 0.941507 Centerline is valid? [False, False] Translation: X:89.06, Y:14.23, Z:0.65 [[ 7.95054482e-01 -5.10627259e-01 -3.27334954e-01 8.90647891e+01] [ 5.37108855e-01 8.43439144e-01 -1.11574281e-02 1.42321808e+01] [ 2.81784401e-01 -1.66943739e-01 9.44842495e-01 6.54432568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.977719421 meters Centerline goodness : 0.940926 Centerline is valid? [False, False] Translation: X:89.03, Y:14.22, Z:0.64 [[ 8.00744937e-01 -4.98387721e-01 -3.32290875e-01 8.90314951e+01] [ 5.25857162e-01 8.50530657e-01 -8.47623472e-03 1.42236666e+01] [ 2.86848028e-01 -1.67950235e-01 9.43138870e-01 6.44783609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.007719421 meters Centerline goodness : 0.941751 Centerline is valid? [False, False] Translation: X:89.01, Y:14.22, Z:0.64 [[ 8.04869124e-01 -4.92422691e-01 -3.31218336e-01 8.90099715e+01] [ 5.17173860e-01 8.55740286e-01 -1.54842362e-02 1.42164056e+01] [ 2.91061663e-01 -1.58834682e-01 9.43427078e-01 6.39120192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.037719421 meters Centerline goodness : 0.944225 Centerline is valid? [False, False] Translation: X:88.99, Y:14.22, Z:0.64 [[ 8.09366439e-01 -4.85372563e-01 -3.30665151e-01 8.89945555e+01] [ 5.07976026e-01 8.61123730e-01 -2.06465177e-02 1.42202124e+01] [ 2.94764861e-01 -1.51259371e-01 9.43522273e-01 6.36379996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.067719421 meters Centerline goodness : 0.945050 Centerline is valid? [False, False] Translation: X:88.99, Y:14.22, Z:0.63 [[ 8.12624236e-01 -4.79200285e-01 -3.31675954e-01 8.89892007e+01] [ 5.04335847e-01 8.63426751e-01 -1.18151867e-02 1.42184777e+01] [ 2.92039733e-01 -1.57674766e-01 9.43319385e-01 6.32500827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.097719421 meters Centerline goodness : 0.945208 Centerline is valid? [False, False] Translation: X:88.98, Y:14.22, Z:0.63 [[ 8.15128319e-01 -4.74287396e-01 -3.32591776e-01 8.89753646e+01] [ 4.97892415e-01 8.67086690e-01 -1.62423768e-02 1.42177393e+01] [ 2.96089457e-01 -1.52355301e-01 9.42931013e-01 6.30679493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.127719421 meters Centerline goodness : 0.947245 Centerline is valid? [False, False] Translation: X:88.97, Y:14.21, Z:0.63 [[ 8.15933884e-01 -4.65442627e-01 -3.42950518e-01 8.89674554e+01] [ 4.91919550e-01 8.70569174e-01 -1.11566354e-02 1.42110259e+01] [ 3.03754923e-01 -1.59600988e-01 9.39287215e-01 6.29482388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.157719421 meters Centerline goodness : 0.945315 Centerline is valid? [False, False] Translation: X:88.96, Y:14.21, Z:0.63 [[ 8.16715235e-01 -4.60346340e-01 -3.47933143e-01 8.89581739e+01] [ 4.85753334e-01 8.73947919e-01 -1.60852112e-02 1.42100395e+01] [ 3.11480215e-01 -1.55872647e-01 9.37381349e-01 6.29231509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.187719421 meters Centerline goodness : 0.947129 Centerline is valid? [False, False] Translation: X:88.96, Y:14.21, Z:0.63 [[ 8.17166095e-01 -4.59857507e-01 -3.47520713e-01 8.89573352e+01] [ 4.85119874e-01 8.74297639e-01 -1.61970746e-02 1.42105408e+01] [ 3.11284886e-01 -1.55353505e-01 9.37532404e-01 6.28648039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.217719421 meters Centerline goodness : 0.945499 Centerline is valid? [False, False] Translation: X:88.95, Y:14.21, Z:0.63 [[ 8.20558825e-01 -4.55394229e-01 -3.45397324e-01 8.89534733e+01] [ 4.80404265e-01 8.76920683e-01 -1.48949009e-02 1.42081859e+01] [ 3.09669109e-01 -1.53708205e-01 9.38338335e-01 6.25598173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.247719421 meters Centerline goodness : 0.947695 Centerline is valid? [False, False] Translation: X:88.95, Y:14.21, Z:0.62 [[ 8.21226366e-01 -4.54332270e-01 -3.45209275e-01 8.89526726e+01] [ 4.79292036e-01 8.77531918e-01 -1.47267498e-02 1.42091689e+01] [ 3.09622995e-01 -1.53362061e-01 9.38410187e-01 6.24858787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.277719421 meters Centerline goodness : 0.949314 Centerline is valid? [False, False] Translation: X:88.95, Y:14.21, Z:0.63 [[ 8.23433750e-01 -4.49229435e-01 -3.46626273e-01 8.89511766e+01] [ 4.75367806e-01 8.79720204e-01 -1.08540953e-02 1.42081999e+01] [ 3.09810115e-01 -1.55837343e-01 9.37940518e-01 6.25155484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.307719421 meters Centerline goodness : 0.948960 Centerline is valid? [False, False] Translation: X:88.95, Y:14.20, Z:0.63 [[ 8.23108611e-01 -4.40735462e-01 -3.58112367e-01 8.89474918e+01] [ 4.69133420e-01 8.83085977e-01 -8.54354285e-03 1.41995865e+01] [ 3.20009452e-01 -1.60970216e-01 9.33639406e-01 6.27212404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.337719421 meters Centerline goodness : 0.952909 Centerline is valid? [False, True] Translation: X:88.95, Y:14.19, Z:0.63 [[ 8.23938681e-01 -4.38185578e-01 -3.59330556e-01 8.89499406e+01] [ 4.67658945e-01 8.83891710e-01 -5.52779365e-03 1.41938419e+01] [ 3.20031499e-01 -1.63489586e-01 9.33193975e-01 6.28472738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.367719421 meters Centerline goodness : 0.952522 Centerline is valid? [True, True] Translation: X:88.94, Y:14.26, Z:0.65 [[ 8.25628857e-01 -4.96113892e-01 -2.68715456e-01 8.89381171e+01] [ 4.68294222e-01 8.68204033e-01 -1.64080097e-01 1.42560308e+01] [ 3.14702258e-01 9.63136742e-03 9.49141573e-01 6.54112207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.397719421 meters Centerline goodness : 0.954481 Centerline is valid? [True, True] Translation: X:88.97, Y:14.26, Z:0.66 [[ 8.25177728e-01 -4.96893614e-01 -2.68660482e-01 8.89655751e+01] [ 4.69084917e-01 8.67760065e-01 -1.64170064e-01 1.42626170e+01] [ 3.14707894e-01 9.44490053e-03 9.49141578e-01 6.62075091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.427719421 meters Centerline goodness : 0.953448 Centerline is valid? [True, True] Translation: X:88.99, Y:14.27, Z:0.67 [[ 8.25231380e-01 -4.96815010e-01 -2.68641052e-01 8.89909944e+01] [ 4.68991922e-01 8.67804315e-01 -1.64201854e-01 1.42740335e+01] [ 3.14705809e-01 9.51403936e-03 9.49141579e-01 6.68374882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.457719421 meters Centerline goodness : 0.947352 Centerline is valid? [True, False] Translation: X:89.00, Y:14.27, Z:0.67 [[ 8.25925797e-01 -4.89710024e-01 -2.79339704e-01 8.90007611e+01] [ 4.65226227e-01 8.71877806e-01 -1.52949825e-01 1.42658526e+01] [ 3.18451151e-01 -3.63095051e-03 9.47932319e-01 6.66111918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.487719421 meters Centerline goodness : 0.945545 Centerline is valid? [False, False] Translation: X:89.00, Y:14.26, Z:0.66 [[ 8.25821481e-01 -4.83142108e-01 -2.90848045e-01 8.90032995e+01] [ 4.62758630e-01 8.75338600e-01 -1.40131315e-01 1.42573272e+01] [ 3.22293860e-01 -1.88689929e-02 9.46451599e-01 6.64345711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.51771942099998 meters Centerline goodness : 0.945305 Centerline is valid? [False, False] Translation: X:89.01, Y:14.24, Z:0.66 [[ 8.26530500e-01 -4.76903619e-01 -2.99015504e-01 8.90076496e+01] [ 4.60645489e-01 8.78363102e-01 -1.27608753e-01 1.42445159e+01] [ 3.23501262e-01 -3.22676169e-02 9.45677395e-01 6.63160226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54771942099998 meters Centerline goodness : 0.947902 Centerline is valid? [False, False] Translation: X:89.01, Y:14.24, Z:0.66 [[ 8.28496044e-01 -4.72477445e-01 -3.00598352e-01 8.90080878e+01] [ 4.58801084e-01 8.80479853e-01 -1.19401814e-01 1.42356332e+01] [ 3.21085457e-01 -3.89909189e-02 9.46247239e-01 6.61723985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.57771942099998 meters Centerline goodness : 0.948504 Centerline is valid? [False, False] Translation: X:89.01, Y:14.23, Z:0.66 [[ 8.30074354e-01 -4.67740572e-01 -3.03636829e-01 8.90125274e+01] [ 4.55665050e-01 8.82792550e-01 -1.14222048e-01 1.42277651e+01] [ 3.21474617e-01 -4.35438983e-02 9.45916487e-01 6.63023327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60771942099998 meters Centerline goodness : 0.947596 Centerline is valid? [False, False] Translation: X:89.01, Y:14.22, Z:0.66 [[ 8.31971135e-01 -4.63081243e-01 -3.05581074e-01 8.90140397e+01] [ 4.53114648e-01 8.84955542e-01 -1.07428134e-01 1.42216397e+01] [ 3.20173619e-01 -4.90861539e-02 9.46086361e-01 6.62095326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.63771942099999 meters Centerline goodness : 0.944820 Centerline is valid? [False, False] Translation: X:89.01, Y:14.21, Z:0.66 [[ 8.30146898e-01 -4.59506628e-01 -3.15768565e-01 8.90147748e+01] [ 4.53514991e-01 8.85957875e-01 -9.69680219e-02 1.42077510e+01] [ 3.24315095e-01 -6.27080752e-02 9.43868326e-01 6.61757646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.667719421 meters Centerline goodness : 0.945278 Centerline is valid? [False, False] Translation: X:89.02, Y:14.20, Z:0.66 [[ 8.30108187e-01 -4.58681851e-01 -3.17066803e-01 8.90182180e+01] [ 4.53432281e-01 8.86221930e-01 -9.49202679e-02 1.42027308e+01] [ 3.24529758e-01 -6.49742321e-02 9.43641238e-01 6.62503927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.697719421 meters Centerline goodness : 0.949731 Centerline is valid? [False, False] Translation: X:89.02, Y:14.19, Z:0.66 [[ 8.28831332e-01 -4.59205191e-01 -3.19639197e-01 8.90227397e+01] [ 4.57247183e-01 8.85170223e-01 -8.60156384e-02 1.41873570e+01] [ 3.22433927e-01 -7.48616662e-02 9.43627095e-01 6.62776641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.727719421 meters Centerline goodness : 0.952123 Centerline is valid? [False, True] Translation: X:89.02, Y:14.18, Z:0.66 [[ 8.28198992e-01 -4.61047589e-01 -3.18624467e-01 8.90223363e+01] [ 4.60735044e-01 8.83808239e-01 -8.12786260e-02 1.41787764e+01] [ 3.19076244e-01 -7.94865818e-02 9.44389874e-01 6.59671363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.757719421 meters Centerline goodness : 0.950213 Centerline is valid? [True, True] Translation: X:89.03, Y:14.21, Z:0.67 [[ 8.23496288e-01 -4.97504378e-01 -2.72659601e-01 8.90337182e+01] [ 4.70574901e-01 8.67448662e-01 -1.61530434e-01 1.42092139e+01] [ 3.16880304e-01 4.71294808e-03 9.48453827e-01 6.73141207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.787719421 meters Centerline goodness : 0.950476 Centerline is valid? [True, True] Translation: X:89.06, Y:14.22, Z:0.68 [[ 8.21010528e-01 -5.01628945e-01 -2.72598815e-01 8.90602667e+01] [ 4.74886241e-01 8.65076786e-01 -1.61632954e-01 1.42178799e+01] [ 3.16898675e-01 3.24893016e-03 9.48453833e-01 6.80361008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.817719421 meters Centerline goodness : 0.950345 Centerline is valid? [True, True] Translation: X:89.09, Y:14.22, Z:0.69 [[ 8.15443654e-01 -5.10638573e-01 -2.72580070e-01 8.90898649e+01] [ 4.84372133e-01 8.59795445e-01 -1.61664561e-01 1.42213154e+01] [ 3.16915263e-01 -2.01848953e-04 9.48453834e-01 6.89975969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.847719421 meters Centerline goodness : 0.948102 Centerline is valid? [True, False] Translation: X:89.08, Y:14.21, Z:0.68 [[ 8.13562600e-01 -5.09569773e-01 -2.80097381e-01 8.90826949e+01] [ 4.88130872e-01 8.60262501e-01 -1.47230028e-01 1.42069267e+01] [ 3.15981246e-01 -1.69433346e-02 9.48614134e-01 6.84137411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.877719421 meters Centerline goodness : 0.948471 Centerline is valid? [False, False] Translation: X:89.07, Y:14.19, Z:0.68 [[ 8.10305062e-01 -5.09835431e-01 -2.88917878e-01 8.90708946e+01] [ 4.94600778e-01 8.59430857e-01 -1.29416662e-01 1.41869221e+01] [ 3.14286139e-01 -3.80320306e-02 9.48566175e-01 6.76495669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.907719421 meters Centerline goodness : 0.949950 Centerline is valid? [False, False] Translation: X:89.06, Y:14.18, Z:0.67 [[ 8.09597416e-01 -5.07430006e-01 -2.95070861e-01 8.90641412e+01] [ 4.96327969e-01 8.60158828e-01 -1.17410977e-01 1.41751320e+01] [ 3.13385659e-01 -5.13962983e-02 9.48234069e-01 6.72551026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.937719421 meters Centerline goodness : 0.952370 Centerline is valid? [False, True] Translation: X:89.06, Y:14.16, Z:0.67 [[ 8.09402938e-01 -5.05346680e-01 -2.99151494e-01 8.90565814e+01] [ 4.97643054e-01 8.60695738e-01 -1.07490636e-01 1.41648741e+01] [ 3.11798453e-01 -6.18674263e-02 9.48131925e-01 6.70064198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.967719421 meters Centerline goodness : 0.955424 Centerline is valid? [True, True] Translation: X:89.07, Y:14.19, Z:0.68 [[ 8.09795433e-01 -5.21597273e-01 -2.68640356e-01 8.90714076e+01] [ 4.96504760e-01 8.53182862e-01 -1.59881290e-01 1.41920971e+01] [ 3.12592992e-01 -3.91007657e-03 9.49879115e-01 6.79582401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.997719421 meters Centerline goodness : 0.953314 Centerline is valid? [True, True] Translation: X:89.10, Y:14.21, Z:0.68 [[ 8.12662814e-01 -5.17128124e-01 -2.68621766e-01 8.90960679e+01] [ 4.91786646e-01 8.55905300e-01 -1.59912517e-01 1.42051960e+01] [ 3.12610053e-01 -2.14964132e-03 9.49879115e-01 6.83699569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.027719421 meters Centerline goodness : 0.953314 Centerline is valid? [True, True] Translation: X:89.12, Y:14.22, Z:0.69 [[ 8.12486743e-01 -5.17414228e-01 -2.68603442e-01 8.91191577e+01] [ 4.92077804e-01 8.55732189e-01 -1.59943290e-01 1.42192932e+01] [ 3.12609546e-01 -2.22198912e-03 9.49879116e-01 6.92601630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.057719421 meters Centerline goodness : 0.952521 Centerline is valid? [True, True] Translation: X:89.14, Y:14.23, Z:0.70 [[ 8.14607659e-01 -5.14098575e-01 -2.68546116e-01 8.91421570e+01] [ 4.88554395e-01 8.57730707e-01 -1.60039487e-01 1.42327165e+01] [ 3.12616322e-01 -8.29993207e-04 9.49879122e-01 7.01984515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.087719421 meters Centerline goodness : 0.954207 Centerline is valid? [True, True] Translation: X:89.17, Y:14.24, Z:0.71 [[ 8.20485006e-01 -5.04696882e-01 -2.68487268e-01 8.91654206e+01] [ 4.78626203e-01 8.63291798e-01 -1.60138156e-01 1.42446022e+01] [ 3.12604084e-01 2.88591406e-03 9.49879128e-01 7.10721997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.117719421 meters Centerline goodness : 0.954450 Centerline is valid? [True, True] Translation: X:89.19, Y:14.26, Z:0.72 [[ 8.22538405e-01 -5.01353089e-01 -2.68469090e-01 8.91884451e+01] [ 4.75098447e-01 8.65232615e-01 -1.60168625e-01 1.42591307e+01] [ 3.12589248e-01 4.19559795e-03 9.49879129e-01 7.19612317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.147719421 meters Centerline goodness : 0.955644 Centerline is valid? [True, True] Translation: X:89.21, Y:14.27, Z:0.73 [[ 8.25402145e-01 -4.96651405e-01 -2.68418853e-01 8.92109845e+01] [ 4.70126218e-01 8.67928792e-01 -1.60252774e-01 1.42748773e+01] [ 3.12558216e-01 6.08224291e-03 9.49879133e-01 7.28146190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.177719421 meters Centerline goodness : 0.953427 Centerline is valid? [True, True] Translation: X:89.23, Y:14.29, Z:0.74 [[ 8.26246080e-01 -4.95273322e-01 -2.68368685e-01 8.92343339e+01] [ 4.68649944e-01 8.68711320e-01 -1.60336747e-01 1.42880853e+01] [ 3.12545428e-01 6.70663967e-03 9.49879138e-01 7.36332122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.207719421 meters Centerline goodness : 0.949911 Centerline is valid? [True, False] Translation: X:89.22, Y:14.27, Z:0.73 [[ 8.25666545e-01 -4.90947831e-01 -2.77929819e-01 8.92235910e+01] [ 4.68405208e-01 8.71146951e-01 -1.47307676e-01 1.42738440e+01] [ 3.14438099e-01 -8.55675507e-03 9.49239413e-01 7.31640735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.237719421 meters Centerline goodness : 0.949627 Centerline is valid? [False, False] Translation: X:89.20, Y:14.26, Z:0.72 [[ 8.25141193e-01 -4.87155709e-01 -2.86044274e-01 8.92024538e+01] [ 4.68369557e-01 8.73039279e-01 -1.35765883e-01 1.42552981e+01] [ 3.15867012e-01 -2.19484073e-02 9.48549576e-01 7.23700919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26771942099998 meters Centerline goodness : 0.948981 Centerline is valid? [False, False] Translation: X:89.18, Y:14.24, Z:0.71 [[ 8.26123772e-01 -4.80744443e-01 -2.93946073e-01 8.91793283e+01] [ 4.67846202e-01 8.75935404e-01 -1.17716179e-01 1.42351582e+01] [ 3.14069171e-01 -4.02734199e-02 9.48545522e-01 7.12312544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.29771942099998 meters Centerline goodness : 0.949724 Centerline is valid? [False, False] Translation: X:89.16, Y:14.22, Z:0.71 [[ 8.25803444e-01 -4.75543874e-01 -3.03161171e-01 8.91647994e+01] [ 4.67661015e-01 8.77869280e-01 -1.03144086e-01 1.42235606e+01] [ 3.15185417e-01 -5.65999194e-02 9.47340806e-01 7.08011787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32771942099998 meters Centerline goodness : 0.950189 Centerline is valid? [False, True] Translation: X:89.14, Y:14.20, Z:0.70 [[ 8.27626843e-01 -4.65754524e-01 -3.13219623e-01 8.91418445e+01] [ 4.62906720e-01 8.81991536e-01 -8.83645825e-02 1.42016986e+01] [ 3.17413260e-01 -7.18585677e-02 9.45560769e-01 7.03344006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.35771942099998 meters Centerline goodness : 0.950255 Centerline is valid? [True, True] Translation: X:89.15, Y:14.24, Z:0.71 [[ 8.29980801e-01 -4.88861072e-01 -2.68601419e-01 8.91528304e+01] [ 4.60750888e-01 8.72275991e-01 -1.63838988e-01 1.42375961e+01] [ 3.14389072e-01 1.22248718e-02 9.49215499e-01 7.09190277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38771942099999 meters Centerline goodness : 0.947923 Centerline is valid? [True, False] Translation: X:89.13, Y:14.21, Z:0.70 [[ 8.31324016e-01 -4.80163576e-01 -2.79898769e-01 8.91307454e+01] [ 4.57547407e-01 8.77152075e-01 -1.45789600e-01 1.42098625e+01] [ 3.15516641e-01 -6.86856012e-03 9.48895185e-01 7.00495285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.417719421 meters Centerline goodness : 0.949554 Centerline is valid? [False, False] Translation: X:89.12, Y:14.19, Z:0.70 [[ 8.31089118e-01 -4.74496048e-01 -2.90076505e-01 8.91186107e+01] [ 4.57101226e-01 8.79907999e-01 -1.29693419e-01 1.41948283e+01] [ 3.16779651e-01 -2.48075369e-02 9.48174688e-01 6.95723523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.447719421 meters Centerline goodness : 0.947381 Centerline is valid? [False, False] Translation: X:89.11, Y:14.18, Z:0.69 [[ 8.31002088e-01 -4.68443791e-01 -2.99993241e-01 8.91107789e+01] [ 4.56773827e-01 8.82424798e-01 -1.12623917e-01 1.41767847e+01] [ 3.17479450e-01 -4.34383505e-02 9.47269713e-01 6.91204522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.477719421 meters Centerline goodness : 0.945838 Centerline is valid? [False, False] Translation: X:89.10, Y:14.16, Z:0.69 [[ 8.29300926e-01 -4.65236958e-01 -3.09539249e-01 8.90958833e+01] [ 4.58034462e-01 8.83248715e-01 -1.00379974e-01 1.41590610e+01] [ 3.20100618e-01 -5.85344379e-02 9.45573537e-01 6.85959171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.507719421 meters Centerline goodness : 0.940221 Centerline is valid? [False, False] Translation: X:89.10, Y:14.14, Z:0.69 [[ 8.26517526e-01 -4.62818851e-01 -3.20417681e-01 8.90974568e+01] [ 4.58236287e-01 8.83787899e-01 -9.45434046e-02 1.41443618e+01] [ 3.26937739e-01 -6.86852277e-02 9.42546579e-01 6.86272971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.537719421 meters Centerline goodness : 0.937411 Centerline is valid? [False, False] Translation: X:89.08, Y:14.13, Z:0.68 [[ 8.23628369e-01 -4.61838943e-01 -3.29152093e-01 8.90811454e+01] [ 4.61343814e-01 8.83162270e-01 -8.47719871e-02 1.41257518e+01] [ 3.29845715e-01 -8.20316684e-02 9.40464040e-01 6.81466331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.567719421 meters Centerline goodness : 0.936581 Centerline is valid? [False, False] Translation: X:89.08, Y:14.11, Z:0.68 [[ 8.20757752e-01 -4.61869460e-01 -3.36204274e-01 8.90754858e+01] [ 4.63589510e-01 8.82388618e-01 -8.04679553e-02 1.41053601e+01] [ 3.33828516e-01 -8.98160766e-02 9.38345136e-01 6.83186430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.597719421 meters Centerline goodness : 0.940050 Centerline is valid? [False, False] Translation: X:89.07, Y:14.09, Z:0.68 [[ 8.18740038e-01 -4.59907395e-01 -3.43729454e-01 8.90675727e+01] [ 4.64469012e-01 8.82459394e-01 -7.43905531e-02 1.40917946e+01] [ 3.37540051e-01 -9.87451556e-02 9.36117572e-01 6.83799381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.627719421 meters Centerline goodness : 0.938358 Centerline is valid? [False, False] Translation: X:89.06, Y:14.08, Z:0.68 [[ 8.16776763e-01 -4.56446089e-01 -3.52891893e-01 8.90610760e+01] [ 4.64413696e-01 8.83058288e-01 -6.72902564e-02 1.40793867e+01] [ 3.42338485e-01 -1.08926711e-01 9.33241305e-01 6.84832391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.657719421 meters Centerline goodness : 0.937545 Centerline is valid? [False, False] Translation: X:89.04, Y:14.05, Z:0.68 [[ 8.15226729e-01 -4.52772744e-01 -3.61112479e-01 8.90381847e+01] [ 4.65135568e-01 8.83368226e-01 -5.75280816e-02 1.40523407e+01] [ 3.45042437e-01 -1.21067828e-01 9.30746097e-01 6.79706523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.687719421 meters Centerline goodness : 0.940075 Centerline is valid? [False, False] Translation: X:89.03, Y:14.04, Z:0.68 [[ 8.14005217e-01 -4.48901589e-01 -3.68622937e-01 8.90295981e+01] [ 4.64666171e-01 8.84045761e-01 -5.04820991e-02 1.40384858e+01] [ 3.48541039e-01 -1.30193917e-01 9.28207244e-01 6.80197985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.717719421 meters Centerline goodness : 0.944150 Centerline is valid? [False, False] Translation: X:89.00, Y:14.00, Z:0.67 [[ 8.16462341e-01 -4.43280398e-01 -3.69988831e-01 8.89993646e+01] [ 4.60779666e-01 8.86366132e-01 -4.51351107e-02 1.40027499e+01] [ 3.47953079e-01 -1.33632212e-01 9.27939161e-01 6.68907925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.747719421 meters Centerline goodness : 0.940702 Centerline is valid? [False, False] Translation: X:88.98, Y:13.98, Z:0.66 [[ 8.20569820e-01 -4.33693196e-01 -3.72257147e-01 8.89797763e+01] [ 4.51361027e-01 8.91283515e-01 -4.34386817e-02 1.39756454e+01] [ 3.50625719e-01 -1.32377897e-01 9.27112559e-01 6.60420668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.777719421 meters Centerline goodness : 0.940545 Centerline is valid? [False, False] Translation: X:88.96, Y:13.96, Z:0.65 [[ 8.23493207e-01 -4.29848340e-01 -3.70255781e-01 8.89578610e+01] [ 4.45913694e-01 8.93893181e-01 -4.59995579e-02 1.39550912e+01] [ 3.50741951e-01 -1.27221799e-01 9.27790223e-01 6.49837785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.807719421 meters Centerline goodness : 0.940610 Centerline is valid? [False, False] Translation: X:88.93, Y:13.92, Z:0.63 [[ 8.26920925e-01 -4.21173545e-01 -3.72578353e-01 8.89273274e+01] [ 4.38709000e-01 8.97689728e-01 -4.10799839e-02 1.39194184e+01] [ 3.51761563e-01 -1.29483578e-01 9.27091045e-01 6.34905756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.837719421 meters Centerline goodness : 0.940079 Centerline is valid? [False, False] Translation: X:88.90, Y:13.89, Z:0.62 [[ 8.28617836e-01 -4.16358523e-01 -3.74216599e-01 8.88973141e+01] [ 4.35672667e-01 8.99386133e-01 -3.59709846e-02 1.38919986e+01] [ 3.51542046e-01 -1.33229744e-01 9.26643419e-01 6.20817385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.867719421 meters Centerline goodness : 0.940291 Centerline is valid? [False, False] Translation: X:88.87, Y:13.87, Z:0.61 [[ 8.29654396e-01 -4.13415838e-01 -3.75181194e-01 8.88684940e+01] [ 4.33914892e-01 9.00364396e-01 -3.25855982e-02 1.38658126e+01] [ 3.51271191e-01 -1.35761923e-01 9.26378568e-01 6.06977453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.897719421 meters Centerline goodness : 0.938384 Centerline is valid? [False, False] Translation: X:88.85, Y:13.84, Z:0.60 [[ 8.30814983e-01 -4.10839917e-01 -3.75442443e-01 8.88506443e+01] [ 4.30911854e-01 9.01781598e-01 -3.32403867e-02 1.38362003e+01] [ 3.52223564e-01 -1.34165988e-01 9.26249453e-01 6.00840178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.927719421 meters Centerline goodness : 0.939491 Centerline is valid? [False, False] Translation: X:88.83, Y:13.81, Z:0.59 [[ 8.32669206e-01 -4.09017271e-01 -3.73318718e-01 8.88327733e+01] [ 4.28763916e-01 9.02820387e-01 -3.28154507e-02 1.38067975e+01] [ 3.50461836e-01 -1.32741180e-01 9.27122581e-01 5.92518423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.957719421 meters Centerline goodness : 0.940470 Centerline is valid? [False, False] Translation: X:88.82, Y:13.79, Z:0.59 [[ 8.32626956e-01 -4.09825009e-01 -3.72526259e-01 8.88176310e+01] [ 4.30139316e-01 9.02224535e-01 -3.11617998e-02 1.37916553e+01] [ 3.48873216e-01 -1.34292036e-01 9.27498317e-01 5.86206219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.987719421 meters Centerline goodness : 0.939376 Centerline is valid? [False, False] Translation: X:88.80, Y:13.76, Z:0.58 [[ 8.34050740e-01 -4.06018661e-01 -3.73507979e-01 8.87984943e+01] [ 4.25316974e-01 9.04427612e-01 -3.34090620e-02 1.37645766e+01] [ 3.51375632e-01 -1.30994430e-01 9.27025148e-01 5.76572199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.01771942099998 meters Centerline goodness : 0.935810 Centerline is valid? [False, False] Translation: X:88.78, Y:13.74, Z:0.56 [[ 8.36034190e-01 -4.04877183e-01 -3.70298933e-01 8.87759278e+01] [ 4.21953827e-01 9.05830658e-01 -3.77596001e-02 1.37427848e+01] [ 3.50716126e-01 -1.24680735e-01 9.28144877e-01 5.63768428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04771942099998 meters Centerline goodness : 0.934430 Centerline is valid? [False, False] Translation: X:88.75, Y:13.71, Z:0.55 [[ 8.37842947e-01 -4.03479743e-01 -3.67727199e-01 8.87548009e+01] [ 4.18453416e-01 9.07264123e-01 -4.20541415e-02 1.37147869e+01] [ 3.50593689e-01 -1.18641937e-01 9.28982323e-01 5.52739606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.07771942099998 meters Centerline goodness : 0.934059 Centerline is valid? [False, False] Translation: X:88.76, Y:13.71, Z:0.55 [[ 8.37052737e-01 -4.05697102e-01 -3.67086606e-01 8.87563252e+01] [ 4.20255516e-01 9.06366959e-01 -4.34077899e-02 1.37099975e+01] [ 3.50325586e-01 -1.17935562e-01 9.29173389e-01 5.53621444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10771942099998 meters Centerline goodness : 0.935636 Centerline is valid? [False, False] Translation: X:88.76, Y:13.70, Z:0.55 [[ 8.36393912e-01 -4.07397722e-01 -3.66704678e-01 8.87602451e+01] [ 4.21938888e-01 9.05571070e-01 -4.36876712e-02 1.37002576e+01] [ 3.49875406e-01 -1.18186862e-01 9.29311071e-01 5.54879941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.13771942099999 meters Centerline goodness : 0.936794 Centerline is valid? [False, False] Translation: X:88.75, Y:13.69, Z:0.55 [[ 8.33593957e-01 -4.07996702e-01 -3.72370523e-01 8.87509961e+01] [ 4.25037180e-01 9.04320346e-01 -3.93460104e-02 1.36889636e+01] [ 3.52795283e-01 -1.25472720e-01 9.27249742e-01 5.54038619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.167719421 meters Centerline goodness : 0.940820 Centerline is valid? [False, False] Translation: X:88.74, Y:13.67, Z:0.55 [[ 8.29507720e-01 -4.12919857e-01 -3.76050706e-01 8.87425092e+01] [ 4.31662226e-01 9.01257905e-01 -3.74421207e-02 1.36711610e+01] [ 3.54379267e-01 -1.31268357e-01 9.25842294e-01 5.53846534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.197719421 meters Centerline goodness : 0.943585 Centerline is valid? [False, False] Translation: X:88.72, Y:13.65, Z:0.55 [[ 8.29326232e-01 -4.17612312e-01 -3.71238411e-01 8.87229450e+01] [ 4.35441548e-01 8.99373222e-01 -3.89674975e-02 1.36511685e+01] [ 3.50155192e-01 -1.29335861e-01 9.27719557e-01 5.45437914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.227719421 meters Centerline goodness : 0.948313 Centerline is valid? [False, False] Translation: X:88.69, Y:13.61, Z:0.53 [[ 8.26988327e-01 -4.23416341e-01 -3.69876884e-01 8.86919361e+01] [ 4.41848422e-01 8.96279862e-01 -3.81101192e-02 1.36147718e+01] [ 3.47649650e-01 -1.31912894e-01 9.28298826e-01 5.34093443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.257719421 meters Centerline goodness : 0.951232 Centerline is valid? [False, True] Translation: X:88.68, Y:13.60, Z:0.53 [[ 8.23023354e-01 -4.26241663e-01 -3.75433888e-01 8.86825592e+01] [ 4.46723156e-01 8.93962104e-01 -3.56395726e-02 1.36031380e+01] [ 3.50814739e-01 -1.38382811e-01 9.26163709e-01 5.33978048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.287719421 meters Centerline goodness : 0.950477 Centerline is valid? [True, True] Translation: X:88.70, Y:13.66, Z:0.49 [[ 8.21913933e-01 -4.88224544e-01 -2.93418270e-01 8.86998098e+01] [ 4.54406312e-01 8.72608010e-01 -1.79081449e-01 1.36626451e+01] [ 3.43471092e-01 1.38584245e-02 9.39060996e-01 4.93564797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.317719421 meters Centerline goodness : 0.948044 Centerline is valid? [True, False] Translation: X:88.69, Y:13.64, Z:0.49 [[ 8.19836503e-01 -4.85291426e-01 -3.03908439e-01 8.86876060e+01] [ 4.58463963e-01 8.74309318e-01 -1.59354981e-01 1.36448078e+01] [ 3.43043586e-01 -8.68603718e-03 9.39279325e-01 4.91768854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.347719421 meters Centerline goodness : 0.946749 Centerline is valid? [False, False] Translation: X:88.67, Y:13.62, Z:0.49 [[ 8.14867288e-01 -4.87315667e-01 -3.13870583e-01 8.86667322e+01] [ 4.67926836e-01 8.72609771e-01 -1.39988081e-01 1.36191284e+01] [ 3.42104923e-01 -3.27967611e-02 9.39089237e-01 4.85219424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.377719421 meters Centerline goodness : 0.944694 Centerline is valid? [False, False] Translation: X:88.64, Y:13.59, Z:0.48 [[ 8.09673118e-01 -4.90410680e-01 -3.22376807e-01 8.86431664e+01] [ 4.78428099e-01 8.69694335e-01 -1.21401474e-01 1.35949639e+01] [ 3.39905863e-01 -5.59386128e-02 9.38794374e-01 4.78756806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.407719421 meters Centerline goodness : 0.944560 Centerline is valid? [False, False] Translation: X:88.62, Y:13.58, Z:0.47 [[ 8.07141147e-01 -4.89108443e-01 -3.30599606e-01 8.86215766e+01] [ 4.82855002e-01 8.69139699e-01 -1.06991733e-01 1.35770465e+01] [ 3.39667801e-01 -7.32742437e-02 9.37686872e-01 4.74605186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.437719421 meters Centerline goodness : 0.945822 Centerline is valid? [False, False] Translation: X:88.60, Y:13.56, Z:0.47 [[ 0.80469823 -0.48751842 -0.33880165 88.60003599] [ 0.48704486 0.86842947 -0.09283079 13.56085932] [ 0.33948206 -0.09031083 0.936267 0.47061593] [ 0. 0. 0. 1. ]] SLAMing on 145.467719421 meters Centerline goodness : 0.944892 Centerline is valid? [False, False] Translation: X:88.57, Y:13.54, Z:0.46 [[ 8.01757144e-01 -4.89121032e-01 -3.43432814e-01 8.85677068e+01] [ 4.94851577e-01 8.65520553e-01 -7.74344152e-02 1.35377327e+01] [ 3.35122961e-01 -1.07864674e-01 9.35979601e-01 4.59898742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.497719421 meters Centerline goodness : 0.945704 Centerline is valid? [False, False] Translation: X:88.54, Y:13.52, Z:0.45 [[ 7.98319728e-01 -4.92786501e-01 -3.46189364e-01 8.85384380e+01] [ 5.00537119e-01 8.62580802e-01 -7.35999462e-02 1.35165187e+01] [ 3.34885360e-01 -1.14524338e-01 9.35273207e-01 4.51587114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.527719421 meters Centerline goodness : 0.944210 Centerline is valid? [False, False] Translation: X:88.51, Y:13.49, Z:0.44 [[ 7.97450566e-01 -4.91890545e-01 -3.49451408e-01 8.85069126e+01] [ 5.02094647e-01 8.62151804e-01 -6.77881394e-02 1.34945426e+01] [ 3.34624507e-01 -1.21399991e-01 9.34499054e-01 4.41266002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.557719421 meters Centerline goodness : 0.942611 Centerline is valid? [False, False] Translation: X:88.48, Y:13.47, Z:0.43 [[ 7.97128830e-01 -4.90019861e-01 -3.52797626e-01 8.84751326e+01] [ 5.02876664e-01 8.62181347e-01 -6.13056754e-02 1.34734191e+01] [ 3.34216531e-01 -1.28545172e-01 9.33689161e-01 4.30465390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.587719421 meters Centerline goodness : 0.946772 Centerline is valid? [False, False] Translation: X:88.44, Y:13.45, Z:0.42 [[ 7.98552541e-01 -4.86325517e-01 -3.54684834e-01 8.84387958e+01] [ 5.01462312e-01 8.63436765e-01 -5.48862719e-02 1.34533670e+01] [ 3.32940520e-01 -1.34031505e-01 9.33373540e-01 4.16858892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.617719421 meters Centerline goodness : 0.947170 Centerline is valid? [False, False] Translation: X:88.40, Y:13.43, Z:0.40 [[ 8.01086699e-01 -4.81283084e-01 -3.55846448e-01 8.84003064e+01] [ 4.98205166e-01 8.65659877e-01 -4.92401248e-02 1.34301020e+01] [ 3.31740431e-01 -1.37838929e-01 9.33246332e-01 4.02086710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.647719421 meters Centerline goodness : 0.949072 Centerline is valid? [False, False] Translation: X:88.37, Y:13.42, Z:0.39 [[ 8.06138993e-01 -4.76008659e-01 -3.51504880e-01 8.83688906e+01] [ 4.91207737e-01 8.69547520e-01 -5.10104959e-02 1.34159144e+01] [ 3.29931634e-01 -1.31540367e-01 9.34795298e-01 3.87804238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.677719421 meters Centerline goodness : 0.948482 Centerline is valid? [False, False] Translation: X:88.33, Y:13.39, Z:0.37 [[ 8.09049699e-01 -4.70739448e-01 -3.51913281e-01 8.83315999e+01] [ 4.87539334e-01 8.71916167e-01 -4.54708144e-02 1.33945842e+01] [ 3.28243785e-01 -1.34783418e-01 9.34927509e-01 3.71999555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.707719421 meters Centerline goodness : 0.951145 Centerline is valid? [False, True] Translation: X:88.30, Y:13.38, Z:0.36 [[ 8.14540508e-01 -4.63159273e-01 -3.49295360e-01 8.82968611e+01] [ 4.78058728e-01 8.77010426e-01 -4.80891358e-02 1.33802988e+01] [ 3.28608601e-01 -1.27813146e-01 9.35777851e-01 3.57509054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.737719421 meters Centerline goodness : 0.946503 Centerline is valid? [True, False] Translation: X:88.27, Y:13.37, Z:0.34 [[ 8.19405548e-01 -4.55544669e-01 -3.47927581e-01 8.82686813e+01] [ 4.69576978e-01 8.81567124e-01 -4.83411611e-02 1.33677098e+01] [ 3.28743075e-01 -1.23767766e-01 9.36274282e-01 3.44459132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76771942099998 meters Centerline goodness : 0.947927 Centerline is valid? [False, False] Translation: X:88.25, Y:13.36, Z:0.34 [[ 8.20071330e-01 -4.54342409e-01 -3.47931012e-01 8.82508017e+01] [ 4.69192194e-01 8.81910170e-01 -4.57508087e-02 1.33610329e+01] [ 3.27630431e-01 -1.25727588e-01 9.36403158e-01 3.38027995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.79771942099998 meters Centerline goodness : 0.948109 Centerline is valid? [False, False] Translation: X:88.23, Y:13.35, Z:0.33 [[ 8.22757679e-01 -4.52225460e-01 -3.44328237e-01 8.82260544e+01] [ 4.66116970e-01 8.83496155e-01 -4.65780534e-02 1.33486708e+01] [ 3.25276455e-01 -1.22174783e-01 9.37693207e-01 3.26218215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82771942099998 meters Centerline goodness : 0.949818 Centerline is valid? [False, False] Translation: X:88.20, Y:13.34, Z:0.31 [[ 8.26596553e-01 -4.47899765e-01 -3.40769626e-01 8.81996883e+01] [ 4.61203484e-01 8.86104069e-01 -4.59448062e-02 1.33375065e+01] [ 3.22536021e-01 -1.19186320e-01 9.39023502e-01 3.13949667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.85771942099998 meters Centerline goodness : 0.949250 Centerline is valid? [False, False] Translation: X:88.18, Y:13.32, Z:0.30 [[ 8.28712099e-01 -4.46216131e-01 -3.37827501e-01 8.81752797e+01] [ 4.58045336e-01 8.87590971e-01 -4.87517966e-02 1.33247691e+01] [ 3.21606478e-01 -1.14339107e-01 9.39944595e-01 3.01397286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88771942099999 meters Centerline goodness : 0.944607 Centerline is valid? [False, False] Translation: X:88.15, Y:13.32, Z:0.29 [[ 8.29715488e-01 -4.44938380e-01 -3.37049027e-01 8.81536881e+01] [ 4.55387464e-01 8.88760404e-01 -5.22226196e-02 1.33154574e+01] [ 3.22791677e-01 -1.10157985e-01 9.40037633e-01 2.89762807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.917719421 meters Centerline goodness : 0.944607 Centerline is valid? [False, False] Translation: X:88.15, Y:13.31, Z:0.29 [[ 8.26595249e-01 -4.45263183e-01 -3.44210678e-01 8.81469432e+01] [ 4.58406494e-01 8.87488026e-01 -4.72068849e-02 1.33120666e+01] [ 3.26502343e-01 -1.18767423e-01 9.37704921e-01 2.89578769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.947719421 meters Centerline goodness : 0.941594 Centerline is valid? [False, False] Translation: X:88.13, Y:13.31, Z:0.29 [[ 8.24956606e-01 -4.46702985e-01 -3.46270186e-01 8.81326577e+01] [ 4.60632232e-01 8.86394542e-01 -4.60723627e-02 1.33063134e+01] [ 3.27512665e-01 -1.21495509e-01 9.37002826e-01 2.85077428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.977719421 meters Centerline goodness : 0.941578 Centerline is valid? [False, False] Translation: X:88.11, Y:13.29, Z:0.27 [[ 8.26915676e-01 -4.45502627e-01 -3.43129530e-01 8.81088606e+01] [ 4.57658507e-01 8.87739275e-01 -4.96756602e-02 1.32940083e+01] [ 3.26740197e-01 -1.15958566e-01 9.37973589e-01 2.71863362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.007719421 meters Centerline goodness : 0.939957 Centerline is valid? [False, False] Translation: X:88.10, Y:13.29, Z:0.27 [[ 8.25600420e-01 -4.44362223e-01 -3.47744392e-01 8.80959954e+01] [ 4.58617950e-01 8.87481772e-01 -4.52292012e-02 1.32881842e+01] [ 3.28714957e-01 -1.22140573e-01 9.36497815e-01 2.69384671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.037719421 meters Centerline goodness : 0.938571 Centerline is valid? [False, False] Translation: X:88.07, Y:13.28, Z:0.26 [[ 8.27603069e-01 -4.40742456e-01 -3.47590633e-01 8.80738870e+01] [ 4.54398803e-01 8.89604587e-01 -4.61021250e-02 1.32788089e+01] [ 3.29537385e-01 -1.19790508e-01 9.36512331e-01 2.58235632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.067719421 meters Centerline goodness : 0.938378 Centerline is valid? [False, False] Translation: X:88.06, Y:13.27, Z:0.25 [[ 8.27457047e-01 -4.40090986e-01 -3.48761751e-01 8.80590910e+01] [ 4.55381570e-01 8.89315527e-01 -4.17794046e-02 1.32719133e+01] [ 3.28545980e-01 -1.24249011e-01 9.36279725e-01 2.53715561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.097719421 meters Centerline goodness : 0.940893 Centerline is valid? [False, False] Translation: X:88.06, Y:13.27, Z:0.26 [[ 8.28382232e-01 -4.38251129e-01 -3.48882253e-01 8.80562809e+01] [ 4.53844600e-01 8.90156657e-01 -4.05734538e-02 1.32700138e+01] [ 3.28341222e-01 -1.24727998e-01 9.36287866e-01 2.55221158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.127719421 meters Centerline goodness : 0.943057 Centerline is valid? [False, False] Translation: X:88.04, Y:13.26, Z:0.25 [[ 8.27919073e-01 -4.39558333e-01 -3.48336734e-01 8.80397516e+01] [ 4.55965725e-01 8.89172936e-01 -3.82981519e-02 1.32614208e+01] [ 3.26565868e-01 -1.27121841e-01 9.36586766e-01 2.50700233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.157719421 meters Centerline goodness : 0.946742 Centerline is valid? [False, False] Translation: X:88.02, Y:13.25, Z:0.24 [[ 8.30803557e-01 -4.37820858e-01 -3.43625298e-01 8.80155231e+01] [ 4.53560102e-01 8.90419293e-01 -3.79040568e-02 1.32453845e+01] [ 3.22565781e-01 -1.24363900e-01 9.38341589e-01 2.39189838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.187719421 meters Centerline goodness : 0.947742 Centerline is valid? [False, False] Translation: X:88.00, Y:13.24, Z:0.24 [[ 8.29265823e-01 -4.37445078e-01 -3.47793040e-01 8.80039287e+01] [ 4.55775876e-01 8.89516489e-01 -3.20743993e-02 1.32392299e+01] [ 3.23398431e-01 -1.31917474e-01 9.37022537e-01 2.37507801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.217719421 meters Centerline goodness : 0.946882 Centerline is valid? [False, False] Translation: X:87.99, Y:13.23, Z:0.24 [[ 8.26490057e-01 -4.37767156e-01 -3.53940817e-01 8.79929228e+01] [ 4.58006679e-01 8.88462821e-01 -2.93887429e-02 1.32328098e+01] [ 3.27328683e-01 -1.37817754e-01 9.34805969e-01 2.36304986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.247719421 meters Centerline goodness : 0.944565 Centerline is valid? [False, False] Translation: X:87.97, Y:13.22, Z:0.22 [[ 8.28049155e-01 -4.38054677e-01 -3.49918128e-01 8.79702632e+01] [ 4.56023745e-01 8.89311369e-01 -3.41706450e-02 1.32157223e+01] [ 3.26154780e-01 -1.31276001e-01 9.36156862e-01 2.23487758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.277719421 meters Centerline goodness : 0.941235 Centerline is valid? [False, False] Translation: X:87.96, Y:13.21, Z:0.22 [[ 8.24608769e-01 -4.39782486e-01 -3.55825438e-01 8.79600621e+01] [ 4.59119518e-01 8.87752793e-01 -3.32301999e-02 1.32073125e+01] [ 3.30499087e-01 -1.35964489e-01 9.33961461e-01 2.22198264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.307719421 meters Centerline goodness : 0.938559 Centerline is valid? [False, False] Translation: X:87.94, Y:13.19, Z:0.21 [[ 8.24473637e-01 -4.40045670e-01 -3.55813195e-01 8.79394395e+01] [ 4.57423537e-01 8.88402286e-01 -3.87954477e-02 1.31864845e+01] [ 3.33177024e-01 -1.30771506e-01 9.33751511e-01 2.12106776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.337719421 meters Centerline goodness : 0.940575 Centerline is valid? [False, False] Translation: X:87.93, Y:13.18, Z:0.21 [[ 8.22461245e-01 -4.40583593e-01 -3.59782710e-01 8.79283029e+01] [ 4.60241240e-01 8.87132670e-01 -3.42582233e-02 1.31764405e+01] [ 3.34268607e-01 -1.37410780e-01 9.32406980e-01 2.09877636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.367719421 meters Centerline goodness : 0.943773 Centerline is valid? [False, False] Translation: X:87.91, Y:13.17, Z:0.21 [[ 8.21946804e-01 -4.42191899e-01 -3.58984368e-01 8.79118041e+01] [ 4.63006546e-01 8.85812223e-01 -3.10103703e-02 1.31671089e+01] [ 3.31705275e-01 -1.40723238e-01 9.32828270e-01 2.05222134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.397719421 meters Centerline goodness : 0.952088 Centerline is valid? [False, True] Translation: X:87.88, Y:13.15, Z:0.19 [[ 8.25207204e-01 -4.42147584e-01 -3.51480560e-01 8.78842955e+01] [ 4.61876714e-01 8.86413535e-01 -3.06748429e-02 1.31457145e+01] [ 3.25119933e-01 -1.37027585e-01 9.35692508e-01 1.93752365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.427719421 meters Centerline goodness : 0.951638 Centerline is valid? [True, True] Translation: X:87.90, Y:13.21, Z:0.15 [[ 8.27192057e-01 -4.92254360e-01 -2.70996209e-01 8.78957968e+01] [ 4.62854928e-01 8.70344543e-01 -1.68124037e-01 1.32083239e+01] [ 3.18619862e-01 1.36389375e-02 9.47784450e-01 1.54701040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.457719421 meters Centerline goodness : 0.948258 Centerline is valid? [True, False] Translation: X:87.88, Y:13.19, Z:0.15 [[ 8.24823759e-01 -4.89734914e-01 -2.82534034e-01 8.78816743e+01] [ 4.65491288e-01 8.71851405e-01 -1.52292443e-01 1.31906250e+01] [ 3.20910621e-01 -5.90270626e-03 9.47091089e-01 1.52038499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.487719421 meters Centerline goodness : 0.945599 Centerline is valid? [False, False] Translation: X:87.87, Y:13.18, Z:0.15 [[ 8.22769362e-01 -4.87610597e-01 -2.92038496e-01 8.78679898e+01] [ 4.68842324e-01 8.72708632e-01 -1.36259013e-01 1.31775497e+01] [ 3.21305854e-01 -2.48102663e-02 9.46650410e-01 1.48464567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.51771942099998 meters Centerline goodness : 0.945326 Centerline is valid? [False, False] Translation: X:87.85, Y:13.16, Z:0.15 [[ 8.19592958e-01 -4.87178164e-01 -3.01537428e-01 8.78533680e+01] [ 4.74124007e-01 8.72180812e-01 -1.20445245e-01 1.31620736e+01] [ 3.21673452e-01 -4.42500587e-02 9.45816115e-01 1.45443593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54771942099998 meters Centerline goodness : 0.945648 Centerline is valid? [False, False] Translation: X:87.83, Y:13.15, Z:0.14 [[ 8.17036462e-01 -4.85785755e-01 -3.10585929e-01 8.78331060e+01] [ 4.78202893e-01 8.71864965e-01 -1.05704661e-01 1.31451108e+01] [ 3.22138809e-01 -6.21585274e-02 9.44649620e-01 1.43493481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.57771942099998 meters Centerline goodness : 0.950350 Centerline is valid? [False, True] Translation: X:87.81, Y:13.12, Z:0.14 [[ 8.13038036e-01 -4.88120478e-01 -3.17344531e-01 8.78120542e+01] [ 4.85625903e-01 8.69225415e-01 -9.28151952e-02 1.31249309e+01] [ 3.21148929e-01 -7.86484406e-02 9.43757272e-01 1.42550682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60771942099998 meters Centerline goodness : 0.952458 Centerline is valid? [True, True] Translation: X:87.83, Y:13.17, Z:0.12 [[ 8.11708595e-01 -5.18690141e-01 -2.68495242e-01 8.78270599e+01] [ 4.89498564e-01 8.54925118e-01 -1.71738754e-01 1.31683860e+01] [ 3.18622525e-01 7.97378688e-03 9.47848145e-01 1.21704041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.63771942099999 meters Centerline goodness : 0.952616 Centerline is valid? [True, True] Translation: X:87.85, Y:13.18, Z:0.13 [[ 8.10673519e-01 -5.20332294e-01 -2.68445057e-01 8.78501309e+01] [ 4.91202316e-01 8.53931582e-01 -1.71817166e-01 1.31813856e+01] [ 3.18635732e-01 7.42679286e-03 9.47848149e-01 1.31117066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.667719421 meters Centerline goodness : 0.954877 Centerline is valid? [True, True] Translation: X:87.87, Y:13.20, Z:0.14 [[ 8.08086674e-01 -5.24370214e-01 -2.68387416e-01 8.78725358e+01] [ 4.95426532e-01 8.51469600e-01 -1.71907159e-01 1.31955741e+01] [ 3.18666720e-01 5.94963757e-03 9.47848154e-01 1.42249978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.697719421 meters Centerline goodness : 0.957084 Centerline is valid? [True, True] Translation: X:87.89, Y:13.21, Z:0.15 [[ 8.06890851e-01 -5.26234945e-01 -2.68335494e-01 8.78948362e+01] [ 4.97364591e-01 8.50322605e-01 -1.71988170e-01 1.32107212e+01] [ 3.18677922e-01 5.31510773e-03 9.47848159e-01 1.49514029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.727719421 meters Centerline goodness : 0.957345 Centerline is valid? [True, True] Translation: X:87.92, Y:13.23, Z:0.16 [[ 8.04629166e-01 -5.29701411e-01 -2.68306394e-01 8.79163522e+01] [ 5.01003041e-01 8.48174751e-01 -1.72033556e-01 1.32257352e+01] [ 3.18697126e-01 4.00089721e-03 9.47848160e-01 1.61650487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.757719421 meters Centerline goodness : 0.958114 Centerline is valid? [True, True] Translation: X:87.94, Y:13.24, Z:0.17 [[ 8.03169725e-01 -5.31937704e-01 -2.68254863e-01 8.79384350e+01] [ 5.03333757e-01 8.46777387e-01 -1.72113874e-01 1.32399144e+01] [ 3.18706011e-01 3.21492486e-03 9.47848164e-01 1.71701511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.787719421 meters Centerline goodness : 0.955207 Centerline is valid? [True, True] Translation: X:87.96, Y:13.26, Z:0.18 [[ 8.01049825e-01 -5.35153603e-01 -2.68197314e-01 8.79615056e+01] [ 5.06694712e-01 8.44752284e-01 -1.72203507e-01 1.32558375e+01] [ 3.18715621e-01 2.04942872e-03 9.47848170e-01 1.80605401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.817719421 meters Centerline goodness : 0.951998 Centerline is valid? [True, True] Translation: X:87.98, Y:13.28, Z:0.18 [[ 7.99977524e-01 -5.36780466e-01 -2.68146775e-01 8.79827629e+01] [ 5.08384080e-01 8.43720618e-01 -1.72282171e-01 1.32766375e+01] [ 3.18718667e-01 1.50031289e-03 9.47848174e-01 1.83027896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.847719421 meters Centerline goodness : 0.953958 Centerline is valid? [True, True] Translation: X:88.00, Y:13.29, Z:0.20 [[ 8.00241238e-01 -5.36414238e-01 -2.68092756e-01 8.80033285e+01] [ 5.07969682e-01 8.43953019e-01 -1.72366193e-01 1.32930170e+01] [ 3.18717371e-01 1.75154334e-03 9.47848179e-01 1.95577757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.877719421 meters Centerline goodness : 0.956031 Centerline is valid? [True, True] Translation: X:88.02, Y:13.31, Z:0.21 [[ 8.00804800e-01 -5.35599497e-01 -2.68038900e-01 8.80243346e+01] [ 5.07082447e-01 8.44469314e-01 -1.72449904e-01 1.33083401e+01] [ 3.18714708e-01 2.18088941e-03 9.47848183e-01 2.06755694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.907719421 meters Centerline goodness : 0.957282 Centerline is valid? [True, True] Translation: X:88.04, Y:13.33, Z:0.22 [[ 8.01354854e-01 -5.34791185e-01 -2.68008928e-01 8.80446748e+01] [ 5.06214516e-01 8.44980373e-01 -1.72496473e-01 1.33253505e+01] [ 3.18711877e-01 2.56087586e-03 9.47848185e-01 2.18674562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.937719421 meters Centerline goodness : 0.957655 Centerline is valid? [True, True] Translation: X:88.07, Y:13.34, Z:0.23 [[ 8.01164562e-01 -5.35103268e-01 -2.67954915e-01 8.80655224e+01] [ 5.06515544e-01 8.44782831e-01 -1.72580338e-01 1.33424028e+01] [ 3.18712015e-01 2.54192129e-03 9.47848189e-01 2.25795138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.967719421 meters Centerline goodness : 0.955186 Centerline is valid? [True, True] Translation: X:88.09, Y:13.36, Z:0.23 [[ 8.01294109e-01 -5.34918793e-01 -2.67935879e-01 8.80855472e+01] [ 5.06311146e-01 8.44899314e-01 -1.72609887e-01 1.33623251e+01] [ 3.18711113e-01 2.65236374e-03 9.47848190e-01 2.31962681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.997719421 meters Centerline goodness : 0.953446 Centerline is valid? [True, True] Translation: X:88.11, Y:13.38, Z:0.24 [[ 8.01353458e-01 -5.34839352e-01 -2.67916970e-01 8.81071853e+01] [ 5.06217572e-01 8.44949386e-01 -1.72639233e-01 1.33800595e+01] [ 3.18710535e-01 2.72076789e-03 9.47848191e-01 2.40067710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.027719421 meters Centerline goodness : 0.951486 Centerline is valid? [True, True] Translation: X:88.13, Y:13.40, Z:0.25 [[ 8.02635607e-01 -5.32939567e-01 -2.67864705e-01 8.81266494e+01] [ 5.04187545e-01 8.46145744e-01 -1.72720292e-01 1.33995383e+01] [ 3.18702057e-01 3.57740879e-03 9.47848195e-01 2.46789625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.057719421 meters Centerline goodness : 0.949900 Centerline is valid? [True, False] Translation: X:88.11, Y:13.39, Z:0.24 [[ 8.02493229e-01 -5.26858681e-01 -2.80043833e-01 8.81059805e+01] [ 5.04233711e-01 8.49766338e-01 -1.53771048e-01 1.33853619e+01] [ 3.18987434e-01 -1.78073164e-02 9.47591640e-01 2.44717252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.087719421 meters Centerline goodness : 0.948664 Centerline is valid? [False, False] Translation: X:88.08, Y:13.38, Z:0.24 [[ 8.01861371e-01 -5.21391857e-01 -2.91837065e-01 8.80835687e+01] [ 5.04052500e-01 8.52545382e-01 -1.38193519e-01 1.33760553e+01] [ 3.20857318e-01 -3.62891571e-02 9.46432078e-01 2.42842096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.117719421 meters Centerline goodness : 0.948141 Centerline is valid? [False, False] Translation: X:88.06, Y:13.36, Z:0.24 [[ 8.00627804e-01 -5.17476689e-01 -3.02014892e-01 8.80595394e+01] [ 5.06385681e-01 8.53836299e-01 -1.20569967e-01 1.33621560e+01] [ 3.20263425e-01 -5.64043484e-02 9.45647867e-01 2.38716849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.147719421 meters Centerline goodness : 0.946382 Centerline is valid? [False, False] Translation: X:88.03, Y:13.35, Z:0.23 [[ 7.97685265e-01 -5.17705875e-01 -3.09319971e-01 8.80312195e+01] [ 5.12779296e-01 8.52203830e-01 -1.03952036e-01 1.33497348e+01] [ 3.17420244e-01 -7.56918702e-02 9.45259292e-01 2.31307206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.177719421 meters Centerline goodness : 0.946470 Centerline is valid? [False, False] Translation: X:88.01, Y:13.34, Z:0.23 [[ 0.79433839 -0.51747335 -0.31819468 88.01041774] [ 0.5169817 0.85090528 -0.09322088 13.33775908] [ 0.31899285 -0.0904519 0.94343098 0.22850206] [ 0. 