+ python -m lidar_slam --no-model /working/cc565e2a-c168-462e-a9c1-b82429f904d4 Lidar SLAM 0.0.15 ===================================================== The recording path: /working/cc565e2a-c168-462e-a9c1-b82429f904d4 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 0.021052754 Adjusted end_distance from 9.223372036854776e+18 to 124.961052754 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.021052754 meters Centerline goodness : 0.854463 Centerline is valid? [0, False] SLAMing on 0.051052754 meters Centerline goodness : 0.847553 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 0.9999823 0.00378106 0.00459335 0.01299004] [-0.00375142 0.99997219 -0.00644519 0.00929882] [-0.00461759 0.00642784 0.99996868 -0.00287403] [ 0. 0. 0. 1. ]] SLAMing on 0.081052754 meters Centerline goodness : 0.841315 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.00 [[ 0.99997151 0.00653838 0.00377264 0.0155503 ] [-0.00651911 0.99996576 -0.00509719 0.01634902] [-0.00380584 0.00507245 0.99997989 -0.00369475] [ 0. 0. 0. 1. ]] SLAMing on 0.111052754 meters Centerline goodness : 0.860819 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.01 [[ 0.99989236 0.01322367 0.00635595 0.03450888] [-0.01316895 0.99987652 -0.00857411 0.03170442] [-0.00646855 0.00848948 0.99994304 -0.00746161] [ 0. 0. 0. 1. ]] SLAMing on 0.141052754 meters Centerline goodness : 0.883750 Centerline is valid? [False, False] Translation: X:0.05, Y:0.04, Z:-0.01 [[ 0.99980494 0.01766509 0.00883328 0.0536441 ] [-0.01755069 0.9997632 -0.01286564 0.04436612] [-0.00905846 0.01270811 0.99987822 -0.01079061] [ 0. 0. 0. 1. ]] SLAMing on 0.171052754 meters Centerline goodness : 0.881262 Centerline is valid? [False, False] Translation: X:0.06, Y:0.05, Z:-0.01 [[ 0.99977254 0.01978641 0.00795968 0.05680088] [-0.01969821 0.99974534 -0.01101036 0.0476171 ] [-0.00817551 0.01085107 0.9999077 -0.01195235] [ 0. 0. 0. 1. ]] SLAMing on 0.201052754 meters Centerline goodness : 0.885020 Centerline is valid? [False, False] Translation: X:0.08, Y:0.06, Z:-0.01 [[ 0.99970466 0.02201202 0.01029916 0.07597506] [-0.02184889 0.99963813 -0.0156918 0.05634147] [-0.01064084 0.01546214 0.99982383 -0.01430892] [ 0. 0. 0. 1. ]] SLAMing on 0.231052754 meters Centerline goodness : 0.881435 Centerline is valid? [False, False] Translation: X:0.08, Y:0.06, Z:-0.02 [[ 0.99966088 0.02425412 0.00947947 0.07951777] [-0.02412364 0.99961586 -0.01364504 0.05925324] [-0.00980678 0.01341173 0.99986197 -0.01597814] [ 0. 0. 0. 1. ]] SLAMing on 0.261052754 meters Centerline goodness : 0.884563 Centerline is valid? [False, False] Translation: X:0.08, Y:0.06, Z:-0.02 [[ 0.99960945 0.02659653 0.0085778 0.08331312] [-0.02649662 0.99958207 -0.01155878 0.06186294] [-0.00888164 0.01132698 0.9998964 -0.01777061] [ 0. 0. 0. 1. ]] SLAMing on 0.291052754 meters Centerline goodness : 0.881085 Centerline is valid? [False, False] Translation: X:0.11, Y:0.07, Z:-0.02 [[ 0.99943557 0.03267847 0.00778785 0.10978047] [-0.03251438 0.99926428 -0.02033981 0.06714508] [-0.00844679 0.02007511 0.99976279 -0.01689125] [ 0. 0. 0. 1. ]] SLAMing on 0.321052754 meters Centerline goodness : 0.148114 Centerline is valid? [False, False] Translation: X:0.12, Y:0.07, Z:-0.02 [[ 0.99937228 0.0348875 0.00615725 0.11531454] [-0.03477714 0.99924704 -0.01720208 0.06715415] [-0.00675275 0.01697715 0.99983307 -0.01812167] [ 0. 0. 0. 1. ]] SLAMing on 0.35105275399999997 meters Centerline goodness : 0.148835 Centerline is valid? [False, False] Translation: X:0.12, Y:0.07, Z:-0.02 [[ 0.99939418 0.03442014 0.00515037 0.11865339] [-0.03432542 0.999258 -0.01747044 0.06818301] [-0.00574788 0.01728307 0.99983411 -0.01914282] [ 0. 0. 0. 1. ]] SLAMing on 0.381052754 meters Centerline goodness : 0.148344 Centerline is valid? [False, False] Translation: X:0.13, Y:0.07, Z:-0.02 [[ 0.99950213 0.03110337 0.00529859 0.13304244] [-0.03103887 0.99944794 -0.01184939 0.06821773] [-0.00566422 0.01167903 0.99991575 -0.02081454] [ 0. 0. 0. 1. ]] SLAMing on 0.411052754 meters Centerline goodness : 0.148832 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:-0.02 [[ 0.99954851 0.02972178 0.00440419 0.13644979] [-0.02966417 0.99948031 -0.01261502 0.06832173] [-0.00477684 0.01247868 0.99991073 -0.0220171 ] [ 0. 0. 0. 1. ]] SLAMing on 0.441052754 meters Centerline goodness : 0.148644 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:-0.02 [[ 0.99959316 0.02833455 0.0032665 0.14031902] [-0.02828927 0.99951312 -0.01316197 0.06826796] [-0.00363785 0.01306421 0.99990804 -0.02318264] [ 0. 0. 0. 1. ]] SLAMing on 0.47105275399999996 meters Centerline goodness : 0.149994 Centerline is valid? [False, False] Translation: X:0.15, Y:0.07, Z:-0.02 [[ 9.99776848e-01 2.11044760e-02 -9.24440528e-04 1.54105715e-01] [-2.11147320e-02 9.99692230e-01 -1.30235601e-02 6.87813401e-02] [ 6.49300601e-04 1.30401732e-02 9.99914763e-01 -2.24179310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5010527539999999 meters Centerline goodness : 0.149274 Centerline is valid? [False, False] Translation: X:0.16, Y:0.07, Z:-0.02 [[ 0.99980494 0.01964636 -0.00202575 0.15799512] [-0.01967191 0.99971571 -0.01347256 0.06809719] [ 0.00176049 0.01350978 0.99990719 -0.02375657] [ 0. 0. 0. 1. ]] SLAMing on 0.531052754 meters Centerline goodness : 0.149883 Centerline is valid? [False, False] Translation: X:0.17, Y:0.07, Z:-0.02 [[ 0.99990179 0.01290581 -0.00546405 0.17363088] [-0.01296777 0.99985022 -0.01146151 0.06839618] [ 0.00531531 0.01153124 0.99991939 -0.02460949] [ 0. 0. 0. 1. ]] SLAMing on 0.561052754 meters Centerline goodness : 0.148665 Centerline is valid? [False, False] Translation: X:0.19, Y:0.07, Z:-0.03 [[ 0.99993782 0.0068865 -0.00877101 0.19201074] [-0.00695163 0.99994833 -0.00741759 0.07062426] [ 0.00871948 0.0074781 0.99993402 -0.02625959] [ 0. 0. 0. 1. ]] SLAMing on 0.5910527539999999 meters Centerline goodness : 0.149314 Centerline is valid? [False, False] Translation: X:0.21, Y:0.07, Z:-0.03 [[ 0.99995295 0.00634465 -0.00733804 0.2102242 ] [-0.00642764 0.99991502 -0.01134197 0.07222719] [ 0.00726546 0.01138861 0.99990875 -0.02637054] [ 0. 0. 0. 1. ]] SLAMing on 0.6210527539999999 meters Centerline goodness : 0.148659 Centerline is valid? [False, False] Translation: X:0.22, Y:0.07, Z:-0.03 [[ 0.99994901 0.00548146 -0.00848073 0.21562894] [-0.00557829 0.99991904 -0.01143659 0.07279017] [ 0.00841735 0.01148331 0.99989864 -0.02894793] [ 0. 0. 0. 1. ]] SLAMing on 0.651052754 meters Centerline goodness : 0.148027 Centerline is valid? [False, False] Translation: X:0.24, Y:0.07, Z:-0.03 [[ 0.99995329 0.00486332 -0.00835232 0.24005314] [-0.00497896 0.99989125 -0.01388137 0.07295576] [ 0.0082839 0.01392231 0.99986876 -0.03110296] [ 0. 0. 0. 1. ]] SLAMing on 0.6810527539999999 meters Centerline goodness : 0.149218 Centerline is valid? [False, False] Translation: X:0.26, Y:0.07, Z:-0.03 [[ 9.99937845e-01 2.54996364e-04 -1.11463755e-02 2.57365192e-01] [-3.70068464e-04 9.99946649e-01 -1.03228805e-02 7.24083444e-02] [ 1.11431486e-02 1.03263638e-02 9.99884592e-01 -3.38265321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7110527539999999 meters Centerline goodness : 0.148973 Centerline is valid? [False, False] Translation: X:0.27, Y:0.07, Z:-0.04 [[ 0.99997006 -0.00149069 -0.00759376 0.27216327] [ 0.00144966 0.99998434 -0.00540629 0.06969076] [ 0.0076017 0.00539512 0.99995655 -0.03858411] [ 0. 0. 0. 1. ]] SLAMing on 0.7410527539999999 meters Centerline goodness : 0.146613 Centerline is valid? [False, False] Translation: X:0.30, Y:0.07, Z:-0.04 [[ 0.99993065 -0.00410912 -0.01103634 0.30217061] [ 0.00405553 0.9999799 -0.00487397 0.06638611] [ 0.01105615 0.00482887 0.99992722 -0.04127888] [ 0. 0. 0. 1. ]] SLAMing on 0.771052754 meters Centerline goodness : 0.138671 Centerline is valid? [False, False] Translation: X:0.31, Y:0.06, Z:-0.05 [[ 0.9999125 -0.00516045 -0.01218006 0.30920887] [ 0.00511108 0.99997861 -0.00408068 0.06452731] [ 0.01220086 0.00401807 0.99991749 -0.04503157] [ 0. 0. 0. 1. ]] SLAMing on 0.801052754 meters Centerline goodness : 0.146116 Centerline is valid? [False, False] Translation: X:0.32, Y:0.06, Z:-0.05 [[ 0.99989127 -0.00619038 -0.01338349 0.31605674] [ 0.00614589 0.99997546 -0.00336299 0.0624503 ] [ 0.01340398 0.00328037 0.99990478 -0.04858132] [ 0. 0. 0. 1. ]] SLAMing on 0.8310527539999999 meters Centerline goodness : 0.147276 Centerline is valid? [False, False] Translation: X:0.33, Y:0.06, Z:-0.06 [[ 0.99981038 -0.01141937 -0.01577368 0.33048923] [ 0.01133993 0.99992261 -0.00511643 0.05878654] [ 0.01583088 0.00493658 0.9998625 -0.055107 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8610527539999999 meters Centerline goodness : 0.147568 Centerline is valid? [False, False] Translation: X:0.36, Y:0.05, Z:-0.06 [[ 0.99971068 -0.01381685 -0.01968888 0.36007357] [ 0.01369191 0.99988535 -0.00646633 0.05090957] [ 0.01977597 0.00619488 0.99978524 -0.05949239] [ 0. 0. 0. 1. ]] SLAMing on 0.891052754 meters Centerline goodness : 0.147587 Centerline is valid? [False, False] Translation: X:0.37, Y:0.05, Z:-0.06 [[ 0.99967234 -0.01474888 -0.0209209 0.36797637] [ 0.01463419 0.99987709 -0.00562488 0.0476804 ] [ 0.02100129 0.00531687 0.99976531 -0.06363141] [ 0. 0. 0. 1. ]] SLAMing on 0.9210527539999999 meters Centerline goodness : 0.149559 Centerline is valid? [False, False] Translation: X:0.40, Y:0.04, Z:-0.07 [[ 0.99958701 -0.01436781 -0.0248872 0.39964213] [ 0.01429068 0.99989252 -0.00327428 0.04052099] [ 0.02493157 0.00291727 0.9996849 -0.06755805] [ 0. 0. 0. 1. ]] SLAMing on 0.9510527539999999 meters Centerline goodness : 0.150218 Centerline is valid? [False, False] Translation: X:0.41, Y:0.04, Z:-0.07 [[ 0.99954544 -0.01496573 -0.02617129 0.40821826] [ 0.0149198 0.99988679 -0.00194929 0.03732284] [ 0.0261975 0.00155793 0.99965557 -0.07174448] [ 0. 0. 0. 1. ]] SLAMing on 0.9810527539999999 meters Centerline goodness : 0.150218 Centerline is valid? [False, False] Translation: X:0.41, Y:0.04, Z:-0.07 [[ 0.99954565 -0.01497967 -0.02615519 0.40819533] [ 0.01493369 0.99988658 -0.00195237 0.03732133] [ 0.02618147 0.00156089 0.99965599 -0.07174328] [ 0. 0. 0. 1. ]] SLAMing on 1.011052754 meters Centerline goodness : 0.132805 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:-0.07 [[ 9.99513451e-01 -1.33341052e-02 -2.81968597e-02 4.32286308e-01] [ 1.33514547e-02 9.99910774e-01 4.27109469e-04 3.09784874e-02] [ 2.81886487e-02 -8.03370754e-04 9.99602298e-01 -7.25147742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.041052754 meters Centerline goodness : 0.132041 Centerline is valid? [False, False] Translation: X:0.46, Y:0.02, Z:-0.08 [[ 0.99942026 -0.01699583 -0.02950046 0.46367987] [ 0.01706038 0.99985258 0.00193785 0.01939405] [ 0.02946318 -0.00244001 0.99956289 -0.07616006] [ 0. 0. 0. 1. ]] SLAMing on 1.071052754 meters Centerline goodness : 0.131640 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:-0.08 [[ 0.99949514 -0.01944501 -0.02512682 0.48035228] [ 0.01960654 0.99978856 0.00619799 0.01106748] [ 0.02500098 -0.00668751 0.99966506 -0.08088291] [ 0. 0. 0. 1. ]] SLAMing on 1.1010527540000001 meters Centerline goodness : 0.129245 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.00, Z:-0.08 [[ 0.99937018 -0.02648779 -0.0236146 0.51638666] [ 0.02673399 0.99959083 0.01017154 -0.00198564] [ 0.02333551 -0.01079645 0.99966939 -0.08372629] [ 0. 0. 0. 1. ]] SLAMing on 1.131052754 meters Centerline goodness : 0.152849 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.01, Z:-0.09 [[ 0.99919373 -0.03203049 -0.02420623 0.55360791] [ 0.03246697 0.99931324 0.01785914 -0.01368533] [ 0.02361757 -0.01863064 0.99954745 -0.08506046] [ 0. 0. 0. 1. ]] SLAMing on 1.161052754 meters Centerline goodness : 0.155717 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.02, Z:-0.09 [[ 0.99906456 -0.03234508 -0.02870181 0.57255159] [ 0.03275894 0.99936427 0.01406811 -0.01780215] [ 0.02822853 -0.01499519 0.99948902 -0.08546788] [ 0. 0. 0. 1. ]] SLAMing on 1.191052754 meters Centerline goodness : 0.156024 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.03, Z:-0.09 [[ 0.99882236 -0.03597318 -0.03255496 0.60340594] [ 0.03642659 0.99924591 0.01344328 -0.02746999] [ 0.03204682 -0.01461332 0.99937953 -0.08795337] [ 0. 0. 0. 1. ]] SLAMing on 1.221052754 meters Centerline goodness : 0.154270 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.03, Z:-0.09 [[ 0.99874787 -0.03431693 -0.03640101 0.62016472] [ 0.03466945 0.99935742 0.00909765 -0.0324639 ] [ 0.03606541 -0.01034826 0.99929585 -0.08914604] [ 0. 0. 0. 1. ]] SLAMing on 1.251052754 meters Centerline goodness : 0.134969 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.04, Z:-0.09 [[ 0.99866453 -0.03564892 -0.03739389 0.62766927] [ 0.03601969 0.99930791 0.00928853 -0.03609214] [ 0.03703689 -0.01062304 0.99925743 -0.09340439] [ 0. 0. 0. 1. ]] SLAMing on 1.281052754 meters Centerline goodness : 0.123534 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.04, Z:-0.09 [[ 0.99858257 -0.03458422 -0.04045709 0.6545624 ] [ 0.03507614 0.99931833 0.01151286 -0.0439813 ] [ 0.04003135 -0.01291562 0.99911495 -0.09471257] [ 0. 0. 0. 1. ]] SLAMing on 1.311052754 meters Centerline goodness : 0.143330 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.05, Z:-0.10 [[ 0.99879426 -0.03505425 -0.03436909 0.67231887] [ 0.03536199 0.99933938 0.00838703 -0.04899962] [ 0.03405239 -0.00959228 0.99937402 -0.09656543] [ 0. 0. 0. 1. ]] SLAMing on 1.341052754 meters Centerline goodness : 0.146840 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.05, Z:-0.10 [[ 0.99873753 -0.03570019 -0.03533892 0.67723624] [ 0.0360193 0.9993155 0.0084348 -0.0507078 ] [ 0.0350136 -0.00969703 0.99933979 -0.09892025] [ 0. 0. 0. 1. ]] SLAMing on 1.371052754 meters Centerline goodness : 0.143729 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.05, Z:-0.11 [[ 0.9987429 -0.03352191 -0.03726788 0.68955658] [ 0.03400984 0.99934287 0.01253625 -0.05080103] [ 0.03682315 -0.01378797 0.99922667 -0.10567642] [ 0. 0. 0. 1. ]] SLAMing on 1.401052754 meters Centerline goodness : 0.636403 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.05, Z:-0.11 [[ 0.99875449 -0.03182093 -0.03843029 0.6955282 ] [ 0.032395 0.99937128 0.01440873 -0.05043235] [ 0.03794763 -0.01563573 0.9991574 -0.10915008] [ 0. 0. 0. 1. ]] SLAMing on 1.431052754 meters Centerline goodness : 0.127774 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.11 [[ 0.99901451 -0.02935288 -0.03329291 0.71125673] [ 0.02970863 0.99950613 0.01024145 -0.0501933 ] [ 0.03297586 -0.01122044 0.99939316 -0.11160799] [ 0. 0. 0. 1. ]] SLAMing on 1.461052754 meters Centerline goodness : 0.177634 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.05, Z:-0.11 [[ 9.99158567e-01 -2.67174551e-02 -3.11180963e-02 7.21064071e-01] [ 2.67450568e-02 9.99642176e-01 4.71035816e-04 -4.91450830e-02] [ 3.10943766e-02 -1.30289472e-03 9.99515604e-01 -1.12625075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.491052754 meters Centerline goodness : 0.160980 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.05, Z:-0.11 [[ 0.99934159 -0.02573781 -0.02557248 0.73736496] [ 0.0256966 0.99966791 -0.0019387 -0.04884098] [ 0.02561389 0.00128029 0.99967109 -0.11315951] [ 0. 0. 0. 1. ]] SLAMing on 1.521052754 meters Centerline goodness : 0.163404 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.05, Z:-0.12 [[ 9.99330260e-01 -2.56092615e-02 -2.61380296e-02 7.42388631e-01] [ 2.55957171e-02 9.99672012e-01 -8.52679262e-04 -4.73810220e-02] [ 2.61512931e-02 1.83086579e-04 9.99657980e-01 -1.16084914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.551052754 meters Centerline goodness : 0.820364 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.04, Z:-0.12 [[ 0.99940642 -0.02373583 -0.02496837 0.76440085] [ 0.02367731 0.99971618 -0.0026368 -0.04334533] [ 0.02502387 0.00204405 0.99968476 -0.11815564] [ 0. 0. 0. 1. ]] SLAMing on 1.5810527540000001 meters Centerline goodness : 0.819064 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.04, Z:-0.12 [[ 0.99937809 -0.02398917 -0.02584464 0.77017349] [ 0.0239369 0.99971076 -0.00232968 -0.04155894] [ 0.02589305 0.00170959 0.99966326 -0.12166303] [ 0. 0. 0. 1. ]] SLAMing on 1.611052754 meters Centerline goodness : 0.822312 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.04, Z:-0.13 [[ 9.99277950e-01 -2.90244803e-02 -2.45185424e-02 7.86037100e-01] [ 2.90526551e-02 9.99577567e-01 7.93612328e-04 -3.81163202e-02] [ 2.44851508e-02 -1.50536806e-03 9.99699060e-01 -1.25931128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.641052754 meters Centerline goodness : 0.824805 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.03, Z:-0.13 [[ 0.99917778 -0.03114033 -0.02596233 0.79437998] [ 0.03117913 0.99951322 0.00109072 -0.03424516] [ 0.02591573 -0.00189931 0.99966233 -0.1288524 ] [ 0. 0. 0. 1. ]] SLAMing on 1.671052754 meters Centerline goodness : 0.826594 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.03, Z:-0.13 [[ 0.99885966 -0.03798716 -0.02891994 0.81313094] [ 0.03805351 0.99927418 0.00174696 -0.02592054] [ 0.02883259 -0.00284547 0.9995802 -0.13259431] [ 0. 0. 0. 1. ]] SLAMing on 1.701052754 meters Centerline goodness : 0.832340 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.02, Z:-0.14 [[ 9.98731440e-01 -4.02095354e-02 -3.03101193e-02 8.20749789e-01] [ 4.02371665e-02 9.99190112e-01 3.01979689e-04 -2.32562480e-02] [ 3.02734290e-02 -1.52118993e-03 9.99540497e-01 -1.36894409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.731052754 meters Centerline goodness : 0.310720 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.02, Z:-0.14 [[ 9.98231135e-01 -5.01871948e-02 -3.18723334e-02 8.40031745e-01] [ 5.01978088e-02 9.98739186e-01 -4.67565745e-04 -1.75558773e-02] [ 3.18556141e-02 -1.13318261e-03 9.99491839e-01 -1.40351629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.761052754 meters Centerline goodness : 0.237102 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.01, Z:-0.14 [[ 9.97878755e-01 -5.53314448e-02 -3.42990158e-02 8.49890128e-01] [ 5.53238351e-02 9.98467776e-01 -1.17160883e-03 -1.42881606e-02] [ 3.43112888e-02 -7.28429537e-04 9.99410929e-01 -1.40231841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.791052754 meters Centerline goodness : 0.315326 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.01, Z:-0.14 [[ 0.99732774 -0.06659571 -0.0300397 0.8723329 ] [ 0.06666808 0.99777421 0.00141306 -0.01097845] [ 0.02987873 -0.00341197 0.99954771 -0.14266909] [ 0. 0. 0. 1. ]] SLAMing on 1.8210527539999999 meters Centerline goodness : 0.318705 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.01, Z:-0.14 [[ 9.97447145e-01 -6.72511346e-02 -2.40099600e-02 8.86479403e-01] [ 6.72099192e-02 9.97735674e-01 -2.52037507e-03 -9.43544133e-03] [ 2.41250917e-02 9.00233446e-04 9.99708542e-01 -1.41955258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.851052754 meters Centerline goodness : 0.339690 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.01, Z:-0.14 [[ 9.97148870e-01 -7.07498241e-02 -2.62410568e-02 9.17677173e-01] [ 7.07620487e-02 9.97493117e-01 -4.63611428e-04 -5.33925511e-03] [ 2.62080740e-02 -1.39458133e-03 9.99655537e-01 -1.40437702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.881052754 meters Centerline goodness : 0.335359 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.00, Z:-0.14 [[ 9.96979625e-01 -7.26330594e-02 -2.74966485e-02 9.22921206e-01] [ 7.25979668e-02 9.97358694e-01 -2.27371685e-03 -2.42078480e-03] [ 2.75891684e-02 2.70648603e-04 9.99619310e-01 -1.42990883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.911052754 meters Centerline goodness : 0.370447 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.00, Z:-0.14 [[ 0.99703124 -0.07241814 -0.02615946 0.94568622] [ 0.07234232 0.99737249 -0.00383431 -0.00297387] [ 0.0263684 0.00193049 0.99965043 -0.14449417] [ 0. 0. 0. 1. ]] SLAMing on 1.941052754 meters Centerline goodness : 0.379754 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.00, Z:-0.15 [[ 9.97382529e-01 -6.91495989e-02 -2.11287289e-02 9.58870469e-01] [ 6.89746822e-02 9.97578719e-01 -8.89903283e-03 -5.90024408e-04] [ 2.16929349e-02 7.41839251e-03 9.99737157e-01 -1.47048405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.971052754 meters Centerline goodness : 0.424604 Centerline is valid? [False, False] Translation: X:0.98, Y:0.00, Z:-0.15 [[ 0.99793077 -0.06217782 -0.01637375 0.97658597] [ 0.06208575 0.99805234 -0.00607287 0.00311791] [ 0.01671946 0.00504373 0.9998475 -0.14849571] [ 0. 0. 0. 1. ]] SLAMing on 2.001052754 meters Centerline goodness : 0.441965 Centerline is valid? [False, False] Translation: X:0.98, Y:0.00, Z:-0.15 [[ 0.99809041 -0.05912133 -0.01789415 0.98048296] [ 0.05907112 0.99824825 -0.00332195 0.00492787] [ 0.0180592 0.00225858 0.99983437 -0.14971724] [ 0. 0. 0. 1. ]] SLAMing on 2.0310527539999996 meters Centerline goodness : 0.880613 Centerline is valid? [False, False] Translation: X:1.00, Y:0.01, Z:-0.15 [[ 0.99857411 -0.05189229 -0.0125277 0.99557778] [ 0.05186707 0.99865128 -0.0023295 0.00788421] [ 0.01263168 0.0016764 0.99991881 -0.15155878] [ 0. 0. 0. 1. ]] SLAMing on 2.061052754 meters Centerline goodness : 0.886944 Centerline is valid? [False, False] Translation: X:1.01, Y:0.01, Z:-0.15 [[ 0.99886414 -0.04695698 -0.00809091 1.01323526] [ 0.04693771 0.99889455 -0.0025561 0.01266221] [ 0.008202 0.00217343 0.999964 -0.15458109] [ 0. 0. 0. 1. ]] SLAMing on 2.0910527539999997 meters Centerline goodness : 0.886053 Centerline is valid? [False, False] Translation: X:1.02, Y:0.01, Z:-0.16 [[ 9.98922561e-01 -4.53655551e-02 -9.78181783e-03 1.01875155e+00] [ 4.53616203e-02 9.98970437e-01 -6.23866708e-04 1.42647227e-02] [ 9.80004890e-03 1.79475423e-04 9.99951962e-01 -1.57010504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.121052754 meters Centerline goodness : 0.885798 Centerline is valid? [False, False] Translation: X:1.02, Y:0.02, Z:-0.16 [[ 9.98890506e-01 -4.57651233e-02 -1.11045619e-02 1.02432488e+00] [ 4.57573679e-02 9.98952130e-01 -9.51592649e-04 1.60218504e-02] [ 1.11364755e-02 4.42421339e-04 9.99937890e-01 -1.60264771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1510527539999997 meters Centerline goodness : 0.890555 Centerline is valid? [False, False] Translation: X:1.05, Y:0.02, Z:-0.16 [[ 0.99886023 -0.04607263 -0.01247241 1.04876922] [ 0.0460412 0.99893563 -0.00279586 0.0187452 ] [ 0.01258795 0.00221843 0.99991831 -0.1617376 ] [ 0. 0. 0. 1. ]] SLAMing on 2.181052754 meters Centerline goodness : 0.844645 Centerline is valid? [False, False] Translation: X:1.05, Y:0.02, Z:-0.16 [[ 0.99881399 -0.04663431 -0.01399514 1.05489626] [ 0.04659899 0.99890964 -0.00284011 0.0224001 ] [ 0.01411233 0.00218458 0.99989803 -0.16444396] [ 0. 0. 0. 1. ]] SLAMing on 2.211052754 meters Centerline goodness : 0.849225 Centerline is valid? [False, False] Translation: X:1.08, Y:0.03, Z:-0.17 [[ 0.99883263 -0.04745756 -0.00900896 1.07567072] [ 0.04740385 0.99885728 -0.0060842 0.03204872] [ 0.00928741 0.00565004 0.99994091 -0.16662972] [ 0. 0. 0. 1. ]] SLAMing on 2.2410527539999996 meters Centerline goodness : 0.857233 Centerline is valid? [False, False] Translation: X:1.09, Y:0.04, Z:-0.17 [[ 0.99888782 -0.04709497 -0.00227524 1.08846895] [ 0.04706984 0.99884092 -0.01006206 0.03562723] [ 0.00274648 0.00994377 0.99994679 -0.16642338] [ 0. 0. 0. 1. ]] SLAMing on 2.271052754 meters Centerline goodness : 0.850740 Centerline is valid? [False, False] Translation: X:1.11, Y:0.04, Z:-0.17 [[ 0.99860476 -0.05269993 0.00335424 1.11197202] [ 0.05274182 0.99851076 -0.01394843 0.04362364] [-0.00261416 0.01410588 0.99989709 -0.16615448] [ 0. 0. 0. 1. ]] SLAMing on 2.3010527539999996 meters Centerline goodness : 0.896128 Centerline is valid? [False, False] Translation: X:1.12, Y:0.05, Z:-0.17 [[ 0.99864876 -0.0519237 0.00213914 1.11637864] [ 0.05194629 0.99857312 -0.01238193 0.04709036] [-0.00149317 0.01247632 0.99992105 -0.16762771] [ 0. 0. 0. 1. ]] SLAMing on 2.331052754 meters Centerline goodness : 0.911120 Centerline is valid? [False, False] Translation: X:1.15, Y:0.06, Z:-0.17 [[ 9.98467097e-01 -5.53463951e-02 4.83450985e-04 1.15060634e+00] [ 5.53483337e-02 9.98447717e-01 -6.22244564e-03 5.52680113e-02] [-1.38310597e-04 6.23966543e-03 9.99980524e-01 -1.65720132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3610527539999997 meters Centerline goodness : 0.916415 Centerline is valid? [False, False] Translation: X:1.16, Y:0.06, Z:-0.17 [[ 9.98376923e-01 -5.69435160e-02 -9.77678089e-04 1.15569916e+00] [ 5.69337576e-02 9.98345036e-01 -8.10774989e-03 5.88689821e-02] [ 1.43774385e-03 8.03892750e-03 9.99966654e-01 -1.68300991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.391052754 meters Centerline goodness : 0.880639 Centerline is valid? [False, False] Translation: X:1.16, Y:0.06, Z:-0.17 [[ 0.99830368 -0.05817236 -0.00239538 1.16193553] [ 0.05814749 0.99826378 -0.00939649 0.06134894] [ 0.00293783 0.00924126 0.99995298 -0.17231786] [ 0. 0. 0. 1. ]] SLAMing on 2.4210527539999998 meters Centerline goodness : 0.913803 Centerline is valid? [False, False] Translation: X:1.20, Y:0.07, Z:-0.18 [[ 0.99804995 -0.06163502 -0.0098707 1.19704105] [ 0.06151339 0.99803187 -0.01218532 0.06956165] [ 0.01060232 0.01155437 0.99987704 -0.17674013] [ 0. 0. 0. 1. ]] SLAMing on 2.4510527539999996 meters Centerline goodness : 0.903957 Centerline is valid? [False, False] Translation: X:1.23, Y:0.08, Z:-0.18 [[ 0.99773127 -0.06550049 -0.01555625 1.23078064] [ 0.06528998 0.99777262 -0.01367549 0.07793907] [ 0.01641736 0.0126288 0.99978547 -0.17760864] [ 0. 0. 0. 1. ]] SLAMing on 2.481052754 meters Centerline goodness : 0.921390 Centerline is valid? [False, False] Translation: X:1.24, Y:0.08, Z:-0.18 [[ 0.99768024 -0.06591468 -0.01701137 1.23617381] [ 0.0656755 0.99773919 -0.01425589 0.08214093] [ 0.01791259 0.01310559 0.99975366 -0.18017247] [ 0. 0. 0. 1. ]] SLAMing on 2.5110527539999996 meters Centerline goodness : 0.911637 Centerline is valid? [False, False] Translation: X:1.26, Y:0.09, Z:-0.18 [[ 0.99776564 -0.06575868 -0.01181219 1.25680861] [ 0.06555286 0.9977036 -0.01703966 0.09417384] [ 0.01290557 0.01622726 0.99978504 -0.18269059] [ 0. 0. 0. 1. ]] SLAMing on 2.541052754 meters Centerline goodness : 0.910916 Centerline is valid? [False, False] Translation: X:1.27, Y:0.10, Z:-0.18 [[ 0.9979799 -0.06327083 -0.00573765 1.27096893] [ 0.06315876 0.99784172 -0.01796894 0.09955847] [ 0.00686218 0.01757025 0.99982208 -0.18278913] [ 0. 0. 0. 1. ]] SLAMing on 2.5710527539999997 meters Centerline goodness : 0.923511 Centerline is valid? [False, False] Translation: X:1.29, Y:0.11, Z:-0.18 [[ 9.98211389e-01 -5.97757794e-02 -9.38083115e-04 1.28964279e+00] [ 5.97472114e-02 9.98032589e-01 -1.90058178e-02 1.11207075e-01] [ 2.07232509e-03 1.89157759e-02 9.99818933e-01 -1.84970533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.601052754 meters Centerline goodness : 0.929473 Centerline is valid? [False, False] Translation: X:1.29, Y:0.12, Z:-0.19 [[ 0.99836126 -0.05717448 -0.00242492 1.29341002] [ 0.05712567 0.99822448 -0.01686864 0.11525643] [ 0.00338507 0.01670248 0.99985477 -0.1860088 ] [ 0. 0. 0. 1. ]] SLAMing on 2.6310527539999997 meters Centerline goodness : 0.931968 Centerline is valid? [False, False] Translation: X:1.32, Y:0.13, Z:-0.19 [[ 9.98621035e-01 -5.24948438e-02 5.64940850e-04 1.31541144e+00] [ 5.24968817e-02 9.98477669e-01 -1.69240054e-02 1.26394949e-01] [ 3.24342197e-04 1.69303254e-02 9.99856619e-01 -1.90421082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6610527539999995 meters Centerline goodness : 0.932123 Centerline is valid? [False, False] Translation: X:1.35, Y:0.14, Z:-0.19 [[ 0.99870163 -0.05055233 -0.00628676 1.35028366] [ 0.05045926 0.99862554 -0.01417404 0.13517887] [ 0.00699465 0.01383842 0.99987978 -0.19132025] [ 0. 0. 0. 1. ]] SLAMing on 2.6910527539999998 meters Centerline goodness : 0.937245 Centerline is valid? [False, False] Translation: X:1.36, Y:0.14, Z:-0.19 [[ 0.99876391 -0.04905491 -0.00801626 1.35558191] [ 0.04894972 0.99871884 -0.01282963 0.13871781] [ 0.00863534 0.01242138 0.99988556 -0.19338418] [ 0. 0. 0. 1. ]] SLAMing on 2.7210527539999996 meters Centerline goodness : 0.942571 Centerline is valid? [False, False] Translation: X:1.38, Y:0.15, Z:-0.19 [[ 0.99849168 -0.05477065 -0.00381289 1.38499704] [ 0.05471978 0.99842517 -0.01236645 0.1509939 ] [ 0.00448421 0.01213916 0.99991626 -0.19395247] [ 0. 0. 0. 1. ]] SLAMing on 2.751052754 meters Centerline goodness : 0.951179 Centerline is valid? [False, True] Translation: X:1.39, Y:0.15, Z:-0.19 [[ 0.99840318 -0.05630613 -0.00455115 1.38746161] [ 0.05623713 0.99831812 -0.01408252 0.15484273] [ 0.00533643 0.01380409 0.99989048 -0.19419365] [ 0. 0. 0. 1. ]] SLAMing on 2.7810527539999996 meters Centerline goodness : 0.956417 Centerline is valid? [True, True] Translation: X:1.42, Y:0.15, Z:-0.19 [[ 9.97897944e-01 -6.46347365e-02 -4.69513501e-03 1.42120408e+00] [ 6.46286303e-02 9.97908344e-01 -1.44097100e-03 1.53450355e-01] [ 4.77845119e-03 1.13450185e-03 9.99987940e-01 -1.86751110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.811052754 meters Centerline goodness : 0.959455 Centerline is valid? [True, True] Translation: X:1.46, Y:0.15, Z:-0.18 [[ 9.98017244e-01 -6.27648507e-02 -4.70675378e-03 1.45700922e+00] [ 6.27637600e-02 9.98028340e-01 -3.79238455e-04 1.51209334e-01] [ 4.72127650e-03 8.30729536e-05 9.99988851e-01 -1.80092177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8410527539999997 meters Centerline goodness : 0.964929 Centerline is valid? [True, True] Translation: X:1.48, Y:0.16, Z:-0.18 [[ 9.97995536e-01 -6.31089929e-02 -4.70808271e-03 1.48443152e+00] [ 6.31085545e-02 9.98006639e-01 -2.41781083e-04 1.62241009e-01] [ 4.71395636e-03 -5.58238526e-05 9.99988888e-01 -1.76204901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.871052754 meters Centerline goodness : 0.964929 Centerline is valid? [True, True] Translation: X:1.51, Y:0.16, Z:-0.18 [[ 9.98037832e-01 -6.24365330e-02 -4.70796103e-03 1.51436928e+00] [ 6.24360226e-02 9.98048936e-01 -2.55449823e-04 1.62116065e-01] [ 4.71472490e-03 -3.89977740e-05 9.99988885e-01 -1.76065259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9010527539999997 meters Centerline goodness : 0.970313 Centerline is valid? [True, True] Translation: X:1.55, Y:0.16, Z:-0.18 [[ 9.98232748e-01 -5.92386339e-02 -4.70795295e-03 1.54597912e+00] [ 5.92380835e-02 9.98243850e-01 -2.56386614e-04 1.62911819e-01] [ 4.71487307e-03 -2.29565961e-05 9.99988885e-01 -1.84712219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9310527539999995 meters Centerline goodness : 0.969847 Centerline is valid? [True, True] Translation: X:1.57, Y:0.17, Z:-0.17 [[ 9.98119064e-01 -6.11242070e-02 -4.70811739e-03 1.57377332e+00] [ 6.11237632e-02 9.98130166e-01 -2.38235866e-04 1.71676654e-01] [ 4.71387597e-03 -4.99900935e-05 9.99988888e-01 -1.65602719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.961052754 meters Centerline goodness : 0.974100 Centerline is valid? [True, True] Translation: X:1.61, Y:0.17, Z:-0.18 [[ 9.98093784e-01 -6.15356244e-02 -4.70798616e-03 1.60639271e+00] [ 6.15351148e-02 9.98104887e-01 -2.53159274e-04 1.70394733e-01] [ 4.71464231e-03 -3.70297706e-05 9.99988885e-01 -1.76368206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9910527539999996 meters Centerline goodness : 0.979242 Centerline is valid? [True, True] Translation: X:1.64, Y:0.17, Z:-0.18 [[ 9.98164334e-01 -6.03804079e-02 -4.70831926e-03 1.63908902e+00] [ 6.03800582e-02 9.98175436e-01 -2.16509843e-04 1.66211748e-01] [ 4.71280158e-03 -6.81761878e-05 9.99988892e-01 -1.82453534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.021052754 meters Centerline goodness : 0.980360 Centerline is valid? [True, True] Translation: X:1.67, Y:0.17, Z:-0.17 [[ 9.97811510e-01 -6.59546800e-02 -4.70866934e-03 1.66923554e+00] [ 6.59545975e-02 9.97822610e-01 -1.72976893e-04 1.71975737e-01] [ 4.70982537e-03 -1.37960057e-04 9.99988899e-01 -1.66913001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0510527539999996 meters Centerline goodness : 0.983285 Centerline is valid? [True, True] Translation: X:1.70, Y:0.17, Z:-0.18 [[ 9.97616156e-01 -6.88464458e-02 -4.70865798e-03 1.70110047e+00] [ 6.88463884e-02 9.97627257e-01 -1.74477563e-04 1.72136797e-01] [ 4.70949771e-03 -1.50112460e-04 9.99988899e-01 -1.75407556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.081052754 meters Centerline goodness : 0.986381 Centerline is valid? [True, True] Translation: X:1.73, Y:0.17, Z:-0.17 [[ 9.97400914e-01 -7.18974471e-02 -4.70887282e-03 1.73425791e+00] [ 7.18975677e-02 9.97412011e-01 -1.43884999e-04 1.73079810e-01] [ 4.70703127e-03 -1.95045473e-04 9.99988903e-01 -1.73159136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1110527539999997 meters Centerline goodness : 0.988359 Centerline is valid? [True, True] Translation: X:1.77, Y:0.17, Z:-0.18 [[ 9.97496857e-01 -7.05538448e-02 -4.70910867e-03 1.76852300e+00] [ 7.05541149e-02 9.97507947e-01 -1.08938437e-04 1.69611493e-01] [ 4.70505935e-03 -2.23581245e-04 9.99988906e-01 -1.81936525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.141052754 meters Centerline goodness : 0.989392 Centerline is valid? [True, True] Translation: X:1.80, Y:0.17, Z:-0.17 [[ 9.97245728e-01 -7.40187740e-02 -4.70940380e-03 1.79782846e+00] [ 7.40192934e-02 9.97256807e-01 -6.41315392e-05 1.67796615e-01] [ 4.70123193e-03 -2.84631838e-04 9.99988909e-01 -1.68494256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1710527539999998 meters Centerline goodness : 0.989407 Centerline is valid? [True, True] Translation: X:1.83, Y:0.16, Z:-0.18 [[ 9.97179830e-01 -7.49013265e-02 -4.70940422e-03 1.82914304e+00] [ 7.49018561e-02 9.97190908e-01 -6.40689156e-05 1.64284887e-01] [ 4.70097392e-03 -2.88854886e-04 9.99988909e-01 -1.78457694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2010527539999996 meters Centerline goodness : 0.991320 Centerline is valid? [True, True] Translation: X:1.86, Y:0.16, Z:-0.16 [[ 9.96947304e-01 -7.79351888e-02 -4.70952805e-03 1.86096722e+00] [ 7.79358414e-02 9.96958376e-01 -4.50785149e-05 1.62863359e-01] [ 4.69871663e-03 -3.22100127e-04 9.99988909e-01 -1.62487242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.231052754 meters Centerline goodness : 0.992828 Centerline is valid? [True, True] Translation: X:1.89, Y:0.16, Z:-0.17 [[ 9.96897828e-01 -7.85655087e-02 -4.70966305e-03 1.89230858e+00] [ 7.85662671e-02 9.96908893e-01 -2.40633093e-05 1.58447197e-01] [ 4.69699553e-03 -3.46031985e-04 9.99988909e-01 -1.68182837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2610527539999996 meters Centerline goodness : 0.993079 Centerline is valid? [True, True] Translation: X:1.92, Y:0.16, Z:-0.17 [[ 9.96847706e-01 -7.91989245e-02 -4.70972033e-03 1.92194536e+00] [ 7.91997318e-02 9.96858767e-01 -1.51210191e-05 1.57694538e-01] [ 4.69612357e-03 -3.57935234e-04 9.99988909e-01 -1.73394322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.291052754 meters Centerline goodness : 0.993946 Centerline is valid? [True, True] Translation: X:1.95, Y:0.16, Z:-0.17 [[ 9.96688037e-01 -8.11835835e-02 -4.70977739e-03 1.95059526e+00] [ 8.11844547e-02 9.96699094e-01 -6.21434924e-06 1.55276025e-01] [ 4.69473536e-03 -3.76166942e-04 9.99988909e-01 -1.68438235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3210527539999997 meters Centerline goodness : 0.994451 Centerline is valid? [True, True] Translation: X:1.98, Y:0.15, Z:-0.18 [[ 9.96591012e-01 -8.23660949e-02 -4.70974795e-03 1.98102498e+00] [ 8.23669587e-02 9.96602069e-01 -1.05989445e-05 1.52686438e-01] [ 4.69461755e-03 -3.77364802e-04 9.99988909e-01 -1.75890061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.351052754 meters Centerline goodness : 0.995731 Centerline is valid? [True, True] Translation: X:2.02, Y:0.15, Z:-0.18 [[ 9.96010067e-01 -8.91165784e-02 -4.70973452e-03 2.01640593e+00] [ 8.91175076e-02 9.96021119e-01 -1.26112314e-05 1.46162393e-01] [ 4.69211892e-03 -4.07158889e-04 9.99988909e-01 -1.78363205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3810527539999997 meters Centerline goodness : 0.996453 Centerline is valid? [True, True] Translation: X:2.04, Y:0.14, Z:-0.17 [[ 9.95475028e-01 -9.49067072e-02 -4.71011574e-03 2.04397656e+00] [ 9.49079863e-02 9.95486048e-01 4.82785608e-05 1.39612510e-01] [ 4.68427255e-03 -4.95087702e-04 9.99988906e-01 -1.73450202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4110527539999995 meters Centerline goodness : 0.996626 Centerline is valid? [True, True] Translation: X:2.08, Y:0.14, Z:-0.17 [[ 9.94969175e-01 -1.00070763e-01 -4.70992690e-03 2.07546154e+00] [ 1.00071966e-01 9.94980201e-01 2.00474236e-05 1.38158399e-01] [ 4.68427785e-03 -4.91278215e-04 9.99988908e-01 -1.72326629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4410527539999998 meters Centerline goodness : 0.997763 Centerline is valid? [True, True] Translation: X:2.10, Y:0.14, Z:-0.18 [[ 9.94098074e-01 -1.08382816e-01 -4.71004744e-03 2.10299733e+00] [ 1.08384198e-01 9.94109081e-01 3.83425464e-05 1.35505702e-01] [ 4.67814526e-03 -5.48610966e-04 9.99988907e-01 -1.79071511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4710527539999996 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:2.14, Y:0.14, Z:-0.17 [[ 9.93080143e-01 -1.17344133e-01 -4.70994093e-03 2.13743162e+00] [ 1.17345541e-01 9.93091146e-01 2.28689840e-05 1.35416462e-01] [ 4.67471709e-03 -5.75401303e-04 9.99988908e-01 -1.66827995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.501052754 meters Centerline goodness : 0.998326 Centerline is valid? [True, True] Translation: X:2.17, Y:0.13, Z:-0.17 [[ 9.92351576e-01 -1.23353815e-01 -4.71023840e-03 2.16717452e+00] [ 1.23355499e-01 9.92362543e-01 6.74329656e-05 1.32545423e-01] [ 4.66594605e-03 -6.47951016e-04 9.99988904e-01 -1.72631625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5310527539999996 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:2.20, Y:0.13, Z:-0.17 [[ 9.91827779e-01 -1.27496941e-01 -4.71028475e-03 2.19891504e+00] [ 1.27498704e-01 9.91838734e-01 7.45642265e-05 1.32582614e-01] [ 4.66233616e-03 -6.74510071e-04 9.99988904e-01 -1.70610632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.561052754 meters Centerline goodness : 0.998219 Centerline is valid? [True, True] Translation: X:2.23, Y:0.13, Z:-0.18 [[ 9.91580167e-01 -1.29408594e-01 -4.71033756e-03 2.22851567e+00] [ 1.29410462e-01 9.91591107e-01 9.26778722e-05 1.31443333e-01] [ 4.65873552e-03 -7.01464500e-04 9.99988902e-01 -1.77489084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5910527539999997 meters Centerline goodness : 0.998177 Centerline is valid? [True, True] Translation: X:2.26, Y:0.13, Z:-0.18 [[ 9.90928981e-01 -1.34304013e-01 -4.71035107e-03 2.26077470e+00] [ 1.34305957e-01 9.90939908e-01 9.73208385e-05 1.33556072e-01] [ 4.65460428e-03 -7.29066246e-04 9.99988901e-01 -1.78165947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6210527539999995 meters Centerline goodness : 0.998261 Centerline is valid? [True, True] Translation: X:2.29, Y:0.14, Z:-0.18 [[ 9.90182860e-01 -1.39698660e-01 -4.71041499e-03 2.29481434e+00] [ 1.39700750e-01 9.90193762e-01 1.16059481e-04 1.36152188e-01] [ 4.64801019e-03 -7.72968617e-04 9.99988899e-01 -1.76046763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6510527539999997 meters Centerline goodness : 0.998505 Centerline is valid? [True, True] Translation: X:2.33, Y:0.14, Z:-0.17 [[ 9.88964729e-01 -1.48076246e-01 -4.71055351e-03 2.32647267e+00] [ 1.48078517e-01 9.88975599e-01 1.35078771e-04 1.40244974e-01] [ 4.63862052e-03 -8.31119915e-04 9.99988896e-01 -1.65323872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6810527539999995 meters Centerline goodness : 0.998304 Centerline is valid? [True, True] Translation: X:2.35, Y:0.14, Z:-0.18 [[ 9.88157835e-01 -1.53368521e-01 -4.71063284e-03 2.35096342e+00] [ 1.53370895e-01 9.88168684e-01 1.44850591e-04 1.40579684e-01] [ 4.63268433e-03 -8.65609220e-04 9.99988894e-01 -1.78814815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.711052754 meters Centerline goodness : 0.998543 Centerline is valid? [True, True] Translation: X:2.38, Y:0.14, Z:-0.16 [[ 9.87672046e-01 -1.56466437e-01 -4.70984159e-03 2.37670306e+00] [ 1.56468506e-01 9.87682946e-01 7.17783867e-05 1.40648130e-01] [ 4.64059930e-03 -8.07835384e-04 9.99988906e-01 -1.62454519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7410527539999996 meters Centerline goodness : 0.997580 Centerline is valid? [True, True] Translation: X:2.41, Y:0.14, Z:-0.16 [[ 9.86455696e-01 -1.63960306e-01 -4.70928828e-03 2.40578278e+00] [ 1.63962236e-01 9.86466616e-01 2.40546599e-05 1.41508908e-01] [ 4.64161166e-03 -7.95874293e-04 9.99988911e-01 -1.57368531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.771052754 meters Centerline goodness : 0.997519 Centerline is valid? [True, True] Translation: X:2.43, Y:0.14, Z:-0.15 [[ 9.85898703e-01 -1.67276923e-01 -4.70938676e-03 2.43361695e+00] [ 1.67278928e-01 9.85909610e-01 3.23992502e-05 1.44385753e-01] [ 4.63761001e-03 -8.19723547e-04 9.99988910e-01 -1.52569134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8010527539999996 meters Centerline goodness : 0.996551 Centerline is valid? [True, True] Translation: X:2.46, Y:0.15, Z:-0.15 [[ 9.85987604e-01 -1.66752117e-01 -4.70924053e-03 2.46061641e+00] [ 1.66754062e-01 9.85998520e-01 2.06268348e-05 1.45861542e-01] [ 4.63986463e-03 -8.05622792e-04 9.99988911e-01 -1.50172989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.831052754 meters Centerline goodness : 0.995027 Centerline is valid? [True, True] Translation: X:2.49, Y:0.15, Z:-0.15 [[ 9.86364460e-01 -1.64508285e-01 -4.70910226e-03 2.48971151e+00] [ 1.64510155e-01 9.86375389e-01 9.82095367e-06 1.53453482e-01] [ 4.64332695e-03 -7.84382182e-04 9.99988912e-01 -1.47760147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8610527539999997 meters Centerline goodness : 0.995746 Centerline is valid? [True, True] Translation: X:2.52, Y:0.16, Z:-0.14 [[ 9.87393872e-01 -1.58212410e-01 -4.70903917e-03 2.51862997e+00] [ 1.58214187e-01 9.87404816e-01 4.93952517e-06 1.60483276e-01] [ 4.64894646e-03 -7.49914060e-04 9.99988912e-01 -1.36351340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8910527539999995 meters Centerline goodness : 0.995986 Centerline is valid? [True, True] Translation: X:2.55, Y:0.16, Z:-0.14 [[ 9.88043420e-01 -1.54103945e-01 -4.70901059e-03 2.54737946e+00] [ 1.54105668e-01 9.88054373e-01 3.09489652e-06 1.62903968e-01] [ 4.65228157e-03 -7.28743114e-04 9.99988913e-01 -1.36639994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9210527539999998 meters Centerline goodness : 0.995883 Centerline is valid? [True, True] Translation: X:2.57, Y:0.17, Z:-0.14 [[ 9.89508020e-01 -1.44401193e-01 -4.70896486e-03 2.57421644e+00] [ 1.44402795e-01 9.89518991e-01 2.00330691e-07 1.66011875e-01] [ 4.65958123e-03 -6.80185915e-04 9.99988913e-01 -1.36238068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9510527539999996 meters Centerline goodness : 0.996380 Centerline is valid? [True, True] Translation: X:2.60, Y:0.17, Z:-0.14 [[ 9.90013764e-01 -1.40892068e-01 -4.70881965e-03 2.60321766e+00] [ 1.40893589e-01 9.90024745e-01 -8.78224676e-06 1.68362236e-01] [ 4.66308532e-03 -6.54747957e-04 9.99988913e-01 -1.35581243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.981052754 meters Centerline goodness : 0.996475 Centerline is valid? [True, True] Translation: X:2.63, Y:0.17, Z:-0.13 [[ 9.90481724e-01 -1.37563736e-01 -4.70879883e-03 2.63084077e+00] [ 1.37565214e-01 9.90492712e-01 -1.00407994e-05 1.70051666e-01] [ 4.66541217e-03 -6.37821691e-04 9.99988913e-01 -1.34045030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.011052754 meters Centerline goodness : 0.996909 Centerline is valid? [True, True] Translation: X:2.66, Y:0.17, Z:-0.13 [[ 9.90728455e-01 -1.35775392e-01 -4.70873729e-03 2.65948742e+00] [ 1.35776833e-01 9.90739447e-01 -1.36830138e-05 1.68058223e-01] [ 4.66698959e-03 -6.25781288e-04 9.99988914e-01 -1.32599952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.041052754 meters Centerline goodness : 0.996841 Centerline is valid? [True, True] Translation: X:2.69, Y:0.17, Z:-0.13 [[ 9.90747339e-01 -1.35637518e-01 -4.70896393e-03 2.68638433e+00] [ 1.35639020e-01 9.90758324e-01 -3.64561295e-07 1.66623347e-01] [ 4.66549466e-03 -6.38358066e-04 9.99988913e-01 -1.33840903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.071052754 meters Centerline goodness : 0.996744 Centerline is valid? [True, True] Translation: X:2.71, Y:0.17, Z:-0.14 [[ 9.90534674e-01 -1.37181955e-01 -4.70869076e-03 2.71303832e+00] [ 1.37183400e-01 9.90545665e-01 -1.63110067e-05 1.65011818e-01] [ 4.66641080e-03 -6.29797589e-04 9.99988914e-01 -1.37279059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.101052754 meters Centerline goodness : 0.997127 Centerline is valid? [True, True] Translation: X:2.74, Y:0.16, Z:-0.14 [[ 9.89979392e-01 -1.41133384e-01 -4.70865896e-03 2.74250771e+00] [ 1.41134864e-01 9.89990379e-01 -1.81449658e-05 1.63098475e-01] [ 4.66408793e-03 -6.46592800e-04 9.99988914e-01 -1.38161714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.131052754 meters Centerline goodness : 0.996192 Centerline is valid? [True, True] Translation: X:2.77, Y:0.16, Z:-0.15 [[ 9.89791897e-01 -1.42442369e-01 -4.70868500e-03 2.77309337e+00] [ 1.42443871e-01 9.89802881e-01 -1.65003487e-05 1.60002228e-01] [ 4.66302032e-03 -6.54391408e-04 9.99988914e-01 -1.48191441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.161052754 meters Centerline goodness : 0.997323 Centerline is valid? [True, True] Translation: X:2.80, Y:0.16, Z:-0.14 [[ 9.89603392e-01 -1.43746135e-01 -4.70903022e-03 2.80083133e+00] [ 1.43747753e-01 9.89614361e-01 5.27615910e-06 1.56106494e-01] [ 4.65936550e-03 -6.82133820e-04 9.99988912e-01 -1.37018236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.191052754 meters Centerline goodness : 0.996494 Centerline is valid? [True, True] Translation: X:2.83, Y:0.15, Z:-0.15 [[ 9.89608235e-01 -1.43712798e-01 -4.70876470e-03 2.83066849e+00] [ 1.43714339e-01 9.89619214e-01 -1.11212854e-05 1.54211508e-01] [ 4.66148229e-03 -6.65711291e-04 9.99988914e-01 -1.49240311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2210527540000005 meters Centerline goodness : 0.996466 Centerline is valid? [True, True] Translation: X:2.86, Y:0.15, Z:-0.15 [[ 9.89555238e-01 -1.44077263e-01 -4.70886198e-03 2.85775891e+00] [ 1.44078837e-01 9.89566212e-01 -5.11843661e-06 1.51914451e-01] [ 4.66046816e-03 -6.73382380e-04 9.99988913e-01 -1.47240727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.251052754 meters Centerline goodness : 0.997461 Centerline is valid? [True, True] Translation: X:2.89, Y:0.15, Z:-0.12 [[ 9.89671190e-01 -1.43278641e-01 -4.70806925e-03 2.88821613e+00] [ 1.43280018e-01 9.89682189e-01 -4.53416147e-05 1.50891932e-01] [ 4.66598876e-03 -6.29698954e-04 9.99988916e-01 -1.24441509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.281052754 meters Centerline goodness : 0.997423 Centerline is valid? [True, True] Translation: X:2.92, Y:0.15, Z:-0.11 [[ 9.89611681e-01 -1.43689090e-01 -4.70808750e-03 2.91509970e+00] [ 1.43690475e-01 9.89622678e-01 -4.44184167e-05 1.49391744e-01] [ 4.66561261e-03 -6.32550348e-04 9.99988916e-01 -1.11959069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.311052754 meters Centerline goodness : 0.997656 Centerline is valid? [True, True] Translation: X:2.95, Y:0.15, Z:-0.11 [[ 9.89171432e-01 -1.46689181e-01 -4.70773148e-03 2.94572173e+00] [ 1.46690517e-01 9.89182434e-01 -6.21317267e-05 1.49560051e-01] [ 4.66591933e-03 -6.29120634e-04 9.99988917e-01 -1.14362599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.341052754000001 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:2.97, Y:0.15, Z:-0.11 [[ 9.88661182e-01 -1.50089634e-01 -4.70830024e-03 2.97012089e+00] [ 1.50091137e-01 9.88672165e-01 -3.43460513e-05 1.51152269e-01] [ 4.66012037e-03 -6.72717530e-04 9.99988915e-01 -1.07978769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.371052754 meters Centerline goodness : 0.998191 Centerline is valid? [True, True] Translation: X:3.00, Y:0.15, Z:-0.12 [[ 9.88017739e-01 -1.54268574e-01 -4.70693645e-03 3.00280214e+00] [ 1.54269821e-01 9.88028751e-01 -9.91132942e-05 1.50988712e-01] [ 4.66587861e-03 -6.28212550e-04 9.99988917e-01 -1.20488752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.401052754 meters Centerline goodness : 0.998296 Centerline is valid? [True, True] Translation: X:3.03, Y:0.15, Z:-0.12 [[ 9.87103343e-01 -1.60015067e-01 -4.70825914e-03 3.03040394e+00] [ 1.60016712e-01 9.87114305e-01 -2.77420210e-05 1.52722210e-01] [ 4.65202909e-03 -7.26015904e-04 9.99988916e-01 -1.19146830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.431052754 meters Centerline goodness : 0.998589 Centerline is valid? [True, True] Translation: X:3.06, Y:0.15, Z:-0.11 [[ 9.86903243e-01 -1.61244614e-01 -4.70781630e-03 3.05950119e+00] [ 1.61246174e-01 9.86914216e-01 -4.89161131e-05 1.53991959e-01] [ 4.65409829e-03 -7.10841895e-04 9.99988917e-01 -1.14268793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.461052754 meters Centerline goodness : 0.998474 Centerline is valid? [True, True] Translation: X:3.09, Y:0.16, Z:-0.11 [[ 9.87078617e-01 -1.60167548e-01 -4.70757717e-03 3.08792205e+00] [ 1.60169043e-01 9.87089598e-01 -6.00613722e-05 1.58285848e-01] [ 4.65642034e-03 -6.94722836e-04 9.99988917e-01 -1.12062566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.491052754 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:3.12, Y:0.16, Z:-0.11 [[ 9.87643948e-01 -1.56643768e-01 -4.70759921e-03 3.11630239e+00] [ 1.56645229e-01 9.87654934e-01 -5.90450454e-05 1.61730001e-01] [ 4.65873262e-03 -6.79107473e-04 9.99988917e-01 -1.11660474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.521052754 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:3.14, Y:0.17, Z:-0.10 [[ 9.89523862e-01 -1.44292641e-01 -4.70752062e-03 3.14011002e+00] [ 1.44293948e-01 9.89534867e-01 -6.26159008e-05 1.69367720e-01] [ 4.66729080e-03 -6.17306806e-04 9.99988918e-01 -1.04579028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5510527540000005 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:3.17, Y:0.17, Z:-0.10 [[ 9.91641802e-01 -1.28935581e-01 -4.70655416e-03 3.16844966e+00] [ 1.28936515e-01 9.91652844e-01 -1.05664349e-04 1.73481048e-01] [ 4.68089172e-03 -5.02065505e-04 9.99988919e-01 -1.03890736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.581052754 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:3.20, Y:0.17, Z:-0.10 [[ 9.92568880e-01 -1.21593036e-01 -4.70652380e-03 3.19563185e+00] [ 1.21593882e-01 9.92579929e-01 -1.07000058e-04 1.74077845e-01] [ 4.68461152e-03 -4.66079573e-04 9.99988919e-01 -1.04312009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.611052754 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:3.22, Y:0.17, Z:-0.10 [[ 9.93852076e-01 -1.10615997e-01 -4.70651130e-03 3.22364660e+00] [ 1.10616719e-01 9.93863134e-01 -1.07547060e-04 1.73909293e-01] [ 4.68952449e-03 -4.13732968e-04 9.99988919e-01 -1.03580043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.641052754 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:3.25, Y:0.17, Z:-0.10 [[ 9.94213511e-01 -1.07318887e-01 -4.70648247e-03 3.25137613e+00] [ 1.07319566e-01 9.94224572e-01 -1.08793964e-04 1.74306226e-01] [ 4.69097617e-03 -3.96933228e-04 9.99988919e-01 -1.02412154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.671052754 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:3.28, Y:0.17, Z:-0.10 [[ 9.94803761e-01 -1.01702149e-01 -4.70645331e-03 3.27851478e+00] [ 1.01702760e-01 9.94814825e-01 -1.10041150e-04 1.74444155e-01] [ 4.69324095e-03 -3.69189941e-04 9.99988919e-01 -1.02384026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.701052754 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:3.31, Y:0.18, Z:-0.10 [[ 9.95109531e-01 -9.86654465e-02 -4.70644068e-03 3.30596585e+00] [ 9.86660208e-02 9.95120598e-01 -1.10578806e-04 1.75287192e-01] [ 4.69438637e-03 -3.54327750e-04 9.99988919e-01 -1.03959274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.731052754 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:3.33, Y:0.17, Z:-0.11 [[ 9.95856427e-01 -9.08175451e-02 -4.70643170e-03 3.33495669e+00] [ 9.08180303e-02 9.95867498e-01 -1.10959690e-04 1.72273186e-01] [ 4.69705945e-03 -3.16928936e-04 9.99988919e-01 -1.07278920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7610527540000005 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:3.36, Y:0.17, Z:-0.11 [[ 9.96149285e-01 -8.75468595e-02 -4.70640582e-03 3.36254715e+00] [ 8.75473032e-02 9.96160357e-01 -1.12046748e-04 1.69713526e-01] [ 4.69814424e-03 -3.00417850e-04 9.99988919e-01 -1.07687468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.791052754 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:3.39, Y:0.17, Z:-0.11 [[ 9.96125477e-01 -8.78173362e-02 -4.70637504e-03 3.39105201e+00] [ 8.78177769e-02 9.96136549e-01 -1.13324938e-04 1.70451779e-01] [ 4.69814409e-03 -3.00417536e-04 9.99988919e-01 -1.07553381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.821052754 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:3.42, Y:0.17, Z:-0.11 [[ 9.96382260e-01 -8.48542410e-02 -4.70634393e-03 3.41825319e+00] [ 8.48546428e-02 9.96393334e-01 -1.14602816e-04 1.68489927e-01] [ 4.69909425e-03 -2.85166920e-04 9.99988919e-01 -1.08401059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.851052754 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:3.44, Y:0.17, Z:-0.11 [[ 9.96307828e-01 -8.57237505e-02 -4.70633038e-03 3.43827788e+00] [ 8.57241594e-02 9.96318902e-01 -1.15156386e-04 1.74586039e-01] [ 4.69887756e-03 -2.88715007e-04 9.99988919e-01 -1.14705379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.881052754 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:3.48, Y:0.16, Z:-0.11 [[ 9.96997607e-01 -7.72893769e-02 -4.70363740e-03 3.47669289e+00] [ 7.72891888e-02 9.97008692e-01 -2.22032201e-04 1.63982783e-01] [ 4.70672810e-03 -1.42174746e-04 9.99988913e-01 -1.08138859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.911052754 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:3.51, Y:0.16, Z:-0.11 [[ 9.97218794e-01 -7.43809720e-02 -4.70625315e-03 3.50576734e+00] [ 7.43812564e-02 9.97229871e-01 -1.14799016e-04 1.55739692e-01] [ 4.70175508e-03 -2.35577286e-04 9.99988919e-01 -1.09515789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.941052754 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:3.53, Y:0.15, Z:-0.11 [[ 9.97289146e-01 -7.34316698e-02 -4.70622631e-03 3.53323415e+00] [ 7.34319386e-02 9.97300224e-01 -1.15888780e-04 1.52429570e-01] [ 4.70203047e-03 -2.30012700e-04 9.99988919e-01 -1.11336134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9710527540000005 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:3.56, Y:0.15, Z:-0.11 [[ 9.97420109e-01 -7.16308494e-02 -4.70621677e-03 3.56173966e+00] [ 7.16310963e-02 9.97431187e-01 -1.16275048e-04 1.47752921e-01] [ 4.70245626e-03 -2.21136396e-04 9.99988919e-01 -1.10330164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.001052754 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:3.59, Y:0.14, Z:-0.11 [[ 9.97505979e-01 -7.04249534e-02 -4.70618593e-03 3.58929050e+00] [ 7.04251811e-02 9.97517058e-01 -1.17510232e-04 1.44509637e-01] [ 4.70277639e-03 -2.14216838e-04 9.99988919e-01 -1.11428784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.031052754 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:3.62, Y:0.13, Z:-0.11 [[ 9.97577687e-01 -6.94018056e-02 -4.70617633e-03 3.61843396e+00] [ 6.94020202e-02 9.97588766e-01 -1.17893317e-04 1.33354869e-01] [ 4.70301065e-03 -2.09010402e-04 9.99988919e-01 -1.07566329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.061052754 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:3.65, Y:0.13, Z:-0.10 [[ 9.97506864e-01 -7.04124131e-02 -4.70615023e-03 3.64713848e+00] [ 7.04126340e-02 9.97517943e-01 -1.18926287e-04 1.25221403e-01] [ 4.70284318e-03 -2.12742646e-04 9.99988919e-01 -1.02193371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.091052754 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:3.68, Y:0.12, Z:-0.10 [[ 9.97483361e-01 -7.07445927e-02 -4.70612328e-03 3.67568683e+00] [ 7.07448123e-02 9.97494440e-01 -1.19983306e-04 1.23115492e-01] [ 4.70281998e-03 -2.13252457e-04 9.99988919e-01 -1.00854096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.121052754 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:3.70, Y:0.12, Z:-0.10 [[ 9.97467575e-01 -7.09668236e-02 -4.70609121e-03 3.70390648e+00] [ 7.09670399e-02 9.97478654e-01 -1.21228112e-04 1.20998128e-01] [ 4.70282870e-03 -2.13056252e-04 9.99988919e-01 -1.00080960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.151052754 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:3.73, Y:0.12, Z:-0.10 [[ 9.97389457e-01 -7.20563917e-02 -4.70605790e-03 3.73111415e+00] [ 7.20566140e-02 9.97400536e-01 -1.22507876e-04 1.15425375e-01] [ 4.70265215e-03 -2.16914534e-04 9.99988919e-01 -9.95793589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.181052754 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:3.76, Y:0.11, Z:-0.10 [[ 9.97258336e-01 -7.38489335e-02 -4.70603505e-03 3.75897609e+00] [ 7.38491717e-02 9.97269414e-01 -1.23379454e-04 1.12884752e-01] [ 4.70229626e-03 -2.24495602e-04 9.99988919e-01 -9.76935527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.211052754 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:3.79, Y:0.11, Z:-0.09 [[ 9.96788234e-01 -7.99441668e-02 -4.70600173e-03 3.78672474e+00] [ 7.99444667e-02 9.96799311e-01 -1.24637370e-04 1.09994101e-01] [ 4.70090332e-03 -2.51981736e-04 9.99988919e-01 -9.34314396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.241052754 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:3.81, Y:0.11, Z:-0.09 [[ 9.96453377e-01 -8.40150117e-02 -4.70596815e-03 3.81437375e+00] [ 8.40153510e-02 9.96464452e-01 -1.25892659e-04 1.09214433e-01] [ 4.69990685e-03 -2.69927401e-04 9.99988919e-01 -9.10846946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.271052754 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:3.84, Y:0.11, Z:-0.09 [[ 9.95675897e-01 -9.27758679e-02 -4.70593458e-03 3.84113555e+00] [ 9.27762988e-02 9.95686970e-01 -1.27135279e-04 1.06034688e-01] [ 4.69743283e-03 -3.10013660e-04 9.99988919e-01 -9.10216785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.301052754 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:3.87, Y:0.11, Z:-0.09 [[ 9.95094521e-01 -9.88167473e-02 -4.70591998e-03 3.86761405e+00] [ 9.88172428e-02 9.95105590e-01 -1.27673547e-04 1.08457672e-01] [ 4.69550356e-03 -3.37978790e-04 9.99988919e-01 -9.18291409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.331052754 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:3.90, Y:0.11, Z:-0.09 [[ 9.94952550e-01 -1.00236110e-01 -4.70589719e-03 3.89513997e+00] [ 1.00236617e-01 9.94963619e-01 -1.28508017e-04 1.10071516e-01] [ 4.69507765e-03 -3.43843837e-04 9.99988919e-01 -8.95141026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.361052754 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:3.92, Y:0.11, Z:-0.09 [[ 9.94950878e-01 -1.00252703e-01 -4.70586377e-03 3.92337979e+00] [ 1.00253205e-01 9.94961948e-01 -1.29720601e-04 1.11092332e-01] [ 4.69516022e-03 -3.42712298e-04 9.99988919e-01 -8.64095051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.391052754 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:3.95, Y:0.11, Z:-0.08 [[ 9.95145638e-01 -9.83006350e-02 -4.70583014e-03 3.95087953e+00] [ 9.83011094e-02 9.95156709e-01 -1.30929112e-04 1.13016861e-01] [ 4.69590885e-03 -3.32294789e-04 9.99988919e-01 -8.35678289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.421052754 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:3.98, Y:0.12, Z:-0.08 [[ 9.95372710e-01 -9.59740809e-02 -4.70579512e-03 3.97741490e+00] [ 9.59745236e-02 9.95383782e-01 -1.32175834e-04 1.17642725e-01] [ 4.69675760e-03 -3.20072228e-04 9.99988919e-01 -8.20043899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.451052754 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:4.00, Y:0.12, Z:-0.08 [[ 9.95478045e-01 -9.48752788e-02 -4.70577989e-03 4.00419588e+00] [ 9.48757067e-02 9.95489117e-01 -1.32716159e-04 1.20896658e-01] [ 4.69714415e-03 -3.14348169e-04 9.99988919e-01 -8.13433796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.481052754 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:4.03, Y:0.13, Z:-0.08 [[ 9.95713058e-01 -9.23761973e-02 -4.70576531e-03 4.03201362e+00] [ 9.23765951e-02 9.95724132e-01 -1.33231070e-04 1.25227208e-01] [ 4.69795145e-03 -3.02042660e-04 9.99988919e-01 -8.16582053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5110527540000005 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:4.06, Y:0.13, Z:-0.08 [[ 9.95839897e-01 -9.09986621e-02 -4.70572974e-03 4.05928094e+00] [ 9.09990387e-02 9.95850971e-01 -1.34475781e-04 1.27040270e-01] [ 4.69844264e-03 -2.94300535e-04 9.99988919e-01 -8.19408345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.541052754 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:4.09, Y:0.13, Z:-0.08 [[ 9.95986944e-01 -8.93748481e-02 -4.70571416e-03 4.08707131e+00] [ 8.93752041e-02 9.95998019e-01 -1.35018821e-04 1.29565158e-01] [ 4.69894927e-03 -2.86097180e-04 9.99988919e-01 -8.18978931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.571052754 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:4.12, Y:0.13, Z:-0.08 [[ 9.96017415e-01 -8.90346297e-02 -4.70567736e-03 4.11552619e+00] [ 8.90349759e-02 9.96028491e-01 -1.36289189e-04 1.30009782e-01] [ 4.69912318e-03 -2.83223465e-04 9.99988919e-01 -8.24532217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.601052754 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:4.14, Y:0.13, Z:-0.08 [[ 9.96098648e-01 -8.81211712e-02 -4.70564036e-03 4.14298374e+00] [ 8.81215012e-02 9.96109724e-01 -1.37555086e-04 1.28987654e-01] [ 4.69945563e-03 -2.77649657e-04 9.99988919e-01 -8.33154549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.631052754 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:4.17, Y:0.13, Z:-0.08 [[ 9.96143069e-01 -8.76175991e-02 -4.70562427e-03 4.17018731e+00] [ 8.76179210e-02 9.96154145e-01 -1.38103162e-04 1.29739656e-01] [ 4.69962739e-03 -2.74726509e-04 9.99988919e-01 -8.46728061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.661052754 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:4.20, Y:0.13, Z:-0.09 [[ 9.96139530e-01 -8.76578253e-02 -4.70559915e-03 4.19826141e+00] [ 8.76581436e-02 9.96150606e-01 -1.38953770e-04 1.28733995e-01] [ 4.69966584e-03 -2.74066743e-04 9.99988919e-01 -8.60079412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.691052754 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:4.23, Y:0.13, Z:-0.09 [[ 9.96055841e-01 -8.86037197e-02 -4.70556221e-03 4.22654735e+00] [ 8.86040427e-02 9.96066917e-01 -1.40193737e-04 1.26880625e-01] [ 4.69947653e-03 -2.77291044e-04 9.99988919e-01 -8.65280566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7210527540000005 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:4.25, Y:0.12, Z:-0.09 [[ 9.95915431e-01 -9.01682471e-02 -4.70552516e-03 4.25456846e+00] [ 9.01685817e-02 9.95926507e-01 -1.41426354e-04 1.21999193e-01] [ 4.69910941e-03 -2.83441842e-04 9.99988919e-01 -8.56456626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.751052754 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:4.28, Y:0.12, Z:-0.08 [[ 9.95851254e-01 -9.08743034e-02 -4.70551366e-03 4.28293743e+00] [ 9.08746440e-02 9.95862329e-01 -1.41808254e-04 1.21739226e-01] [ 4.69893052e-03 -2.86391951e-04 9.99988919e-01 -8.47389254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.781052754 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:4.31, Y:0.12, Z:-0.08 [[ 9.95738961e-01 -9.20965844e-02 -4.70547680e-03 4.31082340e+00] [ 9.20969329e-02 9.95750036e-01 -1.43020738e-04 1.23338337e-01] [ 4.69865042e-03 -2.90948660e-04 9.99988919e-01 -8.31574866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.811052754 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:4.34, Y:0.12, Z:-0.08 [[ 9.95587514e-01 -9.37195889e-02 -4.70543980e-03 4.33889958e+00] [ 9.37199498e-02 9.95598589e-01 -1.44227940e-04 1.24285876e-01] [ 4.69824621e-03 -2.97402046e-04 9.99988919e-01 -8.27443122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.841052754 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:4.37, Y:0.12, Z:-0.08 [[ 9.95031523e-01 -9.94491152e-02 -4.70542833e-03 4.36691915e+00] [ 9.94495381e-02 9.95042596e-01 -1.44601041e-04 1.23789599e-01] [ 4.69648207e-03 -3.24070080e-04 9.99988919e-01 -8.20418162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.871052754 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:4.39, Y:0.13, Z:-0.08 [[ 9.94729305e-01 -1.02427869e-01 -4.70541693e-03 4.39477529e+00] [ 1.02428323e-01 9.94740377e-01 -1.44971142e-04 1.25144598e-01] [ 4.69551730e-03 -3.37760923e-04 9.99988919e-01 -8.10563276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.901052754 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:4.42, Y:0.13, Z:-0.08 [[ 9.94328222e-01 -1.06250868e-01 -4.70538032e-03 4.42323125e+00] [ 1.06251359e-01 9.94339292e-01 -1.46149976e-04 1.29799985e-01] [ 4.69427309e-03 -3.54632010e-04 9.99988919e-01 -7.95801152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.931052754 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:4.45, Y:0.13, Z:-0.08 [[ 9.94267405e-01 -1.06818478e-01 -4.70534817e-03 4.45106489e+00] [ 1.06818971e-01 9.94278475e-01 -1.47177642e-04 1.32497607e-01] [ 4.69414770e-03 -3.56286516e-04 9.99988919e-01 -7.96761478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.961052754 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:4.48, Y:0.13, Z:-0.09 [[ 9.94473368e-01 -1.04883656e-01 -4.70530988e-03 4.47881199e+00] [ 1.04884122e-01 9.94484439e-01 -1.48391975e-04 1.33889435e-01] [ 4.69492134e-03 -3.45940428e-04 9.99988919e-01 -8.50880055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.991052754 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:4.51, Y:0.13, Z:-0.09 [[ 9.94682550e-01 -1.02880924e-01 -4.70529798e-03 4.50697806e+00] [ 1.02881365e-01 9.94693622e-01 -1.48768258e-04 1.33222078e-01] [ 4.69563531e-03 -3.36110290e-04 9.99988919e-01 -8.62559456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.021052754 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:4.54, Y:0.13, Z:-0.09 [[ 9.95121644e-01 -9.85432564e-02 -4.70525999e-03 4.53530322e+00] [ 9.85436440e-02 9.95132719e-01 -1.49960156e-04 1.28191129e-01] [ 4.69713573e-03 -3.14444869e-04 9.99988919e-01 -8.70240706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.051052754 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:4.56, Y:0.13, Z:-0.09 [[ 9.95390849e-01 -9.57857962e-02 -4.70524209e-03 4.56352699e+00] [ 9.57861504e-02 9.95401924e-01 -1.50519797e-04 1.25603447e-01] [ 4.69802469e-03 -3.00870999e-04 9.99988919e-01 -8.82148841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.081052754 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:4.59, Y:0.12, Z:-0.09 [[ 9.96102281e-01 -8.80801160e-02 -4.70523035e-03 4.59236865e+00] [ 8.80803828e-02 9.96113359e-01 -1.50885788e-04 1.19661672e-01] [ 4.70023285e-03 -2.64140813e-04 9.99988919e-01 -9.15147221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.111052754 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:4.62, Y:0.12, Z:-0.09 [[ 9.96435683e-01 -8.42246407e-02 -4.70519883e-03 4.62009134e+00] [ 8.42248600e-02 9.96446762e-01 -1.51862583e-04 1.16739747e-01] [ 4.70127071e-03 -2.44973416e-04 9.99988919e-01 -9.15022652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.141052754 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:4.65, Y:0.11, Z:-0.09 [[ 9.97076953e-01 -7.62588431e-02 -4.70516094e-03 4.64948927e+00] [ 7.62589685e-02 9.97088033e-01 -1.53027427e-04 1.09753749e-01] [ 4.70312937e-03 -2.06230599e-04 9.99988919e-01 -9.19520830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.171052754 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:4.68, Y:0.11, Z:-0.09 [[ 9.97379705e-01 -7.21913087e-02 -4.70512776e-03 4.67792883e+00] [ 7.21913841e-02 9.97390786e-01 -1.54040950e-04 1.05130742e-01] [ 4.70397149e-03 -1.86032368e-04 9.99988919e-01 -9.09332197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.201052754 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:4.71, Y:0.09, Z:-0.09 [[ 9.97923274e-01 -6.42417372e-02 -4.70508949e-03 4.70593896e+00] [ 6.42417188e-02 9.97934355e-01 -1.55201160e-04 9.32322611e-02] [ 4.70534084e-03 -1.47384187e-04 9.99988919e-01 -8.87092341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.231052754 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:4.73, Y:0.09, Z:-0.09 [[ 9.98081075e-01 -6.17416336e-02 -4.70507160e-03 4.73417454e+00] [ 6.17415849e-02 9.98092156e-01 -1.55741612e-04 8.84673333e-02] [ 4.70571080e-03 -1.35055823e-04 9.99988919e-01 -8.82839542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2610527540000005 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:4.76, Y:0.08, Z:-0.09 [[ 9.98197693e-01 -5.98266527e-02 -4.70503321e-03 4.76215050e+00] [ 5.98265773e-02 9.98208774e-01 -1.56892816e-04 8.02362784e-02] [ 4.70599181e-03 -1.24875986e-04 9.99988919e-01 -8.84693948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.291052754 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:4.79, Y:0.08, Z:-0.09 [[ 9.98193036e-01 -5.99043070e-02 -4.70499235e-03 4.79050877e+00] [ 5.99042267e-02 9.98204117e-01 -1.58108841e-04 7.76020805e-02] [ 4.70601413e-03 -1.24025784e-04 9.99988919e-01 -8.90153620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.321052754 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:4.82, Y:0.07, Z:-0.09 [[ 9.98223967e-01 -5.93866559e-02 -4.70495125e-03 4.81886001e+00] [ 5.93865642e-02 9.98235048e-01 -1.59322409e-04 7.11404344e-02] [ 4.70610887e-03 -1.20371442e-04 9.99988919e-01 -8.75481008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.351052754 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:4.85, Y:0.07, Z:-0.09 [[ 9.98261722e-01 -5.87485939e-02 -4.70493211e-03 4.84763591e+00] [ 5.87484924e-02 9.98272803e-01 -1.59885696e-04 6.85715440e-02] [ 4.70619883e-03 -1.16799899e-04 9.99988919e-01 -8.51409310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.381052754 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:4.87, Y:0.06, Z:-0.08 [[ 9.98292751e-01 -5.82189581e-02 -4.70489626e-03 4.87464433e+00] [ 5.82188458e-02 9.98303832e-01 -1.60933872e-04 6.16899700e-02] [ 4.70628537e-03 -1.13254512e-04 9.99988919e-01 -8.38361172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.411052754 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:4.90, Y:0.06, Z:-0.09 [[ 9.98280747e-01 -5.84244265e-02 -4.70486824e-03 4.90248793e+00] [ 5.84243127e-02 9.98291828e-01 -1.61748994e-04 5.69479171e-02] [ 4.70628160e-03 -1.13407786e-04 9.99988919e-01 -8.51134773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.441052754 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:4.93, Y:0.05, Z:-0.09 [[ 9.98052382e-01 -6.22037646e-02 -4.70482699e-03 4.93180485e+00] [ 6.22036871e-02 9.98063462e-01 -1.62939990e-04 4.81583252e-02] [ 4.70585139e-03 -1.30034941e-04 9.99988919e-01 -8.93777605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4710527540000005 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:4.96, Y:0.04, Z:-0.09 [[ 9.97801482e-01 -6.61064910e-02 -4.70479086e-03 4.96038880e+00] [ 6.61064520e-02 9.97812563e-01 -1.63976592e-04 4.48467791e-02] [ 4.70533934e-03 -1.47400945e-04 9.99988919e-01 -8.92222409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.501052754 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:4.99, Y:0.03, Z:-0.09 [[ 9.97137550e-01 -7.54623798e-02 -4.70474801e-03 4.98908801e+00] [ 7.54624389e-02 9.97148631e-01 -1.65197072e-04 3.18777248e-02] [ 4.70379920e-03 -1.90307555e-04 9.99988919e-01 -8.72371046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.531052754 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:5.02, Y:0.03, Z:-0.09 [[ 9.96737491e-01 -8.05744389e-02 -4.70473471e-03 5.01761107e+00] [ 8.05745531e-02 9.96748571e-01 -1.65574837e-04 2.53080476e-02] [ 4.70277870e-03 -2.14047249e-04 9.99988919e-01 -8.59480989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.561052754 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:5.05, Y:0.02, Z:-0.09 [[ 9.96360108e-01 -8.51140506e-02 -4.70469418e-03 5.04624560e+00] [ 8.51142099e-02 9.96371188e-01 -1.66718542e-04 1.94271338e-02] [ 4.70181182e-03 -2.34324624e-04 9.99988919e-01 -8.52067563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.591052754 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:5.07, Y:0.01, Z:-0.08 [[ 9.95646733e-01 -9.30883999e-02 -4.70465348e-03 5.07472312e+00] [ 9.30886425e-02 9.95657811e-01 -1.67859237e-04 5.36125578e-03] [ 4.69985074e-03 -2.70821305e-04 9.99988919e-01 -7.99893302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.621052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.01, Z:-0.07 [[ 9.95522179e-01 -9.44111091e-02 -4.70461093e-03 5.10405117e+00] [ 9.44113609e-02 9.95533257e-01 -1.69043545e-04 -7.25922470e-03] [ 4.69955623e-03 -2.75882122e-04 9.99988919e-01 -7.28052453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.651052754 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.01, Z:-0.07 [[ 9.95698723e-01 -9.25306463e-02 -4.70456976e-03 5.13095051e+00] [ 9.25308718e-02 9.95709802e-01 -1.70181580e-04 -9.90711548e-03] [ 4.70013324e-03 -2.65868359e-04 9.99988919e-01 -7.19307462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.681052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.01, Z:-0.07 [[ 9.96244247e-01 -8.64596293e-02 -4.70453759e-03 5.15927193e+00] [ 8.64597831e-02 9.96255327e-01 -1.71066330e-04 -1.09057488e-02] [ 4.70171097e-03 -2.36329453e-04 9.99988919e-01 -7.26135126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.711052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.19, Y:-0.01, Z:-0.07 [[ 9.96220256e-01 -8.67356305e-02 -4.70448991e-03 5.18783351e+00] [ 8.67357812e-02 9.96231336e-01 -1.72367634e-04 -9.80777762e-03] [ 4.70171069e-03 -2.36331479e-04 9.99988919e-01 -7.24794210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.741052754 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.01, Z:-0.07 [[ 9.96229477e-01 -8.66296524e-02 -4.70444180e-03 5.21406639e+00] [ 8.66297957e-02 9.96240557e-01 -1.73670961e-04 -7.00339864e-03] [ 4.70180077e-03 -2.34528701e-04 9.99988919e-01 -7.30834716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.771052754 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:5.24, Y:-0.01, Z:-0.07 [[ 9.96248971e-01 -8.64052383e-02 -4.70336979e-03 5.24095033e+00] [ 8.64052439e-02 9.96260053e-01 -2.02405397e-04 -7.09848989e-03] [ 4.70326832e-03 -2.04749645e-04 9.99988919e-01 -7.38255266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.801052754 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.01, Z:-0.07 [[ 9.96145603e-01 -8.75889044e-02 -4.70324751e-03 5.26815091e+00] [ 8.75889077e-02 9.96156685e-01 -2.05665199e-04 -1.01830799e-02] [ 4.70318544e-03 -2.07079828e-04 9.99988919e-01 -7.20260583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.831052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.30, Y:-0.01, Z:-0.07 [[ 9.96158265e-01 -8.74447904e-02 -4.70320355e-03 5.29857536e+00] [ 8.74447867e-02 9.96169346e-01 -2.06826341e-04 -1.39856029e-02] [ 4.70327309e-03 -2.05238862e-04 9.99988918e-01 -7.38529658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.861052754 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.01, Z:-0.08 [[ 9.95993655e-01 -8.93001006e-02 -4.70428870e-03 5.32491818e+00] [ 8.93002525e-02 9.96004736e-01 -1.78175795e-04 -9.96949036e-03] [ 4.70140493e-03 -2.42632207e-04 9.99988919e-01 -7.59383021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.891052754 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:5.35, Y:-0.01, Z:-0.08 [[ 9.95713872e-01 -9.23675514e-02 -4.70326907e-03 5.35468510e+00] [ 9.23676119e-02 9.95724953e-01 -2.04804448e-04 -7.60036156e-03] [ 4.70207966e-03 -2.30503102e-04 9.99988919e-01 -8.01178077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.921052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.01, Z:-0.08 [[ 9.95329883e-01 -9.64172961e-02 -4.70422144e-03 5.38295712e+00] [ 9.64175191e-02 9.95340962e-01 -1.79900959e-04 -6.86733123e-03] [ 4.69964985e-03 -2.74508560e-04 9.99988919e-01 -7.99531539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.951052754 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:5.41, Y:-0.01, Z:-0.08 [[ 9.94560264e-01 -1.04056480e-01 -4.70417170e-03 5.41110699e+00] [ 1.04056782e-01 9.94571341e-01 -1.81192254e-04 -9.96087198e-03] [ 4.69748859e-03 -3.09294354e-04 9.99988919e-01 -7.62129706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.981052754 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.01, Z:-0.07 [[ 9.94278258e-01 -1.06717463e-01 -4.70415629e-03 5.43899356e+00] [ 1.06717792e-01 9.94289334e-01 -1.81591367e-04 -9.87979275e-03] [ 4.69667140e-03 -3.21464827e-04 9.99988919e-01 -7.47408162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.011052754 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.01, Z:-0.07 [[ 9.94331781e-01 -1.06217607e-01 -4.70410562e-03 5.46666563e+00] [ 1.06217925e-01 9.94342858e-01 -1.82894601e-04 -5.59754807e-03] [ 4.69692046e-03 -3.17802424e-04 9.99988919e-01 -7.39445160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.041052754 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:5.49, Y:0.00, Z:-0.07 [[ 9.94935409e-01 -1.00406190e-01 -4.70405486e-03 5.49451788e+00] [ 1.00406438e-01 9.94946488e-01 -1.84190962e-04 8.56414812e-04] [ 4.69877678e-03 -2.89059280e-04 9.99988919e-01 -7.36100523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.071052754 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:5.52, Y:0.00, Z:-0.07 [[ 9.95678103e-01 -9.27522882e-02 -4.70400358e-03 5.52217734e+00] [ 9.27524440e-02 9.95689183e-01 -1.85491502e-04 4.33601299e-03] [ 4.70093025e-03 -2.51618002e-04 9.99988919e-01 -7.18524186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.101052754 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:5.55, Y:0.01, Z:-0.07 [[ 9.95974168e-01 -8.95172045e-02 -4.70395183e-03 5.55115813e+00] [ 8.95173182e-02 9.95985248e-01 -1.86794694e-04 6.22625034e-03] [ 4.70178797e-03 -2.35042463e-04 9.99988919e-01 -7.13094140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.131052754 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:5.58, Y:0.01, Z:-0.07 [[ 9.95953808e-01 -8.97434365e-02 -4.70412820e-03 5.57870106e+00] [ 8.97435735e-02 9.95964888e-01 -1.82363705e-04 7.44766524e-03] [ 4.70151246e-03 -2.40539449e-04 9.99988919e-01 -7.11780416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.161052754 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:5.61, Y:0.01, Z:-0.07 [[ 9.96394281e-01 -8.47130887e-02 -4.70408875e-03 5.60517489e+00] [ 8.47131651e-02 9.96405362e-01 -1.83349430e-04 1.07149083e-02] [ 4.70271135e-03 -2.15809923e-04 9.99988919e-01 -6.83966658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.191052754 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:5.63, Y:0.01, Z:-0.07 [[ 9.96624761e-01 -8.19570612e-02 -4.70385705e-03 5.63188557e+00] [ 8.19570799e-02 9.96635842e-01 -1.89112618e-04 1.29327444e-02] [ 4.70353165e-03 -1.97040071e-04 9.99988919e-01 -6.84737369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.66, Y:0.01, Z:-0.07 [[ 9.96657793e-01 -8.15543852e-02 -4.70383450e-03 5.66011654e+00] [ 8.15543968e-02 9.96668874e-01 -1.89671859e-04 1.24393231e-02] [ 4.70363401e-03 -1.94580449e-04 9.99988919e-01 -6.97839163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.251052754 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:5.69, Y:0.01, Z:-0.07 [[ 9.96618733e-01 -8.20303266e-02 -4.70378273e-03 5.68772267e+00] [ 8.20303374e-02 9.96629815e-01 -1.90947085e-04 1.01668103e-02] [ 4.70359356e-03 -1.95551442e-04 9.99988919e-01 -7.14269753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.281052754 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:5.72, Y:0.00, Z:-0.07 [[ 9.96509062e-01 -8.33520497e-02 -4.70376024e-03 5.71585606e+00] [ 8.33520727e-02 9.96520143e-01 -1.91499643e-04 2.57232090e-03] [ 4.70335371e-03 -2.01237035e-04 9.99988919e-01 -7.24370938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.311052754 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.00, Z:-0.07 [[ 9.96476592e-01 -8.37393331e-02 -4.70370632e-03 5.74316830e+00] [ 8.37393541e-02 9.96487673e-01 -1.92814947e-04 -1.03755821e-03] [ 4.70333156e-03 -2.01749748e-04 9.99988919e-01 -7.23079875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.341052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.01, Z:-0.07 [[ 9.96595499e-01 -8.23121313e-02 -4.70368291e-03 5.77200468e+00] [ 8.23121338e-02 9.96606580e-01 -1.93384285e-04 -8.73530396e-03] [ 4.70363921e-03 -1.94444270e-04 9.99988919e-01 -7.38174867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.371052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.01, Z:-0.08 [[ 9.96748854e-01 -8.04338116e-02 -4.70363438e-03 5.80037899e+00] [ 8.04337877e-02 9.96759935e-01 -1.94557721e-04 -1.13346892e-02] [ 4.70404331e-03 -1.84405943e-04 9.99988919e-01 -7.66497434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.401052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.02, Z:-0.08 [[ 9.97115957e-01 -7.57472458e-02 -4.70361716e-03 5.82811869e+00] [ 7.57471678e-02 9.97127037e-01 -1.94972936e-04 -1.81881985e-02] [ 4.70487251e-03 -1.61875054e-04 9.99988919e-01 -7.74960514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.431052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.02, Z:-0.08 [[ 9.97278293e-01 -7.35790908e-02 -4.70359346e-03 5.85678266e+00] [ 7.35789861e-02 9.97289374e-01 -1.95542999e-04 -2.19872541e-02] [ 4.70523166e-03 -1.51074849e-04 9.99988919e-01 -7.55712737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.461052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.03, Z:-0.07 [[ 9.97405705e-01 -7.18313045e-02 -4.70354034e-03 5.88544134e+00] [ 7.18311743e-02 9.97416785e-01 -1.96812490e-04 -2.99899765e-02] [ 4.70552739e-03 -1.41558926e-04 9.99988919e-01 -7.30181688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.91, Y:-0.03, Z:-0.07 [[ 9.97296857e-01 -7.33270422e-02 -4.70352386e-03 5.91392155e+00] [ 7.33269268e-02 9.97307938e-01 -1.97205628e-04 -3.33228534e-02] [ 4.70532219e-03 -1.48222397e-04 9.99988919e-01 -6.70181287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.94, Y:-0.03, Z:-0.06 [[ 9.97150579e-01 -7.52901108e-02 -4.70350628e-03 5.94335520e+00] [ 7.52900153e-02 9.97161659e-01 -1.97624046e-04 -3.44988565e-02] [ 4.70503526e-03 -1.57066129e-04 9.99988919e-01 -6.43222221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.551052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.97, Y:-0.04, Z:-0.06 [[ 9.96960011e-01 -7.77728360e-02 -4.70345634e-03 5.97099280e+00] [ 7.77727625e-02 9.96971092e-01 -1.98805479e-04 -3.61994832e-02] [ 4.70467167e-03 -1.67599680e-04 9.99988919e-01 -6.21448866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.581052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.04, Z:-0.06 [[ 9.96546946e-01 -8.28978973e-02 -4.70343865e-03 5.99980483e+00] [ 8.28978788e-02 9.96558027e-01 -1.99223105e-04 -4.09200016e-02] [ 4.70376472e-03 -1.91369910e-04 9.99988919e-01 -6.00611635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.05, Z:-0.06 [[ 9.96378909e-01 -8.48937426e-02 -4.70338550e-03 6.02746293e+00] [ 8.48937404e-02 9.96389990e-01 -2.00470135e-04 -4.56261861e-02] [ 4.70342490e-03 -1.99543773e-04 9.99988919e-01 -5.77977803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.641052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.05, Z:-0.06 [[ 9.96441493e-01 -8.41559811e-02 -4.70336088e-03 6.05523437e+00] [ 8.41559680e-02 9.96452574e-01 -2.01046227e-04 -4.68961492e-02] [ 4.70359530e-03 -1.95485085e-04 9.99988919e-01 -5.71703710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.671052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.05, Z:-0.06 [[ 9.96572769e-01 -8.25868943e-02 -4.70334348e-03 6.08385616e+00] [ 8.25868619e-02 9.96583850e-01 -2.01452482e-04 -4.72127570e-02] [ 4.70391348e-03 -1.87672321e-04 9.99988919e-01 -5.72185641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.701052754 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.05, Z:-0.06 [[ 9.96929266e-01 -7.81659621e-02 -4.70329080e-03 6.11276558e+00] [ 7.81658748e-02 9.96940347e-01 -2.02675012e-04 -4.86672942e-02] [ 4.70474264e-03 -1.65584189e-04 9.99988919e-01 -5.81488316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.731052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.05, Z:-0.06 [[ 9.97097911e-01 -7.59844363e-02 -4.70324113e-03 6.14092576e+00] [ 7.59843193e-02 9.97108992e-01 -2.03821051e-04 -5.00114974e-02] [ 4.70513125e-03 -1.54143032e-04 9.99988919e-01 -5.89260752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.761052754 meters Centerline goodness : 0.997782 Centerline is valid? [True, True] Translation: X:6.17, Y:-0.06, Z:-0.07 [[ 9.97283708e-01 -7.35056816e-02 -4.70322347e-03 6.16953422e+00] [ 7.35055352e-02 9.97294788e-01 -2.04227666e-04 -5.69285117e-02] [ 4.70551215e-03 -1.42040035e-04 9.99988919e-01 -6.52025760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.791052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.06, Z:-0.06 [[ 9.97193426e-01 -7.47205231e-02 -4.70252092e-03 6.20006822e+00] [ 7.47203142e-02 9.97204506e-01 -2.20332792e-04 -6.00525198e-02] [ 4.70583843e-03 -1.31659429e-04 9.99988919e-01 -6.13651043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.821052754 meters Centerline goodness : 0.993877 Centerline is valid? [True, True] Translation: X:6.23, Y:-0.07, Z:-0.07 [[ 9.97243810e-01 -7.40450043e-02 -4.70320488e-03 6.22968260e+00] [ 7.40448620e-02 9.97254890e-01 -2.04611385e-04 -6.50752419e-02] [ 4.70544451e-03 -1.44200719e-04 9.99988919e-01 -6.87279886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.851052754 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.07, Z:-0.07 [[ 9.97098092e-01 -7.59821144e-02 -4.70256802e-03 6.25945875e+00] [ 7.59819250e-02 9.97109171e-01 -2.19173277e-04 -7.23932305e-02] [ 4.70562694e-03 -1.38772914e-04 9.99988919e-01 -6.55273208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.881052754 meters Centerline goodness : 0.994040 Centerline is valid? [True, True] Translation: X:6.29, Y:-0.08, Z:-0.07 [[ 9.96886009e-01 -7.87157688e-02 -4.70231883e-03 6.29009906e+00] [ 7.87155831e-02 9.96897089e-01 -2.24855571e-04 -7.51960547e-02] [ 4.70542763e-03 -1.45990396e-04 9.99988919e-01 -7.25305425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.911052754 meters Centerline goodness : 0.997726 Centerline is valid? [True, True] Translation: X:6.32, Y:-0.09, Z:-0.06 [[ 9.96469482e-01 -8.38239478e-02 -4.70282479e-03 6.31944907e+00] [ 8.38238731e-02 9.96480563e-01 -2.13333528e-04 -8.53685127e-02] [ 4.70415596e-03 -1.81628639e-04 9.99988919e-01 -6.30586147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.941052754 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:6.35, Y:-0.09, Z:-0.06 [[ 9.96203516e-01 -8.69277776e-02 -4.70268139e-03 6.34894694e+00] [ 8.69277220e-02 9.96214597e-01 -2.16610968e-04 -9.01037454e-02] [ 4.70370935e-03 -1.93004772e-04 9.99988919e-01 -5.75802257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.971052754 meters Centerline goodness : 0.997420 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.09, Z:-0.06 [[ 9.95976110e-01 -8.94956521e-02 -4.70274724e-03 6.37823694e+00] [ 8.94956321e-02 9.95987191e-01 -2.15107753e-04 -9.47127345e-02] [ 4.70312723e-03 -2.06633153e-04 9.99988919e-01 -5.57614564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.001052754 meters Centerline goodness : 0.997049 Centerline is valid? [True, True] Translation: X:6.41, Y:-0.10, Z:-0.06 [[ 9.95723297e-01 -9.22659046e-02 -4.70300984e-03 6.40761227e+00] [ 9.22659436e-02 9.95734378e-01 -2.09137025e-04 -1.01239928e-01] [ 4.70224480e-03 -2.25685033e-04 9.99988919e-01 -5.58089505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.031052754 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.10, Z:-0.05 [[ 9.95668974e-01 -9.28503267e-02 -4.70217958e-03 6.43727309e+00] [ 9.28502834e-02 9.95680055e-01 -2.27969980e-04 -1.03245854e-01] [ 4.70303351e-03 -2.09616071e-04 9.99988919e-01 -5.31966631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.061052753999999 meters Centerline goodness : 0.996668 Centerline is valid? [True, True] Translation: X:6.47, Y:-0.11, Z:-0.06 [[ 9.95834364e-01 -9.10593625e-02 -4.70242143e-03 6.46807229e+00] [ 9.10593251e-02 9.95845445e-01 -2.22496591e-04 -1.05925850e-01] [ 4.70314535e-03 -2.06629570e-04 9.99988919e-01 -5.69863806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.091052754 meters Centerline goodness : 0.994306 Centerline is valid? [True, True] Translation: X:6.50, Y:-0.11, Z:-0.06 [[ 9.95804233e-01 -9.13882250e-02 -4.70339054e-03 6.49502617e+00] [ 9.13882951e-02 9.95815314e-01 -2.00455165e-04 -1.06618738e-01] [ 4.70202757e-03 -2.30220741e-04 9.99988919e-01 -6.13932942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.121052753999999 meters Centerline goodness : 0.994634 Centerline is valid? [True, True] Translation: X:6.53, Y:-0.11, Z:-0.06 [[ 9.95562962e-01 -9.39802185e-02 -4.70183269e-03 6.52517608e+00] [ 9.39801525e-02 9.95574043e-01 -2.35452289e-04 -1.08979248e-01] [ 4.70315044e-03 -2.07471376e-04 9.99988919e-01 -5.83161871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.151052753999998 meters Centerline goodness : 0.996506 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.11, Z:-0.06 [[ 9.95698873e-01 -9.25291188e-02 -4.70283759e-03 6.55404480e+00] [ 9.25291432e-02 9.95709954e-01 -2.12854133e-04 -1.09963556e-01] [ 4.70235740e-03 -2.23210912e-04 9.99988919e-01 -5.68469748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.181052754 meters Centerline goodness : 0.994729 Centerline is valid? [True, True] Translation: X:6.58, Y:-0.11, Z:-0.06 [[ 9.96014659e-01 -8.90656078e-02 -4.70290167e-03 6.58085243e+00] [ 8.90656004e-02 9.96025740e-01 -2.11416814e-04 -1.10855386e-01] [ 4.70304108e-03 -2.08292515e-04 9.99988919e-01 -5.99762310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.211052753999999 meters Centerline goodness : 0.997757 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.11, Z:-0.06 [[ 9.96166277e-01 -8.73535418e-02 -4.70177741e-03 6.61108930e+00] [ 8.73533979e-02 9.96177358e-01 -2.36349080e-04 -1.10775503e-01] [ 4.70445013e-03 -1.75273250e-04 9.99988919e-01 -5.89930077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.241052753999998 meters Centerline goodness : 0.998396 Centerline is valid? [True, True] Translation: X:6.64, Y:-0.11, Z:-0.06 [[ 9.96524457e-01 -8.31678532e-02 -4.70268770e-03 6.63793678e+00] [ 8.31677579e-02 9.96535537e-01 -2.16144243e-04 -1.14640925e-01] [ 4.70437167e-03 -1.75718968e-04 9.99988919e-01 -6.35515789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.271052754 meters Centerline goodness : 0.998367 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.12, Z:-0.07 [[ 9.96734584e-01 -8.06105374e-02 -4.70208209e-03 6.66843709e+00] [ 8.06103508e-02 9.96745664e-01 -2.29505487e-04 -1.18030119e-01] [ 4.70528050e-03 -1.50280430e-04 9.99988919e-01 -6.97025233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.301052753999999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:6.70, Y:-0.12, Z:-0.06 [[ 9.96917502e-01 -7.83158837e-02 -4.70286799e-03 6.69583010e+00] [ 7.83157533e-02 9.96928582e-01 -2.12140440e-04 -1.19832018e-01] [ 4.70503748e-03 -1.56822132e-04 9.99988919e-01 -5.65869361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.331052754 meters Centerline goodness : 0.997136 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.12, Z:-0.06 [[ 9.97226979e-01 -7.42714435e-02 -4.70157097e-03 6.72820746e+00] [ 7.42711336e-02 9.97238056e-01 -2.40724867e-04 -1.24085320e-01] [ 4.70646448e-03 -1.09133674e-04 9.99988919e-01 -6.39884943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.361052754 meters Centerline goodness : 0.997471 Centerline is valid? [True, True] Translation: X:6.76, Y:-0.13, Z:-0.06 [[ 9.97297756e-01 -7.33148308e-02 -4.70340362e-03 6.75657408e+00] [ 7.33147008e-02 9.97308836e-01 -2.00291928e-04 -1.27699986e-01] [ 4.70543036e-03 -1.45077939e-04 9.99988919e-01 -6.25180283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.391052753999999 meters Centerline goodness : 0.997995 Centerline is valid? [True, True] Translation: X:6.78, Y:-0.13, Z:-0.06 [[ 9.97455496e-01 -7.11365763e-02 -4.70321783e-03 6.78456445e+00] [ 7.11364029e-02 9.97466576e-01 -2.04364403e-04 -1.27939244e-01] [ 4.70584037e-03 -1.30725601e-04 9.99988919e-01 -6.02740203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.421052754 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:6.81, Y:-0.13, Z:-0.05 [[ 9.97591626e-01 -6.92013581e-02 -4.70325743e-03 6.81185805e+00] [ 6.92011672e-02 9.97602705e-01 -2.03499200e-04 -1.25517598e-01] [ 4.70606476e-03 -1.22461806e-04 9.99988919e-01 -4.81000260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.451052754 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:6.84, Y:-0.12, Z:-0.05 [[ 9.97766888e-01 -6.66267793e-02 -4.70199034e-03 6.83985155e+00] [ 6.66264291e-02 9.97777964e-01 -2.31248307e-04 -1.23867294e-01] [ 4.70694968e-03 -8.25449217e-05 9.99988919e-01 -4.58400858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.481052753999998 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:6.87, Y:-0.12, Z:-0.05 [[ 9.97855312e-01 -6.52891622e-02 -4.70120612e-03 6.86965791e+00] [ 6.52887168e-02 9.97866385e-01 -2.48316196e-04 -1.20528138e-01] [ 4.70738791e-03 -5.91520799e-05 9.99988918e-01 -4.61565863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.511052754 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:6.90, Y:-0.12, Z:-0.05 [[ 9.97730137e-01 -6.71749318e-02 -4.70132298e-03 6.89623063e+00] [ 6.71745192e-02 9.97741211e-01 -2.45777028e-04 -1.16711309e-01] [ 4.70721374e-03 -7.05899632e-05 9.99988919e-01 -4.76472849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.541052753999999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.11, Z:-0.05 [[ 9.97637841e-01 -6.85320432e-02 -4.70082241e-03 6.92466383e+00] [ 6.85315948e-02 9.97648914e-01 -2.56594085e-04 -1.13140166e-01] [ 4.70735529e-03 -6.61668878e-05 9.99988918e-01 -4.84764719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.571052753999998 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.11, Z:-0.05 [[ 9.97482929e-01 -7.07510132e-02 -4.70107124e-03 6.95357421e+00] [ 7.07506146e-02 9.97494004e-01 -2.51241029e-04 -1.12521678e-01] [ 4.70706593e-03 -8.19950424e-05 9.99988918e-01 -4.65579869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.601052754 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:6.98, Y:-0.11, Z:-0.05 [[ 9.97477899e-01 -7.08218475e-02 -4.70186942e-03 6.98106948e+00] [ 7.08215305e-02 9.97488975e-01 -2.34095442e-04 -1.11170807e-01] [ 4.70664198e-03 -9.94885583e-05 9.99988919e-01 -4.64191447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.631052753999999 meters Centerline goodness : 0.998043 Centerline is valid? [True, True] Translation: X:7.01, Y:-0.11, Z:-0.05 [[ 9.97309617e-01 -7.31533943e-02 -4.70191885e-03 7.00924550e+00] [ 7.31531082e-02 9.97320695e-01 -2.33038111e-04 -1.09015721e-01] [ 4.70636850e-03 -1.11548829e-04 9.99988919e-01 -4.63002780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.661052754 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:7.04, Y:-0.11, Z:-0.04 [[ 9.97219416e-01 -7.43729233e-02 -4.70148030e-03 7.03643866e+00] [ 7.43726063e-02 9.97230493e-01 -2.42464572e-04 -1.07417349e-01] [ 4.70649232e-03 -1.07870964e-04 9.99988919e-01 -4.08790081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.691052754 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.11, Z:-0.05 [[ 9.96992758e-01 -7.73520493e-02 -4.70109580e-03 7.06473301e+00] [ 7.73517258e-02 9.97003835e-01 -2.50866824e-04 -1.05931661e-01] [ 4.70641561e-03 -1.13525466e-04 9.99988918e-01 -4.57191535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.721052753999999 meters Centerline goodness : 0.997221 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.10, Z:-0.05 [[ 9.96428567e-01 -8.43090112e-02 -4.70123472e-03 7.09423620e+00] [ 8.43087789e-02 9.96439646e-01 -2.47915550e-04 -1.03934879e-01] [ 4.70539818e-03 -1.49325223e-04 9.99988918e-01 -5.37130035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.751052754 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:7.12, Y:-0.10, Z:-0.05 [[ 9.96194969e-01 -8.70257118e-02 -4.70201138e-03 7.12167229e+00] [ 8.70255876e-02 9.96206050e-01 -2.31389143e-04 -1.02401703e-01] [ 4.70430899e-03 -1.78686604e-04 9.99988919e-01 -4.52724077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.781052754 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.10, Z:-0.04 [[ 9.95804611e-01 -9.13842092e-02 -4.70134508e-03 7.15031801e+00] [ 9.13840657e-02 9.95815692e-01 -2.45779145e-04 -1.00759173e-01] [ 4.70413354e-03 -1.84880022e-04 9.99988918e-01 -4.22366557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.811052753999999 meters Centerline goodness : 0.998215 Centerline is valid? [True, True] Translation: X:7.18, Y:-0.10, Z:-0.05 [[ 9.95524047e-01 -9.43915677e-02 -4.70151794e-03 7.18052707e+00] [ 9.43914751e-02 9.95535128e-01 -2.42075685e-04 -9.95330542e-02] [ 4.70337617e-03 -2.02791049e-04 9.99988919e-01 -4.50076604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.841052754 meters Centerline goodness : 0.997100 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.10, Z:-0.05 [[ 9.95442590e-01 -9.52467351e-02 -4.70216582e-03 7.20957299e+00] [ 9.52467174e-02 9.95453671e-01 -2.28199607e-04 -9.75174970e-02] [ 4.70252350e-03 -2.20706251e-04 9.99988919e-01 -4.55933901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.871052753999999 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:7.24, Y:-0.10, Z:-0.04 [[ 9.95146235e-01 -9.82947605e-02 -4.70224941e-03 7.23948508e+00] [ 9.82947852e-02 9.95157316e-01 -2.26413379e-04 -9.50200649e-02] [ 4.70173315e-03 -2.36892174e-04 9.99988919e-01 -4.32387232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.901052753999998 meters Centerline goodness : 0.996314 Centerline is valid? [True, True] Translation: X:7.27, Y:-0.09, Z:-0.05 [[ 9.95288239e-01 -9.68463109e-02 -4.70252097e-03 7.27002341e+00] [ 9.68463467e-02 9.95299320e-01 -2.20625093e-04 -9.25778536e-02] [ 4.70178265e-03 -2.35836416e-04 9.99988919e-01 -4.82293886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.931052754 meters Centerline goodness : 0.998594 Centerline is valid? [True, True] Translation: X:7.30, Y:-0.09, Z:-0.05 [[ 9.95189626e-01 -9.78544477e-02 -4.70268115e-03 7.29856176e+00] [ 9.78545108e-02 9.95200707e-01 -2.17214476e-04 -8.88383430e-02] [ 4.70136701e-03 -2.44008971e-04 9.99988919e-01 -5.16874242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.961052753999999 meters Centerline goodness : 0.998038 Centerline is valid? [True, True] Translation: X:7.33, Y:-0.09, Z:-0.04 [[ 9.95575890e-01 -9.38431209e-02 -4.70275307e-03 7.32957275e+00] [ 9.38431466e-02 9.95586971e-01 -2.15692074e-04 -8.60572167e-02] [ 4.70224091e-03 -2.26583317e-04 9.99988919e-01 -4.36744744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.991052753999998 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:7.36, Y:-0.08, Z:-0.04 [[ 9.95800211e-01 -9.14320070e-02 -4.70412312e-03 7.35648717e+00] [ 9.14321427e-02 9.95811292e-01 -1.86651229e-04 -8.17651398e-02] [ 4.70148482e-03 -2.44240724e-04 9.99988918e-01 -3.67437737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.021052754 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.08, Z:-0.03 [[ 9.96011351e-01 -8.91026113e-02 -4.70238882e-03 7.38491845e+00] [ 8.91025488e-02 9.96022432e-01 -2.23191069e-04 -8.01716643e-02] [ 4.70357166e-03 -1.96693992e-04 9.99988919e-01 -3.11585515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.051052753999999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:7.41, Y:-0.08, Z:-0.03 [[ 9.96413431e-01 -8.44876468e-02 -4.70236964e-03 7.41297310e+00] [ 8.44875312e-02 9.96424511e-01 -2.23594534e-04 -7.66205149e-02] [ 4.70444735e-03 -1.74499005e-04 9.99988919e-01 -3.01546153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.081052754 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.07, Z:-0.03 [[ 9.96572978e-01 -8.25844268e-02 -4.70235405e-03 7.44195148e+00] [ 8.25842885e-02 9.96584058e-01 -2.23921882e-04 -7.39598668e-02] [ 4.70478354e-03 -1.65186067e-04 9.99988919e-01 -2.94912795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.111052754 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:7.48, Y:-0.07, Z:-0.03 [[ 9.96733150e-01 -8.06282600e-02 -4.70230011e-03 7.47508783e+00] [ 8.06280946e-02 9.96744230e-01 -2.25048953e-04 -7.29798357e-02] [ 4.70513581e-03 -1.54823746e-04 9.99988919e-01 -3.49928075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.141052753999999 meters Centerline goodness : 0.998058 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.07, Z:-0.04 [[ 9.96536286e-01 -8.30258918e-02 -4.70449227e-03 7.50395922e+00] [ 8.30259705e-02 9.96547368e-01 -1.78899300e-04 -7.09973815e-02] [ 4.70310266e-03 -2.12315393e-04 9.99988918e-01 -3.57000205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.171052754 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:7.53, Y:-0.07, Z:-0.04 [[ 9.96441871e-01 -8.41514294e-02 -4.70475253e-03 7.52933028e+00] [ 8.41515464e-02 9.96452953e-01 -1.73431237e-04 -6.80836799e-02] [ 4.70265904e-03 -2.23098055e-04 9.99988918e-01 -3.54857695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.201052754 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.07, Z:-0.04 [[ 9.96564633e-01 -8.26850731e-02 -4.70221544e-03 7.56343277e+00] [ 8.26849253e-02 9.96575713e-01 -2.26177313e-04 -6.54754880e-02] [ 4.70481519e-03 -1.63402022e-04 9.99988919e-01 -3.84807920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.231052753999998 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:7.59, Y:-0.06, Z:-0.03 [[ 9.96659738e-01 -8.15305407e-02 -4.70499310e-03 7.58763496e+00] [ 8.15306543e-02 9.96670820e-01 -1.67979312e-04 -6.36866640e-02] [ 4.70302478e-03 -2.16182949e-04 9.99988917e-01 -3.44801604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.261052754 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:7.62, Y:-0.06, Z:-0.03 [[ 9.96666198e-01 -8.14517037e-02 -4.70211149e-03 7.61627083e+00] [ 8.14515358e-02 9.96677278e-01 -2.27530339e-04 -6.47085104e-02] [ 4.70502042e-03 -1.56222405e-04 9.99988919e-01 -3.34632605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.291052753999999 meters Centerline goodness : 0.997192 Centerline is valid? [True, True] Translation: X:7.65, Y:-0.06, Z:-0.04 [[ 9.96723057e-01 -8.07529424e-02 -4.70205590e-03 7.64775726e+00] [ 8.07527613e-02 9.96734137e-01 -2.28673553e-04 -6.38465413e-02] [ 4.70516569e-03 -1.51779795e-04 9.99988919e-01 -3.97020933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.321052753999998 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:7.67, Y:-0.06, Z:-0.04 [[ 9.96763053e-01 -8.02576800e-02 -4.70339911e-03 7.67496320e+00] [ 8.02576240e-02 9.96774134e-01 -2.00942681e-04 -6.31835533e-02] [ 4.70435376e-03 -1.77191398e-04 9.99988919e-01 -3.51545156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.351052754 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:7.70, Y:-0.06, Z:-0.04 [[ 9.97016034e-01 -7.70514022e-02 -4.70203133e-03 7.70293942e+00] [ 7.70511783e-02 9.97027113e-01 -2.29024183e-04 -6.16468305e-02] [ 4.70569936e-03 -1.33956271e-04 9.99988919e-01 -3.88282261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.381052753999999 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:7.73, Y:-0.06, Z:-0.04 [[ 9.97127060e-01 -7.56010416e-02 -4.70201146e-03 7.73145960e+00] [ 7.56007997e-02 9.97138138e-01 -2.29431397e-04 -6.05624174e-02] [ 4.70590021e-03 -1.26703572e-04 9.99988919e-01 -3.86203780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.411052753999998 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:7.76, Y:-0.06, Z:-0.04 [[ 9.97106288e-01 -7.58745146e-02 -4.70195716e-03 7.75941782e+00] [ 7.58742704e-02 9.97117366e-01 -2.30538836e-04 -6.11592112e-02] [ 4.70589516e-03 -1.26885846e-04 9.99988919e-01 -3.93745325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.441052754 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:7.79, Y:-0.06, Z:-0.04 [[ 9.96895725e-01 -7.85926555e-02 -4.70193784e-03 7.78870948e+00] [ 7.85924397e-02 9.96906804e-01 -2.30932344e-04 -6.14137022e-02] [ 4.70554340e-03 -1.39321299e-04 9.99988919e-01 -3.89498579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.471052753999999 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:7.82, Y:-0.06, Z:-0.03 [[ 9.96195039e-01 -8.70249161e-02 -4.70188402e-03 7.81784366e+00] [ 8.70247890e-02 9.96206119e-01 -2.32022945e-04 -6.43741798e-02] [ 4.70423741e-03 -1.78040358e-04 9.99988919e-01 -3.49547137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.501052754 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:7.85, Y:-0.06, Z:-0.03 [[ 9.95774491e-01 -9.17118138e-02 -4.70182992e-03 7.84681578e+00] [ 9.17117336e-02 9.95785571e-01 -2.33113991e-04 -6.16096186e-02] [ 4.70339370e-03 -1.99084008e-04 9.99988919e-01 -3.26808921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.531052754 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.06, Z:-0.03 [[ 9.95688104e-01 -9.26449835e-02 -4.70177436e-03 7.87436527e+00] [ 9.26449085e-02 9.95699185e-01 -2.34229266e-04 -5.83555861e-02] [ 4.70325307e-03 -2.02376162e-04 9.99988919e-01 -3.35555758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.561052753999999 meters Centerline goodness : 0.996975 Centerline is valid? [True, True] Translation: X:7.91, Y:-0.05, Z:-0.04 [[ 9.95068357e-01 -9.90800630e-02 -4.70175464e-03 7.90759125e+00] [ 9.90800577e-02 9.95079438e-01 -2.34624588e-04 -5.44902336e-02] [ 4.70186598e-03 -2.32382618e-04 9.99988919e-01 -3.80799905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.591052754 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:7.93, Y:-0.05, Z:-0.03 [[ 9.95251878e-01 -9.72191463e-02 -4.70499179e-03 7.93040026e+00] [ 9.72194274e-02 9.95262957e-01 -1.69475327e-04 -5.41199400e-02] [ 4.69918029e-03 -2.88745970e-04 9.99988917e-01 -3.30634908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.621052753999999 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:7.96, Y:-0.05, Z:-0.04 [[ 9.95285264e-01 -9.68769282e-02 -4.70156158e-03 7.95815460e+00] [ 9.68768853e-02 9.95296344e-01 -2.37406836e-04 -4.84473892e-02] [ 4.70244630e-03 -2.19185116e-04 9.99988919e-01 -3.51927708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.651052753999998 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.04, Z:-0.04 [[ 9.95419094e-01 -9.54920041e-02 -4.70149672e-03 7.98475787e+00] [ 9.54919398e-02 9.95430175e-01 -2.38684309e-04 -4.40699484e-02] [ 4.70280415e-03 -2.11364123e-04 9.99988919e-01 -3.78651161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.681052754 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.04, Z:-0.04 [[ 9.95715562e-01 -9.23494217e-02 -4.70146851e-03 8.01225989e+00] [ 9.23493197e-02 9.95726642e-01 -2.39238677e-04 -4.02798644e-02] [ 4.70347101e-03 -1.95963745e-04 9.99988919e-01 -3.92070096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.711052753999999 meters Centerline goodness : 0.996912 Centerline is valid? [True, True] Translation: X:8.05, Y:-0.03, Z:-0.05 [[ 9.96197622e-01 -8.69953772e-02 -4.70140394e-03 8.05000176e+00] [ 8.69952098e-02 9.96208701e-01 -2.40501084e-04 -3.25194025e-02] [ 4.70450199e-03 -1.69413014e-04 9.99988919e-01 -4.66410396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.741052753999998 meters Centerline goodness : 0.997537 Centerline is valid? [True, True] Translation: X:8.08, Y:-0.03, Z:-0.05 [[ 9.96856263e-01 -7.90912834e-02 -4.70732997e-03 8.07761608e+00] [ 7.90915824e-02 9.96867346e-01 -1.22885510e-04 -2.76693306e-02] [ 4.70230271e-03 -2.49810986e-04 9.99988913e-01 -4.86863377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.771052754 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.03, Z:-0.04 [[ 9.97287050e-01 -7.34601217e-02 -4.70641498e-03 8.09858845e+00] [ 7.34602738e-02 9.97298134e-01 -1.40788198e-04 -2.61085242e-02] [ 4.70404119e-03 -2.05328285e-04 9.99988915e-01 -4.37670134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.801052753999999 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:8.13, Y:-0.02, Z:-0.04 [[ 9.97342605e-01 -7.27023347e-02 -4.70102664e-03 8.12630593e+00] [ 7.27019899e-02 9.97353679e-01 -2.44423245e-04 -2.40029633e-02] [ 4.70635636e-03 -9.80002756e-05 9.99988920e-01 -4.24428864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.831052754 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.02, Z:-0.04 [[ 9.97209959e-01 -7.44996561e-02 -4.70099625e-03 8.15541996e+00] [ 7.44993285e-02 9.97221034e-01 -2.45006434e-04 -2.17076587e-02] [ 4.70618523e-03 -1.05898208e-04 9.99988920e-01 -4.06033867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.861052754 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:8.18, Y:-0.02, Z:-0.04 [[ 9.96687718e-01 -8.11880110e-02 -4.70093960e-03 8.18279694e+00] [ 8.11877526e-02 9.96698795e-01 -2.46088597e-04 -2.11452184e-02] [ 4.70540028e-03 -1.36385239e-04 9.99988920e-01 -3.96623270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.891052753999999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.02, Z:-0.04 [[ 9.96327693e-01 -8.54928610e-02 -4.70091146e-03 8.21084645e+00] [ 8.54926479e-02 9.96338771e-01 -2.46624953e-04 -2.13903140e-02] [ 4.70478502e-03 -1.56174098e-04 9.99988920e-01 -3.83880410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.921052754 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:8.24, Y:-0.02, Z:-0.04 [[ 9.95601964e-01 -9.35661838e-02 -4.70084587e-03 8.23794076e+00] [ 9.35660547e-02 9.95613043e-01 -2.47868790e-04 -2.35174158e-02] [ 4.70341560e-03 -1.93060948e-04 9.99988920e-01 -3.65472478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.951052754 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:8.26, Y:-0.02, Z:-0.04 [[ 9.95275302e-01 -9.69792541e-02 -4.70081740e-03 8.26467806e+00] [ 9.69791604e-02 9.95286381e-01 -2.48407613e-04 -2.35931584e-02] [ 4.70274993e-03 -2.08647363e-04 9.99988920e-01 -3.55589248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.981052753999998 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:8.29, Y:-0.02, Z:-0.04 [[ 9.94942106e-01 -1.00339964e-01 -4.70077316e-03 8.29329057e+00] [ 1.00339904e-01 9.94953186e-01 -2.49242108e-04 -2.33290560e-02] [ 4.70205817e-03 -2.23693661e-04 9.99988920e-01 -3.65070777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.011052754 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.02, Z:-0.04 [[ 9.94875227e-01 -1.01000917e-01 -4.70070497e-03 8.32135663e+00] [ 1.01000859e-01 9.94886307e-01 -2.50521468e-04 -2.20879723e-02] [ 4.70196991e-03 -2.25537636e-04 9.99988920e-01 -3.77608156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.041052753999999 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.02, Z:-0.04 [[ 9.94892176e-01 -1.00833834e-01 -4.70063585e-03 8.34836560e+00] [ 1.00833767e-01 9.94903256e-01 -2.51811793e-04 -2.16152579e-02] [ 4.70206906e-03 -2.23457239e-04 9.99988920e-01 -3.85455509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.071052753999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:8.38, Y:-0.02, Z:-0.04 [[ 9.94963191e-01 -1.00130683e-01 -4.70060578e-03 8.37647440e+00] [ 1.00130605e-01 9.94974270e-01 -2.52371826e-04 -2.06783821e-02] [ 4.70225197e-03 -2.19573826e-04 9.99988920e-01 -3.82437303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.101052754 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.02, Z:-0.04 [[ 9.95275129e-01 -9.69810428e-02 -4.70054013e-03 8.40445254e+00] [ 9.69809247e-02 9.95286208e-01 -2.53588752e-04 -1.99805089e-02] [ 4.70297606e-03 -2.03472150e-04 9.99988920e-01 -3.70426933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.131052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.02, Z:-0.04 [[ 9.95572087e-01 -9.38835683e-02 -4.70047049e-03 8.43036671e+00] [ 9.38834097e-02 9.95583166e-01 -2.54873056e-04 -1.54361507e-02] [ 4.70363769e-03 -1.87551696e-04 9.99988920e-01 -3.72087717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.161052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.02, Z:-0.04 [[ 9.96338838e-01 -8.53629835e-02 -4.69902757e-03 8.46077242e+00] [ 8.53626056e-02 9.96349912e-01 -2.81304979e-04 -1.62801704e-02] [ 4.70588874e-03 -1.20846162e-04 9.99988920e-01 -3.75549558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.191052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:8.49, Y:-0.01, Z:-0.04 [[ 9.96381242e-01 -8.48665256e-02 -4.70038103e-03 8.48776748e+00] [ 8.48662590e-02 9.96392318e-01 -2.56503136e-04 -1.19669047e-02] [ 4.70519208e-03 -1.43328840e-04 9.99988920e-01 -3.80974937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.221052753999999 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:8.52, Y:-0.01, Z:-0.04 [[ 9.97164944e-01 -7.50998653e-02 -4.69938724e-03 8.51689935e+00] [ 7.50994049e-02 9.97176015e-01 -2.74609452e-04 -1.21514791e-02] [ 4.70673938e-03 -7.90902663e-05 9.99988920e-01 -4.23625189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.251052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.55, Y:-0.01, Z:-0.04 [[ 9.97305798e-01 -7.32055555e-02 -4.70029361e-03 8.54526599e+00] [ 7.32051518e-02 9.97316870e-01 -2.58103670e-04 -9.51572409e-03] [ 4.70657674e-03 -8.66774206e-05 9.99988920e-01 -4.41848812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.281052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.01, Z:-0.05 [[ 9.97418578e-01 -7.16525548e-02 -4.70022501e-03 8.57317242e+00] [ 7.16521280e-02 9.97429649e-01 -2.59346924e-04 -8.46588800e-03] [ 4.70672666e-03 -7.81036837e-05 9.99988920e-01 -4.57778347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.311052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.60, Y:-0.01, Z:-0.04 [[ 9.97161498e-01 -7.51455590e-02 -4.70015460e-03 8.60227320e+00] [ 7.51451650e-02 9.97172571e-01 -2.60616838e-04 -1.15418738e-02] [ 4.70644944e-03 -9.33168159e-05 9.99988920e-01 -4.25166110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.341052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.01, Z:-0.04 [[ 9.96949594e-01 -7.79064521e-02 -4.70009094e-03 8.63008896e+00] [ 7.79060834e-02 9.96960668e-01 -2.61759825e-04 -1.18927925e-02] [ 4.70619859e-03 -1.05204325e-04 9.99988920e-01 -3.98978443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.371052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.01, Z:-0.04 [[ 9.96701768e-01 -8.10153943e-02 -4.70006844e-03 8.65798874e+00] [ 8.10150582e-02 9.96712843e-01 -2.62163298e-04 -1.15334358e-02] [ 4.70585784e-03 -1.19477695e-04 9.99988920e-01 -4.03603841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.401052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.01, Z:-0.04 [[ 9.96235895e-01 -8.65560553e-02 -4.69999394e-03 8.68667726e+00] [ 8.65557746e-02 9.96246972e-01 -2.63492083e-04 -1.07878287e-02] [ 4.70516157e-03 -1.44311345e-04 9.99988920e-01 -4.24422893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.431052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.71, Y:-0.01, Z:-0.04 [[ 9.95811368e-01 -9.13106113e-02 -4.70018947e-03 8.70947313e+00] [ 9.13103998e-02 9.95822446e-01 -2.60014330e-04 -5.17929242e-03] [ 4.70429624e-03 -1.70250954e-04 9.99988920e-01 -4.09260864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.461052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.74, Y:-0.01, Z:-0.04 [[ 9.95703597e-01 -9.24786163e-02 -4.69605018e-03 8.73798177e+00] [ 9.24780726e-02 9.95714665e-01 -3.33242263e-04 -5.89332152e-03] [ 4.70674381e-03 -1.02471149e-04 9.99988918e-01 -4.24820146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.491052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.00, Z:-0.04 [[ 9.95716109e-01 -9.23437972e-02 -4.69621051e-03 8.76619578e+00] [ 9.23432654e-02 9.95727178e-01 -3.30401138e-04 -4.35908690e-03] [ 4.70665493e-03 -1.04677678e-04 9.99988918e-01 -4.23475120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.80, Y:-0.01, Z:-0.04 [[ 9.96143516e-01 -8.76130199e-02 -4.69618639e-03 8.80009480e+00] [ 8.76124336e-02 9.96154582e-01 -3.30828456e-04 -9.26482762e-03] [ 4.70711247e-03 -8.18916962e-05 9.99988918e-01 -4.40257386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.551052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.83, Y:-0.01, Z:-0.04 [[ 9.96220001e-01 -8.67388068e-02 -4.69998116e-03 8.82805041e+00] [ 8.67385303e-02 9.96231077e-01 -2.63018213e-04 -7.37350915e-03] [ 4.70508118e-03 -1.45645454e-04 9.99988920e-01 -4.37956740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.581052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.00, Z:-0.05 [[ 9.96394611e-01 -8.47094427e-02 -4.69990939e-03 8.85479463e+00] [ 8.47091376e-02 9.96405687e-01 -2.64294648e-04 -4.89495610e-03] [ 4.70540469e-03 -1.34783508e-04 9.99988920e-01 -4.53092935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.00, Z:-0.05 [[ 9.96400412e-01 -8.46411867e-02 -4.69987821e-03 8.88316875e+00] [ 8.46408782e-02 9.96411487e-01 -2.64847897e-04 -3.62080142e-03] [ 4.70542968e-03 -1.33907266e-04 9.99988920e-01 -4.77919559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.641052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.00, Z:-0.05 [[ 9.96345782e-01 -8.52818523e-02 -4.69985607e-03 8.91154509e+00] [ 8.52815491e-02 9.96356857e-01 -2.65240227e-04 -2.01406597e-03] [ 4.70535400e-03 -1.36540025e-04 9.99988920e-01 -4.88969382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.671052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.00, Z:-0.05 [[ 9.96238085e-01 -8.65308625e-02 -4.69978502e-03 8.94020561e+00] [ 8.65305673e-02 9.96249161e-01 -2.66493283e-04 -4.20747767e-04] [ 4.70521677e-03 -1.41184306e-04 9.99988920e-01 -5.04491772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.701052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.97, Y:0.00, Z:-0.05 [[ 9.96050348e-01 -8.86657036e-02 -4.70068981e-03 8.96832323e+00] [ 8.86655074e-02 9.96061426e-01 -2.50546186e-04 1.36097708e-03] [ 4.70439065e-03 -1.67232432e-04 9.99988920e-01 -4.89625770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.731052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.00, Y:0.00, Z:-0.05 [[ 9.95940827e-01 -8.98875616e-02 -4.70052795e-03 8.99588707e+00] [ 8.98873655e-02 9.95951905e-01 -2.53373877e-04 2.17289209e-03] [ 4.70427492e-03 -1.70172685e-04 9.99988920e-01 -4.74656853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.761052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.02, Y:0.00, Z:-0.04 [[ 9.95521788e-01 -9.44154902e-02 -4.69953003e-03 9.02340165e+00] [ 9.44152629e-02 9.95532865e-01 -2.70698477e-04 1.35455649e-03] [ 4.70409472e-03 -1.74221131e-04 9.99988921e-01 -4.34038332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.791052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.05, Y:0.00, Z:-0.04 [[ 9.95053628e-01 -9.92279846e-02 -4.69950699e-03 9.05154570e+00] [ 9.92278090e-02 9.95064706e-01 -2.71097873e-04 2.98627021e-03] [ 4.70321404e-03 -1.96564860e-04 9.99988921e-01 -4.27147228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.821052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.08, Y:0.01, Z:-0.04 [[ 9.94788860e-01 -1.01848121e-01 -4.69948417e-03 9.07997263e+00] [ 1.01847972e-01 9.94799938e-01 -2.71492846e-04 5.46626056e-03] [ 4.70269760e-03 -2.08554875e-04 9.99988921e-01 -4.38331205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.851052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.11, Y:0.01, Z:-0.05 [[ 9.94240113e-01 -1.07072470e-01 -4.69941104e-03 9.10749804e+00] [ 1.07072374e-01 9.94251192e-01 -2.72752806e-04 9.68330594e-03] [ 4.70159935e-03 -2.31995317e-04 9.99988921e-01 -4.51709232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.881052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.14, Y:0.01, Z:-0.05 [[ 9.94007345e-01 -1.09212245e-01 -4.69938845e-03 9.13578045e+00] [ 1.09212171e-01 9.94018424e-01 -2.73141590e-04 1.23280351e-02] [ 4.70110910e-03 -2.41725670e-04 9.99988921e-01 -4.62874353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.911052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.16, Y:0.02, Z:-0.05 [[ 9.93654733e-01 -1.12375215e-01 -4.69931527e-03 9.16340421e+00] [ 1.12375170e-01 9.93665812e-01 -2.74394812e-04 1.52232340e-02] [ 4.70038410e-03 -2.55432650e-04 9.99988921e-01 -4.54130426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.941052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.19, Y:0.02, Z:-0.05 [[ 9.93577938e-01 -1.13052197e-01 -4.69924007e-03 9.19162671e+00] [ 1.13052154e-01 9.93589017e-01 -2.75676661e-04 1.79380331e-02] [ 4.70027918e-03 -2.57352962e-04 9.99988921e-01 -4.50281133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.971052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.22, Y:0.02, Z:-0.05 [[ 9.93852144e-01 -1.10615701e-01 -4.69916470e-03 9.21888281e+00] [ 1.10615625e-01 9.93863223e-01 -2.76955603e-04 2.31900584e-02] [ 4.70096261e-03 -2.44548121e-04 9.99988921e-01 -4.77368419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.001052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.25, Y:0.03, Z:-0.05 [[ 9.94117343e-01 -1.08206404e-01 -4.69914135e-03 9.24547408e+00] [ 1.08206299e-01 9.94128422e-01 -2.77351212e-04 2.73007213e-02] [ 4.70156115e-03 -2.32757043e-04 9.99988921e-01 -4.91638706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.031052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.27, Y:0.03, Z:-0.05 [[ 9.94937506e-01 -1.00385641e-01 -4.69909053e-03 9.27412181e+00] [ 1.00385445e-01 9.94948584e-01 -2.78209461e-04 3.29751453e-02] [ 4.70328171e-03 -1.94919268e-04 9.99988921e-01 -5.06770022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.061052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.30, Y:0.04, Z:-0.05 [[ 9.95446056e-01 -9.52106546e-02 -4.69902578e-03 9.30144437e+00] [ 9.52103956e-02 9.95457132e-01 -2.79298934e-04 3.57879353e-02] [ 4.70427096e-03 -1.69369081e-04 9.99988921e-01 -5.02373336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.091052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.33, Y:0.04, Z:-0.05 [[ 9.95865360e-01 -9.07199239e-02 -4.69899359e-03 9.32934255e+00] [ 9.07196124e-02 9.95876435e-01 -2.79839366e-04 3.85148046e-02] [ 4.70500399e-03 -1.47608546e-04 9.99988921e-01 -5.01168971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.121052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.36, Y:0.04, Z:-0.05 [[ 9.96445840e-01 -8.41047452e-02 -4.69891815e-03 9.35527599e+00] [ 8.41043541e-02 9.96456913e-01 -2.81100513e-04 4.48113495e-02] [ 4.70591136e-03 -1.15098040e-04 9.99988921e-01 -4.86884750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.151052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.38, Y:0.05, Z:-0.05 [[ 9.96752540e-01 -8.03884977e-02 -4.69712531e-03 9.38377120e+00] [ 8.03879243e-02 9.96763605e-01 -3.11059432e-04 4.59461372e-02] [ 4.70692916e-03 -6.75428740e-05 9.99988920e-01 -4.86999823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.181052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.41, Y:0.04, Z:-0.04 [[ 9.97106440e-01 -7.58727924e-02 -4.69747204e-03 9.41354641e+00] [ 7.58721960e-02 9.97117504e-01 -3.05284241e-04 4.44207631e-02] [ 4.70709437e-03 -5.20066365e-05 9.99988920e-01 -4.44564199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.211052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.43, Y:0.05, Z:-0.05 [[ 9.96771055e-01 -8.01584895e-02 -4.69888321e-03 9.43479480e+00] [ 8.01580516e-02 9.96782126e-01 -2.81749526e-04 5.11473122e-02] [ 4.70634741e-03 -9.58135500e-05 9.99988920e-01 -4.93644930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.241052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.47, Y:0.04, Z:-0.05 [[ 9.97126953e-01 -7.56029695e-02 -4.69357930e-03 9.46982614e+00] [ 7.56020701e-02 9.97138000e-01 -3.69011281e-04 4.48255567e-02] [ 4.70804462e-03 1.31067835e-05 9.99988917e-01 -4.79829023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.271052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.50, Y:0.05, Z:-0.05 [[ 9.97069262e-01 -7.63597289e-02 -4.69876838e-03 9.49765886e+00] [ 7.63592439e-02 9.97080331e-01 -2.82791647e-04 4.52398385e-02] [ 4.70664342e-03 -7.68315414e-05 9.99988921e-01 -4.92472915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.301052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.52, Y:0.05, Z:-0.05 [[ 9.96720829e-01 -8.07806345e-02 -4.69869091e-03 9.51867803e+00] [ 8.07801926e-02 9.96731900e-01 -2.84073041e-04 5.04873964e-02] [ 4.70628271e-03 -9.64196397e-05 9.99988921e-01 -5.46024814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.331052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.55, Y:0.05, Z:-0.05 [[ 9.96924351e-01 -7.82291932e-02 -4.69371482e-03 9.55166976e+00] [ 7.82283385e-02 9.96935401e-01 -3.65697290e-04 4.54163561e-02] [ 4.70793867e-03 -2.60897770e-06 9.99988918e-01 -5.28641366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.58, Y:0.05, Z:-0.05 [[ 9.96762976e-01 -8.02589930e-02 -4.69718401e-03 9.58051769e+00] [ 8.02584295e-02 9.96774041e-01 -3.08642288e-04 4.52584680e-02] [ 4.70680241e-03 -6.93454060e-05 9.99988921e-01 -5.27845767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.391052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.61, Y:0.04, Z:-0.05 [[ 9.96301260e-01 -8.58005543e-02 -4.69722167e-03 9.60924467e+00] [ 8.58000552e-02 9.96312328e-01 -3.08023825e-04 4.24701831e-02] [ 4.70632848e-03 -9.61373540e-05 9.99988921e-01 -5.22569359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.421052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.63, Y:0.05, Z:-0.05 [[ 9.95800669e-01 -9.14273724e-02 -4.69718028e-03 9.63459414e+00] [ 9.14269327e-02 9.95811740e-01 -3.08701960e-04 4.51817645e-02] [ 4.70573108e-03 -1.22043167e-04 9.99988921e-01 -5.33479354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.451052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.67, Y:0.04, Z:-0.05 [[ 9.95691667e-01 -9.26070086e-02 -4.69532887e-03 9.66588342e+00] [ 9.26064401e-02 9.95702733e-01 -3.38818383e-04 4.15940589e-02] [ 4.70652875e-03 -9.74590514e-05 9.99988919e-01 -5.21021636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.481052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.69, Y:0.04, Z:-0.05 [[ 9.94981988e-01 -9.99438799e-02 -4.69737695e-03 9.69213793e+00] [ 9.99435501e-02 9.94993062e-01 -3.05474625e-04 4.13440292e-02] [ 4.70438780e-03 -1.65530779e-04 9.99988921e-01 -5.03657293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.511052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.72, Y:0.04, Z:-0.05 [[ 9.95041545e-01 -9.93492546e-02 -4.69570499e-03 9.72419065e+00] [ 9.93487903e-02 9.95052615e-01 -3.32605514e-04 3.85675931e-02] [ 4.70551764e-03 -1.35556306e-04 9.99988920e-01 -4.89889035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.541052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.75, Y:0.04, Z:-0.05 [[ 9.95224794e-01 -9.74963607e-02 -4.69772325e-03 9.75206950e+00] [ 9.74960304e-02 9.95235869e-01 -2.99802561e-04 4.29199892e-02] [ 4.70457234e-03 -1.59638427e-04 9.99988921e-01 -4.88871541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.571052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.78, Y:0.04, Z:-0.05 [[ 9.95399923e-01 -9.56918519e-02 -4.69719954e-03 9.78052302e+00] [ 9.56914617e-02 9.95410995e-01 -3.08276899e-04 4.42317248e-02] [ 4.70514365e-03 -1.42623088e-04 9.99988921e-01 -4.89580177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.601052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.81, Y:0.05, Z:-0.05 [[ 9.95795370e-01 -9.14850265e-02 -4.69795117e-03 9.80973034e+00] [ 9.14846467e-02 9.95806443e-01 -2.96119826e-04 4.77272476e-02] [ 4.70534058e-03 -1.34915652e-04 9.99988921e-01 -4.91354032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.631052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.84, Y:0.05, Z:-0.05 [[ 9.96265841e-01 -8.62107881e-02 -4.69822340e-03 9.83768642e+00] [ 8.62103704e-02 9.96276913e-01 -2.91728338e-04 5.12789550e-02] [ 4.70588164e-03 -1.14396602e-04 9.99988921e-01 -5.03635120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.661052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.87, Y:0.05, Z:-0.05 [[ 9.96507915e-01 -8.33660797e-02 -4.69814831e-03 9.86569405e+00] [ 8.33656247e-02 9.96518985e-01 -2.92934866e-04 5.43577254e-02] [ 4.70621482e-03 -9.97521561e-05 9.99988921e-01 -5.27579902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.691052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.89, Y:0.06, Z:-0.06 [[ 9.96716118e-01 -8.08387971e-02 -4.69783162e-03 9.89291615e+00] [ 8.08382902e-02 9.96727185e-01 -2.98007117e-04 5.88751727e-02] [ 4.70654703e-03 -8.27361790e-05 9.99988921e-01 -5.64456934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.721052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.92, Y:0.07, Z:-0.06 [[ 9.97140842e-01 -7.54193268e-02 -4.69743575e-03 9.92185009e+00] [ 7.54187299e-02 9.97151905e-01 -3.04332372e-04 6.50948217e-02] [ 4.70700955e-03 -5.08124008e-05 9.99988921e-01 -6.26607267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.751052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.95, Y:0.07, Z:-0.06 [[ 9.97181787e-01 -7.48760018e-02 -4.69756725e-03 9.94875982e+00] [ 7.48754087e-02 9.97192851e-01 -3.02235095e-04 6.73016669e-02] [ 4.70701064e-03 -5.03489358e-05 9.99988921e-01 -6.28787184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.781052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.97, Y:0.07, Z:-0.06 [[ 9.96984702e-01 -7.74560546e-02 -4.69712672e-03 9.97460238e+00] [ 7.74554572e-02 9.96995766e-01 -3.09226182e-04 6.94284017e-02] [ 4.70696689e-03 -5.55243247e-05 9.99988921e-01 -6.11630297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.811052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.00, Y:0.07, Z:-0.06 [[ 9.96720195e-01 -8.07886258e-02 -4.69590490e-03 1.00045713e+01] [ 8.07879740e-02 9.96731255e-01 -3.28633291e-04 6.73493714e-02] [ 4.70710502e-03 -5.18172047e-05 9.99988920e-01 -5.62091018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.841052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.03, Y:0.07, Z:-0.05 [[ 9.96199104e-01 -8.69786600e-02 -4.69667590e-03 1.00320151e+01] [ 8.69781349e-02 9.96210171e-01 -3.16324100e-04 6.65294632e-02] [ 4.70638975e-03 -9.33863255e-05 9.99988921e-01 -5.21134640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.871052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.06, Y:0.07, Z:-0.05 [[ 9.95956313e-01 -8.97160483e-02 -4.69603417e-03 1.00602364e+01] [ 8.97155056e-02 9.95967380e-01 -3.26527243e-04 6.82281339e-02] [ 4.70639158e-03 -9.61002110e-05 9.99988920e-01 -5.29986628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.901052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.09, Y:0.07, Z:-0.05 [[ 9.95723784e-01 -9.22610116e-02 -4.69595673e-03 1.00894082e+01] [ 9.22604913e-02 9.95734851e-01 -3.27750741e-04 7.09812901e-02] [ 4.70616639e-03 -1.06902067e-04 9.99988920e-01 -5.29306202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.931052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.12, Y:0.07, Z:-0.05 [[ 9.95398866e-01 -9.57029027e-02 -4.69597129e-03 1.01202611e+01] [ 9.57024218e-02 9.95409935e-01 -3.27521230e-04 7.39393791e-02] [ 4.70576121e-03 -1.23401564e-04 9.99988920e-01 -5.23408027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.961052753999999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:10.15, Y:0.08, Z:-0.05 [[ 9.95160924e-01 -9.81461416e-02 -4.69787526e-03 1.01458829e+01] [ 9.81458296e-02 9.95171999e-01 -2.97450338e-04 7.73265158e-02] [ 4.70438751e-03 -1.65065911e-04 9.99988921e-01 -4.78458791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.991052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.18, Y:0.08, Z:-0.05 [[ 9.94959500e-01 -1.00167589e-01 -4.69540243e-03 1.01769889e+01] [ 1.00167117e-01 9.94970570e-01 -3.36218670e-04 7.81470848e-02] [ 4.70546545e-03 -1.35800965e-04 9.99988920e-01 -4.80853112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.021052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:10.21, Y:0.08, Z:-0.05 [[ 9.94945098e-01 -1.00310432e-01 -4.69778288e-03 1.02059031e+01] [ 1.00310138e-01 9.94956173e-01 -2.98791973e-04 8.06068802e-02] [ 4.70406003e-03 -1.73953640e-04 9.99988921e-01 -4.84509495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.051052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.23, Y:0.08, Z:-0.05 [[ 9.95024679e-01 -9.95179340e-02 -4.69771469e-03 1.02337094e+01] [ 9.95176259e-02 9.95035754e-01 -2.99860197e-04 8.40833201e-02] [ 4.70423555e-03 -1.69137117e-04 9.99988921e-01 -5.05413888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.081052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.26, Y:0.09, Z:-0.05 [[ 9.95143026e-01 -9.83274614e-02 -4.69769052e-03 1.02585265e+01] [ 9.83271384e-02 9.95154100e-01 -3.00238324e-04 8.86726863e-02] [ 4.70444766e-03 -1.63130392e-04 9.99988921e-01 -4.98433323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.111052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:10.29, Y:0.09, Z:-0.06 [[ 9.95513491e-01 -9.45031264e-02 -4.69551647e-03 1.02859630e+01] [ 9.45026000e-02 9.95524559e-01 -3.34331987e-04 9.32457834e-02] [ 4.70609738e-03 -1.10906511e-04 9.99988920e-01 -5.62443983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.141052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.31, Y:0.10, Z:-0.05 [[ 9.95830376e-01 -9.11033345e-02 -4.69520437e-03 1.03128067e+01] [ 9.11027474e-02 9.95841440e-01 -3.39209706e-04 9.57118325e-02] [ 4.70658221e-03 -8.99506885e-05 9.99988920e-01 -5.49837465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.171052754 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:10.34, Y:0.10, Z:-0.06 [[ 9.96462852e-01 -8.39031921e-02 -4.69464594e-03 1.03420389e+01] [ 8.39024843e-02 9.96473909e-01 -3.47851025e-04 9.75019199e-02] [ 4.70727801e-03 -4.72718329e-05 9.99988920e-01 -5.84219373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.201052754 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:10.37, Y:0.10, Z:-0.05 [[ 9.96764451e-01 -8.02407943e-02 -4.69504799e-03 1.03698036e+01] [ 8.02400753e-02 9.96775508e-01 -3.41610666e-04 9.89176189e-02] [ 4.70731996e-03 -3.62256369e-05 9.99988920e-01 -5.24239991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.231052753999998 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:10.40, Y:0.10, Z:-0.05 [[ 9.97038621e-01 -7.67590425e-02 -4.69444267e-03 1.03983234e+01] [ 7.67582407e-02 9.97049672e-01 -3.50983540e-04 9.98262358e-02] [ 4.70753369e-03 -1.03930165e-05 9.99988919e-01 -5.38491968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.261052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.43, Y:0.10, Z:-0.05 [[ 9.97098152e-01 -7.59818079e-02 -4.69461053e-03 1.04259083e+01] [ 7.59810098e-02 9.97109204e-01 -3.48390153e-04 1.01073532e-01] [ 4.70751068e-03 -9.32207048e-06 9.99988920e-01 -5.15546204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.291052753999999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:10.46, Y:0.10, Z:-0.05 [[ 9.96919453e-01 -7.82915485e-02 -4.69443506e-03 1.04554293e+01] [ 7.82907631e-02 9.96930506e-01 -3.51121993e-04 9.94761854e-02] [ 4.70751540e-03 -1.74905575e-05 9.99988919e-01 -5.28715161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.321052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.48, Y:0.10, Z:-0.05 [[ 9.96723244e-01 -8.07510725e-02 -4.69455531e-03 1.04837553e+01] [ 8.07503231e-02 9.96734299e-01 -3.49251621e-04 9.98541808e-02] [ 4.70742674e-03 -3.09796497e-05 9.99988920e-01 -4.83791429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.351052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:10.51, Y:0.10, Z:-0.04 [[ 9.96342425e-01 -8.53213704e-02 -4.69421519e-03 1.05137180e+01] [ 8.53206471e-02 9.96353482e-01 -3.54499324e-04 9.94089014e-02] [ 4.70734402e-03 -4.73107606e-05 9.99988919e-01 -4.36677575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.381052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.54, Y:0.10, Z:-0.04 [[ 9.96154847e-01 -8.74841909e-02 -4.69432415e-03 1.05425181e+01] [ 8.74834996e-02 9.96165906e-01 -3.52805597e-04 9.96137583e-02] [ 4.70719058e-03 -5.92268985e-05 9.99988919e-01 -4.08208312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.411052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.57, Y:0.10, Z:-0.04 [[ 9.96158424e-01 -8.74434595e-02 -4.69427876e-03 1.05707672e+01] [ 8.74427643e-02 9.96169483e-01 -3.53510547e-04 1.01384667e-01] [ 4.70720943e-03 -5.83282015e-05 9.99988919e-01 -4.06879697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.441052754 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:10.60, Y:0.10, Z:-0.04 [[ 9.96100789e-01 -8.80975717e-02 -4.69423800e-03 1.05993068e+01] [ 8.80968809e-02 9.96111848e-01 -3.54134135e-04 1.02577055e-01] [ 4.70718445e-03 -6.07944349e-05 9.99988919e-01 -4.31562630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.471052753999999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:10.63, Y:0.11, Z:-0.05 [[ 9.95897419e-01 -9.03675387e-02 -4.69451942e-03 1.06313511e+01] [ 9.03668933e-02 9.95908481e-01 -3.49842701e-04 1.07682312e-01] [ 4.70692613e-03 -7.58216924e-05 9.99988919e-01 -4.94728801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.501052754 meters Centerline goodness : 0.996925 Centerline is valid? [True, True] Translation: X:10.66, Y:0.11, Z:-0.05 [[ 9.96452623e-01 -8.40244392e-02 -4.69730785e-03 1.06582306e+01] [ 8.40239243e-02 9.96463690e-01 -3.07206585e-04 1.08565929e-01] [ 4.70650958e-03 -8.85694319e-05 9.99988920e-01 -5.09484036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.531052754 meters Centerline goodness : 0.998461 Centerline is valid? [True, True] Translation: X:10.69, Y:0.11, Z:-0.05 [[ 9.95935180e-01 -8.99504120e-02 -4.69465762e-03 1.06892211e+01] [ 8.99497730e-02 9.95946242e-01 -3.47503103e-04 1.12278702e-01] [ 4.70688467e-03 -7.61928215e-05 9.99988920e-01 -5.33628260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.561052753999999 meters Centerline goodness : 0.998555 Centerline is valid? [True, True] Translation: X:10.72, Y:0.11, Z:-0.05 [[ 9.95795211e-01 -9.14867894e-02 -4.69726204e-03 1.07183470e+01] [ 9.14863548e-02 9.95806282e-01 -3.07751555e-04 1.14101975e-01] [ 4.70571825e-03 -1.23277857e-04 9.99988920e-01 -5.38524070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.591052754 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:10.75, Y:0.12, Z:-0.05 [[ 9.95639313e-01 -9.31680968e-02 -4.69719301e-03 1.07461165e+01] [ 9.31676760e-02 9.95650385e-01 -3.08801634e-04 1.16818658e-01] [ 4.70553248e-03 -1.30171509e-04 9.99988920e-01 -5.38320437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.621052753999999 meters Centerline goodness : 0.998581 Centerline is valid? [True, True] Translation: X:10.77, Y:0.12, Z:-0.06 [[ 9.95361071e-01 -9.60951335e-02 -4.69711386e-03 1.07741431e+01] [ 9.60947396e-02 9.95372144e-01 -3.10000823e-04 1.21064681e-01] [ 4.70516586e-03 -1.42805182e-04 9.99988920e-01 -5.50779026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.651052753999998 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:10.80, Y:0.12, Z:-0.05 [[ 9.95252485e-01 -9.72133140e-02 -4.69708943e-03 1.08029161e+01] [ 9.72129307e-02 9.95263558e-01 -3.10370576e-04 1.23538729e-01] [ 4.70501409e-03 -1.47720742e-04 9.99988920e-01 -5.32028345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.681052754 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:10.83, Y:0.13, Z:-0.05 [[ 9.94872453e-01 -1.01028413e-01 -4.69701772e-03 1.08312161e+01] [ 1.01028068e-01 9.94883527e-01 -3.11452061e-04 1.25012663e-01] [ 4.70445106e-03 -1.64675547e-04 9.99988920e-01 -5.25922222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.711052753999999 meters Centerline goodness : 0.998364 Centerline is valid? [True, True] Translation: X:10.86, Y:0.13, Z:-0.05 [[ 9.94622014e-01 -1.03464911e-01 -4.69694640e-03 1.08604529e+01] [ 1.03464587e-01 9.94633089e-01 -3.12523880e-04 1.28078565e-01] [ 4.70407356e-03 -1.75124490e-04 9.99988920e-01 -5.26418458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.741052753999998 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:10.89, Y:0.13, Z:-0.05 [[ 9.94199972e-01 -1.07444659e-01 -4.69687517e-03 1.08880982e+01] [ 1.07444374e-01 9.94211048e-01 -3.13590809e-04 1.32874272e-01] [ 4.70337884e-03 -1.92880839e-04 9.99988920e-01 -5.30734673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.771052754 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:10.92, Y:0.13, Z:-0.05 [[ 9.93940032e-01 -1.09823280e-01 -4.69684999e-03 1.09161417e+01] [ 1.09823020e-01 9.93951108e-01 -3.13967512e-04 1.34676062e-01] [ 4.70292019e-03 -2.03757371e-04 9.99988920e-01 -5.19448670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.801052753999999 meters Centerline goodness : 0.998605 Centerline is valid? [True, True] Translation: X:10.94, Y:0.14, Z:-0.05 [[ 9.93443516e-01 -1.14227496e-01 -4.69676929e-03 1.09440460e+01] [ 1.14227279e-01 9.93454593e-01 -3.15170083e-04 1.37571757e-01] [ 4.70202811e-03 -2.23395502e-04 9.99988920e-01 -5.09931025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.831052753999998 meters Centerline goodness : 0.998415 Centerline is valid? [True, True] Translation: X:10.97, Y:0.14, Z:-0.05 [[ 9.93323805e-01 -1.15263867e-01 -4.69674432e-03 1.09730920e+01] [ 1.15263660e-01 9.93334883e-01 -3.15541735e-04 1.40089399e-01] [ 4.70181053e-03 -2.27928826e-04 9.99988920e-01 -5.03072906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.861052754 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:11.00, Y:0.14, Z:-0.05 [[ 9.93455382e-01 -1.14124255e-01 -4.69667455e-03 1.10020519e+01] [ 1.14124031e-01 9.93466459e-01 -3.16576755e-04 1.42361815e-01] [ 4.70211773e-03 -2.21498550e-04 9.99988920e-01 -4.73945804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.891052753999999 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:11.03, Y:0.14, Z:-0.04 [[ 9.93534861e-01 -1.13430248e-01 -4.69660205e-03 1.10305258e+01] [ 1.13430011e-01 9.93545938e-01 -3.17648716e-04 1.44929545e-01] [ 4.70232087e-03 -2.17140549e-04 9.99988920e-01 -4.48242719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.921052754 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:11.06, Y:0.15, Z:-0.04 [[ 9.93962374e-01 -1.09620904e-01 -4.69652674e-03 1.10583803e+01] [ 1.09620620e-01 9.93973449e-01 -3.18758438e-04 1.48562070e-01] [ 4.70316547e-03 -1.98002278e-04 9.99988920e-01 -4.48274124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.951052754 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:11.09, Y:0.15, Z:-0.05 [[ 9.94465343e-01 -1.04960111e-01 -4.69649999e-03 1.10859833e+01] [ 1.04959773e-01 9.94476417e-01 -3.19151956e-04 1.53323405e-01] [ 4.70405671e-03 -1.75558013e-04 9.99988920e-01 -4.93157165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.981052753999998 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:11.11, Y:0.16, Z:-0.05 [[ 9.94788713e-01 -1.01849690e-01 -4.69647408e-03 1.11138850e+01] [ 1.01849315e-01 9.94799786e-01 -3.19532831e-04 1.56445556e-01] [ 4.70459573e-03 -1.60465014e-04 9.99988920e-01 -5.07072923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.011052754 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:11.14, Y:0.16, Z:-0.05 [[ 9.95591180e-01 -9.36810925e-02 -4.69639647e-03 1.11414619e+01] [ 9.36806214e-02 9.95602249e-01 -3.20669483e-04 1.57996122e-01] [ 4.70578356e-03 -1.20705630e-04 9.99988920e-01 -5.34517874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.041052753999999 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:11.17, Y:0.16, Z:-0.05 [[ 9.95946049e-01 -8.98299003e-02 -4.69637237e-03 1.11703865e+01] [ 8.98293847e-02 9.95957117e-01 -3.21022084e-04 1.59323623e-01] [ 4.70622287e-03 -1.02151564e-04 9.99988920e-01 -5.09256983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.071052753999998 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:11.20, Y:0.16, Z:-0.06 [[ 9.96214063e-01 -8.68071762e-02 -4.69629862e-03 1.11985634e+01] [ 8.68066220e-02 9.96225128e-01 -3.22097320e-04 1.60629486e-01] [ 4.70653106e-03 -8.67919392e-05 9.99988920e-01 -5.64548594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.101052754 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:11.23, Y:0.16, Z:-0.05 [[ 9.96344299e-01 -8.52993714e-02 -4.69625991e-03 1.12271838e+01] [ 8.52987978e-02 9.96355364e-01 -3.22660813e-04 1.60125755e-01] [ 4.70666651e-03 -7.91040628e-05 9.99988920e-01 -5.19086135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.131052753999999 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:11.26, Y:0.16, Z:-0.05 [[ 9.96206819e-01 -8.68902700e-02 -4.69618657e-03 1.12556077e+01] [ 8.68897091e-02 9.96217885e-01 -3.23724729e-04 1.59151491e-01] [ 4.70655358e-03 -8.55535026e-05 9.99988920e-01 -5.19902957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.161052753999998 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:11.29, Y:0.16, Z:-0.05 [[ 9.95885188e-01 -9.05021777e-02 -4.69558349e-03 1.12851175e+01] [ 9.05016158e-02 9.95896253e-01 -3.32449791e-04 1.59942331e-01] [ 4.70640143e-03 -9.38760702e-05 9.99988920e-01 -4.90141007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.191052754 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:11.31, Y:0.16, Z:-0.04 [[ 9.96091032e-01 -8.82077278e-02 -4.69611992e-03 1.13141586e+01] [ 8.82071769e-02 9.96102097e-01 -3.24691201e-04 1.60860051e-01] [ 4.70645517e-03 -9.08094867e-05 9.99988920e-01 -4.47740318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.221052753999999 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:11.34, Y:0.16, Z:-0.04 [[ 9.96009616e-01 -8.91223632e-02 -4.69557053e-03 1.13419580e+01] [ 8.91217851e-02 9.96020681e-01 -3.32628991e-04 1.60909548e-01] [ 4.70653004e-03 -8.71759536e-05 9.99988920e-01 -4.10795446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.251052753999998 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:11.37, Y:0.16, Z:-0.04 [[ 9.95691071e-01 -9.26134012e-02 -4.69570892e-03 1.13694718e+01] [ 9.26128713e-02 9.95702138e-01 -3.30633366e-04 1.62987979e-01] [ 4.70614849e-03 -1.05674395e-04 9.99988920e-01 -3.93739282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.281052754 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:11.40, Y:0.16, Z:-0.04 [[ 9.95337086e-01 -9.63433049e-02 -4.69599710e-03 1.13985459e+01] [ 9.63428360e-02 9.95348156e-01 -3.26488320e-04 1.64629808e-01] [ 4.70560702e-03 -1.27459745e-04 9.99988920e-01 -3.86043687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.311052753999999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:11.43, Y:0.17, Z:-0.04 [[ 9.95220261e-01 -9.75427071e-02 -4.69591988e-03 1.14264794e+01] [ 9.75422463e-02 9.95231331e-01 -3.27595280e-04 1.68218639e-01] [ 4.70548112e-03 -1.32021113e-04 9.99988920e-01 -4.08980533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.341052754 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:11.45, Y:0.17, Z:-0.04 [[ 9.95260311e-01 -9.71332195e-02 -4.69583164e-03 1.14538492e+01] [ 9.71327482e-02 9.95271381e-01 -3.28855302e-04 1.71315630e-01] [ 4.70556961e-03 -1.28822402e-04 9.99988920e-01 -4.15188310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.371052753999999 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:11.49, Y:0.17, Z:-0.05 [[ 9.95428846e-01 -9.53905789e-02 -4.69580430e-03 1.14850662e+01] [ 9.53900864e-02 9.95439914e-01 -3.29245115e-04 1.72717040e-01] [ 4.70579792e-03 -1.20193094e-04 9.99988920e-01 -4.51102093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.401052753999998 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:11.51, Y:0.18, Z:-0.05 [[ 9.95437495e-01 -9.53001883e-02 -4.69762751e-03 1.15136308e+01] [ 9.52998176e-02 9.95448569e-01 -3.03193082e-04 1.75414814e-01] [ 4.70514094e-03 -1.45873284e-04 9.99988920e-01 -4.56188747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.431052754 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:11.54, Y:0.18, Z:-0.04 [[ 9.95108310e-01 -9.86781504e-02 -4.69836894e-03 1.15378150e+01] [ 9.86778673e-02 9.95119386e-01 -2.92610907e-04 1.79601536e-01] [ 4.70431232e-03 -1.72445481e-04 9.99988920e-01 -4.05755855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.461052753999999 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:11.56, Y:0.18, Z:-0.04 [[ 9.94867628e-01 -1.01075981e-01 -4.69567247e-03 1.15649174e+01] [ 1.01075544e-01 9.94878699e-01 -3.30878049e-04 1.81315494e-01] [ 4.70506834e-03 -1.45437789e-04 9.99988921e-01 -4.18283707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.491052753999998 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:11.59, Y:0.18, Z:-0.04 [[ 9.94551452e-01 -1.04141058e-01 -4.69563385e-03 1.15928980e+01] [ 1.04140652e-01 9.94562524e-01 -3.31425175e-04 1.83520806e-01] [ 4.70461642e-03 -1.59386982e-04 9.99988921e-01 -4.27659378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.521052754 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:11.62, Y:0.18, Z:-0.04 [[ 9.94128558e-01 -1.08103474e-01 -4.69554590e-03 1.16213694e+01] [ 1.08103107e-01 9.94139632e-01 -3.32666617e-04 1.84961713e-01] [ 4.70399069e-03 -1.76889717e-04 9.99988921e-01 -4.49677378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.551052753999999 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:11.65, Y:0.19, Z:-0.04 [[ 9.94099606e-01 -1.08369400e-01 -4.69546847e-03 1.16495782e+01] [ 1.08369031e-01 9.94110679e-01 -3.33755958e-04 1.86133248e-01] [ 4.70398428e-03 -1.77056701e-04 9.99988921e-01 -4.49596016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.581052753999998 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:11.68, Y:0.19, Z:-0.05 [[ 9.93917854e-01 -1.10023878e-01 -4.69538025e-03 1.16757972e+01] [ 1.10023521e-01 9.93928927e-01 -3.34992387e-04 1.91296812e-01] [ 4.70373142e-03 -1.83647355e-04 9.99988921e-01 -5.34514571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.611052754 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:11.71, Y:0.19, Z:-0.04 [[ 9.94800742e-01 -1.01732284e-01 -4.69324868e-03 1.17069587e+01] [ 1.01731695e-01 9.94811806e-01 -3.64757990e-04 1.88612660e-01] [ 4.70600686e-03 -1.14590625e-04 9.99988920e-01 -4.26649288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.641052753999999 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:11.74, Y:0.19, Z:-0.05 [[ 9.94713186e-01 -1.02584753e-01 -4.69534456e-03 1.17363495e+01] [ 1.02584312e-01 9.94724257e-01 -3.35418911e-04 1.93616729e-01] [ 4.70498199e-03 -1.48023077e-04 9.99988921e-01 -5.42530094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.671052754 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:11.76, Y:0.19, Z:-0.05 [[ 9.95413916e-01 -9.55462113e-02 -4.69654256e-03 1.17630397e+01] [ 9.55457704e-02 9.95424987e-01 -3.18666568e-04 1.93510559e-01] [ 4.70550320e-03 -1.31529641e-04 9.99988920e-01 -4.56213947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.701052754 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:11.80, Y:0.19, Z:-0.05 [[ 9.95291802e-01 -9.68100448e-02 -4.69519723e-03 1.17968986e+01] [ 9.68095298e-02 9.95302869e-01 -3.37388614e-04 1.92716102e-01] [ 4.70580588e-03 -1.18739715e-04 9.99988921e-01 -5.02656485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.731052753999998 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:11.82, Y:0.19, Z:-0.05 [[ 9.95474577e-01 -9.49119223e-02 -4.70038275e-03 1.18247217e+01] [ 9.49117287e-02 9.95485657e-01 -2.64739509e-04 1.92520267e-01] [ 4.70429055e-03 -1.82580002e-04 9.99988918e-01 -4.66624819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.761052754 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:11.85, Y:0.19, Z:-0.05 [[ 9.95540514e-01 -9.42177777e-02 -4.70059821e-03 1.18535143e+01] [ 9.42175907e-02 9.95551594e-01 -2.61717220e-04 1.94593322e-01] [ 4.70434645e-03 -1.82328942e-04 9.99988918e-01 -4.54597564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.791052753999999 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:11.88, Y:0.20, Z:-0.04 [[ 9.95787149e-01 -9.15743238e-02 -4.70075983e-03 1.18809194e+01] [ 9.15741180e-02 9.95798229e-01 -2.59458427e-04 1.95108215e-01] [ 4.70476804e-03 -1.72102568e-04 9.99988918e-01 -4.23048619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.821052753999998 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:11.91, Y:0.20, Z:-0.04 [[ 9.95905387e-01 -9.02793802e-02 -4.70043887e-03 1.19082966e+01] [ 9.02791389e-02 9.95916466e-01 -2.63922017e-04 1.96752571e-01] [ 4.70507118e-03 -1.61510215e-04 9.99988918e-01 -4.25519269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.851052754 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:11.94, Y:0.20, Z:-0.05 [[ 9.96166579e-01 -8.73501816e-02 -4.70028694e-03 1.19365275e+01] [ 8.73498978e-02 9.96177657e-01 -2.66023383e-04 1.98679403e-01] [ 4.70555802e-03 -1.45565980e-04 9.99988918e-01 -4.54617915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.881052753999999 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:11.96, Y:0.20, Z:-0.05 [[ 9.96296273e-01 -8.58583033e-02 -4.69979372e-03 1.19647574e+01] [ 8.58579709e-02 9.96307349e-01 -2.72814873e-04 2.01279748e-01] [ 4.70586245e-03 -1.31710311e-04 9.99988919e-01 -4.86438730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.911052753999998 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:11.99, Y:0.20, Z:-0.05 [[ 9.96548518e-01 -8.28792161e-02 -4.69958270e-03 1.19934937e+01] [ 8.28788369e-02 9.96559593e-01 -2.75695925e-04 2.03059474e-01] [ 4.70626369e-03 -1.14751583e-04 9.99988919e-01 -5.16755955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.941052754 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:12.02, Y:0.20, Z:-0.05 [[ 9.96613763e-01 -8.20909656e-02 -4.69898670e-03 1.20221339e+01] [ 8.20905396e-02 9.96624836e-01 -2.83771552e-04 2.03362569e-01] [ 4.70642193e-03 -1.02931720e-04 9.99988919e-01 -5.02064214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.971052753999999 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:12.05, Y:0.20, Z:-0.05 [[ 9.96644852e-01 -8.17126708e-02 -4.69881421e-03 1.20492869e+01] [ 8.17122297e-02 9.96655923e-01 -2.86099413e-04 2.02467901e-01] [ 4.70647897e-03 -9.88110793e-05 9.99988920e-01 -4.73124344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.001052753999998 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:12.08, Y:0.20, Z:-0.05 [[ 9.96647598e-01 -8.16792119e-02 -4.69802565e-03 1.20771922e+01] [ 8.16787205e-02 9.96658667e-01 -2.96679639e-04 2.03314982e-01] [ 4.70656054e-03 -8.80436747e-05 9.99988920e-01 -4.65278190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.031052754 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:12.10, Y:0.20, Z:-0.05 [[ 9.96741429e-01 -8.05261092e-02 -4.69786071e-03 1.21039553e+01] [ 8.05255946e-02 9.96752497e-01 -2.98883434e-04 2.04874147e-01] [ 4.70667231e-03 -8.03885267e-05 9.99988920e-01 -4.65937617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.061052753999999 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:12.13, Y:0.21, Z:-0.04 [[ 9.97074267e-01 -7.62944276e-02 -4.69740286e-03 1.21282614e+01] [ 7.62938374e-02 9.97085331e-01 -3.04968374e-04 2.08088444e-01] [ 4.70697887e-03 -5.43067712e-05 9.99988921e-01 -4.26772466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.091052754 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:12.16, Y:0.21, Z:-0.05 [[ 9.97049112e-01 -7.66227037e-02 -4.69357820e-03 1.21563848e+01] [ 7.66218793e-02 9.97060159e-01 -3.55468848e-04 2.12513368e-01] [ 4.70701681e-03 -5.21088374e-06 9.99988922e-01 -4.55895341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.121052753999999 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:12.19, Y:0.22, Z:-0.05 [[ 9.96608114e-01 -8.21598323e-02 -4.69348025e-03 1.21881118e+01] [ 8.21590633e-02 9.96619166e-01 -3.56757518e-04 2.15994178e-01] [ 4.70692351e-03 -3.00645036e-05 9.99988922e-01 -5.02998158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.151052753999998 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:12.21, Y:0.22, Z:-0.05 [[ 9.96319044e-01 -8.55938527e-02 -4.69622677e-03 1.22131201e+01] [ 8.55932921e-02 9.96330109e-01 -3.20592395e-04 2.18321865e-01] [ 4.70643286e-03 -8.25532009e-05 9.99988921e-01 -4.52343725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.181052754 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:12.25, Y:0.22, Z:-0.05 [[ 9.95643194e-01 -9.31268066e-02 -4.69334929e-03 1.22452520e+01] [ 9.31261520e-02 9.95654253e-01 -3.58285777e-04 2.21298766e-01] [ 4.70631920e-03 -8.03487644e-05 9.99988922e-01 -4.88689201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.211052753999999 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:12.27, Y:0.22, Z:-0.04 [[ 9.95195474e-01 -9.77952733e-02 -4.69598243e-03 1.22697667e+01] [ 9.77948333e-02 9.95206544e-01 -3.23772255e-04 2.23059091e-01] [ 4.70513585e-03 -1.37026137e-04 9.99988921e-01 -4.45927383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.241052753999998 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:12.30, Y:0.23, Z:-0.05 [[ 9.94474899e-01 -1.04869679e-01 -4.69320550e-03 1.23005840e+01] [ 1.04869147e-01 9.94485964e-01 -3.59976683e-04 2.27745343e-01] [ 4.70507763e-03 -1.34184684e-04 9.99988922e-01 -4.91865397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.271052754 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:12.33, Y:0.23, Z:-0.04 [[ 9.93624191e-01 -1.12645118e-01 -4.69516175e-03 1.23278237e+01] [ 1.12644793e-01 9.93635264e-01 -3.34490817e-04 2.31651548e-01] [ 4.70295704e-03 -1.96527355e-04 9.99988922e-01 -4.34497699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.301052753999999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:12.36, Y:0.23, Z:-0.04 [[ 9.93602756e-01 -1.12834098e-01 -4.69346561e-03 1.23563225e+01] [ 1.12833672e-01 9.93613826e-01 -3.56499110e-04 2.33945969e-01] [ 4.70371758e-03 -1.75362459e-04 9.99988922e-01 -4.33269038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.331052753999998 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:12.38, Y:0.23, Z:-0.04 [[ 9.93649014e-01 -1.12426015e-01 -4.69340554e-03 1.23845097e+01] [ 1.12425580e-01 9.93660083e-01 -3.57276738e-04 2.32470840e-01] [ 4.70381694e-03 -1.72651163e-04 9.99988922e-01 -3.88484168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.361052754 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:12.41, Y:0.24, Z:-0.04 [[ 9.92991713e-01 -1.18090789e-01 -4.69296556e-03 1.24139490e+01] [ 1.18090391e-01 9.93002783e-01 -3.62965496e-04 2.35236776e-01] [ 4.70299074e-03 -1.93772406e-04 9.99988922e-01 -4.05042529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.391052753999999 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:12.44, Y:0.24, Z:-0.04 [[ 9.92779383e-01 -1.19862682e-01 -4.69405363e-03 1.24409525e+01] [ 1.19862369e-01 9.92790457e-01 -3.48928475e-04 2.41998442e-01] [ 4.70203514e-03 -2.16231393e-04 9.99988922e-01 -4.11755826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.421052753999998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:12.47, Y:0.25, Z:-0.04 [[ 9.92614295e-01 -1.21222270e-01 -4.69277450e-03 1.24689343e+01] [ 1.21221895e-01 9.92625367e-01 -3.65357956e-04 2.47712086e-01] [ 4.70245653e-03 -2.06207488e-04 9.99988922e-01 -4.42866760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.451052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.50, Y:0.25, Z:-0.05 [[ 9.92684639e-01 -1.20644877e-01 -4.69272960e-03 1.24982304e+01] [ 1.20644493e-01 9.92695710e-01 -3.65933827e-04 2.50281773e-01] [ 4.70260058e-03 -2.02895092e-04 9.99988922e-01 -4.52673400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.481052753999998 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:12.53, Y:0.26, Z:-0.05 [[ 9.93195649e-01 -1.16363149e-01 -4.69264304e-03 1.25267799e+01] [ 1.16362712e-01 9.93206718e-01 -3.67040495e-04 2.56196524e-01] [ 4.70347458e-03 -1.81505648e-04 9.99988922e-01 -4.59300826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.511052754 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:12.55, Y:0.26, Z:-0.05 [[ 9.93385267e-01 -1.14733128e-01 -4.69255655e-03 1.25525851e+01] [ 1.14732667e-01 9.93396336e-01 -3.68142886e-04 2.62634871e-01] [ 4.70380667e-03 -1.72681809e-04 9.99988922e-01 -4.55360630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.541052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.58, Y:0.27, Z:-0.04 [[ 9.93723135e-01 -1.11769097e-01 -4.69036985e-03 1.25831344e+01] [ 1.11768473e-01 9.93734196e-01 -3.95882235e-04 2.65299311e-01] [ 4.70522831e-03 -1.30838139e-04 9.99988922e-01 -4.41488244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.571052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.61, Y:0.27, Z:-0.04 [[ 9.93850736e-01 -1.10628638e-01 -4.69243063e-03 1.26057584e+01] [ 1.10628125e-01 9.93861802e-01 -3.69727659e-04 2.73815029e-01] [ 4.70453003e-03 -1.51660694e-04 9.99988922e-01 -3.95403673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.601052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.63, Y:0.28, Z:-0.04 [[ 9.93824687e-01 -1.10862632e-01 -4.68699264e-03 1.26337827e+01] [ 1.10861798e-01 9.93835736e-01 -4.38186719e-04 2.77877366e-01] [ 4.70667931e-03 -8.41276506e-05 9.99988920e-01 -3.90568534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.631052753999999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:12.67, Y:0.28, Z:-0.04 [[ 9.93692661e-01 -1.12039862e-01 -4.68662861e-03 1.26673040e+01] [ 1.12039020e-01 9.93703709e-01 -4.42761949e-04 2.81854918e-01] [ 4.70672723e-03 -8.51159764e-05 9.99988920e-01 -4.20030333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.661052753999998 meters Centerline goodness : 0.997355 Centerline is valid? [True, True] Translation: X:12.69, Y:0.28, Z:-0.04 [[ 9.93754562e-01 -1.11489247e-01 -4.69228406e-03 1.26905682e+01] [ 1.11488735e-01 9.93765628e-01 -3.71289683e-04 2.84818321e-01] [ 4.70442543e-03 -1.54165999e-04 9.99988922e-01 -3.96982679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.691052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.72, Y:0.29, Z:-0.04 [[ 9.93709370e-01 -1.11891588e-01 -4.68611064e-03 1.27189124e+01] [ 1.11890717e-01 9.93720417e-01 -4.48548732e-04 2.86324096e-01] [ 4.70687265e-03 -7.86051997e-05 9.99988920e-01 -3.81452990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.721052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.75, Y:0.29, Z:-0.04 [[ 9.93609603e-01 -1.12774081e-01 -4.68652919e-03 1.27524703e+01] [ 1.12773244e-01 9.93620651e-01 -4.43190764e-04 2.88167211e-01] [ 4.70661262e-03 -8.81565018e-05 9.99988920e-01 -3.99367391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.751052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.78, Y:0.29, Z:-0.04 [[ 9.93780761e-01 -1.11255462e-01 -4.69262881e-03 1.27797622e+01] [ 1.11254978e-01 9.93791828e-01 -3.64708426e-04 2.92207824e-01] [ 4.70407196e-03 -1.59638098e-04 9.99988923e-01 -3.94060443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.781052754 meters Centerline goodness : 0.996520 Centerline is valid? [True, True] Translation: X:12.80, Y:0.30, Z:-0.04 [[ 9.94223387e-01 -1.07227966e-01 -4.69258458e-03 1.28025548e+01] [ 1.07227435e-01 9.94234451e-01 -3.65276652e-04 2.96572366e-01] [ 4.70469712e-03 -1.40007217e-04 9.99988923e-01 -3.82538673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.811052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.84, Y:0.30, Z:-0.04 [[ 9.94275189e-01 -1.06746881e-01 -4.68531790e-03 1.28362838e+01] [ 1.06745910e-01 9.94286227e-01 -4.57629461e-04 3.00868990e-01] [ 4.70739757e-03 -4.51289035e-05 9.99988919e-01 -4.09779169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.841052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.87, Y:0.30, Z:-0.04 [[ 9.94469389e-01 -1.04921948e-01 -4.69240360e-03 1.28651774e+01] [ 1.04921383e-01 9.94480452e-01 -3.67043922e-04 3.04337902e-01] [ 4.70501461e-03 -1.27319530e-04 9.99988923e-01 -4.35177257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.871052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.89, Y:0.31, Z:-0.04 [[ 9.94507197e-01 -1.04562984e-01 -4.69231551e-03 1.28934599e+01] [ 1.04562410e-01 9.94518259e-01 -3.68166645e-04 3.06272485e-01] [ 4.70509005e-03 -1.24495440e-04 9.99988923e-01 -4.41029644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.901052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.92, Y:0.31, Z:-0.05 [[ 9.94334487e-01 -1.06192800e-01 -4.69228423e-03 1.29213648e+01] [ 1.06192242e-01 9.94345550e-01 -3.68564910e-04 3.08072565e-01] [ 4.70489088e-03 -1.31807382e-04 9.99988923e-01 -4.58363640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.931052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.94, Y:0.31, Z:-0.05 [[ 9.94038746e-01 -1.08926376e-01 -4.69218363e-03 1.29427335e+01] [ 1.08925842e-01 9.94049810e-01 -3.69841205e-04 3.13953215e-01] [ 4.70454970e-03 -1.43463567e-04 9.99988923e-01 -4.54040961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.961052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.98, Y:0.31, Z:-0.04 [[ 9.93764828e-01 -1.11398012e-01 -4.68514988e-03 1.29771487e+01] [ 1.11397089e-01 9.93775869e-01 -4.58145678e-04 3.10134319e-01] [ 4.70702541e-03 -6.66229987e-05 9.99988920e-01 -4.48517014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.991052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.00, Y:0.31, Z:-0.04 [[ 9.93600238e-01 -1.12856333e-01 -4.69199601e-03 1.30040272e+01] [ 1.12855835e-01 9.93611303e-01 -3.71734806e-04 3.11027463e-01] [ 4.70397289e-03 -1.60163334e-04 9.99988923e-01 -4.40120830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.03, Y:0.31, Z:-0.04 [[ 9.93287546e-01 -1.15576107e-01 -4.69192827e-03 1.30319122e+01] [ 1.15575634e-01 9.93298613e-01 -3.72587809e-04 3.10353000e-01] [ 4.70354809e-03 -1.72185755e-04 9.99988923e-01 -4.46323959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.051052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.06, Y:0.31, Z:-0.05 [[ 9.92913213e-01 -1.18749054e-01 -4.69182971e-03 1.30592965e+01] [ 1.18748611e-01 9.92924281e-01 -3.73824859e-04 3.08193195e-01] [ 4.70302298e-03 -1.85972621e-04 9.99988923e-01 -4.75896486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.081052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.09, Y:0.31, Z:-0.05 [[ 9.92695288e-01 -1.20557260e-01 -4.69178696e-03 1.30874575e+01] [ 1.20556835e-01 9.92706356e-01 -3.74360635e-04 3.08060928e-01] [ 4.70269862e-03 -1.94000949e-04 9.99988923e-01 -4.81478874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.12, Y:0.31, Z:-0.05 [[ 9.92515817e-01 -1.22025982e-01 -4.69168790e-03 1.31153325e+01] [ 1.22025568e-01 9.92526886e-01 -3.75597932e-04 3.08543510e-01] [ 4.70245909e-03 -1.99718991e-04 9.99988923e-01 -4.85123941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.141052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.14, Y:0.31, Z:-0.05 [[ 9.92398925e-01 -1.22973014e-01 -4.69158842e-03 1.31422172e+01] [ 1.22972605e-01 9.92409994e-01 -3.76836477e-04 3.08839832e-01] [ 4.70231995e-03 -2.02964732e-04 9.99988923e-01 -4.84985946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.171052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.17, Y:0.31, Z:-0.05 [[ 9.92842775e-01 -1.19336555e-01 -4.69154536e-03 1.31655681e+01] [ 1.19336102e-01 9.92853842e-01 -3.77371765e-04 3.09811751e-01] [ 4.70305309e-03 -1.85199906e-04 9.99988923e-01 -4.72279164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.201052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.20, Y:0.31, Z:-0.05 [[ 9.92469090e-01 -1.22405680e-01 -4.68561431e-03 1.31990380e+01] [ 1.22404916e-01 9.92480143e-01 -4.50394262e-04 3.09492868e-01] [ 4.70550998e-03 -1.26539845e-04 9.99988921e-01 -4.65364196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.231052753999998 meters Centerline goodness : 0.998121 Centerline is valid? [True, True] Translation: X:13.22, Y:0.31, Z:-0.04 [[ 9.92820819e-01 -1.19519085e-01 -4.69137132e-03 1.32243594e+01] [ 1.19518625e-01 9.92831886e-01 -3.79163093e-04 3.08481739e-01] [ 4.70306027e-03 -1.84265239e-04 9.99988924e-01 -4.44128443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.261052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.26, Y:0.31, Z:-0.04 [[ 9.92945726e-01 -1.18477090e-01 -4.68652811e-03 1.32563538e+01] [ 1.18476339e-01 9.92956779e-01 -4.38634746e-04 3.09667464e-01] [ 4.70548803e-03 -1.19702195e-04 9.99988922e-01 -3.94454926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.291052753999999 meters Centerline goodness : 0.998586 Centerline is valid? [True, True] Translation: X:13.28, Y:0.31, Z:-0.04 [[ 9.94227995e-01 -1.07185293e-01 -4.69124381e-03 1.32820428e+01] [ 1.07184690e-01 9.94239055e-01 -3.80493324e-04 3.13858910e-01] [ 4.70500109e-03 -1.24532397e-04 9.99988924e-01 -4.44509606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.321052753999998 meters Centerline goodness : 0.998284 Centerline is valid? [True, True] Translation: X:13.31, Y:0.32, Z:-0.05 [[ 9.94655645e-01 -1.03141481e-01 -4.68848584e-03 1.33107851e+01] [ 1.03140673e-01 9.94666693e-01 -4.14328463e-04 3.18909661e-01] [ 4.70621515e-03 -7.14594414e-05 9.99988923e-01 -4.80098167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.351052754 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:13.34, Y:0.32, Z:-0.05 [[ 9.95664002e-01 -9.29042611e-02 -4.68972289e-03 1.33396912e+01] [ 9.29034115e-02 9.95675046e-01 -3.99157894e-04 3.22838081e-01] [ 4.70652352e-03 -3.82641091e-05 9.99988924e-01 -5.31727670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.381052753999999 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:13.37, Y:0.32, Z:-0.05 [[ 9.95898904e-01 -9.03513720e-02 -4.69059849e-03 1.33677926e+01] [ 9.03505446e-02 9.95909950e-01 -3.88429646e-04 3.24717676e-01] [ 4.70650886e-03 -3.69614691e-05 9.99988924e-01 -5.14484033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.411052753999998 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:13.40, Y:0.33, Z:-0.05 [[ 9.96070396e-01 -8.84406936e-02 -4.69140679e-03 1.33958709e+01] [ 8.84398916e-02 9.96081444e-01 -3.78539562e-04 3.25647033e-01] [ 4.70650155e-03 -3.78554567e-05 9.99988924e-01 -5.04893906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.441052754 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:13.43, Y:0.33, Z:-0.05 [[ 9.95827932e-01 -9.11302864e-02 -4.69054578e-03 1.34251417e+01] [ 9.11294648e-02 9.95838978e-01 -3.89040981e-04 3.26113606e-01] [ 4.70648173e-03 -4.00290509e-05 9.99988924e-01 -4.75818316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.471052753999999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:13.45, Y:0.33, Z:-0.05 [[ 9.95272855e-01 -9.70048471e-02 -4.69084367e-03 1.34534795e+01] [ 9.70041077e-02 9.95283906e-01 -3.85415372e-04 3.25625732e-01] [ 4.70610837e-03 -7.14376475e-05 9.99988924e-01 -4.58067041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.501052753999998 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:13.48, Y:0.33, Z:-0.04 [[ 9.94786187e-01 -1.01874612e-01 -4.69110438e-03 1.34825232e+01] [ 1.01873942e-01 9.94797243e-01 -3.82246909e-04 3.25049134e-01] [ 4.70563896e-03 -9.76473478e-05 9.99988924e-01 -4.38606322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.531052754 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:13.51, Y:0.33, Z:-0.04 [[ 9.94467101e-01 -1.04943684e-01 -4.69135832e-03 1.35118363e+01] [ 1.04943062e-01 9.94478160e-01 -3.79172420e-04 3.25583855e-01] [ 4.70524514e-03 -1.15251012e-04 9.99988924e-01 -4.21243563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.561052753999999 meters Centerline goodness : 0.998301 Centerline is valid? [True, True] Translation: X:13.54, Y:0.33, Z:-0.04 [[ 9.94158986e-01 -1.07823426e-01 -4.69242442e-03 1.35411629e+01] [ 1.07822898e-01 9.94170050e-01 -3.66291575e-04 3.27885244e-01] [ 4.70456263e-03 -1.41798737e-04 9.99988923e-01 -4.12203500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.591052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.57, Y:0.33, Z:-0.04 [[ 9.93659951e-01 -1.12329312e-01 -4.69336665e-03 1.35658904e+01] [ 1.12328887e-01 9.93671020e-01 -3.54922972e-04 3.32113637e-01] [ 4.70353068e-03 -1.74527909e-04 9.99988923e-01 -4.13998186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.621052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.59, Y:0.34, Z:-0.04 [[ 9.93515358e-01 -1.13601201e-01 -4.69037439e-03 1.35941516e+01] [ 1.13600621e-01 9.93526419e-01 -3.90833048e-04 3.35656901e-01] [ 4.70440998e-03 -1.44530807e-04 9.99988924e-01 -4.28421496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.651052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.62, Y:0.34, Z:-0.04 [[ 9.93436484e-01 -1.14288903e-01 -4.69026953e-03 1.36219225e+01] [ 1.14288324e-01 9.93447545e-01 -3.92087346e-04 3.38699641e-01] [ 4.70434799e-03 -1.46529170e-04 9.99988924e-01 -4.31827294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.681052754 meters Centerline goodness : 0.997354 Centerline is valid? [True, True] Translation: X:13.66, Y:0.34, Z:-0.05 [[ 9.93345749e-01 -1.15074869e-01 -4.69016298e-03 1.36566020e+01] [ 1.15074293e-01 9.93356810e-01 -3.93357838e-04 3.37987265e-01] [ 4.70427094e-03 -1.48976852e-04 9.99988924e-01 -4.61317986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.711052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.68, Y:0.34, Z:-0.04 [[ 9.93062940e-01 -1.17490128e-01 -4.69763056e-03 1.36775526e+01] [ 1.17490001e-01 9.93074019e-01 -3.03809469e-04 3.44940543e-01] [ 4.70078947e-03 -2.50222696e-04 9.99988920e-01 -4.11772201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.741052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.71, Y:0.35, Z:-0.04 [[ 9.93138780e-01 -1.16847629e-01 -4.68992908e-03 1.37119590e+01] [ 1.16847064e-01 9.93149841e-01 -3.95204032e-04 3.45436230e-01] [ 4.70398097e-03 -1.55511991e-04 9.99988924e-01 -4.30492198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.771052754 meters Centerline goodness : 0.997532 Centerline is valid? [True, True] Translation: X:13.74, Y:0.35, Z:-0.05 [[ 9.93636117e-01 -1.12539866e-01 -4.69525925e-03 1.37418372e+01] [ 1.12539556e-01 9.93647190e-01 -3.31050515e-04 3.49044259e-01] [ 4.70268754e-03 -1.99458642e-04 9.99988922e-01 -4.69612737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.801052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.77, Y:0.35, Z:-0.04 [[ 9.93919340e-01 -1.10010356e-01 -4.69747167e-03 1.37694761e+01] [ 1.10010143e-01 9.93930418e-01 -3.04442393e-04 3.53292604e-01] [ 4.70245180e-03 -2.14178347e-04 9.99988920e-01 -4.44575662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.831052753999998 meters Centerline goodness : 0.997697 Centerline is valid? [True, True] Translation: X:13.80, Y:0.36, Z:-0.04 [[ 9.94804029e-01 -1.01699980e-01 -4.69666467e-03 1.38002428e+01] [ 1.01699630e-01 9.94815102e-01 -3.14022805e-04 3.56059176e-01] [ 4.70424906e-03 -1.65257906e-04 9.99988921e-01 -4.47196386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.82, Y:0.36, Z:-0.04 [[ 9.95230372e-01 -9.74393518e-02 -4.69893800e-03 1.38200384e+01] [ 9.74390811e-02 9.95241450e-01 -2.87057909e-04 3.60205914e-01] [ 4.70454860e-03 -1.72171451e-04 9.99988919e-01 -3.94437029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.891052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.85, Y:0.36, Z:-0.04 [[ 9.95755141e-01 -9.19223045e-02 -4.68922018e-03 1.38542706e+01] [ 9.19214364e-02 9.95766182e-01 -4.00763699e-04 3.60446735e-01] [ 4.70620600e-03 -3.19773411e-05 9.99988925e-01 -3.74115330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.921052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.88, Y:0.37, Z:-0.04 [[ 9.96016998e-01 -8.90398368e-02 -4.69534591e-03 1.38760288e+01] [ 8.90392761e-02 9.96028061e-01 -3.28735788e-04 3.65230101e-01] [ 4.70596686e-03 -9.06437680e-05 9.99988923e-01 -3.76079908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.951052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.90, Y:0.37, Z:-0.04 [[ 9.95990001e-01 -8.93416579e-02 -4.68903296e-03 1.39040609e+01] [ 8.93407539e-02 9.96001038e-01 -4.02314308e-04 3.65504476e-01] [ 4.70622512e-03 -1.82207123e-05 9.99988925e-01 -3.91074148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.981052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.93, Y:0.37, Z:-0.04 [[ 9.95759923e-01 -9.18705031e-02 -4.68892533e-03 1.39319860e+01] [ 9.18696213e-02 9.95770963e-01 -4.03564759e-04 3.65840766e-01] [ 4.70617139e-03 -2.89161809e-05 9.99988925e-01 -3.95597364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.011052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.96, Y:0.36, Z:-0.04 [[ 9.95028628e-01 -9.94788621e-02 -4.68881705e-03 1.39593723e+01] [ 9.94780588e-02 9.95039674e-01 -4.04818962e-04 3.64851283e-01] [ 4.70582992e-03 -6.36279616e-05 9.99988925e-01 -3.97152229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.041052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.99, Y:0.37, Z:-0.04 [[ 9.94543134e-01 -1.04220779e-01 -4.68877015e-03 1.39878169e+01] [ 1.04220025e-01 9.94554183e-01 -4.05361413e-04 3.66360310e-01] [ 4.70548305e-03 -8.55143336e-05 9.99988925e-01 -3.96090828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.02, Y:0.37, Z:-0.04 [[ 9.93884823e-01 -1.10322143e-01 -4.68866319e-03 1.40164859e+01] [ 1.10321452e-01 9.93895876e-01 -4.06594807e-04 3.66665874e-01] [ 4.70489942e-03 -1.13151723e-04 9.99988925e-01 -3.58289654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.101052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.05, Y:0.37, Z:-0.03 [[ 9.93259678e-01 -1.15815499e-01 -4.68855613e-03 1.40480809e+01] [ 1.15814863e-01 9.93270734e-01 -4.07825647e-04 3.69537583e-01] [ 4.70423812e-03 -1.37927716e-04 9.99988925e-01 -3.37074588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.07, Y:0.37, Z:-0.03 [[ 9.93059820e-01 -1.17516700e-01 -4.69241110e-03 1.40721695e+01] [ 1.17516293e-01 9.93070888e-01 -3.63440922e-04 3.71985867e-01] [ 4.70260724e-03 -1.90516180e-04 9.99988925e-01 -3.20659742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.10, Y:0.38, Z:-0.03 [[ 9.92800925e-01 -1.19684346e-01 -4.68839551e-03 1.41003500e+01] [ 1.19683745e-01 9.92811983e-01 -4.09424277e-04 3.75120019e-01] [ 4.70369692e-03 -1.54647934e-04 9.99988926e-01 -3.23560692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.191052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.13, Y:0.38, Z:-0.03 [[ 9.92636045e-01 -1.21044216e-01 -4.68828787e-03 1.41288049e+01] [ 1.21043625e-01 9.92647104e-01 -4.10653224e-04 3.78036141e-01] [ 4.70352257e-03 -1.59858168e-04 9.99988926e-01 -3.34002418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.16, Y:0.38, Z:-0.03 [[ 9.92604511e-01 -1.21302535e-01 -4.68818071e-03 1.41573096e+01] [ 1.21301942e-01 9.92615570e-01 -4.11872983e-04 3.80623698e-01] [ 4.70352240e-03 -1.59858442e-04 9.99988926e-01 -3.32661911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.251052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.18, Y:0.39, Z:-0.04 [[ 9.92669258e-01 -1.20771546e-01 -4.68807321e-03 1.41849637e+01] [ 1.20770941e-01 9.92680316e-01 -4.13092991e-04 3.85528286e-01] [ 4.70364787e-03 -1.56118298e-04 9.99988926e-01 -3.82577670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.281052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.21, Y:0.39, Z:-0.04 [[ 9.93119085e-01 -1.17014983e-01 -4.68803988e-03 1.42121608e+01] [ 1.17014333e-01 9.93130140e-01 -4.13470806e-04 3.91773333e-01] [ 4.70421599e-03 -1.37942114e-04 9.99988926e-01 -3.95724608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.311052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.25, Y:0.40, Z:-0.04 [[ 9.92731707e-01 -1.20257146e-01 -4.68793453e-03 1.42451371e+01] [ 1.20256527e-01 9.92742764e-01 -4.14661844e-04 3.96312010e-01] [ 4.70377914e-03 -1.52106766e-04 9.99988926e-01 -3.78542405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.341052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.27, Y:0.40, Z:-0.03 [[ 9.93555835e-01 -1.13246559e-01 -4.69258451e-03 1.42687367e+01] [ 1.13246111e-01 9.93566901e-01 -3.62076181e-04 4.00203912e-01] [ 4.70340053e-03 -1.71674043e-04 9.99988924e-01 -3.48192871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.371052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.30, Y:0.40, Z:-0.03 [[ 9.93262506e-01 -1.15791273e-01 -4.68768887e-03 1.43020456e+01] [ 1.15790593e-01 9.93273560e-01 -4.17097559e-04 4.04377949e-01] [ 4.70445367e-03 -1.28502909e-04 9.99988926e-01 -3.34053785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.401052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.33, Y:0.41, Z:-0.03 [[ 9.93929214e-01 -1.09921337e-01 -4.69234202e-03 1.43262226e+01] [ 1.09920838e-01 9.93940278e-01 -3.64698895e-04 4.06178472e-01] [ 4.70399592e-03 -1.53301283e-04 9.99988924e-01 -3.32266133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.431052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.35, Y:0.41, Z:-0.03 [[ 9.94031323e-01 -1.08994298e-01 -4.68746367e-03 1.43528675e+01] [ 1.08993532e-01 9.94042370e-01 -4.19242728e-04 4.08183976e-01] [ 4.70523257e-03 -9.41628192e-05 9.99988926e-01 -3.25908914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.461052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.38, Y:0.41, Z:-0.03 [[ 9.94237373e-01 -1.07098432e-01 -4.68741424e-03 1.43807831e+01] [ 1.07097642e-01 9.94248419e-01 -4.19794729e-04 4.12307181e-01] [ 4.70541355e-03 -8.46354044e-05 9.99988926e-01 -3.23634296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.41, Y:0.42, Z:-0.03 [[ 9.94303557e-01 -1.06482229e-01 -4.68730015e-03 1.44071314e+01] [ 1.06481426e-01 9.94314602e-01 -4.21064747e-04 4.15954338e-01] [ 4.70548690e-03 -8.04442308e-05 9.99988926e-01 -3.27401968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.43, Y:0.42, Z:-0.03 [[ 9.94373243e-01 -1.05829505e-01 -4.68725069e-03 1.44347001e+01] [ 1.05828693e-01 9.94384287e-01 -4.21614660e-04 4.17755436e-01] [ 4.70554770e-03 -7.68032757e-05 9.99988926e-01 -3.29200593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.551052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.46, Y:0.42, Z:-0.03 [[ 9.94391081e-01 -1.05661768e-01 -4.68714619e-03 1.44625820e+01] [ 1.05660949e-01 9.94402124e-01 -4.22773173e-04 4.18823921e-01] [ 4.70557909e-03 -7.48464401e-05 9.99988926e-01 -3.18922181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.581052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.49, Y:0.42, Z:-0.03 [[ 9.94441340e-01 -1.05187704e-01 -4.68703482e-03 1.44906776e+01] [ 1.05186873e-01 9.94452383e-01 -4.24004308e-04 4.18947594e-01] [ 4.70563298e-03 -7.13671245e-05 9.99988926e-01 -3.15142678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.52, Y:0.42, Z:-0.03 [[ 9.94482404e-01 -1.04798766e-01 -4.68691810e-03 1.45175672e+01] [ 1.04797925e-01 9.94493446e-01 -4.25290559e-04 4.21184406e-01] [ 4.70567926e-03 -6.82353168e-05 9.99988926e-01 -3.30114937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.641052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.55, Y:0.42, Z:-0.03 [[ 9.94610555e-01 -1.03575469e-01 -4.68686749e-03 1.45451760e+01] [ 1.03574612e-01 9.94621596e-01 -4.25847560e-04 4.22981007e-01] [ 4.70576699e-03 -6.18880047e-05 9.99988926e-01 -3.46619626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.671052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.57, Y:0.42, Z:-0.04 [[ 9.94633266e-01 -1.03357155e-01 -4.68674934e-03 1.45725905e+01] [ 1.03356290e-01 9.94644306e-01 -4.27143956e-04 4.24871140e-01] [ 4.70579693e-03 -5.95534347e-05 9.99988926e-01 -3.54896569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.701052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.60, Y:0.43, Z:-0.04 [[ 9.94724283e-01 -1.02477492e-01 -4.68666875e-03 1.46017000e+01] [ 1.02476613e-01 9.94735322e-01 -4.28026393e-04 4.26689978e-01] [ 4.70585802e-03 -5.45056923e-05 9.99988926e-01 -3.63438710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.731052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.63, Y:0.43, Z:-0.04 [[ 9.94762724e-01 -1.02103667e-01 -4.68656605e-03 1.46290808e+01] [ 1.02102778e-01 9.94773762e-01 -4.29147983e-04 4.28774678e-01] [ 4.70589052e-03 -5.16109967e-05 9.99988926e-01 -3.85105236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.761052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.66, Y:0.43, Z:-0.04 [[ 9.94668052e-01 -1.03021855e-01 -4.68651173e-03 1.46584599e+01] [ 1.03020973e-01 9.94679091e-01 -4.29740371e-04 4.28999712e-01] [ 4.70584787e-03 -5.53599822e-05 9.99988926e-01 -3.98917092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.791052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.69, Y:0.43, Z:-0.04 [[ 9.94491780e-01 -1.04709776e-01 -4.68640992e-03 1.46859743e+01] [ 1.04708908e-01 9.94502820e-01 -4.30847702e-04 4.30180146e-01] [ 4.70576185e-03 -6.22343670e-05 9.99988926e-01 -3.87522300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.821052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.71, Y:0.43, Z:-0.04 [[ 9.93871182e-01 -1.10445058e-01 -4.68635936e-03 1.47143862e+01] [ 1.10444251e-01 9.93882227e-01 -4.31397025e-04 4.30272113e-01] [ 4.70533494e-03 -8.88283793e-05 9.99988926e-01 -3.66099766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.851052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.74, Y:0.43, Z:-0.04 [[ 9.93706050e-01 -1.11921069e-01 -4.68624543e-03 1.47425854e+01] [ 1.11920272e-01 9.93717095e-01 -4.32631048e-04 4.34074383e-01] [ 4.70522273e-03 -9.45777753e-05 9.99988926e-01 -3.57292927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.881052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.77, Y:0.44, Z:-0.04 [[ 9.93362863e-01 -1.14927205e-01 -4.68613144e-03 1.47701687e+01] [ 1.14926436e-01 9.93373910e-01 -4.33862229e-04 4.39056880e-01] [ 4.70494329e-03 -1.07577760e-04 9.99988926e-01 -3.59634069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.911052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.80, Y:0.44, Z:-0.04 [[ 9.93117404e-01 -1.17029327e-01 -4.68601679e-03 1.47985652e+01] [ 1.17028576e-01 9.93128452e-01 -4.35097046e-04 4.42309294e-01] [ 4.70473572e-03 -1.16295422e-04 9.99988926e-01 -3.66935851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.941052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.83, Y:0.45, Z:-0.04 [[ 9.92610702e-01 -1.21251954e-01 -4.68590192e-03 1.48260139e+01] [ 1.21251244e-01 9.92621753e-01 -4.36330695e-04 4.46236650e-01] [ 4.70423413e-03 -1.35064921e-04 9.99988926e-01 -3.78052997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.971052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.85, Y:0.45, Z:-0.04 [[ 9.92265317e-01 -1.24046702e-01 -4.68578507e-03 1.48532558e+01] [ 1.24046018e-01 9.92276370e-01 -4.37581902e-04 4.49219502e-01] [ 4.70387440e-03 -1.47055633e-04 9.99988926e-01 -3.68601901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.001052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.88, Y:0.45, Z:-0.03 [[ 9.91807879e-01 -1.27652558e-01 -4.68574889e-03 1.48820604e+01] [ 1.27651912e-01 9.91818934e-01 -4.37969068e-04 4.52620325e-01] [ 4.70332234e-03 -1.63763631e-04 9.99988926e-01 -3.31180877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.031052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.91, Y:0.46, Z:-0.03 [[ 9.91155347e-01 -1.32623957e-01 -4.68668779e-03 1.49082110e+01] [ 1.32623414e-01 9.91166407e-01 -4.27937362e-04 4.58028945e-01] [ 4.70204224e-03 -1.97412130e-04 9.99988926e-01 -3.10958768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.061052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.94, Y:0.47, Z:-0.03 [[ 9.90497722e-01 -1.37449290e-01 -4.68561534e-03 1.49364915e+01] [ 1.37448747e-01 9.90508783e-01 -4.39374302e-04 4.66083636e-01] [ 4.70153483e-03 -2.08832710e-04 9.99988926e-01 -2.96329747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.091052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.96, Y:0.47, Z:-0.03 [[ 9.90296373e-01 -1.38892546e-01 -4.68550969e-03 1.49636394e+01] [ 1.38892013e-01 9.90307434e-01 -4.40498089e-04 4.71138697e-01] [ 4.70127698e-03 -2.14556214e-04 9.99988926e-01 -2.89965378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.121052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.99, Y:0.48, Z:-0.03 [[ 9.90329018e-01 -1.38659596e-01 -4.68542756e-03 1.49914248e+01] [ 1.38659056e-01 9.90340079e-01 -4.41369927e-04 4.75921326e-01] [ 4.70136687e-03 -2.12575517e-04 9.99988926e-01 -2.83528574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.151052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.02, Y:0.48, Z:-0.03 [[ 9.90911417e-01 -1.34434414e-01 -4.68530592e-03 1.50179413e+01] [ 1.34433821e-01 9.90922475e-01 -4.42657422e-04 4.83145994e-01] [ 4.70228333e-03 -1.91229285e-04 9.99988926e-01 -2.80803462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.181052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.05, Y:0.49, Z:-0.03 [[ 9.91783209e-01 -1.27844101e-01 -4.68525311e-03 1.50452450e+01] [ 1.27843432e-01 9.91794263e-01 -4.43215679e-04 4.91312824e-01] [ 4.70346967e-03 -1.59404970e-04 9.99988926e-01 -2.73334388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.211052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.07, Y:0.50, Z:-0.03 [[ 9.92260810e-01 -1.24082774e-01 -4.68513249e-03 1.50724062e+01] [ 1.24082057e-01 9.92271861e-01 -4.44487056e-04 4.96283972e-01] [ 4.70407832e-03 -1.40293790e-04 9.99988926e-01 -2.81117940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.241052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.10, Y:0.50, Z:-0.03 [[ 9.93130854e-01 -1.16915167e-01 -4.68505030e-03 1.51000354e+01] [ 1.16914367e-01 9.93141900e-01 -4.45351714e-04 5.02424925e-01] [ 4.70498812e-03 -1.05457159e-04 9.99988926e-01 -3.01608039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.271052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.13, Y:0.51, Z:-0.03 [[ 9.93531739e-01 -1.13458080e-01 -4.68493138e-03 1.51278786e+01] [ 1.13457235e-01 9.93542780e-01 -4.46599221e-04 5.06254282e-01] [ 4.70535004e-03 -8.78288589e-05 9.99988926e-01 -3.07612317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.301052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.16, Y:0.51, Z:-0.03 [[ 9.94250103e-01 -1.06980305e-01 -4.68480820e-03 1.51571309e+01] [ 1.06979382e-01 9.94261138e-01 -4.47887651e-04 5.08610508e-01] [ 4.70583789e-03 -5.58655429e-05 9.99988926e-01 -3.25661854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.331052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.18, Y:0.51, Z:-0.04 [[ 9.94588182e-01 -1.03790185e-01 -4.68469803e-03 1.51846713e+01] [ 1.03789222e-01 9.94599214e-01 -4.49037066e-04 5.10094950e-01] [ 4.70600261e-03 -3.96142021e-05 9.99988926e-01 -3.51031411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.21, Y:0.51, Z:-0.04 [[ 9.94984872e-01 -9.99157584e-02 -4.68465896e-03 1.52125145e+01] [ 9.99147497e-02 9.94995900e-01 -4.49444228e-04 5.11567777e-01] [ 4.70612302e-03 -2.08763204e-05 9.99988926e-01 -3.93875991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.391052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.24, Y:0.51, Z:-0.04 [[ 9.95016798e-01 -9.95973230e-02 -4.68462266e-03 1.52405599e+01] [ 9.95963090e-02 9.95027825e-01 -4.49822267e-04 5.14033546e-01] [ 4.70613099e-03 -1.89904148e-05 9.99988926e-01 -3.51395017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.421052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.27, Y:0.51, Z:-0.03 [[ 9.94864178e-01 -1.01110447e-01 -4.68449925e-03 1.52692377e+01] [ 1.01109443e-01 9.94875207e-01 -4.51103879e-04 5.13616523e-01] [ 4.70610347e-03 -2.48600216e-05 9.99988926e-01 -3.35664481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.451052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.30, Y:0.51, Z:-0.03 [[ 9.94692020e-01 -1.02790284e-01 -4.68438990e-03 1.52966239e+01] [ 1.02789294e-01 9.94703049e-01 -4.52236537e-04 5.12960756e-01] [ 4.70606244e-03 -3.16690578e-05 9.99988926e-01 -3.31111419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.481052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.33, Y:0.51, Z:-0.03 [[ 9.94091842e-01 -1.08441075e-01 -4.68430479e-03 1.53255367e+01] [ 1.08440144e-01 9.94102877e-01 -4.53116437e-04 5.08738617e-01] [ 4.70581730e-03 -5.75273303e-05 9.99988926e-01 -3.11579923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.511052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.35, Y:0.51, Z:-0.03 [[ 9.93657478e-01 -1.12351569e-01 -4.68418294e-03 1.53536133e+01] [ 1.12350675e-01 9.93668516e-01 -4.54372609e-04 5.08513565e-01] [ 4.70557458e-03 -7.47803737e-05 9.99988926e-01 -3.05787458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.541052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.38, Y:0.51, Z:-0.03 [[ 9.93196493e-01 -1.16356284e-01 -4.68406184e-03 1.53830711e+01] [ 1.16355429e-01 9.93207534e-01 -4.55617589e-04 5.08811398e-01] [ 4.70525948e-03 -9.24982328e-05 9.99988926e-01 -3.00714689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.571052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.41, Y:0.51, Z:-0.03 [[ 9.92501348e-01 -1.22143909e-01 -4.68395615e-03 1.54125560e+01] [ 1.22143113e-01 9.92512394e-01 -4.56701515e-04 5.07129076e-01] [ 4.70466784e-03 -1.18836115e-04 9.99988926e-01 -2.80006508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.601052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.44, Y:0.51, Z:-0.03 [[ 9.92293460e-01 -1.23821447e-01 -4.68384439e-03 1.54407129e+01] [ 1.23820664e-01 9.92304506e-01 -4.57844852e-04 5.06370936e-01] [ 4.70449091e-03 -1.25640270e-04 9.99988926e-01 -2.73939271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.631052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.47, Y:0.51, Z:-0.03 [[ 9.92503482e-01 -1.22126577e-01 -4.68380488e-03 1.54671653e+01] [ 1.22125774e-01 9.92514527e-01 -4.58248721e-04 5.09219694e-01] [ 4.70470873e-03 -1.17199843e-04 9.99988926e-01 -2.77629146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.661052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.50, Y:0.51, Z:-0.03 [[ 9.92877804e-01 -1.19045070e-01 -4.68375007e-03 1.54955207e+01] [ 1.19044229e-01 9.92888846e-01 -4.58808254e-04 5.14044125e-01] [ 4.70506206e-03 -1.02032885e-04 9.99988926e-01 -2.86777151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.691052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.52, Y:0.52, Z:-0.03 [[ 9.93004843e-01 -1.17980697e-01 -4.68363973e-03 1.55239658e+01] [ 1.17979839e-01 9.93015884e-01 -4.59931836e-04 5.18050283e-01] [ 4.70519173e-03 -9.58605221e-05 9.99988926e-01 -2.97830871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.721052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.55, Y:0.52, Z:-0.03 [[ 9.93137561e-01 -1.16858247e-01 -4.68352999e-03 1.55517759e+01] [ 1.16857371e-01 9.93148600e-01 -4.61046634e-04 5.23030178e-01] [ 4.70531835e-03 -8.94222729e-05 9.99988926e-01 -3.19829080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.751052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.58, Y:0.53, Z:-0.03 [[ 9.93123542e-01 -1.16977324e-01 -4.68349101e-03 1.55793521e+01] [ 1.16976448e-01 9.93134582e-01 -4.61442297e-04 5.26431614e-01] [ 4.70531517e-03 -8.95889336e-05 9.99988926e-01 -3.34825895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.781052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.61, Y:0.53, Z:-0.03 [[ 9.93013478e-01 -1.17908006e-01 -4.68345214e-03 1.56069966e+01] [ 1.17907138e-01 9.93024518e-01 -4.61836429e-04 5.29617016e-01] [ 4.70523702e-03 -9.36026412e-05 9.99988926e-01 -3.27901116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.811052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.64, Y:0.53, Z:-0.03 [[ 9.92983146e-01 -1.18163188e-01 -4.68332930e-03 1.56351590e+01] [ 1.18162318e-01 9.92994185e-01 -4.63078771e-04 5.33117134e-01] [ 4.70523763e-03 -9.35636314e-05 9.99988926e-01 -3.19234057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.841052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.66, Y:0.54, Z:-0.03 [[ 9.93179150e-01 -1.16504265e-01 -4.68329058e-03 1.56629020e+01] [ 1.16503374e-01 9.93190188e-01 -4.63470026e-04 5.38638324e-01] [ 4.70539449e-03 -8.53103895e-05 9.99988926e-01 -3.40244680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.871052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.69, Y:0.54, Z:-0.04 [[ 9.93355297e-01 -1.14992703e-01 -4.68325210e-03 1.56903309e+01] [ 1.14991794e-01 9.93366333e-01 -4.63858493e-04 5.42706317e-01] [ 4.70552531e-03 -7.77592688e-05 9.99988926e-01 -3.50087642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.901052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.72, Y:0.55, Z:-0.03 [[ 9.93682665e-01 -1.12128631e-01 -4.68312833e-03 1.57217964e+01] [ 1.12127684e-01 9.93693698e-01 -4.65104807e-04 5.45153993e-01] [ 4.70574667e-03 -6.29417474e-05 9.99988926e-01 -3.31870573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.931052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.75, Y:0.55, Z:-0.03 [[ 9.93844819e-01 -1.10682069e-01 -4.68560350e-03 1.57479921e+01] [ 1.10681223e-01 9.93855861e-01 -4.40154813e-04 5.47529410e-01] [ 4.70553174e-03 -8.11627461e-05 9.99988926e-01 -3.17937574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.961052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.78, Y:0.55, Z:-0.03 [[ 9.93914357e-01 -1.10055989e-01 -4.68300093e-03 1.57760441e+01] [ 1.10055014e-01 9.93925388e-01 -4.66292520e-04 5.50192888e-01] [ 4.70587180e-03 -5.19329019e-05 9.99988926e-01 -3.21598322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.991052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.80, Y:0.55, Z:-0.03 [[ 9.93961474e-01 -1.09629639e-01 -4.68296218e-03 1.58035813e+01] [ 1.09628657e-01 9.93972505e-01 -4.66681419e-04 5.52291353e-01] [ 4.70589776e-03 -4.95235038e-05 9.99988926e-01 -3.03775817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.83, Y:0.55, Z:-0.03 [[ 9.93891355e-01 -1.10263525e-01 -4.68292365e-03 1.58326750e+01] [ 1.10262548e-01 9.93902386e-01 -4.67067713e-04 5.54463684e-01] [ 4.70586952e-03 -5.21365333e-05 9.99988926e-01 -2.87039279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.051052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.86, Y:0.56, Z:-0.03 [[ 9.93810532e-01 -1.10989632e-01 -4.68281483e-03 1.58603714e+01] [ 1.10988658e-01 9.93821563e-01 -4.68156181e-04 5.56214746e-01] [ 4.70584283e-03 -5.44807905e-05 9.99988926e-01 -2.81752872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.081052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.89, Y:0.56, Z:-0.03 [[ 9.93495788e-01 -1.13772543e-01 -4.68277636e-03 1.58889578e+01] [ 1.13771598e-01 9.93506821e-01 -4.68540674e-04 5.57410740e-01] [ 4.70567732e-03 -6.72737648e-05 9.99988926e-01 -2.70429155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.92, Y:0.56, Z:-0.03 [[ 9.93465838e-01 -1.14033770e-01 -4.68265234e-03 1.59174267e+01] [ 1.14032822e-01 9.93476872e-01 -4.69776860e-04 5.60346143e-01] [ 4.70567723e-03 -6.72687976e-05 9.99988926e-01 -2.69088749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.141052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.95, Y:0.56, Z:-0.03 [[ 9.93293464e-01 -1.15525616e-01 -4.68252850e-03 1.59453822e+01] [ 1.15524679e-01 9.93304498e-01 -4.71008072e-04 5.63370498e-01] [ 4.70559012e-03 -7.30983633e-05 9.99988926e-01 -2.84669254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.171052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.97, Y:0.57, Z:-0.03 [[ 9.92956954e-01 -1.18383122e-01 -4.68240514e-03 1.59733826e+01] [ 1.18382211e-01 9.92967990e-01 -4.72231165e-04 5.67229740e-01] [ 4.70538262e-03 -8.54082541e-05 9.99988926e-01 -3.07551285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.201052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.00, Y:0.57, Z:-0.03 [[ 9.92703534e-01 -1.20489705e-01 -4.68228227e-03 1.60010308e+01] [ 1.20488811e-01 9.92714572e-01 -4.73446369e-04 5.70419752e-01] [ 4.70521525e-03 -9.41707403e-05 9.99988926e-01 -3.13695586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.231052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.03, Y:0.57, Z:-0.03 [[ 9.92161459e-01 -1.24874802e-01 -4.68215916e-03 1.60286608e+01] [ 1.24873952e-01 9.92172501e-01 -4.74660714e-04 5.74183323e-01] [ 4.70478273e-03 -1.13739652e-04 9.99988926e-01 -3.32607546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.261052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.06, Y:0.58, Z:-0.03 [[ 9.91778330e-01 -1.27882062e-01 -4.68212116e-03 1.60580463e+01] [ 1.27881243e-01 9.91789374e-01 -4.75035318e-04 5.78167328e-01] [ 4.70442651e-03 -1.27625740e-04 9.99988926e-01 -3.41968625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.291052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.08, Y:0.58, Z:-0.03 [[ 9.91422542e-01 -1.30611656e-01 -4.68379560e-03 1.60840339e+01] [ 1.30610946e-01 9.91433594e-01 -4.58526152e-04 5.82327742e-01] [ 4.70356116e-03 -1.57161810e-04 9.99988926e-01 -3.44579105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.11, Y:0.59, Z:-0.03 [[ 9.91179104e-01 -1.32446454e-01 -4.68194829e-03 1.61120016e+01] [ 1.32445679e-01 9.91190151e-01 -4.76670818e-04 5.86190568e-01] [ 4.70383439e-03 -1.47637666e-04 9.99988926e-01 -3.48762396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.351052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.14, Y:0.59, Z:-0.04 [[ 9.90977062e-01 -1.33949780e-01 -4.68182782e-03 1.61383171e+01] [ 1.33949016e-01 9.90988109e-01 -4.77851069e-04 5.92552102e-01] [ 4.70364375e-03 -1.53586779e-04 9.99988926e-01 -3.82244489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.17, Y:0.60, Z:-0.04 [[ 9.90967093e-01 -1.34023516e-01 -4.68174571e-03 1.61656801e+01] [ 1.34022749e-01 9.90978140e-01 -4.78654277e-04 5.98133887e-01] [ 4.70365858e-03 -1.53129791e-04 9.99988926e-01 -3.88517942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.19, Y:0.60, Z:-0.04 [[ 9.91019693e-01 -1.33634017e-01 -4.68161854e-03 1.61931579e+01] [ 1.33633240e-01 9.91030740e-01 -4.79894881e-04 6.01808429e-01] [ 4.70375816e-03 -1.50034573e-04 9.99988926e-01 -3.81985768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.441052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.22, Y:0.61, Z:-0.04 [[ 9.91105437e-01 -1.32996600e-01 -4.68157915e-03 1.62217961e+01] [ 1.32995813e-01 9.91116483e-01 -4.80278830e-04 6.06546084e-01] [ 4.70386571e-03 -1.46623467e-04 9.99988926e-01 -3.56053224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.471052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.25, Y:0.61, Z:-0.03 [[ 9.91079440e-01 -1.33190192e-01 -4.68146315e-03 1.62507383e+01] [ 1.33189402e-01 9.91090486e-01 -4.81406809e-04 6.09826167e-01] [ 4.70387226e-03 -1.46408890e-04 9.99988926e-01 -3.30600213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.501052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.28, Y:0.61, Z:-0.03 [[ 9.90978506e-01 -1.33939112e-01 -4.68134658e-03 1.62778995e+01] [ 1.33938325e-01 9.90989552e-01 -4.82537733e-04 6.13880499e-01] [ 4.70379623e-03 -1.48827200e-04 9.99988926e-01 -3.11772455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.531052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.30, Y:0.62, Z:-0.03 [[ 9.90838745e-01 -1.34969131e-01 -4.68130532e-03 1.63040211e+01] [ 1.34968354e-01 9.90849792e-01 -4.82937659e-04 6.20737997e-01] [ 4.70365208e-03 -1.53314731e-04 9.99988926e-01 -3.15146590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.561052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.33, Y:0.63, Z:-0.03 [[ 9.90926477e-01 -1.34323504e-01 -4.68124819e-03 1.63320232e+01] [ 1.34322717e-01 9.90937523e-01 -4.83490847e-04 6.25839081e-01] [ 4.70376867e-03 -1.49694093e-04 9.99988926e-01 -3.29077734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.591052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.36, Y:0.63, Z:-0.03 [[ 9.90994327e-01 -1.33822013e-01 -4.68111483e-03 1.63585073e+01] [ 1.33821214e-01 9.91005372e-01 -4.84778571e-04 6.29353811e-01] [ 4.70388399e-03 -1.46019657e-04 9.99988926e-01 -3.33785695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.621052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.39, Y:0.63, Z:-0.03 [[ 9.91240461e-01 -1.31986502e-01 -4.68105696e-03 1.63865378e+01] [ 1.31985681e-01 9.91251504e-01 -4.85336776e-04 6.33538210e-01] [ 4.70416265e-03 -1.36747040e-04 9.99988926e-01 -3.42746833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.651052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.41, Y:0.64, Z:-0.03 [[ 9.91398162e-01 -1.30796688e-01 -4.68092217e-03 1.64145818e+01] [ 1.30795847e-01 9.91409204e-01 -4.86633273e-04 6.36979021e-01] [ 4.70435934e-03 -1.29797846e-04 9.99988926e-01 -3.39244854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.681052754 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:16.44, Y:0.64, Z:-0.04 [[ 9.91828872e-01 -1.27489521e-01 -4.68078821e-03 1.64409468e+01] [ 1.27488637e-01 9.91839911e-01 -4.87918459e-04 6.41910224e-01] [ 4.70479705e-03 -1.12815694e-04 9.99988926e-01 -3.50406704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.711052753999997 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:16.47, Y:0.65, Z:-0.04 [[ 9.92089834e-01 -1.25442627e-01 -4.68069682e-03 1.64680002e+01] [ 1.25441717e-01 9.92100870e-01 -4.88793531e-04 6.46553780e-01] [ 4.70503894e-03 -1.02227552e-04 9.99988926e-01 -3.65389324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.741052754 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:16.50, Y:0.65, Z:-0.04 [[ 9.92702411e-01 -1.20499021e-01 -4.68063930e-03 1.64958609e+01] [ 1.20498052e-01 9.92713443e-01 -4.89343808e-04 6.51973861e-01] [ 4.70549900e-03 -7.82351405e-05 9.99988926e-01 -4.00531589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.771052754 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:16.52, Y:0.65, Z:-0.04 [[ 9.92910875e-01 -1.18769048e-01 -4.68050654e-03 1.65240882e+01] [ 1.18768054e-01 9.92921905e-01 -4.90610347e-04 6.54804477e-01] [ 4.70564679e-03 -6.87623064e-05 9.99988926e-01 -3.99432405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.801052753999997 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:16.55, Y:0.66, Z:-0.04 [[ 9.93353433e-01 -1.15008917e-01 -4.68037143e-03 1.65524592e+01] [ 1.15007876e-01 9.93364458e-01 -4.91895867e-04 6.55221760e-01] [ 4.70588704e-03 -4.96531288e-05 9.99988926e-01 -3.67624119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.831052753999998 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:16.58, Y:0.66, Z:-0.04 [[ 9.93487612e-01 -1.13844020e-01 -4.68023428e-03 1.65808273e+01] [ 1.13842959e-01 9.93498635e-01 -4.93197338e-04 6.57368109e-01] [ 4.70595394e-03 -4.28262765e-05 9.99988926e-01 -3.58393171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.861052754 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:16.61, Y:0.66, Z:-0.04 [[ 9.93690078e-01 -1.12063039e-01 -4.68009754e-03 1.66086414e+01] [ 1.12061953e-01 9.93701099e-01 -4.94491581e-04 6.59792134e-01] [ 4.70603229e-03 -3.30894906e-05 9.99988926e-01 -3.77046606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.891052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.64, Y:0.66, Z:-0.04 [[ 9.93802449e-01 -1.11062102e-01 -4.67996000e-03 1.66359244e+01] [ 1.11060998e-01 9.93813468e-01 -4.95789844e-04 6.61316147e-01] [ 4.70607074e-03 -2.70438685e-05 9.99988926e-01 -3.87602897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.921052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.66, Y:0.66, Z:-0.04 [[ 9.93913045e-01 -1.10067969e-01 -4.67986648e-03 1.66645696e+01] [ 1.10066850e-01 9.93924062e-01 -4.96671000e-04 6.60499120e-01] [ 4.70609947e-03 -2.14503774e-05 9.99988926e-01 -3.84144850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.951052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.69, Y:0.66, Z:-0.04 [[ 9.93877869e-01 -1.10385154e-01 -4.67973019e-03 1.66922659e+01] [ 1.10384033e-01 9.93888886e-01 -4.97951921e-04 6.61534042e-01] [ 4.70609832e-03 -2.16640984e-05 9.99988926e-01 -3.72356940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.981052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.72, Y:0.66, Z:-0.03 [[ 9.93629515e-01 -1.12598790e-01 -4.67959383e-03 1.67216361e+01] [ 1.12597688e-01 9.93640534e-01 -4.99230075e-04 6.60556371e-01] [ 4.70604682e-03 -3.08617066e-05 9.99988926e-01 -3.48753555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.011052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.75, Y:0.66, Z:-0.03 [[ 9.93237752e-01 -1.16003751e-01 -4.67947279e-03 1.67502155e+01] [ 1.16002681e-01 9.93248774e-01 -5.00362040e-04 6.58522094e-01] [ 4.70592449e-03 -4.58529211e-05 9.99988926e-01 -3.28196074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.041052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.78, Y:0.66, Z:-0.03 [[ 9.93007636e-01 -1.17957352e-01 -4.67942993e-03 1.67788604e+01] [ 1.17956302e-01 9.93018661e-01 -5.00762528e-04 6.59628561e-01] [ 4.70582987e-03 -5.47072343e-05 9.99988926e-01 -3.30076606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.81, Y:0.66, Z:-0.04 [[ 9.92678933e-01 -1.20692336e-01 -4.67929299e-03 1.68071623e+01] [ 1.20691310e-01 9.92689959e-01 -5.02038936e-04 6.59618590e-01] [ 4.70567942e-03 -6.63865253e-05 9.99988926e-01 -3.52903876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.101052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.83, Y:0.66, Z:-0.04 [[ 9.92485143e-01 -1.22275699e-01 -4.67915388e-03 1.68344507e+01] [ 1.22274685e-01 9.92496170e-01 -5.03332150e-04 6.60616688e-01] [ 4.70558760e-03 -7.25923842e-05 9.99988926e-01 -3.50570368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.86, Y:0.66, Z:-0.04 [[ 9.92237353e-01 -1.24270436e-01 -4.67909321e-03 1.68624610e+01] [ 1.24269441e-01 9.92248382e-01 -5.03895480e-04 6.62139482e-01] [ 4.70544198e-03 -8.14843802e-05 9.99988926e-01 -3.51254778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.89, Y:0.67, Z:-0.04 [[ 9.92395586e-01 -1.23000440e-01 -4.67895548e-03 1.68906584e+01] [ 1.22999425e-01 9.92406613e-01 -5.05171186e-04 6.66758431e-01] [ 4.70556264e-03 -7.41791801e-05 9.99988926e-01 -3.54827212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.191052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.92, Y:0.67, Z:-0.03 [[ 9.92491561e-01 -1.22223606e-01 -4.67881700e-03 1.69173515e+01] [ 1.22222577e-01 9.92502587e-01 -5.06450492e-04 6.69869080e-01] [ 4.70563819e-03 -6.92092312e-05 9.99988926e-01 -3.47322436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.94, Y:0.67, Z:-0.04 [[ 9.92562109e-01 -1.21649368e-01 -4.67872294e-03 1.69448348e+01] [ 1.21648328e-01 9.92573134e-01 -5.07318025e-04 6.73456898e-01] [ 4.70568961e-03 -6.56141711e-05 9.99988926e-01 -3.56350985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.251052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.97, Y:0.68, Z:-0.04 [[ 9.92608981e-01 -1.21266329e-01 -4.67858676e-03 1.69730645e+01] [ 1.21265279e-01 9.92620005e-01 -5.08570798e-04 6.77359697e-01] [ 4.70573132e-03 -6.25381874e-05 9.99988926e-01 -3.69931467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.281052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.00, Y:0.68, Z:-0.04 [[ 9.92767543e-01 -1.19961319e-01 -4.67844440e-03 1.70005603e+01] [ 1.19960248e-01 9.92778565e-01 -5.09876974e-04 6.80455155e-01] [ 4.70582484e-03 -5.50380406e-05 9.99988926e-01 -3.95542618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.311052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.03, Y:0.68, Z:-0.04 [[ 9.92802354e-01 -1.19672885e-01 -4.67840019e-03 1.70290174e+01] [ 1.19671809e-01 9.92813375e-01 -5.10282309e-04 6.83131887e-01] [ 4.70584524e-03 -5.32631368e-05 9.99988926e-01 -4.09244588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.341052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.06, Y:0.69, Z:-0.04 [[ 9.92891773e-01 -1.18928726e-01 -4.67825906e-03 1.70570813e+01] [ 1.18927635e-01 9.92902793e-01 -5.11572948e-04 6.86334093e-01] [ 4.70589721e-03 -4.84377174e-05 9.99988926e-01 -4.37870383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.371052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.08, Y:0.69, Z:-0.04 [[ 9.92923513e-01 -1.18663440e-01 -4.67821540e-03 1.70845241e+01] [ 1.18662345e-01 9.92934533e-01 -5.11971928e-04 6.90179854e-01] [ 4.70591397e-03 -4.67790424e-05 9.99988926e-01 -4.43752951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.401052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.11, Y:0.69, Z:-0.04 [[ 9.93163131e-01 -1.16640950e-01 -4.67807466e-03 1.71113714e+01] [ 1.16639826e-01 9.93174148e-01 -5.13254687e-04 6.94636553e-01] [ 4.70600933e-03 -3.59041826e-05 9.99988926e-01 -4.35297474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.431052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.14, Y:0.70, Z:-0.04 [[ 9.93228335e-01 -1.16084416e-01 -4.67793540e-03 1.71396158e+01] [ 1.16083280e-01 9.93239351e-01 -5.14520830e-04 6.97842040e-01] [ 4.70603737e-03 -3.19934173e-05 9.99988926e-01 -4.22723127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.461052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.17, Y:0.70, Z:-0.04 [[ 9.93169693e-01 -1.16585069e-01 -4.67779058e-03 1.71672220e+01] [ 1.16583932e-01 9.93180709e-01 -5.15834147e-04 7.00606906e-01] [ 4.70602992e-03 -3.30443768e-05 9.99988926e-01 -3.80961446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.20, Y:0.70, Z:-0.04 [[ 9.93010672e-01 -1.17931862e-01 -4.67774593e-03 1.71952377e+01] [ 1.17930739e-01 9.93021689e-01 -5.16238724e-04 7.04184604e-01] [ 4.70598415e-03 -3.90194707e-05 9.99988926e-01 -3.71150911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.22, Y:0.71, Z:-0.04 [[ 9.92609612e-01 -1.21261194e-01 -4.67760827e-03 1.72229585e+01] [ 1.21260102e-01 9.92620632e-01 -5.17482989e-04 7.06361881e-01] [ 4.70584109e-03 -5.35486658e-05 9.99988926e-01 -3.74757095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.551052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.25, Y:0.71, Z:-0.04 [[ 9.92468219e-01 -1.22413052e-01 -4.67747154e-03 1.72505605e+01] [ 1.22411966e-01 9.92479240e-01 -5.18715968e-04 7.10157604e-01] [ 4.70579100e-03 -5.77693754e-05 9.99988926e-01 -3.79736614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.581052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.28, Y:0.72, Z:-0.04 [[ 9.92220678e-01 -1.24403575e-01 -4.67733047e-03 1.72768805e+01] [ 1.24402505e-01 9.92231700e-01 -5.19984927e-04 7.15218920e-01] [ 4.70568354e-03 -6.59318327e-05 9.99988926e-01 -3.82238163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.30, Y:0.72, Z:-0.04 [[ 9.92044728e-01 -1.25798975e-01 -4.67723457e-03 1.73038548e+01] [ 1.25797917e-01 9.92055751e-01 -5.20846133e-04 7.18880282e-01] [ 4.70559936e-03 -7.16837055e-05 9.99988926e-01 -3.75274670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.641052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.33, Y:0.72, Z:-0.04 [[ 9.91559196e-01 -1.29570387e-01 -4.67717433e-03 1.73315255e+01] [ 1.29569369e-01 9.91570223e-01 -5.21386510e-04 7.24407439e-01] [ 4.70530304e-03 -8.90329378e-05 9.99988926e-01 -3.91185632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.671052753999998 meters Centerline goodness : 0.997989 Centerline is valid? [True, True] Translation: X:17.36, Y:0.73, Z:-0.04 [[ 9.91380401e-01 -1.30931375e-01 -4.67703300e-03 1.73597505e+01] [ 1.30930366e-01 9.91391429e-01 -5.22651210e-04 7.28831363e-01] [ 4.70520187e-03 -9.42194756e-05 9.99988926e-01 -3.83837066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.701052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.39, Y:0.73, Z:-0.04 [[ 9.90969731e-01 -1.34004184e-01 -4.67672773e-03 1.73877229e+01] [ 1.34003196e-01 9.90980760e-01 -5.25376685e-04 7.32260300e-01] [ 4.70494988e-03 -1.06064069e-04 9.99988926e-01 -4.12574129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.731052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.42, Y:0.74, Z:-0.04 [[ 9.90863271e-01 -1.34789118e-01 -4.67682961e-03 1.74154152e+01] [ 1.34788143e-01 9.90874302e-01 -5.24468185e-04 7.35417050e-01] [ 4.70484288e-03 -1.10704919e-04 9.99988926e-01 -4.11573062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.761052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.44, Y:0.74, Z:-0.04 [[ 9.90982333e-01 -1.33910954e-01 -4.67668116e-03 1.74418824e+01] [ 1.33909963e-01 9.90993363e-01 -5.25788596e-04 7.40937189e-01] [ 4.70496884e-03 -1.05206993e-04 9.99988926e-01 -4.25572040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.791052754 meters Centerline goodness : 0.998601 Centerline is valid? [True, True] Translation: X:17.47, Y:0.75, Z:-0.04 [[ 9.91224301e-01 -1.32107969e-01 -4.67658044e-03 1.74683627e+01] [ 1.32106953e-01 9.91235328e-01 -5.26682955e-04 7.45394052e-01] [ 4.70517076e-03 -9.57478510e-05 9.99988926e-01 -4.17644538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.821052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.50, Y:0.75, Z:-0.04 [[ 9.91665590e-01 -1.28753711e-01 -4.67331278e-03 1.74985887e+01] [ 1.28752522e-01 9.91676600e-01 -5.55599003e-04 7.48429840e-01] [ 4.70595037e-03 -5.07323943e-05 9.99988926e-01 -4.11941862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.851052753999998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:17.53, Y:0.75, Z:-0.04 [[ 9.92676332e-01 -1.20713836e-01 -4.67641789e-03 1.75330420e+01] [ 1.20712688e-01 9.92687347e-01 -5.28102881e-04 7.46957446e-01] [ 4.70597019e-03 -4.02677406e-05 9.99988926e-01 -4.02619813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.881052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.56, Y:0.75, Z:-0.04 [[ 9.93202483e-01 -1.16305176e-01 -4.68345874e-03 1.75600793e+01] [ 1.16304273e-01 9.93213521e-01 -4.65504707e-04 7.52715674e-01] [ 4.70581515e-03 -8.23658347e-05 9.99988924e-01 -4.33422805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.911052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.58, Y:0.76, Z:-0.05 [[ 9.92681892e-01 -1.20667880e-01 -4.68236854e-03 1.75847790e+01] [ 1.20666981e-01 9.92692930e-01 -4.75075003e-04 7.61185842e-01] [ 4.70548044e-03 -9.34089230e-05 9.99988925e-01 -4.54222920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.941052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.61, Y:0.76, Z:-0.04 [[ 9.92369636e-01 -1.23209761e-01 -4.67553867e-03 1.76132535e+01] [ 1.23208609e-01 9.92380649e-01 -5.34787298e-04 7.60523197e-01] [ 4.70580511e-03 -4.53599378e-05 9.99988927e-01 -4.16536855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.971052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.65, Y:0.76, Z:-0.04 [[ 9.92540826e-01 -1.21823025e-01 -4.67547047e-03 1.76477935e+01] [ 1.21821855e-01 9.92551837e-01 -5.35382889e-04 7.57255500e-01] [ 4.70586876e-03 -3.81851103e-05 9.99988927e-01 -3.63998200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.001052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.67, Y:0.76, Z:-0.04 [[ 9.90832373e-01 -1.35015893e-01 -4.68165710e-03 1.76720057e+01] [ 1.35015124e-01 9.90843421e-01 -4.81281172e-04 7.62077026e-01] [ 4.70376975e-03 -1.55225551e-04 9.99988925e-01 -3.59846984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.031052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.70, Y:0.77, Z:-0.04 [[ 9.90795471e-01 -1.35286646e-01 -4.67529503e-03 1.77004329e+01] [ 1.35285619e-01 9.90806496e-01 -5.36702242e-04 7.65429608e-01] [ 4.70492133e-03 -1.00738032e-04 9.99988927e-01 -3.58787716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.061052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.73, Y:0.77, Z:-0.03 [[ 9.90334967e-01 -1.38617446e-01 -4.67514816e-03 1.77269627e+01] [ 1.38616450e-01 9.90345995e-01 -5.37978572e-04 7.67367220e-01] [ 4.70458747e-03 -1.15273447e-04 9.99988927e-01 -3.36794699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.091052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:17.76, Y:0.77, Z:-0.03 [[ 9.90552844e-01 -1.37051841e-01 -4.67508446e-03 1.77579858e+01] [ 1.37050825e-01 9.90563870e-01 -5.38531525e-04 7.65444118e-01] [ 4.70477650e-03 -1.07280248e-04 9.99988927e-01 -2.71236020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.121052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.79, Y:0.77, Z:-0.03 [[ 9.89873213e-01 -1.41877207e-01 -4.67754087e-03 1.77868929e+01] [ 1.41876345e-01 9.89884253e-01 -5.17201947e-04 7.71505076e-01] [ 4.70360322e-03 -1.51668051e-04 9.99988926e-01 -2.71553619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.151052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.81, Y:0.78, Z:-0.03 [[ 9.88794268e-01 -1.49211227e-01 -4.68023503e-03 1.78092503e+01] [ 1.49210557e-01 9.88805322e-01 -4.94038717e-04 7.82173313e-01] [ 4.70155743e-03 -2.09837824e-04 9.99988926e-01 -3.23841673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.181052754 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:17.84, Y:0.78, Z:-0.03 [[ 9.89139510e-01 -1.46905353e-01 -4.67415480e-03 1.78399431e+01] [ 1.46904411e-01 9.89150543e-01 -5.46082100e-04 7.84040617e-01] [ 4.70366514e-03 -1.46502579e-04 9.99988927e-01 -3.36957402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.211052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.87, Y:0.80, Z:-0.04 [[ 9.88262586e-01 -1.52693101e-01 -4.67748478e-03 1.78651599e+01] [ 1.52692359e-01 9.88273634e-01 -5.17552374e-04 7.95287496e-01] [ 4.70166156e-03 -2.02738537e-04 9.99988927e-01 -3.50988996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.241052754 meters Centerline goodness : 0.997761 Centerline is valid? [True, True] Translation: X:17.89, Y:0.80, Z:-0.04 [[ 9.88679942e-01 -1.49967083e-01 -4.67394151e-03 1.78934359e+01] [ 1.49966167e-01 9.88690977e-01 -5.47785104e-04 7.98022711e-01] [ 4.70323354e-03 -1.59348948e-04 9.99988927e-01 -3.63495945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.271052754 meters Centerline goodness : 0.999860 Centerline is valid? [True, True] Translation: X:17.92, Y:0.80, Z:-0.04 [[ 9.89007829e-01 -1.47789296e-01 -4.67316578e-03 1.79219083e+01] [ 1.47788325e-01 9.89018859e-01 -5.54394430e-04 8.03138208e-01] [ 4.70378265e-03 -1.42338913e-04 9.99988927e-01 -3.87964924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.301052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.95, Y:0.81, Z:-0.04 [[ 9.88578320e-01 -1.50635528e-01 -4.67359289e-03 1.79497660e+01] [ 1.50634606e-01 9.88589355e-01 -5.50760172e-04 8.11929729e-01] [ 4.70322822e-03 -1.59535257e-04 9.99988927e-01 -3.66276705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.331052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.98, Y:0.81, Z:-0.03 [[ 9.89862889e-01 -1.41949349e-01 -4.67374509e-03 1.79798256e+01] [ 1.41948336e-01 9.89873915e-01 -5.49465535e-04 8.13588878e-01] [ 4.70441462e-03 -1.19534796e-04 9.99988927e-01 -3.49242551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.01, Y:0.82, Z:-0.03 [[ 9.90008879e-01 -1.40927471e-01 -4.67635796e-03 1.80050003e+01] [ 1.40926551e-01 9.90019914e-01 -5.27252960e-04 8.19308221e-01] [ 4.70399193e-03 -1.37037887e-04 9.99988927e-01 -3.34198537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.391052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.03, Y:0.83, Z:-0.03 [[ 9.90318520e-01 -1.38734952e-01 -4.67353430e-03 1.80326063e+01] [ 1.38733895e-01 9.90329542e-01 -5.51194578e-04 8.26560948e-01] [ 4.70480903e-03 -1.02519416e-04 9.99988927e-01 -3.20281473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.421052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.06, Y:0.83, Z:-0.03 [[ 9.90576410e-01 -1.36881459e-01 -4.67348629e-03 1.80604913e+01] [ 1.36880380e-01 9.90587430e-01 -5.51601268e-04 8.30014374e-01] [ 4.70500077e-03 -9.33053737e-05 9.99988927e-01 -3.08303418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.451052754 meters Centerline goodness : 0.998586 Centerline is valid? [True, True] Translation: X:18.09, Y:0.83, Z:-0.03 [[ 9.90755746e-01 -1.35577331e-01 -4.67333396e-03 1.80924049e+01] [ 1.35576231e-01 9.90766764e-01 -5.52888852e-04 8.29929604e-01] [ 4.70514316e-03 -8.58151959e-05 9.99988927e-01 -3.14682550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.481052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.12, Y:0.83, Z:-0.03 [[ 9.90461827e-01 -1.37707946e-01 -4.67875537e-03 1.81158500e+01] [ 1.37707086e-01 9.90472868e-01 -5.07029042e-04 8.34329680e-01] [ 4.70400217e-03 -1.42104858e-04 9.99988926e-01 -2.93075386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.511052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.15, Y:0.83, Z:-0.03 [[ 9.90512202e-01 -1.37345335e-01 -4.67297194e-03 1.81504025e+01] [ 