0. 0. 1. ]] SLAMing on 147.207719421 meters Centerline goodness : 0.945428 Centerline is valid? [False, False] Translation: X:87.99, Y:13.33, Z:0.22 [[ 7.88592927e-01 -5.22393272e-01 -3.24386290e-01 8.79906428e+01] [ 5.25514864e-01 8.46466152e-01 -8.56106425e-02 1.33299892e+01] [ 3.19304438e-01 -1.02957870e-01 9.42042649e-01 2.24955384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.237719421 meters Centerline goodness : 0.946629 Centerline is valid? [False, False] Translation: X:87.97, Y:13.32, Z:0.22 [[ 7.83845173e-01 -5.24584172e-01 -3.32262234e-01 8.79686561e+01] [ 5.31460505e-01 8.43489307e-01 -7.79456267e-02 1.33180519e+01] [ 3.21148683e-01 -1.15486951e-01 9.39960790e-01 2.21802884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26771942099998 meters Centerline goodness : 0.945713 Centerline is valid? [False, False] Translation: X:87.94, Y:13.30, Z:0.22 [[ 7.79766327e-01 -5.26077183e-01 -3.39421969e-01 8.79433759e+01] [ 5.36324863e-01 8.40990374e-01 -7.13500637e-02 1.33030488e+01] [ 3.22986250e-01 -1.26404064e-01 9.37924248e-01 2.17683633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.29771942099998 meters Centerline goodness : 0.946813 Centerline is valid? [False, False] Translation: X:87.91, Y:13.28, Z:0.21 [[ 7.73642814e-01 -5.32051599e-01 -3.44089948e-01 8.79081881e+01] [ 5.47111704e-01 8.34849942e-01 -6.07812234e-02 1.32849656e+01] [ 3.19602220e-01 -1.41232681e-01 9.36967316e-01 2.09572091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32771942099998 meters Centerline goodness : 0.947135 Centerline is valid? [False, False] Translation: X:87.87, Y:13.26, Z:0.20 [[ 7.73071670e-01 -5.32429104e-01 -3.44788984e-01 8.78734858e+01] [ 5.47968262e-01 8.34358914e-01 -5.97995598e-02 1.32615428e+01] [ 3.19516788e-01 -1.42704075e-01 9.36773489e-01 1.97473939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.35771942099998 meters Centerline goodness : 0.947574 Centerline is valid? [False, False] Translation: X:87.84, Y:13.24, Z:0.18 [[ 7.68952723e-01 -5.36937276e-01 -3.47001544e-01 8.78370483e+01] [ 5.55343133e-01 8.29897574e-01 -5.35165577e-02 1.32439301e+01] [ 3.16710774e-01 -1.51553222e-01 9.36336428e-01 1.82550343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38771942099999 meters Centerline goodness : 0.944663 Centerline is valid? [False, False] Translation: X:87.80, Y:13.22, Z:0.17 [[ 7.69925341e-01 -5.34868301e-01 -3.48038603e-01 8.78004198e+01] [ 5.53560261e-01 8.31138576e-01 -5.27229018e-02 1.32208613e+01] [ 3.17468118e-01 -1.52067642e-01 9.35996489e-01 1.68615188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.417719421 meters Centerline goodness : 0.948112 Centerline is valid? [False, False] Translation: X:87.76, Y:13.20, Z:0.15 [[ 7.72333671e-01 -5.32251331e-01 -3.46712015e-01 8.77597462e+01] [ 5.50827812e-01 8.33011845e-01 -5.17686044e-02 1.32007954e+01] [ 3.16369124e-01 -1.50995984e-01 9.36541932e-01 1.53166810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.447719421 meters Centerline goodness : 0.949014 Centerline is valid? [False, False] Translation: X:87.72, Y:13.18, Z:0.14 [[ 7.75111798e-01 -5.29096855e-01 -3.45337832e-01 8.77203831e+01] [ 5.47323906e-01 8.35342835e-01 -5.13701285e-02 1.31768327e+01] [ 3.15655257e-01 -1.49194059e-01 9.37071444e-01 1.37426499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.477719421 meters Centerline goodness : 0.947321 Centerline is valid? [False, False] Translation: X:87.68, Y:13.16, Z:0.12 [[ 7.78728232e-01 -5.23214719e-01 -3.46162821e-01 8.76820796e+01] [ 5.42026561e-01 8.38948904e-01 -4.87026006e-02 1.31600915e+01] [ 3.15894837e-01 -1.49703353e-01 9.36909472e-01 1.22203210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.507719421 meters Centerline goodness : 0.946182 Centerline is valid? [False, False] Translation: X:87.64, Y:13.14, Z:0.11 [[ 7.82410895e-01 -5.17277907e-01 -3.46780562e-01 8.76417025e+01] [ 5.36137638e-01 8.42792149e-01 -4.75165883e-02 1.31373000e+01] [ 3.16843217e-01 -1.48744615e-01 9.36741915e-01 1.05990432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.537719421 meters Centerline goodness : 0.944565 Centerline is valid? [False, False] Translation: X:87.60, Y:13.12, Z:0.09 [[ 7.88178152e-01 -5.08798885e-01 -3.46264198e-01 8.76017234e+01] [ 5.27504639e-01 8.48317265e-01 -4.57894508e-02 1.31219321e+01] [ 3.17039519e-01 -1.46565726e-01 9.37018907e-01 8.77329321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.567719421 meters Centerline goodness : 0.942111 Centerline is valid? [False, False] Translation: X:87.57, Y:13.10, Z:0.07 [[ 7.91889719e-01 -5.04316084e-01 -3.44348602e-01 8.75651702e+01] [ 5.22701325e-01 8.51338677e-01 -4.47859573e-02 1.31027391e+01] [ 3.15743562e-01 -1.44525932e-01 9.37773031e-01 7.10815785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.597719421 meters Centerline goodness : 0.943092 Centerline is valid? [False, False] Translation: X:87.54, Y:13.10, Z:0.06 [[ 7.98200760e-01 -4.96178292e-01 -3.41588420e-01 8.75380891e+01] [ 5.13480983e-01 8.56926959e-01 -4.48716741e-02 1.30966671e+01] [ 3.14980677e-01 -1.39582554e-01 9.38777867e-01 5.91199703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.627719421 meters Centerline goodness : 0.944202 Centerline is valid? [False, False] Translation: X:87.51, Y:13.08, Z:0.05 [[ 8.02121660e-01 -4.92012350e-01 -3.38414967e-01 8.75112539e+01] [ 5.07356581e-01 8.60379830e-01 -4.83306028e-02 1.30845109e+01] [ 3.14944666e-01 -1.32930038e-01 9.39755001e-01 4.76109926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.657719421 meters Centerline goodness : 0.945366 Centerline is valid? [False, False] Translation: X:87.50, Y:13.09, Z:0.04 [[ 8.05559048e-01 -4.85934038e-01 -3.39032051e-01 8.75014352e+01] [ 4.99867667e-01 8.64570820e-01 -5.14743903e-02 1.30890764e+01] [ 3.18130377e-01 -1.28005500e-01 9.39365560e-01 4.44656447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.687719421 meters Centerline goodness : 0.944299 Centerline is valid? [False, False] Translation: X:87.48, Y:13.08, Z:0.04 [[ 8.06262537e-01 -4.85363802e-01 -3.38175549e-01 8.74833330e+01] [ 4.98801625e-01 8.65127815e-01 -5.24480905e-02 1.30835065e+01] [ 3.18021478e-01 -1.26395583e-01 9.39620400e-01 3.76467452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.717719421 meters Centerline goodness : 0.945134 Centerline is valid? [False, False] Translation: X:87.46, Y:13.08, Z:0.03 [[ 8.07559741e-01 -4.83607441e-01 -3.37596072e-01 8.74645393e+01] [ 4.97133384e-01 8.66140716e-01 -5.15621780e-02 1.30796779e+01] [ 3.17341557e-01 -1.26190739e-01 9.39877776e-01 3.19995894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.747719421 meters Centerline goodness : 0.944322 Centerline is valid? [False, False] Translation: X:87.45, Y:13.07, Z:0.03 [[ 8.08149652e-01 -4.81875522e-01 -3.38659301e-01 8.74493476e+01] [ 4.96745940e-01 8.66586221e-01 -4.76633268e-02 1.30723653e+01] [ 3.16445274e-01 -1.29708532e-01 9.39701062e-01 2.73076107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.777719421 meters Centerline goodness : 0.948422 Centerline is valid? [False, False] Translation: X:87.43, Y:13.07, Z:0.02 [[ 8.08068782e-01 -4.82742663e-01 -3.37615707e-01 8.74325347e+01] [ 4.97601441e-01 8.66108376e-01 -4.74245513e-02 1.30665858e+01] [ 3.15305646e-01 -1.29675763e-01 9.40088584e-01 2.15786116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.807719421 meters Centerline goodness : 0.947979 Centerline is valid? [False, False] Translation: X:87.42, Y:13.06, Z:0.02 [[ 8.06889949e-01 -4.85087718e-01 -3.37073458e-01 8.74187996e+01] [ 5.00894999e-01 8.64345464e-01 -4.48455016e-02 1.30594997e+01] [ 3.13101917e-01 -1.32653025e-01 9.40409679e-01 1.82095352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.837719421 meters Centerline goodness : 0.947979 Centerline is valid? [False, False] Translation: X:87.42, Y:13.06, Z:0.02 [[ 8.06889949e-01 -4.85087718e-01 -3.37073458e-01 8.74187996e+01] [ 5.00894999e-01 8.64345464e-01 -4.48455016e-02 1.30594997e+01] [ 3.13101917e-01 -1.32653025e-01 9.40409679e-01 1.82095352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.867719421 meters Centerline goodness : 0.948484 Centerline is valid? [False, False] Translation: X:87.40, Y:13.05, Z:0.01 [[ 8.05534906e-01 -4.88313398e-01 -3.35653899e-01 8.74035863e+01] [ 5.04408206e-01 8.62342579e-01 -4.40186097e-02 1.30504466e+01] [ 3.10943526e-01 -1.33848055e-01 9.40956334e-01 1.41984507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.897719421 meters Centerline goodness : 0.950749 Centerline is valid? [False, True] Translation: X:87.38, Y:13.03, Z:0.01 [[ 8.01200496e-01 -4.93161063e-01 -3.38924669e-01 8.73768545e+01] [ 5.10865723e-01 8.58646804e-01 -4.17358218e-02 1.30323438e+01] [ 3.11599066e-01 -1.39706235e-01 9.39887328e-01 8.71422321e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.927719421 meters Centerline goodness : 0.949397 Centerline is valid? [True, False] Translation: X:87.35, Y:13.02, Z:-0.00 [[ 7.95103574e-01 -5.00318917e-01 -3.42770022e-01 8.73482667e+01] [ 5.21818387e-01 8.52388921e-01 -3.37446018e-02 1.30153976e+01] [ 3.09056432e-01 -1.52033246e-01 9.38813088e-01 -1.61420559e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.957719421 meters Centerline goodness : 0.948705 Centerline is valid? [False, False] Translation: X:87.32, Y:13.00, Z:-0.01 [[ 7.92304092e-01 -5.03630015e-01 -3.44399527e-01 8.73193346e+01] [ 5.25694399e-01 8.50008722e-01 -3.36239764e-02 1.29955677e+01] [ 3.09676645e-01 -1.54408488e-01 9.38220866e-01 -1.14917449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.987719421 meters Centerline goodness : 0.942418 Centerline is valid? [False, False] Translation: X:87.28, Y:12.97, Z:-0.03 [[ 7.88083365e-01 -5.12657612e-01 -3.40744453e-01 8.72845611e+01] [ 5.35193987e-01 8.44116028e-01 -3.21796266e-02 1.29688711e+01] [ 3.04124985e-01 -1.57004154e-01 9.39605071e-01 -2.83406327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.01771942099998 meters Centerline goodness : 0.945055 Centerline is valid? [False, False] Translation: X:87.25, Y:12.95, Z:-0.04 [[ 7.87082492e-01 -5.14786273e-01 -3.39847382e-01 8.72535566e+01] [ 5.37197003e-01 8.42828911e-01 -3.25393049e-02 1.29453180e+01] [ 3.03183987e-01 -1.56953878e-01 9.39917523e-01 -4.06766876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04771942099998 meters Centerline goodness : 0.946576 Centerline is valid? [False, False] Translation: X:87.22, Y:12.92, Z:-0.06 [[ 7.85576607e-01 -5.18605320e-01 -3.37517283e-01 8.72162373e+01] [ 5.42733018e-01 8.39481757e-01 -2.66692792e-02 1.29213234e+01] [ 2.97170432e-01 -1.62231012e-01 9.40941461e-01 -5.79346633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.07771942099998 meters Centerline goodness : 0.946085 Centerline is valid? [False, False] Translation: X:87.17, Y:12.89, Z:-0.08 [[ 7.85340816e-01 -5.18602229e-01 -3.38070305e-01 8.71714185e+01] [ 5.44039110e-01 8.38748983e-01 -2.28383686e-02 1.28928445e+01] [ 2.95400153e-01 -1.65987564e-01 9.40843705e-01 -7.58929268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10771942099998 meters Centerline goodness : 0.944902 Centerline is valid? [False, False] Translation: X:87.14, Y:12.87, Z:-0.09 [[ 7.86116767e-01 -5.19127654e-01 -3.35450305e-01 8.71371468e+01] [ 5.43622347e-01 8.38975232e-01 -2.43988533e-02 1.28720258e+01] [ 2.94100617e-01 -1.63177934e-01 9.41741891e-01 -9.18541239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.13771942099999 meters Centerline goodness : 0.944934 Centerline is valid? [False, False] Translation: X:87.10, Y:12.85, Z:-0.11 [[ 7.88477247e-01 -5.17337033e-01 -3.32665033e-01 8.70986057e+01] [ 5.40641946e-01 8.40844685e-01 -2.62011959e-02 1.28473262e+01] [ 2.93274474e-01 -1.59193624e-01 9.42681003e-01 -1.07665798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.167719421 meters Centerline goodness : 0.946029 Centerline is valid? [False, False] Translation: X:87.06, Y:12.83, Z:-0.12 [[ 7.92745636e-01 -5.12999802e-01 -3.29219622e-01 8.70588282e+01] [ 5.35100675e-01 8.44350482e-01 -2.71943249e-02 1.28257140e+01] [ 2.91927430e-01 -1.54607459e-01 9.43861700e-01 -1.24325857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.197719421 meters Centerline goodness : 0.943268 Centerline is valid? [False, False] Translation: X:87.02, Y:12.80, Z:-0.14 [[ 7.96487572e-01 -5.08886060e-01 -3.26561672e-01 8.70216198e+01] [ 5.30187879e-01 8.47436099e-01 -2.74384972e-02 1.28037437e+01] [ 2.90703218e-01 -1.51284618e-01 9.44777542e-01 -1.40355948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.227719421 meters Centerline goodness : 0.943070 Centerline is valid? [False, False] Translation: X:86.99, Y:12.79, Z:-0.15 [[ 8.03410344e-01 -5.00796134e-01 -3.22079263e-01 8.69936429e+01] [ 5.20113166e-01 8.53576714e-01 -2.98175691e-02 1.27941064e+01] [ 2.89851883e-01 -1.43561922e-01 9.46243024e-01 -1.54255329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.257719421 meters Centerline goodness : 0.944763 Centerline is valid? [False, False] Translation: X:86.97, Y:12.78, Z:-0.16 [[ 8.07376431e-01 -4.96669603e-01 -3.18531952e-01 8.69667195e+01] [ 5.14158719e-01 8.57054903e-01 -3.31316436e-02 1.27831686e+01] [ 2.89454851e-01 -1.37026272e-01 9.47332935e-01 -1.64624904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.287719421 meters Centerline goodness : 0.946051 Centerline is valid? [False, False] Translation: X:86.95, Y:12.78, Z:-0.17 [[ 8.11744301e-01 -4.89762080e-01 -3.18126225e-01 8.69472451e+01] [ 5.08573063e-01 8.60589139e-01 -2.71987676e-02 1.27821221e+01] [ 2.87096899e-01 -1.39711984e-01 9.47658130e-01 -1.70118369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.317719421 meters Centerline goodness : 0.949284 Centerline is valid? [False, False] Translation: X:86.93, Y:12.78, Z:-0.17 [[ 8.13821023e-01 -4.87176713e-01 -3.16787298e-01 8.69346912e+01] [ 5.03563184e-01 8.63289916e-01 -3.39800183e-02 1.27827423e+01] [ 2.90033553e-01 -1.31868767e-01 9.47887739e-01 -1.72318292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.347719421 meters Centerline goodness : 0.947164 Centerline is valid? [False, False] Translation: X:86.92, Y:12.78, Z:-0.18 [[ 8.14916386e-01 -4.85900194e-01 -3.15930823e-01 8.69183274e+01] [ 5.02736342e-01 8.63853316e-01 -3.18373805e-02 1.27762872e+01] [ 2.88387678e-01 -1.32885103e-01 9.48247909e-01 -1.78113316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.377719421 meters Centerline goodness : 0.949288 Centerline is valid? [False, False] Translation: X:86.91, Y:12.78, Z:-0.18 [[ 8.17180972e-01 -4.84639304e-01 -3.11993596e-01 8.69115018e+01] [ 4.99616089e-01 8.65505300e-01 -3.58376722e-02 1.27804727e+01] [ 2.87400455e-01 -1.26591156e-01 9.49408056e-01 -1.83635130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.407719421 meters Centerline goodness : 0.947681 Centerline is valid? [False, False] Translation: X:86.89, Y:12.77, Z:-0.19 [[ 8.18950886e-01 -4.84436907e-01 -3.07636685e-01 8.68869860e+01] [ 4.96887664e-01 8.66788899e-01 -4.21859322e-02 1.27687340e+01] [ 2.87092486e-01 -1.18312667e-01 9.50568260e-01 -1.93802204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.437719421 meters Centerline goodness : 0.951007 Centerline is valid? [False, True] Translation: X:86.87, Y:12.76, Z:-0.20 [[ 8.20412092e-01 -4.83273849e-01 -3.05565682e-01 8.68709985e+01] [ 4.96229283e-01 8.67298392e-01 -3.93700231e-02 1.27613118e+01] [ 2.84043127e-01 -1.19330996e-01 9.51356723e-01 -1.99951815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.467719421 meters Centerline goodness : 0.949800 Centerline is valid? [True, False] Translation: X:86.84, Y:12.74, Z:-0.21 [[ 8.23066924e-01 -4.81663866e-01 -3.00933146e-01 8.68428594e+01] [ 4.91670301e-01 8.69513576e-01 -4.69729199e-02 1.27433062e+01] [ 2.84290614e-01 -1.09298034e-01 9.52487683e-01 -2.10932874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.497719421 meters Centerline goodness : 0.944853 Centerline is valid? [False, False] Translation: X:86.82, Y:12.73, Z:-0.22 [[ 8.24180286e-01 -4.80755680e-01 -2.99333983e-01 8.68204961e+01] [ 4.88616349e-01 8.70866812e-01 -5.33390979e-02 1.27316299e+01] [ 2.86323105e-01 -1.02298445e-01 9.52656343e-01 -2.20319569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.527719421 meters Centerline goodness : 0.944963 Centerline is valid? [False, False] Translation: X:86.80, Y:12.72, Z:-0.23 [[ 8.25213531e-01 -4.80680304e-01 -2.96595807e-01 8.67978768e+01] [ 4.86417271e-01 8.71706067e-01 -5.93866239e-02 1.27195618e+01] [ 2.87090345e-01 -9.52626774e-02 9.53154844e-01 -2.29041162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.557719421 meters Centerline goodness : 0.941741 Centerline is valid? [False, False] Translation: X:86.77, Y:12.71, Z:-0.24 [[ 8.27019551e-01 -4.76994789e-01 -2.97514088e-01 8.67746939e+01] [ 4.81467801e-01 8.74183466e-01 -6.31824634e-02 1.27054249e+01] [ 2.90219603e-01 -9.09903215e-02 9.52624450e-01 -2.36426058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.587719421 meters Centerline goodness : 0.943792 Centerline is valid? [False, False] Translation: X:86.74, Y:12.68, Z:-0.25 [[ 8.27879528e-01 -4.73680136e-01 -3.00404088e-01 8.67445356e+01] [ 4.79861608e-01 8.75428865e-01 -5.79408297e-02 1.26843405e+01] [ 2.90427830e-01 -9.61843623e-02 9.52050547e-01 -2.45506683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.617719421 meters Centerline goodness : 0.945397 Centerline is valid? [False, False] Translation: X:86.72, Y:12.66, Z:-0.25 [[ 8.31636928e-01 -4.70947787e-01 -2.94258734e-01 8.67164329e+01] [ 4.75023547e-01 8.77764530e-01 -6.23061857e-02 1.26630719e+01] [ 2.87632839e-01 -8.79637024e-02 9.53692685e-01 -2.54183945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.647719421 meters Centerline goodness : 0.946764 Centerline is valid? [False, False] Translation: X:86.69, Y:12.64, Z:-0.26 [[ 8.32871962e-01 -4.67259482e-01 -2.96635922e-01 8.66858971e+01] [ 4.73064361e-01 8.79202667e-01 -5.66814028e-02 1.26400261e+01] [ 2.87288017e-01 -9.31195318e-02 9.53307059e-01 -2.63495694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.677719421 meters Centerline goodness : 0.945500 Centerline is valid? [False, False] Translation: X:86.65, Y:12.62, Z:-0.28 [[ 8.36249238e-01 -4.59348016e-01 -2.99477233e-01 8.66545695e+01] [ 4.66909014e-01 8.82868354e-01 -5.03928786e-02 1.26151616e+01] [ 2.87546840e-01 -9.76876129e-02 9.52771717e-01 -2.76157425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.707719421 meters Centerline goodness : 0.943872 Centerline is valid? [False, False] Translation: X:86.63, Y:12.59, Z:-0.29 [[ 8.37198988e-01 -4.55292377e-01 -3.02996215e-01 8.66251401e+01] [ 4.64618803e-01 8.84361624e-01 -4.50986283e-02 1.25940694e+01] [ 2.88491286e-01 -1.03021213e-01 9.51924055e-01 -2.86091320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.737719421 meters Centerline goodness : 0.945411 Centerline is valid? [False, False] Translation: X:86.61, Y:12.58, Z:-0.29 [[ 8.37789664e-01 -4.53883912e-01 -3.03476313e-01 8.66115281e+01] [ 4.64373087e-01 8.84681962e-01 -4.11759866e-02 1.25803035e+01] [ 2.87169138e-01 -1.06429417e-01 9.51948877e-01 -2.90610963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76771942099998 meters Centerline goodness : 0.944920 Centerline is valid? [False, False] Translation: X:86.59, Y:12.56, Z:-0.30 [[ 8.40874831e-01 -4.51559211e-01 -2.98368560e-01 8.65900623e+01] [ 4.60661030e-01 8.86513479e-01 -4.34196602e-02 1.25570870e+01] [ 2.84114298e-01 -1.00936269e-01 9.53462603e-01 -3.00413093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.79771942099998 meters Centerline goodness : 0.946311 Centerline is valid? [False, False] Translation: X:86.56, Y:12.53, Z:-0.31 [[ 8.42628199e-01 -4.48057992e-01 -2.98700107e-01 8.65574381e+01] [ 4.57664289e-01 8.88169368e-01 -4.12137377e-02 1.25305930e+01] [ 2.83762430e-01 -1.01976515e-01 9.53456697e-01 -3.12354592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82771942099998 meters Centerline goodness : 0.944967 Centerline is valid? [False, False] Translation: X:86.53, Y:12.51, Z:-0.32 [[ 8.45112834e-01 -4.45056470e-01 -2.96157113e-01 8.65314959e+01] [ 4.52491127e-01 8.90527765e-01 -4.70327555e-02 1.25093369e+01] [ 2.84668364e-01 -9.42604805e-02 9.53980547e-01 -3.21902237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.85771942099998 meters Centerline goodness : 0.943689 Centerline is valid? [False, False] Translation: X:86.52, Y:12.49, Z:-0.33 [[ 8.47192685e-01 -4.39119922e-01 -2.99062283e-01 8.65160113e+01] [ 4.47265416e-01 8.93288169e-01 -4.46082421e-02 1.24889522e+01] [ 2.86737167e-01 -9.59684400e-02 9.53190356e-01 -3.27622057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88771942099999 meters Centerline goodness : 0.942836 Centerline is valid? [False, False] Translation: X:86.50, Y:12.47, Z:-0.33 [[ 8.49255367e-01 -4.35272919e-01 -2.98835753e-01 8.64972937e+01] [ 4.43600357e-01 8.95181544e-01 -4.32287636e-02 1.24661986e+01] [ 2.86328561e-01 -9.58513871e-02 9.53324953e-01 -3.33637575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.917719421 meters Centerline goodness : 0.944896 Centerline is valid? [False, False] Translation: X:86.48, Y:12.45, Z:-0.34 [[ 8.48939732e-01 -4.35665696e-01 -2.99160044e-01 8.64835975e+01] [ 4.45300700e-01 8.94529140e-01 -3.90500133e-02 1.24535105e+01] [ 2.84620128e-01 -1.00065069e-01 9.53403568e-01 -3.36480475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.947719421 meters Centerline goodness : 0.949127 Centerline is valid? [False, False] Translation: X:86.47, Y:12.43, Z:-0.34 [[ 8.49628914e-01 -4.37029747e-01 -2.95187583e-01 8.64652549e+01] [ 4.46737088e-01 8.93876160e-01 -3.75684019e-02 1.24295817e+01] [ 2.80279652e-01 -9.99520406e-02 9.54700427e-01 -3.40344742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.977719421 meters Centerline goodness : 0.949927 Centerline is valid? [False, False] Translation: X:86.44, Y:12.41, Z:-0.35 [[ 8.51488016e-01 -4.37695502e-01 -2.88774664e-01 8.64432568e+01] [ 4.45988114e-01 8.94136106e-01 -4.01898751e-02 1.24079096e+01] [ 2.75794781e-01 -9.45688707e-02 9.56553170e-01 -3.49854414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.007719421 meters Centerline goodness : 0.950012 Centerline is valid? [False, True] Translation: X:86.43, Y:12.39, Z:-0.35 [[ 8.50247396e-01 -4.40116217e-01 -2.88750898e-01 8.64304731e+01] [ 4.49069782e-01 8.92675249e-01 -3.83044372e-02 1.23935888e+01] [ 2.74619184e-01 -9.71010549e-02 9.56637700e-01 -3.53295233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.037719421 meters Centerline goodness : 0.949505 Centerline is valid? [True, False] Translation: X:86.41, Y:12.37, Z:-0.36 [[ 8.51776201e-01 -4.37117639e-01 -2.88800055e-01 8.64129049e+01] [ 4.45637917e-01 8.94349864e-01 -3.93086109e-02 1.23668673e+01] [ 2.75470778e-01 -9.52181160e-02 9.56582125e-01 -3.60777448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.067719421 meters Centerline goodness : 0.948155 Centerline is valid? [False, False] Translation: X:86.41, Y:12.36, Z:-0.36 [[ 8.50883364e-01 -4.39368413e-01 -2.88015448e-01 8.64145440e+01] [ 4.47483863e-01 8.93359793e-01 -4.08224633e-02 1.23639174e+01] [ 2.75237522e-01 -9.41471105e-02 9.56755260e-01 -3.60672249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.097719421 meters Centerline goodness : 0.944482 Centerline is valid? [False, False] Translation: X:86.41, Y:12.35, Z:-0.36 [[ 8.49458106e-01 -4.36592485e-01 -2.96324026e-01 8.64084763e+01] [ 4.46802838e-01 8.93899414e-01 -3.62085846e-02 1.23485827e+01] [ 2.80692269e-01 -1.01640740e-01 9.54400864e-01 -3.61322189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.127719421 meters Centerline goodness : 0.942305 Centerline is valid? [False, False] Translation: X:86.39, Y:12.32, Z:-0.37 [[ 8.52235614e-01 -4.33024188e-01 -2.93571985e-01 8.63887266e+01] [ 4.42407951e-01 8.96035219e-01 -3.73642976e-02 1.23240461e+01] [ 2.79230482e-01 -9.80353952e-02 9.55206469e-01 -3.71449340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.157719421 meters Centerline goodness : 0.943204 Centerline is valid? [False, False] Translation: X:86.39, Y:12.32, Z:-0.37 [[ 8.51544481e-01 -4.34996295e-01 -2.92660588e-01 8.63889300e+01] [ 4.44016479e-01 8.95185905e-01 -3.86207442e-02 1.23198122e+01] [ 2.78785514e-01 -9.70588423e-02 9.55436140e-01 -3.70472991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.187719421 meters Centerline goodness : 0.943482 Centerline is valid? [False, False] Translation: X:86.39, Y:12.31, Z:-0.37 [[ 8.51078169e-01 -4.36205120e-01 -2.92217461e-01 8.63911671e+01] [ 4.45192268e-01 8.94594683e-01 -3.87839932e-02 1.23118508e+01] [ 2.78333963e-01 -9.70847442e-02 9.55565151e-01 -3.69196806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.217719421 meters Centerline goodness : 0.942121 Centerline is valid? [False, False] Translation: X:86.39, Y:12.31, Z:-0.37 [[ 8.50188090e-01 -4.38525096e-01 -2.91334776e-01 8.63919459e+01] [ 4.47035073e-01 8.93598732e-01 -4.05086368e-02 1.23094973e+01] [ 2.78100441e-01 -9.57969025e-02 9.55763097e-01 -3.68912586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.247719421 meters Centerline goodness : 0.939869 Centerline is valid? [False, False] Translation: X:86.39, Y:12.30, Z:-0.37 [[ 8.48057772e-01 -4.36828892e-01 -2.99964224e-01 8.63854168e+01] [ 4.47712213e-01 8.93477714e-01 -3.53744111e-02 1.22958099e+01] [ 2.83463914e-01 -1.04298102e-01 9.53294349e-01 -3.68052963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.277719421 meters Centerline goodness : 0.940331 Centerline is valid? [False, False] Translation: X:86.39, Y:12.29, Z:-0.37 [[ 8.46948131e-01 -4.39772726e-01 -2.98795604e-01 8.63860989e+01] [ 4.50084888e-01 8.92203202e-01 -3.73769892e-02 1.22928239e+01] [ 2.83023775e-01 -1.02827015e-01 9.53584893e-01 -3.67630705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.307719421 meters Centerline goodness : 0.939283 Centerline is valid? [False, False] Translation: X:86.38, Y:12.28, Z:-0.37 [[ 8.43002787e-01 -4.42497325e-01 -3.05847050e-01 8.63804073e+01] [ 4.54450352e-01 8.90077819e-01 -3.51618282e-02 1.22775135e+01] [ 2.87786690e-01 -1.09350780e-01 9.51431147e-01 -3.66223815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.337719421 meters Centerline goodness : 0.939969 Centerline is valid? [False, False] Translation: X:86.37, Y:12.26, Z:-0.36 [[ 8.37768249e-01 -4.48335179e-01 -3.11672791e-01 8.63736986e+01] [ 4.61523438e-01 8.86453670e-01 -3.45833281e-02 1.22617401e+01] [ 2.91788412e-01 -1.14871484e-01 9.49559932e-01 -3.64114211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.367719421 meters Centerline goodness : 0.938395 Centerline is valid? [False, False] Translation: X:86.37, Y:12.25, Z:-0.36 [[ 8.33263885e-01 -4.52137937e-01 -3.18186397e-01 8.63651229e+01] [ 4.66732536e-01 8.83762402e-01 -3.35373963e-02 1.22510272e+01] [ 2.96364704e-01 -1.20562443e-01 9.47434779e-01 -3.62852284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.397719421 meters Centerline goodness : 0.938118 Centerline is valid? [False, False] Translation: X:86.36, Y:12.24, Z:-0.36 [[ 8.28670389e-01 -4.56936111e-01 -3.23287454e-01 8.63553771e+01] [ 4.72751076e-01 8.80583982e-01 -3.28370361e-02 1.22405743e+01] [ 2.99686181e-01 -1.25623412e-01 9.45730908e-01 -3.62154175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.427719421 meters Centerline goodness : 0.944466 Centerline is valid? [False, False] Translation: X:86.34, Y:12.22, Z:-0.36 [[ 8.23015899e-01 -4.67908978e-01 -3.22034188e-01 8.63419565e+01] [ 4.86517245e-01 8.73298668e-01 -2.55030692e-02 1.22228115e+01] [ 2.93165143e-01 -1.35685754e-01 9.46384475e-01 -3.64070251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.457719421 meters Centerline goodness : 0.945611 Centerline is valid? [False, False] Translation: X:86.31, Y:12.20, Z:-0.38 [[ 8.19947494e-01 -4.74601221e-01 -3.20062162e-01 8.63118870e+01] [ 4.93240084e-01 8.69512120e-01 -2.57466956e-02 1.21989063e+01] [ 2.90517342e-01 -1.36756549e-01 9.47046630e-01 -3.75300027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.487719421 meters Centerline goodness : 0.947968 Centerline is valid? [False, False] Translation: X:86.28, Y:12.17, Z:-0.39 [[ 8.16250761e-01 -4.82088898e-01 -3.18315865e-01 8.62811575e+01] [ 5.00895787e-01 8.65123243e-01 -2.57911851e-02 1.21693626e+01] [ 2.87816097e-01 -1.38391001e-01 9.47633803e-01 -3.85150237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.51771942099998 meters Centerline goodness : 0.949565 Centerline is valid? [False, False] Translation: X:86.25, Y:12.14, Z:-0.40 [[ 8.16173970e-01 -4.83307255e-01 -3.16660935e-01 8.62455343e+01] [ 5.02133397e-01 8.64425240e-01 -2.51208207e-02 1.21425706e+01] [ 2.85870779e-01 -1.38503071e-01 9.48206094e-01 -3.98934267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54771942099998 meters Centerline goodness : 0.951510 Centerline is valid? [False, True] Translation: X:86.21, Y:12.12, Z:-0.41 [[ 8.16221036e-01 -4.84362574e-01 -3.14922401e-01 8.62098205e+01] [ 5.03528945e-01 8.63664287e-01 -2.32938028e-02 1.21159582e+01] [ 2.83269877e-01 -1.39559652e-01 9.48831534e-01 -4.12160751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.57771942099998 meters Centerline goodness : 0.952883 Centerline is valid? [True, True] Translation: X:86.22, Y:12.17, Z:-0.45 [[ 8.16713396e-01 -5.24760756e-01 -2.40011204e-01 8.62203280e+01] [ 5.03042100e-01 8.51248777e-01 -1.49412734e-01 1.21735042e+01] [ 2.82715183e-01 1.29164152e-03 9.59203032e-01 -4.49950553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60771942099998 meters Centerline goodness : 0.950386 Centerline is valid? [True, True] Translation: X:86.24, Y:12.19, Z:-0.44 [[ 8.16817386e-01 -5.24615069e-01 -2.39975804e-01 8.62443105e+01] [ 5.02873555e-01 8.51338379e-01 -1.49469570e-01 1.21884743e+01] [ 2.82714601e-01 1.41185757e-03 9.59203034e-01 -4.42784952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.63771942099999 meters Centerline goodness : 0.948191 Centerline is valid? [True, False] Translation: X:86.22, Y:12.17, Z:-0.45 [[ 8.16124409e-01 -5.20209647e-01 -2.51640362e-01 8.62196958e+01] [ 5.05279234e-01 8.53694429e-01 -1.26090114e-01 1.21722467e+01] [ 2.80417269e-01 -2.42434302e-02 9.59571994e-01 -4.49301766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.667719421 meters Centerline goodness : 0.946673 Centerline is valid? [False, False] Translation: X:86.19, Y:12.15, Z:-0.46 [[ 8.15252354e-01 -5.16891475e-01 -2.61126028e-01 8.61928812e+01] [ 5.08010256e-01 8.54801959e-01 -1.06015048e-01 1.21545981e+01] [ 2.78009315e-01 -4.62256830e-02 9.59465480e-01 -4.55874563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.697719421 meters Centerline goodness : 0.947591 Centerline is valid? [False, False] Translation: X:86.17, Y:12.14, Z:-0.46 [[ 8.14915143e-01 -5.12332541e-01 -2.70977264e-01 8.61733188e+01] [ 5.08475021e-01 8.56363854e-01 -8.99672319e-02 1.21418495e+01] [ 2.78148275e-01 -6.44695106e-02 9.58372172e-01 -4.58683957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.727719421 meters Centerline goodness : 0.947591 Centerline is valid? [False, False] Translation: X:86.15, Y:12.12, Z:-0.46 [[ 8.13362699e-01 -5.09700419e-01 -2.80440016e-01 8.61493318e+01] [ 5.09817122e-01 8.56700396e-01 -7.84278956e-02 1.21245441e+01] [ 2.80227804e-01 -7.91827969e-02 9.56662147e-01 -4.61140210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.757719421 meters Centerline goodness : 0.947061 Centerline is valid? [False, False] Translation: X:86.12, Y:12.10, Z:-0.47 [[ 8.14171430e-01 -5.04873814e-01 -2.86753054e-01 8.61184777e+01] [ 5.08142745e-01 8.58520384e-01 -6.88019012e-02 1.21025972e+01] [ 2.80919620e-01 -8.96949419e-02 9.55530734e-01 -4.67032777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.787719421 meters Centerline goodness : 0.946160 Centerline is valid? [False, False] Translation: X:86.09, Y:12.08, Z:-0.48 [[ 8.18356734e-01 -4.98646581e-01 -2.85733868e-01 8.60884188e+01] [ 5.00578417e-01 8.62703633e-01 -7.18588202e-02 1.20827423e+01] [ 2.82335801e-01 -8.42260582e-02 9.55611044e-01 -4.76181999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.817719421 meters Centerline goodness : 0.944572 Centerline is valid? [False, False] Translation: X:86.07, Y:12.07, Z:-0.48 [[ 8.22117731e-01 -4.89172462e-01 -2.91260603e-01 8.60700691e+01] [ 4.92848827e-01 8.67606583e-01 -6.60215942e-02 1.20732320e+01] [ 2.84995562e-01 -8.92699232e-02 9.54362830e-01 -4.82141743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.847719421 meters Centerline goodness : 0.947175 Centerline is valid? [False, False] Translation: X:86.06, Y:12.07, Z:-0.48 [[ 8.24200638e-01 -4.83310721e-01 -2.95133963e-01 8.60567247e+01] [ 4.90229257e-01 8.69830889e-01 -5.54030709e-02 1.20674690e+01] [ 2.83493536e-01 -9.90200569e-02 9.53848229e-01 -4.84757564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.877719421 meters Centerline goodness : 0.949562 Centerline is valid? [False, False] Translation: X:86.05, Y:12.07, Z:-0.48 [[ 8.28919396e-01 -4.72861773e-01 -2.98821649e-01 8.60525299e+01] [ 4.81957163e-01 8.74904284e-01 -4.75372183e-02 1.20684273e+01] [ 2.83918874e-01 -1.04614712e-01 9.53124250e-01 -4.83728988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.907719421 meters Centerline goodness : 0.950540 Centerline is valid? [False, True] Translation: X:86.05, Y:12.07, Z:-0.48 [[ 8.29659019e-01 -4.71473154e-01 -2.98963171e-01 8.60500288e+01] [ 4.80769220e-01 8.75604816e-01 -4.66600775e-02 1.20682226e+01] [ 2.83772566e-01 -1.05020336e-01 9.53123213e-01 -4.82815700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.937719421 meters Centerline goodness : 0.949894 Centerline is valid? [True, False] Translation: X:86.04, Y:12.06, Z:-0.49 [[ 8.29393585e-01 -4.71959765e-01 -2.98931868e-01 8.60353261e+01] [ 4.82698915e-01 8.74784978e-01 -4.18688377e-02 1.20601429e+01] [ 2.81261514e-01 -1.09568343e-01 9.53355515e-01 -4.85711744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.967719421 meters Centerline goodness : 0.948796 Centerline is valid? [False, False] Translation: X:86.01, Y:12.04, Z:-0.50 [[ 8.31392549e-01 -4.71553876e-01 -2.93978522e-01 8.60107991e+01] [ 4.80638254e-01 8.75740619e-01 -4.54448853e-02 1.20431353e+01] [ 2.78878645e-01 -1.03514784e-01 9.54731057e-01 -4.96544555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.997719421 meters Centerline goodness : 0.947223 Centerline is valid? [False, False] Translation: X:86.00, Y:12.04, Z:-0.50 [[ 8.28798355e-01 -4.70383241e-01 -3.03039425e-01 8.60026041e+01] [ 4.81685877e-01 8.75366812e-01 -4.13722273e-02 1.20370419e+01] [ 2.84731458e-01 -1.11680577e-01 9.52079538e-01 -4.96338301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.027719421 meters Centerline goodness : 0.947243 Centerline is valid? [False, False] Translation: X:85.99, Y:12.03, Z:-0.50 [[ 8.27239169e-01 -4.71961588e-01 -3.04840313e-01 8.59886360e+01] [ 4.84541869e-01 8.73935456e-01 -3.81575296e-02 1.20295624e+01] [ 2.84419646e-01 -1.16142492e-01 9.51638790e-01 -4.99602554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.057719421 meters Centerline goodness : 0.950654 Centerline is valid? [False, True] Translation: X:85.97, Y:12.02, Z:-0.50 [[ 8.26093342e-01 -4.74835273e-01 -3.03481883e-01 8.59722040e+01] [ 4.88006090e-01 8.72092548e-01 -3.61198543e-02 1.20206914e+01] [ 2.81815269e-01 -1.18262636e-01 9.52152353e-01 -5.04186355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.087719421 meters Centerline goodness : 0.950996 Centerline is valid? [True, True] Translation: X:85.98, Y:12.08, Z:-0.54 [[ 8.27101865e-01 -5.12844531e-01 -2.29984765e-01 8.59809616e+01] [ 4.89965816e-01 8.58382141e-01 -1.52031575e-01 1.20777241e+01] [ 2.75383376e-01 1.30609262e-02 9.61245758e-01 -5.37143980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.117719421 meters Centerline goodness : 0.948102 Centerline is valid? [True, False] Translation: X:85.96, Y:12.06, Z:-0.54 [[ 8.24175687e-01 -5.12910708e-01 -2.40118809e-01 8.59640307e+01] [ 4.93924034e-01 8.58429717e-01 -1.38338242e-01 1.20567602e+01] [ 2.77080287e-01 -4.58543484e-03 9.60835828e-01 -5.38659052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.147719421 meters Centerline goodness : 0.947061 Centerline is valid? [False, False] Translation: X:85.94, Y:12.04, Z:-0.54 [[ 8.22097480e-01 -5.11271373e-01 -2.50514103e-01 8.59445426e+01] [ 4.96469530e-01 8.59129791e-01 -1.24153165e-01 1.20369528e+01] [ 2.78700088e-01 -2.23066146e-02 9.60119095e-01 -5.40590876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.177719421 meters Centerline goodness : 0.945507 Centerline is valid? [False, False] Translation: X:85.93, Y:12.02, Z:-0.54 [[ 8.19976550e-01 -5.09116021e-01 -2.61609126e-01 8.59266134e+01] [ 4.98922527e-01 8.59725843e-01 -1.09305927e-01 1.20159101e+01] [ 2.80561525e-01 -4.08943894e-02 9.58964483e-01 -5.42283485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.207719421 meters Centerline goodness : 0.947197 Centerline is valid? [False, False] Translation: X:85.91, Y:12.00, Z:-0.54 [[ 8.18214050e-01 -5.06683085e-01 -2.71657910e-01 8.59063625e+01] [ 5.01238162e-01 8.60125873e-01 -9.45716011e-02 1.19981199e+01] [ 2.81577827e-01 -5.87854988e-02 9.57735972e-01 -5.44038460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.237719421 meters Centerline goodness : 0.949780 Centerline is valid? [False, False] Translation: X:85.88, Y:11.97, Z:-0.54 [[ 8.17482025e-01 -5.02004870e-01 -2.82337120e-01 8.58848448e+01] [ 5.02117030e-01 8.61310685e-01 -7.76040772e-02 1.19743681e+01] [ 2.82137603e-01 -7.83263378e-02 9.56171197e-01 -5.44694352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26771942099998 meters Centerline goodness : 0.950018 Centerline is valid? [False, True] Translation: X:85.85, Y:11.95, Z:-0.55 [[ 8.17780230e-01 -4.98625743e-01 -2.87415839e-01 8.58546730e+01] [ 5.01541022e-01 8.62372550e-01 -6.90665513e-02 1.19465706e+01] [ 2.82297890e-01 -8.76695732e-02 9.55312487e-01 -5.51160517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.29771942099998 meters Centerline goodness : 0.950631 Centerline is valid? [True, True] Translation: X:85.87, Y:11.99, Z:-0.57 [[ 8.19135926e-01 -5.25242740e-01 -2.30513336e-01 8.58683145e+01] [ 5.01720088e-01 8.50867229e-01 -1.55890704e-01 1.19894435e+01] [ 2.78016704e-01 1.20425052e-02 9.60500750e-01 -5.70573705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32771942099998 meters Centerline goodness : 0.952620 Centerline is valid? [True, True] Translation: X:85.89, Y:12.00, Z:-0.56 [[ 8.19815616e-01 -5.24202203e-01 -2.30465630e-01 8.58927089e+01] [ 5.00619516e-01 8.51502322e-01 -1.55961201e-01 1.20030352e+01] [ 2.77997224e-01 1.24838356e-02 9.60500753e-01 -5.61656770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.35771942099998 meters Centerline goodness : 0.949679 Centerline is valid? [True, False] Translation: X:85.87, Y:11.98, Z:-0.56 [[ 8.19758117e-01 -5.18694172e-01 -2.42802358e-01 8.58744333e+01] [ 4.99869350e-01 8.54925343e-01 -1.38684140e-01 1.19817976e+01] [ 2.79512544e-01 -7.68200793e-03 9.60111308e-01 -5.64084986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38771942099999 meters Centerline goodness : 0.947764 Centerline is valid? [False, False] Translation: X:85.86, Y:11.97, Z:-0.57 [[ 8.20002126e-01 -5.12288833e-01 -2.55258036e-01 8.58585755e+01] [ 4.98583600e-01 8.58355106e-01 -1.20999615e-01 1.19669078e+01] [ 2.81088790e-01 -2.80475284e-02 9.59271822e-01 -5.68231430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.417719421 meters Centerline goodness : 0.948078 Centerline is valid? [False, False] Translation: X:85.84, Y:11.95, Z:-0.57 [[ 8.19595454e-01 -5.07308185e-01 -2.66273725e-01 8.58369005e+01] [ 4.98451261e-01 8.60509608e-01 -1.05211957e-01 1.19483248e+01] [ 2.82505986e-01 -4.64932320e-02 9.58138167e-01 -5.69918843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.447719421 meters Centerline goodness : 0.946725 Centerline is valid? [False, False] Translation: X:85.83, Y:11.94, Z:-0.57 [[ 8.19917874e-01 -5.01092119e-01 -2.76841774e-01 8.58278465e+01] [ 4.95525949e-01 8.63367887e-01 -9.51310955e-02 1.19355279e+01] [ 2.86685740e-01 -5.91825971e-02 9.56194911e-01 -5.67589870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.477719421 meters Centerline goodness : 0.947366 Centerline is valid? [False, False] Translation: X:85.82, Y:11.92, Z:-0.57 [[ 8.19010945e-01 -4.97636907e-01 -2.85619642e-01 8.58181958e+01] [ 4.94958904e-01 8.64548096e-01 -8.70188088e-02 1.19247914e+01] [ 2.90235689e-01 -7.01006282e-02 9.54384172e-01 -5.66346078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.507719421 meters Centerline goodness : 0.949564 Centerline is valid? [False, False] Translation: X:85.81, Y:11.91, Z:-0.57 [[ 8.18443552e-01 -4.93945444e-01 -2.93543949e-01 8.58077585e+01] [ 4.94434941e-01 8.65694802e-01 -7.81447355e-02 1.19119737e+01] [ 2.92718707e-01 -8.11813301e-02 9.52746215e-01 -5.65376207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.537719421 meters Centerline goodness : 0.947998 Centerline is valid? [False, False] Translation: X:85.80, Y:11.90, Z:-0.56 [[ 8.16519620e-01 -4.93002867e-01 -3.00406197e-01 8.57983759e+01] [ 4.96176513e-01 8.65281052e-01 -7.13972682e-02 1.19022723e+01] [ 2.95134848e-01 -9.07572290e-02 9.51135399e-01 -5.64862623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.567719421 meters Centerline goodness : 0.950398 Centerline is valid? [False, True] Translation: X:85.79, Y:11.89, Z:-0.56 [[ 8.14314974e-01 -4.92217808e-01 -3.07591862e-01 8.57872470e+01] [ 4.97522771e-01 8.64870686e-01 -6.68564849e-02 1.18903958e+01] [ 2.98935137e-01 -9.85917186e-02 9.49166717e-01 -5.64157315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.597719421 meters Centerline goodness : 0.944636 Centerline is valid? [True, False] Translation: X:85.78, Y:11.88, Z:-0.56 [[ 8.11447772e-01 -4.92514740e-01 -3.14613643e-01 8.57790572e+01] [ 4.99557591e-01 8.63915450e-01 -6.39711559e-02 1.18773030e+01] [ 3.03306324e-01 -1.05258382e-01 9.47061744e-01 -5.64793700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.627719421 meters Centerline goodness : 0.941384 Centerline is valid? [False, False] Translation: X:85.77, Y:11.87, Z:-0.56 [[ 8.09497952e-01 -4.90111957e-01 -3.23269756e-01 8.57716166e+01] [ 4.99899784e-01 8.64118718e-01 -5.83013547e-02 1.18651727e+01] [ 3.07917638e-01 -1.14407654e-01 9.44509194e-01 -5.64548873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.657719421 meters Centerline goodness : 0.943227 Centerline is valid? [False, False] Translation: X:85.77, Y:11.86, Z:-0.56 [[ 8.09794671e-01 -4.89204001e-01 -3.23901277e-01 8.57722108e+01] [ 4.99366154e-01 8.64499662e-01 -5.72169493e-02 1.18624032e+01] [ 3.08003305e-01 -1.15411354e-01 9.44359139e-01 -5.63549094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.687719421 meters Centerline goodness : 0.946759 Centerline is valid? [False, False] Translation: X:85.77, Y:11.86, Z:-0.56 [[ 8.09293517e-01 -4.90626742e-01 -3.23000625e-01 8.57710033e+01] [ 5.00662022e-01 8.63728318e-01 -5.75407001e-02 1.18560976e+01] [ 3.07215793e-01 -1.15146831e-01 9.44647905e-01 -5.61128356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.717719421 meters Centerline goodness : 0.944925 Centerline is valid? [False, False] Translation: X:85.77, Y:11.85, Z:-0.56 [[ 8.08171579e-01 -4.93492612e-01 -3.21440103e-01 8.57703046e+01] [ 5.02952106e-01 8.62278655e-01 -5.92849114e-02 1.18534027e+01] [ 3.06427606e-01 -1.13756596e-01 9.45072251e-01 -5.60515305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.747719421 meters Centerline goodness : 0.945865 Centerline is valid? [False, False] Translation: X:85.76, Y:11.84, Z:-0.56 [[ 8.05593775e-01 -4.93486714e-01 -3.27855963e-01 8.57612979e+01] [ 5.05634958e-01 8.61076994e-01 -5.36628398e-02 1.18390420e+01] [ 3.08791125e-01 -1.22544986e-01 9.43202400e-01 -5.59938967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.777719421 meters Centerline goodness : 0.945414 Centerline is valid? [False, False] Translation: X:85.74, Y:11.81, Z:-0.57 [[ 8.04430017e-01 -4.94392783e-01 -3.29344992e-01 8.57389900e+01] [ 5.04968038e-01 8.61102511e-01 -5.92431023e-02 1.18135488e+01] [ 3.12889162e-01 -1.18651765e-01 9.42349262e-01 -5.67700958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.807719421 meters Centerline goodness : 0.947562 Centerline is valid? [False, False] Translation: X:85.73, Y:11.80, Z:-0.57 [[ 8.01370022e-01 -4.93708030e-01 -3.37725433e-01 8.57314771e+01] [ 5.06990490e-01 8.60225580e-01 -5.45214977e-02 1.18040995e+01] [ 3.17437758e-01 -1.27531689e-01 9.39664269e-01 -5.67257505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.837719421 meters Centerline goodness : 0.945363 Centerline is valid? [False, False] Translation: X:85.71, Y:11.78, Z:-0.57 [[ 8.01281318e-01 -4.90787900e-01 -3.42162952e-01 8.57080764e+01] [ 5.03730141e-01 8.61993345e-01 -5.67751491e-02 1.17812684e+01] [ 3.22806744e-01 -1.26864926e-01 9.37923822e-01 -5.73526125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.867719421 meters Centerline goodness : 0.941500 Centerline is valid? [False, False] Translation: X:85.69, Y:11.76, Z:-0.58 [[ 8.00634572e-01 -4.88787892e-01 -3.46512163e-01 8.56889665e+01] [ 5.01630286e-01 8.63105381e-01 -5.84479046e-02 1.17585378e+01] [ 3.27645140e-01 -1.27025582e-01 9.36222817e-01 -5.78589121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.897719421 meters Centerline goodness : 0.942936 Centerline is valid? [False, False] Translation: X:85.67, Y:11.73, Z:-0.59 [[ 8.00625474e-01 -4.86207649e-01 -3.50144216e-01 8.56654486e+01] [ 4.98157163e-01 8.64874955e-01 -6.18930789e-02 1.17333875e+01] [ 3.32923851e-01 -1.24873673e-01 9.34648744e-01 -5.86076599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.927719421 meters Centerline goodness : 0.940552 Centerline is valid? [False, False] Translation: X:85.64, Y:11.71, Z:-0.59 [[ 8.01107900e-01 -4.81987130e-01 -3.54844386e-01 8.56447126e+01] [ 4.94625077e-01 8.66968265e-01 -6.09266771e-02 1.17136861e+01] [ 3.37004696e-01 -1.26706089e-01 9.32938048e-01 -5.91639466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.957719421 