1.37344241e-01 9.90523221e-01 -5.55665847e-04 8.31564674e-01] [ 4.70500533e-03 -9.14119841e-05 9.99988927e-01 -2.52085792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.541052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.17, Y:0.84, Z:-0.03 [[ 9.89832108e-01 -1.42163571e-01 -4.68161761e-03 1.81713715e+01] [ 1.42162876e-01 9.89843161e-01 -4.82744380e-04 8.37327483e-01] [ 4.70269584e-03 -1.87716335e-04 9.99988925e-01 -2.52210182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.571052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.20, Y:0.84, Z:-0.02 [[ 9.89450372e-01 -1.44796846e-01 -4.67272343e-03 1.81992192e+01] [ 1.44795828e-01 9.89461398e-01 -5.57316218e-04 8.39721357e-01] [ 4.70417709e-03 -1.25154118e-04 9.99988927e-01 -2.36668031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.601052753999998 meters Centerline goodness : 0.998068 Centerline is valid? [True, True] Translation: X:18.23, Y:0.84, Z:-0.02 [[ 9.89388111e-01 -1.45221665e-01 -4.67257475e-03 1.82296938e+01] [ 1.45220646e-01 9.89399137e-01 -5.58560013e-04 8.38281145e-01] [ 4.70415644e-03 -1.25921685e-04 9.99988927e-01 -2.40057910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.631052754 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:18.26, Y:0.84, Z:-0.02 [[ 9.89111164e-01 -1.47096052e-01 -4.67515221e-03 1.82595795e+01] [ 1.47095155e-01 9.89122200e-01 -5.36996799e-04 8.41874286e-01] [ 4.70328695e-03 -1.56542711e-04 9.99988927e-01 -2.44182893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.661052754 meters Centerline goodness : 0.999837 Centerline is valid? [True, True] Translation: X:18.28, Y:0.85, Z:-0.02 [[ 9.88676447e-01 -1.49989975e-01 -4.67879867e-03 1.82823571e+01] [ 1.49989254e-01 9.88687497e-01 -5.06585906e-04 8.49829831e-01] [ 4.70185256e-03 -2.00919970e-04 9.99988926e-01 -2.43149031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.691052753999998 meters Centerline goodness : 0.997393 Centerline is valid? [True, True] Translation: X:18.32, Y:0.85, Z:-0.03 [[ 9.89027302e-01 -1.47658955e-01 -4.67209808e-03 1.83161150e+01] [ 1.47657945e-01 9.89038328e-01 -5.62204016e-04 8.51986278e-01] [ 4.70389853e-03 -1.33837280e-04 9.99988928e-01 -3.29371501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.721052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.34, Y:0.86, Z:-0.03 [[ 9.89293325e-01 -1.45865680e-01 -4.68186740e-03 1.83379570e+01] [ 1.45865035e-01 9.89304382e-01 -4.80774757e-04 8.57235526e-01] [ 4.70192048e-03 -2.07293497e-04 9.99988924e-01 -2.98335682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.751052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.37, Y:0.86, Z:-0.03 [[ 9.89803404e-01 -1.42363609e-01 -4.67174189e-03 1.83667762e+01] [ 1.42362529e-01 9.89814423e-01 -5.64563178e-04 8.59832289e-01] [ 4.70453076e-03 -1.06274436e-04 9.99988928e-01 -2.94639596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.781052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.40, Y:0.86, Z:-0.03 [[ 9.90018101e-01 -1.40862824e-01 -4.67161190e-03 1.83954861e+01] [ 1.40861722e-01 9.90029118e-01 -5.65636786e-04 8.62707117e-01] [ 4.70470901e-03 -9.80606402e-05 9.99988928e-01 -2.69917063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.811052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.42, Y:0.87, Z:-0.03 [[ 9.90291934e-01 -1.38924665e-01 -4.67147674e-03 1.84232113e+01] [ 1.38923536e-01 9.90302948e-01 -5.66750882e-04 8.65201535e-01] [ 4.70491286e-03 -8.77292412e-05 9.99988928e-01 -2.54193951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.841052754 meters Centerline goodness : 0.997420 Centerline is valid? [True, True] Translation: X:18.46, Y:0.87, Z:-0.03 [[ 9.90637411e-01 -1.36439358e-01 -4.67142866e-03 1.84595468e+01] [ 1.36438200e-01 9.90648422e-01 -5.67146863e-04 8.65606331e-01] [ 4.70512458e-03 -7.55244165e-05 9.99988928e-01 -2.99963362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.871052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.49, Y:0.87, Z:-0.03 [[ 9.90652422e-01 -1.36329879e-01 -4.68426614e-03 1.84880046e+01] [ 1.36329222e-01 9.90663480e-01 -4.60788321e-04 8.70511910e-01] [ 4.70335061e-03 -1.82121293e-04 9.99988923e-01 -2.70859623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.901052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.51, Y:0.88, Z:-0.02 [[ 9.90531379e-01 -1.37206688e-01 -4.68096339e-03 1.85082395e+01] [ 1.37205914e-01 9.90542427e-01 -4.87648778e-04 8.76653055e-01] [ 4.70360151e-03 -1.59224443e-04 9.99988925e-01 -2.49608642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.931052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.54, Y:0.88, Z:-0.02 [[ 9.90665866e-01 -1.36232653e-01 -4.66975992e-03 1.85364324e+01] [ 1.36231441e-01 9.90676870e-01 -5.78141546e-04 8.75873292e-01] [ 4.70498489e-03 -6.34230293e-05 9.99988929e-01 -2.21896239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.961052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.56, Y:0.88, Z:-0.02 [[ 9.90833877e-01 -1.35005269e-01 -4.66960647e-03 1.85640292e+01] [ 1.35004037e-01 9.90844879e-01 -5.79378263e-04 8.76168993e-01] [ 4.70507478e-03 -5.63481150e-05 9.99988929e-01 -2.07512984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.991052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.59, Y:0.88, Z:-0.02 [[ 9.90962621e-01 -1.34057000e-01 -4.66955889e-03 1.85918686e+01] [ 1.34055756e-01 9.90973621e-01 -5.79761522e-04 8.76785281e-01] [ 4.70513077e-03 -5.14592505e-05 9.99988929e-01 -1.70743351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.63, Y:0.87, Z:-0.02 [[ 9.91518051e-01 -1.29885145e-01 -4.66940207e-03 1.86319921e+01] [ 1.29883849e-01 9.91529046e-01 -5.81021799e-04 8.73685591e-01] [ 4.70531388e-03 -3.03863102e-05 9.99988929e-01 -2.31620232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.051052753999997 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:18.66, Y:0.87, Z:-0.03 [[ 9.92546944e-01 -1.21772765e-01 -4.68586651e-03 1.86576640e+01] [ 1.21772023e-01 9.92557997e-01 -4.44516391e-04 8.74103244e-01] [ 4.70512427e-03 -1.29404057e-04 9.99988922e-01 -2.68424571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.081052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.68, Y:0.88, Z:-0.02 [[ 9.92950083e-01 -1.18440670e-01 -4.68412232e-03 1.86772932e+01] [ 1.18439823e-01 9.92961126e-01 -4.58933691e-04 8.78057069e-01] [ 4.70550778e-03 -9.90883705e-05 9.99988924e-01 -1.92764254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.71, Y:0.88, Z:-0.02 [[ 9.93319224e-01 -1.15304400e-01 -4.67053819e-03 1.87070244e+01] [ 1.15302994e-01 9.93330204e-01 -5.70201854e-04 8.77264410e-01] [ 4.70513344e-03 2.78654269e-05 9.99988930e-01 -2.02574471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.141052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.73, Y:0.88, Z:-0.02 [[ 9.93324896e-01 -1.15255530e-01 -4.67051925e-03 1.87349801e+01] [ 1.15254123e-01 9.93335876e-01 -5.70357007e-04 8.79406570e-01] [ 4.70513112e-03 2.82532176e-05 9.99988930e-01 -2.12753440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.171052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.77, Y:0.88, Z:-0.03 [[ 9.92844065e-01 -1.19326651e-01 -4.67047181e-03 1.87706710e+01] [ 1.19325287e-01 9.92855050e-01 -5.70745210e-04 8.80212324e-01] [ 4.70520663e-03 9.35560602e-06 9.99988930e-01 -2.58720943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.201052754 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:18.80, Y:0.88, Z:-0.03 [[ 9.92702787e-01 -1.20495941e-01 -4.68026076e-03 1.88012068e+01] [ 1.20494971e-01 9.92713817e-01 -4.89699568e-04 8.82283022e-01] [ 4.70516634e-03 -7.78217587e-05 9.99988928e-01 -2.99011183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.231052754 meters Centerline goodness : 0.998224 Centerline is valid? [True, True] Translation: X:18.83, Y:0.89, Z:-0.03 [[ 9.92099487e-01 -1.25366185e-01 -4.68270576e-03 1.88287849e+01] [ 1.25365364e-01 9.92110531e-01 -4.69541654e-04 8.87022529e-01] [ 4.70462634e-03 -1.21217080e-04 9.99988926e-01 -2.64610215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.261052753999998 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:18.85, Y:0.89, Z:-0.01 [[ 9.92012488e-01 -1.26052845e-01 -4.68023683e-03 1.88513363e+01] [ 1.26051936e-01 9.92023523e-01 -4.89788346e-04 8.90168571e-01] [ 4.70464424e-03 -1.04076758e-04 9.99988928e-01 -1.31066642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.291052754 meters Centerline goodness : 0.997954 Centerline is valid? [True, True] Translation: X:18.88, Y:0.89, Z:-0.02 [[ 9.90787774e-01 -1.35343186e-01 -4.66998312e-03 1.88839786e+01] [ 1.35341986e-01 9.90798778e-01 -5.73311403e-04 8.92871800e-01] [ 4.70460736e-03 -6.40148629e-05 9.99988931e-01 -1.80595747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.321052754 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:18.91, Y:0.90, Z:-0.01 [[ 9.90458738e-01 -1.37730218e-01 -4.67711794e-03 1.89073265e+01] [ 1.37729320e-01 9.90469772e-01 -5.15068770e-04 8.96641927e-01] [ 4.70348448e-03 -1.34021911e-04 9.99988930e-01 -9.28153319e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.351052753999998 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:18.93, Y:0.90, Z:-0.01 [[ 9.89476993e-01 -1.44614915e-01 -4.66974757e-03 1.89349104e+01] [ 1.44613811e-01 9.89488006e-01 -5.74932807e-04 9.02036844e-01] [ 4.70380308e-03 -1.06427210e-04 9.99988931e-01 -1.34398158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.381052754 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:18.96, Y:0.91, Z:-0.01 [[ 9.89075716e-01 -1.47334389e-01 -4.66967496e-03 1.89632368e+01] [ 1.47333312e-01 9.89086732e-01 -5.75522000e-04 9.05543189e-01] [ 4.70350773e-03 -1.18763845e-04 9.99988931e-01 -1.39910633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.411052754 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:18.99, Y:0.91, Z:-0.01 [[ 9.88711132e-01 -1.49761456e-01 -4.66954138e-03 1.89920789e+01] [ 1.49760402e-01 9.88722150e-01 -5.76603729e-04 9.08800934e-01] [ 4.70323201e-03 -1.29217869e-04 9.99988931e-01 -1.32942584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.441052753999998 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:19.02, Y:0.91, Z:-0.01 [[ 9.88744343e-01 -1.49542040e-01 -4.66940795e-03 1.90209445e+01] [ 1.49540978e-01 9.88755360e-01 -5.77682242e-04 9.13311046e-01] [ 4.70328992e-03 -1.27087785e-04 9.99988931e-01 -1.06871395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.471052754 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:19.05, Y:0.92, Z:-0.01 [[ 9.89245423e-01 -1.46190601e-01 -4.66926846e-03 1.90520714e+01] [ 1.46189496e-01 9.89256436e-01 -5.78807527e-04 9.20825448e-01] [ 4.70372010e-03 -1.10015308e-04 9.99988931e-01 -1.17395771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.501052754 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:19.08, Y:0.93, Z:-0.01 [[ 9.90845913e-01 -1.34916690e-01 -4.67578258e-03 1.90762930e+01] [ 1.34915709e-01 9.90856940e-01 -5.26141236e-04 9.27992725e-01] [ 4.70401685e-03 -1.09511628e-04 9.99988930e-01 -1.01964234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.531052753999997 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:19.10, Y:0.93, Z:-0.01 [[ 9.91516819e-01 -1.29894564e-01 -4.66903821e-03 1.91037185e+01] [ 1.29893271e-01 9.91527812e-01 -5.80396749e-04 9.33163855e-01] [ 4.70487162e-03 -3.10035086e-05 9.99988932e-01 -9.51417696e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.561052754 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:19.13, Y:0.94, Z:-0.01 [[ 9.92713613e-01 -1.20407159e-01 -4.66887975e-03 1.91312160e+01] [ 1.20405755e-01 9.92724592e-01 -5.81668660e-04 9.38764234e-01] [ 4.70494882e-03 1.52704050e-05 9.99988932e-01 -1.26588945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.591052754 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:19.16, Y:0.94, Z:-0.01 [[ 9.93091633e-01 -1.17248500e-01 -4.66883066e-03 1.91589712e+01] [ 1.17247060e-01 9.93102607e-01 -5.82062419e-04 9.43295837e-01] [ 4.70487385e-03 3.06346504e-05 9.99988932e-01 -1.27924727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.621052753999997 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:19.19, Y:0.95, Z:-0.01 [[ 9.93415681e-01 -1.14470467e-01 -4.66867032e-03 1.91862616e+01] [ 1.14468990e-01 9.93426651e-01 -5.83345651e-04 9.47256886e-01] [ 4.70475737e-03 4.50867425e-05 9.99988932e-01 -1.28049917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.651052754 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:19.22, Y:0.95, Z:-0.01 [[ 9.93651866e-01 -1.12401840e-01 -4.66862084e-03 1.92151726e+01] [ 1.12400338e-01 9.93662832e-01 -5.83741432e-04 9.49089901e-01] [ 4.70464861e-03 5.52812020e-05 9.99988932e-01 -8.39108285e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.681052754 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:19.24, Y:0.95, Z:-0.01 [[ 9.93611304e-01 -1.12759838e-01 -4.66859134e-03 1.92439501e+01] [ 1.12758339e-01 9.93622270e-01 -5.83977247e-04 9.49809031e-01] [ 4.70466551e-03 5.38237906e-05 9.99988932e-01 -6.00414298e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.711052753999997 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:19.27, Y:0.95, Z:-0.01 [[ 9.93491821e-01 -1.13807760e-01 -4.66845366e-03 1.92723848e+01] [ 1.13806267e-01 9.93502789e-01 -5.85075851e-04 9.52147918e-01] [ 4.70470790e-03 4.99687880e-05 9.99988932e-01 -6.42050710e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.741052754 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:19.30, Y:0.95, Z:-0.01 [[ 9.92940691e-01 -1.18520007e-01 -4.66829531e-03 1.92997668e+01] [ 1.18518560e-01 9.92951664e-01 -5.86336560e-04 9.53531818e-01] [ 4.70488421e-03 2.89177894e-05 9.99988932e-01 -9.01277532e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.771052754 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:19.33, Y:0.96, Z:-0.01 [[ 9.92522074e-01 -1.21975983e-01 -4.66822661e-03 1.93284481e+01] [ 1.21974572e-01 9.92533052e-01 -5.86883058e-04 9.56140995e-01] [ 4.70495484e-03 1.30894464e-05 9.99988932e-01 -9.78831731e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.801052753999997 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:19.36, Y:0.96, Z:-0.01 [[ 9.91612684e-01 -1.29160730e-01 -4.66808924e-03 1.93568111e+01] [ 1.29159393e-01 9.91623671e-01 -5.87973637e-04 9.56810044e-01] [ 4.70493090e-03 -1.98854569e-05 9.99988932e-01 -1.00902077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.831052753999998 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:19.39, Y:0.96, Z:-0.01 [[ 9.91031101e-01 -1.33549862e-01 -4.66804063e-03 1.93855381e+01] [ 1.33548572e-01 9.91042094e-01 -5.88359340e-04 9.58453746e-01] [ 4.70480007e-03 -4.03277551e-05 9.99988932e-01 -7.62431455e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.861052754 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:19.41, Y:0.96, Z:-0.01 [[ 9.90432421e-01 -1.37919649e-01 -4.66790026e-03 1.94127217e+01] [ 1.37918403e-01 9.90443419e-01 -5.89470897e-04 9.59221339e-01] [ 4.70459071e-03 -5.99582610e-05 9.99988932e-01 -6.60389755e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.891052753999997 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:19.44, Y:0.96, Z:-0.00 [[ 9.89687142e-01 -1.43169731e-01 -4.66783059e-03 1.94409947e+01] [ 1.43168540e-01 9.89698146e-01 -5.90022060e-04 9.61358110e-01] [ 4.70421658e-03 -8.43492435e-05 9.99988932e-01 -3.66631577e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.921052753999998 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:19.47, Y:0.97, Z:-0.00 [[ 9.89648433e-01 -1.43437065e-01 -4.66767076e-03 1.94693817e+01] [ 1.43435871e-01 9.89659437e-01 -5.91283794e-04 9.65023184e-01] [ 4.70421643e-03 -8.43483384e-05 9.99988932e-01 -3.53232722e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.951052754 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:19.50, Y:0.97, Z:-0.01 [[ 9.89541465e-01 -1.44173169e-01 -4.66751070e-03 1.94978312e+01] [ 1.44171977e-01 9.89552469e-01 -5.92544590e-04 9.73289130e-01] [ 4.70417577e-03 -8.65768050e-05 9.99988932e-01 -6.36345791e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.981052754 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:19.53, Y:0.98, Z:-0.01 [[ 9.89650683e-01 -1.43421553e-01 -4.66736940e-03 1.95253395e+01] [ 1.43420348e-01 9.89661685e-01 -5.93655542e-04 9.78815712e-01] [ 4.70425966e-03 -8.18841293e-05 9.99988932e-01 -1.03538671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.011052753999998 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:19.55, Y:0.99, Z:-0.01 [[ 9.89942417e-01 -1.41393871e-01 -4.66731926e-03 1.95540976e+01] [ 1.41392641e-01 9.89953417e-01 -5.94049487e-04 9.85563637e-01] [ 4.70442360e-03 -7.18498111e-05 9.99988932e-01 -1.31683382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.041052754 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:19.58, Y:0.99, Z:-0.01 [[ 9.90145284e-01 -1.39966191e-01 -4.66719471e-03 1.95829109e+01] [ 1.39964941e-01 9.90156281e-01 -5.95026382e-04 9.90340984e-01] [ 4.70453573e-03 -6.40810652e-05 9.99988932e-01 -1.32405488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.071052754 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:19.61, Y:1.00, Z:-0.01 [[ 9.90438165e-01 -1.37878427e-01 -4.66705809e-03 1.96108117e+01] [ 1.37877149e-01 9.90449159e-01 -5.96096039e-04 9.96583344e-01] [ 4.70467254e-03 -5.30843972e-05 9.99988932e-01 -1.35057141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.101052753999998 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:19.64, Y:1.00, Z:-0.01 [[ 9.90460069e-01 -1.37720994e-01 -4.66690123e-03 1.96394598e+01] [ 1.37719708e-01 9.90471062e-01 -5.97321603e-04 1.00168649e+00] [ 4.70469434e-03 -5.11010801e-05 9.99988932e-01 -1.24485092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.131052754 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:19.67, Y:1.01, Z:-0.01 [[ 9.90382892e-01 -1.38274902e-01 -4.66676190e-03 1.96680901e+01] [ 1.38273617e-01 9.90393886e-01 -5.98408184e-04 1.00742287e+00] [ 4.70467728e-03 -5.26368186e-05 9.99988932e-01 -9.81149763e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.161052754 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:19.70, Y:1.01, Z:-0.01 [[ 9.90294099e-01 -1.38909394e-01 -4.66662070e-03 1.96952276e+01] [ 1.38908111e-01 9.90305093e-01 -5.99507300e-04 1.01137140e+00] [ 4.70465544e-03 -5.45429239e-05 9.99988932e-01 -8.96635663e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.191052753999998 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:19.72, Y:1.01, Z:-0.00 [[ 9.90030942e-01 -1.40772715e-01 -4.66656065e-03 1.97240074e+01] [ 1.40771450e-01 9.90041938e-01 -5.99974371e-04 1.01250791e+00] [ 4.70455077e-03 -6.29253193e-05 9.99988932e-01 -2.58208703e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.221052754 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:19.75, Y:1.01, Z:-0.00 [[ 9.89865051e-01 -1.41934513e-01 -4.66641626e-03 1.97515119e+01] [ 1.41933256e-01 9.89876048e-01 -6.01095288e-04 1.01450891e+00] [ 4.70448985e-03 -6.73164355e-05 9.99988932e-01 -1.05403789e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.251052754 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:19.78, Y:1.02, Z:0.00 [[ 9.89516307e-01 -1.44345777e-01 -4.66636520e-03 1.97792371e+01] [ 1.44344545e-01 9.89527307e-01 -6.01491391e-04 1.01650080e+00] [ 4.70431853e-03 -7.83788225e-05 9.99988932e-01 3.09898955e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.281052753999997 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:19.81, Y:1.02, Z:0.00 [[ 9.89222027e-01 -1.46348924e-01 -4.66631601e-03 1.98068421e+01] [ 1.46347712e-01 9.89233029e-01 -6.01872801e-04 1.02044949e+00] [ 4.70415735e-03 -8.75188401e-05 9.99988932e-01 3.74483214e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.311052754 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:19.83, Y:1.02, Z:0.00 [[ 9.89108804e-01 -1.47112205e-01 -4.66615468e-03 1.98349035e+01] [ 1.47110996e-01 9.89119806e-01 -6.03120942e-04 1.02478678e+00] [ 4.70411246e-03 -8.98904288e-05 9.99988932e-01 3.83358970e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.341052754 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:19.86, Y:1.03, Z:0.00 [[ 9.88919425e-01 -1.48379915e-01 -4.66599288e-03 1.98626335e+01] [ 1.48378714e-01 9.88930428e-01 -6.04370050e-04 1.02859217e+00] [ 4.70401872e-03 -9.46607437e-05 9.99988932e-01 3.71218508e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.371052753999997 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:19.89, Y:1.03, Z:0.00 [[ 9.88092270e-01 -1.53791729e-01 -4.66583233e-03 1.98901792e+01] [ 1.53790583e-01 9.88103279e-01 -6.05607045e-04 1.03161337e+00] [ 4.70346158e-03 -1.19165434e-04 9.99988932e-01 2.65612895e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.401052754 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:19.92, Y:1.04, Z:0.00 [[ 9.87773564e-01 -1.55825602e-01 -4.66567008e-03 1.99178559e+01] [ 1.55824473e-01 9.87784574e-01 -6.06854472e-04 1.03562725e+00] [ 4.70324040e-03 -1.27590775e-04 9.99988932e-01 1.07212347e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.431052754 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:19.95, Y:1.04, Z:0.00 [[ 9.87450071e-01 -1.57862563e-01 -4.66561978e-03 1.99460199e+01] [ 1.57861454e-01 9.87461084e-01 -6.07240950e-04 1.04001499e+00] [ 4.70297857e-03 -1.36901404e-04 9.99988932e-01 3.71098340e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.461052753999997 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:19.97, Y:1.04, Z:-0.00 [[ 9.87251182e-01 -1.59101657e-01 -4.66545300e-03 1.99740014e+01] [ 1.59100557e-01 9.87262195e-01 -6.08519634e-04 1.04413629e+00] [ 4.70284185e-03 -1.41514440e-04 9.99988932e-01 -1.07795553e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.491052754 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:20.00, Y:1.05, Z:-0.00 [[ 9.87521797e-01 -1.57413262e-01 -4.66540144e-03 2.00023670e+01] [ 1.57412140e-01 9.87532808e-01 -6.08914630e-04 1.04900132e+00] [ 4.70308823e-03 -1.33074356e-04 9.99988932e-01 -6.80223099e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.521052754 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:20.03, Y:1.05, Z:-0.00 [[ 9.87780535e-01 -1.55781419e-01 -4.66525196e-03 2.00298234e+01] [ 1.55780274e-01 9.87791544e-01 -6.10057744e-04 1.05337633e+00] [ 4.70333210e-03 -1.24151064e-04 9.99988932e-01 -3.30720117e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.551052753999997 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:20.06, Y:1.06, Z:-0.00 [[ 9.88466690e-01 -1.51366570e-01 -4.66519890e-03 2.00581632e+01] [ 1.51365374e-01 9.88477694e-01 -6.10463214e-04 1.05748447e+00] [ 4.70384878e-03 -1.02727023e-04 9.99988932e-01 -4.76390703e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.581052753999998 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:20.09, Y:1.06, Z:-0.00 [[ 9.88857772e-01 -1.48790269e-01 -4.66505685e-03 2.00864111e+01] [ 1.48789039e-01 9.88868772e-01 -6.11546872e-04 1.06061246e+00] [ 4.70412126e-03 -8.93764500e-05 9.99988932e-01 -2.14131496e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.611052754 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:20.12, Y:1.06, Z:0.00 [[ 9.89662968e-01 -1.43336835e-01 -4.66488818e-03 2.01153578e+01] [ 1.43335538e-01 9.89673960e-01 -6.12830749e-04 1.06342091e+00] [ 4.70455958e-03 -6.21483607e-05 9.99988932e-01 1.45477899e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.641052753999997 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:20.14, Y:1.07, Z:0.00 [[ 9.90429074e-01 -1.37943789e-01 -4.66474064e-03 2.01434909e+01] [ 1.37942427e-01 9.90440059e-01 -6.13951751e-04 1.06516605e+00] [ 4.70483682e-03 -3.53899812e-05 9.99988932e-01 4.57859515e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.671052753999998 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:20.17, Y:1.07, Z:0.01 [[ 9.90768338e-01 -1.35485577e-01 -4.66457286e-03 2.01712473e+01] [ 1.35484182e-01 9.90779319e-01 -6.15223840e-04 1.06787334e+00] [ 4.70491628e-03 -2.24315354e-05 9.99988932e-01 6.81198559e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.701052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.20, Y:1.07, Z:0.01 [[ 9.91012467e-01 -1.33688199e-01 -4.66440448e-03 2.01979483e+01] [ 1.33686778e-01 9.91023443e-01 -6.16497846e-04 1.07155332e+00] [ 4.70495267e-03 -1.26121533e-05 9.99988932e-01 7.03003748e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.731052754 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:20.23, Y:1.08, Z:0.01 [[ 9.90887416e-01 -1.34611936e-01 -4.66433152e-03 2.02264254e+01] [ 1.34610523e-01 9.90898394e-01 -6.17049307e-04 1.07538876e+00] [ 4.70494081e-03 -1.64417099e-05 9.99988932e-01 5.75580939e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.761052753999998 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:20.25, Y:1.08, Z:0.00 [[ 9.90646989e-01 -1.36370046e-01 -4.66418606e-03 2.02549206e+01] [ 1.36368647e-01 9.90657968e-01 -6.18146907e-04 1.07819584e+00] [ 4.70490980e-03 -2.36833695e-05 9.99988932e-01 4.38418209e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.791052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.28, Y:1.08, Z:0.01 [[ 9.90099366e-01 -1.40290744e-01 -4.66404129e-03 2.02840657e+01] [ 1.40289383e-01 9.90110350e-01 -6.19237239e-04 1.07812594e+00] [ 4.70478881e-03 -4.12090778e-05 9.99988932e-01 7.74502256e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.821052754 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:20.31, Y:1.08, Z:0.01 [[ 9.89880636e-01 -1.41825860e-01 -4.66389702e-03 2.03121890e+01] [ 1.41824512e-01 9.89891622e-01 -6.20322003e-04 1.08067958e+00] [ 4.70473028e-03 -4.74101777e-05 9.99988932e-01 1.11590997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.851052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.34, Y:1.09, Z:0.01 [[ 9.89236464e-01 -1.46251382e-01 -4.66384581e-03 2.03410146e+01] [ 1.46250081e-01 9.89247456e-01 -6.20706723e-04 1.08509175e+00] [ 4.70447682e-03 -6.80621042e-05 9.99988932e-01 1.46748349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.881052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:20.37, Y:1.09, Z:0.01 [[ 9.88722413e-01 -1.49687141e-01 -4.66370129e-03 2.03681753e+01] [ 1.49685872e-01 9.88733408e-01 -6.21790749e-04 1.09185515e+00] [ 4.70423135e-03 -8.33117461e-05 9.99988932e-01 1.04012134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.911052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:20.39, Y:1.10, Z:0.01 [[ 9.88750488e-01 -1.49501584e-01 -4.66365022e-03 2.03946300e+01] [ 1.49500312e-01 9.88761483e-01 -6.22173523e-04 1.09661297e+00] [ 4.70425363e-03 -8.20427881e-05 9.99988932e-01 5.93594304e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.941052753999998 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:20.42, Y:1.10, Z:0.00 [[ 9.88802846e-01 -1.49154985e-01 -4.66071531e-03 2.04243567e+01] [ 1.49153605e-01 9.88813828e-01 -6.44122099e-04 1.10295432e+00] [ 4.70465377e-03 -5.82527268e-05 9.99988931e-01 3.14219964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.971052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:20.45, Y:1.11, Z:0.00 [[ 9.88947558e-01 -1.48192373e-01 -4.66343972e-03 2.04532316e+01] [ 1.48191079e-01 9.88958551e-01 -6.23753264e-04 1.10811781e+00] [ 4.70438406e-03 -7.42208946e-05 9.99988932e-01 8.82922283e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.001052754 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:20.48, Y:1.11, Z:-0.01 [[ 9.89327276e-01 -1.45635826e-01 -4.66329690e-03 2.04813922e+01] [ 1.45634498e-01 9.89338265e-01 -6.24819171e-04 1.11464100e+00] [ 4.70457412e-03 -6.09862549e-05 9.99988932e-01 -8.43979130e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.031052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.51, Y:1.12, Z:0.00 [[ 9.89594844e-01 -1.43806477e-01 -4.66277775e-03 2.05088232e+01] [ 1.43805111e-01 9.89605828e-01 -6.28688106e-04 1.11967511e+00] [ 4.70472146e-03 -4.83847626e-05 9.99988932e-01 2.35380198e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.061052754 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:20.53, Y:1.12, Z:-0.00 [[ 9.90261695e-01 -1.39140331e-01 -4.66307943e-03 2.05344914e+01] [ 1.39138924e-01 9.90272673e-01 -6.26442445e-04 1.12425436e+00] [ 4.70488355e-03 -2.84738961e-05 9.99988932e-01 -2.38335485e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.091052754 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:20.56, Y:1.13, Z:0.00 [[ 9.90421010e-01 -1.38001869e-01 -4.65915579e-03 2.05638207e+01] [ 1.38000312e-01 9.90431968e-01 -6.55664534e-04 1.12854755e+00] [ 4.70505977e-03 6.41897797e-06 9.99988931e-01 1.95544218e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.121052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.59, Y:1.13, Z:0.00 [[ 9.91034231e-01 -1.33526875e-01 -4.66121911e-03 2.05901550e+01] [ 1.33525340e-01 9.91045192e-01 -6.40303653e-04 1.13074963e+00] [ 4.70497654e-03 1.21719703e-05 9.99988931e-01 1.89425440e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.151052754 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:20.62, Y:1.13, Z:-0.00 [[ 9.91248675e-01 -1.31925557e-01 -4.65954068e-03 2.06168926e+01] [ 1.31923946e-01 9.91259626e-01 -6.52744466e-04 1.13436094e+00] [ 4.70492823e-03 3.23270934e-05 9.99988931e-01 -1.75978940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.181052754 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:20.65, Y:1.14, Z:-0.00 [[ 9.91365237e-01 -1.31046851e-01 -4.65716870e-03 2.06462716e+01] [ 1.31045148e-01 9.91376175e-01 -6.70273535e-04 1.13619075e+00] [ 4.70484333e-03 5.41865188e-05 9.99988931e-01 -8.75909144e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.211052753999997 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:20.68, Y:1.14, Z:0.00 [[ 9.91174447e-01 -1.32482059e-01 -4.66042285e-03 2.06770171e+01] [ 1.32480485e-01 9.91185403e-01 -6.46198830e-04 1.13950209e+00] [ 4.70495285e-03 2.30806873e-05 9.99988931e-01 4.58789545e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.241052754 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:20.71, Y:1.14, Z:0.01 [[ 9.90856765e-01 -1.34837372e-01 -4.66414379e-03 2.07071152e+01] [ 1.34835954e-01 9.90867742e-01 -6.18675891e-04 1.14016610e+00] [ 4.70497026e-03 -1.58750861e-05 9.99988931e-01 7.80332841e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.271052754 meters Centerline goodness : 0.998390 Centerline is valid? [True, True] Translation: X:20.74, Y:1.14, Z:0.00 [[ 9.90817366e-01 -1.35126523e-01 -4.66593865e-03 2.07364678e+01] [ 1.35125170e-01 9.90828351e-01 -6.05407112e-04 1.14021044e+00] [ 4.70495086e-03 -3.06378737e-05 9.99988931e-01 4.32436137e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.301052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.76, Y:1.14, Z:0.01 [[ 9.90932439e-01 -1.34280019e-01 -4.66664560e-03 2.07645488e+01] [ 1.34278682e-01 9.90943427e-01 -6.00189453e-04 1.14377513e+00] [ 4.70497524e-03 -3.18838206e-05 9.99988931e-01 1.23825367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.331052753999998 meters Centerline goodness : 0.997561 Centerline is valid? [True, True] Translation: X:20.79, Y:1.15, Z:0.01 [[ 9.90808031e-01 -1.35195033e-01 -4.66357832e-03 2.07948210e+01] [ 1.35193599e-01 9.90819006e-01 -6.22774271e-04 1.14789061e+00] [ 4.70495803e-03 -1.34361887e-05 9.99988932e-01 5.35846411e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.82, Y:1.16, Z:0.01 [[ 9.91019180e-01 -1.33638317e-01 -4.66750736e-03 2.08209961e+01] [ 1.33637002e-01 9.91030171e-01 -5.93911607e-04 1.15631858e+00] [ 4.70500997e-03 -3.51738960e-05 9.99988931e-01 8.48738346e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.391052753999997 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:20.85, Y:1.16, Z:-0.00 [[ 9.90625317e-01 -1.36527470e-01 -4.66167705e-03 2.08547511e+01] [ 1.36525986e-01 9.90636285e-01 -6.36605369e-04 1.16195906e+00] [ 4.70494055e-03 -5.80265940e-06 9.99988932e-01 -2.35337204e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.421052753999998 meters Centerline goodness : 0.997653 Centerline is valid? [True, True] Translation: X:20.88, Y:1.16, Z:0.00 [[ 9.89930413e-01 -1.41477823e-01 -4.66944899e-03 2.08816240e+01] [ 1.41476663e-01 9.89941422e-01 -5.79493431e-04 1.16489386e+00] [ 4.70446644e-03 -8.69598901e-05 9.99988930e-01 3.73369627e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.451052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.91, Y:1.17, Z:0.01 [[ 9.89663425e-01 -1.43333645e-01 -4.66594027e-03 2.09079448e+01] [ 1.43332384e-01 9.89674422e-01 -6.05196188e-04 1.16685159e+00] [ 4.70450672e-03 -6.98398116e-05 9.99988931e-01 6.25953695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.481052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.94, Y:1.17, Z:0.01 [[ 9.88717420e-01 -1.49720188e-01 -4.66141234e-03 2.09366441e+01] [ 1.49718843e-01 9.88728406e-01 -6.38264826e-04 1.17215060e+00] [ 4.70443193e-03 -6.68377087e-05 9.99988932e-01 5.05947041e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.511052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.97, Y:1.18, Z:0.00 [[ 9.88300504e-01 -1.52447977e-01 -4.66126240e-03 2.09650202e+01] [ 1.52446656e-01 9.88311494e-01 -6.39357991e-04 1.17658071e+00] [ 4.70424804e-03 -7.87160419e-05 9.99988932e-01 4.98957944e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.541052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.99, Y:1.18, Z:0.01 [[ 9.88127260e-01 -1.53566900e-01 -4.66111035e-03 2.09928136e+01] [ 1.53565586e-01 9.88138250e-01 -6.40464579e-04 1.18116253e+00] [ 4.70417558e-03 -8.29256347e-05 9.99988932e-01 5.71767652e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.571052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.02, Y:1.19, Z:0.01 [[ 9.88312287e-01 -1.52371579e-01 -4.66105656e-03 2.10205756e+01] [ 1.52370250e-01 9.88323275e-01 -6.40855820e-04 1.18550613e+00] [ 4.70427890e-03 -7.68406723e-05 9.99988932e-01 5.82653064e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.601052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.05, Y:1.19, Z:0.00 [[ 9.89100585e-01 -1.47167617e-01 -4.66097611e-03 2.10485783e+01] [ 1.47166228e-01 9.89111566e-01 -6.41440405e-04 1.18991263e+00] [ 4.70462463e-03 -5.14891922e-05 9.99988932e-01 3.66178221e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.631052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.08, Y:1.19, Z:0.00 [[ 9.89588499e-01 -1.43850196e-01 -4.66092330e-03 2.10770653e+01] [ 1.43848769e-01 9.89599474e-01 -6.41823917e-04 1.19415233e+00] [ 4.70477374e-03 -3.53265107e-05 9.99988932e-01 2.96427525e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.661052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.10, Y:1.20, Z:-0.01 [[ 9.90037154e-01 -1.40729208e-01 -4.66077684e-03 2.11026881e+01] [ 1.40727741e-01 9.90048125e-01 -6.42885714e-04 1.20286071e+00] [ 4.70486617e-03 -1.94198522e-05 9.99988932e-01 -5.46185592e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.691052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.13, Y:1.20, Z:-0.00 [[ 9.91023075e-01 -1.33609826e-01 -4.65601218e-03 2.11343044e+01] [ 1.33608118e-01 9.91034012e-01 -6.77353586e-04 1.20261175e+00] [ 4.70476752e-03 4.91920110e-05 9.99988931e-01 -2.66996786e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.721052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.16, Y:1.20, Z:-0.00 [[ 9.91102420e-01 -1.33019818e-01 -4.66062939e-03 2.11625383e+01] [ 1.33018260e-01 9.91113378e-01 -6.43935453e-04 1.20462980e+00] [ 4.70486832e-03 1.82571715e-05 9.99988932e-01 -2.05167594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.751052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.19, Y:1.21, Z:0.00 [[ 9.90972262e-01 -1.33986024e-01 -4.66057673e-03 2.11913311e+01] [ 1.33984476e-01 9.90983221e-01 -6.44316394e-04 1.20646244e+00] [ 4.70488273e-03 1.40547435e-05 9.99988932e-01 1.17386430e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.781052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.22, Y:1.21, Z:0.00 [[ 9.90483161e-01 -1.37555038e-01 -4.66043133e-03 2.12207149e+01] [ 1.37553524e-01 9.90494125e-01 -6.45366364e-04 1.20796662e+00] [ 4.70490325e-03 -1.83423883e-06 9.99988932e-01 3.78620973e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.811052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.25, Y:1.21, Z:0.00 [[ 9.90463738e-01 -1.37694826e-01 -4.66028379e-03 2.12482880e+01] [ 1.37693309e-01 9.90474702e-01 -6.46430036e-04 1.21338180e+00] [ 4.70490327e-03 -1.42438554e-06 9.99988932e-01 4.02971802e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.841052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.28, Y:1.22, Z:0.00 [[ 9.90428110e-01 -1.37950869e-01 -4.66020544e-03 2.12766232e+01] [ 1.37949352e-01 9.90439073e-01 -6.46994390e-04 1.21740578e+00] [ 4.70490299e-03 -2.07088905e-06 9.99988932e-01 4.16406964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.871052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.30, Y:1.22, Z:0.00 [[ 9.90172360e-01 -1.39774754e-01 -4.66003787e-03 2.13038260e+01] [ 1.39773251e-01 9.90183326e-01 -6.48199069e-04 1.22294186e+00] [ 4.70489366e-03 -9.51984175e-06 9.99988932e-01 2.75904611e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.901052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.33, Y:1.22, Z:0.00 [[ 9.90097490e-01 -1.40304174e-01 -4.65812373e-03 2.13332155e+01] [ 1.40302613e-01 9.90108448e-01 -6.61940640e-04 1.22429081e+00] [ 4.70492069e-03 1.83883612e-06 9.99988932e-01 4.14783806e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.931052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.36, Y:1.23, Z:0.00 [[ 9.89571196e-01 -1.43969209e-01 -4.65983242e-03 2.13606823e+01] [ 1.43967746e-01 9.89582167e-01 -6.49685182e-04 1.22917356e+00] [ 4.70482172e-03 -2.79558275e-05 9.99988932e-01 3.30049624e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.961052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.39, Y:1.23, Z:0.00 [[ 9.89304165e-01 -1.45792854e-01 -4.65966597e-03 2.13881521e+01] [ 1.45791406e-01 9.89315138e-01 -6.50876796e-04 1.23397240e+00] [ 4.70477127e-03 -3.54241266e-05 9.99988932e-01 3.48053595e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.991052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.41, Y:1.24, Z:-0.00 [[ 9.88259216e-01 -1.52715460e-01 -4.65948927e-03 2.14121557e+01] [ 1.52714082e-01 9.88270198e-01 -6.52139279e-04 1.24296234e+00] [ 4.70442613e-03 -6.70869737e-05 9.99988932e-01 -2.45484615e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.021052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:21.44, Y:1.25, Z:-0.00 [[ 9.88262204e-01 -1.52696309e-01 -4.65322928e-03 2.14427787e+01] [ 1.52694720e-01 9.88273159e-01 -6.96807946e-04 1.24555343e+00] [ 4.70506160e-03 -2.18945865e-05 9.99988931e-01 -2.09204396e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.051052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.47, Y:1.25, Z:-0.01 [[ 9.86737349e-01 -1.62258155e-01 -4.65773455e-03 2.14703521e+01] [ 1.62256825e-01 9.86748337e-01 -6.64632385e-04 1.25309183e+00] [ 4.70385385e-03 -9.99316224e-05 9.99988932e-01 -5.63776277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.081052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.50, Y:1.25, Z:0.00 [[ 9.87012687e-01 -1.60574744e-01 -4.65902534e-03 2.14996024e+01] [ 1.60573438e-01 9.87023678e-01 -6.55422391e-04 1.25100815e+00] [ 4.70381261e-03 -1.01205500e-04 9.99988932e-01 9.06103091e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.53, Y:1.26, Z:-0.00 [[ 9.86211905e-01 -1.65421790e-01 -4.65928903e-03 2.15258636e+01] [ 1.65420547e-01 9.86222904e-01 -6.53542480e-04 1.25857585e+00] [ 4.70320772e-03 -1.26210764e-04 9.99988932e-01 -4.39786604e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.141052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.55, Y:1.26, Z:-0.00 [[ 9.86507020e-01 -1.63652685e-01 -4.65820793e-03 2.15505147e+01] [ 1.63651386e-01 9.86518011e-01 -6.61242039e-04 1.26313824e+00] [ 4.70362006e-03 -1.10002270e-04 9.99988932e-01 -4.37653618e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.171052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.58, Y:1.27, Z:-0.00 [[ 9.86881863e-01 -1.61376992e-01 -4.65357201e-03 2.15783949e+01] [ 1.61375511e-01 9.86892832e-01 -6.94417912e-04 1.26798322e+00] [ 4.70463993e-03 -6.56641185e-05 9.99988931e-01 -3.56849925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.201052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.61, Y:1.27, Z:-0.00 [[ 9.87342316e-01 -1.58535450e-01 -4.65426177e-03 2.16089719e+01] [ 1.58533961e-01 9.87353284e-01 -6.89486732e-04 1.26996096e+00] [ 4.70470873e-03 -5.70991283e-05 9.99988931e-01 -6.85468019e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.231052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.64, Y:1.27, Z:0.00 [[ 9.87937099e-01 -1.54785583e-01 -4.65966541e-03 2.16373593e+01] [ 1.54784234e-01 9.87948084e-01 -6.50796976e-04 1.27342043e+00] [ 4.70424151e-03 -7.82962664e-05 9.99988932e-01 1.40416567e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.261052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.66, Y:1.28, Z:0.00 [[ 9.88454517e-01 -1.51446152e-01 -4.66156101e-03 2.16647409e+01] [ 1.51444831e-01 9.88465506e-01 -6.37230339e-04 1.27655000e+00] [ 4.70429835e-03 -7.60961108e-05 9.99988932e-01 2.28724386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.291052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.69, Y:1.28, Z:0.00 [[ 9.88532772e-01 -1.50934584e-01 -4.65935887e-03 2.16914267e+01] [ 1.50933183e-01 9.88543751e-01 -6.52944652e-04 1.28060081e+00] [ 4.70453202e-03 -5.77946770e-05 9.99988932e-01 3.47082267e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.72, Y:1.29, Z:0.00 [[ 9.88399911e-01 -1.51802197e-01 -4.65923488e-03 2.17193929e+01] [ 1.51800801e-01 9.88410891e-01 -6.53828227e-04 1.28631805e+00] [ 4.70449106e-03 -6.10318262e-05 9.99988932e-01 3.71105939e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.351052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.75, Y:1.29, Z:0.00 [[ 9.88402067e-01 -1.51788166e-01 -4.65905466e-03 2.17468200e+01] [ 1.51786764e-01 9.88413046e-01 -6.55109882e-04 1.28976013e+00] [ 4.70450834e-03 -5.96708702e-05 9.99988932e-01 4.85200167e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.77, Y:1.29, Z:0.01 [[ 9.88136892e-01 -1.53504997e-01 -4.65812618e-03 2.17747552e+01] [ 1.53503583e-01 9.88147870e-01 -6.61704723e-04 1.29371005e+00] [ 4.70449244e-03 -6.11842091e-05 9.99988932e-01 5.18950223e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.80, Y:1.30, Z:0.01 [[ 9.88468692e-01 -1.51353695e-01 -4.65880788e-03 2.18035153e+01] [ 1.51352280e-01 9.88479669e-01 -6.56869810e-04 1.29775695e+00] [ 4.70455654e-03 -5.58259511e-05 9.99988932e-01 7.01664019e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.441052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.83, Y:1.30, Z:0.01 [[ 9.88437256e-01 -1.51558849e-01 -4.65906069e-03 2.18302503e+01] [ 1.51557445e-01 9.88448234e-01 -6.55078233e-04 1.30381703e+00] [ 4.70452322e-03 -5.86116037e-05 9.99988932e-01 5.19004576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.471052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.86, Y:1.31, Z:0.00 [[ 9.88933346e-01 -1.48287341e-01 -4.65856211e-03 2.18589872e+01] [ 1.48285883e-01 9.88944317e-01 -6.58604875e-04 1.30939099e+00] [ 4.70472129e-03 -3.94826761e-05 9.99988932e-01 4.58826460e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.501052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.89, Y:1.31, Z:0.00 [[ 9.89426413e-01 -1.44960906e-01 -4.65939593e-03 2.18861092e+01] [ 1.44959439e-01 9.89437383e-01 -6.52715584e-04 1.31475496e+00] [ 4.70479876e-03 -2.96093823e-05 9.99988932e-01 4.82168574e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.531052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.91, Y:1.32, Z:0.00 [[ 9.89647856e-01 -1.43441294e-01 -4.66001309e-03 2.19136860e+01] [ 1.43439831e-01 9.89658827e-01 -6.48362230e-04 1.31875539e+00] [ 4.70482501e-03 -2.67811987e-05 9.99988932e-01 3.60145861e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.561052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.94, Y:1.32, Z:-0.00 [[ 9.89837028e-01 -1.42130024e-01 -4.65981135e-03 2.19391522e+01] [ 1.42128540e-01 9.89847996e-01 -6.49782524e-04 1.32413181e+00] [ 4.70485853e-03 -1.91133819e-05 9.99988932e-01 -8.81887672e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.591052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.97, Y:1.33, Z:-0.00 [[ 9.89939876e-01 -1.41411969e-01 -4.65793702e-03 2.19660229e+01] [ 1.41410415e-01 9.89950835e-01 -6.62951616e-04 1.32803150e+00] [ 4.70487794e-03 -2.39856469e-06 9.99988932e-01 -1.76797397e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.621052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.00, Y:1.33, Z:-0.00 [[ 9.90246402e-01 -1.39249302e-01 -4.65786020e-03 2.19965112e+01] [ 