meters Centerline goodness : 0.940569 Centerline is valid? [False, False] Translation: X:85.63, Y:11.70, Z:-0.60 [[ 8.01363538e-01 -4.79375565e-01 -3.57792605e-01 8.56281192e+01] [ 4.94037436e-01 8.67638089e-01 -5.59567527e-02 1.16985700e+01] [ 3.37258792e-01 -1.31921240e-01 9.32123004e-01 -5.95942016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.987719421 meters Centerline goodness : 0.943500 Centerline is valid? [False, False] Translation: X:85.63, Y:11.70, Z:-0.60 [[ 8.01455447e-01 -4.79068195e-01 -3.57998367e-01 8.56290120e+01] [ 4.93866732e-01 8.67758452e-01 -5.55960439e-02 1.16971966e+01] [ 3.37290405e-01 -1.32245731e-01 9.32065582e-01 -5.95756163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.01771942099998 meters Centerline goodness : 0.940989 Centerline is valid? [False, False] Translation: X:85.60, Y:11.67, Z:-0.60 [[ 8.01581612e-01 -4.75765141e-01 -3.62097293e-01 8.56029500e+01] [ 4.89830323e-01 8.69848767e-01 -5.85608935e-02 1.16736276e+01] [ 3.42831115e-01 -1.30424898e-01 9.30298969e-01 -6.03510618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04771942099998 meters Centerline goodness : 0.937680 Centerline is valid? [False, False] Translation: X:85.59, Y:11.66, Z:-0.60 [[ 7.99157473e-01 -4.75109756e-01 -3.68263566e-01 8.55920527e+01] [ 4.91476036e-01 8.69165062e-01 -5.48032858e-02 1.16600440e+01] [ 3.46119401e-01 -1.37196262e-01 9.28104814e-01 -6.04700867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.07771942099998 meters Centerline goodness : 0.940762 Centerline is valid? [False, False] Translation: X:85.57, Y:11.64, Z:-0.61 [[ 7.98588010e-01 -4.72446984e-01 -3.72895479e-01 8.55729306e+01] [ 4.89643713e-01 8.70250919e-01 -5.39663934e-02 1.16371048e+01] [ 3.50008893e-01 -1.39489012e-01 9.26302645e-01 -6.08930742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10771942099998 meters Centerline goodness : 0.941495 Centerline is valid? [False, False] Translation: X:85.55, Y:11.62, Z:-0.61 [[ 7.98023360e-01 -4.69941846e-01 -3.77244453e-01 8.55507227e+01] [ 4.87677637e-01 8.71361949e-01 -5.38412060e-02 1.16154901e+01] [ 3.54018698e-01 -1.41007144e-01 9.24547320e-01 -6.13442564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.13771942099999 meters Centerline goodness : 0.946336 Centerline is valid? [False, False] Translation: X:85.54, Y:11.60, Z:-0.61 [[ 7.94110835e-01 -4.73690110e-01 -3.80796090e-01 8.55383370e+01] [ 4.93444883e-01 8.68276918e-01 -5.10621340e-02 1.16016043e+01] [ 3.54824084e-01 -1.47352888e-01 9.23248069e-01 -6.13139868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.167719421 meters Centerline goodness : 0.943709 Centerline is valid? [False, False] Translation: X:85.53, Y:11.59, Z:-0.61 [[ 7.90701238e-01 -4.75005849e-01 -3.86213665e-01 8.55261670e+01] [ 4.96803660e-01 8.66501126e-01 -4.85996110e-02 1.15898046e+01] [ 3.57739675e-01 -1.53444590e-01 9.21128158e-01 -6.14123217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.197719421 meters Centerline goodness : 0.945883 Centerline is valid? [False, False] Translation: X:85.53, Y:11.59, Z:-0.61 [[ 7.87148297e-01 -4.83551033e-01 -3.82852395e-01 8.55274399e+01] [ 5.03380995e-01 8.62361409e-01 -5.42252258e-02 1.15857079e+01] [ 3.56377795e-01 -1.50037325e-01 9.22216714e-01 -6.13160508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.227719421 meters Centerline goodness : 0.946524 Centerline is valid? [False, False] Translation: X:85.52, Y:11.57, Z:-0.61 [[ 7.83695593e-01 -4.84438999e-01 -3.88767377e-01 8.55165435e+01] [ 5.07067407e-01 8.60453086e-01 -5.00313064e-02 1.15749915e+01] [ 3.58753205e-01 -1.57921951e-01 9.19976519e-01 -6.12874146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.257719421 meters Centerline goodness : 0.947551 Centerline is valid? [False, False] Translation: X:85.43, Y:11.50, Z:-0.66 [[ 7.90281470e-01 -4.80870078e-01 -3.79761985e-01 8.54268923e+01] [ 5.04283708e-01 8.62481716e-01 -4.26993235e-02 1.15007307e+01] [ 3.48070596e-01 -1.57763298e-01 9.24098264e-01 -6.63469156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.287719421 meters Centerline goodness : 0.949650 Centerline is valid? [False, False] Translation: X:85.34, Y:11.43, Z:-0.71 [[ 7.97758355e-01 -4.74082716e-01 -3.72595203e-01 8.53356016e+01] [ 4.97452003e-01 8.66674036e-01 -3.76512864e-02 1.14290103e+01] [ 3.40768413e-01 -1.55311602e-01 9.27229850e-01 -7.11691024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.317719421 meters Centerline goodness : 0.947654 Centerline is valid? [False, False] Translation: X:85.24, Y:11.36, Z:-0.76 [[ 8.06549319e-01 -4.65111165e-01 -3.64896972e-01 8.52428673e+01] [ 4.87790963e-01 8.72310095e-01 -3.36908676e-02 1.13584834e+01] [ 3.33973311e-01 -1.50820099e-01 9.30438136e-01 -7.59658319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.347719421 meters Centerline goodness : 0.946575 Centerline is valid? [False, False] Translation: X:85.16, Y:11.30, Z:-0.80 [[ 8.15182146e-01 -4.54874507e-01 -3.58562758e-01 8.51599772e+01] [ 4.77428043e-01 8.78202875e-01 -2.86735957e-02 1.12978628e+01] [ 3.27933733e-01 -1.47813712e-01 9.33065150e-01 -7.99263092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.377719421 meters Centerline goodness : 0.945256 Centerline is valid? [False, False] Translation: X:85.08, Y:11.24, Z:-0.83 [[ 8.25012266e-01 -4.42695088e-01 -3.51248945e-01 8.50800041e+01] [ 4.63456497e-01 8.85686428e-01 -2.77060945e-02 1.12418887e+01] [ 3.23361775e-01 -1.39930738e-01 9.35872081e-01 -8.34295007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.407719421 meters Centerline goodness : 0.951485 Centerline is valid? [False, True] Translation: X:85.06, Y:11.23, Z:-0.84 [[ 8.28267853e-01 -4.39445698e-01 -3.47649022e-01 8.50613216e+01] [ 4.56455810e-01 8.89007274e-01 -3.62513539e-02 1.12303672e+01] [ 3.24993011e-01 -1.28660585e-01 9.36923688e-01 -8.42962196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.437719421 meters Centerline goodness : 0.947374 Centerline is valid? [True, False] Translation: X:85.04, Y:11.22, Z:-0.85 [[ 8.32617388e-01 -4.32228843e-01 -3.46304075e-01 8.50425503e+01] [ 4.46293385e-01 8.93870461e-01 -4.26358319e-02 1.12204393e+01] [ 3.27979419e-01 -1.19053883e-01 9.37152962e-01 -8.52069149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.467719421 meters Centerline goodness : 0.945181 Centerline is valid? [False, False] Translation: X:84.98, Y:11.18, Z:-0.88 [[ 8.39552123e-01 -4.19805374e-01 -3.44841530e-01 8.49790866e+01] [ 4.35071743e-01 8.99674818e-01 -3.60250041e-02 1.11768232e+01] [ 3.25368731e-01 -1.19785937e-01 9.37969359e-01 -8.81192147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.497719421 meters Centerline goodness : 0.942771 Centerline is valid? [False, False] Translation: X:84.98, Y:11.18, Z:-0.88 [[ 8.39678215e-01 -4.19714931e-01 -3.44644558e-01 8.49792682e+01] [ 4.34877713e-01 8.99760497e-01 -3.62273897e-02 1.11775400e+01] [ 3.25302735e-01 -1.19458887e-01 9.38033957e-01 -8.81922180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.527719421 meters Centerline goodness : 0.943710 Centerline is valid? [False, False] Translation: X:84.92, Y:11.13, Z:-0.91 [[ 8.44670281e-01 -4.14891872e-01 -3.38226036e-01 8.49200437e+01] [ 4.28219722e-01 9.02870764e-01 -3.81084447e-02 1.11349914e+01] [ 3.21185284e-01 -1.12645989e-01 9.40292983e-01 -9.10959491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.557719421 meters Centerline goodness : 0.944494 Centerline is valid? [False, False] Translation: X:84.86, Y:11.09, Z:-0.94 [[ 8.48461230e-01 -4.12664640e-01 -3.31393173e-01 8.48602356e+01] [ 4.23580883e-01 9.04870391e-01 -4.22943438e-02 1.10943494e+01] [ 3.17321250e-01 -1.04486702e-01 9.42544298e-01 -9.39608522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.587719421 meters Centerline goodness : 0.943856 Centerline is valid? [False, False] Translation: X:84.80, Y:11.05, Z:-0.97 [[ 8.51901613e-01 -4.10930354e-01 -3.24653486e-01 8.48018150e+01] [ 4.20161467e-01 9.06348103e-01 -4.46929278e-02 1.10544340e+01] [ 3.12614752e-01 -9.83329077e-02 9.44776511e-01 -9.66899704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.617719421 meters Centerline goodness : 0.945912 Centerline is valid? [False, False] Translation: X:84.74, Y:11.01, Z:-1.00 [[ 8.56172325e-01 -4.08368193e-01 -3.16550736e-01 8.47394898e+01] [ 4.15930156e-01 9.08198536e-01 -4.66639452e-02 1.10140085e+01] [ 3.06546986e-01 -9.17106187e-02 9.47427099e-01 -9.98627456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.647719421 meters Centerline goodness : 0.945654 Centerline is valid? [False, False] Translation: X:84.69, Y:10.98, Z:-1.02 [[ 8.58379400e-01 -4.07524399e-01 -3.11622639e-01 8.46853305e+01] [ 4.14693369e-01 9.08788872e-01 -4.61757019e-02 1.09787348e+01] [ 3.02016912e-01 -8.95915707e-02 9.49083313e-01 -1.02389030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.677719421 meters Centerline goodness : 0.945654 Centerline is valid? [False, False] Translation: X:84.63, Y:10.94, Z:-1.05 [[ 8.61766602e-01 -4.04452041e-01 -3.06230094e-01 8.46294759e+01] [ 4.10558130e-01 9.10605712e-01 -4.73208029e-02 1.09441038e+01] [ 2.97993868e-01 -8.49457671e-02 9.50780664e-01 -1.04910429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.707719421 meters Centerline goodness : 0.945476 Centerline is valid? [False, False] Translation: X:84.58, Y:10.91, Z:-1.07 [[ 8.64870140e-01 -4.01776560e-01 -3.00957203e-01 8.45790808e+01] [ 4.07075812e-01 9.12138848e-01 -4.78748940e-02 1.09099004e+01] [ 2.93749766e-01 -8.11068313e-02 9.52435172e-01 -1.07145685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.737719421 meters Centerline goodness : 0.942511 Centerline is valid? [False, False] Translation: X:84.53, Y:10.88, Z:-1.09 [[ 8.67559657e-01 -3.99913269e-01 -2.95651178e-01 8.45335398e+01] [ 4.03315398e-01 9.13568065e-01 -5.22501650e-02 1.08813012e+01] [ 2.90993009e-01 -7.39105371e-02 9.53865977e-01 -1.09262228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76771942099998 meters Centerline goodness : 0.940609 Centerline is valid? [False, False] Translation: X:84.49, Y:10.85, Z:-1.11 [[ 8.69913453e-01 -3.96725621e-01 -2.93017690e-01 8.44880895e+01] [ 3.99722875e-01 9.15140718e-01 -5.23363041e-02 1.08527209e+01] [ 2.88915572e-01 -7.15978185e-02 9.54673528e-01 -1.11103416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.79771942099998 meters Centerline goodness : 0.939687 Centerline is valid? [False, False] Translation: X:84.45, Y:10.83, Z:-1.13 [[ 8.71691113e-01 -3.93976802e-01 -2.91439329e-01 8.44457682e+01] [ 3.96813443e-01 9.16425773e-01 -5.19893554e-02 1.08289060e+01] [ 2.87565113e-01 -7.03283846e-02 9.55175494e-01 -1.12604517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82771942099998 meters Centerline goodness : 0.943245 Centerline is valid? [False, False] Translation: X:84.40, Y:10.80, Z:-1.14 [[ 8.73949232e-01 -3.89013668e-01 -2.91343622e-01 8.44026628e+01] [ 3.92765963e-01 9.18381200e-01 -4.80715092e-02 1.08045338e+01] [ 2.86264979e-01 -7.24177995e-02 9.55409872e-01 -1.13927327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.85771942099998 meters Centerline goodness : 0.943777 Centerline is valid? [False, False] Translation: X:84.35, Y:10.78, Z:-1.16 [[ 8.76300126e-01 -3.86581301e-01 -2.87494324e-01 8.43532693e+01] [ 3.89179438e-01 9.19774530e-01 -5.05388902e-02 1.07771410e+01] [ 2.83967347e-01 -6.75996435e-02 9.56448030e-01 -1.15831441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88771942099999 meters Centerline goodness : 0.944412 Centerline is valid? [False, False] Translation: X:84.31, Y:10.75, Z:-1.17 [[ 8.77844848e-01 -3.84508083e-01 -2.85555523e-01 8.43102683e+01] [ 3.86634324e-01 9.20804635e-01 -5.13100759e-02 1.07527047e+01] [ 2.82669988e-01 -6.53632806e-02 9.56987628e-01 -1.17163505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.917719421 meters Centerline goodness : 0.944425 Centerline is valid? [False, False] Translation: X:84.27, Y:10.73, Z:-1.19 [[ 8.78976398e-01 -3.84482898e-01 -2.82087563e-01 8.42658323e+01] [ 3.85125111e-01 9.21191717e-01 -5.55379965e-02 1.07286387e+01] [ 2.81210136e-01 -5.98224159e-02 9.57779796e-01 -1.18781915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.947719421 meters Centerline goodness : 0.943340 Centerline is valid? [False, False] Translation: X:84.23, Y:10.71, Z:-1.20 [[ 8.79181251e-01 -3.85404295e-01 -2.80185398e-01 8.42263061e+01] [ 3.85128651e-01 9.21012864e-01 -5.84057022e-02 1.07062037e+01] [ 2.80564165e-01 -5.65582262e-02 9.58167478e-01 -1.20160679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.977719421 meters Centerline goodness : 0.942340 Centerline is valid? [False, False] Translation: X:84.19, Y:10.68, Z:-1.22 [[ 8.79907305e-01 -3.84913817e-01 -2.78575821e-01 8.41868249e+01] [ 3.83877564e-01 9.21393615e-01 -6.05955684e-02 1.06840098e+01] [ 2.80002054e-01 -5.36205243e-02 9.58500751e-01 -1.21727883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.007719421 meters Centerline goodness : 0.937142 Centerline is valid? [False, False] Translation: X:84.15, Y:10.66, Z:-1.23 [[ 8.79945984e-01 -3.85046587e-01 -2.78269996e-01 8.41468405e+01] [ 3.83313372e-01 9.21471328e-01 -6.29400481e-02 1.06595529e+01] [ 2.80652674e-01 -5.12807681e-02 9.58438501e-01 -1.23322459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.037719421 meters Centerline goodness : 0.937568 Centerline is valid? [False, False] Translation: X:84.11, Y:10.64, Z:-1.25 [[ 8.80504173e-01 -3.83671139e-01 -2.78404129e-01 8.41081848e+01] [ 3.81994408e-01 9.22045344e-01 -6.25512185e-02 1.06362831e+01] [ 2.80700328e-01 -5.12722116e-02 9.58425003e-01 -1.24539577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.067719421 meters Centerline goodness : 0.934261 Centerline is valid? [False, False] Translation: X:84.07, Y:10.61, Z:-1.26 [[ 8.80816874e-01 -3.86145479e-01 -2.73958580e-01 8.40651233e+01] [ 3.81952158e-01 9.21467736e-01 -7.07796603e-02 1.06118025e+01] [ 2.79775238e-01 -4.22951516e-02 9.59133430e-01 -1.26389855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.097719421 meters Centerline goodness : 0.935990 Centerline is valid? [False, False] Translation: X:84.02, Y:10.59, Z:-1.28 [[ 8.81598518e-01 -3.85401316e-01 -2.72488310e-01 8.40245506e+01] [ 3.81120046e-01 9.21815731e-01 -7.07337802e-02 1.05883014e+01] [ 2.78444902e-01 -4.14919614e-02 9.59555550e-01 -1.27742467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.127719421 meters Centerline goodness : 0.937909 Centerline is valid? [False, False] Translation: X:83.98, Y:10.56, Z:-1.29 [[ 8.82201137e-01 -3.84286555e-01 -2.72112103e-01 8.39812380e+01] [ 3.79918182e-01 9.22306574e-01 -7.08008323e-02 1.05649976e+01] [ 2.78178590e-01 -4.09197609e-02 9.59657358e-01 -1.28987503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.157719421 meters Centerline goodness : 0.939388 Centerline is valid? [False, False] Translation: X:83.94, Y:10.54, Z:-1.30 [[ 8.83190665e-01 -3.82366339e-01 -2.71606760e-01 8.39385050e+01] [ 3.78183698e-01 9.23096840e-01 -6.97804712e-02 1.05419843e+01] [ 2.77401045e-01 -4.10877882e-02 9.59875228e-01 -1.30149384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.187719421 meters Centerline goodness : 0.941141 Centerline is valid? [False, False] Translation: X:83.90, Y:10.52, Z:-1.31 [[ 8.84257180e-01 -3.82043814e-01 -2.68573574e-01 8.39000208e+01] [ 3.76737495e-01 9.23424444e-01 -7.31857612e-02 1.05213267e+01] [ 2.75967570e-01 -3.64667006e-02 9.60474924e-01 -1.31483132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.217719421 meters Centerline goodness : 0.942455 Centerline is valid? [False, False] Translation: X:83.87, Y:10.50, Z:-1.33 [[ 8.87830358e-01 -3.75591546e-01 -2.65872612e-01 8.38719715e+01] [ 3.70484221e-01 9.26110976e-01 -7.11329907e-02 1.05006438e+01] [ 2.72944494e-01 -3.53475789e-02 9.61380181e-01 -1.32685689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.247719421 meters Centerline goodness : 0.941921 Centerline is valid? [False, False] Translation: X:83.83, Y:10.48, Z:-1.34 [[ 8.88119259e-01 -3.76952758e-01 -2.62965397e-01 8.38295261e+01] [ 3.69596763e-01 9.25835638e-01 -7.89088372e-02 1.04802674e+01] [ 2.73207640e-01 -2.71107014e-02 9.61572980e-01 -1.34193246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.277719421 meters Centerline goodness : 0.946251 Centerline is valid? [False, False] Translation: X:83.82, Y:10.46, Z:-1.35 [[ 8.92759992e-01 -3.70795666e-01 -2.55910473e-01 8.38187440e+01] [ 3.63543074e-01 9.28395177e-01 -7.69339204e-02 1.04647213e+01] [ 2.66112813e-01 -2.43509538e-02 9.63634268e-01 -1.35092637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.307719421 meters Centerline goodness : 0.945256 Centerline is valid? [False, False] Translation: X:83.78, Y:10.45, Z:-1.37 [[ 8.92880645e-01 -3.71704910e-01 -2.54164541e-01 8.37824229e+01] [ 3.62849624e-01 9.28169219e-01 -8.27166911e-02 1.04450963e+01] [ 2.66653904e-01 -1.83673756e-02 9.63617318e-01 -1.36526440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.337719421 meters Centerline goodness : 0.944510 Centerline is valid? [False, False] Translation: X:83.75, Y:10.43, Z:-1.38 [[ 8.92985199e-01 -3.72350269e-01 -2.52849187e-01 8.37487983e+01] [ 3.62645337e-01 9.27969723e-01 -8.57936616e-02 1.04264467e+01] [ 2.66581683e-01 -1.50821086e-02 9.63694317e-01 -1.37930902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.367719421 meters Centerline goodness : 0.942396 Centerline is valid? [False, False] Translation: X:83.72, Y:10.41, Z:-1.39 [[ 8.91866966e-01 -3.74697985e-01 -2.53327328e-01 8.37168500e+01] [ 3.65094043e-01 9.27009302e-01 -8.57909857e-02 1.04055706e+01] [ 2.66982499e-01 -1.59741522e-02 9.63568976e-01 -1.39147724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.397719421 meters Centerline goodness : 0.941545 Centerline is valid? [False, False] Translation: X:83.69, Y:10.38, Z:-1.40 [[ 8.92441858e-01 -3.75323164e-01 -2.50359845e-01 8.36891950e+01] [ 3.65219066e-01 9.26798195e-01 -8.75222199e-02 1.03820747e+01] [ 2.64882169e-01 -1.33276961e-02 9.64188679e-01 -1.40387992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.427719421 meters Centerline goodness : 0.939236 Centerline is valid? [False, False] Translation: X:83.66, Y:10.36, Z:-1.42 [[ 8.93513351e-01 -3.74901939e-01 -2.47148593e-01 8.36604871e+01] [ 3.63242110e-01 9.27040492e-01 -9.30112621e-02 1.03632266e+01] [ 2.63986856e-01 -6.66797198e-03 9.64503229e-01 -1.41719812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.457719421 meters Centerline goodness : 0.937259 Centerline is valid? [False, False] Translation: X:83.64, Y:10.34, Z:-1.43 [[ 8.94731921e-01 -3.73856266e-01 -2.44307760e-01 8.36361437e+01] [ 3.61554980e-01 9.27481194e-01 -9.51663358e-02 1.03438616e+01] [ 2.62169384e-01 -3.18232880e-03 9.65016625e-01 -1.43031981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.487719421 meters Centerline goodness : 0.938687 Centerline is valid? [False, False] Translation: X:83.61, Y:10.33, Z:-1.44 [[ 8.96324746e-01 -3.70120817e-01 -2.44156776e-01 8.36133635e+01] [ 3.58963019e-01 9.28960290e-01 -9.04341239e-02 1.03267440e+01] [ 2.60283501e-01 -6.58491040e-03 9.65509781e-01 -1.43727614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.51771942099998 meters Centerline goodness : 0.938470 Centerline is valid? [False, False] Translation: X:83.59, Y:10.31, Z:-1.45 [[ 8.98366295e-01 -3.69020682e-01 -2.38247216e-01 8.35865127e+01] [ 3.56307383e-01 9.29420147e-01 -9.60376964e-02 1.03085935e+01] [ 2.56871659e-01 1.38778751e-03 9.66444528e-01 -1.45235250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54771942099998 meters Centerline goodness : 0.938034 Centerline is valid? [False, False] Translation: X:83.56, Y:10.29, Z:-1.46 [[ 9.00991046e-01 -3.64999407e-01 -2.34500678e-01 8.35587451e+01] [ 3.51850684e-01 9.30993869e-01 -9.72188876e-02 1.02903131e+01] [ 2.53803530e-01 5.08412315e-03 9.67242431e-01 -1.46471274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.57771942099998 meters Centerline goodness : 0.935445 Centerline is valid? [False, False] Translation: X:83.55, Y:10.28, Z:-1.47 [[ 9.05201804e-01 -3.58071139e-01 -2.28899004e-01 8.35513419e+01] [ 3.45124159e-01 9.33662972e-01 -9.57223599e-02 1.02772078e+01] [ 2.47989939e-01 7.64947678e-03 9.68732407e-01 -1.47421423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60771942099998 meters Centerline goodness : 0.937782 Centerline is valid? [False, False] Translation: X:83.55, Y:10.27, Z:-1.47 [[ 9.06737126e-01 -3.52588659e-01 -2.31320173e-01 8.35535220e+01] [ 3.40672471e-01 9.35771190e-01 -9.09645352e-02 1.02733464e+01] [ 2.48535817e-01 3.67650617e-03 9.68615729e-01 -1.47369607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.63771942099999 meters Centerline goodness : 0.937215 Centerline is valid? [False, False] Translation: X:83.53, Y:10.26, Z:-1.49 [[ 9.09262515e-01 -3.50229928e-01 -2.24901479e-01 8.35278299e+01] [ 3.36788816e-01 9.36582335e-01 -9.68856169e-02 1.02609588e+01] [ 2.44570996e-01 1.23501568e-02 9.69552733e-01 -1.48889426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.667719421 meters Centerline goodness : 0.941014 Centerline is valid? [False, False] Translation: X:83.53, Y:10.26, Z:-1.49 [[ 9.10336287e-01 -3.46791182e-01 -2.25884309e-01 8.35250732e+01] [ 3.33576726e-01 9.37870473e-01 -9.55277133e-02 1.02588808e+01] [ 2.44978393e-01 1.16125954e-02 9.69458991e-01 -1.48530775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.697719421 meters Centerline goodness : 0.943203 Centerline is valid? [False, False] Translation: X:83.52, Y:10.26, Z:-1.48 [[ 9.10554292e-01 -3.45700807e-01 -2.26675612e-01 8.35242709e+01] [ 3.32356078e-01 9.38268570e-01 -9.58724610e-02 1.02576255e+01] [ 2.45825790e-01 1.19600635e-02 9.69240238e-01 -1.48263135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.727719421 meters Centerline goodness : 0.946582 Centerline is valid? [False, False] Translation: X:83.52, Y:10.25, Z:-1.48 [[ 9.11637812e-01 -3.42696624e-01 -2.26882181e-01 8.35210732e+01] [ 3.29302887e-01 9.39362616e-01 -9.56947481e-02 1.02539757e+01] [ 2.45918906e-01 1.25259936e-02 9.69209467e-01 -1.47975926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.757719421 meters Centerline goodness : 0.947166 Centerline is valid? [False, False] Translation: X:83.52, Y:10.25, Z:-1.48 [[ 9.11805785e-01 -3.42062169e-01 -2.27164440e-01 8.35211922e+01] [ 3.28766746e-01 9.39598965e-01 -9.52166577e-02 1.02537128e+01] [ 2.46013489e-01 1.21349856e-02 9.69190438e-01 -1.47955611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.787719421 meters Centerline goodness : 0.946936 Centerline is valid? [False, False] Translation: X:83.52, Y:10.25, Z:-1.49 [[ 9.13148651e-01 -3.40793353e-01 -2.23650243e-01 8.35193731e+01] [ 3.27171365e-01 9.40018512e-01 -9.65613490e-02 1.02508220e+01] [ 2.43142835e-01 1.50029102e-02 9.69874463e-01 -1.48675415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.817719421 meters Centerline goodness : 0.945010 Centerline is valid? [False, False] Translation: X:83.52, Y:10.25, Z:-1.49 [[ 9.13183182e-01 -3.40389919e-01 -2.24123136e-01 8.35210392e+01] [ 3.26965578e-01 9.40178530e-01 -9.56966208e-02 1.02485530e+01] [ 2.43289925e-01 1.41079940e-02 9.69851008e-01 -1.48711631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.847719421 meters Centerline goodness : 0.947133 Centerline is valid? [False, False] Translation: X:83.52, Y:10.24, Z:-1.50 [[ 9.13928166e-01 -3.42604855e-01 -2.17617142e-01 8.35155664e+01] [ 3.27701247e-01 9.39215502e-01 -1.02401820e-01 1.02403171e+01] [ 2.39472754e-01 2.22744990e-02 9.70647540e-01 -1.49575563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.877719421 meters Centerline goodness : 0.948011 Centerline is valid? [False, False] Translation: X:83.52, Y:10.24, Z:-1.50 [[ 9.12782784e-01 -3.46173849e-01 -2.16774663e-01 8.35165563e+01] [ 3.30608942e-01 9.37845476e-01 -1.05563204e-01 1.02398107e+01] [ 2.39844358e-01 2.46886338e-02 9.70497375e-01 -1.49583325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.907719421 meters Centerline goodness : 0.947173 Centerline is valid? [False, False] Translation: X:83.52, Y:10.24, Z:-1.50 [[ 9.12664165e-01 -3.45931341e-01 -2.17659435e-01 8.35196985e+01] [ 3.30688855e-01 9.37976184e-01 -1.04142013e-01 1.02357066e+01] [ 2.40185352e-01 2.30691342e-02 9.70452890e-01 -1.49651198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.937719421 meters Centerline goodness : 0.944276 Centerline is valid? [False, False] Translation: X:83.52, Y:10.23, Z:-1.51 [[ 9.13669581e-01 -3.46859770e-01 -2.11887228e-01 8.35150478e+01] [ 3.29952611e-01 9.37366146e-01 -1.11695935e-01 1.02346189e+01] [ 2.37358740e-01 3.21404343e-02 9.70890221e-01 -1.50601504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.967719421 meters Centerline goodness : 0.943678 Centerline is valid? [False, False] Translation: X:83.52, Y:10.23, Z:-1.51 [[ 9.13857715e-01 -3.46111648e-01 -2.12298855e-01 8.35165254e+01] [ 3.29425549e-01 9.37674836e-01 -1.10655818e-01 1.02321278e+01] [ 2.37366562e-01 3.11870066e-02 9.70919402e-01 -1.50651898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.997719421 meters Centerline goodness : 0.946159 Centerline is valid? [False, False] Translation: X:83.52, Y:10.23, Z:-1.50 [[ 9.13012298e-01 -3.48573948e-01 -2.11907401e-01 8.35173287e+01] [ 3.31245445e-01 9.36681686e-01 -1.13595223e-01 1.02275228e+01] [ 2.38086117e-01 3.35204744e-02 9.70665431e-01 -1.50489308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.027719421 meters Centerline goodness : 0.945909 Centerline is valid? [False, False] Translation: X:83.52, Y:10.23, Z:-1.50 [[ 9.12782783e-01 -3.48850659e-01 -2.12440133e-01 8.35189839e+01] [ 3.31422625e-01 9.36575577e-01 -1.13952765e-01 1.02257722e+01] [ 2.38718737e-01 3.36066558e-02 9.70507062e-01 -1.50451387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.057719421 meters Centerline goodness : 0.947021 Centerline is valid? [False, False] Translation: X:83.52, Y:10.22, Z:-1.51 [[ 9.12937972e-01 -3.48146035e-01 -2.12928619e-01 8.35205624e+01] [ 3.31206252e-01 9.36908770e-01 -1.11822966e-01 1.02232139e+01] [ 2.38425412e-01 3.15641418e-02 9.70647736e-01 -1.50556191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.087719421 meters Centerline goodness : 0.947144 Centerline is valid? [False, False] Translation: X:83.52, Y:10.22, Z:-1.51 [[ 9.12965473e-01 -3.47985357e-01 -2.13073312e-01 8.35213272e+01] [ 3.31157065e-01 9.36984584e-01 -1.11332329e-01 1.02219885e+01] [ 2.38388429e-01 3.10818400e-02 9.70672384e-01 -1.50593736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.117719421 meters Centerline goodness : 0.949754 Centerline is valid? [False, False] Translation: X:83.52, Y:10.22, Z:-1.50 [[ 9.13035719e-01 -3.47460352e-01 -2.13628370e-01 8.35213193e+01] [ 3.30780354e-01 9.37204455e-01 -1.10599128e-01 1.02182631e+01] [ 2.38642272e-01 3.03168868e-02 9.70634201e-01 -1.50433049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.147719421 meters Centerline goodness : 0.951652 Centerline is valid? [False, True] Translation: X:83.52, Y:10.22, Z:-1.50 [[ 9.13117209e-01 -3.47145219e-01 -2.13792326e-01 8.35208765e+01] [ 3.30557739e-01 9.37333813e-01 -1.10167618e-01 1.02165139e+01] [ 2.38638938e-01 2.99252397e-02 9.70647174e-01 -1.50350059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.177719421 meters Centerline goodness : 0.952956 Centerline is valid? [True, True] Translation: X:83.55, Y:10.22, Z:-1.49 [[ 9.12665890e-01 -3.44029648e-01 -2.20645813e-01 8.35467698e+01] [ 3.31131528e-01 9.38869923e-01 -9.42081697e-02 1.02191958e+01] [ 2.39568121e-01 1.29177977e-02 9.70793617e-01 -1.48534142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.207719421 meters Centerline goodness : 0.951476 Centerline is valid? [True, True] Translation: X:83.57, Y:10.23, Z:-1.48 [[ 9.12549879e-01 -3.44356079e-01 -2.20616429e-01 8.35726793e+01] [ 3.31450765e-01 9.38750366e-01 -9.42769330e-02 1.02293638e+01] [ 2.39568589e-01 1.29089197e-02 9.70793619e-01 -1.48074082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.237719421 meters Centerline goodness : 0.949567 Centerline is valid? [True, False] Translation: X:83.56, Y:10.23, Z:-1.49 [[ 9.14516559e-01 -3.43392912e-01 -2.13870922e-01 8.35648012e+01] [ 3.28321151e-01 9.38872668e-01 -1.03553539e-01 1.02259534e+01] [ 2.36357114e-01 2.44830787e-02 9.71357758e-01 -1.49279360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26771942099998 meters Centerline goodness : 0.950776 Centerline is valid? [False, True] Translation: X:83.56, Y:10.22, Z:-1.49 [[ 9.14642430e-01 -3.42810685e-01 -2.14266329e-01 8.35647109e+01] [ 3.27702036e-01 9.39083910e-01 -1.03599162e-01 1.02247532e+01] [ 2.36728962e-01 2.45406770e-02 9.71265748e-01 -1.49163131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.29771942099998 meters Centerline goodness : 0.948522 Centerline is valid? [True, False] Translation: X:83.57, Y:10.22, Z:-1.49 [[ 9.14587350e-01 -3.42641555e-01 -2.14771376e-01 8.35655472e+01] [ 3.27379903e-01 9.39134968e-01 -1.04153306e-01 1.02233447e+01] [ 2.37386560e-01 2.49454635e-02 9.71094921e-01 -1.49063117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32771942099998 meters Centerline goodness : 0.950464 Centerline is valid? [False, True] Translation: X:83.57, Y:10.22, Z:-1.49 [[ 9.14615713e-01 -3.42401277e-01 -2.15033631e-01 8.35657890e+01] [ 3.27063493e-01 9.39216739e-01 -1.04409715e-01 1.02219315e+01] [ 2.37713206e-01 2.51651149e-02 9.71009345e-01 -1.48983847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.35771942099998 meters Centerline goodness : 0.949483 Centerline is valid? [True, False] Translation: X:83.57, Y:10.22, Z:-1.49 [[ 9.15577796e-01 -3.38793914e-01 -2.16647138e-01 8.35670618e+01] [ 3.24345916e-01 9.40615289e-01 -1.00212797e-01 1.02197829e+01] [ 2.37733096e-01 2.14839977e-02 9.71092896e-01 -1.48982404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38771942099999 meters Centerline goodness : 0.950310 Centerline is valid? [False, True] Translation: X:83.57, Y:10.22, Z:-1.49 [[ 9.15742999e-01 -3.38189992e-01 -2.16892344e-01 8.35686720e+01] [ 3.23888108e-01 9.40845940e-01 -9.95259335e-02 1.02194784e+01] [ 2.37720956e-01 2.08913258e-02 9.71108799e-01 -1.49109741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.417719421 meters Centerline goodness : 0.949637 Centerline is valid? [True, False] Translation: X:83.57, Y:10.22, Z:-1.49 [[ 9.15759114e-01 -3.38068545e-01 -2.17013604e-01 8.35687281e+01] [ 3.23713231e-01 9.40885626e-01 -9.97195254e-02 1.02190330e+01] [ 2.37897016e-01 2.10688893e-02 9.71061848e-01 -1.49071574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.447719421 meters Centerline goodness : 0.951122 Centerline is valid? [False, True] Translation: X:83.57, Y:10.22, Z:-1.49 [[ 9.15971467e-01 -3.37395133e-01 -2.17165364e-01 8.35681302e+01] [ 3.23201095e-01 9.41140590e-01 -9.89719214e-02 1.02169419e+01] [ 2.37775783e-01 2.04673727e-02 9.71104404e-01 -1.48984698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.477719421 meters Centerline goodness : 0.953320 Centerline is valid? [True, True] Translation: X:83.59, Y:10.22, Z:-1.48 [[ 9.15677918e-01 -3.36406800e-01 -2.19919112e-01 8.35938728e+01] [ 3.23737446e-01 9.41620776e-01 -9.24358125e-02 1.02244698e+01] [ 2.38176441e-01 1.34453806e-02 9.71128830e-01 -1.47671267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.507719421 meters Centerline goodness : 0.954085 Centerline is valid? [True, True] Translation: X:83.62, Y:10.23, Z:-1.47 [[ 9.15841891e-01 -3.35976122e-01 -2.19894692e-01 8.36189861e+01] [ 3.23280682e-01 9.41771992e-01 -9.24938687e-02 1.02342925e+01] [ 2.38166394e-01 1.36220535e-02 9.71128832e-01 -1.46876881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.537719421 meters Centerline goodness : 0.954085 Centerline is valid? [True, True] Translation: X:83.64, Y:10.25, Z:-1.46 [[ 9.15742840e-01 -3.36264541e-01 -2.19866345e-01 8.36445465e+01] [ 3.23561161e-01 9.41669049e-01 -9.25612070e-02 1.02452960e+01] [ 2.38166383e-01 1.36220529e-02 9.71128835e-01 -1.46197539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.567719421 meters Centerline goodness : 0.955156 Centerline is valid? [True, True] Translation: X:83.67, Y:10.25, Z:-1.46 [[ 9.15556818e-01 -3.36789218e-01 -2.19837976e-01 8.36703087e+01] [ 3.24084590e-01 9.41482412e-01 -9.26285367e-02 1.02543134e+01] [ 2.38169880e-01 1.35605881e-02 9.71128837e-01 -1.45553198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.597719421 meters Centerline goodness : 0.953223 Centerline is valid? [True, True] Translation: X:83.70, Y:10.26, Z:-1.45 [[ 9.15229649e-01 -3.37683005e-01 -2.19829203e-01 8.36962779e+01] [ 3.24998714e-01 9.41165200e-01 -9.26493527e-02 1.02631822e+01] [ 2.38181707e-01 1.33512262e-02 9.71128837e-01 -1.44712192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.627719421 meters Centerline goodness : 0.952154 Centerline is valid? [True, True] Translation: X:83.72, Y:10.27, Z:-1.44 [[ 9.13625986e-01 -3.42014169e-01 -2.19804154e-01 8.37233882e+01] [ 3.29438619e-01 9.39614434e-01 -9.27087420e-02 1.02714766e+01] [ 2.38238859e-01 1.22891387e-02 9.71128840e-01 -1.44111400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.657719421 meters Centerline goodness : 0.952999 Centerline is valid? [True, True] Translation: X:83.75, Y:10.28, Z:-1.43 [[ 9.12581136e-01 -3.44808439e-01 -2.19779005e-01 8.37494471e+01] [ 3.32298168e-01 9.38601069e-01 -9.27683240e-02 1.02816192e+01] [ 2.38272110e-01 1.16264617e-02 9.71128842e-01 -1.43331236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.687719421 meters Centerline goodness : 0.955468 Centerline is valid? [True, True] Translation: X:83.78, Y:10.29, Z:-1.43 [[ 9.10772690e-01 -3.49573283e-01 -2.19753560e-01 8.37756415e+01] [ 3.37184671e-01 9.36850765e-01 -9.28285623e-02 1.02918091e+01] [ 2.38326676e-01 1.04481875e-02 9.71128844e-01 -1.42640156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.717719421 meters Centerline goodness : 0.958244 Centerline is valid? [True, True] Translation: X:83.80, Y:10.30, Z:-1.42 [[ 9.10189374e-01 -3.51105069e-01 -2.19728318e-01 8.38005653e+01] [ 3.38745964e-01 9.36281443e-01 -9.28882731e-02 1.03023713e+01] [ 2.38341090e-01 1.01138382e-02 9.71128846e-01 -1.42018302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.747719421 meters Centerline goodness : 0.954121 Centerline is valid? [True, True] Translation: X:83.83, Y:10.31, Z:-1.42 [[ 9.10070087e-01 -3.51432235e-01 -2.19699390e-01 8.38265122e+01] [ 3.39066038e-01 9.36158792e-01 -9.29566463e-02 1.03127950e+01] [ 2.38341477e-01 1.01044616e-02 9.71128848e-01 -1.41580368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.777719421 meters Centerline goodness : 0.947824 Centerline is valid? [True, False] Translation: X:83.83, Y:10.31, Z:-1.41 [[ 9.11381634e-01 -3.45972172e-01 -2.22905302e-01 8.38299702e+01] [ 3.34136174e-01 9.38214153e-01 -9.00401016e-02 1.03121856e+01] [ 2.40284279e-01 7.58017002e-03 9.70672966e-01 -1.41436768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.807719421 meters Centerline goodness : 0.947128 Centerline is valid? [False, False] Translation: X:83.83, Y:10.31, Z:-1.41 [[ 9.11562411e-01 -3.45465955e-01 -2.22951217e-01 8.38301694e+01] [ 3.33398723e-01 9.38392424e-01 -9.09117735e-02 1.03146754e+01] [ 2.40622656e-01 8.54010422e-03 9.70581168e-01 -1.41470069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.837719421 meters Centerline goodness : 0.947435 Centerline is valid? [False, False] Translation: X:83.83, Y:10.32, Z:-1.41 [[ 9.11787200e-01 -3.44806922e-01 -2.23052211e-01 8.38293048e+01] [ 3.32580873e-01 9.38628367e-01 -9.14699542e-02 1.03168853e+01] [ 2.40902606e-01 9.21823434e-03 9.70505517e-01 -1.41410922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.867719421 meters Centerline goodness : 0.947563 Centerline is valid? [False, False] Translation: X:83.81, Y:10.31, Z:-1.43 [[ 9.15563059e-01 -3.39874489e-01 -2.15010737e-01 8.38123929e+01] [ 3.24347763e-01 9.40102700e-01 -1.04906827e-01 1.03109348e+01] [ 2.37787329e-01 2.63105633e-02 9.70960834e-01 -1.42991340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.897719421 meters Centerline goodness : 0.946956 Centerline is valid? [False, False] Translation: X:83.81, Y:10.31, Z:-1.43 [[ 9.16741570e-01 -3.35529376e-01 -2.16806210e-01 8.38127082e+01] [ 3.20808020e-01 9.41749137e-01 -1.00949381e-01 1.03094267e+01] [ 2.38048544e-01 2.29913231e-02 9.70981097e-01 -1.42886270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.927719421 meters Centerline goodness : 0.946665 Centerline is valid? [False, False] Translation: X:83.80, Y:10.31, Z:-1.44 [[ 9.18696882e-01 -3.34351937e-01 -2.10249425e-01 8.38020151e+01] [ 3.17092718e-01 9.41749192e-01 -1.12074384e-01 1.03070080e+01] [ 2.35474513e-01 3.62938251e-02 9.71202611e-01 -1.43974039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.957719421 meters Centerline goodness : 0.950912 Centerline is valid? [False, True] Translation: X:83.80, Y:10.31, Z:-1.44 [[ 9.18895245e-01 -3.33919960e-01 -2.10069010e-01 8.38002378e+01] [ 3.16808323e-01 9.41919133e-01 -1.11448795e-01 1.03058465e+01] [ 2.35082997e-01 3.58581576e-02 9.71313635e-01 -1.43867105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.987719421 meters Centerline goodness : 0.952358 Centerline is valid? [True, True] Translation: X:83.83, Y:10.31, Z:-1.42 [[ 9.18380975e-01 -3.29557787e-01 -2.19016093e-01 8.38255641e+01] [ 3.17352579e-01 9.44046401e-01 -8.97982928e-02 1.03081442e+01] [ 2.36355081e-01 1.29637218e-02 9.71580268e-01 -1.41859654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.01771942099998 meters Centerline goodness : 0.953092 Centerline is valid? [True, True] Translation: X:83.85, Y:10.32, Z:-1.41 [[ 9.18267616e-01 -3.29879201e-01 -2.19007531e-01 8.38505534e+01] [ 3.17678015e-01 9.43934953e-01 -8.98191680e-02 1.03182088e+01] [ 2.36358339e-01 1.29041553e-02 9.71580269e-01 -1.41048431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04771942099998 meters Centerline goodness : 0.955117 Centerline is valid? [True, True] Translation: X:83.88, Y:10.33, Z:-1.40 [[ 9.18222204e-01 -3.30011216e-01 -2.18999044e-01 8.38756031e+01] [ 3.17808803e-01 9.43888958e-01 -8.98398577e-02 1.03284277e+01] [ 2.36358940e-01 1.28931280e-02 9.71580269e-01 -1.40174262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.07771942099998 meters Centerline goodness : 0.956269 Centerline is valid? [True, True] Translation: X:83.90, Y:10.34, Z:-1.39 [[ 9.17998696e-01 -3.30638085e-01 -2.18990527e-01 8.39003903e+01] [ 3.18448266e-01 9.43671432e-01 -8.98606137e-02 1.03387010e+01] [ 2.36366446e-01 1.27547727e-02 9.71580269e-01 -1.39431958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10771942099998 meters Centerline goodness : 0.957886 Centerline is valid? [True, True] Translation: X:83.93, Y:10.35, Z:-1.39 [[ 9.16924768e-01 -3.33610282e-01 -2.18982076e-01 8.39258071e+01] [ 3.21498792e-01 9.42634551e-01 -8.98812041e-02 1.03500969e+01] [ 2.36405364e-01 1.20118294e-02 9.71580269e-01 -1.38554826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.13771942099999 meters Centerline goodness : 0.957416 Centerline is valid? [True, True] Translation: X:83.95, Y:10.36, Z:-1.38 [[ 9.15917248e-01 -3.36382497e-01 -2.18957552e-01 8.39504661e+01] [ 3.24334601e-01 9.41656891e-01 -8.99409073e-02 1.03609498e+01] [ 2.36437435e-01 1.13629180e-02 9.71580271e-01 -1.38193822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.167719421 meters Centerline goodness : 0.956368 Centerline is valid? [True, True] Translation: X:83.98, Y:10.37, Z:-1.38 [[ 9.13704172e-01 -3.42360377e-01 -2.18938481e-01 8.39761006e+01] [ 3.30469838e-01 9.39516882e-01 -8.99873077e-02 1.03716077e+01] [ 2.36504488e-01 9.86921412e-03 9.71580273e-01 -1.37567540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.197719421 meters Centerline goodness : 0.953636 Centerline is valid? [True, True] Translation: X:84.00, Y:10.38, Z:-1.37 [[ 9.11268800e-01 -3.48808138e-01 -2.18911070e-01 8.40028388e+01] [ 3.37084304e-01 9.37157649e-01 -9.00539438e-02 1.03821633e+01] [ 2.36565732e-01 8.27186381e-03 9.71580275e-01 -1.37050361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.227719421 meters Centerline goodness : 0.951438 Centerline is valid? [True, True] Translation: X:84.03, Y:10.39, Z:-1.36 [[ 9.10515585e-01 -3.50784474e-01 -2.18887234e-01 8.40292318e+01] [ 3.39102937e-01 9.36423544e-01 -9.01118423e-02 1.03924113e+01] [ 2.36580995e-01 7.82293294e-03 9.71580277e-01 -1.36480408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.257719421 meters Centerline goodness : 0.950701 Centerline is valid? [True, True] Translation: X:84.05, Y:10.40, Z:-1.36 [[ 9.09973888e-01 -3.52202070e-01 -2.18863484e-01 8.40547635e+01] [ 3.40547045e-01 9.35893783e-01 -9.01694920e-02 1.04027200e+01] [ 2.36590855e-01 7.51857074e-03 9.71580279e-01 -1.35884409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.287719421 meters Centerline goodness : 0.949697 Centerline is valid? [True, False] Translation: X:84.05, Y:10.40, Z:-1.36 [[ 9.10140899e-01 -3.51941866e-01 -2.18587435e-01 8.40545565e+01] [ 3.40322118e-01 9.35991608e-01 -9.00031370e-02 1.04046505e+01] [ 2.36271877e-01 7.52539700e-03 9.71657845e-01 -1.35982143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.317719421 meters Centerline goodness : 0.946421 Centerline is valid? [False, False] Translation: X:84.05, Y:10.40, Z:-1.37 [[ 9.14135923e-01 -3.44656264e-01 -2.13465627e-01 8.40481535e+01] [ 3.32905970e-01 9.38662919e-01 -8.99196262e-02 1.04021201e+01] [ 2.31363631e-01 1.11347789e-02 9.72803622e-01 -1.37214683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.347719421 meters Centerline goodness : 0.946246 Centerline is valid? [False, False] Translation: X:84.05, Y:10.40, Z:-1.37 [[ 9.15436385e-01 -3.40018991e-01 -2.15321415e-01 8.40487305e+01] [ 3.28826402e-01 9.40377283e-01 -8.69699017e-02 1.03999673e+01] [ 2.32054785e-01 8.81204625e-03 9.72662801e-01 -1.37064067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.377719421 meters Centerline goodness : 0.946507 Centerline is valid? [False, False] Translation: X:84.04, Y:10.40, Z:-1.37 [[ 9.17185336e-01 -3.37234543e-01 -2.12235535e-01 8.40434932e+01] [ 3.24738756e-01 9.41289135e-01 -9.23011619e-02 1.03970019e+01] [ 2.30902143e-01 1.57361688e-02 9.72849718e-01 -1.37328005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.407719421 meters Centerline goodness : 0.949258 Centerline is valid? [False, False] Translation: X:84.04, Y:10.40, Z:-1.37 [[ 9.18616239e-01 -3.32624252e-01 -2.13319743e-01 8.40413109e+01] [ 3.20802824e-01 9.42966925e-01 -8.88758997e-02 1.03958053e+01] [ 2.30715742e-01 1.32092688e-02 9.72931530e-01 -1.37143200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.437719421 meters Centerline goodness : 0.949726 Centerline is valid? [False, False] Translation: X:84.04, Y:10.40, Z:-1.37 [[ 9.18863916e-01 -3.32280540e-01 -2.12788031e-01 8.40398333e+01] [ 3.20504065e-01 9.43087039e-01 -8.86790953e-02 1.03974182e+01] [ 2.30143972e-01 1.32845918e-02 9.73065913e-01 -1.37184652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.467719421 meters Centerline goodness : 0.951601 Centerline is valid? [False, True] Translation: X:84.04, Y:10.40, Z:-1.37 [[ 9.20187179e-01 -3.28020722e-01 -2.13677238e-01 8.40387795e+01] [ 3.17274050e-01 9.44624628e-01 -8.37943243e-02 1.03957236e+01] [ 2.29331057e-01 9.31222004e-03 9.73303935e-01 -1.37180692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.497719421 meters Centerline goodness : 0.949140 Centerline is valid? [True, False] Translation: X:84.04, Y:10.39, Z:-1.37 [[ 9.20299203e-01 -3.27497195e-01 -2.13997578e-01 8.40389001e+01] [ 3.16757933e-01 9.44807019e-01 -8.36905546e-02 1.03949571e+01] [ 2.29594836e-01 9.23492030e-03 9.73242481e-01 -1.37115819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.527719421 meters Centerline goodness : 0.954299 Centerline is valid? [False, True] Translation: X:84.04, Y:10.39, Z:-1.37 [[ 9.19428270e-01 -3.30467855e-01 -2.13172824e-01 8.40374868e+01] [ 3.18992999e-01 9.43738984e-01 -8.71791056e-02 1.03928140e+01] [ 2.29989397e-01 1.21542957e-02 9.73117234e-01 -1.36889838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.557719421 meters Centerline goodness : 0.955585 Centerline is valid? [True, True] Translation: X:84.06, Y:10.40, Z:-1.36 [[ 9.18871121e-01 -3.31749242e-01 -2.13584420e-01 8.40631786e+01] [ 3.20544497e-01 9.43306857e-01 -8.61591528e-02 1.04022162e+01] [ 2.30058881e-01 1.07058467e-02 9.73117822e-01 -1.36007316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.587719421 meters Centerline goodness : 0.956747 Centerline is valid? [True, True] Translation: X:84.09, Y:10.41, Z:-1.35 [[ 9.17908738e-01 -3.34417199e-01 -2.13561899e-01 8.40877260e+01] [ 3.23270538e-01 9.42371022e-01 -8.62149404e-02 1.04143292e+01] [ 2.30086304e-01 1.00991774e-02 9.73117824e-01 -1.35421864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.617719421 meters Centerline goodness : 0.957452 Centerline is valid? [True, True] Translation: X:84.11, Y:10.43, Z:-1.35 [[ 9.17237277e-01 -3.36259567e-01 -2.13553933e-01 8.41135918e+01] [ 3.25157461e-01 9.41719814e-01 -8.62346667e-02 1.04261249e+01] [ 2.30105202e-01 9.65899612e-03 9.73117824e-01 -1.34704341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.647719421 meters Centerline goodness : 0.960339 Centerline is valid? [True, True] Translation: X:84.14, Y:10.44, Z:-1.34 [[ 9.16283817e-01 -3.38863290e-01 -2.13531351e-01 8.41396935e+01] [ 3.27817763e-01 9.40791930e-01 -8.62905497e-02 1.04352559e+01] [ 2.30129271e-01 9.06726452e-03 9.73117826e-01 -1.33916670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.677719421 meters Centerline goodness : 0.960598 Centerline is valid? [True, True] Translation: X:84.16, Y:10.44, Z:-1.33 [[ 9.15675511e-01 -3.40517756e-01 -2.13508821e-01 8.41645931e+01] [ 3.29503545e-01 9.40197712e-01 -8.63462590e-02 1.04445681e+01] [ 2.30142940e-01 8.71324128e-03 9.73117828e-01 -1.33232776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.707719421 meters Centerline goodness : 0.958995 Centerline is valid? [True, True] Translation: X:84.19, Y:10.46, Z:-1.33 [[ 9.14651147e-01 -3.43264717e-01 -2.13500850e-01 8.41904819e+01] [ 3.32319569e-01 9.39204251e-01 -8.63659637e-02 1.04563470e+01] [ 2.30167294e-01 8.04421720e-03 9.73117828e-01 -1.32828246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.737719421 meters Centerline goodness : 0.956545 Centerline is valid? [True, True] Translation: X:84.21, Y:10.47, Z:-1.32 [[ 9.14502907e-01 -3.43673253e-01 -2.13478635e-01 8.42148158e+01] [ 3.32726281e-01 9.39055196e-01 -8.64208413e-02 1.04679487e+01] [ 2.30168753e-01 8.00215832e-03 9.73117830e-01 -1.32355753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76771942099998 meters Centerline goodness : 0.955353 Centerline is valid? [True, True] Translation: X:84.24, Y:10.48, Z:-1.32 [[ 9.14378261e-01 -3.44011424e-01 -2.13467880e-01 8.42393211e+01] [ 3.33067340e-01 9.38931837e-01 -8.64473989e-02 1.04805693e+01] [ 2.30170682e-01 7.94644322e-03 9.73117830e-01 -1.31894885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.79771942099998 meters Centerline goodness : 0.955748 Centerline is valid? [True, True] Translation: X:84.27, Y:10.49, Z:-1.31 [[ 9.14663292e-01 -3.43268482e-01 -2.13442760e-01 8.42654001e+01] [ 3.32290011e-01 9.39201510e-01 -8.65093794e-02 1.04899127e+01] [ 2.30161706e-01 8.20205655e-03 9.73117832e-01 -1.31026920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82771942099998 meters Centerline goodness : 0.954928 Centerline is valid? [True, True] Translation: X:84.29, Y:10.50, Z:-1.30 [[ 9.14930923e-01 -3.42568669e-01 -2.13420037e-01 8.42912451e+01] [ 3.31558382e-01 9.39454879e-01 -8.65654017e-02 1.05004112e+01] [ 2.30153090e-01 8.44016068e-03 9.73117834e-01 -1.30309210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.85771942099998 meters Centerline goodness : 0.953061 Centerline is valid? [True, True] Translation: X:84.32, Y:10.51, Z:-1.30 [[ 9.15678394e-01 -3.40579924e-01 -2.13397268e-01 8.43154624e+01] [ 3.29503327e-01 9.40172470e-01 -8.66214964e-02 1.05136371e+01] [ 2.30131779e-01 9.00232291e-03 9.73117836e-01 -1.29921093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88771942099999 meters Centerline goodness : 0.953038 Centerline is valid? [True, True] Translation: X:84.34, Y:10.53, Z:-1.29 [[ 9.16011861e-01 -3.39688858e-01 -2.13386386e-01 8.43404899e+01] [ 3.28582204e-01 9.40492322e-01 -8.66482945e-02 1.05259362e+01] [ 2.30121718e-01 9.25589638e-03 9.73117836e-01 -1.29256804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.917719421 meters Centerline goodness : 0.951988 Centerline is valid? [True, True] Translation: X:84.37, Y:10.54, Z:-1.29 [[ 9.17176250e-01 -3.36549376e-01 -2.13359424e-01 8.43651825e+01] [ 3.25343539e-01 9.41611466e-01 -8.67146370e-02 1.05376740e+01] [ 2.30085437e-01 1.01174957e-02 9.73117839e-01 -1.28905930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.947719421 meters Centerline goodness : 0.952964 Centerline is valid? [True, True] Translation: X:84.39, Y:10.55, Z:-1.28 [[ 9.17759387e-01 -3.34963117e-01 -2.13348115e-01 8.43897911e+01] [ 3.23708598e-01 9.42172219e-01 -8.67424525e-02 1.05482208e+01] [ 2.30066189e-01 1.05460810e-02 9.73117839e-01 -1.28188965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.977719421 meters Centerline goodness : 0.951875 Centerline is valid? [True, True] Translation: X:84.42, Y:10.56, Z:-1.27 [[ 9.19007438e-01 -3.31539999e-01 -2.13322662e-01 8.44151573e+01] [ 3.20180085e-01 9.43371403e-01 -8.68050044e-02 1.05596343e+01] [ 2.30021830e-01 1.14727767e-02 9.73117841e-01 -1.27296703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.007719421 meters Centerline goodness : 0.950299 Centerline is valid? [True, True] Translation: X:84.44, Y:10.57, Z:-1.27 [[ 9.19503522e-01 -3.30176803e-01 -2.13299207e-01 8.44399005e+01] [ 3.18767451e-01 9.43844373e-01 -8.68626008e-02 1.05708734e+01] [ 2.30001272e-01 1.18776228e-02 9.73117843e-01 -1.26725604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.037719421 meters Centerline goodness : 0.953761 Centerline is valid? [True, True] Translation: X:84.47, Y:10.58, Z:-1.26 [[ 9.20327442e-01 -3.27878622e-01 -2.13290903e-01 8.44651741e+01] [ 3.16403788e-01 9.44637491e-01 -8.68829855e-02 1.05833676e+01] [ 2.29969657e-01 1.24747461e-02 9.73117844e-01 -1.25907523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.067719421 meters Centerline goodness : 0.956750 Centerline is valid? [True, True] Translation: X:84.49, Y:10.60, Z:-1.25 [[ 9.19726143e-01 -3.29576387e-01 -2.13267970e-01 8.44899330e+01] [ 3.18133429e-01 9.44051211e-01 -8.69392427e-02 1.05955226e+01] [ 2.29989007e-01 1.21126237e-02 9.73117845e-01 -1.24881877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.097719421 meters Centerline goodness : 0.958644 Centerline is valid? [True, True] Translation: X:84.52, Y:10.61, Z:-1.24 [[ 9.18960350e-01 -3.31720877e-01 -2.13244310e-01 8.45152550e+01] [ 3.20321273e-01 9.43305763e-01 -8.69972401e-02 1.06052443e+01] [ 2.30013387e-01 1.16403255e-02 9.73117847e-01 -1.24182794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.127719421 meters Centerline goodness : 0.957732 Centerline is valid? [True, True] Translation: X:84.54, Y:10.61, Z:-1.24 [[ 9.16884394e-01 -3.37424401e-01 -2.13231755e-01 8.45411618e+01] [ 3.26169149e-01 9.41296879e-01 -8.70280005e-02 1.06147483e+01] [ 2.30079757e-01 1.02449954e-02 9.73117848e-01 -1.23606667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.157719421 meters Centerline goodness : 0.958185 Centerline is valid? [True, True] Translation: X:84.57, Y:10.63, Z:-1.23 [[ 9.16066732e-01 -3.39643085e-01 -2.13223632e-01 8.45664027e+01] [ 3.28442343e-01 9.40504275e-01 -8.70478981e-02 1.06253744e+01] [ 2.30102954e-01 9.71001410e-03 9.73117848e-01 -1.22893372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.187719421 meters Centerline goodness : 0.958854 Centerline is valid? [True, True] Translation: X:84.59, Y:10.64, Z:-1.22 [[ 9.15367060e-01 -3.41540987e-01 -2.13196855e-01 8.45914491e+01] [ 3.30375683e-01 9.39820812e-01 -8.71134326e-02 1.06351090e+01] [ 2.30119649e-01 9.30571013e-03 9.73117850e-01 -1.22251517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.217719421 meters Centerline goodness : 0.958068 Centerline is valid? [True, True] Translation: X:84.62, Y:10.64, Z:-1.21 [[ 9.15362717e-01 -3.41557798e-01 -2.13188571e-01 8.46164464e+01] [ 3.30388231e-01 9.39814521e-01 -8.71337012e-02 1.06442998e+01] [ 2.30118910e-01 9.32394654e-03 9.73117851e-01 -1.21375022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.247719421 meters Centerline goodness : 0.958149 Centerline is valid? [True, True] Translation: X:84.64, Y:10.65, Z:-1.21 [[ 9.15931471e-01 -3.40046498e-01 -2.13161722e-01 8.46416203e+01] [ 3.28821344e-01 9.40357804e-01 -8.71993358e-02 1.06547781e+01] [ 2.30100118e-01 9.77649190e-03 9.73117853e-01 -1.20946059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.277719421 meters Centerline goodness : 0.957155 Centerline is valid? [True, True] Translation: X:84.67, Y:10.67, Z:-1.20 [[ 9.15849318e-01 -3.40272903e-01 -2.13153415e-01 8.46670378e+01] [ 3.29049073e-01 9.40276259e-01 -8.72196386e-02 1.06663219e+01] [ 2.30101575e-01 9.74211312e-03 9.73117853e-01 -1.20447834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.307719421 meters Centerline goodness : 0.954353 Centerline is valid? [True, True] Translation: X:84.69, Y:10.68, Z:-1.20 [[ 9.16279448e-01 -3.39130060e-01 -2.13126196e-01 8.46945887e+01] [ 3.27860339e-01 9.40685248e-01 -8.72861007e-02 1.06761113e+01] [ 2.30086009e-01 1.01028335e-02 9.73117856e-01 -1.20044893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.337719421 meters Centerline goodness : 0.952076 Centerline is valid? [True, True] Translation: X:84.72, Y:10.69, Z:-1.19 [[ 9.16242186e-01 -3.39245619e-01 -2.13102481e-01 8.47204092e+01] [ 3.27965547e-01 9.40643201e-01 -8.73439621e-02 1.06855496e+01] [ 2.30084456e-01 1.01379511e-02 9.73117858e-01 -1.19470952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.367719421 meters Centerline goodness : 0.952969 Centerline is valid? [True, True] Translation: X:84.75, Y:10.70, Z:-1.19 [[ 9.16715209e-01 -3.37982327e-01 -2.13075511e-01 8.47460461e+01] [ 3.26653386e-01 9.41093571e-01 -8.74097066e-02 1.06954572e+01] [ 2.30066929e-01 1.05279704e-02 9.73117860e-01 -1.18813282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.397719421 meters Centerline goodness : 0.950230 Centerline is valid? [True, True] Translation: X:84.77, Y:10.71, Z:-1.18 [[ 9.16950020e-01 -3.37361984e-01 -2.13048240e-01 8.47721419e+01] [ 3.26001156e-01 9.41313536e-01 -8.74761268e-02 1.07061032e+01] [ 2.30056312e-01 1.07572636e-02 9.73117863e-01 -1.18195488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.427719421 meters Centerline goodness : 0.951777 Centerline is valid? [True, True] Translation: X:84.80, Y:10.72, Z:-1.18 [[ 9.17641725e-01 -3.35491094e-01 -2.13024387e-01 8.47977655e+01] [ 3.24067160e-01 9.41975713e-01 -8.75341765e-02 1.07163772e+01] [ 2.30030735e-01 1.12908046e-02 9.73117865e-01 -1.17559447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.457719421 meters Centerline goodness : 0.951977 Centerline is valid? [True, True] Translation: X:84.82, Y:10.73, Z:-1.17 [[ 9.18013300e-01 -3.34478378e-01 -2.13015951e-01 8.48228530e+01] [ 3.23022852e-01 9.42332431e-01 -8.75547009e-02 1.07269231e+01] [ 2.30016993e-01 1.15673598e-02 9.73117865e-01 -1.17109300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.487719421 meters Centerline goodness : 0.951977 Centerline is valid? [True, True] Translation: X:84.85, Y:10.74, Z:-1.16 [[ 9.17915181e-01 -3.34752876e-01 -2.13007590e-01 8.48485526e+01] [ 3.23299918e-01 9.42235520e-01 -8.75750386e-02 1.07377151e+01] [ 2.30019313e-01 1.15211211e-02 9.73117865e-01 -1.16450886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.51771942099998 meters Centerline goodness : 0.956196 Centerline is valid? [True, True] Translation: X:84.87, Y:10.75, Z:-1.16 [[ 9.19060732e-01 -3.31611842e-01 -2.12981118e-01 8.48726541e+01] [ 3.20060921e-01 9.43334695e-01 -8.76393705e-02 1.07500547e+01] [ 2.29974731e-01 1.23789711e-02 9.73117867e-01 -1.15723381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54771942099998 meters Centerline goodness : 0.956872 Centerline is valid? [True, True] Translation: X:84.90, Y:10.76, Z:-1.15 [[ 9.19469883e-01 -3.30483613e-01 -2.12968812e-01 8.48977591e+01] [ 3.18896010e-01 9.43726356e-01 -8.76692662e-02 1.07629315e+01] [ 2.29957537e-01 1.26943457e-02 9.73117868e-01 -1.14845853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.57771942099998 meters Centerline goodness : 0.957462 Centerline is valid? [True, True] Translation: X:84.92, Y:10.78, Z:-1.14 [[ 9.20022281e-01 -3.28958031e-01 -2.12945101e-01 8.49215145e+01] [ 3.17316937e-01 9.44253126e-01 -8.77268222e-02 1.07765098e+01] [ 2.29932520e-01 1.31395439e-02 9.73117870e-01 -1.14414262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60771942099998 meters Centerline goodness : 0.957798 Centerline is valid? [True, True] Translation: X:84.95, Y:10.79, Z:-1.14 [[ 9.19901510e-01 -3.29301028e-01 -2.12936715e-01 8.49458955e+01] [ 3.17664275e-01 9.44134441e-01 -8.77471730e-02 1.07876645e+01] [ 2.29936120e-01 1.30763697e-02 9.73117870e-01 -1.13720103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.63771942099999 meters Centerline goodness : 0.960290 Centerline is valid? [True, True] Translation: X:84.97, Y:10.80, Z:-1.13 [[ 9.19250654e-01 -3.31130007e-01 -2.12911142e-01 8.49697125e+01] [ 3.19527164e-01 9.43499835e-01 -8.78091818e-02 1.07982154e+01] [ 2.29957882e-01 1.26877545e-02 9.73117872e-01 -1.12831967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.667719421 meters Centerline goodness : 0.960695 Centerline is valid? [True, True] Translation: X:85.00, Y:10.81, Z:-1.12 [[ 9.18017689e-01 -3.34541892e-01 -2.12897264e-01 8.49951345e+01] [ 3.23021416e-01 9.42306110e-01 -8.78428152e-02 1.08092870e+01] [ 2.30001495e-01 1.18708824e-02 9.73117873e-01 -1.12130599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.697719421 meters Centerline goodness : 0.958143 Centerline is valid? [True, True] Translation: X:85.02, Y:10.82, Z:-1.12 [[ 9.17186558e-01 -3.36828377e-01 -2.12874288e-01 8.50213359e+01] [ 3.25355580e-01 9.41497534e-01 -8.78984616e-02 1.08211127e+01] [ 2.30027313e-01 1.13594501e-02 9.73117875e-01 -1.11577573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.727719421 meters Centerline goodness : 0.955247 Centerline is valid? [True, True] Translation: X:85.05, Y:10.83, Z:-1.11 [[ 9.15621478e-01 -3.41074357e-01 -2.12851103e-01 8.50475201e+01] [ 3.29701309e-01 9.39979277e-01 -8.79545693e-02 1.08339209e+01] [ 2.30074674e-01 1.03558052e-02 9.73117876e-01 -1.11155321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.757719421 meters Centerline goodness : 0.952741 Centerline is valid? [True, True] Translation: X:85.07, Y:10.84, Z:-1.11 [[ 9.15076607e-01 -3.42548478e-01 -2.12827027e-01 8.50733010e+01] [ 3.31201161e-01 9.39446401e-01 -8.80127896e-02 1.08445415e+01] [ 2.30088232e-01 1.00498863e-02 9.73117878e-01 -1.10638617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.787719421 meters Centerline goodness : 0.950803 Centerline is valid? [True, True] Translation: X:85.10, Y:10.85, Z:-1.10 [[ 9.13959662e-01 -3.45534407e-01 -2.12799695e-01 8.51002674e+01] [ 3.34251371e-01 9.38359281e-01 -8.80788277e-02 1.08548352e+01] [ 2.30116834e-01 9.37190592e-03 9.73117881e-01 -1.10182588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.817719421 meters Centerline goodness : 0.951954 Centerline is valid? [True, True] Translation: X:85.13, Y:10.86, Z:-1.10 [[ 9.13513920e-01 -3.46725735e-01 -2.12775896e-01 8.51257891e+01] [ 3.35461162e-01 9.37922067e-01 -8.81362828e-02 1.08640158e+01] [ 2.30126326e-01 9.13567189e-03 9.73117883e-01 -1.09704196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.847719421 meters Centerline goodness : 0.955693 Centerline is valid? [True, True] Translation: X:85.15, Y:10.87, Z:-1.09 [[ 9.12421275e-01 -3.49596302e-01 -2.12767107e-01 8.51516392e+01] [ 3.38403591e-01 9.36862458e-01 -8.81574944e-02 1.08718363e+01] [ 2.30153049e-01 8.43562038e-03 9.73117883e-01 -1.08555087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.877719421 meters Centerline goodness : 0.956785 Centerline is valid? [True, True] Translation: X:85.18, Y:10.88, Z:-1.08 [[ 9.12105889e-01 -3.50432846e-01 -2.12743196e-01 8.51764486e+01] [ 3.39249121e-01 9.36551183e-01 -8.82151614e-02 1.08818872e+01] [ 2.30158382e-01 8.28862601e-03 9.73117885e-01 -1.07949913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.907719421 meters Centerline goodness : 0.958251 Centerline is valid? [True, True] Translation: X:85.20, Y:10.89, Z:-1.07 [[ 9.12123191e-01 -3.50395486e-01 -2.12730550e-01 8.52026243e+01] [ 3.39203661e-01 9.36564778e-01 -8.82456460e-02 1.08930931e+01] [ 2.30156816e-01 8.33191887e-03 9.73117885e-01 -1.07411199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.937719421 meters Centerline goodness : 0.958783 Centerline is valid? [True, True] Translation: X:85.23, Y:10.90, Z:-1.07 [[ 9.12689298e-01 -3.48932288e-01 -2.12707553e-01 8.52295879e+01] [ 3.37688391e-01 9.37106971e-01 -8.83010440e-02 1.09019213e+01] [ 2.30140816e-01 8.76254638e-03 9.73117887e-01 -1.06617175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.967719421 meters Centerline goodness : 0.960674 Centerline is valid? [True, True] Translation: X:85.25, Y:10.91, Z:-1.06 [[ 9.12849137e-01 -3.48528028e-01 -2.12684430e-01 8.52548781e+01] [ 3.37260371e-01 9.37255853e-01 -8.83567053e-02 1.09112681e+01] [ 2.30134515e-01 8.92631239e-03 9.73117889e-01 -1.05839602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.997719421 meters Centerline goodness : 0.961324 Centerline is valid? [True, True] Translation: X:85.28, Y:10.92, Z:-1.05 [[ 9.13087650e-01 -3.47919494e-01 -2.12656929e-01 8.52802366e+01] [ 3.36620195e-01 9.37479730e-01 -8.84228469e-02 1.09204040e+01] [ 2.30125593e-01 9.15319260e-03 9.73117891e-01 -1.05059482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.027719421 meters Centerline goodness : 0.963089 Centerline is valid? [True, True] Translation: X:85.30, Y:10.93, Z:-1.04 [[ 9.13192178e-01 -3.47652827e-01 -2.12644205e-01 8.53049640e+01] [ 3.36339295e-01 9.37577660e-01 -8.84534351e-02 1.09309216e+01] [ 2.30121543e-01 9.25438280e-03 9.73117892e-01 -1.04394229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.057719421 meters Centerline goodness : 0.960244 Centerline is valid? [True, True] Translation: X:85.33, Y:10.94, Z:-1.04 [[ 9.13894018e-01 -3.45820513e-01 -2.12616786e-01 8.53310430e+01] [ 3.34442802e-01 9.38249618e-01 -8.85192961e-02 1.09422549e+01] [ 2.30099407e-01 9.78910151e-03 9.73117894e-01 -1.04059327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.087719421 meters Centerline goodness : 0.961527 Centerline is valid? [True, True] Translation: X:85.36, Y:10.95, Z:-1.03 [[ 9.13743743e-01 -3.46231977e-01 -2.12593016e-01 8.53565414e+01] [ 3.34851987e-01 9.38098277e-01 -8.85763475e-02 1.09534708e+01] [ 2.30101106e-01 9.74888934e-03 9.73117896e-01 -1.03491879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.117719421 meters Centerline goodness : 0.957843 Centerline is valid? [True, True] Translation: X:85.38, Y:10.96, Z:-1.03 [[ 9.13806118e-01 -3.46083904e-01 -2.12566015e-01 8.53824678e+01] [ 3.34684936e-01 9.38151773e-01 -8.86410993e-02 1.09625014e+01] [ 2.30096441e-01 9.85813567e-03 9.73117899e-01 -1.03042009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.147719421 meters Centerline goodness : 0.956818 Centerline is valid? [True, True] Translation: X:85.41, Y:10.97, Z:-1.02 [[ 9.13544169e-01 -3.46782384e-01 -2.12553591e-01 8.54087984e+01] [ 3.35395117e-01 9.37895298e-01 -8.86708800e-02 1.09731633e+01] [ 2.30102513e-01 9.71532887e-03 9.73117899e-01 -1.02356852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.177719421 meters Centerline goodness : 0.954561 Centerline is valid? [True, True] Translation: X:85.43, Y:10.98, Z:-1.02 [[ 9.13505556e-01 -3.46898906e-01 -2.12529407e-01 8.54344945e+01] [ 3.35501295e-01 9.37851843e-01 -8.87288088e-02 1.09835088e+01] [ 2.30101023e-01 9.75036848e-03 9.73117901e-01 -1.01926310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.207719421 meters Centerline goodness : 0.951879 Centerline is valid? [True, True] Translation: X:85.46, Y:10.99, Z:-1.01 [[ 9.13471627e-01 -3.46993479e-01 -2.12520852e-01 8.54599561e+01] [ 3.35593633e-01 9.37816867e-01 -8.87492946e-02 1.09943232e+01] [ 2.30101066e-01 9.74931748e-03 9.73117901e-01 -1.01298325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.237719421 meters Centerline goodness : 0.953396 Centerline is valid? [True, True] Translation: X:85.49, Y:11.00, Z:-1.01 [[ 9.13509611e-01 -3.46909848e-01 -2.12494112e-01 8.54854589e+01] [ 3.35492921e-01 9.37846844e-01 -8.88132758e-02 1.10048756e+01] [ 2.30097132e-01 9.84151091e-03 9.73117904e-01 -1.00550223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26771942099998 meters Centerline goodness : 0.954424 Centerline is valid? [True, True] Translation: X:85.51, Y:11.01, Z:-1.00 [[ 9.13242716e-01 -3.47628577e-01 -2.12466738e-01 8.55105788e+01] [ 3.36215611e-01 9.37581803e-01 -8.88787136e-02 1.10135545e+01] [ 2.30101728e-01 9.73320351e-03 9.73117906e-01 -1.00022593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.29771942099998 meters Centerline goodness : 0.954356 Centerline is valid? [True, True] Translation: X:85.54, Y:11.02, Z:-0.99 [[ 9.13024793e-01 -3.48207581e-01 -2.12455189e-01 8.55363018e+01] [ 3.36803641e-01 9.37368111e-01 -8.89063122e-02 1.10243890e+01] [ 2.30106571e-01 9.61798599e-03 9.73117907e-01 -9.94324603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32771942099998 meters Centerline goodness : 0.952057 Centerline is valid? [True, True] Translation: X:85.56, Y:11.04, Z:-0.99 [[ 9.12877184e-01 -3.48610808e-01 -2.12428226e-01 8.55614953e+01] [ 3.37202670e-01 9.37218531e-01 -8.89706909e-02 1.10356310e+01] [ 2.30107815e-01 9.58794875e-03 9.73117909e-01 -9.89701455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.35771942099998 meters Centerline goodness : 0.955158 Centerline is valid? [True, True] Translation: X:85.59, Y:11.05, Z:-0.99 [[ 9.13350635e-01 -3.47385053e-01 -2.12401136e-01 8.55861368e+01] [ 3.35929252e-01 9.37669584e-01 -8.90353178e-02 1.10475322e+01] [ 2.30091624e-01 9.96870902e-03 9.73117911e-01 -9.85175863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38771942099999 meters Centerline goodness : 0.954423 Centerline is valid? [True, True] Translation: X:85.61, Y:11.06, Z:-0.98 [[ 9.14156519e-01 -3.45266486e-01 -2.12388587e-01 8.56109040e+01] [ 3.33747396e-01 9.38445554e-01 -8.90652432e-02 1.10562364e+01] [ 2.30066369e-01 1.05354348e-02 9.73117912e-01 -9.75331749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.417719421 meters Centerline goodness : 0.953058 Centerline is valid? [True, True] Translation: X:85.64, Y:11.07, Z:-0.97 [[ 9.14525054e-01 -3.44305229e-01 -2.12362508e-01 8.56363854e+01] [ 3.32746217e-01 9.38795113e-01 -8.91273823e-02 1.10659317e+01] [ 2.30051909e-01 1.08464027e-02 9.73117914e-01 -9.68678222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.447719421 meters Centerline goodness : 0.955808 Centerline is valid? [True, True] Translation: X:85.66, Y:11.08, Z:-0.96 [[ 9.15181066e-01 -3.42562709e-01 -2.12354436e-01 8.56620527e+01] [ 3.30953042e-01 9.39426935e-01 -8.91466118e-02 1.10774393e+01] [ 2.30029782e-01 1.13059447e-02 9.73117914e-01 -9.61146282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.477719421 meters Centerline goodness : 0.956454 Centerline is valid? [True, True] Translation: X:85.69, Y:11.09, Z:-0.96 [[ 9.15462488e-01 -3.41824263e-01 -2.12331359e-01 8.56866126e+01] [ 3.30182334e-01 9.39692881e-01 -8.92015446e-02 1.10894327e+01] [ 2.30017518e-01 1.15526042e-02 9.73117916e-01 -9.55596765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.507719421 meters Centerline goodness : 0.956751 Centerline is valid? [True, True] Translation: X:85.71, Y:11.10, Z:-0.95 [[ 9.15557248e-01 -3.41575459e-01 -2.12323177e-01 8.57118351e+01] [ 3.29922444e-01 9.39782311e-01 -8.92210152e-02 1.11018168e+01] [ 2.30013275e-01 1.16367658e-02 9.73117916e-01 -9.48140279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.537719421 meters Centerline goodness : 0.954057 Centerline is valid? [True, True] Translation: X:85.74, Y:11.11, Z:-0.94 [[ 9.15494463e-01 -3.41758287e-01 -2.12299699e-01 8.57373051e+01] [ 3.30097201e-01 9.39715639e-01 -8.92768476e-02 1.11121429e+01] [ 2.30012450e-01 1.16529234e-02 9.73117918e-01 -9.44399831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.567719421 meters Centerline goodness : 0.953410 Centerline is valid? [True, True] Translation: X:85.76, Y:11.12, Z:-0.94 [[ 9.14785825e-01 -3.43655726e-01 -2.12291393e-01 8.57631952e+01] [ 3.32040315e-01 9.39028939e-01 -8.92965929e-02 1.11212691e+01] [ 2.30035047e-01 1.11979564e-02 9.73117918e-01 -9.35890438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.597719421 meters Centerline goodness : 0.953100 Centerline is valid? [True, True] Translation: X:85.79, Y:11.13, Z:-0.93 [[ 9.14321499e-01 -3.44903830e-01 -2.12267624e-01 8.57879340e+01] [ 3.33308439e-01 9.38574193e-01 -8.93530608e-02 1.11312997e+01] [ 2.30047126e-01 1.09468342e-02 9.73117920e-01 -9.30386885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.627719421 meters Centerline goodness : 0.952187 Centerline is valid? [True, True] Translation: X:85.81, Y:11.14, Z:-0.92 [[ 9.13099470e-01 -3.48133325e-01 -2.12255848e-01 8.58122676e+01] [ 3.36617242e-01 9.37389921e-01 -8.93810249e-02 1.11423161e+01] [ 2.30083006e-01 1.01647883e-02 9.73117921e-01 -9.22936434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.657719421 meters Centerline goodness : 0.951998 Centerline is valid? [True, True] Translation: X:85.84, Y:11.15, Z:-0.92 [[ 9.12079158e-01 -3.50814036e-01 -2.12228938e-01 8.58373789e+01] [ 3.39354526e-01 9.36396347e-01 -8.94448771e-02 1.11532141e+01] [ 2.30108921e-01 9.55995755e-03 9.73117923e-01 -9.17122418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.687719421 meters Centerline goodness : 0.951904 Centerline is valid? [True, True] Translation: X:85.86, Y:11.16, Z:-0.91 [[ 9.11682915e-01 -3.51850048e-01 -2.12216413e-01 8.58636593e+01] [ 3.40411272e-01 9.36009864e-01 -8.94745843e-02 1.11637902e+01] [ 2.30118293e-01 9.33159078e-03 9.73117923e-01 -9.11320985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.717719421 meters Centerline goodness : 0.946540 Centerline is valid? [True, False] Translation: X:85.87, Y:11.16, Z:-0.91 [[ 9.11644037e-01 -3.51696382e-01 -2.12637732e-01 8.58665222e+01] [ 3.40350809e-01 9.36072695e-01 -8.90462584e-02 1.11632732e+01] [ 2.30361622e-01 8.80706641e-03 9.73065239e-01 -9.13016545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.747719421 meters Centerline goodness : 0.944412 Centerline is valid? [False, False] Translation: X:85.87, Y:11.16, Z:-0.91 [[ 9.11645931e-01 -3.51567790e-01 -2.12842160e-01 8.58675739e+01] [ 3.40337879e-01 9.36125857e-01 -8.85353524e-02 1.11630545e+01] [ 2.30373227e-01 8.27464456e-03 9.73067164e-01 -9.13701467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.777719421 meters Centerline goodness : 0.948269 Centerline is valid? [False, False] Translation: X:85.87, Y:11.16, Z:-0.91 [[ 9.11839942e-01 -3.51368205e-01 -2.12340070e-01 8.58657138e+01] [ 3.40394087e-01 9.36207641e-01 -8.74478112e-02 1.11612189e+01] [ 2.29520776e-01 7.45910301e-03 9.73275180e-01 -9.13350795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.807719421 meters Centerline goodness : 0.948201 Centerline is valid? [False, False] Translation: X:85.86, Y:11.16, Z:-0.91 [[ 9.11968485e-01 -3.51211267e-01 -2.12047468e-01 8.58646851e+01] [ 3.40317021e-01 9.36268016e-01 -8.71006778e-02 1.11611109e+01] [ 2.29124001e-01 7.26971060e-03 9.73370096e-01 -9.13295392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.837719421 meters Centerline goodness : 0.950344 Centerline is valid? [False, True] Translation: X:85.86, Y:11.16, Z:-0.91 [[ 9.12291023e-01 -3.50599666e-01 -2.11671829e-01 8.58630247e+01] [ 3.39698826e-01 9.36495151e-01 -8.70720348e-02 1.11613030e+01] [ 2.28757068e-01 7.53036392e-03 9.73454415e-01 -9.12909003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.867719421 meters Centerline goodness : 0.952576 Centerline is valid? [True, True] Translation: X:85.89, Y:11.17, Z:-0.91 [[ 9.12454887e-01 -3.50557655e-01 -2.11034143e-01 8.58876644e+01] [ 3.39304241e-01 9.36495656e-01 -8.85918663e-02 1.11726352e+01] [ 2.28689115e-01 9.23130190e-03 9.73455737e-01 -9.05131747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.897719421 meters Centerline goodness : 0.951551 Centerline is valid? [True, True] Translation: X:85.91, Y:11.18, Z:-0.90 [[ 9.12576664e-01 -3.50256849e-01 -2.11007041e-01 8.59132754e+01] [ 3.38980624e-01 9.36606740e-01 -8.86563704e-02 1.11845611e+01] [ 2.28683118e-01 9.37843632e-03 9.73455739e-01 -9.00076163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.927719421 meters Centerline goodness : 0.950236 Centerline is valid? [True, True] Translation: X:85.94, Y:11.20, Z:-0.90 [[ 9.12719534e-01 -3.49898628e-01 -2.10983417e-01 8.59381497e+01] [ 3.38600009e-01 9.36739087e-01 -8.87125566e-02 1.11967561e+01] [ 2.28676815e-01 9.53069645e-03 9.73455741e-01 -8.99070533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.957719421 meters Centerline goodness : 0.950588 Centerline is valid? [True, True] Translation: X:85.96, Y:11.21, Z:-0.89 [[ 9.12739348e-01 -3.49853996e-01 -2.10971714e-01 8.59625059e+01] [ 3.38547784e-01 9.36755327e-01 -8.87403808e-02 1.12073501e+01] [ 2.28675053e-01 9.57283120e-03 9.73455742e-01 -8.88703206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.987719421 meters Centerline goodness : 0.949167 Centerline is valid? [True, False] Translation: X:85.96, Y:11.21, Z:-0.89 [[ 9.12649635e-01 -3.50136367e-01 -2.10891365e-01 8.59633059e+01] [ 3.38508338e-01 9.36635529e-01 -9.01442771e-02 1.12105044e+01] [ 2.29091135e-01 1.08816562e-02 9.73344154e-01 -8.89584584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.01771942099998 meters Centerline goodness : 0.947550 Centerline is valid? [False, False] Translation: X:85.96, Y:11.21, Z:-0.89 [[ 9.12599816e-01 -3.49943832e-01 -2.11425851e-01 8.59640190e+01] [ 3.38256681e-01 9.36706860e-01 -9.03475267e-02 1.12112579e+01] [ 2.29660605e-01 1.09349295e-02 9.73209347e-01 -8.89103540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04771942099998 meters Centerline goodness : 0.946569 Centerline is valid? [False, False] Translation: X:85.96, Y:11.21, Z:-0.90 [[ 9.13522797e-01 -3.51391759e-01 -2.04938847e-01 8.59564923e+01] [ 3.36811476e-01 9.35884647e-01 -1.03334196e-01 1.12092417e+01] [ 2.28109905e-01 2.53723880e-02 9.73304738e-01 -8.98422175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.07771942099998 meters Centerline goodness : 0.945768 Centerline is valid? [False, False] Translation: X:85.96, Y:11.21, Z:-0.90 [[ 9.14331639e-01 -3.48857129e-01 -2.05660782e-01 8.59569493e+01] [ 3.35185330e-01 9.36925068e-01 -9.91070663e-02 1.12093606e+01] [ 2.27262949e-01 2.16822494e-02 9.73592026e-01 -9.00131575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10771942099998 meters Centerline goodness : 0.946780 Centerline is valid? [False, False] Translation: X:85.96, Y:11.21, Z:-0.90 [[ 9.14197256e-01 -3.49560640e-01 -2.05062760e-01 8.59561618e+01] [ 3.35860067e-01 9.36656218e-01 -9.93637033e-02 1.12105451e+01] [ 2.26806949e-01 2.19656326e-02 9.73692004e-01 -9.00752406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.13771942099999 meters Centerline goodness : 0.951542 Centerline is valid? [False, True] Translation: X:85.95, Y:11.21, Z:-0.90 [[ 9.14147888e-01 -3.50171895e-01 -2.04238301e-01 8.59525383e+01] [ 3.36419158e-01 9.36416072e-01 -9.97351007e-02 1.12106808e+01] [ 2.26176457e-01 2.24629543e-02 9.73827308e-01 -8.98873133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.167719421 meters Centerline goodness : 0.953537 Centerline is valid? [True, True] Translation: X:85.98, Y:11.22, Z:-0.88 [[ 9.13926378e-01 -3.47564379e-01 -2.09612923e-01 8.59770216e+01] [ 3.36661411e-01 9.37615058e-01 -8.68164547e-02 1.12168199e+01] [ 2.26710540e-01 8.77526571e-03 9.73922649e-01 -8.80643086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.197719421 meters Centerline goodness : 0.954034 Centerline is valid? [True, True] Translation: X:86.00, Y:11.23, Z:-0.87 [[ 9.14587015e-01 -3.45838510e-01 -2.09586061e-01 8.60013659e+01] [ 3.34876023e-01 9.38248207e-01 -8.68812549e-02 1.12289145e+01] [ 2.26690630e-01 9.27512110e-03 9.73922651e-01 -8.74389339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.227719421 meters Centerline goodness : 0.955153 Centerline is valid? [True, True] Translation: X:86.03, Y:11.24, Z:-0.87 [[ 9.14984094e-01 -3.44791635e-01 -2.09577759e-01 8.60256526e+01] [ 3.33797500e-01 9.38630597e-01 -8.69012770e-02 1.12397074e+01] [ 2.26678930e-01 9.55675420e-03 9.73922651e-01 -8.66282732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.257719421 meters Centerline goodness : 0.952190 Centerline is valid? [True, True] Translation: X:86.05, Y:11.25, Z:-0.86 [[ 9.16298736e-01 -3.41298846e-01 -2.09551246e-01 8.60512317e+01] [ 3.30200015e-01 9.39896276e-01 -8.69651647e-02 1.12528637e+01] [ 2.26637546e-01 1.04922460e-02 9.73922654e-01 -8.60649957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.287719421 meters Centerline goodness : 0.952582 Centerline is valid? [True, True] Translation: X:86.07, Y:11.27, Z:-0.86 [[ 9.16645183e-01 -3.40381543e-01 -2.09528072e-01 8.60747991e+01] [ 3.29246376e-01 9.40225598e-01 -8.70209627e-02 1.12658827e+01] [ 2.26623987e-01 1.07809878e-02 9.73922656e-01 -8.56293455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.317719421 meters Centerline goodness : 0.949628 Centerline is valid? [True, False] Translation: X:86.08, Y:11.27, Z:-0.86 [[ 9.17768382e-01 -3.36744194e-01 -2.10486447e-01 8.60754125e+01] [ 3.26552290e-01 9.41570168e-01 -8.25179987e-02 1.12662090e+01] [ 2.25975216e-01 6.99757897e-03 9.74107918e-01 -8.57928247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.347719421 meters Centerline goodness : 0.949628 Centerline is valid? [False, False] Translation: X:86.08, Y:11.27, Z:-0.86 [[ 9.17768382e-01 -3.36744194e-01 -2.10486447e-01 8.60754125e+01] [ 3.26552290e-01 9.41570168e-01 -8.25179987e-02 1.12662090e+01] [ 2.25975216e-01 6.99757897e-03 9.74107918e-01 -8.57928247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.377719421 meters Centerline goodness : 0.946845 Centerline is valid? [False, False] Translation: X:86.08, Y:11.27, Z:-0.86 [[ 9.16560889e-01 -3.40423229e-01 -2.09828890e-01 8.60770214e+01] [ 3.29417326e-01 9.40217844e-01 -8.64559550e-02 1.12664981e+01] [ 2.26716481e-01 1.01208753e-02 9.73908212e-01 -8.58027853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.407719421 meters Centerline goodness : 0.945858 Centerline is valid? [False, False] Translation: X:86.08, Y:11.27, Z:-0.86 [[ 9.15398401e-01 -3.44382559e-01 -2.08438050e-01 8.60764898e+01] [ 3.32591727e-01 9.38734200e-01 -9.03373996e-02 1.12659216e+01] [ 2.26778551e-01 1.33699400e-02 9.73854575e-01 -8.57519611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.437719421 meters Centerline goodness : 0.946715 Centerline is valid? [False, False] Translation: X:86.08, Y:11.27, Z:-0.86 [[ 9.13680928e-01 -3.50217048e-01 -2.06240589e-01 8.60763922e+01] [ 3.37696892e-01 9.36523713e-01 -9.42557401e-02 1.12660269e+01] [ 2.26159169e-01 1.64728661e-02 9.73951064e-01 -8.58859773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.467719421 meters Centerline goodness : 0.947667 Centerline is valid? [False, False] Translation: X:86.08, Y:11.27, Z:-0.86 [[ 9.13465926e-01 -3.50977385e-01 -2.05900162e-01 8.60769821e+01] [ 3.38598734e-01 9.36248556e-01 -9.37525444e-02 1.12668633e+01] [ 2.25678752e-01 1.59222209e-02 9.74071652e-01 -8.60477140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.497719421 meters Centerline goodness : 0.946367 Centerline is valid? [False, False] Translation: X:86.08, Y:11.27, Z:-0.87 [[ 9.13552853e-01 -3.52126666e-01 -2.03538684e-01 8.60760518e+01] [ 3.39796404e-01 9.35805728e-01 -9.38405255e-02 1.12685962e+01] [ 2.23516418e-01 1.65665667e-02 9.74559367e-01 -8.65290970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.527719421 meters Centerline goodness : 0.944150 Centerline is valid? [False, False] Translation: X:86.08, Y:11.27, Z:-0.86 [[ 9.13449543e-01 -3.52461879e-01 -2.03422115e-01 8.60755060e+01] [ 3.40121923e-01 9.35678764e-01 -9.39272517e-02 1.12687155e+01] [ 2.23443529e-01 1.66094841e-02 9.74575351e-01 -8.64976445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.557719421 meters Centerline goodness : 0.944589 Centerline is valid? [False, False] Translation: X:86.07, Y:11.27, Z:-0.87 [[ 9.14976566e-01 -3.50597953e-01 -1.99747239e-01 8.60701009e+01] [ 3.38041102e-01 9.36325296e-01 -9.49902754e-02 1.12650623e+01] [ 2.20331789e-01 1.93910991e-02 9.75232223e-01 -8.68420031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.587719421 meters Centerline goodness : 0.946580 Centerline is valid? [False, False] Translation: X:86.07, Y:11.27, Z:-0.87 [[ 9.15102818e-01 -3.50266994e-01 -1.99749508e-01 8.60693715e+01] [ 3.37646311e-01 9.36442533e-01 -9.52383875e-02 1.12655529e+01] [ 2.20412799e-01 1.97082325e-02 9.75207559e-01 -8.67705998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.617719421 meters Centerline goodness : 0.947313 Centerline is valid? [False, False] Translation: X:86.07, Y:11.27, Z:-0.87 [[ 9.16516650e-01 -3.46009479e-01 -2.00685504e-01 8.60670303e+01] [ 3.34007080e-01 9.38072067e-01 -9.19786255e-02 1.12663430e+01] [ 2.20082942e-01 1.72695623e-02 9.75328284e-01 -8.66315670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.647719421 meters Centerline goodness : 0.946283 Centerline is valid? [False, False] Translation: X:86.06, Y:11.27, Z:-0.87 [[ 9.18674688e-01 -3.40271510e-01 -2.00629302e-01 8.60635503e+01] [ 3.28944149e-01 9.40204390e-01 -8.83824207e-02 1.12681979e+01] [ 2.18706570e-01 1.51988579e-02 9.75672297e-01 -8.66962091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.677719421 meters Centerline goodness : 0.942851 Centerline is valid? [False, False] Translation: X:86.06, Y:11.27, Z:-0.87 [[ 9.19985353e-01 -3.35567618e-01 -2.02537215e-01 8.60641407e+01] [ 3.24880933e-01 9.41935618e-01 -8.49097852e-02 1.12679004e+01] [ 2.19269991e-01 1.23152793e-02 9.75586493e-01 -8.65953837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.707719421 meters Centerline goodness : 0.940889 Centerline is valid? [False, False] Translation: X:86.07, Y:11.27, Z:-0.87 [[ 9.21192265e-01 -3.31125591e-01 -2.04354235e-01 8.60652643e+01] [ 3.21129845e-01 9.43541416e-01 -8.12724994e-02 1.12670532e+01] [ 2.19728088e-01 9.24335407e-03 9.75517364e-01 -8.65497382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.737719421 meters Centerline goodness : 0.936296 Centerline is valid? [False, False] Translation: X:86.07, Y:11.27, Z:-0.86 [[ 9.21599497e-01 -3.29357732e-01 -2.05372470e-01 8.60663873e+01] [ 3.19183576e-01 9.44153732e-01 -8.18264956e-02 1.12675003e+01] [ 2.20853373e-01 9.85973782e-03 9.75257183e-01 -8.64293893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76771942099998 meters Centerline goodness : 0.936756 Centerline is valid? [False, False] Translation: X:86.07, Y:11.27, Z:-0.86 [[ 9.21731148e-01 -3.28697396e-01 -2.05839045e-01 8.60663234e+01] [ 3.18483505e-01 9.44382965e-01 -8.19089242e-02 1.12666431e+01] [ 2.21314138e-01 9.94166621e-03 9.75151894e-01 -8.62998479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.79771942099998 meters Centerline goodness : 0.940843 Centerline is valid? [False, False] Translation: X:86.06, Y:11.27, Z:-0.86 [[ 9.22014690e-01 -3.28189940e-01 -2.05378371e-01 8.60636347e+01] [ 3.18072488e-01 9.44561201e-01 -8.14495583e-02 1.12664390e+01] [ 2.20723366e-01 9.77247987e-03 9.75287493e-01 -8.61795323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82771942099998 meters Centerline goodness : 0.943152 Centerline is valid? [False, False] Translation: X:86.06, Y:11.27, Z:-0.86 [[ 9.22543001e-01 -3.27412465e-01 -2.04243698e-01 8.60607888e+01] [ 3.17499451e-01 9.44834490e-01 -8.05101614e-02 1.12669649e+01] [ 2.19336521e-01 9.42682400e-03 9.75603724e-01 -8.62550202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.85771942099998 meters Centerline goodness : 0.943217 Centerline is valid? [False, False] Translation: X:86.06, Y:11.27, Z:-0.86 [[ 9.22755091e-01 -3.26802706e-01 -2.04262167e-01 8.60603162e+01] [ 3.16974566e-01 9.45048429e-01 -8.00661707e-02 1.12659747e+01] [ 2.19203481e-01 9.13555505e-03 9.75636395e-01 -8.62171085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88771942099999 meters Centerline goodness : 0.945121 Centerline is valid? [False, False] Translation: X:86.06, Y:11.26, Z:-0.86 [[ 9.22992192e-01 -3.25803636e-01 -2.04786242e-01 8.60603671e+01] [ 3.16147943e-01 9.45400758e-01 -7.91699761e-02 1.12617087e+01] [ 2.19398934e-01 8.33052069e-03 9.75599667e-01 -8.60583808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.917719421 meters Centerline goodness : 0.945356 Centerline is valid? [False, False] Translation: X:86.06, Y:11.26, Z:-0.86 [[ 9.23068964e-01 -3.25643802e-01 -2.04694411e-01 8.60606057e+01] [ 3.16032465e-01 9.45457014e-01 -7.89589571e-02 1.12610609e+01] [ 2.19242261e-01 8.19448364e-03 9.75636039e-01 -8.61003515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.947719421 meters Centerline goodness : 0.946742 Centerline is valid? [False, False] Translation: X:86.06, Y:11.26, Z:-0.86 [[ 9.23314102e-01 -3.25464861e-01 -2.03871758e-01 8.60594847e+01] [ 3.16112902e-01 9.45525189e-01 -7.78122698e-02 1.12614334e+01] [ 2.18091042e-01 7.39867299e-03 9.75900383e-01 -8.62514229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.977719421 meters Centerline goodness : 0.948750 Centerline is valid? [False, False] Translation: X:86.06, Y:11.26, Z:-0.86 [[ 9.23476249e-01 -3.24940528e-01 -2.03973700e-01 8.60587259e+01] [ 3.15661725e-01 9.45707699e-01 -7.74249504e-02 1.12605499e+01] [ 2.18058003e-01 7.11341288e-03 9.75909887e-01 -8.61620855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.007719421 meters Centerline goodness : 0.950269 Centerline is valid? [False, True] Translation: X:86.06, Y:11.26, Z:-0.86 [[ 9.23537695e-01 -3.24114293e-01 -2.05007442e-01 8.60591622e+01] [ 3.14518291e-01 9.45982250e-01 -7.87135825e-02 1.12583049e+01] [ 2.19445599e-01 8.21637018e-03 9.75590140e-01 -8.58757109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.037719421 meters Centerline goodness : 0.944916 Centerline is valid? [True, False] Translation: X:86.06, Y:11.26, Z:-0.87 [[ 9.24018606e-01 -3.24947801e-01 -2.01490798e-01 8.60576651e+01] [ 3.13443781e-01 9.45566271e-01 -8.75067012e-02 1.12579973e+01] [ 2.18958012e-01 1.77017827e-02 9.75573696e-01 -8.65801526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.067719421 meters Centerline goodness : 0.941965 Centerline is valid? [False, False] Translation: X:86.06, Y:11.26, Z:-0.87 [[ 9.24178302e-01 -3.24060398e-01 -2.02186359e-01 8.60599501e+01] [ 3.12580177e-01 9.45875695e-01 -8.72513731e-02 1.12582961e+01] [ 2.19517878e-01 1.74363780e-02 9.75452651e-01 -8.66667428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.097719421 meters Centerline goodness : 0.938127 Centerline is valid? [False, False] Translation: X:86.06, Y:11.26, Z:-0.87 [[ 9.25323677e-01 -3.19554445e-01 -2.04110385e-01 8.60626568e+01] [ 3.08962320e-01 9.47472357e-01 -8.26947306e-02 1.12572331e+01] [ 2.19814416e-01 1.34569742e-02 9.75448888e-01 -8.67787224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.127719421 meters Centerline goodness : 0.935226 Centerline is valid? [False, False] Translation: X:86.06, Y:11.26, Z:-0.87 [[ 9.26627858e-01 -3.14930009e-01 -2.05377463e-01 8.60648169e+01] [ 3.05412541e-01 9.49072626e-01 -7.73584483e-02 1.12572039e+01] [ 2.19280625e-01 8.95764040e-03 9.75620709e-01 -8.70551805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.157719421 meters Centerline goodness : 0.936151 Centerline is valid? [False, False] Translation: X:86.06, Y:11.26, Z:-0.87 [[ 9.26024839e-01 -3.17566864e-01 -2.04032560e-01 8.60639965e+01] [ 3.07191167e-01 9.48149231e-01 -8.15268252e-02 1.12577911e+01] [ 2.19343533e-01 1.28188650e-02 9.75563474e-01 -8.70316555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.187719421 meters Centerline goodness : 0.941454 Centerline is valid? [False, False] Translation: X:86.06, Y:11.25, Z:-0.87 [[ 9.25380710e-01 -3.19802854e-01 -2.03461730e-01 8.60605917e+01] [ 3.08539486e-01 9.47339233e-01 -8.57424223e-02 1.12547802e+01] [ 2.20167951e-01 1.65684060e-02 9.75321261e-01 -8.65249084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.217719421 meters Centerline goodness : 0.944735 Centerline is valid? [False, False] Translation: X:86.06, Y:11.25, Z:-0.86 [[ 9.25474963e-01 -3.19505821e-01 -2.03499690e-01 8.60595419e+01] [ 3.08262136e-01 9.47440492e-01 -8.56210801e-02 1.12538097e+01] [ 2.20160280e-01 1.65089169e-02 9.75324001e-01 -8.64073124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.247719421 meters Centerline goodness : 0.948953 Centerline is valid? [False, False] Translation: X:86.06, Y:11.25, Z:-0.86 [[ 9.25696391e-01 -3.19215668e-01 -2.02947159e-01 8.60574237e+01] [ 3.08193789e-01 9.47550195e-01 -8.46476004e-02 1.12532304e+01] [ 2.19323460e-01 1.58109242e-02 9.75524082e-01 -8.63768513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.277719421 meters Centerline goodness : 0.951895 Centerline is valid? [False, True] Translation: X:86.06, Y:11.25, Z:-0.86 [[ 9.26014380e-01 -3.18308496e-01 -2.02921338e-01 8.60560168e+01] [ 3.07628164e-01 9.47876815e-01 -8.30328618e-02 1.12497332e+01] [ 2.18774497e-01 1.44653055e-02 9.75668220e-01 -8.62705600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.307719421 meters Centerline goodness : 0.952572 Centerline is valid? [True, True] Translation: X:86.08, Y:11.26, Z:-0.85 [[ 9.25787301e-01 -3.18385183e-01 -2.03835101e-01 8.60816167e+01] [ 3.08211133e-01 9.47886583e-01 -8.07274596e-02 1.12575948e+01] [ 2.18914985e-01 1.19122095e-02 9.75671220e-01 -8.53956133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.337719421 meters Centerline goodness : 0.952959 Centerline is valid? [True, True] Translation: X:86.11, Y:11.27, Z:-0.85 [[ 9.25057787e-01 -3.20514228e-01 -2.03810502e-01 8.61077013e+01] [ 3.10377417e-01 9.47174172e-01 -8.07895179e-02 1.12673130e+01] [ 2.18938234e-01 1.14767954e-02 9.75671222e-01 -8.49258283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.367719421 meters Centerline goodness : 0.951875 Centerline is valid? [True, True] Translation: X:86.13, Y:11.28, Z:-0.84 [[ 9.24523538e-01 -3.22056839e-01 -2.03802893e-01 8.61330275e+01] [ 3.11952716e-01 9.46654877e-01 -8.08087078e-02 1.12777485e+01] [ 2.18956000e-01 1.11326864e-02 9.75671222e-01 -8.43682559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.397719421 meters Centerline goodness : 0.953046 Centerline is valid? [True, True] Translation: X:86.16, Y:11.29, Z:-0.84 [[ 9.22928287e-01 -3.26605000e-01 -2.03795367e-01 8.61594945e+01] [ 3.16605787e-01 9.45107222e-01 -8.08276839e-02 1.12875377e+01] [ 2.19007199e-01 1.00753632e-02 9.75671222e-01 -8.35368266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.427719421 meters Centerline goodness : 0.953527 Centerline is valid? [True, True] Translation: X:86.18, Y:11.30, Z:-0.83 [[ 9.22166746e-01 -3.28762670e-01 -2.03773400e-01 8.61848750e+01] [ 3.18803155e-01 9.44363534e-01 -8.08830271e-02 1.12964833e+01] [ 2.19027489e-01 9.62403501e-03 9.75671224e-01 -8.29564137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.457719421 meters Centerline goodness : 0.952908 Centerline is valid? [True, True] Translation: X:86.21, Y:11.31, Z:-0.82 [[ 9.21139250e-01 -3.31637322e-01 -2.03762530e-01 8.62111268e+01] [ 3.21741043e-01 9.43364303e-01 -8.09104030e-02 1.13065295e+01] [ 2.19055207e-01 8.97097901e-03 9.75671224e-01 -8.23439942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.487719421 meters Centerline goodness : 0.951969 Centerline is valid? [True, True] Translation: X:86.24, Y:11.32, Z:-0.82 [[ 9.20937570e-01 -3.32210202e-01 -2.03740947e-01 8.62360774e+01] [ 3.22315754e-01 9.43163437e-01 -8.09647164e-02 1.13171364e+01] [ 2.19058316e-01 8.89453222e-03 9.75671226e-01 -8.17155882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.51771942099998 meters Centerline goodness : 0.947181 Centerline is valid? [True, False] Translation: X:86.24, Y:11.32, Z:-0.82 [[ 9.21199014e-01 -3.31230440e-01 -2.04153797e-01 8.62375799e+01] [ 3.21146413e-01 9.43500188e-01 -8.16846138e-02 1.13201153e+01] [ 2.19675576e-01 9.68452626e-03 9.75524911e-01 -8.18146597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54771942099998 meters Centerline goodness : 0.945842 Centerline is valid? [False, False] Translation: X:86.24, Y:11.32, Z:-0.82 [[ 9.22396655e-01 -3.27046218e-01 -2.05487671e-01 8.62379673e+01] [ 3.17817982e-01 9.44988862e-01 -7.73807494e-02 1.13197460e+01] [ 2.19490641e-01 6.06806759e-03 9.75595734e-01 -8.18552844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.57771942099998 meters Centerline goodness : 0.944825 Centerline is valid? [False, False] Translation: X:86.24, Y:11.32, Z:-0.82 [[ 9.23583767e-01 -3.22756778e-01 -2.06932567e-01 8.62383890e+01] [ 3.14260844e-01 9.46477281e-01 -7.36266115e-02 1.13195729e+01] [ 2.19620461e-01 2.96954018e-03 9.75580870e-01 -8.18357198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60771942099998 meters Centerline goodness : 0.944970 Centerline is valid? [False, False] Translation: X:86.24, Y:11.32, Z:-0.82 [[ 9.23690720e-01 -3.22195656e-01 -2.07329239e-01 8.62383390e+01] [ 3.13686418e-01 9.46668460e-01 -7.36183281e-02 1.13189892e+01] [ 2.19991557e-01 2.96420023e-03 9.75497272e-01 -8.17349433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.63771942099999 meters Centerline goodness : 0.945811 Centerline is valid? [False, False] Translation: X:86.24, Y:11.32, Z:-0.82 [[ 9.23794146e-01 -3.21715975e-01 -2.07613117e-01 8.62381128e+01] [ 3.13213433e-01 9.46831778e-01 -7.35318347e-02 1.13178366e+01] [ 2.20231063e-01 2.90106133e-03 9.75443419e-01 -8.16278255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.667719421 meters Centerline goodness : 0.944725 Centerline is valid? [False, False] Translation: X:86.24, Y:11.32, Z:-0.82 [[ 9.23867516e-01 -3.21486340e-01 -2.07642349e-01 8.62376508e+01] [ 3.12996269e-01 9.46909874e-01 -7.34508384e-02 1.13178489e+01] [ 2.20232032e-01 2.86756321e-03 9.75443299e-01 -8.15809416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.697719421 meters Centerline goodness : 0.946550 Centerline is valid? [False, False] Translation: X:86.24, Y:11.32, Z:-0.82 [[ 9.24062160e-01 -3.21212614e-01 -2.07199376e-01 8.62359520e+01] [ 3.12683662e-01 9.47001622e-01 -7.35992883e-02 1.13187451e+01] [ 2.19859165e-01 3.22245763e-03 9.75526301e-01 -8.15360531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.727719421 meters Centerline goodness : 0.947773 Centerline is valid? [False, False] Translation: X:86.24, Y:11.32, Z:-0.81 [[ 9.24173068e-01 -3.20836647e-01 -2.07287209e-01 8.62354548e+01] [ 3.12232976e-01 9.47127842e-01 -7.38878862e-02 1.13201545e+01] [ 2.20033429e-01 3.56329227e-03 9.75485824e-01 -8.14913685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.757719421 meters Centerline goodness : 0.947435 Centerline is valid? [False, False] Translation: X:86.24, Y:11.32, Z:-0.81 [[ 9.24547649e-01 -3.19533107e-01 -2.07630051e-01 8.62351285e+01] [ 3.10750686e-01 9.47564967e-01 -7.45294902e-02 1.13219735e+01] [ 2.20557602e-01 4.38488400e-03 9.75364095e-01 -8.14207542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.787719421 meters Centerline goodness : 0.949004 Centerline is valid? [False, False] Translation: X:86.24, Y:11.32, Z:-0.81 [[ 9.24578067e-01 -3.19026290e-01 -2.08272954e-01 8.62356938e+01] [ 3.10126847e-01 9.47734059e-01 -7.49766122e-02 1.13223665e+01] [ 2.21306882e-01 4.73069679e-03 9.75192742e-01 -8.13120706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.817719421 meters Centerline goodness : 0.947051 Centerline is valid? [False, False] Translation: X:86.24, Y:11.32, Z:-0.81 [[ 9.24485988e-01 -3.19066951e-01 -2.08619123e-01 8.62361619e+01] [ 3.09866896e-01 9.47713879e-01 -7.62948925e-02 1.13230881e+01] [ 2.22054417e-01 5.88939896e-03 9.75016488e-01 -8.12171815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.847719421 meters Centerline goodness : 0.947049 Centerline is valid? [False, False] Translation: X:86.24, Y:11.32, Z:-0.81 [[ 9.24415137e-01 -3.19303131e-01 -2.08571728e-01 8.62365995e+01] [ 3.10193412e-01 9.47636735e-01 -7.59253953e-02 1.13230567e+01] [ 2.21893448e-01 5.48900875e-03 9.75055470e-01 -8.12780213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.877719421 meters Centerline goodness : 0.949033 Centerline is valid? [False, False] Translation: X:86.24, Y:11.32, Z:-0.81 [[ 9.24310334e-01 -3.19956089e-01 -2.08034873e-01 8.62360055e+01] [ 3.10932060e-01 9.47417969e-01 -7.56336259e-02 1.13225274e+01] [ 2.21295416e-01 5.22423041e-03 9.75192825e-01 -8.13224024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.907719421 meters Centerline goodness : 0.949967 Centerline is valid? [False, False] Translation: X:86.23, Y:11.32, Z:-0.81 [[ 9.23852409e-01 -3.21971028e-01 -2.06957442e-01 8.62346628e+01] [ 3.13323255e-01 9.46742221e-01 -7.42139190e-02 1.13203989e+01] [ 2.19830080e-01 3.71812843e-03 9.75531092e-01 -8.13988050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.937719421 meters Centerline goodness : 0.949757 Centerline is valid? [False, False] Translation: X:86.23, Y:11.31, Z:-0.83 [[ 9.25671827e-01 -3.22026227e-01 -1.98571846e-01 8.62253006e+01] [ 3.11051519e-01 9.46578534e-01 -8.50648611e-02 1.13143509e+01] [ 2.15356963e-01 1.69760711e-02 9.76387828e-01 -8.26752853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.967719421 meters Centerline goodness : 0.951086 Centerline is valid? [False, True] Translation: X:86.23, Y:11.31, Z:-0.83 [[ 9.25439564e-01 -3.22682687e-01 -1.98588764e-01 8.62252577e+01] [ 3.11871923e-01 9.46369223e-01 -8.43871915e-02 1.13113863e+01] [ 2.15168580e-01 1.61609861e-02 9.76443191e-01 -8.26101454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.997719421 meters Centerline goodness : 0.950237 Centerline is valid? [True, True] Translation: X:86.25, Y:11.32, Z:-0.82 [[ 9.24937645e-01 -3.22316386e-01 -2.01500619e-01 8.62514590e+01] [ 3.13141535e-01 9.46599007e-01 -7.67639166e-02 1.13198291e+01] [ 2.15482554e-01 7.90362306e-03 9.76475705e-01 -8.16580629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.027719421 meters Centerline goodness : 0.944611 Centerline is valid? [True, False] Translation: X:86.25, Y:11.32, Z:-0.82 [[ 9.25710328e-01 -3.19539049e-01 -2.02373875e-01 8.62536035e+01] [ 3.11389707e-01 9.47566874e-01 -7.17876755e-02 1.13189772e+01] [ 2.14701745e-01 3.43745107e-03 9.76673612e-01 -8.19633714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.057719421 meters Centerline goodness : 0.942940 Centerline is valid? [False, False] Translation: X:86.25, Y:11.32, Z:-0.82 [[ 9.25816942e-01 -3.18899963e-01 -2.02893579e-01 8.62547545e+01] [ 3.10850034e-01 9.47783933e-01 -7.12591975e-02 1.13180705e+01] [ 2.15023830e-01 2.90349651e-03 9.76604486e-01 -8.19685024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.087719421 meters Centerline goodness : 0.944465 Centerline is valid? [False, False] Translation: X:86.25, Y:11.32, Z:-0.82 [[ 9.25868057e-01 -3.18600688e-01 -2.03130360e-01 8.62540345e+01] [ 3.10446291e-01 9.47883205e-01 -7.16974904e-02 1.13162189e+01] [ 2.15386726e-01 3.32134954e-03 9.76523183e-01 -8.17713020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.117719421 meters Centerline goodness : 0.943480 Centerline is valid? [False, False] Translation: X:86.25, Y:11.32, Z:-0.82 [[ 9.26027155e-01 -3.18046042e-01 -2.03274257e-01 8.62532718e+01] [ 3.09885856e-01 9.48069283e-01 -7.16616365e-02 1.13160547e+01] [ 2.15509779e-01 3.36880422e-03 9.76495871e-01 -8.16742610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.147719421 meters Centerline goodness : 0.945690 Centerline is valid? [False, False] Translation: X:86.25, Y:11.32, Z:-0.82 [[ 9.27299988e-01 -3.13576579e-01 -2.04412481e-01 8.62515806e+01] [ 3.06206549e-01 9.49562912e-01 -6.75856945e-02 1.13156347e+01] [ 2.15295801e-01 7.97733900e-05 9.76548878e-01 -8.15350779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.177719421 meters Centerline goodness : 0.946736 Centerline is valid? [False, False] Translation: X:86.25, Y:11.32, Z:-0.81 [[ 9.27574159e-01 -3.12781856e-01 -2.04386131e-01 8.62504882e+01] [ 3.05392436e-01 9.49824950e-01 -6.75871635e-02 1.13164478e+01] [ 2.15271085e-01 2.74127910e-04 9.76554292e-01 -8.14678095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.207719421 meters Centerline goodness : 0.950750 Centerline is valid? [False, True] Translation: X:86.25, Y:11.32, Z:-0.81 [[ 9.28801742e-01 -3.08770695e-01 -2.04909693e-01 8.62472979e+01] [ 3.02102596e-01 9.51133018e-01 -6.38749011e-02 1.13153801e+01] [ 2.14619073e-01 -2.57663097e-03 9.76694433e-01 -8.12770628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.237719421 meters Centerline goodness : 0.949827 Centerline is valid? [True, False] Translation: X:86.25, Y:11.32, Z:-0.81 [[ 9.28941469e-01 -3.07971334e-01 -2.05478479e-01 8.62469086e+01] [ 3.01111392e-01 9.51393930e-01 -6.46646715e-02 1.13162845e+01] [ 2.15405843e-01 -1.80221595e-03 9.76522952e-01 -8.11037490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26771942099998 meters Centerline goodness : 0.949827 Centerline is valid? [False, False] Translation: X:86.25, Y:11.32, Z:-0.81 [[ 9.28941469e-01 -3.07971334e-01 -2.05478479e-01 8.62469086e+01] [ 3.01111392e-01 9.51393930e-01 -6.46646715e-02 1.13162845e+01] [ 2.15405843e-01 -1.80221595e-03 9.76522952e-01 -8.11037490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.29771942099998 meters Centerline goodness : 0.948830 Centerline is valid? [False, False] Translation: X:86.25, Y:11.32, Z:-0.81 [[ 9.29096594e-01 -3.07286787e-01 -2.05801725e-01 8.62473032e+01] [ 3.00325061e-01 9.51615974e-01 -6.50530208e-02 1.13179437e+01] [ 2.15834143e-01 -1.36687554e-03 9.76429083e-01 -8.10972497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32771942099998 meters Centerline goodness : 0.946971 Centerline is valid? [False, False] Translation: X:86.25, Y:11.32, Z:-0.81 [[ 9.30158622e-01 -3.03034392e-01 -2.07304353e-01 8.62485192e+01] [ 2.96602978e-01 9.52972726e-01 -6.22065730e-02 1.13191142e+01] [ 2.16406125e-01 -3.62510810e-03 9.76296701e-01 -8.11106787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.35771942099998 meters Centerline goodness : 0.946772 Centerline is valid? [False, False] Translation: X:86.25, Y:11.32, Z:-0.81 [[ 9.30299379e-01 -3.02560002e-01 -2.07365646e-01 8.62477005e+01] [ 2.96069381e-01 9.53124546e-01 -6.24221198e-02 1.13202516e+01] [ 2.16531724e-01 -3.32335939e-03 9.76269926e-01 -8.10420720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38771942099999 meters Centerline goodness : 0.949075 Centerline is valid? [False, False] Translation: X:86.24, Y:11.32, Z:-0.81 [[ 9.30588772e-01 -3.01868444e-01 -2.07074819e-01 8.62449880e+01] [ 2.95290030e-01 9.53345583e-01 -6.27375251e-02 1.13225386e+01] [ 2.16352343e-01 -2.76429293e-03 9.76311437e-01 -8.09020329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.417719421 meters Centerline goodness : 0.949514 Centerline is valid? [False, False] Translation: X:86.24, Y:11.32, Z:-0.81 [[ 9.30703465e-01 -3.01528643e-01 -2.07054434e-01 8.62444850e+01] [ 2.94934725e-01 9.53453443e-01 -6.27697385e-02 1.13232257e+01] [ 2.16343637e-01 -2.64752937e-03 9.76313690e-01 -8.08810383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.447719421 meters Centerline goodness : 0.949570 Centerline is valid? [False, False] Translation: X:86.24, Y:11.32, Z:-0.82 [[ 9.31533795e-01 -3.02463717e-01 -2.01892268e-01 8.62380285e+01] [ 2.93229797e-01 9.53102093e-01 -7.49178603e-02 1.13228506e+01] [ 2.15083878e-01 1.05876901e-02 9.76538185e-01 -8.17882763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.477719421 meters Centerline goodness : 0.947922 Centerline is valid? [False, False] Translation: X:86.24, Y:11.32, Z:-0.82 [[ 9.31566860e-01 -3.02031701e-01 -2.02385859e-01 8.62389580e+01] [ 2.92858003e-01 9.53243300e-01 -7.45747995e-02 1.13221769e+01] [ 2.15446918e-01 1.02010932e-02 9.76462269e-01 -8.17673181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.507719421 meters Centerline goodness : 0.945639 Centerline is valid? [False, False] Translation: X:86.24, Y:11.32, Z:-0.82 [[ 9.31441803e-01 -3.02305806e-01 -2.02552134e-01 8.62405977e+01] [ 2.93264772e-01 9.53163450e-01 -7.39946645e-02 1.13215791e+01] [ 2.15434308e-01 9.52031821e-03 9.76471926e-01 -8.18805810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.537719421 meters Centerline goodness : 0.945726 Centerline is valid? [False, False] Translation: X:86.23, Y:11.32, Z:-0.83 [[ 9.32294835e-01 -3.05008749e-01 -1.94411942e-01 8.62297996e+01] [ 2.92201272e-01 9.51903837e-01 -9.21818989e-02 1.13195354e+01] [ 2.13177759e-01 2.91332915e-02 9.76578975e-01 -8.33548079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.567719421 meters Centerline goodness : 0.945182 Centerline is valid? [False, False] Translation: X:86.23, Y:11.32, Z:-0.83 [[ 9.32342429e-01 -3.04713588e-01 -1.94646408e-01 8.62303305e+01] [ 2.92004811e-01 9.52013657e-01 -9.16689013e-02 1.13185797e+01] [ 2.13238798e-01 2.86291187e-02 9.76580559e-01 -8.33604653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.597719421 meters Centerline goodness : 0.946048 Centerline is valid? [False, False] Translation: X:86.23, Y:11.32, Z:-0.83 [[ 9.32307122e-01 -3.04426024e-01 -1.95264501e-01 8.62301423e+01] [ 2.91493614e-01 9.52082398e-01 -9.25774340e-02 1.13156866e+01] [ 2.14090874e-01 2.93922462e-02 9.76371442e-01 -8.31212112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.627719421 meters Centerline goodness : 0.944264 Centerline is valid? [False, False] Translation: X:86.23, Y:11.31, Z:-0.83 [[ 9.32401508e-01 -3.03932430e-01 -1.95582476e-01 8.62308194e+01] [ 2.91085917e-01 9.52254022e-01 -9.20937907e-02 1.13148086e+01] [ 2.14234489e-01 2.89370852e-02 9.76353537e-01 -8.31253066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.657719421 meters Centerline goodness : 0.940073 Centerline is valid? [False, False] Translation: X:86.23, Y:11.31, Z:-0.83 [[ 9.34328748e-01 -2.96205857e-01 -1.98221797e-01 8.62335945e+01] [ 2.84914371e-01 9.54872238e-01 -8.39214545e-02 1.13131544e+01] [ 2.14134518e-01 2.19339887e-02 9.76557888e-01 -8.32712935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.687719421 meters Centerline goodness : 0.941219 Centerline is valid? [False, False] Translation: X:86.23, Y:11.31, Z:-0.83 [[ 9.34638307e-01 -2.95109285e-01 -1.98397947e-01 8.62333688e+01] [ 2.83751366e-01 9.55203155e-01 -8.40957486e-02 1.13144643e+01] [ 2.14327781e-01 2.23034197e-02 9.76507122e-01 -8.32509827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.717719421 meters Centerline goodness : 0.940352 Centerline is valid? [False, False] Translation: X:86.23, Y:11.31, Z:-0.83 [[ 9.35936160e-01 -2.89080493e-01 -2.01136703e-01 8.62336443e+01] [ 2.78112678e-01 9.57089901e-01 -8.14386829e-02 1.13113629e+01] [ 2.16048242e-01 2.02827410e-02 9.76171997e-01 -8.28557060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.747719421 meters Centerline goodness : 0.940657 Centerline is valid? [False, False] Translation: X:86.23, Y:11.31, Z:-0.83 [[ 9.36219623e-01 -2.87770720e-01 -2.01694894e-01 8.62329298e+01] [ 2.76818431e-01 9.57486897e-01 -8.11812643e-02 1.13108306e+01] [ 2.16481809e-01 2.01706287e-02 9.76078261e-01 -8.26986781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.777719421 meters Centerline goodness : 0.940980 Centerline is valid? [False, False] Translation: X:86.23, Y:11.31, Z:-0.83 [[ 9.37005653e-01 -2.88243658e-01 -1.97322071e-01 8.62263096e+01] [ 2.74869612e-01 9.57000708e-01 -9.27164592e-02 1.13121866e+01] [ 2.15562293e-01 3.26380053e-02 9.75944496e-01 -8.34300604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.807719421 meters Centerline goodness : 0.938533 Centerline is valid? [False, False] Translation: X:86.23, Y:11.31, Z:-0.83 [[ 9.37147139e-01 -2.87731707e-01 -1.97397326e-01 8.62259611e+01] [ 2.74467847e-01 9.57170098e-01 -9.21564079e-02 1.13116943e+01] [ 2.15459138e-01 3.21848949e-02 9.75982322e-01 -8.34036405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.837719421 meters Centerline goodness : 0.937982 Centerline is valid? [False, False] Translation: X:86.23, Y:11.31, Z:-0.83 [[ 9.37314209e-01 -2.87006899e-01 -1.97659086e-01 8.62262984e+01] [ 2.73951570e-01 9.57418909e-01 -9.11019728e-02 1.13097012e+01] [ 2.15389441e-01 3.12421565e-02 9.76028338e-01 -8.33939717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.867719421 meters Centerline goodness : 0.939994 Centerline is valid? [False, False] Translation: X:86.23, Y:11.31, Z:-0.83 [[ 9.37336728e-01 -2.86913927e-01 -1.97687271e-01 8.62264972e+01] [ 2.73805385e-01 9.57439018e-01 -9.13298310e-02 1.13089058e+01] [ 2.15477307e-01 3.14789658e-02 9.76001335e-01 -8.33731098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.897719421 meters Centerline goodness : 0.938813 Centerline is valid? [False, False] Translation: X:86.23, Y:11.31, Z:-0.83 [[ 9.37463534e-01 -2.86038728e-01 -1.98353143e-01 8.62274346e+01] [ 2.73166569e-01 9.57740125e-01 -9.00770701e-02 1.13051044e+01] [ 2.15736294e-01 3.02605211e-02 9.75982660e-01 -8.33064876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.927719421 meters Centerline goodness : 0.938063 Centerline is valid? [False, False] Translation: X:86.23, Y:11.30, Z:-0.83 [[ 9.37311165e-01 -2.86263093e-01 -1.98749141e-01 8.62284301e+01] [ 2.73312797e-01 9.57668421e-01 -9.03953001e-02 1.13037126e+01] [ 2.16212614e-01 3.04078405e-02 9.75872670e-01 -8.32565076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.957719421 meters Centerline goodness : 0.938645 Centerline is valid? [False, False] Translation: X:86.23, Y:11.30, Z:-0.83 [[ 9.37421884e-01 -2.86068462e-01 -1.98507044e-01 8.62279224e+01] [ 2.73385079e-01 9.57759490e-01 -8.92040279e-02 1.13018159e+01] [ 2.15640464e-01 2.93529441e-02 9.76031554e-01 -8.32754074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.987719421 meters Centerline goodness : 0.939701 Centerline is valid? [False, False] Translation: X:86.23, Y:11.30, Z:-0.83 [[ 9.36585832e-01 -2.89766248e-01 -1.97085010e-01 8.62276619e+01] [ 2.76237780e-01 9.56520703e-01 -9.35993267e-02 1.13032595e+01] [ 2.15637818e-01 3.32214776e-02 9.75908123e-01 -8.33318751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.01771942099998 meters Centerline goodness : 0.937386 Centerline is valid? [False, False] Translation: X:86.23, Y:11.30, Z:-0.83 [[ 9.36437959e-01 -2.89671363e-01 -1.97925366e-01 8.62306933e+01] [ 2.76357451e-01 9.56593966e-01 -9.24907759e-02 1.13002234e+01] [ 2.16126140e-01 3.19137238e-02 9.75843741e-01 -8.34069384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04771942099998 meters Centerline goodness : 0.936202 Centerline is valid? [False, False] Translation: X:86.21, Y:11.30, Z:-0.85 [[ 9.37797578e-01 -2.91318549e-01 -1.88862929e-01 8.62115263e+01] [ 2.73337922e-01 9.54932847e-01 -1.15713608e-01 1.12958772e+01] [ 2.14060935e-01 5.68925408e-02 9.75162117e-01 -8.51137300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.07771942099998 meters Centerline goodness : 0.936547 Centerline is valid? [False, False] Translation: X:86.21, Y:11.29, Z:-0.85 [[ 9.37820997e-01 -2.91252197e-01 -1.88848976e-01 8.62116246e+01] [ 2.73519564e-01 9.55017392e-01 -1.14581101e-01 1.12935458e+01] [ 2.13726054e-01 5.58026727e-02 9.75298537e-01 -8.51357839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10771942099998 meters Centerline goodness : 0.935649 Centerline is valid? [False, False] Translation: X:86.21, Y:11.29, Z:-0.85 [[ 9.37919933e-01 -2.90661903e-01 -1.89266629e-01 8.62119731e+01] [ 2.73042488e-01 9.55234791e-01 -1.13904759e-01 1.12917615e+01] [ 2.13901843e-01 5.51557130e-02 9.75296800e-01 -8.50890864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.13771942099999 meters Centerline goodness : 0.933576 Centerline is valid? [False, False] Translation: X:86.21, Y:11.29, Z:-0.85 [[ 9.38077108e-01 -2.89599889e-01 -1.90113763e-01 8.62132358e+01] [ 2.72098647e-01 9.55604843e-01 -1.13056228e-01 1.12898435e+01] [ 2.14414704e-01 5.43257618e-02 9.75230766e-01 -8.50419485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.167719421 meters Centerline goodness : 0.933001 Centerline is valid? [False, False] Translation: X:86.21, Y:11.29, Z:-0.85 [[ 9.38990271e-01 -2.85691537e-01 -1.91514012e-01 8.62141065e+01] [ 2.68994551e-01 9.56986809e-01 -1.08711451e-01 1.12881746e+01] [ 2.14334325e-01 5.05627687e-02 9.75450770e-01 -8.50364730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.197719421 meters Centerline goodness : 0.932839 Centerline is valid? [False, False] Translation: X:86.21, Y:11.29, Z:-0.85 [[ 9.40190387e-01 -2.81165833e-01 -1.92322154e-01 8.62137342e+01] [ 2.65327195e-01 9.58510008e-01 -1.04211535e-01 1.12882650e+01] [ 2.13643433e-01 4.69503852e-02 9.75782837e-01 -8.50925059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.227719421 meters Centerline goodness : 0.932238 Centerline is valid? [False, False] Translation: X:86.21, Y:11.29, Z:-0.85 [[ 9.40352776e-01 -2.80477677e-01 -1.92532931e-01 8.62129600e+01] [ 2.64698116e-01 9.58724956e-01 -1.03833355e-01 1.12876416e+01] [ 2.13709064e-01 4.66768794e-02 9.75781587e-01 -8.49911402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.257719421 meters Centerline goodness : 0.937655 Centerline is valid? [False, False] Translation: X:86.21, Y:11.29, Z:-0.85 [[ 9.40530894e-01 -2.79825582e-01 -1.92611735e-01 8.62110286e+01] [ 2.64115279e-01 9.58928049e-01 -1.03441361e-01 1.12858479e+01] [ 2.13646335e-01 4.64180940e-02 9.75807668e-01 -8.47838401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.287719421 meters Centerline goodness : 0.939212 Centerline is valid? [False, False] Translation: X:86.21, Y:11.28, Z:-0.85 [[ 9.40689260e-01 -2.79604476e-01 -1.92158929e-01 8.62084595e+01] [ 2.63967776e-01 9.58996242e-01 -1.03185369e-01 1.12848710e+01] [ 2.13130781e-01 4.63416031e-02 9.75924037e-01 -8.46257506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.317719421 meters Centerline goodness : 0.940037 Centerline is valid? [False, False] Translation: X:86.21, Y:11.28, Z:-0.85 [[ 9.40814067e-01 -2.78980869e-01 -1.92454063e-01 8.62079919e+01] [ 2.63427393e-01 9.59198666e-01 -1.02683626e-01 1.12836822e+01] [ 2.13248447e-01 4.59085274e-02 9.75918801e-01 -8.45221028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.347719421 meters Centerline goodness : 0.941359 Centerline is valid? [False, False] Translation: X:86.20, Y:11.28, Z:-0.85 [[ 9.41734420e-01 -2.79772997e-01 -1.86717307e-01 8.61987486e+01] [ 2.61367137e-01 9.58082175e-01 -1.17327598e-01 1.12830240e+01] [ 2.11715617e-01 6.16896690e-02 9.75382429e-01 -8.54773504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.377719421 meters Centerline goodness : 0.941906 Centerline is valid? [False, False] Translation: X:86.20, Y:11.28, Z:-0.85 [[ 9.42843268e-01 -2.75164387e-01 -1.87965771e-01 8.61988417e+01] [ 2.57554934e-01 9.59642637e-01 -1.12922383e-01 1.12818107e+01] [ 2.11452187e-01 5.80565970e-02 9.75662546e-01 -8.54433103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.407719421 meters Centerline goodness : 0.943809 Centerline is valid? [False, False] Translation: X:86.20, Y:11.28, Z:-0.86 [[ 9.44034171e-01 -2.70542210e-01 -1.88696573e-01 8.61986929e+01] [ 2.53836215e-01 9.61180573e-01 -1.08162298e-01 1.12823948e+01] [ 2.10633947e-01 5.42108812e-02 9.76060716e-01 -8.55392255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.437719421 meters Centerline goodness : 0.942614 Centerline is valid? [False, False] Translation: X:86.20, Y:11.28, Z:-0.85 [[ 9.44108104e-01 -2.69941593e-01 -1.89186216e-01 8.61988558e+01] [ 2.53243784e-01 9.61361166e-01 -1.07945791e-01 1.12822466e+01] [ 2.11015340e-01 5.40022631e-02 9.75989898e-01 -8.54558810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.467719421 meters Centerline goodness : 0.941637 Centerline is valid? [False, False] Translation: X:86.20, Y:11.28, Z:-0.85 [[ 9.44133943e-01 -2.69324481e-01 -1.89935311e-01 8.61992443e+01] [ 2.52732599e-01 9.61577946e-01 -1.07210481e-01 1.12793754e+01] [ 2.11512013e-01 5.32182092e-02 9.75925453e-01 -8.53091868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.497719421 meters Centerline goodness : 0.941011 Centerline is valid? [False, False] Translation: X:86.20, Y:11.28, Z:-0.85 [[ 9.44193998e-01 -2.69048325e-01 -1.90028137e-01 8.61995740e+01] [ 2.52583165e-01 9.61687470e-01 -1.06578396e-01 1.12779116e+01] [ 2.11422417e-01 5.26327738e-02 9.75976615e-01 -8.53278697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.527719421 meters Centerline goodness : 0.937602 Centerline is valid? [False, False] Translation: X:86.20, Y:11.27, Z:-0.85 [[ 9.43948568e-01 -2.69879374e-01 -1.90069000e-01 8.62014907e+01] [ 2.53638841e-01 9.61517317e-01 -1.05602025e-01 1.12747375e+01] [ 2.11254444e-01 5.14739990e-02 9.76074786e-01 -8.54429647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.557719421 meters Centerline goodness : 0.937639 Centerline is valid? [False, False] Translation: X:86.20, Y:11.27, Z:-0.86 [[ 9.43674627e-01 -2.71096953e-01 -1.89696179e-01 8.62036001e+01] [ 2.55102080e-01 9.61232963e-01 -1.04661928e-01 1.12728509e+01] [ 2.10715750e-01 5.03749158e-02 9.76248555e-01 -8.56953955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.587719421 meters Centerline goodness : 0.936965 Centerline is valid? [False, False] Translation: X:86.20, Y:11.27, Z:-0.86 [[ 9.43684499e-01 -2.71212278e-01 -1.89482099e-01 8.62039189e+01] [ 2.55461860e-01 9.61253574e-01 -1.03589599e-01 1.12719401e+01] [ 2.10235116e-01 4.93504494e-02 9.76404491e-01 -8.57926128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.617719421 meters Centerline goodness : 0.939085 Centerline is valid? [False, False] Translation: X:86.20, Y:11.27, Z:-0.86 [[ 9.43534796e-01 -2.72054951e-01 -1.89019025e-01 8.62034959e+01] [ 2.56529665e-01 9.61061957e-01 -1.02725098e-01 1.12691711e+01] [ 2.09605865e-01 4.84357176e-02 9.76585563e-01 -8.58254883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.647719421 meters Centerline goodness : 0.938054 Centerline is valid? [False, False] Translation: X:86.20, Y:11.27, Z:-0.86 [[ 9.43538406e-01 -2.71677890e-01 -1.89542611e-01 8.62039051e+01] [ 2.56188512e-01 9.61187367e-01 -1.02402594e-01 1.12676114e+01] [ 2.10006484e-01 4.80621405e-02 9.76517950e-01 -8.57399977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.677719421 meters Centerline goodness : 0.937319 Centerline is valid? [False, False] Translation: X:86.20, Y:11.27, Z:-0.86 [[ 9.43595445e-01 -2.71128007e-01 -1.90045363e-01 8.62046366e+01] [ 2.55669944e-01 9.61358419e-01 -1.02092457e-01 1.12675720e+01] [ 2.10381834e-01 4.77450896e-02 9.76452708e-01 -8.57094159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.707719421 meters Centerline goodness : 0.936655 Centerline is valid? [False, False] Translation: X:86.20, Y:11.27, Z:-0.86 [[ 9.44542107e-01 -2.67003574e-01 -1.91178712e-01 8.62042285e+01] [ 2.52347116e-01 9.62686509e-01 -9.77528395e-02 1.12656317e+01] [ 2.10145525e-01 4.40882763e-02 9.76675526e-01 -8.56335041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.737719421 meters Centerline goodness : 0.934651 Centerline is valid? [False, False] Translation: X:86.20, Y:11.27, Z:-0.86 [[ 9.45617101e-01 -2.62243048e-01 -1.92449684e-01 8.62041725e+01] [ 2.48243178e-01 9.64125246e-01 -9.40097596e-02 1.12660396e+01] [ 2.10199005e-01 4.11229150e-02 9.76793368e-01 -8.55702980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76771942099998 meters Centerline goodness : 0.933551 Centerline is valid? [False, False] Translation: X:86.20, Y:11.27, Z:-0.86 [[ 9.45806723e-01 -2.61344512e-01 -1.92739952e-01 8.62043083e+01] [ 2.47200182e-01 9.64341318e-01 -9.45404241e-02 1.12675109e+01] [ 2.10574720e-01 4.17716176e-02 9.76684913e-01 -8.55337065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.79771942099998 meters Centerline goodness : 0.933594 Centerline is valid? [False, False] Translation: X:86.20, Y:11.27, Z:-0.85 [[ 9.46781110e-01 -2.57135386e-01 -1.93615399e-01 8.62040420e+01] [ 2.43577412e-01 9.65578170e-01 -9.12624877e-02 1.12678050e+01] [ 2.10417618e-01 3.92452616e-02 9.76823544e-01 -8.54999889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82771942099998 meters Centerline goodness : 0.934204 Centerline is valid? [False, False] Translation: X:86.20, Y:11.27, Z:-0.85 [[ 9.47793483e-01 -2.52273425e-01 -1.95052899e-01 8.62035129e+01] [ 2.39370800e-01 9.66976818e-01 -8.75068768e-02 1.12665071e+01] [ 2.10687291e-01 3.62484791e-02 9.76881218e-01 -8.53131841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.85771942099998 meters Centerline goodness : 0.932411 Centerline is valid? [False, False] Translation: X:86.20, Y:11.26, Z:-0.85 [[ 9.48687052e-01 -2.47685355e-01 -1.96582916e-01 8.62034979e+01] [ 2.35527649e-01 9.68285601e-01 -8.33649841e-02 1.12647608e+01] [ 2.10996693e-01 3.27865689e-02 9.76936762e-01 -8.51632428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88771942099999 meters Centerline goodness : 0.930497 Centerline is valid? [False, False] Translation: X:86.20, Y:11.27, Z:-0.85 [[ 9.49766243e-01 -2.42117602e-01 -1.98300658e-01 8.62037954e+01] [ 2.30576096e-01 9.69783295e-01 -7.97184112e-02 1.12657823e+01] [ 2.11609896e-01 2.99904643e-02 9.76893968e-01 -8.50391276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.917719421 meters Centerline goodness : 0.932008 Centerline is valid? [False, False] Translation: X:86.20, Y:11.26, Z:-0.85 [[ 9.50694671e-01 -2.37492337e-01 -1.99441801e-01 8.62029939e+01] [ 2.26826797e-01 9.71038040e-01 -7.50648323e-02 1.12630689e+01] [ 2.11492898e-01 2.61249911e-02 9.77030316e-01 -8.48914650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.947719421 meters Centerline goodness : 0.936197 Centerline is valid? [False, False] Translation: X:86.20, Y:11.26, Z:-0.85 [[ 9.50741086e-01 -2.37152565e-01 -1.99624770e-01 8.62009670e+01] [ 2.26166058e-01 9.71081059e-01 -7.64885059e-02 1.12620449e+01] [ 2.11991278e-01 2.75724179e-02 9.76882521e-01 -8.46090846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.977719421 meters Centerline goodness : 0.937193 Centerline is valid? [False, False] Translation: X:86.20, Y:11.26, Z:-0.85 [[ 9.50796282e-01 -2.36765720e-01 -1.99820978e-01 8.62010564e+01] [ 2.25870724e-01 9.71187924e-01 -7.60028481e-02 1.12614798e+01] [ 2.12058590e-01 2.71295164e-02 9.76880312e-01 -8.45850547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.007719421 meters Centerline goodness : 0.934353 Centerline is valid? [False, False] Translation: X:86.20, Y:11.26, Z:-0.85 [[ 9.51371444e-01 -2.34066820e-01 -2.00262576e-01 8.62024738e+01] [ 2.24210217e-01 9.71959196e-01 -7.08879360e-02 1.12592874e+01] [ 2.11239566e-01 2.25398424e-02 9.77174396e-01 -8.47809895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.037719421 meters Centerline goodness : 0.933596 Centerline is valid? [False, False] Translation: X:86.20, Y:11.26, Z:-0.85 [[ 9.51372515e-01 -2.33804927e-01 -2.00563189e-01 8.62036017e+01] [ 2.24101394e-01 9.72039881e-01 -7.01215756e-02 1.12583634e+01] [ 2.11350188e-01 2.17652495e-02 9.77168037e-01 -8.48305049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.067719421 meters Centerline goodness : 0.935153 Centerline is valid? [False, False] Translation: X:86.21, Y:11.26, Z:-0.85 [[ 9.49943021e-01 -2.40334371e-01 -1.99618755e-01 8.62052978e+01] [ 2.29154444e-01 9.70284487e-01 -7.76933399e-02 1.12583486e+01] [ 2.12359361e-01 2.80607213e-02 9.76788666e-01 -8.48311783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.097719421 meters Centerline goodness : 0.935695 Centerline is valid? [False, False] Translation: X:86.21, Y:11.25, Z:-0.85 [[ 9.49797075e-01 -2.40858542e-01 -1.99681442e-01 8.62052898e+01] [ 2.29877379e-01 9.70182841e-01 -7.68221736e-02 1.12549580e+01] [ 2.12230785e-01 2.70632293e-02 9.76844755e-01 -8.47763805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.127719421 meters Centerline goodness : 0.936483 Centerline is valid? [False, False] Translation: X:86.21, Y:11.25, Z:-0.85 [[ 9.48794444e-01 -2.45103306e-01 -1.99282395e-01 8.62061775e+01] [ 2.33569415e-01 9.69057108e-01 -7.98351391e-02 1.12523638e+01] [ 2.12683878e-01 2.92008640e-02 9.76684636e-01 -8.47241738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.157719421 meters Centerline goodness : 0.936483 Centerline is valid? [False, False] Translation: X:86.21, Y:11.25, Z:-0.85 [[ 9.48794444e-01 -2.45103306e-01 -1.99282395e-01 8.62061775e+01] [ 2.33569415e-01 9.69057108e-01 -7.98351391e-02 1.12523638e+01] [ 2.12683878e-01 2.92008640e-02 9.76684636e-01 -8.47241738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.187719421 meters Centerline goodness : 0.937660 Centerline is valid? [False, False] Translation: X:86.21, Y:11.25, Z:-0.85 [[ 9.48039314e-01 -2.48795238e-01 -1.98298735e-01 8.62062667e+01] [ 2.36614592e-01 9.68025345e-01 -8.33094594e-02 1.12525090e+01] [ 2.12685198e-01 3.20602685e-02 9.76594668e-01 -8.47650967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.217719421 meters Centerline goodness : 0.937269 Centerline is valid? [False, False] Translation: X:86.21, Y:11.25, Z:-0.85 [[ 9.48043234e-01 -2.49166066e-01 -1.97813794e-01 8.62062819e+01] [ 2.37236972e-01 9.67962606e-01 -8.22618490e-02 1.12508276e+01] [ 2.11973217e-01 3.10590439e-02 9.76781803e-01 -8.48868243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.247719421 meters Centerline goodness : 0.935934 Centerline is valid? [False, False] Translation: X:86.21, Y:11.25, Z:-0.85 [[ 9.48950560e-01 -2.45057658e-01 -1.98594006e-01 8.62066062e+01] [ 2.34206883e-01 9.69150541e-01 -7.67747685e-02 1.12482300e+01] [ 2.11281733e-01 2.63433764e-02 9.77070139e-01 -8.49843150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.277719421 meters Centerline goodness : 0.931349 Centerline is valid? [False, False] Translation: X:86.21, Y:11.24, Z:-0.85 [[ 9.49835619e-01 -2.40446850e-01 -1.99994026e-01 8.62085884e+01] [ 2.30618421e-01 9.70419264e-01 -7.14254541e-02 1.12447957e+01] [ 2.11252081e-01 2.17201339e-02 9.77190255e-01 -8.50683705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.307719421 meters Centerline goodness : 0.933956 Centerline is valid? [False, False] Translation: X:86.21, Y:11.24, Z:-0.85 [[ 9.49971270e-01 -2.38916727e-01 -2.01179978e-01 8.62081383e+01] [ 2.28888025e-01 9.70781298e-01 -7.20690151e-02 1.12411164e+01] [ 2.12520253e-01 2.24158059e-02 9.76899521e-01 -8.47054319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.337719421 meters Centerline goodness : 0.933480 Centerline is valid? [False, False] Translation: X:86.21, Y:11.24, Z:-0.85 [[ 9.50149518e-01 -2.37707414e-01 -2.01769865e-01 8.62075005e+01] [ 2.27730899e-01 9.71084823e-01 -7.16442862e-02 1.12387003e+01] [ 2.12966032e-01 2.21235512e-02 9.76809100e-01 -8.45131572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.367719421 meters Centerline goodness : 0.936548 Centerline is valid? [False, False] Translation: X:86.21, Y:11.24, Z:-0.84 [[ 9.50481821e-01 -2.35876911e-01 -2.02352146e-01 8.62063712e+01] [ 2.25961836e-01 9.71536802e-01 -7.11160379e-02 1.12364047e+01] [ 2.13367188e-01 2.18706388e-02 9.76727249e-01 -8.42789396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.397719421 meters Centerline goodness : 0.937395 Centerline is valid? [False, False] Translation: X:86.21, Y:11.24, Z:-0.84 [[ 9.50639546e-01 -2.34989579e-01 -2.02643409e-01 8.62065165e+01] [ 2.25042182e-01 9.71748245e-01 -7.11432617e-02 1.12368139e+01] [ 2.13636302e-01 2.20282830e-02 9.76664879e-01 -8.42470185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.427719421 meters Centerline goodness : 0.940575 Centerline is valid? [False, False] Translation: X:86.21, Y:11.23, Z:-0.84 [[ 9.51593832e-01 -2.30320771e-01 -2.03522777e-01 8.62060406e+01] [ 2.21329478e-01 9.72949077e-01 -6.62069156e-02 1.12344310e+01] [ 2.13266126e-01 1.79565025e-02 9.76829117e-01 -8.42114212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.457719421 meters Centerline goodness : 0.940436 Centerline is valid? [False, False] Translation: X:86.21, Y:11.23, Z:-0.84 [[ 9.52583118e-01 -2.25204279e-01 -2.04617782e-01 8.62057160e+01] [ 2.17335175e-01 9.74223304e-01 -6.04514318e-02 1.12291209e+01] [ 2.12957333e-01 1.31143719e-02 9.76973484e-01 -8.41124477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.487719421 meters Centerline goodness : 0.940949 Centerline is valid? [False, False] Translation: X:86.21, Y:11.22, Z:-0.84 [[ 9.52580275e-01 -2.24770618e-01 -2.05107261e-01 8.62068213e+01] [ 2.17174019e-01 9.74340501e-01 -5.91272595e-02 1.12237936e+01] [ 2.13134382e-01 1.17794930e-02 9.76951882e-01 -8.40590167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.51771942099998 meters Centerline goodness : 0.942841 Centerline is valid? [False, False] Translation: X:86.21, Y:11.22, Z:-0.84 [[ 9.51916295e-01 -2.28755747e-01 -2.03779724e-01 8.62069054e+01] [ 2.20385999e-01 9.73364755e-01 -6.31748706e-02 1.12247026e+01] [ 2.12803616e-01 1.52269908e-02 9.76976335e-01 -8.41852176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54771942099998 meters Centerline goodness : 0.944894 Centerline is valid? [False, False] Translation: X:86.21, Y:11.22, Z:-0.84 [[ 9.51761345e-01 -2.29790857e-01 -2.03338397e-01 8.62060765e+01] [ 2.21807624e-01 9.73146894e-01 -6.15345469e-02 1.12204753e+01] [ 2.12018206e-01 1.34641966e-02 9.77172961e-01 -8.41366335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.57771942099998 meters Centerline goodness : 0.946293 Centerline is valid? [False, False] Translation: X:86.20, Y:11.22, Z:-0.85 [[ 9.52077919e-01 -2.33512969e-01 -1.97533111e-01 8.61977511e+01] [ 2.22411828e-01 9.71911227e-01 -7.69515833e-02 1.12199531e+01] [ 2.09953841e-01 2.93302031e-02 9.77271264e-01 -8.51152491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60771942099998 meters Centerline goodness : 0.945581 Centerline is valid? [False, False] Translation: X:86.20, Y:11.22, Z:-0.85 [[ 9.52055548e-01 -2.33474449e-01 -1.97686408e-01 8.61986825e+01] [ 2.22522581e-01 9.71942629e-01 -7.62314053e-02 1.12166315e+01] [ 2.09937932e-01 2.85868427e-02 9.77296709e-01 -8.51322501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.63771942099999 meters Centerline goodness : 0.942885 Centerline is valid? [False, False] Translation: X:86.20, Y:11.21, Z:-0.85 [[ 9.52663546e-01 -2.29991416e-01 -1.98836909e-01 8.62003258e+01] [ 2.19820808e-01 9.72871951e-01 -7.21039502e-02 1.12138769e+01] [ 2.10026141e-01 2.49823148e-02 9.77376542e-01 -8.51695367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.667719421 meters Centerline goodness : 0.939113 Centerline is valid? [False, False] Translation: X:86.20, Y:11.22, Z:-0.85 [[ 9.52527868e-01 -2.29872459e-01 -1.99622927e-01 8.62038938e+01] [ 2.19276204e-01 9.72854861e-01 -7.39686808e-02 1.12170027e+01] [ 2.11207498e-01 2.66846721e-02 9.77076927e-01 -8.53207406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.697719421 meters Centerline goodness : 0.937276 Centerline is valid? [False, False] Translation: X:86.20, Y:11.22, Z:-0.85 [[ 9.53425503e-01 -2.24823548e-01 -2.01082526e-01 8.62043266e+01] [ 2.15043537e-01 9.74127106e-01 -6.95173270e-02 1.12150908e+01] [ 2.11509072e-01 2.30380946e-02 9.77104477e-01 -8.52153589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.727719421 meters Centerline goodness : 0.936811 Centerline is valid? [False, False] Translation: X:86.21, Y:11.22, Z:-0.85 [[ 9.53316591e-01 -2.24616732e-01 -2.01828644e-01 8.62066641e+01] [ 2.14469553e-01 9.74139211e-01 -7.11028048e-02 1.12164081e+01] [ 2.12580076e-01 2.44973843e-02 9.76836521e-01 -8.52252129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.757719421 meters Centerline goodness : 0.937904 Centerline is valid? [False, False] Translation: X:86.21, Y:11.22, Z:-0.85 [[ 9.53632587e-01 -2.23056783e-01 -2.02065731e-01 8.62055716e+01] [ 2.12946888e-01 9.74499095e-01 -7.07469857e-02 1.12156479e+01] [ 2.12693468e-01 2.44373624e-02 9.76813342e-01 -8.50924088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.787719421 meters Centerline goodness : 0.941374 Centerline is valid? [False, False] Translation: X:86.20, Y:11.21, Z:-0.85 [[ 9.53736205e-01 -2.22261957e-01 -2.02452152e-01 8.62042970e+01] [ 2.12126205e-01 9.74678555e-01 -7.07402788e-02 1.12141457e+01] [ 2.13048644e-01 2.45221584e-02 9.76733812e-01 -8.48699500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.817719421 meters Centerline goodness : 0.940439 Centerline is valid? [False, False] Translation: X:86.20, Y:11.21, Z:-0.85 [[ 9.53927167e-01 -2.20723235e-01 -2.03234383e-01 8.62038378e+01] [ 2.10637593e-01 9.75035759e-01 -7.02643139e-02 1.12117208e+01] [ 2.13669758e-01 2.42182366e-02 9.76605709e-01 -8.46571701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.847719421 meters Centerline goodness : 0.942208 Centerline is valid? [False, False] Translation: X:86.20, Y:11.21, Z:-0.85 [[ 9.54026941e-01 -2.20156390e-01 -2.03380825e-01 8.62038275e+01] [ 2.10212775e-01 9.75179287e-01 -6.95409763e-02 1.12108919e+01] [ 2.13642658e-01 2.35907174e-02 9.76626998e-01 -8.46448613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.877719421 meters Centerline goodness : 0.946042 Centerline is valid? [False, False] Translation: X:86.20, Y:11.21, Z:-0.85 [[ 9.53536837e-01 -2.23776825e-01 -2.01721175e-01 8.62017493e+01] [ 2.13336190e-01 9.74294029e-01 -7.23796537e-02 1.12100251e+01] [ 2.12732626e-01 2.59822391e-02 9.76764943e-01 -8.46538882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.907719421 meters Centerline goodness : 0.947154 Centerline is valid? [False, False] Translation: X:86.20, Y:11.21, Z:-0.85 [[ 9.53592312e-01 -2.23497128e-01 -2.01769017e-01 8.62010604e+01] [ 2.13306043e-01 9.74387593e-01 -7.11993653e-02 1.12066226e+01] [ 2.12514080e-01 2.48566167e-02 9.76841806e-01 -8.45634460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.937719421 meters Centerline goodness : 0.949468 Centerline is valid? [False, False] Translation: X:86.20, Y:11.20, Z:-0.85 [[ 9.52784269e-01 -2.27193484e-01 -2.01457831e-01 8.62026870e+01] [ 2.16543806e-01 9.73486057e-01 -7.37134776e-02 1.12037522e+01] [ 2.12863611e-01 2.66085964e-02 9.76719543e-01 -8.45975389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.967719421 meters Centerline goodness : 0.949560 Centerline is valid? [False, False] Translation: X:86.20, Y:11.21, Z:-0.85 [[ 9.51936947e-01 -2.31236208e-01 -2.00862803e-01 8.62047329e+01] [ 2.19620078e-01 9.72412178e-01 -7.86230096e-02 1.12052934e+01] [ 2.13501922e-01 3.07306433e-02 9.76459194e-01 -8.47185811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.997719421 meters Centerline goodness : 0.949025 Centerline is valid? [False, False] Translation: X:86.21, Y:11.20, Z:-0.85 [[ 9.51918407e-01 -2.30930006e-01 -2.01302456e-01 8.62070567e+01] [ 2.19585783e-01 9.72527071e-01 -7.72863576e-02 1.12031266e+01] [ 2.13619827e-01 2.93671490e-02 9.76475366e-01 -8.48328224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.027719421 meters Centerline goodness : 0.946612 Centerline is valid? [False, False] Translation: X:86.21, Y:11.20, Z:-0.85 [[ 9.52022072e-01 -2.30326409e-01 -2.01503647e-01 8.62080689e+01] [ 2.19029968e-01 9.72676689e-01 -7.69800707e-02 1.12023593e+01] [ 2.13728444e-01 2.91513888e-02 9.76458063e-01 -8.48845536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.057719421 meters Centerline goodness : 0.946008 Centerline is valid? [False, False] Translation: X:86.21, Y:11.20, Z:-0.85 [[ 9.52213205e-01 -2.28896840e-01 -2.02228208e-01 8.62089861e+01] [ 2.17671429e-01 9.73026249e-01 -7.64137952e-02 1.12007555e+01] [ 2.14264231e-01 2.87429218e-02 9.76352746e-01 -8.48185391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.087719421 meters Centerline goodness : 0.946608 Centerline is valid? [False, False] Translation: X:86.21, Y:11.20, Z:-0.85 [[ 9.52312415e-01 -2.28063540e-01 -2.02701962e-01 8.62087318e+01] [ 2.16896108e-01 9.73231601e-01 -7.60021641e-02 1.11986252e+01] [ 2.14609278e-01 2.84125378e-02 9.76286631e-01 -8.46863614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.117719421 meters Centerline goodness : 0.945747 Centerline is valid? [False, False] Translation: X:86.21, Y:11.20, Z:-0.85 [[ 9.52452501e-01 -2.26822944e-01 -2.03434474e-01 8.62095439e+01] [ 2.15810934e-01 9.73544829e-01 -7.50740041e-02 1.11969192e+01] [ 2.15081087e-01 2.76010391e-02 9.76206079e-01 -8.46108433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.147719421 meters Centerline goodness : 0.943697 Centerline is valid? [False, False] Translation: X:86.21, Y:11.19, Z:-0.85 [[ 9.53202017e-01 -2.22060271e-01 -2.05171030e-01 8.62130571e+01] [ 2.11918821e-01 9.74745891e-01 -7.04333786e-02 1.11947526e+01] [ 2.15630074e-01 2.36576356e-02 9.76188500e-01 -8.47194198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.177719421 meters Centerline goodness : 0.942291 Centerline is valid? [False, False] Translation: X:86.21, Y:11.19, Z:-0.85 [[ 9.53241439e-01 -2.21217467e-01 -2.05897043e-01 8.62143859e+01] [ 2.11151017e-01 9.74948929e-01 -6.99273440e-02 1.11933861e+01] [ 2.16208251e-01 2.31822720e-02 9.76072013e-01 -8.46827092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.207719421 meters Centerline goodness : 0.940719 Centerline is valid? [False, False] Translation: X:86.21, Y:11.19, Z:-0.85 [[ 9.53346064e-01 -2.20276798e-01 -2.06420479e-01 8.62147100e+01] [ 2.10360748e-01 9.75179044e-01 -6.90954996e-02 1.11911336e+01] [ 2.16517060e-01 2.24491564e-02 9.76020695e-01 -8.45918017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.237719421 meters Centerline goodness : 0.945085 Centerline is valid? [False, False] Translation: X:86.21, Y:11.19, Z:-0.84 [[ 9.53638411e-01 -2.19081050e-01 -2.06342616e-01 8.62122641e+01] [ 2.09320257e-01 9.75460350e-01 -6.82798375e-02 1.11878161e+01] [ 2.16237859e-01 2.19225862e-02 9.76094559e-01 -8.43615595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26771942099998 meters Centerline goodness : 0.948343 Centerline is valid? [False, False] Translation: X:86.21, Y:11.19, Z:-0.84 [[ 9.53862782e-01 -2.18272479e-01 -2.06162358e-01 8.62104195e+01] [ 2.08678758e-01 9.75654824e-01 -6.74599216e-02 1.11863300e+01] [ 2.15867943e-01 2.13258038e-02 9.76189654e-01 -8.42422781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.29771942099998 meters Centerline goodness : 0.950832 Centerline is valid? [False, True] Translation: X:86.21, Y:11.18, Z:-0.84 [[ 9.54004851e-01 -2.17401186e-01 -2.06425458e-01 8.62099934e+01] [ 2.07855682e-01 9.75853572e-01 -6.71254153e-02 1.11845297e+01] [ 2.16034165e-01 2.11312674e-02 9.76157113e-01 -8.41214968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32771942099998 meters Centerline goodness : 0.950422 Centerline is valid? [True, True] Translation: X:86.24, Y:11.19, Z:-0.83 [[ 9.53857329e-01 -2.15422725e-01 -2.09163204e-01 8.62367743e+01] [ 2.07995320e-01 9.76458850e-01 -5.71494665e-02 1.11875169e+01] [ 2.16550556e-01 1.10074698e-02 9.76209349e-01 -8.30517431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.35771942099998 meters Centerline goodness : 0.950446 Centerline is valid? [True, True] Translation: X:86.26, Y:11.19, Z:-0.82 [[ 9.53356364e-01 -2.17633673e-01 -2.09158378e-01 8.62640115e+01] [ 2.10254826e-01 9.75973784e-01 -5.71671248e-02 1.11929124e+01] [ 2.16574585e-01 1.05240838e-02 9.76209349e-01 -8.24523534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38771942099999 meters Centerline goodness : 0.950639 Centerline is valid? [True, True] Translation: X:86.29, Y:11.20, Z:-0.82 [[ 9.52242405e-01 -2.22461597e-01 -2.09153628e-01 8.62907284e+01] [ 2.15193640e-01 9.74895702e-01 -5.71845000e-02 1.11979485e+01] [ 2.16624328e-01 9.44497534e-03 9.76209349e-01 -8.17324292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.417719421 meters Centerline goodness : 0.951095 Centerline is valid? [True, True] Translation: X:86.32, Y:11.20, Z:-0.81 [[ 9.51617057e-01 -2.25125978e-01 -2.09148921e-01 8.63172480e+01] [ 2.17917678e-01 9.74289408e-01 -5.72017106e-02 1.12049400e+01] [ 2.16649169e-01 8.85687640e-03 9.76209349e-01 -8.11362720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.447719421 meters Centerline goodness : 0.947617 Centerline is valid? [True, False] Translation: X:86.32, Y:11.20, Z:-0.81 [[ 9.50804406e-01 -2.28877917e-01 -2.08772320e-01 8.63207872e+01] [ 2.20966846e-01 9.73385271e-01 -6.07846030e-02 1.12046265e+01] [ 2.17128154e-01 1.16625072e-02 9.76073435e-01 -8.13506475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.477719421 meters Centerline goodness : 0.948157 Centerline is valid? [False, False] Translation: X:86.32, Y:11.20, Z:-0.81 [[ 9.50806524e-01 -2.28524379e-01 -2.09149616e-01 8.63221459e+01] [ 2.20740851e-01 9.73475744e-01 -6.01535799e-02 1.12033383e+01] [ 2.17348638e-01 1.10265519e-02 9.76031754e-01 -8.13880399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.507719421 meters Centerline goodness : 0.945126 Centerline is valid? [False, False] Translation: X:86.32, Y:11.20, Z:-0.81 [[ 9.50968121e-01 -2.26912484e-01 -2.10167449e-01 8.63248354e+01] [ 2.19250346e-01 9.73859686e-01 -5.93851707e-02 1.12024658e+01] [ 2.18148842e-01 1.03941182e-02 9.75860156e-01 -8.14392621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.537719421 meters Centerline goodness : 0.943770 Centerline is valid? [False, False] Translation: X:86.33, Y:11.20, Z:-0.81 [[ 9.51062327e-01 -2.25818081e-01 -2.10918572e-01 8.63261469e+01] [ 2.18144049e-01 9.74114274e-01 -5.92836776e-02 1.12023287e+01] [ 2.18846118e-01 1.03718409e-02 9.75704259e-01 -8.14062364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.567719421 meters Centerline goodness : 0.944514 Centerline is valid? [False, False] Translation: X:86.33, Y:11.20, Z:-0.81 [[ 9.51955788e-01 -2.19596130e-01 -2.13442540e-01 8.63265205e+01] [ 2.12422591e-01 9.75556143e-01 -5.62748103e-02 1.11981772e+01] [ 2.20582911e-01 8.23111404e-03 9.75333496e-01 -8.10350867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.597719421 meters Centerline goodness : 0.942955 Centerline is valid? [False, False] Translation: X:86.33, Y:11.20, Z:-0.81 [[ 9.53076004e-01 -2.13410306e-01 -2.14714165e-01 8.63260179e+01] [ 2.07270838e-01 9.76954106e-01 -5.09850520e-02 1.11953894e+01] [ 2.20646620e-01 4.08864485e-03 9.75345248e-01 -8.09037291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.627719421 meters Centerline goodness : 0.947449 Centerline is valid? [False, False] Translation: X:86.33, Y:11.19, Z:-0.81 [[ 9.53351461e-01 -2.12207418e-01 -2.14683495e-01 8.63252147e+01] [ 2.06211264e-01 9.77217995e-01 -5.02185644e-02 1.11942787e+01] [ 2.20449327e-01 3.60578672e-03 9.75391764e-01 -8.08653264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.657719421 meters Centerline goodness : 0.950894 Centerline is valid? [False, True] Translation: X:86.32, Y:11.19, Z:-0.81 [[ 9.53751085e-01 -2.10299979e-01 -2.14785445e-01 8.63234049e+01] [ 2.04546961e-01 9.77633086e-01 -4.89294394e-02 1.11916621e+01] [ 2.20271217e-01 2.73279587e-03 9.75434838e-01 -8.07014556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.687719421 meters Centerline goodness : 0.952726 Centerline is valid? [True, True] Translation: X:86.35, Y:11.20, Z:-0.80 [[ 9.53864604e-01 -2.12161528e-01 -2.12437762e-01 8.63498401e+01] [ 2.04511933e-01 9.77166768e-01 -5.76192337e-02 1.12013745e+01] [ 2.19811706e-01 1.15148902e-02 9.75474357e-01 -8.04698431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.717719421 meters Centerline goodness : 0.952346 Centerline is valid? [True, True] Translation: X:86.38, Y:11.21, Z:-0.80 [[ 9.53870350e-01 -2.12152887e-01 -2.12420594e-01 8.63756837e+01] [ 2.04489042e-01 9.77167829e-01 -5.76824588e-02 1.12071983e+01] [ 2.19808071e-01 1.15839035e-02 9.75474359e-01 -7.99977918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.747719421 meters Centerline goodness : 0.951466 Centerline is valid? [True, True] Translation: X:86.40, Y:11.21, Z:-0.80 [[ 9.53694448e-01 -2.12949646e-01 -2.12413155e-01 8.64020799e+01] [ 2.05299184e-01 9.76996325e-01 -5.77098396e-02 1.12141637e+01] [ 2.19816162e-01 1.14293062e-02 9.75474360e-01 -7.95022926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.777719421 meters Centerline goodness : 0.951541 Centerline is valid? [True, True] Translation: X:86.43, Y:11.22, Z:-0.79 [[ 9.53087528e-01 -2.15666442e-01 -2.12396210e-01 8.64304252e+01] [ 2.08068566e-01 9.76406602e-01 -5.77721391e-02 1.12183535e+01] [ 2.19844573e-01 1.08689305e-02 9.75474362e-01 -7.88329865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.807719421 meters Centerline goodness : 0.950970 Centerline is valid? [True, True] Translation: X:86.46, Y:11.22, Z:-0.78 [[ 9.52600968e-01 -2.17819880e-01 -2.12381485e-01 8.64572830e+01] [ 2.10262694e-01 9.75933260e-01 -5.78262213e-02 1.12240422e+01] [ 2.19865855e-01 1.04294112e-02 9.75474363e-01 -7.82154022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.837719421 meters Centerline goodness : 0.952011 Centerline is valid? [True, True] Translation: X:86.48, Y:11.23, Z:-0.77 [[ 9.51653095e-01 -2.21940540e-01 -2.12364743e-01 8.64842392e+01] [ 2.14470725e-01 9.75013502e-01 -5.78876416e-02 1.12292807e+01] [ 2.19906106e-01 9.54293292e-03 9.75474365e-01 -7.74763802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.867719421 meters Centerline goodness : 0.950535 Centerline is valid? [True, True] Translation: X:86.51, Y:11.24, Z:-0.77 [[ 9.51237333e-01 -2.23731724e-01 -2.12347952e-01 8.65110590e+01] [ 2.16292190e-01 9.74607399e-01 -5.79491704e-02 1.12359883e+01] [ 2.19920953e-01 9.19421058e-03 9.75474367e-01 -7.69458411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.897719421 meters Centerline goodness : 0.949746 Centerline is valid? [True, False] Translation: X:86.51, Y:11.23, Z:-0.77 [[ 9.51110853e-01 -2.24062084e-01 -2.12566054e-01 8.65134411e+01] [ 2.16764942e-01 9.74538115e-01 -5.73447704e-02 1.12325546e+01] [ 2.20002510e-01 8.46436511e-03 9.75462583e-01 -7.70512653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.927719421 meters Centerline goodness : 0.950315 Centerline is valid? [False, True] Translation: X:86.51, Y:11.23, Z:-0.77 [[ 9.51210552e-01 -2.23780497e-01 -2.12416511e-01 8.65129653e+01] [ 2.16608811e-01 9.74606880e-01 -5.67631268e-02 1.12307396e+01] [ 2.19725073e-01 7.98239732e-03 9.75529176e-01 -7.70249780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.957719421 meters Centerline goodness : 0.954961 Centerline is valid? [True, True] Translation: X:86.54, Y:11.24, Z:-0.76 [[ 9.51146087e-01 -2.24196728e-01 -2.12266220e-01 8.65397867e+01] [ 2.16911189e-01 9.74507042e-01 -5.73198204e-02 1.12376642e+01] [ 2.19705843e-01 8.47660471e-03 9.75529338e-01 -7.61148662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.987719421 meters Centerline goodness : 0.954655 Centerline is valid? [True, True] Translation: X:86.57, Y:11.24, Z:-0.76 [[ 9.51213216e-01 -2.23925844e-01 -2.12251346e-01 8.65662582e+01] [ 2.16621394e-01 9.74568263e-01 -5.73748486e-02 1.12444558e+01] [ 2.19701137e-01 8.59753193e-03 9.75529340e-01 -7.56647738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.01771942099998 meters Centerline goodness : 0.951601 Centerline is valid? [True, True] Translation: X:86.59, Y:11.25, Z:-0.75 [[ 9.51776699e-01 -2.21523626e-01 -2.12246081e-01 8.65947342e+01] [ 2.14155901e-01 9.75111861e-01 -5.73943171e-02 1.12502811e+01] [ 2.19677869e-01 9.17282280e-03 9.75529340e-01 -7.51406471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04771942099998 meters Centerline goodness : 0.952616 Centerline is valid? [True, True] Translation: X:86.62, Y:11.26, Z:-0.74 [[ 9.52014066e-01 -2.20514275e-01 -2.12232589e-01 8.66218707e+01] [ 2.13110719e-01 9.75337885e-01 -5.74441648e-02 1.12560790e+01] [ 2.19665743e-01 9.45861309e-03 9.75529341e-01 -7.44563654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.07771942099998 meters Centerline goodness : 0.952616 Centerline is valid? [True, True] Translation: X:86.65, Y:11.26, Z:-0.74 [[ 9.51951857e-01 -2.20796751e-01 -2.12217946e-01 8.66487938e+01] [ 2.13388091e-01 9.75274053e-01 -5.74982145e-02 1.12636091e+01] [ 2.19666075e-01 9.45074977e-03 9.75529343e-01 -7.38297433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10771942099998 meters Centerline goodness : 0.950550 Centerline is valid? [True, True] Translation: X:86.68, Y:11.27, Z:-0.73 [[ 9.52344470e-01 -2.19113377e-01 -2.12201174e-01 8.66754294e+01] [ 2.11649747e-01 9.75649130e-01 -5.75600463e-02 1.12680208e+01] [ 2.19646067e-01 9.90466700e-03 9.75529345e-01 -7.32281451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.13771942099999 meters Centerline goodness : 0.952950 Centerline is valid? [True, True] Translation: X:86.70, Y:11.27, Z:-0.72 [[ 9.52312752e-01 -2.19256212e-01 -2.12195983e-01 8.67022533e+01] [ 2.11791824e-01 9.75617170e-01 -5.75791783e-02 1.12746336e+01] [ 2.19646636e-01 9.89201159e-03 9.75529345e-01 -7.24792267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.167719421 meters Centerline goodness : 0.949972 Centerline is valid? [True, False] Translation: X:86.70, Y:11.27, Z:-0.73 [[ 9.52382829e-01 -2.18328639e-01 -2.12836915e-01 8.67041471e+01] [ 2.11081671e-01 9.75834993e-01 -5.64853490e-02 1.12728406e+01] [ 2.20026079e-01 8.86970477e-03 9.75453665e-01 -7.25147563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.197719421 meters Centerline goodness : 0.950547 Centerline is valid? [False, True] Translation: X:86.71, Y:11.27, Z:-0.73 [[ 9.52804229e-01 -2.17378935e-01 -2.11920977e-01 8.67050670e+01] [ 2.10829456e-01 9.76068138e-01 -5.33097551e-02 1.12723068e+01] [ 2.18437731e-01 6.11457583e-03 9.75831732e-01 -7.28482833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.227719421 meters Centerline goodness : 0.951732 Centerline is valid? [True, True] Translation: X:86.73, Y:11.28, Z:-0.72 [[ 9.52733405e-01 -2.18709508e-01 -2.10867754e-01 8.67318913e+01] [ 2.11330904e-01 9.75739458e-01 -5.71992849e-02 1.12811024e+01] [ 2.18262016e-01 9.93279635e-03 9.75839655e-01 -7.24567298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.257719421 meters Centerline goodness : 0.959474 Centerline is valid? [True, True] Translation: X:86.76, Y:11.29, Z:-0.71 [[ 9.52264725e-01 -2.20746138e-01 -2.10862601e-01 8.67583622e+01] [ 2.13412546e-01 9.75285166e-01 -5.72182749e-02 1.12854103e+01] [ 2.18281880e-01 9.48622009e-03 9.75839655e-01 -7.11852169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.287719421 meters Centerline goodness : 0.959995 Centerline is valid? [True, True] Translation: X:86.79, Y:11.29, Z:-0.70 [[ 9.51914283e-01 -2.22266121e-01 -2.10848212e-01 8.67854454e+01] [ 2.14957577e-01 9.74942687e-01 -5.72712522e-02 1.12912656e+01] [ 2.18294381e-01 9.19390226e-03 9.75839657e-01 -7.03627316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.317719421 meters Centerline goodness : 0.961326 Centerline is valid? [True, True] Translation: X:86.81, Y:11.30, Z:-0.70 [[ 9.51601842e-01 -2.23613495e-01 -2.10833911e-01 8.68118838e+01] [ 2.16325927e-01 9.74636891e-01 -5.73238508e-02 1.12984099e+01] [ 2.18304894e-01 8.94064090e-03 9.75839658e-01 -6.96635293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.347719421 meters Centerline goodness : 0.963669 Centerline is valid? [True, True] Translation: X:86.84, Y:11.31, Z:-0.69 [[ 9.51275870e-01 -2.25011460e-01 -2.10817603e-01 8.68382916e+01] [ 2.17744488e-01 9.74317423e-01 -5.73837663e-02 1.13081504e+01] [ 2.18315268e-01 8.68342132e-03 9.75839660e-01 -6.91297195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.377719421 meters Centerline goodness : 0.962683 Centerline is valid? [True, True] Translation: X:86.86, Y:11.32, Z:-0.69 [[ 9.51142241e-01 -2.25589173e-01 -2.10803136e-01 8.68645761e+01] [ 2.18324448e-01 9.74184501e-01 -5.74368627e-02 1.13168696e+01] [ 2.18318282e-01 8.60714798e-03 9.75839661e-01 -6.87637346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.407719421 meters Centerline goodness : 0.960624 Centerline is valid? [True, True] Translation: X:86.89, Y:11.32, Z:-0.68 [[ 9.51124443e-01 -2.25668985e-01 -2.10798015e-01 8.68920166e+01] [ 2.18402037e-01 9.74166001e-01 -5.74556528e-02 1.13243753e+01] [ 2.18318218e-01 8.60876006e-03 9.75839662e-01 -6.83748712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.437719421 meters Centerline goodness : 0.958908 Centerline is valid? [True, True] Translation: X:86.92, Y:11.33, Z:-0.68 [[ 9.51114416e-01 -2.25724925e-01 -2.10783363e-01 8.69196764e+01] [ 2.18447450e-01 9.74152650e-01 -5.75093567e-02 1.13304434e+01] [ 2.18316466e-01 8.65289024e-03 9.75839663e-01 -6.77791767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.467719421 meters Centerline goodness : 0.957609 Centerline is valid? [True, True] Translation: X:86.95, Y:11.34, Z:-0.67 [[ 9.51153402e-01 -2.25574207e-01 -2.10768792e-01 8.69459885e+01] [ 2.18281279e-01 9.74186747e-01 -5.75627069e-02 1.13377254e+01] [ 2.18312826e-01 8.74408295e-03 9.75839665e-01 -6.72854162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.497719421 meters Centerline goodness : 0.954584 Centerline is valid? [True, True] Translation: X:86.97, Y:11.35, Z:-0.67 [[ 9.51575954e-01 -2.23800598e-01 -2.10752214e-01 8.69726814e+01] [ 2.16451338e-01 9.74591386e-01 -5.76233413e-02 1.13457960e+01] [ 2.18293431e-01 9.21538724e-03 9.75839666e-01 -6.70396894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.527719421 meters Centerline goodness : 0.953218 Centerline is valid? [True, True] Translation: X:87.00, Y:11.35, Z:-0.67 [[ 9.51750000e-01 -2.23064134e-01 -2.10747076e-01 8.69992579e+01] [ 2.15692914e-01 9.74758407e-01 -5.76421268e-02 1.13531949e+01] [ 2.18285376e-01 9.40424317e-03 9.75839667e-01 -6.65874279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.557719421 meters Centerline goodness : 0.955340 Centerline is valid? [True, True] Translation: X:87.03, Y:11.36, Z:-0.66 [[ 9.52267116e-01 -2.20861650e-01 -2.10730803e-01 8.70256871e+01] [ 2.13424096e-01 9.75254165e-01 -5.77015598e-02 1.13592361e+01] [ 2.18260155e-01 9.97226693e-03 9.75839669e-01 -6.58010682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.587719421 meters Centerline goodness : 0.958309 Centerline is valid? [True, True] Translation: X:87.05, Y:11.36, Z:-0.65 [[ 9.52156420e-01 -2.21354429e-01 -2.10713949e-01 8.70518820e+01] [ 2.13915194e-01 9.75142923e-01 -5.77630445e-02 1.13643948e+01] [ 2.18262322e-01 9.92453843e-03 9.75839670e-01 -6.50847908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.617719421 meters Centerline goodness : 0.961300 Centerline is valid? [True, True] Translation: X:87.08, Y:11.37, Z:-0.64 [[ 9.51912816e-01 -2.22404636e-01 -2.10708729e-01 8.70778324e+01] [ 2.14986558e-01 9.74906155e-01 -5.77820796e-02 1.13708935e+01] [ 2.18272239e-01 9.70395773e-03 9.75839671e-01 -6.39548139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.647719421 meters Centerline goodness : 0.962185 Centerline is valid? [True, True] Translation: X:87.10, Y:11.38, Z:-0.63 [[ 9.51751482e-01 -2.23108011e-01 -2.10693930e-01 8.71042085e+01] [ 2.15695016e-01 9.74746458e-01 -5.78359923e-02 1.13782051e+01] [ 2.18276835e-01 9.59986076e-03 9.75839672e-01 -6.33202038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.677719421 meters Centerline goodness : 0.962443 Centerline is valid? [True, True] Translation: X:87.13, Y:11.39, Z:-0.63 [[ 9.51571068e-01 -2.23881171e-01 -2.10688687e-01 8.71316722e+01] [ 2.16482641e-01 9.74570703e-01 -5.78550850e-02 1.13861418e+01] [ 2.18283686e-01 9.44278149e-03 9.75839672e-01 -6.26413729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.707719421 meters Centerline goodness : 0.962748 Centerline is valid? [True, True] Translation: X:87.16, Y:11.39, Z:-0.62 [[ 9.51554447e-01 -2.23965806e-01 -2.10673805e-01 8.71578991e+01] [ 2.16557359e-01 9.74550887e-01 -5.79092260e-02 1.13938329e+01] [ 2.18282031e-01 9.48081862e-03 9.75839674e-01 -6.20004850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.737719421 meters Centerline goodness : 0.961755 Centerline is valid? [True, True] Translation: X:87.18, Y:11.40, Z:-0.61 [[ 9.51663447e-01 -2.23518147e-01 -2.10656882e-01 8.71845299e+01] [ 2.16085297e-01 9.74652009e-01 -5.79707247e-02 1.14019325e+01] [ 2.18274662e-01 9.64876477e-03 9.75839676e-01 -6.14627114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76771942099998 meters Centerline goodness : 0.962551 Centerline is valid? [True, True] Translation: X:87.21, Y:11.41, Z:-0.61 [[ 9.51696933e-01 -2.23391438e-01 -2.10640010e-01 8.72113046e+01] [ 2.15942001e-01 9.74680123e-01 -5.80319685e-02 1.14091837e+01] [ 2.18270476e-01 9.74282126e-03 9.75839678e-01 -6.08185352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.79771942099998 meters Centerline goodness : 0.960215 Centerline is valid? [True, True] Translation: X:87.24, Y:11.42, Z:-0.60 [[ 9.51080031e-01 -2.26019149e-01 -2.10623169e-01 8.72377545e+01] [ 2.18619723e-01 9.74079369e-01 -5.80930268e-02 1.14164727e+01] [ 2.18293820e-01 9.20473887e-03 9.75839680e-01 -6.02561000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82771942099998 meters Centerline goodness : 0.958286 Centerline is valid? [True, True] Translation: X:87.27, Y:11.43, Z:-0.60 [[ 9.50237771e-01 -2.29549803e-01 -2.10606425e-01 8.72652348e+01] [ 2.22222425e-01 9.73260163e-01 -5.81536707e-02 1.14254975e+01] [ 2.18324007e-01 8.45834416e-03 9.75839682e-01 -5.97990024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.85771942099998 meters Centerline goodness : 0.957590 Centerline is valid? [True, True] Translation: X:87.29, Y:11.43, Z:-0.59 [[ 9.49993328e-01 -2.30572638e-01 -2.10591868e-01 8.72915500e+01] [ 2.23258391e-01 9.73019893e-01 -5.82063373e-02 1.14333622e+01] [ 2.18330866e-01 8.27923043e-03 9.75839683e-01 -5.93704301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88771942099999 meters Centerline goodness : 0.954012 Centerline is valid? [True, True] Translation: X:87.32, Y:11.44, Z:-0.59 [[ 9.49502361e-01 -2.32590846e-01 -2.10586717e-01 8.73177232e+01] [ 2.25321421e-01 9.72543115e-01 -5.82249676e-02 1.14423324e+01] [ 2.18347256e-01 7.83504576e-03 9.75839683e-01 -5.91327640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.917719421 meters Centerline goodness : 0.953530 Centerline is valid? [True, True] Translation: X:87.34, Y:11.45, Z:-0.59 [[ 9.49337457e-01 -2.33267612e-01 -2.10581611e-01 8.73448441e+01] [ 2.26010523e-01 9.72382099e-01 -5.82434287e-02 1.14503818e+01] [ 2.18352095e-01 7.69900854e-03 9.75839684e-01 -5.85806879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.947719421 meters Centerline goodness : 0.952309 Centerline is valid? [True, True] Translation: X:87.37, Y:11.46, Z:-0.58 [[ 9.49327016e-01 -2.33322979e-01 -2.10567340e-01 8.73716072e+01] [ 2.26055815e-01 9.72368482e-01 -5.82949793e-02 1.14584059e+01] [ 2.18350603e-01 7.74102721e-03 9.75839685e-01 -5.81075929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.977719421 meters Centerline goodness : 0.952775 Centerline is valid? [True, True] Translation: X:87.40, Y:11.47, Z:-0.57 [[ 9.49537485e-01 -2.32469547e-01 -2.10562283e-01 8.73980829e+01] [ 2.25177631e-01 9.72571129e-01 -5.83132387e-02 1.14662943e+01] [ 2.18342850e-01 7.95668991e-03 9.75839685e-01 -5.74731720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.007719421 meters Centerline goodness : 0.948939 Centerline is valid? [True, False] Translation: X:87.40, Y:11.47, Z:-0.57 [[ 9.50208145e-01 -2.27642642e-01 -2.12798752e-01 8.74016921e+01] [ 2.21121563e-01 9.73734215e-01 -5.42856512e-02 1.14652699e+01] [ 2.19567154e-01 4.52827533e-03 9.75586879e-01 -5.74719281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.037719421 meters Centerline goodness : 0.947382 Centerline is valid? [False, False] Translation: X:87.40, Y:11.47, Z:-0.57 [[ 9.50262334e-01 -2.26983170e-01 -2.13260723e-01 8.74025779e+01] [ 2.20403814e-01 9.73887100e-01 -5.44616857e-02 1.14660064e+01] [ 2.20053753e-01 4.74941177e-03 9.75476186e-01 -5.74720036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.067719421 meters Centerline goodness : 0.953194 Centerline is valid? [False, True] Translation: X:87.40, Y:11.47, Z:-0.58 [[ 9.49981060e-01 -2.30997731e-01 -2.10180957e-01 8.74000280e+01] [ 2.22840118e-01 9.72879082e-01 -6.20368703e-02 1.14709650e+01] [ 2.18811033e-01 1.20971024e-02 9.75692263e-01 -5.77169074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.097719421 meters Centerline goodness : 0.953247 Centerline is valid? [True, True] Translation: X:87.43, Y:11.48, Z:-0.57 [[ 9.49989662e-01 -2.30114422e-01 -2.11108964e-01 8.74260402e+01] [ 2.22672789e-01 9.73124148e-01 -5.87045324e-02 1.14780709e+01] [ 2.18943991e-01 8.76047708e-03 9.75698100e-01 -5.68175235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.127719421 meters Centerline goodness : 0.956628 Centerline is valid? [True, True] Translation: X:87.45, Y:11.49, Z:-0.56 [[ 9.49837313e-01 -2.30749479e-01 -2.11101297e-01 8.74520616e+01] [ 2.23317199e-01 9.72974804e-01 -5.87320935e-02 1.14862221e+01] [ 2.18948643e-01 8.64338353e-03 9.75698101e-01 -5.56835737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.157719421 meters Centerline goodness : 0.957803 Centerline is valid? [True, True] Translation: X:87.48, Y:11.49, Z:-0.55 [[ 9.49519264e-01 -2.32068584e-01 -2.11086097e-01 8.74788501e+01] [ 2.24656335e-01 9.72663178e-01 -5.87866719e-02 1.14936488e+01] [ 2.18958214e-01 8.39724851e-03 9.75698102e-01 -5.50270195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.187719421 meters Centerline goodness : 0.957180 Centerline is valid? [True, True] Translation: X:87.51, Y:11.50, Z:-0.54 [[ 9.48487907e-01 -2.36263983e-01 -2.11068758e-01 8.75050507e+01] [ 2.28940299e-01 9.71659998e-01 -5.88488610e-02 1.15023894e+01] [ 2.18990936e-01 7.49528831e-03 9.75698104e-01 -5.44699193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.217719421 meters Centerline goodness : 0.956685 Centerline is valid? [True, True] Translation: X:87.53, Y:11.51, Z:-0.54 [[ 9.47986977e-01 -2.38270717e-01 -2.11063394e-01 8.75302987e+01] [ 2.30991811e-01 9.71173172e-01 -5.88680943e-02 1.15101056e+01] [ 2.19005649e-01 7.05227117e-03 9.75698105e-01 -5.39293077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.247719421 meters Centerline goodness : 0.957339 Centerline is valid? [True, True] Translation: X:87.56, Y:11.52, Z:-0.53 [[ 9.46022896e-01 -2.45959098e-01 -2.11056397e-01 8.75563448e+01] [ 2.38863077e-01 9.69265714e-01 -5.88931709e-02 1.15165928e+01] [ 2.19055040e-01 5.30070764e-03 9.75698105e-01 -5.31792481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.277719421 meters Centerline goodness : 0.959805 Centerline is valid? [True, True] Translation: X:87.58, Y:11.52, Z:-0.53 [[ 9.43524955e-01 -2.55378039e-01 -2.11051456e-01 8.75825302e+01] [ 2.48510126e-01 9.66836194e-01 -5.89108732e-02 1.15232220e+01] [ 2.19096729e-01 3.13545514e-03 9.75698105e-01 -5.25535514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.307719421 meters Centerline goodness : 0.956382 Centerline is valid? [True, True] Translation: X:87.61, Y:11.53, Z:-0.52 [[ 9.42571537e-01 -2.58888414e-01 -2.11034800e-01 8.76090644e+01] [ 2.52093978e-01 9.65904296e-01 -5.89704789e-02 1.15308396e+01] [ 2.19106194e-01 2.38329266e-03 9.75698107e-01 -5.22943160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.337719421 meters Centerline goodness : 0.956960 Centerline is valid? [True, True] Translation: X:87.64, Y:11.54, Z:-0.52 [[ 9.40793835e-01 -2.65279947e-01 -2.11029644e-01 8.76358163e+01] [ 2.58639895e-01 9.64170997e-01 -5.89889246e-02 1.15407167e+01] [ 2.19117241e-01 9.15731588e-04 9.75698107e-01 -5.16927157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.367719421 meters Centerline goodness : 0.955689 Centerline is valid? [True, True] Translation: X:87.66, Y:11.55, Z:-0.51 [[ 9.40226262e-01 -2.67296092e-01 -2.11015109e-01 8.76618477e+01] [ 2.60694509e-01 9.63614315e-01 -5.90408744e-02 1.15487754e+01] [ 2.19118575e-01 5.01300415e-04 9.75698108e-01 -5.12561024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.397719421 meters Centerline goodness : 0.957833 Centerline is valid? [True, True] Translation: X:87.69, Y:11.56, Z:-0.50 [[ 9.39977261e-01 -2.68176091e-01 -2.11007897e-01 8.76871474e+01] [ 2.61590620e-01 9.63369856e-01 -5.90666399e-02 1.15559833e+01] [ 2.19118908e-01 3.23611948e-04 9.75698109e-01 -5.03252109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.427719421 meters Centerline goodness : 0.956636 Centerline is valid? [True, True] Translation: X:87.71, Y:11.57, Z:-0.50 [[ 9.39119810e-01 -2.71176305e-01 -2.10991453e-01 8.77124040e+01] [ 2.64652382e-01 9.62529643e-01 -5.91253210e-02 1.15652473e+01] [ 2.19118914e-01 -3.13630462e-04 9.75698111e-01 -4.96084915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.457719421 meters Centerline goodness : 0.955338 Centerline is valid? [True, True] Translation: X:87.74, Y:11.58, Z:-0.49 [[ 9.38355301e-01 -2.73823062e-01 -2.10974549e-01 8.77377585e+01] [ 2.67351620e-01 9.61779693e-01 -5.91855797e-02 1.15768467e+01] [ 2.19117414e-01 -8.67284893e-04 9.75698113e-01 -4.93027024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.487719421 meters Centerline goodness : 0.953268 Centerline is valid? [True, True] Translation: X:87.76, Y:11.59, Z:-0.49 [[ 9.37627168e-01 -2.76310046e-01 -2.10969317e-01 8.77635587e+01] [ 2.69896539e-01 9.61067489e-01 -5.92042220e-02 1.15869878e+01] [ 2.19114473e-01 -1.42840166e-03 9.75698113e-01 -4.88171841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.51771942099998 meters Centerline goodness : 0.951371 Centerline is valid? [True, True] Translation: X:87.79, Y:11.60, Z:-0.48 [[ 9.36481292e-01 -2.80181819e-01 -2.10952454e-01 8.77895616e+01] [ 2.73851698e-01 9.59944267e-01 -5.92642495e-02 1.15978321e+01] [ 2.19107364e-01 -2.26982679e-03 9.75698115e-01 -4.82756122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54771942099998 meters Centerline goodness : 0.953304 Centerline is valid? [True, True] Translation: X:87.81, Y:11.61, Z:-0.47 [[ 9.35597057e-01 -2.83131391e-01 -2.10937816e-01 8.78147308e+01] [ 2.76863501e-01 9.59076732e-01 -5.93163054e-02 1.16066547e+01] [ 2.19099859e-01 -2.90482150e-03 9.75698116e-01 -4.74809404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.57771942099998 meters Centerline goodness : 0.957038 Centerline is valid? [True, True] Translation: X:87.84, Y:11.62, Z:-0.47 [[ 9.33534777e-01 -2.89871197e-01 -2.10920624e-01 8.78398273e+01] [ 2.83759004e-01 9.57055461e-01 -5.93773764e-02 1.16186238e+01] [ 2.19074526e-01 -4.41978049e-03 9.75698118e-01 -4.68796097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60771942099998 meters Centerline goodness : 0.956152 Centerline is valid? [True, True] Translation: X:87.87, Y:11.63, Z:-0.46 [[ 9.32476060e-01 -2.93262908e-01 -2.10915303e-01 8.78653879e+01] [ 2.87231988e-01 9.56017713e-01 -5.93962723e-02 1.16285759e+01] [ 2.19057489e-01 -5.19601965e-03 9.75698118e-01 -4.62812310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.63771942099999 meters Centerline goodness : 0.957434 Centerline is valid? [True, True] Translation: X:87.89, Y:11.64, Z:-0.46 [[ 9.30803378e-01 -2.98532991e-01 -2.10910231e-01 8.78901698e+01] [ 2.92631260e-01 9.54377750e-01 -5.94142780e-02 1.16427191e+01] [ 2.19025153e-01 -6.41591591e-03 9.75698118e-01 -4.56619012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.667719421 meters Centerline goodness : 0.956263 Centerline is valid? [True, True] Translation: X:87.91, Y:11.66, Z:-0.45 [[ 9.30166311e-01 -3.00517377e-01 -2.10902679e-01 8.79148758e+01] [ 2.94659866e-01 9.53751709e-01 -5.94410713e-02 1.16553481e+01] [ 2.19011865e-01 -6.85447311e-03 9.75698119e-01 -4.50672279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.697719421 meters Centerline goodness : 0.956842 Centerline is valid? [True, True] Translation: X:87.94, Y:11.67, Z:-0.44 [[ 9.29853201e-01 -3.01490044e-01 -2.10895181e-01 8.79389127e+01] [ 2.95651179e-01 9.53443222e-01 -5.94676624e-02 1.16719340e+01] [ 2.19005489e-01 -7.05521275e-03 9.75698119e-01 -4.43722260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.727719421 meters Centerline goodness : 0.957126 Centerline is valid? [True, True] Translation: X:87.96, Y:11.68, Z:-0.43 [[ 9.30124776e-01 -3.00660958e-01 -2.10881221e-01 8.79635592e+01] [ 2.94789862e-01 9.53706794e-01 -5.95171261e-02 1.16825857e+01] [ 2.19013330e-01 -6.80729247e-03 9.75698120e-01 -4.33467393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.757719421 meters Centerline goodness : 0.956305 Centerline is valid? [True, True] Translation: X:87.99, Y:11.70, Z:-0.43 [[ 9.30383283e-01 -2.99872687e-01 -2.10863268e-01 8.79857449e+01] [ 2.93967222e-01 9.53956716e-01 -5.95806661e-02 1.16990376e+01] [ 2.19021045e-01 -6.55403346e-03 9.75698123e-01 -4.26740093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.787719421 meters Centerline goodness : 0.955306 Centerline is valid? [True, True] Translation: X:88.01, Y:11.71, Z:-0.42 [[ 9.30368082e-01 -2.99925312e-01 -2.10855494e-01 8.80108416e+01] [ 2.94014954e-01 9.53940288e-01 -5.96081679e-02 1.17136620e+01] [ 2.19021549e-01 -6.53713129e-03 9.75698123e-01 -4.22020509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.817719421 meters Centerline goodness : 0.950562 Centerline is valid? [True, True] Translation: X:88.03, Y:11.73, Z:-0.42 [[ 9.29896231e-01 -3.01397472e-01 -2.10837767e-01 8.80343276e+01] [ 2.95510243e-01 9.53474222e-01 -5.96708048e-02 1.17345274e+01] [ 2.19013005e-01 -6.81706323e-03 9.75698125e-01 -4.18878091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.847719421 meters Centerline goodness : 0.946861 Centerline is valid? [True, False] Translation: X:88.01, Y:11.73, Z:-0.43 [[ 9.31787177e-01 -2.98058709e-01 -2.07204398e-01 8.80130184e+01] [ 2.93359736e-01 9.54487917e-01 -5.37855173e-02 1.17305475e+01] [ 2.13805336e-01 -1.06687723e-02 9.76818026e-01 -4.25348343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.877719421 meters Centerline goodness : 0.948701 Centerline is valid? [False, False] Translation: X:87.99, Y:11.73, Z:-0.43 [[ 9.32749503e-01 -2.98800945e-01 -2.01733390e-01 8.79864691e+01] [ 2.94644598e-01 9.54242244e-01 -5.10519448e-02 1.17291416e+01] [ 2.07756892e-01 -1.18209774e-02 9.78109063e-01 -4.32511888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.907719421 meters Centerline goodness : 0.946917 Centerline is valid? [False, False] Translation: X:87.97, Y:11.73, Z:-0.44 [[ 9.34909157e-01 -2.95773691e-01 -1.96119332e-01 8.79742178e+01] [ 2.92711274e-01 9.55136496e-01 -4.51041550e-02 1.17255562e+01] [ 2.00661354e-01 -1.52380519e-02 9.79542150e-01 -4.36436201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.937719421 meters Centerline goodness : 0.945682 Centerline is valid? [False, False] Translation: X:87.95, Y:11.73, Z:-0.44 [[ 9.35084471e-01 -2.96748402e-01 -1.93797361e-01 8.79502990e+01] [ 2.96389755e-01 9.54546434e-01 -3.15312433e-02 1.17275902e+01] [ 1.94345426e-01 -2.79551764e-02 9.80534733e-01 -4.36529130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.967719421 meters Centerline goodness : 0.945682 Centerline is valid? [False, False] Translation: X:87.95, Y:11.72, Z:-0.44 [[ 9.36728994e-01 -2.92719753e-01 -1.91973794e-01 8.79452705e+01] [ 2.93143702e-01 9.55691431e-01 -2.68450910e-02 1.17239851e+01] [ 1.91325799e-01 -3.11293337e-02 9.81032825e-01 -4.37645679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.997719421 meters Centerline goodness : 0.942658 Centerline is valid? [False, False] Translation: X:87.93, Y:11.72, Z:-0.44 [[ 9.39026427e-01 -2.87992928e-01 -1.87854846e-01 8.79329615e+01] [ 2.90354455e-01 9.56794671e-01 -1.54352819e-02 1.17228364e+01] [ 1.84183767e-01 -4.00503537e-02 9.82075511e-01 -4.38409747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.027719421 meters Centerline goodness : 0.942440 Centerline is valid? [False, False] Translation: X:87.91, Y:11.72, Z:-0.44 [[ 9.42817069e-01 -2.79315479e-01 -1.81875884e-01 8.79141849e+01] [ 2.84660598e-01 9.58622209e-01 3.43558366e-03 1.17181796e+01] [ 1.73390650e-01 -5.50120249e-02 9.83315493e-01 -4.36003921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.057719421 meters Centerline goodness : 0.940509 Centerline is valid? [False, False] Translation: X:87.89, Y:11.72, Z:-0.43 [[ 9.47970245e-01 -2.68028509e-01 -1.71793869e-01 8.78866525e+01] [ 2.76834979e-01 9.60477309e-01 2.90814940e-02 1.17157817e+01] [ 1.57209444e-01 -7.51269433e-02 9.84703576e-01 -4.32089927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.087719421 meters Centerline goodness : 0.931963 Centerline is valid? [False, False] Translation: X:87.86, Y:11.72, Z:-0.43 [[ 9.52138662e-01 -2.57177387e-01 -1.65202180e-01 8.78639331e+01] [ 2.68662124e-01 9.61882125e-01 5.10239241e-02 1.17191928e+01] [ 1.45782824e-01 -9.29654194e-02 9.84938982e-01 -4.28306521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.117719421 meters Centerline goodness : 0.930524 Centerline is valid? [False, False] Translation: X:87.85, Y:11.72, Z:-0.43 [[ 9.55352180e-01 -2.48408099e-01 -1.59986335e-01 8.78483773e+01] [ 2.61446321e-01 9.62955326e-01 6.60519598e-02 1.17195595e+01] [ 1.37651852e-01 -1.04930723e-01 9.84906854e-01 -4.25744185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.147719421 meters Centerline goodness : 0.932624 Centerline is valid? [False, False] Translation: X:87.83, Y:11.73, Z:-0.42 [[ 9.58274734e-01 -2.38749735e-01 -1.57188099e-01 8.78338528e+01] [ 2.52561414e-01 9.64714720e-01 7.44193626e-02 1.17309855e+01] [ 1.33874070e-01 -1.11013843e-01 9.84760712e-01 -4.24333701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.177719421 meters Centerline goodness : 0.926628 Centerline is valid? [False, False] Translation: X:87.81, Y:11.73, Z:-0.43 [[ 0.96321307 -0.2256918 -0.14588968 87.80890122] [ 0.24018602 0.96648675 0.09063135 11.7292778 ] [ 0.12054569 -0.12233797 0.98514068 -0.42641497] [ 0. 0. 0. 1. ]] SLAMing on 165.207719421 meters Centerline goodness : 0.930880 Centerline is valid? [False, False] Translation: X:87.80, Y:11.75, Z:-0.43 [[ 9.64263168e-01 -2.21664081e-01 -1.45126075e-01 8.78016253e+01] [ 2.35138782e-01 9.68392289e-01 8.32233626e-02 1.17472124e+01] [ 1.22091342e-01 -1.14373992e-01 9.85906839e-01 -4.32595205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.237719421 meters Centerline goodness : 0.930950 Centerline is valid? [False, False] Translation: X:87.80, Y:11.76, Z:-0.44 [[ 9.64408571e-01 -2.21452768e-01 -1.44481070e-01 8.78006721e+01] [ 2.34540522e-01 9.68750407e-01 8.07055929e-02 1.17568120e+01] [ 1.22093618e-01 -1.11719831e-01 9.86210843e-01 -4.36431184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26771942099998 meters Centerline goodness : 0.930772 Centerline is valid? [False, False] Translation: X:87.80, Y:11.77, Z:-0.44 [[ 9.65157171e-01 -2.17604085e-01 -1.45327549e-01 8.77951795e+01] [ 2.30092648e-01 9.70250062e-01 7.53139520e-02 1.17735356e+01] [ 1.24615439e-01 -1.06128601e-01 9.86512905e-01 -4.41428336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.29771942099998 meters Centerline goodness : 0.925827 Centerline is valid? [False, False] Translation: X:87.79, Y:11.78, Z:-0.45 [[ 9.65240038e-01 -2.18091903e-01 -1.44040237e-01 8.77929842e+01] [ 2.29958447e-01 9.70574591e-01 7.14428140e-02 1.17817309e+01] [ 1.24220695e-01 -1.02082734e-01 9.86989531e-01 -4.45071136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32771942099998 meters Centerline goodness : 0.929185 Centerline is valid? [False, False] Translation: X:87.79, Y:11.80, Z:-0.45 [[ 9.65408505e-01 -2.16705313e-01 -1.45000779e-01 8.77943810e+01] [ 2.28273433e-01 9.71193145e-01 6.83748040e-02 1.17967244e+01] [ 1.26006579e-01 -9.91094429e-02 9.87066188e-01 -4.50259297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.35771942099998 meters Centerline goodness : 0.927559 Centerline is valid? [False, False] Translation: X:87.79, Y:11.80, Z:-0.45 [[ 9.65208120e-01 -2.17776738e-01 -1.44729321e-01 8.77948291e+01] [ 2.29045178e-01 9.71162821e-01 6.61897303e-02 1.18045787e+01] [ 1.26141153e-01 -9.70364185e-02 9.87254953e-01 -4.52822662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38771942099999 meters Centerline goodness : 0.926635 Centerline is valid? [False, False] Translation: X:87.79, Y:11.82, Z:-0.45 [[ 9.65314594e-01 -2.16917193e-01 -1.45308866e-01 8.77942980e+01] [ 2.28121779e-01 9.71441128e-01 6.52885062e-02 1.18172315e+01] [ 1.26996810e-01 -9.61720649e-02 9.87229834e-01 -4.54390239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.417719421 meters Centerline goodness : 0.927208 Centerline is valid? [False, False] Translation: X:87.80, Y:11.83, Z:-0.45 [[ 9.64833441e-01 -2.17171068e-01 -1.48098473e-01 8.78003362e+01] [ 2.27257736e-01 9.72293026e-01 5.47740184e-02 1.18252108e+01] [ 1.32099781e-01 -8.65043284e-02 9.87454631e-01 -4.51825994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.447719421 meters Centerline goodness : 0.931297 Centerline is valid? [False, False] Translation: X:87.80, Y:11.83, Z:-0.45 [[ 9.64153900e-01 -2.20365020e-01 -1.47805663e-01 8.78002552e+01] [ 2.29883527e-01 9.71905298e-01 5.05337076e-02 1.18348474e+01] [ 1.32517245e-01 -8.27003584e-02 9.87724572e-01 -4.52987754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.477719421 meters Centerline goodness : 0.929767 Centerline is valid? [False, False] Translation: X:87.80, Y:11.84, Z:-0.45 [[ 9.63812791e-01 -2.21927486e-01 -1.47692571e-01 8.78009957e+01] [ 2.31161252e-01 9.71711362e-01 4.83891060e-02 1.18400486e+01] [ 1.32775677e-01 -8.07788390e-02 9.87848874e-01 -4.54404627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.507719421 meters Centerline goodness : 0.930988 Centerline is valid? [False, False] Translation: X:87.80, Y:11.85, Z:-0.46 [[ 9.63321609e-01 -2.24369833e-01 -1.47206166e-01 8.77997907e+01] [ 2.33163201e-01 9.71383994e-01 4.52554751e-02 1.18525224e+01] [ 1.32839750e-01 -7.79186379e-02 9.88069981e-01 -4.55698230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.537719421 meters Centerline goodness : 0.933246 Centerline is valid? [False, False] Translation: X:87.80, Y:11.86, Z:-0.46 [[ 9.63078281e-01 -2.25542168e-01 -1.47006647e-01 8.77990959e+01] [ 2.34067638e-01 9.71255288e-01 4.33071211e-02 1.18585422e+01] [ 1.33013402e-01 -7.61176464e-02 9.88186996e-01 -4.56241302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.567719421 meters Centerline goodness : 0.934379 Centerline is valid? [False, False] Translation: X:87.80, Y:11.87, Z:-0.46 [[ 9.62621519e-01 -2.27814158e-01 -1.46494096e-01 8.77976353e+01] [ 2.35818355e-01 9.70990756e-01 3.95809973e-02 1.18696382e+01] [ 1.33227301e-01 -7.26475165e-02 9.88419357e-01 -4.57194157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.597719421 meters Centerline goodness : 0.936736 Centerline is valid? [False, False] Translation: X:87.80, Y:11.88, Z:-0.46 [[ 9.62357144e-01 -2.29127094e-01 -1.46183115e-01 8.77972796e+01] [ 2.36832308e-01 9.70828603e-01 3.74470564e-02 1.18754228e+01] [ 1.33338614e-01 -7.06583268e-02 9.88548539e-01 -4.58149995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.627719421 meters Centerline goodness : 0.938872 Centerline is valid? [False, False] Translation: X:87.80, Y:11.89, Z:-0.46 [[ 9.61968784e-01 -2.31284592e-01 -1.45339249e-01 8.77954045e+01] [ 2.38479253e-01 9.70553695e-01 3.39583573e-02 1.18878213e+01] [ 1.33205500e-01 -6.73272751e-02 9.88798934e-01 -4.59686359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.657719421 meters Centerline goodness : 0.938961 Centerline is valid? [False, False] Translation: X:87.79, Y:11.89, Z:-0.46 [[ 9.61722592e-01 -2.32555436e-01 -1.44940074e-01 8.77945574e+01] [ 2.39433786e-01 9.70394195e-01 3.17264625e-02 1.18938994e+01] [ 1.33270845e-01 -6.52156065e-02 9.88931649e-01 -4.60345203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.687719421 meters Centerline goodness : 0.938768 Centerline is valid? [False, False] Translation: X:87.79, Y:11.91, Z:-0.46 [[ 9.61651667e-01 -2.32652612e-01 -1.45254375e-01 8.77941510e+01] [ 2.39344659e-01 9.70465265e-01 3.01878133e-02 1.19066184e+01] [ 1.33941052e-01 -6.37960200e-02 9.88933700e-01 -4.61832912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.717719421 meters Centerline goodness : 0.938955 Centerline is valid? [False, False] Translation: X:87.79, Y:11.91, Z:-0.46 [[ 9.61489939e-01 -2.33536964e-01 -1.44905427e-01 8.77933671e+01] [ 2.39960059e-01 9.70369954e-01 2.83076304e-02 1.19133940e+01] [ 1.34000994e-01 -6.19890166e-02 9.89040492e-01 -4.62789345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.747719421 meters Centerline goodness : 0.938659 Centerline is valid? [False, False] Translation: X:87.79, Y:11.93, Z:-0.47 [[ 9.61650351e-01 -2.32663906e-01 -1.45244996e-01 8.77939934e+01] [ 2.38845026e-01 9.70697910e-01 2.64314450e-02 1.19256625e+01] [ 1.34839370e-01 -6.01088531e-02 9.89042603e-01 -4.65690314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.777719421 meters Centerline goodness : 0.935286 Centerline is valid? [False, False] Translation: X:87.79, Y:11.94, Z:-0.47 [[ 9.62094694e-01 -2.30760086e-01 -1.45339542e-01 8.77939102e+01] [ 2.36658074e-01 9.71285302e-01 2.44503113e-02 1.19392781e+01] [ 1.35524005e-01 -5.79192908e-02 9.89079673e-01 -4.69460624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.807719421 meters Centerline goodness : 0.935784 Centerline is valid? [False, False] Translation: X:87.79, Y:11.94, Z:-0.47 [[ 9.62577524e-01 -2.28277794e-01 -1.46060806e-01 8.77938675e+01] [ 2.34399207e-01 9.71794372e-01 2.59366811e-02 1.19443940e+01] [ 1.36020300e-01 -5.92026033e-02 9.88935554e-01 -4.69957896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.837719421 meters Centerline goodness : 0.937275 Centerline is valid? [False, False] Translation: X:87.79, Y:11.95, Z:-0.47 [[ 9.62808858e-01 -2.27003354e-01 -1.46521605e-01 8.77934398e+01] [ 2.33095330e-01 9.72116587e-01 2.56107097e-02 1.19537686e+01] [ 1.36622366e-01 -5.88117200e-02 9.88875882e-01 -4.70798379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.867719421 meters Centerline goodness : 0.938750 Centerline is valid? [False, False] Translation: X:87.79, Y:11.96, Z:-0.47 [[ 9.62696163e-01 -2.27612461e-01 -1.46317003e-01 8.77927667e+01] [ 2.33511756e-01 9.72051249e-01 2.42616685e-02 1.19585490e+01] [ 1.36705368e-01 -5.75233556e-02 9.88940193e-01 -4.71204505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.897719421 meters Centerline goodness : 0.940279 Centerline is valid? [False, False] Translation: X:87.79, Y:11.97, Z:-0.47 [[ 9.62907191e-01 -2.26590374e-01 -1.46514651e-01 8.77919601e+01] [ 2.32471493e-01 9.72304120e-01 2.41185323e-02 1.19679341e+01] [ 1.36991772e-01 -5.72843880e-02 9.88914432e-01 -4.72126200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.927719421 meters Centerline goodness : 0.939923 Centerline is valid? [False, False] Translation: X:87.79, Y:11.97, Z:-0.47 [[ 9.62755834e-01 -2.27180908e-01 -1.46594813e-01 8.77920743e+01] [ 2.32894033e-01 9.72234058e-01 2.28321399e-02 1.19720452e+01] [ 1.37337444e-01 -5.61228332e-02 9.88933089e-01 -4.72590046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.957719421 meters Centerline goodness : 0.938527 Centerline is valid? [False, False] Translation: X:87.79, Y:11.98, Z:-0.47 [[ 9.62493131e-01 -2.28530397e-01 -1.46221856e-01 8.77922808e+01] [ 2.33891215e-01 9.72049759e-01 2.03510678e-02 1.19796637e+01] [ 1.37484082e-01 -5.37877706e-02 9.89042468e-01 -4.74244149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.987719421 meters Centerline goodness : 0.939239 Centerline is valid? [False, False] Translation: X:87.79, Y:11.98, Z:-0.47 [[ 9.62440474e-01 -2.28864050e-01 -1.46046502e-01 8.77920217e+01] [ 2.34068141e-01 9.72029232e-01 1.92685560e-02 1.19840859e+01] [ 1.37551590e-01 -5.27296715e-02 9.89090058e-01 -4.74993267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.01771942099998 meters Centerline goodness : 0.938706 Centerline is valid? [False, False] Translation: X:87.79, Y:11.99, Z:-0.48 [[ 9.62503350e-01 -2.28642325e-01 -1.45979407e-01 8.77913775e+01] [ 2.33790283e-01 9.72103204e-01 1.89067331e-02 1.19890668e+01] [ 1.37584170e-01 -5.23263610e-02 9.89106945e-01 -4.75565144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04771942099998 meters Centerline goodness : 0.940014 Centerline is valid? [False, False] Translation: X:87.79, Y:12.00, Z:-0.48 [[ 9.62986074e-01 -2.26407724e-01 -1.46278378e-01 8.77903534e+01] [ 2.31593216e-01 9.72622798e-01 1.92217610e-02 1.19997911e+01] [ 1.37921730e-01 -5.23873682e-02 9.89056702e-01 -4.76692909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.07771942099998 meters Centerline goodness : 0.942030 Centerline is valid? [False, False] Translation: X:87.79, Y:12.01, Z:-0.48 [[ 9.63690986e-01 -2.23182648e-01 -1.46591917e-01 8.77877799e+01] [ 2.28518136e-01 9.73325758e-01 2.04066357e-02 1.20115589e+01] [ 1.38127282e-01 -5.31646025e-02 9.88986541e-01 -4.76877361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10771942099998 meters Centerline goodness : 0.941984 Centerline is valid? [False, False] Translation: X:87.79, Y:12.02, Z:-0.48 [[ 9.64214359e-01 -2.20524915e-01 -1.47171435e-01 8.77869852e+01] [ 2.26074536e-01 9.73863792e-01 2.19001965e-02 1.20165298e+01] [ 1.38495393e-01 -5.43881979e-02 9.88868520e-01 -4.76885464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.13771942099999 meters Centerline goodness : 0.942816 Centerline is valid? [False, False] Translation: X:87.78, Y:12.03, Z:-0.48 [[ 9.64396649e-01 -2.19938566e-01 -1.46854113e-01 8.77841850e+01] [ 2.25211268e-01 9.74102818e-01 2.00894281e-02 1.20288740e+01] [ 1.38632565e-01 -5.24473782e-02 9.88954137e-01 -4.76737039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.167719421 meters Centerline goodness : 0.946616 Centerline is valid? [False, False] Translation: X:87.78, Y:12.04, Z:-0.48 [[ 9.64454111e-01 -2.19810578e-01 -1.46668259e-01 8.77818855e+01] [ 2.24976562e-01 9.74170870e-01 1.94077985e-02 1.20352190e+01] [ 1.38613906e-01 -5.17148517e-02 9.88995328e-01 -4.76163294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.197719421 meters Centerline goodness : 0.949679 Centerline is valid? [False, False] Translation: X:87.78, Y:12.05, Z:-0.48 [[ 9.64764753e-01 -2.18693123e-01 -1.46295215e-01 8.77787596e+01] [ 2.23660679e-01 9.74496929e-01 1.82108729e-02 1.20470063e+01] [ 1.38581645e-01 -5.02896955e-02 9.89073341e-01 -4.75857742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.227719421 meters Centerline goodness : 0.949787 Centerline is valid? [False, False] Translation: X:87.78, Y:12.05, Z:-0.48 [[ 9.65284135e-01 -2.15999125e-01 -1.46870408e-01 8.77789629e+01] [ 2.21197769e-01 9.75027170e-01 1.98384507e-02 1.20519392e+01] [ 1.38917550e-01 -5.16371483e-02 9.88956783e-01 -4.76743781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.257719421 meters Centerline goodness : 0.949977 Centerline is valid? [False, False] Translation: X:87.78, Y:12.06, Z:-0.48 [[ 9.66350367e-01 -2.10554604e-01 -1.47762401e-01 8.77775274e+01] [ 2.16201353e-01 9.76076194e-01 2.30702814e-02 1.20625958e+01] [ 1.39369808e-01 -5.42404059e-02 9.88753779e-01 -4.77368520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.287719421 meters Centerline goodness : 0.949328 Centerline is valid? [False, False] Translation: X:87.78, Y:12.07, Z:-0.48 [[ 9.66984076e-01 -2.07088426e-01 -1.48513237e-01 8.77773688e+01] [ 2.13035578e-01 9.76720813e-01 2.51454777e-02 1.20673500e+01] [ 1.39848633e-01 -5.59538799e-02 9.88590675e-01 -4.77699407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.317719421 meters Centerline goodness : 0.949769 Centerline is valid? [False, False] Translation: X:87.79, Y:12.08, Z:-0.48 [[ 9.67997432e-01 -1.99933603e-01 -1.51682317e-01 8.77854344e+01] [ 2.04930946e-01 9.78612748e-01 1.78996305e-02 1.20803768e+01] [ 1.44859511e-01 -4.84111972e-02 9.88267210e-01 -4.76264675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.347719421 meters Centerline goodness : 0.948575 Centerline is valid? [False, False] Translation: X:87.79, Y:12.08, Z:-0.48 [[ 9.68662467e-01 -1.95913691e-01 -1.52678911e-01 8.77865551e+01] [ 2.01257053e-01 9.79329901e-01 2.02124693e-02 1.20849654e+01] [ 1.45563123e-01 -5.03067681e-02 9.88069130e-01 -4.77190320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.377719421 meters Centerline goodness : 0.946015 Centerline is valid? [False, False] Translation: X:87.80, Y:12.10, Z:-0.48 [[ 9.69862123e-01 -1.85295993e-01 -1.58217755e-01 8.77983148e+01] [ 1.90101788e-01 9.81639383e-01 1.56662530e-02 1.20980821e+01] [ 1.52409886e-01 -4.52715835e-02 9.87279955e-01 -4.76402305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.407719421 meters Centerline goodness : 0.942887 Centerline is valid? [False, False] Translation: X:87.82, Y:12.11, Z:-0.47 [[ 9.71716503e-01 -1.74482556e-01 -1.59131628e-01 8.78153610e+01] [ 1.77653928e-01 9.84075851e-01 5.81395955e-03 1.21127972e+01] [ 1.55583158e-01 -3.39198793e-02 9.87240256e-01 -4.73927845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.437719421 meters Centerline goodness : 0.946289 Centerline is valid? [False, False] Translation: X:87.82, Y:12.12, Z:-0.47 [[ 9.72095553e-01 -1.69478552e-01 -1.62195119e-01 8.78189539e+01] [ 1.72708952e-01 9.84955088e-01 5.92398521e-03 1.21174169e+01] [ 1.58750919e-01 -3.37712287e-02 9.86740923e-01 -4.70722840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.467719421 meters Centerline goodness : 0.948718 Centerline is valid? [False, False] Translation: X:87.82, Y:12.12, Z:-0.47 [[ 9.73272777e-01 -1.66467519e-01 -1.58204507e-01 8.78247096e+01] [ 1.68370996e-01 9.85722717e-01 -1.39002304e-03 1.21231319e+01] [ 1.56177170e-01 -2.52841788e-02 9.87405389e-01 -4.68738835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.497719421 meters Centerline goodness : 0.952605 Centerline is valid? [False, True] Translation: X:87.84, Y:12.13, Z:-0.46 [[ 9.74415335e-01 -1.62196213e-01 -1.55586452e-01 8.78374263e+01] [ 1.61928596e-01 9.86696254e-01 -1.44786941e-02 1.21309037e+01] [ 1.55864959e-01 -1.10856342e-02 9.87716165e-01 -4.62960765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.527719421 meters Centerline goodness : 0.951504 Centerline is valid? [True, True] Translation: X:87.86, Y:12.14, Z:-0.46 [[ 9.74713179e-01 -1.61870082e-01 -1.54052900e-01 8.78645951e+01] [ 1.60044293e-01 9.86811566e-01 -2.42643094e-02 1.21398121e+01] [ 1.55948850e-01 -1.00454537e-03 9.87764621e-01 -4.57963724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.557719421 meters Centerline goodness : 0.953511 Centerline is valid? [True, True] Translation: X:87.89, Y:12.15, Z:-0.45 [[ 9.75388566e-01 -1.57756286e-01 -1.54045773e-01 8.78917194e+01] [ 1.55872336e-01 9.87478032e-01 -2.43094774e-02 1.21473812e+01] [ 1.55951789e-01 -3.00288156e-04 9.87764622e-01 -4.52521071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.587719421 meters Centerline goodness : 0.952410 Centerline is valid? [True, True] Translation: X:87.92, Y:12.15, Z:-0.45 [[ 9.75827856e-01 -1.55023106e-01 -1.54038414e-01 8.79200862e+01] [ 1.53097948e-01 9.87910827e-01 -2.43560165e-02 1.21532381e+01] [ 1.55951963e-01 1.84314184e-04 9.87764623e-01 -4.48293680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.617719421 meters Centerline goodness : 0.951441 Centerline is valid? [True, True] Translation: X:87.95, Y:12.16, Z:-0.44 [[ 9.76532255e-01 -1.50529758e-01 -1.54030991e-01 8.79478532e+01] [ 1.48541613e-01 9.88605022e-01 -2.44028712e-02 1.21578693e+01] [ 1.55949170e-01 9.50179016e-04 9.87764625e-01 -4.44362497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.647719421 meters Centerline goodness : 0.948502 Centerline is valid? [True, False] Translation: X:87.95, Y:12.15, Z:-0.44 [[ 9.76645109e-01 -1.48569989e-01 -1.55213689e-01 8.79505617e+01] [ 1.46904100e-01 9.88901276e-01 -2.22137667e-02 1.21527686e+01] [ 1.56791314e-01 -1.10656077e-03 9.87631135e-01 -4.44358842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.677719421 meters Centerline goodness : 0.950256 Centerline is valid? [False, True] Translation: X:87.95, Y:12.15, Z:-0.44 [[ 9.76583176e-01 -1.48619362e-01 -1.55555734e-01 8.79511418e+01] [ 1.47043013e-01 9.88892975e-01 -2.16572606e-02 1.21488640e+01] [ 1.57046661e-01 -1.72326741e-03 9.87589680e-01 -4.43804418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.707719421 meters Centerline goodness : 0.953581 Centerline is valid? [True, True] Translation: X:87.98, Y:12.15, Z:-0.43 [[ 9.75588667e-01 -1.55496902e-01 -1.55072458e-01 8.79794534e+01] [ 1.53523450e-01 9.87836338e-01 -2.46965363e-02 1.21473358e+01] [ 1.57026444e-01 2.86402184e-04 9.87594357e-01 -4.34171329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.737719421 meters Centerline goodness : 0.951199 Centerline is valid? [True, True] Translation: X:88.01, Y:12.15, Z:-0.43 [[ 9.74901717e-01 -1.59754628e-01 -1.55064830e-01 8.80086097e+01] [ 1.57827062e-01 9.87156693e-01 -2.47443407e-02 1.21481331e+01] [ 1.57026307e-01 -3.50126324e-04 9.87594358e-01 -4.29782383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76771942099998 meters Centerline goodness : 0.947407 Centerline is valid? [True, False] Translation: X:88.01, Y:12.14, Z:-0.43 [[ 9.73769532e-01 -1.66196809e-01 -1.55407588e-01 8.80135183e+01] [ 1.63800973e-01 9.86090588e-01 -2.81885349e-02 1.21384928e+01] [ 1.57930805e-01 1.99322227e-03 9.87448170e-01 -4.31119643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.79771942099998 meters Centerline goodness : 0.943841 Centerline is valid? [False, False] Translation: X:88.02, Y:12.13, Z:-0.43 [[ 9.72710780e-01 -1.72405684e-01 -1.55274010e-01 8.80173564e+01] [ 1.69482426e-01 9.85014408e-01 -3.19738012e-02 1.21298524e+01] [ 1.58459602e-01 4.78504520e-03 9.87353867e-01 -4.32244394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82771942099998 meters Centerline goodness : 0.943276 Centerline is valid? [False, False] Translation: X:88.02, Y:12.12, Z:-0.43 [[ 9.72765363e-01 -1.71488584e-01 -1.55946187e-01 8.80194654e+01] [ 1.68859430e-01 9.85181831e-01 -3.00541630e-02 1.21247375e+01] [ 1.58789295e-01 2.90266456e-03 9.87308227e-01 -4.32645970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.85771942099998 meters Centerline goodness : 0.942235 Centerline is valid? [False, False] Translation: X:88.02, Y:12.12, Z:-0.43 [[ 9.72863221e-01 -1.70266382e-01 -1.56673264e-01 8.80215726e+01] [ 1.67930075e-01 9.85397506e-01 -2.81290784e-02 1.21202257e+01] [ 1.59174880e-01 1.05559279e-03 9.87249838e-01 -4.33015132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88771942099999 meters Centerline goodness : 0.942235 Centerline is valid? [False, False] Translation: X:88.02, Y:12.12, Z:-0.43 [[ 9.72863221e-01 -1.70266382e-01 -1.56673264e-01 8.80215726e+01] [ 1.67930075e-01 9.85397506e-01 -2.81290784e-02 1.21202257e+01] [ 1.59174880e-01 1.05559279e-03 9.87249838e-01 -4.33015132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.917719421 meters Centerline goodness : 0.938078 Centerline is valid? [False, False] Translation: X:88.03, Y:12.11, Z:-0.43 [[ 9.73264317e-01 -1.66650226e-01 -1.58064136e-01 8.80262103e+01] [ 1.64915999e-01 9.86012667e-01 -2.41191775e-02 1.21123756e+01] [ 1.59872707e-01 -2.59297017e-03 9.87134233e-01 -4.34525995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.947719421 meters Centerline goodness : 0.936342 Centerline is valid? [False, False] Translation: X:88.03, Y:12.11, Z:-0.44 [[ 9.73545731e-01 -1.64080891e-01 -1.59016257e-01 8.80297217e+01] [ 1.62720407e-01 9.86435120e-01 -2.16292098e-02 1.21092660e+01] [ 1.60408161e-01 -4.81816514e-03 9.87039010e-01 -4.36037596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.977719421 meters Centerline goodness : 0.929974 Centerline is valid? [False, False] Translation: X:88.03, Y:12.10, Z:-0.44 [[ 9.74492545e-01 -1.56479041e-01 -1.60868236e-01 8.80345763e+01] [ 1.56188529e-01 9.87620391e-01 -1.45295019e-02 1.21047941e+01] [ 1.61150313e-01 -1.09668818e-02 9.86868940e-01 -4.38300213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.007719421 meters Centerline goodness : 0.928813 Centerline is valid? [False, False] Translation: X:88.04, Y:12.10, Z:-0.44 [[ 9.74877435e-01 -1.52807328e-01 -1.62061430e-01 8.80382623e+01] [ 1.53015412e-01 9.88159515e-01 -1.12719173e-02 1.21026962e+01] [ 1.61864975e-01 -1.38091586e-02 9.86716290e-01 -4.39782668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.037719421 meters Centerline goodness : 0.932446 Centerline is valid? [False, False] Translation: X:88.05, Y:12.10, Z:-0.44 [[ 9.76960291e-01 -1.45600074e-01 -1.56042331e-01 8.80457563e+01] [ 1.45305946e-01 9.89296668e-01 -1.33523274e-02 1.20980660e+01] [ 1.56316258e-01 -9.62918497e-03 9.87660117e-01 -4.40097192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.067719421 meters Centerline goodness : 0.934950 Centerline is valid? [False, False] Translation: X:88.05, Y:12.10, Z:-0.44 [[ 9.78174927e-01 -1.42508074e-01 -1.51212637e-01 8.80533207e+01] [ 1.41208912e-01 9.89790672e-01 -1.93511923e-02 1.20969896e+01] [ 1.52426558e-01 -2.42372083e-03 9.88311828e-01 -4.39277203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.097719421 meters Centerline goodness : 0.939982 Centerline is valid? [False, False] Translation: X:88.06, Y:12.09, Z:-0.44 [[ 9.80166418e-01 -1.36623486e-01 -1.43554227e-01 8.80627624e+01] [ 1.35865667e-01 9.90611953e-01 -1.51155027e-02 1.20923465e+01] [ 1.44271666e-01 -4.68838265e-03 9.89527011e-01 -4.37300913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.127719421 meters Centerline goodness : 0.940350 Centerline is valid? [False, False] Translation: X:88.06, Y:12.09, Z:-0.44 [[ 9.80305119e-01 -1.35148898e-01 -1.44002251e-01 8.80632681e+01] [ 1.34600415e-01 9.90806765e-01 -1.35898277e-02 1.20895935e+01] [ 1.44515055e-01 -6.06058509e-03 9.89484041e-01 -4.36902075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.157719421 meters Centerline goodness : 0.938641 Centerline is valid? [False, False] Translation: X:88.07, Y:12.08, Z:-0.44 [[ 9.80688160e-01 -1.31220915e-01 -1.45023460e-01 8.80664962e+01] [ 1.31222746e-01 9.91306471e-01 -9.59533647e-03 1.20811874e+01] [ 1.45021804e-01 -9.62034386e-03 9.89381688e-01 -4.37581610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.187719421 meters Centerline goodness : 0.936678 Centerline is valid? [False, False] Translation: X:88.07, Y:12.08, Z:-0.44 [[ 9.80831258e-01 -1.29857534e-01 -1.45282703e-01 8.80680363e+01] [ 1.30110300e-01 9.91468831e-01 -7.80167400e-03 1.20766652e+01] [ 1.45056378e-01 -1.12506503e-02 9.89359424e-01 -4.38291870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.217719421 meters Centerline goodness : 0.934371 Centerline is valid? [False, False] Translation: X:88.07, Y:12.07, Z:-0.44 [[ 9.81206043e-01 -1.26201732e-01 -1.45971994e-01 8.80712363e+01] [ 1.27004351e-01 9.91894704e-01 -3.84589002e-03 1.20697127e+01] [ 1.45274206e-01 -1.47654679e-02 9.89281247e-01 -4.39879418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.247719421 meters Centerline goodness : 0.930738 Centerline is valid? [False, False] Translation: X:88.07, Y:12.06, Z:-0.44 [[ 9.81634987e-01 -1.21959523e-01 -1.46692284e-01 8.80733401e+01] [ 1.23383899e-01 9.92358823e-01 6.15864968e-04 1.20616267e+01] [ 1.45496272e-01 -1.87040205e-02 9.89181982e-01 -4.40276939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.277719421 meters Centerline goodness : 0.931056 Centerline is valid? [False, False] Translation: X:88.07, Y:12.06, Z:-0.44 [[ 9.81557538e-01 -1.22769998e-01 -1.46534387e-01 8.80728703e+01] [ 1.24131557e-01 9.92265758e-01 1.48779021e-04 1.20565720e+01] [ 1.45382789e-01 -1.83355769e-02 9.89205566e-01 -4.39340288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.307719421 meters Centerline goodness : 0.932124 Centerline is valid? [False, False] Translation: X:88.08, Y:12.04, Z:-0.44 [[ 9.81451228e-01 -1.23197701e-01 -1.46887075e-01 8.80753615e+01] [ 1.24607645e-01 9.92206014e-01 4.00487264e-04 1.20434222e+01] [ 1.45692900e-01 -1.86963113e-02 9.89153187e-01 -4.38967836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.337719421 meters Centerline goodness : 0.931350 Centerline is valid? [False, False] Translation: X:88.08, Y:12.04, Z:-0.44 [[ 9.81190834e-01 -1.25206195e-01 -1.46928404e-01 8.80766369e+01] [ 1.26468162e-01 9.91970377e-01 -7.58427138e-04 1.20381582e+01] [ 1.45843584e-01 -1.78376034e-02 9.89146839e-01 -4.39025496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.367719421 meters Centerline goodness : 0.929599 Centerline is valid? [False, False] Translation: X:88.08, Y:12.03, Z:-0.44 [[ 9.81138795e-01 -1.25444965e-01 -1.47072177e-01 8.80796687e+01] [ 1.26920356e-01 9.91912696e-01 6.52956515e-04 1.20268177e+01] [ 1.45800850e-01 -1.93070940e-02 9.89125547e-01 -4.40175756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.397719421 meters Centerline goodness : 0.929835 Centerline is valid? [False, False] Translation: X:88.08, Y:12.02, Z:-0.44 [[ 9.81168310e-01 -1.24834928e-01 -1.47393989e-01 8.80813627e+01] [ 1.26495753e-01 9.91965308e-01 1.91125052e-03 1.20205218e+01] [ 1.45971133e-01 -2.05199721e-02 9.89076013e-01 -4.40402425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.427719421 meters Centerline goodness : 0.928983 Centerline is valid? [False, False] Translation: X:88.08, Y:12.01, Z:-0.44 [[ 9.81011016e-01 -1.26330831e-01 -1.47166256e-01 8.80822017e+01] [ 1.27982005e-01 9.91774916e-01 1.76676320e-03 1.20066816e+01] [ 1.45732605e-01 -2.05678467e-02 9.89110192e-01 -4.39613037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.457719421 meters Centerline goodness : 0.930929 Centerline is valid? [False, False] Translation: X:88.08, Y:12.00, Z:-0.44 [[ 9.80709615e-01 -1.28644657e-01 -1.47170662e-01 8.80829279e+01] [ 1.30182636e-01 9.91489687e-01 8.25653867e-04 1.19995660e+01] [ 1.45811978e-01 -1.99687914e-02 9.89110770e-01 -4.38880148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.487719421 meters Centerline goodness : 0.927401 Centerline is valid? [False, False] Translation: X:88.09, Y:11.98, Z:-0.44 [[ 9.80023545e-01 -1.34004960e-01 -1.46957549e-01 8.80851525e+01] [ 1.35296709e-01 9.90804381e-01 -1.21627663e-03 1.19845487e+01] [ 1.45769171e-01 -1.86908930e-02 9.89142052e-01 -4.37959657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.51771942099998 meters Centerline goodness : 0.927288 Centerline is valid? [False, False] Translation: X:88.09, Y:11.98, Z:-0.44 [[ 9.79649768e-01 -1.36792694e-01 -1.46881213e-01 8.80863064e+01] [ 1.37939807e-01 9.90437715e-01 -2.39610976e-03 1.19774929e+01] [ 1.45804463e-01 -1.79134178e-02 9.89151236e-01 -4.37625981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54771942099998 meters Centerline goodness : 0.928589 Centerline is valid? [False, False] Translation: X:88.09, Y:11.97, Z:-0.44 [[ 9.78813192e-01 -1.43092490e-01 -1.46455705e-01 8.80880402e+01] [ 1.43863024e-01 9.89583025e-01 -5.37277722e-03 1.19667893e+01] [ 1.45698883e-01 -1.58106153e-02 9.89202638e-01 -4.36873940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.57771942099998 meters Centerline goodness : 0.930589 Centerline is valid? [False, False] Translation: X:88.09, Y:11.96, Z:-0.44 [[ 9.78408905e-01 -1.45950972e-01 -1.46336353e-01 8.80883512e+01] [ 1.46517295e-01 9.89183624e-01 -6.95989274e-03 1.19616797e+01] [ 1.45769327e-01 -1.46311856e-02 9.89210408e-01 -4.36012396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60771942099998 meters Centerline goodness : 0.932472 Centerline is valid? [False, False] Translation: X:88.09, Y:11.95, Z:-0.43 [[ 9.77698581e-01 -1.51425222e-01 -1.45519373e-01 8.80871356e+01] [ 1.51603727e-01 9.88391498e-01 -9.92756621e-03 1.19496057e+01] [ 1.45333395e-01 -1.23551119e-02 9.89305593e-01 -4.33321317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.63771942099999 meters Centerline goodness : 0.933896 Centerline is valid? [False, False] Translation: X:88.09, Y:11.94, Z:-0.43 [[ 9.77342656e-01 -1.53935391e-01 -1.45276387e-01 8.80870893e+01] [ 1.53923121e-01 9.88017139e-01 -1.13932664e-02 1.19437779e+01] [ 1.45289387e-01 -1.12262697e-02 9.89325510e-01 -4.32344228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.667719421 meters Centerline goodness : 0.934410 Centerline is valid? [False, False] Translation: X:88.09, Y:11.93, Z:-0.43 [[ 9.77222608e-01 -1.54951898e-01 -1.45003046e-01 8.80874500e+01] [ 1.55018571e-01 9.87851327e-01 -1.09086352e-02 1.19339993e+01] [ 1.44931765e-01 -1.18180001e-02 9.89371072e-01 -4.31568006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.697719421 meters Centerline goodness : 0.934976 Centerline is valid? [False, False] Translation: X:88.09, Y:11.93, Z:-0.43 [[ 9.77612289e-01 -1.51712114e-01 -1.45800026e-01 8.80899948e+01] [ 1.52359806e-01 9.88301836e-01 -6.78012188e-03 1.19256153e+01] [ 1.45123060e-01 -1.55857333e-02 9.89290848e-01 -4.31941592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.727719421 meters Centerline goodness : 0.935300 Centerline is valid? [False, False] Translation: X:88.09, Y:11.92, Z:-0.43 [[ 9.77854337e-01 -1.49744938e-01 -1.46209951e-01 8.80908226e+01] [ 1.50712796e-01 9.88567353e-01 -4.49898384e-03 1.19209435e+01] [ 1.45212084e-01 -1.76363596e-02 9.89243352e-01 -4.31772842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.757719421 meters Centerline goodness : 0.931823 Centerline is valid? [False, False] Translation: X:88.09, Y:11.91, Z:-0.43 [[ 9.78467094e-01 -1.45352199e-01 -1.46543117e-01 8.80923188e+01] [ 1.46959911e-01 9.89142438e-01 1.46092357e-04 1.19119783e+01] [ 1.44930781e-01 -2.16789100e-02 9.89204273e-01 -4.32380793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.787719421 meters Centerline goodness : 0.931343 Centerline is valid? [False, False] Translation: X:88.09, Y:11.91, Z:-0.43 [[ 9.78652721e-01 -1.43748220e-01 -1.46885336e-01 8.80933316e+01] [ 1.45619380e-01 9.89338647e-01 2.00927804e-03 1.19077777e+01] [ 1.45030509e-01 -2.33557370e-02 9.89151485e-01 -4.32496473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.817719421 meters Centerline goodness : 0.929369 Centerline is valid? [False, False] Translation: X:88.09, Y:11.90, Z:-0.43 [[ 9.78949157e-01 -1.41441659e-01 -1.47148921e-01 8.80948254e+01] [ 1.43671828e-01 9.89614766e-01 4.58488501e-03 1.18962990e+01] [ 1.44972252e-01 -2.56295238e-02 9.89103722e-01 -4.32399555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.847719421 meters Centerline goodness : 0.928296 Centerline is valid? [False, False] Translation: X:88.10, Y:11.89, Z:-0.43 [[ 9.78900027e-01 -1.41438083e-01 -1.47478832e-01 8.80964645e+01] [ 1.43743639e-01 9.89602127e-01 5.03953004e-03 1.18901279e+01] [ 1.45232584e-01 -2.61323400e-02 9.89052373e-01 -4.32404676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.877719421 meters Centerline goodness : 0.928547 Centerline is valid? [False, False] Translation: X:88.10, Y:11.88, Z:-0.43 [[ 9.78900192e-01 -1.41847461e-01 -1.47084032e-01 8.80980962e+01] [ 1.44261628e-01 9.89522447e-01 5.82312168e-03 1.18801080e+01] [ 1.44716956e-01 -2.69188368e-02 9.89106859e-01 -4.33138587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.907719421 meters Centerline goodness : 0.926307 Centerline is valid? [False, False] Translation: X:88.10, Y:11.88, Z:-0.43 [[ 9.79031300e-01 -1.40679266e-01 -1.47333153e-01 8.80990419e+01] [ 1.43338022e-01 9.89645121e-01 7.53300470e-03 1.18755167e+01] [ 1.44747798e-01 -2.84934901e-02 9.89058237e-01 -4.33107209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.937719421 meters Centerline goodness : 0.927666 Centerline is valid? [False, False] Translation: X:88.11, Y:11.87, Z:-0.43 [[ 9.79093248e-01 -1.35400274e-01 -1.51799796e-01 8.81065266e+01] [ 1.38048555e-01 9.90400759e-01 6.99522417e-03 1.18654714e+01] [ 1.49395478e-01 -2.78047192e-02 9.88386508e-01 -4.28795878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.967719421 meters Centerline goodness : 0.926760 Centerline is valid? [False, False] Translation: X:88.11, Y:11.86, Z:-0.43 [[ 9.79160195e-01 -1.34334697e-01 -1.52313825e-01 8.81077584e+01] [ 1.37191144e-01 9.90509370e-01 8.35335402e-03 1.18601012e+01] [ 1.49746125e-01 -2.90753797e-02 9.88296879e-01 -4.28390589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.997719421 meters Centerline goodness : 0.924327 Centerline is valid? [False, False] Translation: X:88.13, Y:11.85, Z:-0.43 [[ 9.80314511e-01 -1.28616320e-01 -1.49804213e-01 8.81272622e+01] [ 1.29593766e-01 9.91561812e-01 -3.26013956e-03 1.18529894e+01] [ 1.48959444e-01 -1.62177300e-02 9.88710306e-01 -4.27614650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.027719421 meters Centerline goodness : 0.920552 Centerline is valid? [False, False] Translation: X:88.13, Y:11.85, Z:-0.43 [[ 9.80409428e-01 -1.27202157e-01 -1.50389375e-01 8.81295071e+01] [ 1.28480872e-01 9.91711233e-01 -1.22316156e-03 1.18490157e+01] [ 1.49298422e-01 -1.81229589e-02 9.88626087e-01 -4.28439357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.057719421 meters Centerline goodness : 0.917090 Centerline is valid? [False, False] Translation: X:88.14, Y:11.84, Z:-0.43 [[ 9.80318692e-01 -1.23463215e-01 -1.54052251e-01 8.81361376e+01] [ 1.24841613e-01 9.92176414e-01 -7.31724469e-04 1.18389831e+01] [ 1.52937351e-01 -1.85148083e-02 9.88062431e-01 -4.25986182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.087719421 meters Centerline goodness : 0.917303 Centerline is valid? [False, False] Translation: X:88.14, Y:11.83, Z:-0.43 [[ 9.80146924e-01 -1.25567814e-01 -1.53442925e-01 8.81356955e+01] [ 1.26727629e-01 9.91935028e-01 -2.23807798e-03 1.18338761e+01] [ 1.52486443e-01 -1.72518128e-02 9.88154978e-01 -4.25795856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.117719421 meters Centerline goodness : 0.918438 Centerline is valid? [False, False] Translation: X:88.14, Y:11.82, Z:-0.43 [[ 9.80227603e-01 -1.26163216e-01 -1.52435853e-01 8.81369403e+01] [ 1.27354572e-01 9.91855312e-01 -1.96271857e-03 1.18226308e+01] [ 1.51441933e-01 -1.74894919e-02 9.88311418e-01 -4.27531683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.147719421 meters Centerline goodness : 0.916845 Centerline is valid? [False, False] Translation: X:88.14, Y:11.81, Z:-0.43 [[ 9.80224012e-01 -1.27187032e-01 -1.51605885e-01 8.81377248e+01] [ 1.28414955e-01 9.91719060e-01 -1.70430088e-03 1.18091705e+01] [ 1.50567211e-01 -1.77978661e-02 9.88439554e-01 -4.28133329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.177719421 meters Centerline goodness : 0.917101 Centerline is valid? [False, False] Translation: X:88.14, Y:11.80, Z:-0.43 [[ 9.79926507e-01 -1.29012755e-01 -1.51986017e-01 8.81389693e+01] [ 1.30062733e-01 9.91501059e-01 -3.05530146e-03 1.18034401e+01] [ 1.51088470e-01 -1.67737459e-02 9.88377922e-01 -4.27557413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.207719421 meters Centerline goodness : 0.914207 Centerline is valid? [False, False] Translation: X:88.14, Y:11.79, Z:-0.43 [[ 9.79372799e-01 -1.32581372e-01 -1.52483114e-01 8.81428979e+01] [ 1.33597296e-01 9.91029127e-01 -3.60986555e-03 1.17924856e+01] [ 1.51593808e-01 -1.68359276e-02 9.88299483e-01 -4.29283066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.237719421 meters Centerline goodness : 0.918187 Centerline is valid? [False, False] Translation: X:88.14, Y:11.79, Z:-0.43 [[ 9.78955267e-01 -1.35660644e-01 -1.52455815e-01 8.81442674e+01] [ 1.36502543e-01 9.90627203e-01 -4.98007064e-03 1.17865874e+01] [ 1.51702477e-01 -1.59353401e-02 9.88297740e-01 -4.29748632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26771942099998 meters Centerline goodness : 0.915692 Centerline is valid? [False, False] Translation: X:88.15, Y:11.78, Z:-0.43 [[ 9.77414128e-01 -1.46005127e-01 -1.52787844e-01 8.81486059e+01] [ 1.45647480e-01 9.89243182e-01 -1.35918660e-02 1.17751337e+01] [ 1.53128815e-01 -8.96828254e-03 9.88165541e-01 -4.29313646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.29771942099998 meters Centerline goodness : 0.920119 Centerline is valid? [False, False] Translation: X:88.15, Y:11.77, Z:-0.43 [[ 9.76874613e-01 -1.49911587e-01 -1.52454934e-01 8.81493251e+01] [ 1.49343621e-01 9.88667967e-01 -1.52359301e-02 1.17680666e+01] [ 1.53011352e-01 -7.88457856e-03 9.88192977e-01 -4.29304434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32771942099998 meters Centerline goodness : 0.920422 Centerline is valid? [False, False] Translation: X:88.15, Y:11.76, Z:-0.43 [[ 9.76352343e-01 -1.54030491e-01 -1.51692814e-01 8.81499187e+01] [ 1.53283214e-01 9.88041530e-01 -1.66790802e-02 1.17614882e+01] [ 1.52447886e-01 -6.96730304e-03 9.88286952e-01 -4.30157539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.35771942099998 meters Centerline goodness : 0.923969 Centerline is valid? [False, False] Translation: X:88.15, Y:11.75, Z:-0.43 [[ 9.75113156e-01 -1.63651866e-01 -1.49574062e-01 8.81511429e+01] [ 1.62464837e-01 9.86507437e-01 -2.02052614e-02 1.17505536e+01] [ 1.50862554e-01 -4.59810954e-03 9.88544054e-01 -4.32760958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38771942099999 meters Centerline goodness : 0.927490 Centerline is valid? [False, False] Translation: X:88.15, Y:11.74, Z:-0.43 [[ 9.74027253e-01 -1.71463127e-01 -1.47889510e-01 8.81514613e+01] [ 1.70157965e-01 9.85181605e-01 -2.15283911e-02 1.17379018e+01] [ 1.49389350e-01 -4.19533844e-03 9.88769549e-01 -4.33268625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.417719421 meters Centerline goodness : 0.928985 Centerline is valid? [False, False] Translation: X:88.15, Y:11.73, Z:-0.43 [[ 9.73435300e-01 -1.75351553e-01 -1.47226182e-01 8.81521000e+01] [ 1.73860497e-01 9.84500776e-01 -2.30379880e-02 1.17320617e+01] [ 1.48984038e-01 -3.17082649e-03 9.88834517e-01 -4.33763475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.447719421 meters Centerline goodness : 0.932296 Centerline is valid? [False, False] Translation: X:88.15, Y:11.72, Z:-0.44 [[ 9.71733554e-01 -1.86654653e-01 -1.44547367e-01 8.81537897e+01] [ 1.84025940e-01 9.82417536e-01 -3.14680478e-02 1.17249835e+01] [ 1.47879526e-01 3.97809279e-03 9.88997381e-01 -4.36963810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.477719421 meters Centerline goodness : 0.933256 Centerline is valid? [False, False] Translation: X:88.16, Y:11.72, Z:-0.44 [[ 9.71134632e-01 -1.90213840e-01 -1.43931312e-01 8.81550580e+01] [ 1.87332383e-01 9.81727208e-01 -3.34405159e-02 1.17208837e+01] [ 1.47662134e-01 5.51224752e-03 9.89022502e-01 -4.38161870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.507719421 meters Centerline goodness : 0.931843 Centerline is valid? [False, False] Translation: X:88.16, Y:11.71, Z:-0.44 [[ 9.70402882e-01 -1.94323142e-01 -1.43376300e-01 8.81581148e+01] [ 1.91436529e-01 9.80922993e-01 -3.37955306e-02 1.17122213e+01] [ 1.47208363e-01 5.34781911e-03 9.89091047e-01 -4.40772039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.537719421 meters Centerline goodness : 0.933967 Centerline is valid? [False, False] Translation: X:88.16, Y:11.71, Z:-0.44 [[ 9.70442883e-01 -1.94162525e-01 -1.43323145e-01 8.81581449e+01] [ 1.91596628e-01 9.80964051e-01 -3.16269431e-02 1.17064414e+01] [ 1.46735620e-01 3.23191060e-03 9.89170467e-01 -4.40641420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.567719421 meters Centerline goodness : 0.939813 Centerline is valid? [False, False] Translation: X:88.16, Y:11.70, Z:-0.44 [[ 9.69182382e-01 -2.01703704e-01 -1.41425337e-01 8.81568247e+01] [ 1.98495048e-01 9.79418720e-01 -3.65880685e-02 1.16997096e+01] [ 1.45894571e-01 7.38828232e-03 9.89272555e-01 -4.40034773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.597719421 meters Centerline goodness : 0.942064 Centerline is valid? [False, False] Translation: X:88.16, Y:11.70, Z:-0.44 [[ 9.68463237e-01 -2.05681384e-01 -1.40620508e-01 8.81566900e+01] [ 2.02157195e-01 9.78573859e-01 -3.90598410e-02 1.16959335e+01] [ 1.45641435e-01 9.40057256e-03 9.89292778e-01 -4.39796470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.627719421 meters Centerline goodness : 0.943401 Centerline is valid? [False, False] Translation: X:88.16, Y:11.69, Z:-0.44 [[ 9.67548536e-01 -2.10633744e-01 -1.39582439e-01 8.81589087e+01] [ 2.07172865e-01 9.77524900e-01 -3.90445039e-02 1.16876972e+01] [ 1.44669400e-01 8.85975875e-03 9.89440382e-01 -4.42204056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.657719421 meters Centerline goodness : 0.941777 Centerline is valid? [False, False] Translation: X:88.16, Y:11.68, Z:-0.45 [[ 9.67127938e-01 -2.14815950e-01 -1.36079609e-01 8.81591518e+01] [ 2.10579438e-01 9.76541855e-01 -4.49700615e-02 1.16848035e+01] [ 1.42547720e-01 1.48362353e-02 9.89676732e-01 -4.49264815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.687719421 meters Centerline goodness : 0.939701 Centerline is valid? [False, False] Translation: X:88.16, Y:11.68, Z:-0.45 [[ 9.65998879e-01 -2.20807419e-01 -1.34500002e-01 8.81620488e+01] [ 2.16568304e-01 9.75203907e-01 -4.55577569e-02 1.16775411e+01] [ 1.41224418e-01 1.48803047e-02 9.89865769e-01 -4.53806791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.717719421 meters Centerline goodness : 0.937417 Centerline is valid? [False, False] Translation: X:88.16, Y:11.67, Z:-0.46 [[ 9.65850537e-01 -2.21267024e-01 -1.34809660e-01 8.81642008e+01] [ 2.17281402e-01 9.75126693e-01 -4.37804158e-02 1.16733922e+01] [ 1.41143660e-01 1.29937062e-02 9.89903849e-01 -4.55338062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.747719421 meters Centerline goodness : 0.936480 Centerline is valid? [False, False] Translation: X:88.17, Y:11.67, Z:-0.46 [[ 9.65161325e-01 -2.24446179e-01 -1.34489883e-01 8.81662025e+01] [ 2.20216303e-01 9.74378201e-01 -4.57373114e-02 1.16681593e+01] [ 1.41309575e-01 1.45270192e-02 9.89858864e-01 -4.56280397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.777719421 meters Centerline goodness : 0.936480 Centerline is valid? [False, False] Translation: X:88.17, Y:11.67, Z:-0.46 [[ 9.65161325e-01 -2.24446179e-01 -1.34489883e-01 8.81662025e+01] [ 2.20216303e-01 9.74378201e-01 -4.57373114e-02 1.16681593e+01] [ 1.41309575e-01 1.45270192e-02 9.89858864e-01 -4.56280397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.807719421 meters Centerline goodness : 0.937411 Centerline is valid? [False, False] Translation: X:88.17, Y:11.67, Z:-0.46 [[ 9.65052941e-01 -2.24967034e-01 -1.34397380e-01 8.81653699e+01] [ 2.20801653e-01 9.74264780e-01 -4.53295505e-02 1.16657820e+01] [ 1.41136288e-01 1.40702524e-02 9.89890184e-01 -4.55177796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.837719421 meters Centerline goodness : 0.942367 Centerline is valid? [False, False] Translation: X:88.16, Y:11.67, Z:-0.46 [[ 9.65247388e-01 -2.28005882e-01 -1.27713730e-01 8.81579481e+01] [ 2.23498162e-01 9.73483343e-01 -4.87724500e-02 1.16650707e+01] [ 1.35447594e-01 1.85336962e-02 9.90611150e-01 -4.62935762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.867719421 meters Centerline goodness : 0.942759 Centerline is valid? [False, False] Translation: X:88.16, Y:11.67, Z:-0.46 [[ 9.65199180e-01 -2.28863673e-01 -1.26538381e-01 8.81565118e+01] [ 2.24504659e-01 9.73295412e-01 -4.78925802e-02 1.16655582e+01] [ 1.34120097e-01 1.78174232e-02 9.90804894e-01 -4.64376307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.897719421 meters Centerline goodness : 0.942467 Centerline is valid? [False, False] Translation: X:88.15, Y:11.67, Z:-0.46 [[ 9.64991614e-01 -2.30214668e-01 -1.25667780e-01 8.81549778e+01] [ 2.25944867e-01 9.72984731e-01 -4.74302593e-02 1.16651075e+01] [ 1.33191973e-01 1.73758127e-02 9.90937929e-01 -4.64491145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.927719421 meters Centerline goodness : 0.941266 Centerline is valid? [False, False] Translation: X:88.15, Y:11.67, Z:-0.46 [[ 9.64861383e-01 -2.30878363e-01 -1.25449960e-01 8.81545947e+01] [ 2.26563731e-01 9.72821058e-01 -4.78337201e-02 1.16655551e+01] [ 1.33084134e-01 1.77304982e-02 9.90946135e-01 -4.64296724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.957719421 meters Centerline goodness : 0.941808 Centerline is valid? [False, False] Translation: X:88.15, Y:11.67, Z:-0.46 [[ 9.64634605e-01 -2.32638711e-01 -1.23932680e-01 8.81517807e+01] [ 2.28442210e-01 9.72409776e-01 -4.72586876e-02 1.16673365e+01] [ 1.31507550e-01 1.72759101e-02 9.91164622e-01 -4.64923679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98771942099998 meters Centerline goodness : 0.943449 Centerline is valid? [False, False] Translation: X:88.15, Y:11.67, Z:-0.47 [[ 9.64524471e-01 -2.34418032e-01 -1.21411410e-01 8.81460303e+01] [ 2.30433861e-01 9.71996428e-01 -4.60779769e-02 1.16712680e+01] [ 1.28812966e-01 1.64660363e-02 9.91532193e-01 -4.65211802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.01771942099998 meters Centerline goodness : 0.944264 Centerline is valid? [False, False] Translation: X:88.14, Y:11.67, Z:-0.47 [[ 9.64529509e-01 -2.34932059e-01 -1.20373395e-01 8.81429365e+01] [ 2.31105162e-01 9.71886492e-01 -4.50227913e-02 1.16743976e+01] [ 1.27566573e-01 1.56068979e-02 9.91707212e-01 -4.65118481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04771942099998 meters Centerline goodness : 0.944156 Centerline is valid? [False, False] Translation: X:88.14, Y:11.68, Z:-0.47 [[ 9.64809968e-01 -2.34438621e-01 -1.19080889e-01 8.81388519e+01] [ 2.30944941e-01 9.72036683e-01 -4.25337681e-02 1.16790102e+01] [ 1.25722551e-01 1.35358746e-02 9.91973095e-01 -4.65442861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.07771942099998 meters Centerline goodness : 0.941772 Centerline is valid? [False, False] Translation: X:88.14, Y:11.68, Z:-0.46 [[ 9.64893003e-01 -2.34232937e-01 -1.18812556e-01 8.81376713e+01] [ 2.30700022e-01 9.72080467e-01 -4.28610026e-02 1.16811675e+01] [ 1.25534823e-01 1.39462224e-02 9.91991185e-01 -4.64947946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10771942099998 meters Centerline goodness : 0.938711 Centerline is valid? [False, False] Translation: X:88.13, Y:11.68, Z:-0.46 [[ 9.65751573e-01 -2.31090850e-01 -1.17986939e-01 8.81326560e+01] [ 2.28283266e-01 9.72892677e-01 -3.69674145e-02 1.16842855e+01] [ 1.23331460e-01 8.76689485e-03 9.92326807e-01 -4.64696196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.13771942099999 meters Centerline goodness : 0.938096 Centerline is valid? [False, False] Translation: X:88.13, Y:11.68, Z:-0.47 [[ 9.69567536e-01 -2.20728087e-01 -1.05914607e-01 8.81318365e+01] [ 2.19066801e-01 9.75330179e-01 -2.72172646e-02 1.16798097e+01] [ 1.09309327e-01 3.18660214e-03 9.94002674e-01 -4.69046310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.167719421 meters Centerline goodness : 0.942779 Centerline is valid? [False, False] Translation: X:88.12, Y:11.68, Z:-0.47 [[ 9.70475591e-01 -2.18726445e-01 -1.01665481e-01 8.81191402e+01] [ 2.17962864e-01 9.75777959e-01 -1.86966523e-02 1.16831178e+01] [ 1.03292388e-01 -4.01465477e-03 9.94642934e-01 -4.65306909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.197719421 meters Centerline goodness : 0.945860 Centerline is valid? [False, False] Translation: X:88.11, Y:11.69, Z:-0.46 [[ 9.72009039e-01 -2.13877896e-01 -9.72351440e-02 8.81052242e+01] [ 2.14622387e-01 9.76692915e-01 -2.86034486e-03 1.16854073e+01] [ 9.55806408e-02 -1.80885576e-02 9.95257326e-01 -4.61090911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.227719421 meters Centerline goodness : 0.943936 Centerline is valid? [False, False] Translation: X:88.10, Y:11.68, Z:-0.47 [[ 9.75493950e-01 -2.03033604e-01 -8.47874343e-02 8.81027183e+01] [ 2.04542476e-01 9.78812426e-01 9.41333580e-03 1.16815326e+01] [ 8.10797707e-02 -2.65252838e-02 9.96354596e-01 -4.65157971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.257719421 meters Centerline goodness : 0.943095 Centerline is valid? [False, False] Translation: X:88.10, Y:11.68, Z:-0.47 [[ 9.78565938e-01 -1.92660198e-01 -7.27375610e-02 8.81001704e+01] [ 1.94558443e-01 9.80688737e-01 1.99151564e-02 1.16778652e+01] [ 6.74960489e-02 -3.36400004e-02 9.97152262e-01 -4.67046864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.287719421 meters Centerline goodness : 0.941345 Centerline is valid? [False, False] Translation: X:88.09, Y:11.68, Z:-0.47 [[ 9.81230251e-01 -1.83427276e-01 -5.95115828e-02 8.80948106e+01] [ 1.85248353e-01 9.82330735e-01 2.66340927e-02 1.16759929e+01] [ 5.35746378e-02 -3.71586001e-02 9.97872235e-01 -4.66910488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.317719421 meters Centerline goodness : 0.942074 Centerline is valid? [False, False] Translation: X:88.09, Y:11.67, Z:-0.47 [[ 9.83640672e-01 -1.74135504e-01 -4.61286822e-02 8.80924812e+01] [ 1.75744834e-01 9.83866840e-01 3.34633335e-02 1.16728029e+01] [ 3.95573263e-02 -4.10227734e-02 9.98374854e-01 -4.71446874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.347719421 meters Centerline goodness : 0.938045 Centerline is valid? [False, False] Translation: X:88.08, Y:11.68, Z:-0.47 [[ 9.84701124e-01 -1.68907370e-01 -4.28251790e-02 8.80832914e+01] [ 1.70828293e-01 9.84224096e-01 4.60502180e-02 1.16783008e+01] [ 3.43713519e-02 -5.26614537e-02 9.98020732e-01 -4.73440975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.377719421 meters Centerline goodness : 0.934982 Centerline is valid? [False, False] Translation: X:88.09, Y:11.68, Z:-0.48 [[ 9.84561109e-01 -1.69593258e-01 -4.33306876e-02 8.80891405e+01] [ 1.71177656e-01 9.84585746e-01 3.59042998e-02 1.16844806e+01] [ 3.65736502e-02 -4.27672228e-02 9.98415411e-01 -4.81826940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.407719421 meters Centerline goodness : 0.930479 Centerline is valid? [False, False] Translation: X:88.09, Y:11.69, Z:-0.48 [[ 9.84342204e-01 -1.70790903e-01 -4.35992220e-02 8.80896279e+01] [ 1.72281753e-01 9.84492426e-01 3.30705444e-02 1.16918765e+01] [ 3.72749557e-02 -4.00640830e-02 9.98501601e-01 -4.83185036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.437719421 meters Centerline goodness : 0.939003 Centerline is valid? [False, False] Translation: X:88.09, Y:11.70, Z:-0.48 [[ 9.84149146e-01 -1.71793686e-01 -4.40157663e-02 8.80877284e+01] [ 1.73225406e-01 9.84392218e-01 3.10631481e-02 1.16969895e+01] [ 3.79923251e-02 -3.81954196e-02 9.98547792e-01 -4.80761096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.467719421 meters Centerline goodness : 0.939435 Centerline is valid? [False, False] Translation: X:88.09, Y:11.70, Z:-0.48 [[ 9.83989031e-01 -1.72603345e-01 -4.44260252e-02 8.80888007e+01] [ 1.73987451e-01 9.84308434e-01 2.94155366e-02 1.17010484e+01] [ 3.86516913e-02 -3.66741362e-02 9.98579518e-01 -4.81722072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.497719421 meters Centerline goodness : 0.939622 Centerline is valid? [False, False] Translation: X:88.09, Y:11.71, Z:-0.48 [[ 9.84418634e-01 -1.69974760e-01 -4.50392590e-02 8.80884658e+01] [ 1.71434086e-01 9.84714681e-01 3.07790860e-02 1.17102467e+01] [ 3.91191518e-02 -3.80207700e-02 9.98510948e-01 -4.82819931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.527719421 meters Centerline goodness : 0.939957 Centerline is valid? [False, False] Translation: X:88.09, Y:11.72, Z:-0.48 [[ 9.84458791e-01 -1.69770302e-01 -4.49325383e-02 8.80871730e+01] [ 1.71196979e-01 9.84778437e-01 3.00503527e-02 1.17160114e+01] [ 3.91469374e-02 -3.72756487e-02 9.98537953e-01 -4.82923102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.557719421 meters Centerline goodness : 0.938052 Centerline is valid? [False, False] Translation: X:88.09, Y:11.72, Z:-0.48 [[ 9.84393388e-01 -1.70073812e-01 -4.52167714e-02 8.80871090e+01] [ 1.71457994e-01 9.84773130e-01 2.87060593e-02 1.17204698e+01] [ 3.96461126e-02 -3.60108319e-02 9.98564673e-01 -4.83130877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.587719421 meters Centerline goodness : 0.939553 Centerline is valid? [False, False] Translation: X:88.09, Y:11.73, Z:-0.48 [[ 9.84209502e-01 -1.71089652e-01 -4.53870761e-02 8.80870078e+01] [ 1.72394395e-01 9.84669931e-01 2.65574650e-02 1.17258677e+01] [ 4.01475817e-02 -3.39625870e-02 9.98616400e-01 -4.83363166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.617719421 meters Centerline goodness : 0.935466 Centerline is valid? [False, False] Translation: X:88.09, Y:11.73, Z:-0.48 [[ 9.83988280e-01 -1.72370994e-01 -4.53354805e-02 8.80876440e+01] [ 1.73592129e-01 9.84512565e-01 2.45108459e-02 1.17307797e+01] [ 4.04083913e-02 -3.19882677e-02 9.98671073e-01 -4.84733468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.647719421 meters Centerline goodness : 0.934295 Centerline is valid? [False, False] Translation: X:88.09, Y:11.73, Z:-0.49 [[ 9.83849380e-01 -1.73127895e-01 -4.54656896e-02 8.80887659e+01] [ 1.74304626e-01 9.84415923e-01 2.33063993e-02 1.17336666e+01] [ 4.07221610e-02 -3.08548665e-02 9.98693989e-01 -4.86042335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.677719421 meters Centerline goodness : 0.930588 Centerline is valid? [False, False] Translation: X:88.09, Y:11.74, Z:-0.49 [[ 9.83720563e-01 -1.73911946e-01 -4.52602255e-02 8.80888791e+01] [ 1.75020809e-01 9.84323731e-01 2.17832160e-02 1.17400379e+01] [ 4.07623526e-02 -2.93500788e-02 9.98737705e-01 -4.87653784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.707719421 meters Centerline goodness : 0.931269 Centerline is valid? [False, False] Translation: X:88.09, Y:11.74, Z:-0.49 [[ 9.83614367e-01 -1.74454161e-01 -4.54810226e-02 8.80894338e+01] [ 1.75524185e-01 9.84258054e-01 2.06722965e-02 1.17435420e+01] [ 4.11586946e-02 -2.83165873e-02 9.98751287e-01 -4.88298583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.73771942099998 meters Centerline goodness : 0.935191 Centerline is valid? [False, False] Translation: X:88.09, Y:11.75, Z:-0.48 [[ 9.84310917e-01 -1.70753945e-01 -4.44421965e-02 8.80922744e+01] [ 1.71371570e-01 9.85151031e-01 1.04513821e-02 1.17493318e+01] [ 4.19976610e-02 -1.79035385e-02 9.98957286e-01 -4.84900256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76771942099998 meters Centerline goodness : 0.933158 Centerline is valid? [False, False] Translation: X:88.09, Y:11.75, Z:-0.48 [[ 9.84350597e-01 -1.70398683e-01 -4.49242801e-02 8.80923580e+01] [ 1.71006275e-01 9.85218994e-01 1.00193192e-02 1.17512817e+01] [ 4.25529753e-02 -1.75448566e-02 9.98940150e-01 -4.84419053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.79771942099998 meters Centerline goodness : 0.930709 Centerline is valid? [False, False] Translation: X:88.09, Y:11.76, Z:-0.49 [[ 9.85013348e-01 -1.66311275e-01 -4.57084656e-02 8.80930788e+01] [ 1.66993751e-01 9.85890710e-01 1.15149944e-02 1.17574128e+01] [ 4.31484782e-02 -1.89754513e-02 9.98888453e-01 -4.86818049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82771942099998 meters Centerline goodness : 0.932002 Centerline is valid? [False, False] Translation: X:88.09, Y:11.76, Z:-0.49 [[ 9.86203764e-01 -1.58619329e-01 -4.73502363e-02 8.80943015e+01] [ 1.59591470e-01 9.87028276e-01 1.74855749e-02 1.17628858e+01] [ 4.39624720e-02 -2.48010336e-02 9.98725292e-01 -4.88266088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.85771942099998 meters Centerline goodness : 0.929532 Centerline is valid? [False, False] Translation: X:88.10, Y:11.76, Z:-0.49 [[ 9.86755417e-01 -1.54874561e-01 -4.82453870e-02 8.80951547e+01] [ 1.56003933e-01 9.87542157e-01 2.05733129e-02 1.17646416e+01] [ 4.44580707e-02 -2.78272981e-02 9.98623613e-01 -4.88693166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88771942099999 meters Centerline goodness : 0.930788 Centerline is valid? [False, False] Translation: X:88.10, Y:11.77, Z:-0.49 [[ 9.88034443e-01 -1.47032876e-01 -4.65754514e-02 8.80995565e+01] [ 1.47770152e-01 9.88939099e-01 1.27844177e-02 1.17695864e+01] [ 4.41805552e-02 -1.95139065e-02 9.98832962e-01 -4.88175004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.917719421 meters Centerline goodness : 0.930079 Centerline is valid? [False, False] Translation: X:88.10, Y:11.77, Z:-0.49 [[ 9.88563811e-01 -1.43135326e-01 -4.74749385e-02 8.81002992e+01] [ 1.44041045e-01 9.89438746e-01 1.62217496e-02 1.17700975e+01] [ 4.46516382e-02 -2.28745743e-02 9.98740700e-01 -4.88184463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.947719421 meters Centerline goodness : 0.929245 Centerline is valid? [False, False] Translation: X:88.11, Y:11.77, Z:-0.49 [[ 9.89644702e-01 -1.33060531e-01 -5.38354812e-02 8.81087502e+01] [ 1.34070365e-01 9.90849232e-01 1.55864104e-02 1.17717787e+01] [ 5.12689092e-02 -2.26427511e-02 9.98428167e-01 -4.85272296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.977719421 meters Centerline goodness : 0.930464 Centerline is valid? [False, False] Translation: X:88.11, Y:11.77, Z:-0.49 [[ 9.90180284e-01 -1.28582966e-01 -5.48582423e-02 8.81097599e+01] [ 1.29821283e-01 9.91343163e-01 1.96256842e-02 1.17712840e+01] [ 5.18598147e-02 -2.65547330e-02 9.98301260e-01 -4.85227731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.007719421 meters Centerline goodness : 0.927999 Centerline is valid? [False, False] Translation: X:88.12, Y:11.77, Z:-0.49 [[ 9.91635168e-01 -1.18134114e-01 -5.20002304e-02 8.81174731e+01] [ 1.19136939e-01 9.92738778e-01 1.66165064e-02 1.17718800e+01] [ 4.96596689e-02 -2.26726604e-02 9.98508822e-01 -4.86316412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.037719421 meters Centerline goodness : 0.924776 Centerline is valid? [False, False] Translation: X:88.12, Y:11.77, Z:-0.49 [[ 9.92486769e-01 -1.11347408e-01 -5.07125937e-02 8.81241281e+01] [ 1.12006542e-01 9.93653696e-01 1.03376116e-02 1.17721315e+01] [ 4.92396899e-02 -1.59400850e-02 9.98659785e-01 -4.85638265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.067719421 meters Centerline goodness : 0.925018 Centerline is valid? [False, False] Translation: X:88.14, Y:11.77, Z:-0.48 [[ 9.93816854e-01 -9.91069999e-02 -5.00585998e-02 8.81384303e+01] [ 9.93366749e-02 9.95051632e-01 2.11511448e-03 1.17664653e+01] [ 4.96012688e-02 -7.07469128e-03 9.98744043e-01 -4.83297331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.097719421 meters Centerline goodness : 0.928030 Centerline is valid? [False, False] Translation: X:88.15, Y:11.76, Z:-0.48 [[ 9.94429850e-01 -9.35871707e-02 -4.84841722e-02 8.81473384e+01] [ 9.35000926e-02 9.95610969e-01 -4.06587487e-03 1.17626412e+01] [ 4.86518874e-02 -4.90047254e-04 9.98815676e-01 -4.83451470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.127719421 meters Centerline goodness : 0.933047 Centerline is valid? [False, False] Translation: X:88.17, Y:11.75, Z:-0.48 [[ 9.95415397e-01 -8.31151111e-02 -4.73293333e-02 8.81689311e+01] [ 8.27333051e-02 9.96521821e-01 -9.97301454e-03 1.17544115e+01] [ 4.79936216e-02 6.01158005e-03 9.98829552e-01 -4.82907955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.157719421 meters Centerline goodness : 0.930313 Centerline is valid? [False, False] Translation: X:88.20, Y:11.75, Z:-0.49 [[ 9.96289722e-01 -7.78894814e-02 -3.66062613e-02 8.82001257e+01] [ 7.65622240e-02 9.96401573e-01 -3.63611269e-02 1.17533367e+01] [ 3.93066856e-02 3.34235602e-02 9.98668038e-01 -4.90222252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.187719421 meters Centerline goodness : 0.927985 Centerline is valid? [False, False] Translation: X:88.22, Y:11.75, Z:-0.49 [[ 9.96380040e-01 -7.51537669e-02 -3.97332069e-02 8.82169346e+01] [ 7.36317761e-02 9.96543046e-01 -3.84749138e-02 1.17472409e+01] [ 4.24873857e-02 3.54100095e-02 9.98469305e-01 -4.88758209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.217719421 meters Centerline goodness : 0.925929 Centerline is valid? [False, False] Translation: X:88.24, Y:11.73, Z:-0.48 [[ 9.96539705e-01 -7.22855841e-02 -4.10293957e-02 8.82351186e+01] [ 7.09262082e-02 9.96912977e-01 -3.36747439e-02 1.17317587e+01] [ 4.33369356e-02 3.06481598e-02 9.98590307e-01 -4.84497438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.247719421 meters Centerline goodness : 0.929864 Centerline is valid? [False, False] Translation: X:88.25, Y:11.72, Z:-0.48 [[ 9.96576679e-01 -6.84721721e-02 -4.63301733e-02 8.82485138e+01] [ 6.67854957e-02 9.97080159e-01 -3.70250450e-02 1.17239375e+01] [ 4.87300818e-02 3.38041127e-02 9.98239781e-01 -4.82808522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.277719421 meters Centerline goodness : 0.925579 Centerline is valid? [False, False] Translation: X:88.26, Y:11.71, Z:-0.48 [[ 9.96409237e-01 -6.88402724e-02 -4.92914649e-02 8.82567262e+01] [ 6.68953324e-02 9.96954743e-01 -4.00781136e-02 1.17125121e+01] [ 5.19003479e-02 3.66368336e-02 9.97980008e-01 -4.84534097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.307719421 meters Centerline goodness : 0.923767 Centerline is valid? [False, False] Translation: X:88.26, Y:11.70, Z:-0.49 [[ 9.97455360e-01 -5.91939419e-02 -3.97351574e-02 8.82603166e+01] [ 5.80488219e-02 9.97881329e-01 -2.93800499e-02 1.16998569e+01] [ 4.13900926e-02 2.69987092e-02 9.98778219e-01 -4.86538034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.337719421 meters Centerline goodness : 0.929045 Centerline is valid? [False, False] Translation: X:88.27, Y:11.69, Z:-0.49 [[ 9.97570235e-01 -5.70087950e-02 -4.00452693e-02 8.82705275e+01] [ 5.55760295e-02 9.97804342e-01 -3.60249877e-02 1.16877536e+01] [ 4.20110847e-02 3.37118984e-02 9.98548235e-01 -4.90616438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.367719421 meters Centerline goodness : 0.933773 Centerline is valid? [False, False] Translation: X:88.28, Y:11.67, Z:-0.49 [[ 9.98363181e-01 -4.73043106e-02 -3.21443809e-02 8.82757371e+01] [ 4.64712240e-02 9.98576288e-01 -2.61882146e-02 1.16736736e+01] [ 3.33374320e-02 2.46515605e-02 9.99140088e-01 -4.89984928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.397719421 meters Centerline goodness : 0.938785 Centerline is valid? [False, False] Translation: X:88.29, Y:11.65, Z:-0.48 [[ 9.98654341e-01 -3.93499655e-02 -3.37799978e-02 8.82893082e+01] [ 3.87968803e-02 9.99104607e-01 -1.68756343e-02 1.16530313e+01] [ 3.44138071e-02 1.55423669e-02 9.99286808e-01 -4.83316261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.427719421 meters Centerline goodness : 0.942206 Centerline is valid? [False, False] Translation: X:88.29, Y:11.64, Z:-0.48 [[ 9.98743379e-01 -3.71982182e-02 -3.35850485e-02 8.82881517e+01] [ 3.67595783e-02 9.99231794e-01 -1.35851185e-02 1.16444916e+01] [ 3.40645904e-02 1.23334749e-02 9.99343529e-01 -4.81932071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.457719421 meters Centerline goodness : 0.947798 Centerline is valid? [False, False] Translation: X:88.30, Y:11.62, Z:-0.48 [[ 9.99072530e-01 -3.12100605e-02 -2.96649890e-02 8.82968603e+01] [ 3.11646915e-02 9.99512281e-01 -1.99061405e-03 1.16246252e+01] [ 2.97126480e-02 1.06426759e-03 9.99557915e-01 -4.78895518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48771942099998 meters Centerline goodness : 0.953522 Centerline is valid? [False, True] Translation: X:88.31, Y:11.61, Z:-0.47 [[ 9.99069705e-01 -2.92715019e-02 -3.16686635e-02 8.83120974e+01] [ 2.92515165e-02 9.99571484e-01 -1.09428872e-03 1.16060341e+01] [ 3.16871244e-02 1.66914271e-04 9.99497823e-01 -4.74951806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.51771942099998 meters Centerline goodness : 0.952248 Centerline is valid? [True, True] Translation: X:88.34, Y:11.60, Z:-0.48 [[ 9.99001369e-01 -3.16175557e-02 -3.15688961e-02 8.83404521e+01] [ 3.15573236e-02 9.99499051e-01 -2.40450212e-03 1.15998412e+01] [ 3.16291062e-02 1.40587104e-03 9.99498686e-01 -4.76053612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54771942099998 meters Centerline goodness : 0.953319 Centerline is valid? [True, True] Translation: X:88.37, Y:11.59, Z:-0.47 [[ 9.98884844e-01 -3.51067948e-02 -3.15686909e-02 8.83703598e+01] [ 3.50482164e-02 9.99382723e-01 -2.40719360e-03 1.15928813e+01] [ 3.16337131e-02 1.29808289e-03 9.99498686e-01 -4.72079891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.57771942099998 meters Centerline goodness : 0.957777 Centerline is valid? [True, True] Translation: X:88.40, Y:11.57, Z:-0.47 [[ 9.98651399e-01 -4.12169799e-02 -3.15680931e-02 8.83995007e+01] [ 4.11612019e-02 9.99149600e-01 -2.41500730e-03 1.15744462e+01] [ 3.16407869e-02 1.11236977e-03 9.99498686e-01 -4.69019866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60771942099998 meters Centerline goodness : 0.957898 Centerline is valid? [True, True] Translation: X:88.43, Y:11.56, Z:-0.47 [[ 9.98284402e-01 -4.93124915e-02 -3.15678814e-02 8.84287806e+01] [ 4.92606672e-02 9.98783030e-01 -2.41777182e-03 1.15596330e+01] [ 3.16486906e-02 8.58568999e-04 9.99498686e-01 -4.70051519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.63771942099999 meters Centerline goodness : 0.958854 Centerline is valid? [True, True] Translation: X:88.46, Y:11.55, Z:-0.47 [[ 9.98051460e-01 -5.38218817e-02 -3.15671963e-02 8.84572202e+01] [ 5.37720289e-02 9.98550289e-01 -2.42668445e-03 1.15542868e+01] [ 3.16520417e-02 7.24523771e-04 9.99498686e-01 -4.70110070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.667719421 meters Centerline goodness : 0.959330 Centerline is valid? [True, True] Translation: X:88.49, Y:11.55, Z:-0.47 [[ 9.97880945e-01 -5.68961966e-02 -3.15664857e-02 8.84856193e+01] [ 5.68475895e-02 9.98379897e-01 -2.43589238e-03 1.15477623e+01] [ 3.16539377e-02 6.36251970e-04 9.99498686e-01 -4.70479427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.697719421 meters Centerline goodness : 0.959330 Centerline is valid? [True, True] Translation: X:88.51, Y:11.55, Z:-0.47 [[ 9.97864393e-01 -5.71861363e-02 -3.15657756e-02 8.85141589e+01] [ 5.71373843e-02 9.98363331e-01 -2.44505948e-03 1.15501775e+01] [ 3.16539364e-02 6.36251943e-04 9.99498686e-01 -4.69577720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.727719421 meters Centerline goodness : 0.957140 Centerline is valid? [True, True] Translation: X:88.54, Y:11.53, Z:-0.47 [[ 9.97351271e-01 -6.55292942e-02 -3.15650629e-02 8.85437550e+01] [ 6.54844265e-02 9.97850573e-01 -2.45422637e-03 1.15321734e+01] [ 3.16580398e-02 3.80705753e-04 9.99498686e-01 -4.70239763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.757719421 meters Centerline goodness : 0.959577 Centerline is valid? [True, True] Translation: X:88.57, Y:11.52, Z:-0.47 [[ 9.96751779e-01 -7.40915512e-02 -3.15647297e-02 8.85732034e+01] [ 7.40508374e-02 9.97251437e-01 -2.45850446e-03 1.15150102e+01] [ 3.16601265e-02 1.13124030e-04 9.99498686e-01 -4.69480582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.787719421 meters Centerline goodness : 0.961921 Centerline is valid? [True, True] Translation: X:88.60, Y:11.51, Z:-0.47 [[ 9.96325328e-01 -7.96211138e-02 -3.15645188e-02 8.86023816e+01] [ 7.95830874e-02 9.96825198e-01 -2.46120941e-03 1.15094217e+01] [ 3.16602719e-02 -5.98365773e-05 9.99498686e-01 -4.66724179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.817719421 meters Centerline goodness : 0.962475 Centerline is valid? [True, True] Translation: X:88.63, Y:11.50, Z:-0.47 [[ 9.95648484e-01 -8.76801889e-02 -3.15639305e-02 8.86316777e+01] [ 8.76459699e-02 9.96148628e-01 -2.46873097e-03 1.14961321e+01] [ 3.16588248e-02 -3.08463054e-04 9.99498686e-01 -4.65057443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.847719421 meters Centerline goodness : 0.963671 Centerline is valid? [True, True] Translation: X:88.66, Y:11.49, Z:-0.47 [[ 9.95367089e-01 -9.08190263e-02 -3.15636188e-02 8.86601886e+01] [ 9.07862583e-02 9.95867331e-01 -2.47270899e-03 1.14904089e+01] [ 3.16577459e-02 -4.04289707e-04 9.99498686e-01 -4.65089545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.877719421 meters Centerline goodness : 0.966204 Centerline is valid? [True, True] Translation: X:88.69, Y:11.48, Z:-0.46 [[ 9.95806557e-01 -8.58664803e-02 -3.15634125e-02 8.86886631e+01] [ 8.58311410e-02 9.96306623e-01 -2.47533943e-03 1.14833134e+01] [ 3.16593857e-02 -2.44164482e-04 9.99498686e-01 -4.59208214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.907719421 meters Centerline goodness : 0.967101 Centerline is valid? [True, True] Translation: X:88.72, Y:11.48, Z:-0.46 [[ 9.95981281e-01 -8.38157631e-02 -3.15627242e-02 8.87158105e+01] [ 8.37791169e-02 9.96481254e-01 -2.48408579e-03 1.14837317e+01] [ 3.16598685e-02 -1.70194209e-04 9.99498686e-01 -4.56243772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.937719421 meters Centerline goodness : 0.967690 Centerline is valid? [True, True] Translation: X:88.74, Y:11.49, Z:-0.46 [[ 9.95534965e-01 -8.89604221e-02 -3.15622551e-02 8.87436724e+01] [ 8.89261711e-02 9.96035108e-01 -2.49003145e-03 1.14878382e+01] [ 3.16586284e-02 -3.27797119e-04 9.99498686e-01 -4.56483691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.967719421 meters Centerline goodness : 0.965617 Centerline is valid? [True, True] Translation: X:88.77, Y:11.49, Z:-0.46 [[ 9.95273598e-01 -9.18386162e-02 -3.15615703e-02 8.87704934e+01] [ 9.18055371e-02 9.95773820e-01 -2.49868178e-03 1.14915647e+01] [ 3.16576609e-02 -4.10654901e-04 9.99498686e-01 -4.58888347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.997719421 meters Centerline goodness : 0.962299 Centerline is valid? [True, True] Translation: X:88.80, Y:11.50, Z:-0.46 [[ 9.94885646e-01 -9.59501858e-02 -3.15612740e-02 8.87989314e+01] [ 9.59190554e-02 9.95385992e-01 -2.50241806e-03 1.14982920e+01] [ 3.16557575e-02 -5.37707782e-04 9.99498686e-01 -4.62465891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.027719421 meters Centerline goodness : 0.959877 Centerline is valid? [True, True] Translation: X:88.83, Y:11.50, Z:-0.46 [[ 9.94389493e-01 -1.00962662e-01 -3.15606846e-02 8.88271647e+01] [ 1.00933818e-01 9.94889976e-01 -2.50982969e-03 1.15024485e+01] [ 3.16528079e-02 -6.89792141e-04 9.99498686e-01 -4.62610417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.057719421 meters Centerline goodness : 0.961043 Centerline is valid? [True, True] Translation: X:88.85, Y:11.50, Z:-0.46 [[ 9.93192694e-01 -1.12125994e-01 -3.15600112e-02 8.88547208e+01] [ 1.12102506e-01 9.93693457e-01 -2.51826983e-03 1.15046569e+01] [ 3.16433401e-02 -1.03682916e-03 9.99498686e-01 -4.60605174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.087719421 meters Centerline goodness : 0.961894 Centerline is valid? [True, True] Translation: X:88.88, Y:11.51, Z:-0.46 [[ 9.92678991e-01 -1.16586576e-01 -3.15593403e-02 8.88832893e+01] [ 1.16565072e-01 9.93179843e-01 -2.52664954e-03 1.15069955e+01] [ 3.16386741e-02 -1.17056487e-03 9.99498686e-01 -4.57856325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.117719421 meters Centerline goodness : 0.962333 Centerline is valid? [True, True] Translation: X:88.91, Y:11.51, Z:-0.45 [[ 9.91855293e-01 -1.23398225e-01 -3.15587560e-02 8.89118340e+01] [ 1.23379928e-01 9.92356273e-01 -2.53392711e-03 1.15086265e+01] [ 3.16302116e-02 -1.38042803e-03 9.99498686e-01 -4.53899944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.147719421 meters Centerline goodness : 0.960779 Centerline is valid? [True, True] Translation: X:88.94, Y:11.51, Z:-0.46 [[ 9.91492012e-01 -1.26284091e-01 -3.15581736e-02 8.89405680e+01] [ 1.26267023e-01 9.91993035e-01 -2.54115908e-03 1.15129407e+01] [ 3.16263964e-02 -1.46521771e-03 9.99498686e-01 -4.55064916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.177719421 meters Centerline goodness : 0.959011 Centerline is valid? [True, True] Translation: X:88.97, Y:11.52, Z:-0.46 [[ 9.91452356e-01 -1.26595204e-01 -3.15575765e-02 8.89694261e+01] [ 1.26578058e-01 9.91953376e-01 -2.54855260e-03 1.15159705e+01] [ 3.16262791e-02 -1.46772827e-03 9.99498686e-01 -4.56812280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.207719421 meters Centerline goodness : 0.954551 Centerline is valid? [True, True] Translation: X:89.00, Y:11.52, Z:-0.46 [[ 9.91807320e-01 -1.23783673e-01 -3.15569811e-02 8.89974481e+01] [ 1.23764873e-01 9.92308281e-01 -2.55590374e-03 1.15197738e+01] [ 3.16306328e-02 -1.37068173e-03 9.99498686e-01 -4.59467486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.23771942099998 meters Centerline goodness : 0.953666 Centerline is valid? [True, True] Translation: X:89.03, Y:11.52, Z:-0.46 [[ 9.92019740e-01 -1.22069674e-01 -3.15567702e-02 8.90259075e+01] [ 1.22049925e-01 9.92520665e-01 -2.55850586e-03 1.15220973e+01] [ 3.16330625e-02 -1.31341313e-03 9.99498686e-01 -4.59590037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26771942099998 meters Centerline goodness : 0.953851 Centerline is valid? [True, True] Translation: X:89.05, Y:11.52, Z:-0.46 [[ 9.92323117e-01 -1.19578613e-01 -3.15560973e-02 8.90543383e+01] [ 1.19557345e-01 9.92823979e-01 -2.56677796e-03 1.15225452e+01] [ 3.16365818e-02 -1.22569010e-03 9.99498687e-01 -4.57933271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.29771942099998 meters Centerline goodness : 0.955328 Centerline is valid? [True, True] Translation: X:89.08, Y:11.52, Z:-0.46 [[ 9.93025857e-01 -1.13595221e-01 -3.15558873e-02 8.90832909e+01] [ 1.13570852e-01 9.93526577e-01 -2.56935727e-03 1.15209568e+01] [ 3.16434794e-02 -1.03239079e-03 9.99498687e-01 -4.55720062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32771942099998 meters Centerline goodness : 0.950971 Centerline is valid? [True, True] Translation: X:89.11, Y:11.52, Z:-0.46 [[ 9.94284912e-01 -1.01989096e-01 -3.15553013e-02 8.91113619e+01] [ 1.01958653e-01 9.94785301e-01 -2.57653475e-03 1.15234409e+01] [ 3.16535283e-02 -6.55526391e-04 9.99498687e-01 -4.56304371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.35771942099998 meters Centerline goodness : 0.950473 Centerline is valid? [True, True] Translation: X:89.14, Y:11.53, Z:-0.45 [[ 9.94771836e-01 -9.71250272e-02 -3.15550934e-02 8.91401082e+01] [ 9.70920564e-02 9.95272064e-01 -2.57907809e-03 1.15267399e+01] [ 3.16563959e-02 -4.98154659e-04 9.99498687e-01 -4.54532919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38771942099999 meters Centerline goodness : 0.947864 Centerline is valid? [True, False] Translation: X:89.15, Y:11.53, Z:-0.45 [[ 9.95863429e-01 -8.17381871e-02 -3.96850124e-02 8.91467024e+01] [ 8.18457924e-02 9.96644407e-01 1.09170673e-03 1.15256198e+01] [ 3.94626115e-02 -4.33524209e-03 9.99211643e-01 -4.48761662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.417719421 meters Centerline goodness : 0.946902 Centerline is valid? [False, False] Translation: X:89.15, Y:11.53, Z:-0.45 [[ 9.96223576e-01 -7.68626825e-02 -4.03820964e-02 8.91465469e+01] [ 7.71480840e-02 9.97004170e-01 5.55506543e-03 1.15262165e+01] [ 3.98341413e-02 -8.64948852e-03 9.99168868e-01 -4.47995860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.447719421 meters Centerline goodness : 0.946223 Centerline is valid? [False, False] Translation: X:89.15, Y:11.52, Z:-0.44 [[ 9.96571314e-01 -7.18083028e-02 -4.10996827e-02 8.91453369e+01] [ 7.23134485e-02 9.97321987e-01 1.09370458e-02 1.15248234e+01] [ 4.02042465e-02 -1.38716059e-02 9.99095189e-01 -4.44938454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.477719421 meters Centerline goodness : 0.946162 Centerline is valid? [False, False] Translation: X:89.15, Y:11.52, Z:-0.44 [[ 9.96532524e-01 -7.20644286e-02 -4.15890159e-02 8.91465628e+01] [ 7.25856491e-02 9.97299746e-01 1.11597680e-02 1.15238916e+01] [ 4.06724927e-02 -1.41398375e-02 9.99072477e-01 -4.44566943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.507719421 meters Centerline goodness : 0.943945 Centerline is valid? [False, False] Translation: X:89.15, Y:11.52, Z:-0.45 [[ 9.96434470e-01 -7.29256395e-02 -4.24287428e-02 8.91499402e+01] [ 7.34556739e-02 9.97237061e-01 1.10683237e-02 1.15228334e+01] [ 4.15043502e-02 -1.41454911e-02 9.99038184e-01 -4.45365549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.537719421 meters Centerline goodness : 0.945342 Centerline is valid? [False, False] Translation: X:89.15, Y:11.52, Z:-0.45 [[ 9.96417532e-01 -7.30203854e-02 -4.26629275e-02 8.91506615e+01] [ 7.35533987e-02 9.97229969e-01 1.10582971e-02 1.15228325e+01] [ 4.17372688e-02 -1.41566844e-02 9.99028322e-01 -4.45463506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.567719421 meters Centerline goodness : 0.942221 Centerline is valid? [False, False] Translation: X:89.15, Y:11.52, Z:-0.45 [[ 9.96385844e-01 -7.32906006e-02 -4.29387562e-02 8.91523206e+01] [ 7.38173802e-02 9.97213168e-01 1.08116950e-02 1.15236811e+01] [ 4.20266975e-02 -1.39422464e-02 9.99019204e-01 -4.46582085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.597719421 meters Centerline goodness : 0.941435 Centerline is valid? [False, False] Translation: X:89.16, Y:11.52, Z:-0.45 [[ 9.96231522e-01 -7.46652082e-02 -4.41345898e-02 8.91563116e+01] [ 7.52039383e-02 9.97111059e-01 1.06725590e-02 1.15225575e+01] [ 4.32102188e-02 -1.39514347e-02 9.98968585e-01 -4.46497034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.627719421 meters Centerline goodness : 0.943722 Centerline is valid? [False, False] Translation: X:89.16, Y:11.52, Z:-0.45 [[ 9.96174483e-01 -7.49780506e-02 -4.48853074e-02 8.91579031e+01] [ 7.55483343e-02 9.97079862e-01 1.11443711e-02 1.15211787e+01] [ 4.39186530e-02 -1.44927484e-02 9.98929984e-01 -4.45506335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.657719421 meters Centerline goodness : 0.943812 Centerline is valid? [False, False] Translation: X:89.16, Y:11.52, Z:-0.44 [[ 9.96129134e-01 -7.52236247e-02 -4.54769782e-02 8.91588366e+01] [ 7.58243765e-02 9.97053361e-01 1.16301191e-02 1.15198702e+01] [ 4.44681142e-02 -1.50333640e-02 9.98897685e-01 -4.44255479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.687719421 meters Centerline goodness : 0.945742 Centerline is valid? [False, False] Translation: X:89.16, Y:11.52, Z:-0.44 [[ 9.96021076e-01 -7.61456798e-02 -4.63017488e-02 8.91613661e+01] [ 7.67664843e-02 9.96979529e-01 1.17782228e-02 1.15190448e+01] [ 4.52650349e-02 -1.52857807e-02 9.98858059e-01 -4.43673780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.717719421 meters Centerline goodness : 0.941226 Centerline is valid? [False, False] Translation: X:89.17, Y:11.52, Z:-0.45 [[ 9.95860478e-01 -7.76082605e-02 -4.73166693e-02 8.91658990e+01] [ 7.81699096e-02 9.96888536e-01 1.01346570e-02 1.15219917e+01] [ 4.63829121e-02 -1.37914441e-02 9.98828525e-01 -4.46450247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.747719421 meters Centerline goodness : 0.938203 Centerline is valid? [False, False] Translation: X:89.17, Y:11.52, Z:-0.45 [[ 9.95985067e-01 -7.52855550e-02 -4.84337876e-02 8.91694039e+01] [ 7.60407913e-02 9.97007235e-01 1.39417045e-02 1.15213961e+01] [ 4.72392278e-02 -1.75686730e-02 9.98729091e-01 -4.46059379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.777719421 meters Centerline goodness : 0.936607 Centerline is valid? [False, False] Translation: X:89.17, Y:11.52, Z:-0.45 [[ 9.95900362e-01 -7.59303981e-02 -4.91634455e-02 8.91716681e+01] [ 7.66741719e-02 9.96965872e-01 1.34209461e-02 1.15222835e+01] [ 4.79952195e-02 -1.71354916e-02 9.98700573e-01 -4.46588469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.807719421 meters Centerline goodness : 0.932369 Centerline is valid? [False, False] Translation: X:89.18, Y:11.52, Z:-0.45 [[ 9.95722083e-01 -7.73128540e-02 -5.05989628e-02 8.91761022e+01] [ 7.80449235e-02 9.96869547e-01 1.26529082e-02 1.15238343e+01] [ 4.94623327e-02 -1.65477723e-02 9.98638898e-01 -4.47177641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.837719421 meters Centerline goodness : 0.931529 Centerline is valid? [False, False] Translation: X:89.18, Y:11.52, Z:-0.45 [[ 9.95620437e-01 -7.81037224e-02 -5.13785434e-02 8.91787258e+01] [ 7.88259230e-02 9.96813979e-01 1.21805224e-02 1.15249449e+01] [ 5.02635061e-02 -1.61771381e-02 9.98604967e-01 -4.47754276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.867719421 meters Centerline goodness : 0.928434 Centerline is valid? [False, False] Translation: X:89.18, Y:11.53, Z:-0.45 [[ 9.95398870e-01 -8.00566120e-02 -5.26500656e-02 8.91833016e+01] [ 8.07765430e-02 9.96663708e-01 1.16877298e-02 1.15260999e+01] [ 5.15387296e-02 -1.58868433e-02 9.98544625e-01 -4.47684878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.897719421 meters Centerline goodness : 0.929027 Centerline is valid? [False, False] Translation: X:89.19, Y:11.53, Z:-0.45 [[ 9.95246724e-01 -8.12746575e-02 -5.36506191e-02 8.91864642e+01] [ 8.20232105e-02 9.96559403e-01 1.18974830e-02 1.15254726e+01] [ 5.24990651e-02 -1.62415270e-02 9.98488889e-01 -4.46839969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.927719421 meters Centerline goodness : 0.928378 Centerline is valid? [False, False] Translation: X:89.19, Y:11.53, Z:-0.45 [[ 9.94733631e-01 -8.68244662e-02 -5.44657234e-02 8.91898664e+01] [ 8.73669044e-02 9.96146796e-01 7.65406611e-03 1.15262586e+01] [ 5.35912956e-02 -1.23722586e-02 9.98486304e-01 -4.46248885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.957719421 meters Centerline goodness : 0.929972 Centerline is valid? [False, False] Translation: X:89.22, Y:11.52, Z:-0.44 [[ 9.94554410e-01 -8.59523844e-02 -5.89382230e-02 8.92194206e+01] [ 8.68793655e-02 9.96129447e-01 1.33454128e-02 1.15240577e+01] [ 5.75630294e-02 -1.83932545e-02 9.98172423e-01 -4.35698381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98771942099998 meters Centerline goodness : 0.931047 Centerline is valid? [False, False] Translation: X:89.22, Y:11.52, Z:-0.44 [[ 9.95960514e-01 -7.72300955e-02 -4.58057446e-02 8.92187996e+01] [ 7.80944006e-02 9.96794343e-01 1.73868396e-02 1.15174543e+01] [ 4.43161198e-02 -2.08937778e-02 9.98799045e-01 -4.41930619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.01771942099998 meters Centerline goodness : 0.931583 Centerline is valid? [False, False] Translation: X:89.22, Y:11.51, Z:-0.44 [[ 9.96911614e-01 -7.04160518e-02 -3.47680050e-02 8.92194027e+01] [ 7.12929797e-02 9.97150526e-01 2.46605003e-02 1.15133467e+01] [ 3.29324393e-02 -2.70630538e-02 9.99091110e-01 -4.42306543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04771942099998 meters Centerline goodness : 0.934261 Centerline is valid? [False, False] Translation: X:89.22, Y:11.51, Z:-0.45 [[ 9.97668031e-01 -6.43393826e-02 -2.27803305e-02 8.92210808e+01] [ 6.50411649e-02 9.97384126e-01 3.15365068e-02 1.15090972e+01] [ 2.06917007e-02 -3.29446238e-02 9.99242966e-01 -4.46827322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.07771942099998 meters Centerline goodness : 0.933618 Centerline is valid? [False, False] Translation: X:89.24, Y:11.51, Z:-0.45 [[ 9.97574421e-01 -6.33128866e-02 -2.89266926e-02 8.92393623e+01] [ 6.39934419e-02 9.97679693e-01 2.32394158e-02 1.15098493e+01] [ 2.73882193e-02 -2.50341654e-02 9.99311351e-01 -4.46752338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10771942099998 meters Centerline goodness : 0.935522 Centerline is valid? [False, False] Translation: X:89.24, Y:11.51, Z:-0.45 [[ 9.97432164e-01 -6.51020369e-02 -2.98463192e-02 8.92427832e+01] [ 6.57950673e-02 9.97571340e-01 2.28567608e-02 1.15100371e+01] [ 2.82858109e-02 -2.47618090e-02 9.99293133e-01 -4.46517348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.13771942099999 meters Centerline goodness : 0.933356 Centerline is valid? [False, False] Translation: X:89.25, Y:11.51, Z:-0.45 [[ 9.97221112e-01 -6.77650941e-02 -3.09506946e-02 8.92474611e+01] [ 6.84501894e-02 9.97419847e-01 2.16384232e-02 1.15118102e+01] [ 2.94045072e-02 -2.36968733e-02 9.99286662e-01 -4.47306455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.167719421 meters Centerline goodness : 0.932820 Centerline is valid? [False, False] Translation: X:89.25, Y:11.51, Z:-0.45 [[ 9.96982470e-01 -7.07032697e-02 -3.20468601e-02 8.92533292e+01] [ 7.13927464e-02 9.97229181e-01 2.09054143e-02 1.15114938e+01] [ 3.04799829e-02 -2.31302449e-02 9.99267713e-01 -4.48450713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.197719421 meters Centerline goodness : 0.929155 Centerline is valid? [False, False] Translation: X:89.27, Y:11.51, Z:-0.45 [[ 9.96022496e-01 -8.27861203e-02 -3.29491278e-02 8.92667686e+01] [ 8.33057441e-02 9.96415300e-01 1.47208250e-02 1.15097621e+01] [ 3.16123350e-02 -1.74071245e-02 9.99348614e-01 -4.52436491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.227719421 meters Centerline goodness : 0.927948 Centerline is valid? [False, False] Translation: X:89.27, Y:11.51, Z:-0.46 [[ 9.95488287e-01 -8.88228647e-02 -3.33701982e-02 8.92723435e+01] [ 8.92077068e-02 9.95960575e-01 1.02233672e-02 1.15076554e+01] [ 3.23273330e-02 -1.31541212e-02 9.99390771e-01 -4.55157179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.257719421 meters Centerline goodness : 0.926603 Centerline is valid? [False, False] Translation: X:89.30, Y:11.50, Z:-0.46 [[ 9.94628795e-01 -9.62165797e-02 -3.81566564e-02 8.92967448e+01] [ 9.63268553e-02 9.95349194e-01 1.05797925e-03 1.14990073e+01] [ 3.78774020e-02 -4.72780734e-03 9.99271210e-01 -4.56552849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.287719421 meters Centerline goodness : 0.927897 Centerline is valid? [False, False] Translation: X:89.30, Y:11.50, Z:-0.45 [[ 9.94681194e-01 -9.54705645e-02 -3.86612643e-02 8.92960632e+01] [ 9.56227245e-02 9.95415430e-01 2.10165983e-03 1.14982400e+01] [ 3.82833724e-02 -5.78737694e-03 9.99250164e-01 -4.54188864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.317719421 meters Centerline goodness : 0.931031 Centerline is valid? [False, False] Translation: X:89.29, Y:11.50, Z:-0.45 [[ 9.94785744e-01 -9.42825784e-02 -3.88859840e-02 8.92948401e+01] [ 9.44852656e-02 9.95520441e-01 3.40382592e-03 1.14969383e+01] [ 3.83908704e-02 -7.06023002e-03 9.99237857e-01 -4.52057430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.347719421 meters Centerline goodness : 0.931033 Centerline is valid? [False, False] Translation: X:89.29, Y:11.50, Z:-0.45 [[ 9.94823451e-01 -9.38379000e-02 -3.89967911e-02 8.92948048e+01] [ 9.40698851e-02 9.95556934e-01 4.15305295e-03 1.14959741e+01] [ 3.84338120e-02 -7.79997812e-03 9.99230705e-01 -4.51443592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.377719421 meters Centerline goodness : 0.932832 Centerline is valid? [False, False] Translation: X:89.30, Y:11.49, Z:-0.45 [[ 9.95208818e-01 -8.94176329e-02 -3.95461131e-02 8.92959814e+01] [ 8.98544064e-02 9.95910502e-01 9.40517001e-03 1.14923894e+01] [ 3.85434013e-02 -1.29135007e-02 9.99173482e-01 -4.51035101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.407719421 meters Centerline goodness : 0.933367 Centerline is valid? [False, False] Translation: X:89.30, Y:11.49, Z:-0.45 [[ 9.95523654e-01 -8.54272623e-02 -4.04331220e-02 8.92974543e+01] [ 8.60583998e-02 9.96189861e-01 1.41319803e-02 1.14903070e+01] [ 3.90718098e-02 -1.75483305e-02 9.99082304e-01 -4.50259014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.437719421 meters Centerline goodness : 0.936737 Centerline is valid? [False, False] Translation: X:89.30, Y:11.49, Z:-0.44 [[ 9.95986694e-01 -7.55820327e-02 -4.79360083e-02 8.93035702e+01] [ 7.61891783e-02 9.97033087e-01 1.09650436e-02 1.14869576e+01] [ 4.69650261e-02 -1.45732426e-02 9.98790222e-01 -4.44622661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.467719421 meters Centerline goodness : 0.938119 Centerline is valid? [False, False] Translation: X:89.30, Y:11.49, Z:-0.44 [[ 9.96002353e-01 -7.51537045e-02 -4.82828523e-02 8.93035041e+01] [ 7.58165310e-02 9.97049045e-01 1.20439015e-02 1.14856148e+01] [ 4.72352280e-02 -1.56563926e-02 9.98761088e-01 -4.42780094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.497719421 meters Centerline goodness : 0.936600 Centerline is valid? [False, False] Translation: X:89.30, Y:11.49, Z:-0.44 [[ 9.96252129e-01 -7.11061620e-02 -4.92504642e-02 8.93037766e+01] [ 7.19973831e-02 9.97267301e-01 1.65621978e-02 1.14866488e+01] [ 4.79382032e-02 -2.00460293e-02 9.98649130e-01 -4.40283949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.527719421 meters Centerline goodness : 0.936846 Centerline is valid? [False, False] Translation: X:89.31, Y:11.49, Z:-0.44 [[ 9.96187978e-01 -7.17543962e-02 -4.96066500e-02 8.93054540e+01] [ 7.26146852e-02 9.97235530e-01 1.57608522e-02 1.14885826e+01] [ 4.83386035e-02 -1.93029428e-02 9.98644469e-01 -4.41338378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.557719421 meters Centerline goodness : 0.938586 Centerline is valid? [False, False] Translation: X:89.31, Y:11.49, Z:-0.44 [[ 9.95868248e-01 -7.57541511e-02 -5.00773551e-02 8.93122433e+01] [ 7.65626081e-02 9.96960420e-01 1.44252855e-02 1.14889274e+01] [ 4.88323657e-02 -1.81997367e-02 9.98641162e-01 -4.43328574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.587719421 meters Centerline goodness : 0.938586 Centerline is valid? [False, False] Translation: X:89.31, Y:11.49, Z:-0.44 [[ 9.95868248e-01 -7.57541511e-02 -5.00773551e-02 8.93122433e+01] [ 7.65626081e-02 9.96960420e-01 1.44252855e-02 1.14889274e+01] [ 4.88323657e-02 -1.81997367e-02 9.98641162e-01 -4.43328574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.617719421 meters Centerline goodness : 0.943096 Centerline is valid? [False, False] Translation: X:89.31, Y:11.49, Z:-0.44 [[ 9.95711392e-01 -7.73078766e-02 -5.08164893e-02 8.93143773e+01] [ 7.81131565e-02 9.96845440e-01 1.40536191e-02 1.14904146e+01] [ 4.95697302e-02 -1.79627851e-02 9.98609123e-01 -4.41944529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.647719421 meters Centerline goodness : 0.944944 Centerline is valid? [False, False] Translation: X:89.32, Y:11.49, Z:-0.44 [[ 9.95584386e-01 -7.84139652e-02 -5.16040795e-02 8.93166773e+01] [ 7.92440269e-02 9.96753568e-01 1.42375595e-02 1.14899652e+01] [ 5.03201269e-02 -1.82640070e-02 9.98566127e-01 -4.40808988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.677719421 meters Centerline goodness : 0.948691 Centerline is valid? [False, False] Translation: X:89.32, Y:11.49, Z:-0.44 [[ 9.95479395e-01 -7.92494068e-02 -5.23479257e-02 8.93180407e+01] [ 8.01026172e-02 9.96682549e-01 1.44037058e-02 1.14904788e+01] [ 5.10327789e-02 -1.85317982e-02 9.98525026e-01 -4.39107542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.707719421 meters Centerline goodness : 0.947415 Centerline is valid? [False, False] Translation: X:89.35, Y:11.49, Z:-0.44 [[ 9.94733599e-01 -8.49538592e-02 -5.73402912e-02 8.93451931e+01] [ 8.54853534e-02 9.96315698e-01 6.87630986e-03 1.14890982e+01] [ 5.65448632e-02 -1.17418515e-02 9.98331011e-01 -4.39124675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.73771942099998 meters Centerline goodness : 0.946763 Centerline is valid? [False, False] Translation: X:89.35, Y:11.49, Z:-0.44 [[ 9.94460423e-01 -8.73379579e-02 -5.84854490e-02 8.93513421e+01] [ 8.78822470e-02 9.96107695e-01 6.79493129e-03 1.14870290e+01] [ 5.76643504e-02 -1.18971229e-02 9.98265136e-01 -4.40147237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76771942099998 meters Centerline goodness : 0.948679 Centerline is valid? [False, False] Translation: X:89.37, Y:11.48, Z:-0.44 [[ 9.93741055e-01 -9.17265906e-02 -6.37569413e-02 8.93726996e+01] [ 9.18244508e-02 9.95774227e-01 -1.39981911e-03 1.14808512e+01] [ 6.36159196e-02 -4.46338840e-03 9.97964475e-01 -4.40094193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.79771942099998 meters Centerline goodness : 0.950691 Centerline is valid? [False, True] Translation: X:89.37, Y:11.48, Z:-0.44 [[ 9.93693520e-01 -9.19055179e-02 -6.42383308e-02 8.93736700e+01] [ 9.20472375e-02 9.95754354e-01 -7.56186204e-04 1.14805474e+01] [ 6.40350953e-02 -5.16154357e-03 9.97934299e-01 -4.38653372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82771942099998 meters Centerline goodness : 0.950338 Centerline is valid? [True, True] Translation: X:89.40, Y:11.48, Z:-0.44 [[ 9.93761146e-01 -9.11777497e-02 -6.42292987e-02 8.94028352e+01] [ 9.13967811e-02 9.95814442e-01 4.74081860e-04 1.14793633e+01] [ 6.39172376e-02 -6.34147529e-03 9.97935054e-01 -4.35245128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.85771942099998 meters Centerline goodness : 0.949782 Centerline is valid? [True, False] Translation: X:89.40, Y:11.48, Z:-0.43 [[ 9.94021549e-01 -8.75149414e-02 -6.52862597e-02 8.94041949e+01] [ 8.80444473e-02 9.96102593e-01 5.27243723e-03 1.14774844e+01] [ 6.45703956e-02 -1.09890089e-02 9.97852647e-01 -4.33191319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88771942099999 meters Centerline goodness : 0.951057 Centerline is valid? [False, True] Translation: X:89.41, Y:11.48, Z:-0.43 [[ 9.94291734e-01 -8.36716055e-02 -6.62043043e-02 8.94055130e+01] [ 8.44621440e-02 9.96383953e-01 9.22850279e-03 1.14785773e+01] [ 6.51927427e-02 -1.47675815e-02 9.97763411e-01 -4.32402419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.917719421 meters Centerline goodness : 0.947906 Centerline is valid? [True, False] Translation: X:89.41, Y:11.48, Z:-0.43 [[ 9.94479254e-01 -8.03480977e-02 -6.74921959e-02 8.94084878e+01] [ 8.14048511e-02 9.96595660e-01 1.30514377e-02 1.14784834e+01] [ 6.62137714e-02 -1.84735762e-02 9.97634434e-01 -4.32371924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.947719421 meters Centerline goodness : 0.944462 Centerline is valid? [False, False] Translation: X:89.42, Y:11.48, Z:-0.43 [[ 9.94403823e-01 -7.42133789e-02 -7.51891745e-02 8.94225304e+01] [ 7.51779046e-02 9.97119229e-01 1.00760329e-02 1.14757984e+01] [ 7.42247953e-02 -1.56722103e-02 9.97118379e-01 -4.32693230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.977719421 meters Centerline goodness : 0.952361 Centerline is valid? [False, True] Translation: X:89.42, Y:11.48, Z:-0.43 [[ 9.94366434e-01 -7.42593861e-02 -7.56368809e-02 8.94240146e+01] [ 7.52466300e-02 9.97111928e-01 1.02833896e-02 1.14754919e+01] [ 7.46547980e-02 -1.59168779e-02 9.97082401e-01 -4.32826174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.007719421 meters Centerline goodness : 0.943784 Centerline is valid? [True, False] Translation: X:89.43, Y:11.47, Z:-0.43 [[ 9.94140926e-01 -6.88557922e-02 -8.33228591e-02 8.94335967e+01] [ 6.95949887e-02 9.97557308e-01 5.99628783e-03 1.14710928e+01] [ 8.27064478e-02 -1.17600086e-02 9.96504564e-01 -4.29327266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.037719421 meters Centerline goodness : 0.937229 Centerline is valid? [False, False] Translation: X:89.45, Y:11.47, Z:-0.43 [[ 9.94300267e-01 -6.27202101e-02 -8.62157395e-02 8.94497986e+01] [ 6.31162099e-02 9.98004428e-01 1.87224483e-03 1.14692768e+01] [ 8.59262622e-02 -7.30318425e-03 9.96274732e-01 -4.29297542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.067719421 meters Centerline goodness : 0.942110 Centerline is valid? [False, False] Translation: X:89.44, Y:11.47, Z:-0.43 [[ 9.94881144e-01 -5.39973542e-02 -8.54154240e-02 8.94423227e+01] [ 5.48838367e-02 9.98460193e-01 8.06277829e-03 1.14706191e+01] [ 8.48485320e-02 -1.27094323e-02 9.96312801e-01 -4.25707066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.097719421 meters Centerline goodness : 0.941971 Centerline is valid? [False, False] Translation: X:89.58, Y:11.43, Z:-0.38 [[ 9.94259545e-01 5.77851004e-03 -1.06838973e-01 8.95753071e+01] [-3.40126688e-03 9.99742864e-01 2.24195539e-02 1.14300974e+01] [ 1.06941053e-01 -2.19274676e-02 9.94023540e-01 -3.83968714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.127719421 meters Centerline goodness : 0.940202 Centerline is valid? [False, False] Translation: X:89.59, Y:11.44, Z:-0.39 [[ 9.94686955e-01 1.75197732e-02 -1.01444164e-01 8.95871145e+01] [-1.55331032e-02 9.99672433e-01 2.03408372e-02 1.14352632e+01] [ 1.01767301e-01 -1.86570227e-02 9.94633265e-01 -3.89981421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.157719421 meters Centerline goodness : 0.942657 Centerline is valid? [False, False] Translation: X:89.60, Y:11.44, Z:-0.40 [[ 9.95202521e-01 2.04991459e-02 -9.56646591e-02 8.95991443e+01] [-1.94879424e-02 9.99744036e-01 1.14927432e-02 1.14375142e+01] [ 9.58757637e-02 -9.57329962e-03 9.95347271e-01 -3.96096288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.187719421 meters Centerline goodness : 0.948425 Centerline is valid? [False, False] Translation: X:89.61, Y:11.43, Z:-0.40 [[ 9.95866583e-01 2.00740606e-02 -8.85820587e-02 8.96112595e+01] [-1.99134272e-02 9.99798071e-01 2.69682585e-03 1.14332580e+01] [ 8.86183076e-02 -9.21706368e-04 9.96065232e-01 -3.99255318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.217719421 meters Centerline goodness : 0.949886 Centerline is valid? [False, False] Translation: X:89.61, Y:11.43, Z:-0.40 [[ 9.95857593e-01 2.05659352e-02 -8.85702874e-02 8.96112190e+01] [-2.02777831e-02 9.99785763e-01 4.15201255e-03 1.14300510e+01] [ 8.86367025e-02 -2.33880415e-03 9.96061276e-01 -3.97829150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.247719421 meters Centerline goodness : 0.951599 Centerline is valid? [False, True] Translation: X:89.62, Y:11.43, Z:-0.40 [[ 9.96210078e-01 2.50575957e-02 -8.32922384e-02 8.96206893e+01] [-2.54611853e-02 9.99668640e-01 -3.78662948e-03 1.14297795e+01] [ 8.31697549e-02 5.89299756e-03 9.96517970e-01 -4.00584383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.277719421 meters Centerline goodness : 0.959267 Centerline is valid? [True, True] Translation: X:89.65, Y:11.45, Z:-0.38 [[ 9.96573940e-01 1.58912364e-03 -8.26913319e-02 8.96492575e+01] [-1.14436677e-03 9.99984626e-01 5.42563642e-03 1.14549088e+01] [ 8.26986826e-02 -5.31241865e-03 9.96560438e-01 -3.77708870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.307719421 meters Centerline goodness : 0.946725 Centerline is valid? [True, False] Translation: X:89.65, Y:11.45, Z:-0.38 [[ 9.96545127e-01 4.46395270e-03 -8.29330032e-02 8.96542866e+01] [-3.79694795e-03 9.99959182e-01 8.19867225e-03 1.14548130e+01] [ 8.29662165e-02 -7.85545458e-03 9.96521399e-01 -3.81544603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.337719421 meters Centerline goodness : 0.948168 Centerline is valid? [False, False] Translation: X:89.67, Y:11.46, Z:-0.39 [[ 9.96895272e-01 6.39051678e-03 -7.84791509e-02 8.96677744e+01] [-6.55707376e-03 9.99976763e-01 -1.86479530e-03 1.14574283e+01] [ 7.84654103e-02 2.37359920e-03 9.96914011e-01 -3.87817466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.367719421 meters Centerline goodness : 0.949935 Centerline is valid? [False, False] Translation: X:89.69, Y:11.46, Z:-0.39 [[ 9.97331023e-01 7.73906770e-03 -7.26012191e-02 8.96850306e+01] [-8.42149538e-03 9.99923147e-01 -9.09827241e-03 1.14601677e+01] [ 7.25252274e-02 9.68540016e-03 9.97319550e-01 -3.92702998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.397719421 meters Centerline goodness : 0.949732 Centerline is valid? [False, False] Translation: X:89.70, Y:11.46, Z:-0.40 [[ 9.97634420e-01 8.43217116e-03 -6.82236237e-02 8.97014929e+01] [-9.67315889e-03 9.99793344e-01 -1.78801358e-02 1.14630289e+01] [ 6.80587565e-02 1.84977769e-02 9.97509818e-01 -3.97537056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.427719421 meters Centerline goodness : 0.948031 Centerline is valid? [False, False] Translation: X:89.71, Y:11.46, Z:-0.40 [[ 9.97563089e-01 8.75470136e-03 -6.92187732e-02 8.97093253e+01] [-9.75977305e-03 9.99851608e-01 -1.41953848e-02 1.14637245e+01] [ 6.90842253e-02 1.48363514e-02 9.97500503e-01 -3.97405094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.457719421 meters Centerline goodness : 0.948645 Centerline is valid? [False, False] Translation: X:89.72, Y:11.46, Z:-0.40 [[ 9.97528836e-01 7.52124960e-03 -6.98545018e-02 8.97166071e+01] [-8.35667899e-03 9.99896924e-01 -1.16750375e-02 1.14632600e+01] [ 6.97594907e-02 1.22299382e-02 9.97488868e-01 -3.97755875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48771942099998 meters Centerline goodness : 0.947419 Centerline is valid? [False, False] Translation: X:89.73, Y:11.46, Z:-0.40 [[ 9.97483084e-01 1.55285824e-03 -7.08878326e-02 8.97271895e+01] [-2.36738343e-03 9.99932127e-01 -1.14077698e-02 1.14626318e+01] [ 7.08653066e-02 1.15468761e-02 9.97419058e-01 -3.96487006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.51771942099998 meters Centerline goodness : 0.947456 Centerline is valid? [False, False] Translation: X:89.74, Y:11.46, Z:-0.39 [[ 9.97414633e-01 -7.40573662e-03 -7.14786967e-02 8.97404138e+01] [ 6.64013143e-03 9.99918080e-01 -1.09426405e-02 1.14611502e+01] [ 7.15538795e-02 1.04397218e-02 9.97382101e-01 -3.92730655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54771942099998 meters Centerline goodness : 0.946758 Centerline is valid? [False, False] Translation: X:89.75, Y:11.46, Z:-0.39 [[ 9.97303616e-01 -1.02095170e-02 -7.26723036e-02 8.97462695e+01] [ 9.42161716e-03 9.99893155e-01 -1.11763803e-02 1.14606773e+01] [ 7.27786443e-02 1.04615539e-02 9.97293249e-01 -3.92591941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.57771942099998 meters Centerline goodness : 0.947898 Centerline is valid? [False, False] Translation: X:89.76, Y:11.46, Z:-0.39 [[ 9.97125893e-01 -2.07074288e-02 -7.28776822e-02 8.97639466e+01] [ 1.98849302e-02 9.99730335e-01 -1.19936025e-02 1.14619329e+01] [ 7.31063863e-02 1.05099640e-02 9.97268769e-01 -3.93220034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60771942099998 meters Centerline goodness : 0.947139 Centerline is valid? [False, False] Translation: X:89.77, Y:11.46, Z:-0.39 [[ 9.96992766e-01 -2.28106410e-02 -7.40614499e-02 8.97689622e+01] [ 2.19657312e-02 9.99684248e-01 -1.22028857e-02 1.14621940e+01] [ 7.43164206e-02 1.05393749e-02 9.97179017e-01 -3.93235184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.63771942099999 meters Centerline goodness : 0.952154 Centerline is valid? [False, True] Translation: X:89.79, Y:11.46, Z:-0.39 [[ 9.96793459e-01 -3.49499739e-02 -7.19812499e-02 8.97869710e+01] [ 3.43143811e-02 9.99360575e-01 -1.00481090e-02 1.14606293e+01] [ 7.22864044e-02 7.54589724e-03 9.97355371e-01 -3.89194997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.667719421 meters Centerline goodness : 0.952432 Centerline is valid? [True, True] Translation: X:89.81, Y:11.45, Z:-0.38 [[ 9.96580286e-01 -4.17128840e-02 -7.13285976e-02 8.98138648e+01] [ 4.20675474e-02 9.99108720e-01 3.47661796e-03 1.14549192e+01] [ 7.11200041e-02 -6.46534808e-03 9.97446813e-01 -3.78415126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.697719421 meters Centerline goodness : 0.953688 Centerline is valid? [True, True] Translation: X:89.84, Y:11.45, Z:-0.38 [[ 9.96446088e-01 -4.48038528e-02 -7.13288748e-02 8.98408137e+01] [ 4.51659528e-02 9.98973468e-01 3.47092014e-03 1.14546847e+01] [ 7.11001429e-02 -6.68022139e-03 9.97446813e-01 -3.75830451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.727719421 meters Centerline goodness : 0.954479 Centerline is valid? [True, True] Translation: X:89.87, Y:11.45, Z:-0.37 [[ 9.96233403e-01 -4.93066270e-02 -7.13292545e-02 8.98691165e+01] [ 4.96795909e-02 9.98759203e-01 3.46310107e-03 1.14541052e+01] [ 7.10699955e-02 -6.99366514e-03 9.97446813e-01 -3.71789441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.757719421 meters Centerline goodness : 0.954346 Centerline is valid? [True, True] Translation: X:89.90, Y:11.45, Z:-0.37 [[ 9.96163483e-01 -5.06985397e-02 -7.13300338e-02 8.98973845e+01] [ 5.10738888e-02 9.98688929e-01 3.44697329e-03 1.14546059e+01] [ 7.10617586e-02 -7.07685114e-03 9.97446813e-01 -3.71186015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.787719421 meters Centerline goodness : 0.954901 Centerline is valid? [True, True] Translation: X:89.93, Y:11.46, Z:-0.37 [[ 9.96208044e-01 -4.98148615e-02 -7.13303094e-02 8.99251745e+01] [ 5.01875653e-02 9.98733881e-01 3.44126145e-03 1.14554459e+01] [ 7.10685708e-02 -7.00810690e-03 9.97446813e-01 -3.70956951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.817719421 meters Centerline goodness : 0.951633 Centerline is valid? [True, True] Translation: X:89.95, Y:11.46, Z:-0.37 [[ 9.96168821e-01 -5.05919619e-02 -7.13311596e-02 8.99540387e+01] [ 5.09653799e-02 9.98694553e-01 3.42354775e-03 1.14551181e+01] [ 7.10648365e-02 -7.04585117e-03 9.97446813e-01 -3.70557189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.847719421 meters Centerline goodness : 0.952756 Centerline is valid? [True, True] Translation: X:89.98, Y:11.45, Z:-0.37 [[ 9.96073158e-01 -5.24406236e-02 -7.13319318e-02 8.99809958e+01] [ 5.28175825e-02 9.98598364e-01 3.40738305e-03 1.14524388e+01] [ 7.10532651e-02 -7.16158299e-03 9.97446813e-01 -3.69220917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.877719421 meters Centerline goodness : 0.953489 Centerline is valid? [True, True] Translation: X:90.01, Y:11.45, Z:-0.37 [[ 9.95939398e-01 -5.49219164e-02 -7.13323133e-02 9.00087592e+01] [ 5.53045975e-02 9.98463743e-01 3.39937620e-03 1.14484972e+01] [ 7.10360283e-02 -7.33057757e-03 9.97446813e-01 -3.65637549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.907719421 meters Centerline goodness : 0.953538 Centerline is valid? [True, True] Translation: X:90.04, Y:11.44, Z:-0.36 [[ 9.96051263e-01 -5.28531672e-02 -7.13331921e-02 9.00359488e+01] [ 5.32292899e-02 9.98576593e-01 3.38083450e-03 1.14428666e+01] [ 7.10529682e-02 -7.16449964e-03 9.97446813e-01 -3.61879130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.937719421 meters Centerline goodness : 0.955254 Centerline is valid? [True, True] Translation: X:90.06, Y:11.44, Z:-0.36 [[ 9.96124435e-01 -5.14550939e-02 -7.13336028e-02 9.00636145e+01] [ 5.18270556e-02 9.98650382e-01 3.37214629e-03 1.14381699e+01] [ 7.10638156e-02 -7.05608792e-03 9.97446813e-01 -3.58772462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.967719421 meters Centerline goodness : 0.955008 Centerline is valid? [True, True] Translation: X:90.09, Y:11.44, Z:-0.36 [[ 9.96115806e-01 -5.16213432e-02 -7.13339942e-02 9.00919085e+01] [ 5.19931381e-02 9.98641777e-01 3.36384743e-03 1.14380870e+01] [ 7.10634604e-02 -7.05965980e-03 9.97446814e-01 -3.55958093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.997719421 meters Centerline goodness : 0.956362 Centerline is valid? [True, True] Translation: X:90.12, Y:11.44, Z:-0.35 [[ 9.96374385e-01 -4.63619212e-02 -7.13348275e-02 9.01204275e+01] [ 4.67191150e-02 9.98902462e-01 3.34608309e-03 1.14398197e+01] [ 7.11014039e-02 -6.66665149e-03 9.97446814e-01 -3.51412144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.027719421 meters Centerline goodness : 0.957589 Centerline is valid? [True, True] Translation: X:90.15, Y:11.44, Z:-0.35 [[ 9.96478875e-01 -4.40577567e-02 -7.13355802e-02 9.01482068e+01] [ 4.44079587e-02 9.99007930e-01 3.32995735e-03 1.14390063e+01] [ 7.11180999e-02 -6.48609966e-03 9.97446814e-01 -3.48992907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.057719421 meters Centerline goodness : 0.959482 Centerline is valid? [True, True] Translation: X:90.18, Y:11.44, Z:-0.35 [[ 9.96505970e-01 -4.34401649e-02 -7.13358471e-02 9.01761030e+01] [ 4.37883929e-02 9.99035298e-01 3.32423109e-03 1.14400187e+01] [ 7.11226241e-02 -6.43629822e-03 9.97446814e-01 -3.45527062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.087719421 meters Centerline goodness : 0.957766 Centerline is valid? [True, True] Translation: X:90.20, Y:11.44, Z:-0.35 [[ 9.96448162e-01 -4.47461777e-02 -7.13360998e-02 9.02039795e+01] [ 4.50973347e-02 9.98977085e-01 3.31879926e-03 1.14403663e+01] [ 7.11146254e-02 -6.52407939e-03 9.97446814e-01 -3.46181991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.117719421 meters Centerline goodness : 0.957166 Centerline is valid? [True, True] Translation: X:90.23, Y:11.44, Z:-0.35 [[ 9.96338185e-01 -4.71303232e-02 -7.13368994e-02 9.02331971e+01] [ 4.74863042e-02 9.98866433e-01 3.30152244e-03 1.14404849e+01] [ 7.11004324e-02 -6.67695858e-03 9.97446814e-01 -3.47605688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.147719421 meters Centerline goodness : 0.958045 Centerline is valid? [True, True] Translation: X:90.26, Y:11.44, Z:-0.34 [[ 9.96610792e-01 -4.09618766e-02 -7.13376081e-02 9.02614789e+01] [ 4.13011075e-02 9.99141341e-01 3.28613766e-03 1.14405502e+01] [ 7.11417470e-02 -6.22132248e-03 9.97446814e-01 -3.44022144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.177719421 meters Centerline goodness : 0.958047 Centerline is valid? [True, True] Translation: X:90.29, Y:11.44, Z:-0.34 [[ 9.96726029e-01 -3.80532703e-02 -7.13384355e-02 9.02892847e+01] [ 3.83838314e-02 9.99257725e-01 3.26807645e-03 1.14410456e+01] [ 7.11611218e-02 -5.99561934e-03 9.97446814e-01 -3.43383186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.207719421 meters Centerline goodness : 0.955848 Centerline is valid? [True, True] Translation: X:90.32, Y:11.44, Z:-0.35 [[ 9.96896873e-01 -3.32766365e-02 -7.13392567e-02 9.03186952e+01] [ 3.35937802e-02 9.99430285e-01 3.25005053e-03 1.14430114e+01] [ 7.11904629e-02 -5.63652052e-03 9.97446814e-01 -3.45231130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.23771942099998 meters Centerline goodness : 0.953815 Centerline is valid? [True, True] Translation: X:90.35, Y:11.44, Z:-0.35 [[ 9.96988914e-01 -3.03926116e-02 -7.13399926e-02 9.03463190e+01] [ 3.07012703e-02 9.99523374e-01 3.23381730e-03 1.14425700e+01] [ 7.12077059e-02 -5.41430840e-03 9.97446815e-01 -3.45305446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26771942099998 meters Centerline goodness : 0.955432 Centerline is valid? [True, True] Translation: X:90.37, Y:11.44, Z:-0.34 [[ 9.97091971e-01 -2.67986695e-02 -7.13402537e-02 9.03741592e+01] [ 2.70977797e-02 9.99627576e-01 3.22804614e-03 1.14396955e+01] [ 7.12271775e-02 -5.15182137e-03 9.97446815e-01 -3.40352433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.29771942099998 meters Centerline goodness : 0.956993 Centerline is valid? [True, True] Translation: X:90.40, Y:11.44, Z:-0.34 [[ 9.97073825e-01 -2.74648989e-02 -7.13405021e-02 9.04027859e+01] [ 2.77653119e-02 9.99609275e-01 3.22254621e-03 1.14365421e+01] [ 7.12241207e-02 -5.19390777e-03 9.97446815e-01 -3.37876774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32771942099998 meters Centerline goodness : 0.959758 Centerline is valid? [True, True] Translation: X:90.43, Y:11.43, Z:-0.32 [[ 9.96905965e-01 -3.29989606e-02 -7.13411918e-02 9.04302486e+01] [ 3.33123515e-02 9.99439844e-01 3.20720573e-03 1.14273496e+01] [ 7.11953951e-02 -5.57382538e-03 9.97446815e-01 -3.21110094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.35771942099998 meters Centerline goodness : 0.953925 Centerline is valid? [True, True] Translation: X:90.46, Y:11.42, Z:-0.31 [[ 9.96748689e-01 -3.74484085e-02 -7.13419120e-02 9.04570955e+01] [ 3.77719618e-02 9.99281290e-01 3.19110493e-03 1.14216872e+01] [ 7.11711360e-02 -5.87545363e-03 9.97446815e-01 -3.06391619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38771942099999 meters Centerline goodness : 0.951400 Centerline is valid? [True, True] Translation: X:90.49, Y:11.42, Z:-0.30 [[ 9.96515109e-01 -4.32195780e-02 -7.13421665e-02 9.04854785e+01] [ 4.35573864e-02 9.99045848e-01 3.18540391e-03 1.14167110e+01] [ 7.11364235e-02 -6.28178144e-03 9.97446815e-01 -2.95262100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.417719421 meters Centerline goodness : 0.951943 Centerline is valid? [True, True] Translation: X:90.51, Y:11.42, Z:-0.29 [[ 9.96315843e-01 -4.75918510e-02 -7.13425361e-02 9.05135503e+01] [ 4.79401718e-02 9.98845156e-01 3.17710654e-03 1.14177558e+01] [ 7.11089422e-02 -6.58557502e-03 9.97446815e-01 -2.94459630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.447719421 meters Centerline goodness : 0.947825 Centerline is valid? [True, False] Translation: X:90.51, Y:11.42, Z:-0.29 [[ 9.95742600e-01 -5.93416162e-02 -7.05354341e-02 9.05064657e+01] [ 6.08146281e-02 9.97969733e-01 1.89206881e-02 1.14215576e+01] [ 6.92694441e-02 -2.31297214e-02 9.97329815e-01 -2.94795828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.477719421 meters Centerline goodness : 0.947755 Centerline is valid? [False, False] Translation: X:90.51, Y:11.42, Z:-0.30 [[ 9.95547747e-01 -6.15167385e-02 -7.14169032e-02 9.05124356e+01] [ 6.29179315e-02 9.97864616e-01 1.75368610e-02 1.14222240e+01] [ 7.01855902e-02 -2.19521863e-02 9.97292377e-01 -2.98193782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.507719421 meters Centerline goodness : 0.947755 Centerline is valid? [False, False] Translation: X:90.51, Y:11.42, Z:-0.30 [[ 9.95547747e-01 -6.15167385e-02 -7.14169032e-02 9.05124356e+01] [ 6.29179315e-02 9.97864616e-01 1.75368610e-02 1.14222240e+01] [ 7.01855902e-02 -2.19521863e-02 9.97292377e-01 -2.98193782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.537719421 meters Centerline goodness : 0.950615 Centerline is valid? [False, True] Translation: X:90.53, Y:11.42, Z:-0.30 [[ 9.94870462e-01 -6.90096016e-02 -7.39624183e-02 9.05332601e+01] [ 7.04781422e-02 9.97361039e-01 1.74295808e-02 1.14237930e+01] [ 7.25644259e-02 -2.25529089e-02 9.97108705e-01 -3.03019127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.567719421 meters Centerline goodness : 0.950638 Centerline is valid? [True, True] Translation: X:90.56, Y:11.43, Z:-0.32 [[ 9.94426539e-01 -7.45088524e-02 -7.45941594e-02 9.05627651e+01] [ 7.49623430e-02 9.97180924e-01 3.29432142e-03 1.14275154e+01] [ 7.41384167e-02 -8.86771362e-03 9.97208533e-01 -3.15767842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.597719421 meters Centerline goodness : 0.955709 Centerline is valid? [True, True] Translation: X:90.59, Y:11.43, Z:-0.32 [[ 9.93890412e-01 -8.13476720e-02 -7.45949375e-02 9.05918232e+01] [ 8.18187907e-02 9.96641836e-01 3.27660898e-03 1.14260543e+01] [ 7.40778909e-02 -9.35985783e-03 9.97208533e-01 -3.18380913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.627719421 meters Centerline goodness : 0.955416 Centerline is valid? [True, True] Translation: X:90.62, Y:11.43, Z:-0.32 [[ 9.93746028e-01 -8.30922260e-02 -7.45956708e-02 9.06207168e+01] [ 8.35669346e-02 9.96496834e-01 3.25982826e-03 1.14267313e+01] [ 7.40634834e-02 -9.47317293e-03 9.97208534e-01 -3.15740404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.657719421 meters Centerline goodness : 0.955139 Centerline is valid? [True, True] Translation: X:90.65, Y:11.43, Z:-0.31 [[ 9.93890414e-01 -8.13463042e-02 -7.45964006e-02 9.06479200e+01] [ 8.18149392e-02 9.96642262e-01 3.24304057e-03 1.14313753e+01] [ 7.40821161e-02 -9.32632692e-03 9.97208534e-01 -3.08946023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.687719421 meters Centerline goodness : 0.953681 Centerline is valid? [True, True] Translation: X:90.68, Y:11.44, Z:-0.31 [[ 9.94129908e-01 -7.83647568e-02 -7.45968596e-02 9.06756993e+01] [ 7.88243526e-02 9.96883279e-01 3.23244911e-03 1.14359265e+01] [ 7.41110519e-02 -9.09352349e-03 9.97208534e-01 -3.05852323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.717719421 meters Centerline goodness : 0.951889 Centerline is valid? [True, True] Translation: X:90.70, Y:11.45, Z:-0.30 [[ 9.94924057e-01 -6.75374147e-02 -7.45977048e-02 9.07031182e+01] [ 6.79655550e-02 9.97682495e-01 3.21282464e-03 1.14500282e+01] [ 7.42078384e-02 -8.26659094e-03 9.97208534e-01 -3.02218617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.747719421 meters Centerline goodness : 0.949678 Centerline is valid? [True, False] Translation: X:90.71, Y:11.46, Z:-0.30 [[ 9.95809258e-01 -5.80128096e-02 -7.06996093e-02 9.07148890e+01] [ 5.83493282e-02 9.98292569e-01 2.70220111e-03 1.14568453e+01] [ 7.04221323e-02 -6.81615159e-03 9.97493992e-01 -3.02120128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.777719421 meters Centerline goodness : 0.946667 Centerline is valid? [False, False] Translation: X:90.73, Y:11.48, Z:-0.30 [[ 9.96764115e-01 -4.38147423e-02 -6.73911486e-02 9.07286563e+01] [ 4.43544139e-02 9.98994504e-01 6.53203616e-03 1.14760067e+01] [ 6.70371876e-02 -9.49999414e-03 9.97705250e-01 -3.01234778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.807719421 meters Centerline goodness : 0.943407 Centerline is valid? [False, False] Translation: X:90.74, Y:11.48, Z:-0.30 [[ 9.97354908e-01 -3.49303058e-02 -6.37421449e-02 9.07379679e+01] [ 3.52886453e-02 9.99367011e-01 4.50421416e-03 1.14837193e+01] [ 6.35444632e-02 -6.74167404e-03 9.97956237e-01 -3.04944756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.837719421 meters Centerline goodness : 0.946435 Centerline is valid? [False, False] Translation: X:90.75, Y:11.50, Z:-0.31 [[ 9.96987763e-01 -3.60319469e-02 -6.86811429e-02 9.07503356e+01] [ 3.60752978e-02 9.99348889e-01 -6.09419097e-04 1.15017418e+01] [ 6.86583824e-02 -1.87010930e-03 9.97638476e-01 -3.08050410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.867719421 meters Centerline goodness : 0.945052 Centerline is valid? [False, False] Translation: X:90.76, Y:11.51, Z:-0.32 [[ 9.96989221e-01 -3.68559175e-02 -6.82212174e-02 9.07553593e+01] [ 3.66846407e-02 9.99319810e-01 -3.76213032e-03 1.15066498e+01] [ 6.83134708e-02 1.24813253e-03 9.97663125e-01 -3.16604469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.897719421 meters Centerline goodness : 0.940990 Centerline is valid? [False, False] Translation: X:90.75, Y:11.51, Z:-0.31 [[ 9.97423445e-01 -3.92159486e-02 -6.00714596e-02 9.07495440e+01] [ 4.07962657e-02 9.98846863e-01 2.53102667e-02 1.15143762e+01] [ 5.90096229e-02 -2.76957447e-02 9.97873143e-01 -3.09013175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 8079.89 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%| | 0/5821 [00:00