1.39247721e-01 9.90257356e-01 -6.63490912e-04 1.32977312e+00] [ 4.70487098e-03 8.42306802e-06 9.99988932e-01 -1.50049038e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.651052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.02, Y:1.33, Z:-0.00 [[ 9.90453736e-01 -1.37766750e-01 -4.66050768e-03 2.20227776e+01] [ 1.37765241e-01 9.90464700e-01 -6.44903356e-04 1.33202347e+00] [ 4.70491458e-03 -3.30902426e-06 9.99988932e-01 -1.23401507e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.681052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.05, Y:1.33, Z:0.00 [[ 9.90130517e-01 -1.40070950e-01 -4.65703934e-03 2.20510061e+01] [ 1.40069352e-01 9.90141469e-01 -6.69201116e-04 1.33240343e+00] [ 4.70486341e-03 1.02879643e-05 9.99988932e-01 2.53789765e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.711052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.08, Y:1.33, Z:0.01 [[ 9.90011019e-01 -1.40913052e-01 -4.65760535e-03 2.20815031e+01] [ 1.40911482e-01 9.90021975e-01 -6.65238237e-04 1.33209043e+00] [ 4.70487240e-03 2.28311399e-06 9.99988932e-01 7.02137781e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.741052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.11, Y:1.33, Z:0.01 [[ 9.89590070e-01 -1.43839397e-01 -4.66054775e-03 2.21084464e+01] [ 1.43837956e-01 9.89601044e-01 -6.44664076e-04 1.33493232e+00] [ 4.70481101e-03 -3.24104963e-05 9.99988932e-01 5.35944155e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.771052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.14, Y:1.34, Z:0.00 [[ 9.89366186e-01 -1.45371456e-01 -4.65720417e-03 2.21363459e+01] [ 1.45369922e-01 9.89377147e-01 -6.67975894e-04 1.33835606e+00] [ 4.70483601e-03 -1.61446472e-05 9.99988932e-01 3.56268205e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.801052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.16, Y:1.34, Z:0.00 [[ 9.89168347e-01 -1.46711599e-01 -4.65702367e-03 2.21633414e+01] [ 1.46710074e-01 9.89179309e-01 -6.69231940e-04 1.34147208e+00] [ 4.70481555e-03 -2.12492382e-05 9.99988932e-01 2.25583107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.831052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.19, Y:1.34, Z:0.00 [[ 9.88737986e-01 -1.49584454e-01 -4.65694583e-03 2.21913795e+01] [ 1.49582958e-01 9.88748952e-01 -6.69773181e-04 1.34310270e+00] [ 4.70473797e-03 -3.43695474e-05 9.99988932e-01 1.30355931e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.22, Y:1.35, Z:0.00 [[ 9.88506408e-01 -1.51107231e-01 -4.65676734e-03 2.22191328e+01] [ 1.51105747e-01 9.88517376e-01 -6.71011902e-04 1.34599795e+00] [ 4.70469018e-03 -4.03647404e-05 9.99988932e-01 4.88582986e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.891052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.25, Y:1.35, Z:0.01 [[ 9.88495884e-01 -1.51176066e-01 -4.65658632e-03 2.22454280e+01] [ 1.51174577e-01 9.88506852e-01 -6.72265785e-04 1.35025075e+00] [ 4.70469798e-03 -3.94255033e-05 9.99988932e-01 6.86304980e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.921052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.27, Y:1.36, Z:0.01 [[ 9.88594456e-01 -1.50530123e-01 -4.65650809e-03 2.22710954e+01] [ 1.50528624e-01 9.88605422e-01 -6.72807188e-04 1.35855527e+00] [ 4.70472690e-03 -3.58042978e-05 9.99988932e-01 6.39091247e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.951052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.30, Y:1.37, Z:0.00 [[ 9.88689821e-01 -1.49902486e-01 -4.65643078e-03 2.22979843e+01] [ 1.49900977e-01 9.88700786e-01 -6.73341847e-04 1.36522789e+00] [ 4.70475239e-03 -3.22772951e-05 9.99988932e-01 4.55211717e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.981052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.32, Y:1.37, Z:0.00 [[ 9.88873704e-01 -1.48684621e-01 -4.65635125e-03 2.23243796e+01] [ 1.48683096e-01 9.88884666e-01 -6.73891384e-04 1.37200492e+00] [ 4.70479163e-03 -2.59272517e-05 9.99988932e-01 1.20182607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.011052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.35, Y:1.38, Z:0.00 [[ 9.88846900e-01 -1.48862784e-01 -4.65622773e-03 2.23524437e+01] [ 1.48861257e-01 9.88857862e-01 -6.74743770e-04 1.37650761e+00] [ 4.70479163e-03 -2.59136253e-05 9.99988932e-01 6.22548708e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.041052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.38, Y:1.38, Z:-0.00 [[ 9.88566119e-01 -1.50716122e-01 -4.65605110e-03 2.23811830e+01] [ 1.50714610e-01 9.88577083e-01 -6.75960383e-04 1.38070479e+00] [ 4.70474354e-03 -3.35033928e-05 9.99988932e-01 -1.99020644e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.41, Y:1.39, Z:-0.00 [[ 9.88162335e-01 -1.53341198e-01 -4.65589521e-03 2.24089660e+01] [ 1.53339710e-01 9.88173302e-01 -6.77032400e-04 1.38530645e+00] [ 4.70464831e-03 -4.49157061e-05 9.99988932e-01 -2.93913898e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.101052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.44, Y:1.39, Z:-0.01 [[ 9.87129415e-01 -1.59855695e-01 -4.65571257e-03 2.24360149e+01] [ 1.59854273e-01 9.87140391e-01 -6.78286047e-04 1.39011775e+00] [ 4.70426981e-03 -7.46794410e-05 9.99988932e-01 -6.13140562e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.46, Y:1.39, Z:-0.01 [[ 9.86611003e-01 -1.63024702e-01 -4.65562698e-03 2.24636642e+01] [ 1.63023313e-01 9.86621984e-01 -6.78872986e-04 1.39383066e+00] [ 4.70401700e-03 -8.91921766e-05 9.99988932e-01 -6.08168419e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.49, Y:1.40, Z:-0.00 [[ 9.85586937e-01 -1.69105637e-01 -4.65544748e-03 2.24926627e+01] [ 1.69104310e-01 9.85597925e-01 -6.80101706e-04 1.39589382e+00] [ 4.70340841e-03 -1.16956878e-04 9.99988932e-01 -8.76850269e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.191052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.52, Y:1.40, Z:0.00 [[ 9.85088077e-01 -1.71987814e-01 -4.65528922e-03 2.25211814e+01] [ 1.71986514e-01 9.85099069e-01 -6.81183322e-04 1.39948285e+00] [ 4.70307630e-03 -1.29621395e-04 9.99988932e-01 2.37851744e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.55, Y:1.40, Z:0.01 [[ 9.84385890e-01 -1.75962352e-01 -4.65512635e-03 2.25490965e+01] [ 1.75961091e-01 9.84396886e-01 -6.82294486e-04 1.40309231e+00] [ 4.70255003e-03 -1.47480049e-04 9.99988932e-01 5.48909555e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.251052754 meters Centerline goodness : 0.998194 Centerline is valid? [True, True] Translation: X:22.58, Y:1.41, Z:0.00 [[ 9.84052406e-01 -1.77817870e-01 -4.65494143e-03 2.25756842e+01] [ 1.77816623e-01 9.84063403e-01 -6.83553808e-04 1.40966289e+00] [ 4.70230559e-03 -1.55073197e-04 9.99988932e-01 3.79776179e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.281052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.60, Y:1.42, Z:0.00 [[ 9.84111189e-01 -1.77492352e-01 -4.65105715e-03 2.26029608e+01] [ 1.77490978e-01 9.84122172e-01 -7.09949764e-04 1.41513664e+00] [ 4.70321912e-03 -1.26851175e-04 9.99988932e-01 4.46736946e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.311052754 meters Centerline goodness : 0.998438 Centerline is valid? [True, True] Translation: X:22.63, Y:1.42, Z:0.01 [[ 9.84407110e-01 -1.75843692e-01 -4.65164682e-03 2.26305776e+01] [ 1.75842318e-01 9.84418093e-01 -7.05946089e-04 1.41959840e+00] [ 4.70330146e-03 -1.23018008e-04 9.99988932e-01 5.20229542e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.341052754 meters Centerline goodness : 0.997590 Centerline is valid? [True, True] Translation: X:22.66, Y:1.42, Z:0.01 [[ 9.85229578e-01 -1.71175478e-01 -4.65119099e-03 2.26578986e+01] [ 1.71174038e-01 9.85240552e-01 -7.09039286e-04 1.42342293e+00] [ 4.70391212e-03 -9.75966655e-05 9.99988932e-01 7.11775146e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.371052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.68, Y:1.43, Z:0.01 [[ 9.85609239e-01 -1.68975750e-01 -4.65012636e-03 2.26846216e+01] [ 1.68974251e-01 9.85620206e-01 -7.16253358e-04 1.42846187e+00] [ 4.70428794e-03 -7.98056912e-05 9.99988932e-01 6.36188092e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.401052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.71, Y:1.44, Z:0.00 [[ 9.86235688e-01 -1.65280192e-01 -4.65034337e-03 2.27140490e+01] [ 1.65278658e-01 9.86246650e-01 -7.14778560e-04 1.43670585e+00] [ 4.70452431e-03 -6.36623881e-05 9.99988932e-01 2.94860316e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.431052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.74, Y:1.44, Z:0.00 [[ 9.87253980e-01 -1.59084604e-01 -4.65477910e-03 2.27417034e+01] [ 1.59083144e-01 9.87264952e-01 -6.84619767e-04 1.44323136e+00] [ 4.70441272e-03 -6.46033031e-05 9.99988932e-01 1.32094491e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.461052753999997 meters Centerline goodness : 0.998177 Centerline is valid? [True, True] Translation: X:22.77, Y:1.45, Z:-0.00 [[ 9.87988058e-01 -1.54460134e-01 -4.65459091e-03 2.27660164e+01] [ 1.54458616e-01 9.87999021e-01 -6.85896839e-04 1.44759132e+00] [ 4.70467498e-03 -4.12837858e-05 9.99988932e-01 -2.19220980e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.80, Y:1.45, Z:0.00 [[ 9.88259317e-01 -1.52715090e-01 -4.65008022e-03 2.27967593e+01] [ 1.52713409e-01 9.88270257e-01 -7.16443779e-04 1.45210007e+00] [ 4.70494775e-03 -2.09736188e-06 9.99988932e-01 1.33805362e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.82, Y:1.46, Z:0.00 [[ 9.88867982e-01 -1.48722733e-01 -4.65442805e-03 2.28240667e+01] [ 1.48721147e-01 9.88878935e-01 -6.86986662e-04 1.45598766e+00] [ 4.70483638e-03 -1.28727644e-05 9.99988932e-01 1.52103800e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.551052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.85, Y:1.46, Z:0.00 [[ 9.89080496e-01 -1.47302780e-01 -4.65436925e-03 2.28518742e+01] [ 1.47301176e-01 9.89091447e-01 -6.87384806e-04 1.45982677e+00] [ 4.70485051e-03 -5.71516014e-06 9.99988932e-01 1.11764847e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.581052753999998 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:22.88, Y:1.46, Z:-0.00 [[ 9.89414856e-01 -1.45039931e-01 -4.65417930e-03 2.28791076e+01] [ 1.45038296e-01 9.89425802e-01 -6.88668492e-04 1.46316551e+00] [ 4.70484952e-03 6.34460134e-06 9.99988932e-01 -4.24081270e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.91, Y:1.47, Z:-0.00 [[ 9.89135717e-01 -1.46931633e-01 -4.65055683e-03 2.29092669e+01] [ 1.46929904e-01 9.89146650e-01 -7.13101935e-04 1.46696139e+00] [ 4.70485993e-03 2.20487242e-05 9.99988932e-01 -9.96287028e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.641052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.94, Y:1.47, Z:0.00 [[ 9.88569015e-01 -1.50697191e-01 -4.65393421e-03 2.29372758e+01] [ 1.50695611e-01 9.88579970e-01 -6.90333031e-04 1.46589369e+00] [ 4.70481739e-03 -1.88856161e-05 9.99988932e-01 1.99596409e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.671052753999998 meters Centerline goodness : 0.996894 Centerline is valid? [True, True] Translation: X:22.97, Y:1.47, Z:-0.00 [[ 9.87440271e-01 -1.57924201e-01 -4.65380391e-03 2.29690264e+01] [ 1.57922697e-01 9.87451236e-01 -6.91210323e-04 1.46583330e+00] [ 4.70456326e-03 -5.24123576e-05 9.99988932e-01 -2.91489522e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.701052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.00, Y:1.47, Z:0.00 [[ 9.86931844e-01 -1.61070877e-01 -4.65917096e-03 2.29951936e+01] [ 1.61069578e-01 9.86942836e-01 -6.55092142e-04 1.46924270e+00] [ 4.70385167e-03 -1.03919405e-04 9.99988931e-01 4.54662813e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.731052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.02, Y:1.47, Z:0.00 [[ 9.86888174e-01 -1.61338396e-01 -4.65334100e-03 2.30234940e+01] [ 1.61336916e-01 9.86899143e-01 -6.94172926e-04 1.47354727e+00] [ 4.70437499e-03 -6.56846355e-05 9.99988932e-01 4.66047103e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.761052753999998 meters Centerline goodness : 0.997855 Centerline is valid? [True, True] Translation: X:23.05, Y:1.47, Z:0.00 [[ 9.86978001e-01 -1.60787978e-01 -4.65315262e-03 2.30537993e+01] [ 1.60786486e-01 9.86988968e-01 -6.95433392e-04 1.47343905e+00] [ 4.70442763e-03 -6.17865969e-05 9.99988932e-01 2.86216413e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.791052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.08, Y:1.48, Z:0.01 [[ 9.85894527e-01 -1.67303015e-01 -4.65651249e-03 2.30803335e+01] [ 1.67301701e-01 9.85905517e-01 -6.72964574e-04 1.47942648e+00] [ 4.70347035e-03 -1.15570371e-04 9.99988932e-01 8.21177679e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.821052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.11, Y:1.48, Z:0.01 [[ 9.86075450e-01 -1.66233444e-01 -4.65285125e-03 2.31114019e+01] [ 1.66232003e-01 9.86086424e-01 -6.97391642e-04 1.48164873e+00] [ 4.70404326e-03 -8.57720071e-05 9.99988932e-01 6.94432138e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.851052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.14, Y:1.49, Z:0.01 [[ 9.85564381e-01 -1.69236995e-01 -4.65732710e-03 2.31369402e+01] [ 1.69235729e-01 9.85575376e-01 -6.67525431e-04 1.48861997e+00] [ 4.70311690e-03 -1.30296858e-04 9.99988932e-01 7.41173730e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.881052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.16, Y:1.49, Z:0.01 [[ 9.86070058e-01 -1.66265450e-01 -4.65198591e-03 2.31645900e+01] [ 1.66263983e-01 9.86081028e-01 -7.03050885e-04 1.49382489e+00] [ 4.70412812e-03 -8.02002802e-05 9.99988932e-01 9.89430078e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.911052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.19, Y:1.50, Z:0.00 [[ 9.85846072e-01 -1.67588419e-01 -4.65241186e-03 2.31937710e+01] [ 1.67586980e-01 9.85857045e-01 -7.00220826e-04 1.50010429e+00] [ 4.70396191e-03 -8.93737012e-05 9.99988932e-01 4.55144132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.941052753999998 meters Centerline goodness : 0.997173 Centerline is valid? [True, True] Translation: X:23.22, Y:1.50, Z:0.00 [[ 9.86291877e-01 -1.64944440e-01 -4.65451576e-03 2.32226916e+01] [ 1.64943038e-01 9.86302856e-01 -6.86198765e-04 1.50381637e+00] [ 4.70394685e-03 -9.09377017e-05 9.99988932e-01 4.93203148e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.971052754 meters Centerline goodness : 0.998450 Centerline is valid? [True, True] Translation: X:23.25, Y:1.51, Z:0.00 [[ 9.86746017e-01 -1.62205329e-01 -4.66136096e-03 2.32515265e+01] [ 1.62204113e-01 9.86757020e-01 -6.40354794e-04 1.51038687e+00] [ 4.70349961e-03 -1.24224376e-04 9.99988931e-01 3.27864722e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.001052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.28, Y:1.52, Z:0.00 [[ 9.86664072e-01 -1.62703048e-01 -4.66123396e-03 2.32770235e+01] [ 1.62701833e-01 9.86675074e-01 -6.41197979e-04 1.51791376e+00] [ 4.70344823e-03 -1.25744299e-04 9.99988931e-01 2.44374917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.031052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.30, Y:1.52, Z:0.00 [[ 9.87716389e-01 -1.56187899e-01 -4.65553756e-03 2.33043387e+01] [ 1.56186436e-01 9.87727360e-01 -6.78628534e-04 1.52287153e+00] [ 4.70439539e-03 -5.68392920e-05 9.99988933e-01 4.09992753e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.061052754 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:23.33, Y:1.53, Z:0.00 [[ 9.88703535e-01 -1.49812026e-01 -4.65589940e-03 2.33334612e+01] [ 1.49810503e-01 9.88714497e-01 -6.76236079e-04 1.52735758e+00] [ 4.70466353e-03 -2.89056275e-05 9.99988933e-01 4.52540599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.091052754 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:23.36, Y:1.53, Z:0.00 [[ 9.88663229e-01 -1.50077632e-01 -4.66090649e-03 2.33616147e+01] [ 1.50076267e-01 9.88674213e-01 -6.43110841e-04 1.53281227e+00] [ 4.70463462e-03 -6.36714081e-05 9.99988931e-01 3.61268962e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.121052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.38, Y:1.54, Z:0.00 [[ 9.88431381e-01 -1.51597131e-01 -4.65998002e-03 2.33840510e+01] [ 1.51595755e-01 9.88442363e-01 -6.49226263e-04 1.53575886e+00] [ 4.70454251e-03 -6.47175765e-05 9.99988931e-01 1.70773206e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.151052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.41, Y:1.54, Z:0.00 [[ 9.87753238e-01 -1.55954876e-01 -4.64953271e-03 2.34144513e+01] [ 1.55953224e-01 9.87764181e-01 -7.18050728e-04 1.53898718e+00] [ 4.70462538e-03 -1.58526825e-05 9.99988933e-01 2.87250594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.181052754 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:23.44, Y:1.54, Z:0.01 [[ 9.87026276e-01 -1.60491321e-01 -4.65465289e-03 2.34420589e+01] [ 1.60489879e-01 9.87037249e-01 -6.84160054e-04 1.53945104e+00] [ 4.70411754e-03 -7.17407286e-05 9.99988933e-01 7.22165387e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.211052753999997 meters Centerline goodness : 0.998014 Centerline is valid? [True, True] Translation: X:23.47, Y:1.54, Z:0.01 [[ 9.86588384e-01 -1.63161548e-01 -4.65509758e-03 2.34688318e+01] [ 1.63160149e-01 9.86599362e-01 -6.81219423e-04 1.54316167e+00] [ 4.70386512e-03 -8.74432443e-05 9.99988933e-01 1.06447465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.241052754 meters Centerline goodness : 0.998552 Centerline is valid? [True, True] Translation: X:23.50, Y:1.55, Z:0.01 [[ 9.85897818e-01 -1.67283776e-01 -4.65088296e-03 2.34952124e+01] [ 1.67282293e-01 9.85908785e-01 -7.09022558e-04 1.54592933e+00] [ 4.70395434e-03 -7.89865711e-05 9.99988933e-01 1.31327464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.271052754 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:23.52, Y:1.55, Z:0.01 [[ 9.85687632e-01 -1.68517878e-01 -4.64937495e-03 2.35235190e+01] [ 1.68516360e-01 9.85698595e-01 -7.18962318e-04 1.55135445e+00] [ 4.70404035e-03 -7.48234795e-05 9.99988933e-01 1.22742356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.301052753999997 meters Centerline goodness : 0.997255 Centerline is valid? [True, True] Translation: X:23.55, Y:1.56, Z:0.01 [[ 9.85508147e-01 -1.69564330e-01 -4.65087657e-03 2.35539516e+01] [ 1.69562872e-01 9.85519117e-01 -7.09070130e-04 1.55693389e+00] [ 4.70376077e-03 -8.98215968e-05 9.99988933e-01 1.05974524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.331052753999998 meters Centerline goodness : 0.998247 Centerline is valid? [True, True] Translation: X:23.58, Y:1.56, Z:0.01 [[ 9.85868404e-01 -1.67456833e-01 -4.65827659e-03 2.35804943e+01] [ 1.67455582e-01 9.85879400e-01 -6.60276173e-04 1.56012728e+00] [ 4.70306669e-03 -1.29108998e-04 9.99988932e-01 1.14864616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.61, Y:1.57, Z:0.01 [[ 9.85927247e-01 -1.67110167e-01 -4.65353955e-03 2.36089250e+01] [ 1.67108764e-01 9.85938225e-01 -6.91395672e-04 1.56548462e+00] [ 4.70364177e-03 -9.59814101e-05 9.99988933e-01 1.18834568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.391052753999997 meters Centerline goodness : 0.998586 Centerline is valid? [True, True] Translation: X:23.63, Y:1.57, Z:0.01 [[ 9.86955137e-01 -1.60928157e-01 -4.65672751e-03 2.36325158e+01] [ 1.60926784e-01 9.86966119e-01 -6.70493040e-04 1.57196530e+00] [ 4.70393348e-03 -8.76456294e-05 9.99988933e-01 1.01153926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.421052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.67, Y:1.58, Z:0.01 [[ 9.87122245e-01 -1.59900165e-01 -4.64865355e-03 2.36667595e+01] [ 1.59898532e-01 9.87133191e-01 -7.23222960e-04 1.57803256e+00] [ 4.70448368e-03 -2.94034054e-05 9.99988933e-01 8.39336631e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.451052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.69, Y:1.58, Z:0.01 [[ 9.87591496e-01 -1.56975590e-01 -4.65839648e-03 2.36942857e+01] [ 1.56974221e-01 9.87602480e-01 -6.60417535e-04 1.58263000e+00] [ 4.70431334e-03 -7.90254145e-05 9.99988932e-01 6.22920552e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.481052753999997 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:23.72, Y:1.59, Z:0.00 [[ 9.87831129e-01 -1.55460559e-01 -4.65564441e-03 2.37204407e+01] [ 1.55459088e-01 9.87842099e-01 -6.78274841e-04 1.58754129e+00] [ 4.70448653e-03 -5.37412334e-05 9.99988932e-01 4.85131392e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.511052753999998 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:23.75, Y:1.59, Z:0.00 [[ 9.88017224e-01 -1.54273604e-01 -4.64981030e-03 2.37526508e+01] [ 1.54271943e-01 9.88028165e-01 -7.16017427e-04 1.58974175e+00] [ 4.70460613e-03 -9.89772079e-06 9.99988933e-01 1.73549145e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.541052754 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:23.78, Y:1.59, Z:0.00 [[ 9.87200686e-01 -1.59414952e-01 -4.65599494e-03 2.37787457e+01] [ 1.59413536e-01 9.87211663e-01 -6.76017047e-04 1.59427267e+00] [ 4.70421973e-03 -7.48641260e-05 9.99988932e-01 4.94398189e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.571052754 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:23.81, Y:1.60, Z:0.00 [[ 9.86740030e-01 -1.62242011e-01 -4.65229785e-03 2.38097817e+01] [ 1.62240514e-01 9.86750995e-01 -6.99862921e-04 1.59563778e+00] [ 4.70420669e-03 -6.42084347e-05 9.99988933e-01 3.28236012e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.601052753999998 meters Centerline goodness : 0.990530 Centerline is valid? [True, True] Translation: X:23.84, Y:1.60, Z:0.00 [[ 9.85864174e-01 -1.67481783e-01 -4.65652940e-03 2.38359279e+01] [ 1.67480474e-01 9.85875164e-01 -6.72288284e-04 1.59753002e+00] [ 4.70335272e-03 -1.17092817e-04 9.99988932e-01 4.98534748e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.631052754 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:23.86, Y:1.60, Z:0.01 [[ 9.85317690e-01 -1.70667563e-01 -4.65101268e-03 2.38621847e+01] [ 1.70666120e-01 9.85328663e-01 -7.08131252e-04 1.60257784e+00] [ 4.70363114e-03 -9.60360416e-05 9.99988933e-01 5.85106577e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.661052754 meters Centerline goodness : 0.990350 Centerline is valid? [True, True] Translation: X:23.89, Y:1.61, Z:0.01 [[ 9.85527668e-01 -1.69450915e-01 -4.64789217e-03 2.38927442e+01] [ 1.69449363e-01 9.85538626e-01 -7.28382526e-04 1.60563865e+00] [ 4.70410235e-03 -6.97412368e-05 9.99988933e-01 9.12539311e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.691052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.92, Y:1.61, Z:0.01 [[ 9.85412767e-01 -1.70117773e-01 -4.65002708e-03 2.39208444e+01] [ 1.70116294e-01 9.85423734e-01 -7.14533710e-04 1.61297822e+00] [ 4.70380193e-03 -8.69347358e-05 9.99988933e-01 1.18988151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.721052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.94, Y:1.62, Z:0.01 [[ 9.85752721e-01 -1.68136718e-01 -4.64947979e-03 2.39446953e+01] [ 1.68135201e-01 9.85763683e-01 -7.18077389e-04 1.62379129e+00] [ 4.70402349e-03 -7.38944800e-05 9.99988933e-01 8.55741238e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.751052754 meters Centerline goodness : 0.998110 Centerline is valid? [True, True] Translation: X:23.98, Y:1.63, Z:0.00 [[ 9.86512742e-01 -1.63618657e-01 -4.64170263e-03 2.39788442e+01] [ 1.63616855e-01 9.86523662e-01 -7.67770394e-04 1.62762311e+00] [ 4.70477103e-03 -2.04551145e-06 9.99988933e-01 4.22164182e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.781052753999997 meters Centerline goodness : 0.998040 Centerline is valid? [True, True] Translation: X:24.00, Y:1.63, Z:0.01 [[ 9.86677740e-01 -1.62620359e-01 -4.65351109e-03 2.40047403e+01] [ 1.62618903e-01 9.86688711e-01 -6.92151316e-04 1.63186260e+00] [ 4.70412476e-03 -7.38185734e-05 9.99988933e-01 7.34342599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.811052754 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:24.03, Y:1.64, Z:0.01 [[ 9.86990359e-01 -1.60712255e-01 -4.64791765e-03 2.40348826e+01] [ 1.60710609e-01 9.87001302e-01 -7.27869071e-04 1.63604450e+00] [ 4.70447825e-03 -2.85699227e-05 9.99988933e-01 5.78118082e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.841052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.06, Y:1.64, Z:0.01 [[ 9.86942394e-01 -1.61006480e-01 -4.65022012e-03 2.40620002e+01] [ 1.61004907e-01 9.86953348e-01 -7.13244650e-04 1.64472681e+00] [ 4.70438733e-03 -4.47768739e-05 9.99988933e-01 9.21201947e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.871052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.09, Y:1.65, Z:0.01 [[ 9.86839365e-01 -1.61636829e-01 -4.64791274e-03 2.40884789e+01] [ 1.61635194e-01 9.86850310e-01 -7.27857754e-04 1.65192920e+00] [ 4.70444275e-03 -3.29875935e-05 9.99988934e-01 6.91672628e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.901052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.12, Y:1.66, Z:0.01 [[ 9.86074704e-01 -1.66238132e-01 -4.64342446e-03 2.41155713e+01] [ 1.66236414e-01 9.86085637e-01 -7.56217215e-04 1.65992421e+00] [ 4.70452630e-03 -2.62195654e-05 9.99988933e-01 1.21250437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.931052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.15, Y:1.66, Z:0.01 [[ 9.86752643e-01 -1.62165507e-01 -4.64424566e-03 2.41463019e+01] [ 1.62163769e-01 9.86763573e-01 -7.51038871e-04 1.66068524e+00] [ 4.70456504e-03 -1.20387868e-05 9.99988933e-01 1.21302660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.961052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.17, Y:1.67, Z:0.01 [[ 9.86104216e-01 -1.66062830e-01 -4.64882305e-03 2.41725399e+01] [ 1.66061271e-01 9.86115172e-01 -7.22170681e-04 1.66748901e+00] [ 4.70420065e-03 -5.98539093e-05 9.99988933e-01 1.14616666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.991052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.20, Y:1.67, Z:0.01 [[ 9.85844953e-01 -1.67595167e-01 -4.64633725e-03 2.41982942e+01] [ 1.67593550e-01 9.85855901e-01 -7.37824635e-04 1.67238226e+00] [ 4.70427484e-03 -5.13154635e-05 9.99988934e-01 9.52075199e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.23, Y:1.67, Z:0.01 [[ 9.85244754e-01 -1.71088404e-01 -4.64037298e-03 2.42318704e+01] [ 1.71086649e-01 9.85255681e-01 -7.75328101e-04 1.67374518e+00] [ 4.70460349e-03 -3.00179216e-05 9.99988933e-01 1.20510781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.051052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.26, Y:1.68, Z:0.01 [[ 9.84244258e-01 -1.76752999e-01 -4.64955131e-03 2.42559759e+01] [ 1.76751581e-01 9.84255233e-01 -7.17515749e-04 1.68035471e+00] [ 4.70316827e-03 -1.15604788e-04 9.99988933e-01 8.52333042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.081052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.28, Y:1.68, Z:0.01 [[ 9.83686113e-01 -1.79833415e-01 -4.64474146e-03 2.42847941e+01] [ 1.79831888e-01 9.83697074e-01 -7.47733247e-04 1.68054185e+00] [ 4.70348601e-03 -9.97378158e-05 9.99988934e-01 1.29877102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.32, Y:1.68, Z:0.02 [[ 9.83676756e-01 -1.79884594e-01 -4.64460134e-03 2.43163541e+01] [ 1.79883063e-01 9.83687716e-01 -7.48613068e-04 1.68232875e+00] [ 4.70350125e-03 -9.90918430e-05 9.99988934e-01 1.64793945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.141052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.34, Y:1.69, Z:0.02 [[ 9.83802778e-01 -1.79193968e-01 -4.64921560e-03 2.43437977e+01] [ 1.79192566e-01 9.83813756e-01 -7.19747027e-04 1.68667783e+00] [ 4.70293659e-03 -1.25015751e-04 9.99988933e-01 1.68705737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.171052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.37, Y:1.69, Z:0.02 [[ 9.83581461e-01 -1.80404888e-01 -4.64613327e-03 2.43699460e+01] [ 1.80403409e-01 9.83592428e-01 -7.38979084e-04 1.69496188e+00] [ 4.70321694e-03 -1.11332155e-04 9.99988934e-01 1.61168325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.201052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.40, Y:1.70, Z:0.02 [[ 9.83739059e-01 -1.79543551e-01 -4.64510858e-03 2.43982679e+01] [ 1.79542032e-01 9.83750021e-01 -7.45364937e-04 1.70063411e+00] [ 4.70345113e-03 -1.00747631e-04 9.99988934e-01 1.64874525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.231052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.43, Y:1.71, Z:0.01 [[ 9.83940077e-01 -1.78438627e-01 -4.64547284e-03 2.44261310e+01] [ 1.78437106e-01 9.83951039e-01 -7.43096164e-04 1.70587609e+00] [ 4.70351489e-03 -9.77626344e-05 9.99988934e-01 1.46670686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.261052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.45, Y:1.71, Z:0.01 [[ 9.84345283e-01 -1.76189638e-01 -4.64488546e-03 2.44542264e+01] [ 1.76188075e-01 9.84356239e-01 -7.46749807e-04 1.71084515e+00] [ 4.70379155e-03 -8.33137773e-05 9.99988934e-01 1.43929038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.291052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.48, Y:1.72, Z:0.02 [[ 9.84571132e-01 -1.74923162e-01 -4.64467799e-03 2.44821207e+01] [ 1.74921579e-01 9.84582085e-01 -7.48037969e-04 1.71533935e+00] [ 4.70391591e-03 -7.59578202e-05 9.99988934e-01 1.52691726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.51, Y:1.72, Z:0.02 [[ 9.85410005e-01 -1.70133915e-01 -4.64461630e-03 2.45070469e+01] [ 1.70132277e-01 9.85420950e-01 -7.48420805e-04 1.72199692e+00] [ 4.70423397e-03 -5.26978000e-05 9.99988934e-01 1.60645264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.351052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.54, Y:1.73, Z:0.01 [[ 9.85561553e-01 -1.69253959e-01 -4.63931013e-03 2.45375088e+01] [ 1.69252156e-01 9.85572472e-01 -7.81329119e-04 1.73012264e+00] [ 4.70461940e-03 -1.51653017e-05 9.99988933e-01 1.48427329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.56, Y:1.73, Z:0.01 [[ 9.85587362e-01 -1.69103460e-01 -4.64461126e-03 2.45647744e+01] [ 1.69101811e-01 9.85598304e-01 -7.48431425e-04 1.73470583e+00] [ 4.70428333e-03 -4.77676211e-05 9.99988934e-01 1.33900516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.59, Y:1.74, Z:0.01 [[ 9.85034997e-01 -1.72291856e-01 -4.64440754e-03 2.45905601e+01] [ 1.72290236e-01 9.85045944e-01 -7.49693495e-04 1.73844357e+00] [ 4.70412089e-03 -6.17117411e-05 9.99988934e-01 1.13168822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.441052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.62, Y:1.74, Z:0.01 [[ 9.84749352e-01 -1.73917144e-01 -4.64130221e-03 2.46227623e+01] [ 1.73915451e-01 9.84760288e-01 -7.68937202e-04 1.74233871e+00] [ 4.70430146e-03 -4.99837585e-05 9.99988933e-01 1.22022776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.471052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.65, Y:1.75, Z:0.01 [[ 9.83303955e-01 -1.81911260e-01 -4.65042231e-03 2.46465435e+01] [ 1.81909923e-01 9.83314941e-01 -7.12582685e-04 1.74980710e+00] [ 4.70245656e-03 -1.45272591e-04 9.99988933e-01 1.30446087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.501052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.67, Y:1.75, Z:0.01 [[ 9.82830578e-01 -1.84451867e-01 -4.64375542e-03 2.46742114e+01] [ 1.84450364e-01 9.82841541e-01 -7.53661380e-04 1.75386303e+00] [ 4.70308999e-03 -1.15820928e-04 9.99988934e-01 1.47810456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.531052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.70, Y:1.76, Z:0.02 [[ 9.82407219e-01 -1.86693580e-01 -4.64355401e-03 2.47019822e+01] [ 1.86692095e-01 9.82418186e-01 -7.54900311e-04 1.75779316e+00] [ 4.70284695e-03 -1.25295313e-04 9.99988934e-01 1.67786213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.561052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.73, Y:1.76, Z:0.02 [[ 9.81971630e-01 -1.88971311e-01 -4.64335128e-03 2.47292658e+01] [ 1.88969847e-01 9.81982599e-01 -7.56145241e-04 1.76213424e+00] [ 4.70257992e-03 -1.34940204e-04 9.99988934e-01 1.92518574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.591052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.76, Y:1.77, Z:0.02 [[ 9.81741173e-01 -1.90164955e-01 -4.64328835e-03 2.47564022e+01] [ 1.90163502e-01 9.81752143e-01 -7.56531523e-04 1.76982825e+00] [ 4.70242407e-03 -1.40265827e-04 9.99988934e-01 1.80945887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.621052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.78, Y:1.78, Z:0.02 [[ 9.81826563e-01 -1.89723593e-01 -4.64308227e-03 2.47835913e+01] [ 1.89722129e-01 9.81837532e-01 -7.57794161e-04 1.77535162e+00] [ 4.70252387e-03 -1.36873015e-04 9.99988934e-01 1.75800177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.651052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.81, Y:1.78, Z:0.02 [[ 9.81774485e-01 -1.89992906e-01 -4.64287413e-03 2.48118281e+01] [ 1.89991439e-01 9.81785454e-01 -7.59067268e-04 1.78003032e+00] [ 4.70252368e-03 -1.36873461e-04 9.99988934e-01 1.77140160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.681052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.84, Y:1.78, Z:0.02 [[ 9.82390602e-01 -1.86781023e-01 -4.64266557e-03 2.48385338e+01] [ 1.86779514e-01 9.82401565e-01 -7.60340762e-04 1.78370142e+00] [ 4.70297914e-03 -1.20203200e-04 9.99988934e-01 1.79117207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.711052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.87, Y:1.79, Z:0.02 [[ 9.82878373e-01 -1.84197043e-01 -4.64252376e-03 2.48653644e+01] [ 1.84195501e-01 9.82889332e-01 -7.61205632e-04 1.78785704e+00] [ 4.70329890e-03 -1.06959435e-04 9.99988934e-01 1.83360246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.741052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.90, Y:1.79, Z:0.02 [[ 9.83674282e-01 -1.79898181e-01 -4.64238585e-03 2.48962888e+01] [ 1.79896587e-01 9.83685233e-01 -7.62045773e-04 1.79391325e+00] [ 4.70373705e-03 -8.55445412e-05 9.99988934e-01 1.89083572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.771052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.92, Y:1.80, Z:0.02 [[ 9.84495037e-01 -1.75350871e-01 -4.64695641e-03 2.49223204e+01] [ 1.75349358e-01 9.84506000e-01 -7.34236832e-04 1.79906121e+00] [ 4.70370554e-03 -9.19883047e-05 9.99988933e-01 1.81745568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.801052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.95, Y:1.80, Z:0.02 [[ 9.85593808e-01 -1.69065959e-01 -4.64194510e-03 2.49499467e+01] [ 1.69064232e-01 9.85604739e-01 -7.64658549e-04 1.80394438e+00] [ 4.70440082e-03 -3.11441553e-05 9.99988934e-01 1.96901021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.831052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.98, Y:1.81, Z:0.02 [[ 9.86119323e-01 -1.65973290e-01 -4.64187994e-03 2.49774971e+01] [ 1.65971527e-01 9.86130248e-01 -7.65053915e-04 1.80783171e+00] [ 4.70447674e-03 -1.59854539e-05 9.99988934e-01 2.17729974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.01, Y:1.81, Z:0.02 [[ 9.86811491e-01 -1.61807096e-01 -4.64167444e-03 2.50052214e+01] [ 1.61805281e-01 9.86822407e-01 -7.66298687e-04 1.81034254e+00] [ 4.70450091e-03 5.14491120e-06 9.99988934e-01 2.22352010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.891052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.03, Y:1.81, Z:0.02 [[ 9.86816144e-01 -1.61778724e-01 -4.64146412e-03 2.50329003e+01] [ 1.61776903e-01 9.86827059e-01 -7.67570491e-04 1.81449183e+00] [ 4.70449896e-03 6.56926020e-06 9.99988934e-01 2.10607719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.921052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.06, Y:1.82, Z:0.02 [[ 9.86082136e-01 -1.66194103e-01 -4.64124928e-03 2.50638212e+01] [ 1.66192325e-01 9.86093059e-01 -7.68867378e-04 1.81870970e+00] [ 4.70448492e-03 -1.31736201e-05 9.99988934e-01 1.76270599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.951052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.10, Y:1.82, Z:0.02 [[ 9.86177866e-01 -1.65624961e-01 -4.64631262e-03 2.50969476e+01] [ 1.65623320e-01 9.86188811e-01 -7.38393827e-04 1.81950903e+00] [ 4.70443796e-03 -4.13500745e-05 9.99988933e-01 1.87357584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.981052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.12, Y:1.82, Z:0.02 [[ 9.84735036e-01 -1.73997856e-01 -4.65346269e-03 2.51214403e+01] [ 1.73996511e-01 9.84746023e-01 -6.95271959e-04 1.82206188e+00] [ 4.70345471e-03 -1.25027616e-04 9.99988931e-01 2.13674462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.011052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.15, Y:1.82, Z:0.02 [[ 9.84585312e-01 -1.74843176e-01 -4.65057086e-03 2.51453807e+01] [ 1.74841758e-01 9.84596289e-01 -7.12774783e-04 1.82469806e+00] [ 4.70355861e-03 -1.11326404e-04 9.99988932e-01 2.24855615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.041052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.17, Y:1.83, Z:0.02 [[ 9.83441582e-01 -1.81165984e-01 -4.64111989e-03 2.51730988e+01] [ 1.81164368e-01 9.83452530e-01 -7.69757799e-04 1.82765310e+00] [ 4.70377503e-03 -8.37937256e-05 9.99988934e-01 2.33870657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.21, Y:1.83, Z:0.02 [[ 9.82803234e-01 -1.84597578e-01 -4.64090801e-03 2.52067757e+01] [ 1.84595994e-01 9.82814186e-01 -7.71033093e-04 1.82976491e+00] [ 4.70348107e-03 -9.89192091e-05 9.99988934e-01 2.24574360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.101052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.23, Y:1.84, Z:0.02 [[ 9.82168675e-01 -1.87944305e-01 -4.65106489e-03 2.52289130e+01] [ 1.87943048e-01 9.82179671e-01 -7.09778126e-04 1.83623922e+00] [ 4.70158014e-03 -1.77013471e-04 9.99988932e-01 2.26296793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.26, Y:1.84, Z:0.02 [[ 9.81632727e-01 -1.90724027e-01 -4.64062058e-03 2.52600839e+01] [ 1.90722505e-01 9.81643688e-01 -7.72518518e-04 1.84045443e+00] [ 4.70277374e-03 -1.26741321e-04 9.99988934e-01 2.22435727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.29, Y:1.84, Z:0.02 [[ 9.81442504e-01 -1.91700368e-01 -4.64551368e-03 2.52865216e+01] [ 1.91698996e-01 9.81453485e-01 -7.43145064e-04 1.84281602e+00] [ 4.70181678e-03 -1.61186155e-04 9.99988933e-01 2.40878631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.191052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.31, Y:1.85, Z:0.02 [[ 9.81224732e-01 -1.92812071e-01 -4.64010084e-03 2.53130143e+01] [ 1.92810558e-01 9.81235694e-01 -7.75530796e-04 1.84723356e+00] [ 4.70256427e-03 -1.33690434e-04 9.99988934e-01 2.48041893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.34, Y:1.85, Z:0.02 [[ 9.81023377e-01 -1.93833960e-01 -4.63995448e-03 2.53407027e+01] [ 1.93832454e-01 9.81034340e-01 -7.76405477e-04 1.85432947e+00] [ 4.70244843e-03 -1.37701842e-04 9.99988934e-01 2.46670896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.251052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.37, Y:1.86, Z:0.03 [[ 9.80801827e-01 -1.94951911e-01 -4.63982566e-03 2.53684835e+01] [ 1.94950414e-01 9.80812792e-01 -7.77174570e-04 1.86010688e+00] [ 4.70231203e-03 -1.42281693e-04 9.99988934e-01 2.52837222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.281052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.40, Y:1.87, Z:0.03 [[ 9.80767276e-01 -1.95125663e-01 -4.63961605e-03 2.53960861e+01] [ 1.95124162e-01 9.80778240e-01 -7.78423883e-04 1.86616560e+00] [ 4.70232494e-03 -1.41848525e-04 9.99988934e-01 2.50315518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.311052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.42, Y:1.88, Z:0.02 [[ 9.80799183e-01 -1.94965226e-01 -4.63940512e-03 2.54214673e+01] [ 1.94963717e-01 9.80810145e-01 -7.79679002e-04 1.87596364e+00] [ 4.70238591e-03 -1.39807140e-04 9.99988934e-01 2.25578932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.341052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.45, Y:1.88, Z:0.02 [[ 9.80745557e-01 -1.95234803e-01 -4.63931387e-03 2.54486542e+01] [ 1.95233295e-01 9.80756520e-01 -7.80221636e-04 1.88251376e+00] [ 4.70236374e-03 -1.40549628e-04 9.99988934e-01 2.14668513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.371052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.47, Y:1.89, Z:0.02 [[ 9.80784332e-01 -1.95039925e-01 -4.63909798e-03 2.54749186e+01] [ 1.95038409e-01 9.80795294e-01 -7.81503159e-04 1.88920009e+00] [ 4.70242978e-03 -1.38316233e-04 9.99988934e-01 2.06688589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.401052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.50, Y:1.90, Z:0.02 [[ 9.80866072e-01 -1.94628437e-01 -4.63900455e-03 2.55024981e+01] [ 1.94626914e-01 9.80877033e-01 -7.82057347e-04 1.89537415e+00] [ 4.70250362e-03 -1.35781620e-04 9.99988934e-01 2.11420951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.431052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.53, Y:1.90, Z:0.02 [[ 9.81606454e-01 -1.90859245e-01 -4.63878997e-03 2.55286798e+01] [ 1.90857673e-01 9.81617408e-01 -7.83328114e-04 1.90252982e+00] [ 4.70302239e-03 -1.16428727e-04 9.99988934e-01 2.28128273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.461052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.56, Y:1.91, Z:0.02 [[ 9.82119754e-01 -1.88200085e-01 -4.63864405e-03 2.55551148e+01] [ 1.88198479e-01 9.82130703e-01 -7.84191247e-04 1.90855915e+00] [ 4.70333960e-03 -1.02816040e-04 9.99988934e-01 2.34782375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.58, Y:1.92, Z:0.02 [[ 9.83295273e-01 -1.81958486e-01 -4.63849933e-03 2.55825413e+01] [ 1.81956806e-01 9.83306211e-01 -7.85046315e-04 1.91681212e+00] [ 4.70391104e-03 -7.20741938e-05 9.99988934e-01 2.27114139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.61, Y:1.92, Z:0.02 [[ 9.83895244e-01 -1.78685854e-01 -4.63827902e-03 2.56091730e+01] [ 1.78684132e-01 9.83906176e-01 -7.86345839e-04 1.92299705e+00] [ 4.70414025e-03 -5.51049285e-05 9.99988934e-01 2.13894867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.551052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.64, Y:1.93, Z:0.02 [[ 9.84820234e-01 -1.73515400e-01 -4.63812901e-03 2.56365545e+01] [ 1.73513617e-01 9.84831156e-01 -7.87229643e-04 1.93042205e+00] [ 4.70437042e-03 -2.94988594e-05 9.99988934e-01 1.96336389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.581052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.66, Y:1.94, Z:0.02 [[ 9.85100921e-01 -1.71914701e-01 -4.63790998e-03 2.56637672e+01] [ 1.71912894e-01 9.85111839e-01 -7.88517947e-04 1.93578823e+00] [ 4.70441785e-03 -2.05467693e-05 9.99988934e-01 1.95121652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.69, Y:1.94, Z:0.02 [[ 9.85243782e-01 -1.71094075e-01 -4.63768976e-03 2.56902843e+01] [ 1.71092253e-01 9.85254697e-01 -7.89811021e-04 1.94115605e+00] [ 4.70443761e-03 -1.53163916e-05 9.99988934e-01 1.90809759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.641052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.72, Y:1.95, Z:0.02 [[ 9.84842453e-01 -1.73389258e-01 -4.63759427e-03 2.57173022e+01] [ 1.73387459e-01 9.84853372e-01 -7.90371336e-04 1.94512493e+00] [ 4.70439226e-03 -2.57094400e-05 9.99988934e-01 1.93854052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.671052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.74, Y:1.95, Z:0.02 [[ 9.84436862e-01 -1.75677428e-01 -4.63749992e-03 2.57445087e+01] [ 1.75675651e-01 9.84447784e-01 -7.90924569e-04 1.94869966e+00] [ 4.70432411e-03 -3.60805152e-05 9.99988934e-01 2.00237128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.701052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.77, Y:1.95, Z:0.02 [[ 9.83407087e-01 -1.81353237e-01 -4.63740694e-03 2.57728884e+01] [ 1.81351520e-01 9.83418019e-01 -7.91469333e-04 1.95220561e+00] [ 4.70404507e-03 -6.26642483e-05 9.99988934e-01 2.15412873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.731052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.80, Y:1.96, Z:0.02 [[ 9.82917219e-01 -1.83989773e-01 -4.63719286e-03 2.58001787e+01] [ 1.83988080e-01 9.82928155e-01 -7.92721643e-04 1.95676105e+00] [ 4.70388010e-03 -7.40084573e-05 9.99988934e-01 2.09048384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.761052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.83, Y:1.96, Z:0.02 [[ 9.82216899e-01 -1.87692464e-01 -4.63697801e-03 2.58264802e+01] [ 1.87690806e-01 9.82227841e-01 -7.93976403e-04 1.96210967e+00] [ 4.70359229e-03 -9.04611008e-05 9.99988934e-01 1.76348907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.791052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.85, Y:1.97, Z:0.02 [[ 9.81867099e-01 -1.89513850e-01 -4.63688488e-03 2.58544021e+01] [ 1.89512210e-01 9.81878043e-01 -7.94519926e-04 1.96700889e+00] [ 4.70342798e-03 -9.86333275e-05 9.99988934e-01 1.72322387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.821052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.88, Y:1.97, Z:0.02 [[ 9.81433752e-01 -1.91745384e-01 -4.63666310e-03 2.58821505e+01] [ 1.91743763e-01 9.81444698e-01 -7.95812083e-04 1.96963847e+00] [ 4.70322171e-03 -1.08014394e-04 9.99988934e-01 1.93299887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.851052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.91, Y:1.97, Z:0.02 [[ 9.81404484e-01 -1.91895129e-01 -4.63659472e-03 2.59098084e+01] [ 1.91893508e-01 9.81415431e-01 -7.96210268e-04 1.97252212e+00] [ 4.70321448e-03 -1.08328099e-04 9.99988934e-01 2.23224412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.881052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.94, Y:1.98, Z:0.03 [[ 9.81586834e-01 -1.90960182e-01 -4.63638223e-03 2.59376414e+01] [ 1.90958544e-01 9.81597778e-01 -7.97445712e-04 1.97735072e+00] [ 4.70334288e-03 -1.02594590e-04 9.99988934e-01 2.56575793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.911052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.96, Y:1.98, Z:0.03 [[ 9.81824942e-01 -1.89732154e-01 -4.63616498e-03 2.59649312e+01] [ 1.89730496e-01 9.81835883e-01 -7.98706769e-04 1.98354317e+00] [ 4.70349349e-03 -9.54316564e-05 9.99988934e-01 2.55473319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.941052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.99, Y:1.99, Z:0.02 [[ 9.83013481e-01 -1.83474805e-01 -4.63594833e-03 2.59921646e+01] [ 1.83473072e-01 9.83024411e-01 -7.99962278e-04 1.99001499e+00] [ 4.70402330e-03 -6.41979791e-05 9.99988934e-01 2.38152410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.971052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.02, Y:1.99, Z:0.02 [[ 9.83618612e-01 -1.80202487e-01 -4.63573158e-03 2.60184409e+01] [ 1.80200712e-01 9.83629535e-01 -8.01216403e-04 1.99452720e+00] [ 4.70422368e-03 -4.72707627e-05 9.99988934e-01 2.34333199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.001052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.05, Y:2.00, Z:0.02 [[ 9.84572810e-01 -1.74913958e-01 -4.63563756e-03 2.60466674e+01] [ 1.74912122e-01 9.84583723e-01 -8.01759995e-04 1.99916794e+00] [ 4.70441230e-03 -2.14381118e-05 9.99988934e-01 2.29563896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.031052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.07, Y:2.01, Z:0.02 [[ 9.84224379e-01 -1.76864031e-01 -4.63541465e-03 2.60684701e+01] [ 1.76862210e-01 9.84235294e-01 -8.03046668e-04 2.00814688e+00] [ 4.70436877e-03 -2.94515725e-05 9.99988934e-01 1.66170821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.061052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.10, Y:2.01, Z:0.02 [[ 9.85050109e-01 -1.72206002e-01 -4.62333837e-03 2.61030962e+01] [ 1.72203803e-01 9.85060957e-01 -8.72554848e-04 2.00923808e+00] [ 4.70452930e-03 6.33537963e-05 9.99988932e-01 1.84968532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.091052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.13, Y:2.01, Z:0.02 [[ 9.84699975e-01 -1.74196650e-01 -4.63528356e-03 2.61318600e+01] [ 1.74194797e-01 9.84710885e-01 -8.03658311e-04 2.01276871e+00] [ 4.70440876e-03 -1.60799614e-05 9.99988934e-01 1.80712795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.121052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.16, Y:2.02, Z:0.02 [[ 9.84377040e-01 -1.76012381e-01 -4.63509328e-03 2.61598957e+01] [ 1.76010543e-01 9.84387952e-01 -8.04754228e-04 2.01680307e+00] [ 4.70437670e-03 -2.36437028e-05 9.99988934e-01 1.79885760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.151052754 meters Centerline goodness : 0.997639 Centerline is valid? [True, True] Translation: X:26.19, Y:2.02, Z:0.02 [[ 9.84105365e-01 -1.77525070e-01 -4.63455380e-03 2.61896171e+01] [ 1.77523234e-01 9.84116278e-01 -8.07856868e-04 2.01806855e+00] [ 4.70435468e-03 -2.77247012e-05 9.99988934e-01 1.65802648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.181052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.22, Y:2.02, Z:0.02 [[ 9.82494088e-01 -1.86236013e-01 -4.63843068e-03 2.62167956e+01] [ 1.86234378e-01 9.82505033e-01 -7.85562715e-04 2.02104400e+00] [ 4.70358155e-03 -9.20245306e-05 9.99988934e-01 1.98529738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.211052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.23, Y:2.03, Z:0.02 [[ 9.78808973e-01 -2.04723018e-01 -4.63464779e-03 2.62332942e+01] [ 2.04721488e-01 9.78819933e-01 -8.07275567e-04 2.03178729e+00] [ 4.70175353e-03 -1.58643422e-04 9.99988934e-01 1.60592032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.241052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.27, Y:2.03, Z:0.02 [[ 9.80051351e-01 -1.98690930e-01 -4.61131629e-03 2.62747719e+01] [ 1.98688707e-01 9.80062199e-01 -9.39926310e-04 2.02664006e+00] [ 4.70613161e-03 4.95957844e-06 9.99988926e-01 2.29696757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.271052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.29, Y:2.04, Z:0.02 [[ 9.77125830e-01 -2.12611417e-01 -4.63652085e-03 2.62890609e+01] [ 2.12610029e-01 9.77136808e-01 -7.95844207e-04 2.03604434e+00] [ 4.69972075e-03 -2.08130900e-04 9.99988935e-01 2.07543851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.301052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.32, Y:2.04, Z:0.02 [[ 9.76895777e-01 -2.13666622e-01 -4.60610591e-03 2.63230246e+01] [ 2.13664438e-01 9.76906635e-01 -9.66835418e-04 2.03920301e+00] [ 4.70631588e-03 -3.96635956e-05 9.99988924e-01 2.21325259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.331052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.36, Y:2.04, Z:0.03 [[ 9.78452332e-01 -2.06421277e-01 -4.61410768e-03 2.63616367e+01] [ 2.06419225e-01 9.78463210e-01 -9.21782486e-04 2.03567076e+00] [ 4.70501013e-03 -5.05203080e-05 9.99988930e-01 2.70174398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.38, Y:2.05, Z:0.02 [[ 9.77130096e-01 -2.12591877e-01 -4.63347386e-03 2.63793198e+01] [ 2.12590411e-01 9.77141063e-01 -8.12352178e-04 2.04834748e+00] [ 4.70025705e-03 -1.91258350e-04 9.99988935e-01 2.20343725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.391052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.42, Y:2.05, Z:0.03 [[ 9.78629039e-01 -2.05581866e-01 -4.61518801e-03 2.64151794e+01] [ 2.05579832e-01 9.78639920e-01 -9.15892880e-04 2.04839013e+00] [ 4.70489820e-03 -5.24702085e-05 9.99988931e-01 2.50286037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.421052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.44, Y:2.05, Z:0.03 [[ 9.79473038e-01 -2.01522064e-01 -4.62886171e-03 2.64415382e+01] [ 2.01520351e-01 9.79483969e-01 -8.38308668e-04 2.05329294e+00] [ 4.70283353e-03 -1.11709101e-04 9.99988935e-01 2.53798687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.451052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.47, Y:2.06, Z:0.02 [[ 9.79732958e-01 -2.00254623e-01 -4.62783735e-03 2.64675960e+01] [ 2.00252868e-01 9.79743883e-01 -8.44113219e-04 2.06098587e+00] [ 4.70313291e-03 -9.97321628e-05 9.99988935e-01 2.34753895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.481052753999997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:26.50, Y:2.06, Z:0.02 [[ 9.80717179e-01 -1.95377605e-01 -4.62672536e-03 2.64956384e+01] [ 1.95375767e-01 9.80728090e-01 -8.50401309e-04 2.06390175e+00] [ 4.70370889e-03 -6.99468409e-05 9.99988935e-01 2.11692465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.511052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.53, Y:2.07, Z:0.02 [[ 9.81028542e-01 -1.93808120e-01 -4.62737139e-03 2.65256553e+01] [ 1.93806281e-01 9.81039453e-01 -8.46753458e-04 2.07261807e+00] [ 4.70374159e-03 -6.61243301e-05 9.99988935e-01 2.16891069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.541052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.55, Y:2.08, Z:0.02 [[ 9.80977270e-01 -1.94067355e-01 -4.63212163e-03 2.65538197e+01] [ 1.94065646e-01 9.80988202e-01 -8.19916951e-04 2.07767124e+00] [ 4.70317578e-03 -9.46157854e-05 9.99988936e-01 2.18376054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.571052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.58, Y:2.08, Z:0.02 [[ 9.81038898e-01 -1.93755581e-01 -4.63190453e-03 2.65810248e+01] [ 1.93753863e-01 9.81049829e-01 -8.21141566e-04 2.08404269e+00] [ 4.70322991e-03 -9.18775779e-05 9.99988936e-01 2.19454633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.601052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.61, Y:2.09, Z:0.02 [[ 9.81395620e-01 -1.91940576e-01 -4.63167953e-03 2.66074887e+01] [ 1.91938832e-01 9.81406546e-01 -8.22408728e-04 2.08906879e+00] [ 4.70341422e-03 -8.18908347e-05 9.99988936e-01 1.54300820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.631052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.63, Y:2.09, Z:0.02 [[ 9.81334027e-01 -1.92255353e-01 -4.62664067e-03 2.66345433e+01] [ 1.92253478e-01 9.81344932e-01 -8.50731001e-04 2.09400951e+00] [ 4.70388797e-03 -5.46364829e-05 9.99988935e-01 1.53720478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.661052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.66, Y:2.10, Z:0.02 [[ 9.81405619e-01 -1.91889601e-01 -4.62526205e-03 2.66614282e+01] [ 1.91887686e-01 9.81416517e-01 -8.58466335e-04 2.09799393e+00] [ 4.70403933e-03 -4.50271465e-05 9.99988935e-01 1.69792557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.691052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.69, Y:2.10, Z:0.02 [[ 9.80990550e-01 -1.94000436e-01 -4.62295764e-03 2.66931606e+01] [ 1.93998483e-01 9.81001442e-01 -8.71371964e-04 2.10358832e+00] [ 4.70417465e-03 -4.20391083e-05 9.99988934e-01 2.34733790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.721052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.72, Y:2.11, Z:0.02 [[ 9.81172527e-01 -1.93077771e-01 -4.63113087e-03 2.67209091e+01] [ 1.93076024e-01 9.81183452e-01 -8.25520525e-04 2.11325083e+00] [ 4.70337864e-03 -8.41822785e-05 9.99988936e-01 2.08717733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.751052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.75, Y:2.12, Z:0.02 [[ 9.81109451e-01 -1.93398044e-01 -4.63058235e-03 2.67468687e+01] [ 1.93396287e-01 9.81120375e-01 -8.28594225e-04 2.12279746e+00] [ 4.70340719e-03 -8.25958065e-05 9.99988936e-01 1.88466769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.781052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.77, Y:2.13, Z:0.02 [[ 9.81329830e-01 -1.92276820e-01 -4.62489104e-03 2.67738104e+01] [ 1.92274900e-01 9.81340727e-01 -8.60448100e-04 2.12870288e+00] [ 4.70403816e-03 -4.48670726e-05 9.99988935e-01 1.71181750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.811052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.80, Y:2.13, Z:0.02 [[ 9.81704713e-01 -1.90353550e-01 -4.62418496e-03 2.68032868e+01] [ 1.90351590e-01 9.81715603e-01 -8.64392408e-04 2.13054484e+00] [ 4.70417469e-03 -3.16428582e-05 9.99988935e-01 2.05590938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.841052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.83, Y:2.13, Z:0.02 [[ 9.81758988e-01 -1.90073373e-01 -4.62619811e-03 2.68302626e+01] [ 1.90071463e-01 9.81769887e-01 -8.53157494e-04 2.13422728e+00] [ 4.70402452e-03 -4.17132054e-05 9.99988935e-01 2.32686946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.871052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.86, Y:2.14, Z:0.03 [[ 9.81466877e-01 -1.91576048e-01 -4.62467656e-03 2.68582184e+01] [ 1.91574114e-01 9.81477772e-01 -8.61662979e-04 2.14087671e+00] [ 4.70409123e-03 -4.02746425e-05 9.99988935e-01 2.50045110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.901052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.89, Y:2.15, Z:0.03 [[ 9.81530662e-01 -1.91248951e-01 -4.62573075e-03 2.68898268e+01] [ 1.91247042e-01 9.81541561e-01 -8.55764627e-04 2.14507871e+00] [ 4.70401107e-03 -4.46981011e-05 9.99988935e-01 2.55198335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.931052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.92, Y:2.15, Z:0.02 [[ 9.81374289e-01 -1.92049627e-01 -4.63090018e-03 2.69173235e+01] [ 1.92047863e-01 9.81385212e-01 -8.26811117e-04 2.15045615e+00] [ 4.70348572e-03 -7.79433087e-05 9.99988936e-01 2.07279830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.961052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.95, Y:2.16, Z:0.02 [[ 9.81268010e-01 -1.92591921e-01 -4.63079523e-03 2.69461436e+01] [ 1.92590160e-01 9.81278934e-01 -8.27398480e-04 2.15624054e+00] [ 4.70345207e-03 -7.99459356e-05 9.99988936e-01 2.10680048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.991052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.97, Y:2.16, Z:0.02 [[ 9.81299618e-01 -1.92430812e-01 -4.63061215e-03 2.69742822e+01] [ 1.92429045e-01 9.81310540e-01 -8.28421848e-04 2.16251826e+00] [ 4.70348240e-03 -7.81342305e-05 9.99988936e-01 1.62775389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.00, Y:2.17, Z:0.02 [[ 9.81593258e-01 -1.90927304e-01 -4.63041710e-03 2.70017031e+01] [ 1.90925515e-01 9.81604177e-01 -8.29510624e-04 2.16707928e+00] [ 4.70361300e-03 -6.98227351e-05 9.99988936e-01 1.56607163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.051052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.03, Y:2.17, Z:0.02 [[ 9.81649099e-01 -1.90639991e-01 -4.63031432e-03 2.70282282e+01] [ 1.90638196e-01 9.81660017e-01 -8.30083981e-04 2.17310985e+00] [ 4.70364163e-03 -6.78635764e-05 9.99988936e-01 1.59976882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.081052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.06, Y:2.18, Z:0.02 [[ 9.81889972e-01 -1.89395549e-01 -4.62698174e-03 2.70579671e+01] [ 1.89393653e-01 9.81900873e-01 -8.48645143e-04 2.17544059e+00] [ 4.70396702e-03 -4.30448178e-05 9.99988935e-01 2.09292705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.09, Y:2.18, Z:0.02 [[ 9.81807843e-01 -1.89820762e-01 -4.63007959e-03 2.70866921e+01] [ 1.89818951e-01 9.81818758e-01 -8.31393041e-04 2.18008744e+00] [ 4.70371465e-03 -6.26086426e-05 9.99988936e-01 2.24822850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.141052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.11, Y:2.18, Z:0.02 [[ 9.81918001e-01 -1.89250107e-01 -4.62988771e-03 2.71137024e+01] [ 1.89248285e-01 9.81928915e-01 -8.32460189e-04 2.18439717e+00] [ 4.70376380e-03 -5.87906652e-05 9.99988936e-01 2.16786194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.171052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.14, Y:2.19, Z:0.02 [[ 9.81728497e-01 -1.90230759e-01 -4.62770922e-03 2.71430100e+01] [ 1.90228891e-01 9.81739403e-01 -8.44562102e-04 2.18914028e+00] [ 4.70386617e-03 -5.11933075e-05 9.99988935e-01 2.06040402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.201052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.17, Y:2.19, Z:0.02 [[ 9.81648629e-01 -1.90642475e-01 -4.62769364e-03 2.71713281e+01] [ 1.90640612e-01 9.81659536e-01 -8.44648709e-04 2.19386088e+00] [ 4.70384551e-03 -5.30780991e-05 9.99988935e-01 2.31872428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.231052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.20, Y:2.20, Z:0.02 [[ 9.81787394e-01 -1.89926544e-01 -4.62829106e-03 2.71982939e+01] [ 1.89924688e-01 9.81798302e-01 -8.41330147e-04 2.19834431e+00] [ 4.70383923e-03 -5.30194006e-05 9.99988935e-01 2.32789187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.261052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.23, Y:2.20, Z:0.02 [[ 9.82485050e-01 -1.86284008e-01 -4.62554984e-03 2.72260319e+01] [ 1.86282040e-01 9.82495938e-01 -8.56541949e-04 2.20134729e+00] [ 4.70414400e-03 -2.01172020e-05 9.99988935e-01 2.43533823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.291052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.25, Y:2.20, Z:0.03 [[ 9.83167655e-01 -1.82647139e-01 -4.62430723e-03 2.72549250e+01] [ 1.82645098e-01 9.83178530e-01 -8.63430937e-04 2.20393251e+00] [ 4.70422278e-03 4.29032055e-06 9.99988935e-01 2.68302185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.321052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.28, Y:2.21, Z:0.03 [[ 9.84540425e-01 -1.75096398e-01 -4.62640670e-03 2.72843717e+01] [ 1.75094328e-01 9.84551294e-01 -8.51798145e-04 2.20610286e+00] [ 4.70408149e-03 2.85721357e-05 9.99988935e-01 2.54134729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.351052753999998 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:27.31, Y:2.21, Z:0.03 [[ 9.84852749e-01 -1.73330989e-01 -4.62932275e-03 2.73115045e+01] [ 1.73328976e-01 9.84863629e-01 -8.35643719e-04 2.21264685e+00] [ 4.70409455e-03 2.05902421e-05 9.99988935e-01 2.51074267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.381052754 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:27.34, Y:2.22, Z:0.02 [[ 9.85315761e-01 -1.70679373e-01 -4.62632298e-03 2.73405781e+01] [ 1.70677252e-01 9.85326621e-01 -8.52232995e-04 2.21880283e+00] [ 4.70389778e-03 5.01105075e-05 9.99988935e-01 2.17364353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.411052754 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:27.37, Y:2.22, Z:0.02 [[ 9.86129867e-01 -1.65910996e-01 -4.62895040e-03 2.73677324e+01] [ 1.65908891e-01 9.86140729e-01 -8.37714678e-04 2.22496146e+00] [ 4.70378260e-03 5.81114365e-05 9.99988935e-01 2.00095470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.441052753999998 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:27.39, Y:2.23, Z:0.02 [[ 9.86040493e-01 -1.66441376e-01 -4.62769171e-03 2.73939707e+01] [ 1.66439244e-01 9.86051350e-01 -8.44663002e-04 2.22804227e+00] [ 4.70372853e-03 6.26424115e-05 9.99988935e-01 2.25458898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.471052754 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:27.42, Y:2.23, Z:0.02 [[ 9.85694710e-01 -1.68477139e-01 -4.62517293e-03 2.74228403e+01] [ 1.68474965e-01 9.85705559e-01 -8.58567307e-04 2.23014918e+00] [ 4.70370763e-03 6.70594052e-05 9.99988935e-01 2.19849637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.501052754 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:27.45, Y:2.23, Z:0.02 [[ 9.84458156e-01 -1.75558295e-01 -4.62873262e-03 2.74514741e+01] [ 1.75556291e-01 9.84469037e-01 -8.38926901e-04 2.23136002e+00] [ 4.70412452e-03 1.32853002e-05 9.99988935e-01 2.27786195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.531052753999997 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:27.48, Y:2.23, Z:0.02 [[ 9.83835744e-01 -1.79013385e-01 -4.63004030e-03 2.74785213e+01] [ 1.79011454e-01 9.83846638e-01 -8.31713946e-04 2.23459489e+00] [ 4.70413752e-03 -1.05603368e-05 9.99988935e-01 2.20470933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.561052754 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:27.51, Y:2.24, Z:0.02 [[ 9.82657137e-01 -1.85374021e-01 -4.62856711e-03 2.75068369e+01] [ 1.85372122e-01 9.82668037e-01 -8.39833146e-04 2.23767839e+00] [ 4.70402820e-03 -3.27392715e-05 9.99988935e-01 1.98456833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.591052754 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:27.53, Y:2.24, Z:0.02 [[ 9.81812438e-01 -1.89797009e-01 -4.62936970e-03 2.75331982e+01] [ 1.89795180e-01 9.81823351e-01 -8.35413527e-04 2.24482552e+00] [ 4.70378226e-03 -5.84126619e-05 9.99988935e-01 1.57391398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.621052753999997 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:27.56, Y:2.25, Z:0.02 [[ 9.81709344e-01 -1.90329676e-01 -4.62358117e-03 2.75613955e+01] [ 1.90327702e-01 9.81720232e-01 -8.67232506e-04 2.25047825e+00] [ 4.70412326e-03 -2.86253267e-05 9.99988935e-01 1.80945697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.651052754 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:27.59, Y:2.26, Z:0.02 [[ 9.81367013e-01 -1.92086939e-01 -4.62537194e-03 2.75897730e+01] [ 1.92085031e-01 9.81377912e-01 -8.57393930e-04 2.25571945e+00] [ 4.70393203e-03 -4.70465936e-05 9.99988935e-01 1.90861509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.681052754 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:27.62, Y:2.27, Z:0.02 [[ 9.80148673e-01 -1.98209889e-01 -4.62811462e-03 2.76158786e+01] [ 1.98208121e-01 9.80159595e-01 -8.42324430e-04 2.26515311e+00] [ 4.70324798e-03 -9.17267283e-05 9.99988935e-01 1.80815026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.711052753999997 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:27.64, Y:2.27, Z:0.02 [[ 9.79789813e-01 -1.99976360e-01 -4.62367518e-03 2.76441821e+01] [ 1.99974496e-01 9.79800719e-01 -8.66725581e-04 2.27007856e+00] [ 4.70360489e-03 -7.54082192e-05 9.99988935e-01 2.17355110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.741052754 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:27.67, Y:2.27, Z:0.03 [[ 9.79288480e-01 -2.02417117e-01 -4.62424939e-03 2.76736682e+01] [ 2.02415295e-01 9.79299394e-01 -8.63571416e-04 2.27218263e+00] [ 4.70332626e-03 -9.03332645e-05 9.99988935e-01 2.64169566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.771052754 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:27.70, Y:2.28, Z:0.02 [[ 9.78537300e-01 -2.06017799e-01 -4.62815241e-03 2.77016709e+01] [ 2.06016118e-01 9.78548236e-01 -8.42121144e-04 2.28080251e+00] [ 4.70236232e-03 -1.29427043e-04 9.99988935e-01 2.39750635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.801052753999997 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:27.73, Y:2.29, Z:0.03 [[ 9.78785945e-01 -2.04833253e-01 -4.62725509e-03 2.77304401e+01] [ 2.04831536e-01 9.78796876e-01 -8.47049975e-04 2.28712491e+00] [ 4.70264682e-03 -1.18727155e-04 9.99988935e-01 2.59450008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.831052753999998 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:27.76, Y:2.29, Z:0.02 [[ 9.79634797e-01 -2.00734271e-01 -4.62795287e-03 2.77579218e+01] [ 2.00732526e-01 9.79645723e-01 -8.43220227e-04 2.29334398e+00] [ 4.70301743e-03 -1.02932795e-04 9.99988935e-01 2.33766387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.861052754 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:27.79, Y:2.30, Z:0.02 [[ 9.80186662e-01 -1.98021946e-01 -4.62784252e-03 2.77863842e+01] [ 1.98020168e-01 9.80197583e-01 -8.43825424e-04 2.30046455e+00] [ 4.70329600e-03 -8.92997285e-05 9.99988935e-01 2.48226669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.891052753999997 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:27.81, Y:2.31, Z:0.02 [[ 9.81146091e-01 -1.93212162e-01 -4.62691540e-03 2.78148164e+01] [ 1.93210307e-01 9.81156999e-01 -8.48906618e-04 2.30563676e+00] [ 4.70374952e-03 -6.10663361e-05 9.99988935e-01 2.46255494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.921052753999998 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:27.84, Y:2.31, Z:0.02 [[ 9.82632116e-01 -1.85506628e-01 -4.62760469e-03 2.78415817e+01] [ 1.85504705e-01 9.82643013e-01 -8.45132377e-04 2.31370745e+00] [ 4.70406107e-03 -2.79882270e-05 9.99988935e-01 2.45874606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.951052754 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:27.87, Y:2.32, Z:0.02 [[ 9.83012788e-01 -1.83478732e-01 -4.62753216e-03 2.78676329e+01] [ 1.83476785e-01 9.83023680e-01 -8.45529302e-04 2.32193731e+00] [ 4.70411034e-03 -1.78786068e-05 9.99988935e-01 2.34734700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.981052753999997 meters Centerline goodness : 0.997470 Centerline is valid? [True, True] Translation: X:27.89, Y:2.33, Z:0.02 [[ 9.83780655e-01 -1.79316020e-01 -4.62464518e-03 2.78949588e+01] [ 1.79313952e-01 9.83791525e-01 -8.61270412e-04 2.32765758e+00] [ 4.70412632e-03 1.80377661e-05 9.99988935e-01 2.42280435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.011052753999998 meters Centerline goodness : 0.998620 Centerline is valid? [True, True] Translation: X:27.92, Y:2.33, Z:0.02 [[ 9.83867836e-01 -1.78837086e-01 -4.62363018e-03 2.79225613e+01] [ 1.78834987e-01 9.83878700e-01 -8.66805372e-04 2.33244820e+00] [ 4.70410820e-03 2.59550806e-05 9.99988935e-01 2.41402858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.041052754 meters Centerline goodness : 0.998193 Centerline is valid? [True, True] Translation: X:27.95, Y:2.34, Z:0.02 [[ 9.83407515e-01 -1.81351322e-01 -4.62152107e-03 2.79496821e+01] [ 1.81349197e-01 9.83418374e-01 -8.78319179e-04 2.33702890e+00] [ 4.70417308e-03 2.56365477e-05 9.99988935e-01 2.48256853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.071052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.98, Y:2.34, Z:0.03 [[ 9.81984844e-01 -1.88903191e-01 -4.62059414e-03 2.79789544e+01] [ 1.88901126e-01 9.81995715e-01 -8.83371555e-04 2.34258985e+00] [ 4.70427535e-03 -5.37795620e-06 9.99988935e-01 2.64802603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.101052753999998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:28.01, Y:2.35, Z:0.03 [[ 9.81063896e-01 -1.93629084e-01 -4.62706035e-03 2.80069164e+01] [ 1.93627238e-01 9.81074805e-01 -8.48092987e-04 2.34809043e+00] [ 4.70370780e-03 -6.38915029e-05 9.99988935e-01 2.65801226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.04, Y:2.35, Z:0.03 [[ 9.80149069e-01 -1.98207959e-01 -4.62682683e-03 2.80350482e+01] [ 1.98206157e-01 9.80159986e-01 -8.49365024e-04 2.35312872e+00] [ 4.70338143e-03 -8.45612286e-05 9.99988935e-01 2.63532714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.161052754 meters Centerline goodness : 0.997602 Centerline is valid? [True, True] Translation: X:28.06, Y:2.36, Z:0.03 [[ 9.78753335e-01 -2.04989033e-01 -4.62659097e-03 2.80600255e+01] [ 2.04987301e-01 9.78764263e-01 -8.50647858e-04 2.35776478e+00] [ 4.70271538e-03 -1.15817968e-04 9.99988935e-01 2.53903754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.191052753999998 meters Centerline goodness : 0.997077 Centerline is valid? [True, True] Translation: X:28.09, Y:2.36, Z:0.03 [[ 9.77855180e-01 -2.09231745e-01 -4.61783902e-03 2.80880565e+01] [ 2.09229836e-01 9.77866079e-01 -8.98134549e-04 2.36167129e+00] [ 4.70354640e-03 -8.79441795e-05 9.99988934e-01 2.74208198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.12, Y:2.37, Z:0.03 [[ 9.77401529e-01 -2.11340801e-01 -4.61708903e-03 2.81187604e+01] [ 2.11338896e-01 9.77412429e-01 -9.02197622e-04 2.36750865e+00] [ 4.70347137e-03 -9.39611646e-05 9.99988934e-01 2.90189286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.251052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.15, Y:2.38, Z:0.03 [[ 9.77468246e-01 -2.11031813e-01 -4.62613284e-03 2.81463251e+01] [ 2.11030137e-01 9.77479183e-01 -8.53158878e-04 2.37503589e+00] [ 4.70199221e-03 -1.42317733e-04 9.99988935e-01 2.65626133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.281052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.17, Y:2.38, Z:0.02 [[ 9.77791001e-01 -2.09531287e-01 -4.62589492e-03 2.81728666e+01] [ 2.09529588e-01 9.77801934e-01 -8.54446948e-04 2.38109454e+00] [ 4.70224236e-03 -1.33791319e-04 9.99988935e-01 2.48509482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.311052754 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:28.20, Y:2.39, Z:0.02 [[ 9.78424299e-01 -2.06553851e-01 -4.62573291e-03 2.81967171e+01] [ 2.06552114e-01 9.78435227e-01 -8.55323121e-04 2.38825754e+00] [ 4.70265031e-03 -1.18585987e-04 9.99988935e-01 2.13516638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.341052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.23, Y:2.39, Z:0.02 [[ 9.79310771e-01 -2.02309446e-01 -4.61531969e-03 2.82283845e+01] [ 2.02307397e-01 9.79321646e-01 -9.11458398e-04 2.39301438e+00] [ 4.70427912e-03 -4.11122848e-05 9.99988934e-01 2.25489114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.371052753999997 meters Centerline goodness : 0.998176 Centerline is valid? [True, True] Translation: X:28.25, Y:2.40, Z:0.02 [[ 9.80005644e-01 -1.98915922e-01 -4.62540298e-03 2.82526737e+01] [ 1.98914092e-01 9.80016556e-01 -8.57039370e-04 2.39740463e+00] [ 4.70345027e-03 -8.01544131e-05 9.99988936e-01 2.46473768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.401052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.28, Y:2.40, Z:0.03 [[ 9.80794035e-01 -1.94991691e-01 -4.61541110e-03 2.82838136e+01] [ 1.94989564e-01 9.80804894e-01 -9.10759117e-04 2.40140709e+00] [ 4.70440825e-03 -6.68988949e-06 9.99988934e-01 2.82643993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.431052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.31, Y:2.41, Z:0.03 [[ 9.81410867e-01 -1.91862763e-01 -4.62502147e-03 2.83109366e+01] [ 1.91860845e-01 9.81421764e-01 -8.59016000e-04 2.40741902e+00] [ 4.70390991e-03 -4.43128910e-05 9.99988936e-01 2.79504885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.461052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.34, Y:2.41, Z:0.03 [[ 9.81360374e-01 -1.92120868e-01 -4.62479547e-03 2.83390543e+01] [ 1.92118948e-01 9.81371270e-01 -8.60231067e-04 2.41273076e+00] [ 4.70390974e-03 -4.43141569e-05 9.99988936e-01 2.80844776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.37, Y:2.42, Z:0.03 [[ 9.81432606e-01 -1.91751542e-01 -4.62456891e-03 2.83670109e+01] [ 1.91749611e-01 9.81443500e-01 -8.61447320e-04 2.41858150e+00] [ 4.70393695e-03 -4.13068024e-05 9.99988936e-01 2.64485207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.39, Y:2.42, Z:0.02 [[ 9.81376321e-01 -1.92039404e-01 -4.62433750e-03 2.83948416e+01] [ 1.92037471e-01 9.81387215e-01 -8.62687734e-04 2.42357194e+00] [ 4.70393574e-03 -4.14247652e-05 9.99988936e-01 2.46511578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.551052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.42, Y:2.43, Z:0.02 [[ 9.80979754e-01 -1.94054991e-01 -4.62410700e-03 2.84228920e+01] [ 1.94053075e-01 9.80990651e-01 -8.63921476e-04 2.42645413e+00] [ 4.70385402e-03 -4.98327048e-05 9.99988936e-01 2.16226700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.581052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.45, Y:2.43, Z:0.02 [[ 9.80400850e-01 -1.96958858e-01 -4.62403558e-03 2.84512218e+01] [ 1.96956972e-01 9.80411752e-01 -8.64303578e-04 2.43020615e+00] [ 4.70369107e-03 -6.33720839e-05 9.99988936e-01 2.26871641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.611052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:28.48, Y:2.43, Z:0.03 [[ 9.79044938e-01 -2.03591822e-01 -4.62379953e-03 2.84807425e+01] [ 2.03590004e-01 9.79055852e-01 -8.65564547e-04 2.43178193e+00] [ 4.70317985e-03 -9.39327778e-05 9.99988936e-01 2.67132841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.641052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.51, Y:2.43, Z:0.03 [[ 9.77778208e-01 -2.09591024e-01 -4.62358877e-03 2.85090413e+01] [ 2.09589268e-01 9.77789133e-01 -8.66688930e-04 2.43345068e+00] [ 4.70254507e-03 -1.21625034e-04 9.99988936e-01 3.03658017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.671052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.53, Y:2.44, Z:0.03 [[ 9.77712157e-01 -2.09898936e-01 -4.62335057e-03 2.85333634e+01] [ 2.09897177e-01 9.77723080e-01 -8.67957735e-04 2.43779331e+00] [ 4.70253997e-03 -1.21815402e-04 9.99988936e-01 3.15599785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.701052754 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:28.56, Y:2.44, Z:0.03 [[ 9.77827778e-01 -2.09359873e-01 -4.61301030e-03 2.85624519e+01] [ 2.09357849e-01 9.77838657e-01 -9.22787459e-04 2.44469314e+00] [ 4.70397447e-03 -6.34427061e-05 9.99988934e-01 2.96832525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.731052753999997 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:28.59, Y:2.45, Z:0.03 [[ 9.78422376e-01 -2.06563137e-01 -4.61789317e-03 2.85883617e+01] [ 2.06561204e-01 9.78433270e-01 -8.96887199e-04 2.45086918e+00] [ 4.70356415e-03 -7.63430691e-05 9.99988935e-01 2.79975922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.761052753999998 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:28.62, Y:2.46, Z:0.03 [[ 9.79054858e-01 -2.03544371e-01 -4.61239705e-03 2.86201441e+01] [ 2.03542267e-01 9.79065722e-01 -9.25945532e-04 2.46023538e+00] [ 4.70431085e-03 -3.22662819e-05 9.99988934e-01 2.62798941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.791052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.65, Y:2.47, Z:0.03 [[ 9.79603720e-01 -2.00886001e-01 -4.62235525e-03 2.86468949e+01] [ 2.00884116e-01 9.79614623e-01 -8.73233030e-04 2.46656069e+00] [ 4.70354708e-03 -7.31354246e-05 9.99988936e-01 2.69072062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.821052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.67, Y:2.47, Z:0.03 [[ 9.80090581e-01 -1.98497072e-01 -4.62225530e-03 2.86746651e+01] [ 1.98495159e-01 9.80101479e-01 -8.73761777e-04 2.47282089e+00] [ 4.70371841e-03 -6.11296103e-05 9.99988936e-01 2.79534296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.851052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.70, Y:2.48, Z:0.03 [[ 9.81068236e-01 -1.93607214e-01 -4.62202420e-03 2.87025132e+01] [ 1.93605240e-01 9.81079123e-01 -8.74982522e-04 2.47844580e+00] [ 4.70397438e-03 -3.64305474e-05 9.99988936e-01 2.96476803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.881052754 meters Centerline goodness : 0.998597 Centerline is valid? [True, True] Translation: X:28.73, Y:2.49, Z:0.03 [[ 9.81875484e-01 -1.89470772e-01 -4.62179284e-03 2.87286144e+01] [ 1.89468746e-01 9.81886361e-01 -8.76202923e-04 2.48528649e+00] [ 4.70409019e-03 -1.53631254e-05 9.99988936e-01 2.62751327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.911052754 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:28.76, Y:2.49, Z:0.03 [[ 9.81919306e-01 -1.89243674e-01 -4.61621107e-03 2.87566957e+01] [ 1.89241507e-01 9.81930156e-01 -9.05594050e-04 2.49154532e+00] [ 4.70417481e-03 1.56415383e-05 9.99988935e-01 2.65335429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.941052753999998 meters Centerline goodness : 0.999860 Centerline is valid? [True, True] Translation: X:28.79, Y:2.50, Z:0.03 [[ 9.81341439e-01 -1.92217740e-01 -4.61733334e-03 2.87857879e+01] [ 1.92215634e-01 9.81352302e-01 -8.99680677e-04 2.49661950e+00] [ 4.70416529e-03 -4.62972755e-06 9.99988935e-01 2.63844357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.971052754 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:28.81, Y:2.50, Z:0.03 [[ 9.80985475e-01 -1.94026169e-01 -4.61997729e-03 2.88131248e+01] [ 1.94024149e-01 9.80996353e-01 -8.85754734e-04 2.50073293e+00] [ 4.70404047e-03 -2.74746353e-05 9.99988936e-01 2.77661674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.001052754 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:28.84, Y:2.50, Z:0.03 [[ 9.80033816e-01 -1.98777214e-01 -4.61936129e-03 2.88405579e+01] [ 1.98775232e-01 9.80044701e-01 -8.88994429e-04 2.50365753e+00] [ 4.70389239e-03 -4.69700100e-05 9.99988936e-01 3.05993502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.031052754 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:28.87, Y:2.51, Z:0.03 [[ 9.78970321e-01 -2.03950383e-01 -4.62083404e-03 2.88691553e+01] [ 2.03948495e-01 9.78981223e-01 -8.81251208e-04 2.50680574e+00] [ 4.70344128e-03 -7.96933705e-05 9.99988936e-01 3.34347985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.061052754 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:28.90, Y:2.51, Z:0.03 [[ 9.78756648e-01 -2.04973313e-01 -4.62217235e-03 2.88964970e+01] [ 2.04971469e-01 9.78767558e-01 -8.74226283e-04 2.51037535e+00] [ 4.70322540e-03 -9.17586697e-05 9.99988936e-01 3.21107501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.091052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.92, Y:2.51, Z:0.03 [[ 9.78621883e-01 -2.05615799e-01 -4.62091991e-03 2.89231263e+01] [ 2.05613932e-01 9.78632789e-01 -8.80792609e-04 2.51496901e+00] [ 4.70328862e-03 -8.81625880e-05 9.99988936e-01 3.35689495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.121052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.96, Y:2.52, Z:0.04 [[ 9.78698270e-01 -2.05251931e-01 -4.61971884e-03 2.89570344e+01] [ 2.05250030e-01 9.78709169e-01 -8.87087865e-04 2.51715467e+00] [ 4.70343768e-03 -8.00060704e-05 9.99988936e-01 3.50609326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.151052754 meters Centerline goodness : 0.998447 Centerline is valid? [True, True] Translation: X:28.98, Y:2.53, Z:0.03 [[ 9.78430146e-01 -2.06526039e-01 -4.63087670e-03 2.89802810e+01] [ 2.06524430e-01 9.78441094e-01 -8.28249647e-04 2.52519241e+00] [ 4.70209518e-03 -1.46004747e-04 9.99988934e-01 2.88484232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.181052754 meters Centerline goodness : 0.996477 Centerline is valid? [True, True] Translation: X:29.01, Y:2.53, Z:0.03 [[ 9.78499046e-01 -2.06199459e-01 -4.62592864e-03 2.90086988e+01] [ 2.06197723e-01 9.78509974e-01 -8.54314294e-04 2.53175970e+00] [ 4.70267646e-03 -1.17910230e-04 9.99988935e-01 2.78457847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.211052754 meters Centerline goodness : 0.998143 Centerline is valid? [True, True] Translation: X:29.04, Y:2.54, Z:0.03 [[ 9.78660081e-01 -2.05433799e-01 -4.62600209e-03 2.90350400e+01] [ 2.05432056e-01 9.78671008e-01 -8.53927720e-04 2.53713945e+00] [ 4.70275974e-03 -1.14624149e-04 9.99988935e-01 2.81276673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.241052754 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:29.06, Y:2.54, Z:0.03 [[ 9.78756379e-01 -2.04974535e-01 -4.62506709e-03 2.90644573e+01] [ 2.04972763e-01 9.78767301e-01 -8.58839954e-04 2.54437262e+00] [ 4.70290475e-03 -1.07417698e-04 9.99988936e-01 3.17440382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.271052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.09, Y:2.55, Z:0.03 [[ 9.79515697e-01 -2.01314697e-01 -4.62519802e-03 2.90919353e+01] [ 2.01312889e-01 9.79526612e-01 -8.58156609e-04 2.55007254e+00] [ 4.70326408e-03 -9.05341035e-05 9.99988935e-01 3.46205973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.301052754000004 meters Centerline goodness : 0.996736 Centerline is valid? [True, True] Translation: X:29.12, Y:2.56, Z:0.02 [[ 9.79555640e-01 -2.01120322e-01 -4.62214039e-03 2.91189524e+01] [ 2.01118436e-01 9.79566542e-01 -8.74104053e-04 2.55864520e+00] [ 4.70349417e-03 -7.33640931e-05 9.99988936e-01 2.49572928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.331052754000005 meters Centerline goodness : 0.996110 Centerline is valid? [True, True] Translation: X:29.15, Y:2.56, Z:0.02 [[ 9.80957275e-01 -1.94168532e-01 -4.62673170e-03 2.91526907e+01] [ 1.94166682e-01 9.80968184e-01 -8.50106097e-04 2.56440468e+00] [ 4.70374045e-03 -6.44393817e-05 9.99988935e-01 2.06522508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.361052754 meters Centerline goodness : 0.996953 Centerline is valid? [True, True] Translation: X:29.17, Y:2.57, Z:0.02 [[ 9.81318693e-01 -1.92333241e-01 -4.64197304e-03 2.91739050e+01] [ 1.92331746e-01 9.81329662e-01 -7.70388499e-04 2.57327951e+00] [ 4.70347715e-03 -1.36802146e-04 9.99988929e-01 1.94095847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.391052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:29.20, Y:2.58, Z:0.03 [[ 9.83045941e-01 -1.83301037e-01 -4.62686985e-03 2.92006564e+01] [ 1.83299071e-01 9.83056829e-01 -8.48943224e-04 2.57661558e+00] [ 4.70408818e-03 -1.35507563e-05 9.99988936e-01 2.68888972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.421052754 meters Centerline goodness : 0.996646 Centerline is valid? [True, True] Translation: X:29.23, Y:2.58, Z:0.02 [[ 9.83198184e-01 -1.82482869e-01 -4.61893875e-03 2.92307814e+01] [ 1.82480701e-01 9.83209033e-01 -8.90099621e-04 2.58188405e+00] [ 4.70381023e-03 3.22771511e-05 9.99988937e-01 1.89415831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.451052754 meters Centerline goodness : 0.997718 Centerline is valid? [True, True] Translation: X:29.26, Y:2.58, Z:0.02 [[ 9.83596238e-01 -1.80324831e-01 -4.62552924e-03 2.92585597e+01] [ 1.80322800e-01 9.83607114e-01 -8.55899719e-04 2.58461337e+00] [ 4.70404344e-03 7.77135899e-06 9.99988936e-01 2.24058406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.481052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.29, Y:2.59, Z:0.03 [[ 9.83366920e-01 -1.81571216e-01 -4.62533041e-03 2.92863536e+01] [ 1.81569194e-01 9.83377798e-01 -8.56929239e-04 2.58916100e+00] [ 4.70404092e-03 2.85835170e-06 9.99988936e-01 2.89962853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.511052754000005 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:29.32, Y:2.59, Z:0.03 [[ 9.82754952e-01 -1.84854888e-01 -4.62337470e-03 2.93209478e+01] [ 1.84852855e-01 9.82765827e-01 -8.67015010e-04 2.58987056e+00] [ 4.70396662e-03 -2.58071780e-06 9.99988936e-01 2.51163974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.541052754 meters Centerline goodness : 0.997771 Centerline is valid? [True, True] Translation: X:29.34, Y:2.59, Z:0.03 [[ 9.81936604e-01 -1.89153417e-01 -4.63584787e-03 2.93444301e+01] [ 1.89151736e-01 9.81947543e-01 -8.02380773e-04 2.59104604e+00] [ 4.70393249e-03 -8.89916196e-05 9.99988932e-01 2.73117830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.571052754 meters Centerline goodness : 0.997271 Centerline is valid? [True, True] Translation: X:29.38, Y:2.59, Z:0.03 [[ 9.80893718e-01 -1.94489403e-01 -4.62447959e-03 2.93777742e+01] [ 1.94487505e-01 9.80904618e-01 -8.61080260e-04 2.59495219e+00] [ 4.70364437e-03 -5.47752783e-05 9.99988936e-01 2.91840240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.601052754 meters Centerline goodness : 0.997694 Centerline is valid? [True, True] Translation: X:29.41, Y:2.60, Z:0.04 [[ 9.79208851e-01 -2.02801796e-01 -4.63219062e-03 2.94104418e+01] [ 2.02800177e-01 9.79219798e-01 -8.21567467e-04 2.60107762e+00] [ 4.70254812e-03 -1.34922941e-04 9.99988934e-01 3.54861206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.631052754 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:29.43, Y:2.61, Z:0.04 [[ 9.78812650e-01 -2.04705305e-01 -4.64062176e-03 2.94349655e+01] [ 2.04703911e-01 9.78823632e-01 -7.78437018e-04 2.60717169e+00] [ 4.70170043e-03 -1.88009423e-04 9.99988929e-01 3.66553857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.661052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:29.45, Y:2.61, Z:0.05 [[ 9.78728575e-01 -2.05107029e-01 -4.63504177e-03 2.94548688e+01] [ 2.05105505e-01 9.78739537e-01 -8.06889816e-04 2.61143645e+00] [ 4.70199741e-03 -1.60946465e-04 9.99988933e-01 4.55248089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.691052754000005 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:29.49, Y:2.62, Z:0.04 [[ 9.77337733e-01 -2.11635675e-01 -4.61472759e-03 2.94894680e+01] [ 2.11633737e-01 9.77348624e-01 -9.09915402e-04 2.61925071e+00] [ 4.70276822e-03 -8.73373881e-05 9.99988938e-01 4.01831123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.721052754 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:29.52, Y:2.63, Z:0.04 [[ 9.76629837e-01 -2.14878413e-01 -4.62922085e-03 2.95183286e+01] [ 2.14876856e-01 9.76640792e-01 -8.36996243e-04 2.62934162e+00] [ 4.70093834e-03 -1.77276917e-04 9.99988935e-01 3.87910727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.751052754 meters Centerline goodness : 0.996189 Centerline is valid? [True, True] Translation: X:29.55, Y:2.64, Z:0.04 [[ 9.76182524e-01 -2.16901503e-01 -4.62785731e-03 2.95499561e+01] [ 2.16899936e-01 9.76193478e-01 -8.43860522e-04 2.63773843e+00] [ 4.70071874e-03 -1.80020060e-04 9.99988935e-01 3.66156371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.781052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.57, Y:2.64, Z:0.04 [[ 9.77356539e-01 -2.11548263e-01 -4.63985043e-03 2.95680561e+01] [ 2.11546922e-01 9.77367529e-01 -7.83378631e-04 2.64347119e+00] [ 4.70056153e-03 -2.15905851e-04 9.99988929e-01 3.66033261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.811052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:29.60, Y:2.65, Z:0.03 [[ 9.77412382e-01 -2.11290702e-01 -4.61239193e-03 2.95959555e+01] [ 2.11288708e-01 9.77423262e-01 -9.20905784e-04 2.65109812e+00] [ 4.70283800e-03 -7.44416155e-05 9.99988939e-01 3.46930094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.841052754 meters Centerline goodness : 0.995434 Centerline is valid? [True, True] Translation: X:29.63, Y:2.66, Z:0.03 [[ 9.76702663e-01 -2.14547515e-01 -4.61217007e-03 2.96323102e+01] [ 2.14545553e-01 9.76713548e-01 -9.22015607e-04 2.66073085e+00] [ 4.70258515e-03 -8.89854768e-05 9.99988939e-01 2.66963642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.871052754000004 meters Centerline goodness : 0.995522 Centerline is valid? [True, True] Translation: X:29.66, Y:2.67, Z:0.03 [[ 9.77076655e-01 -2.12837327e-01 -4.63493213e-03 2.96591132e+01] [ 2.12835885e-01 9.77087628e-01 -8.07792204e-04 2.66528316e+00] [ 4.70066317e-03 -1.97204977e-04 9.99988932e-01 2.93198761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.901052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.68, Y:2.67, Z:0.04 [[ 9.77491442e-01 -2.10924311e-01 -4.62777396e-03 2.96820900e+01] [ 2.10922678e-01 9.77502385e-01 -8.43603347e-04 2.67242689e+00] [ 4.70159654e-03 -1.51487426e-04 9.99988936e-01 3.83798074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.931052754 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:29.71, Y:2.68, Z:0.04 [[ 9.78284729e-01 -2.07214097e-01 -4.61597343e-03 2.97088254e+01] [ 2.07212147e-01 9.78295616e-01 -9.02089392e-04 2.67861709e+00] [ 4.70271221e-03 -7.39854883e-05 9.99988939e-01 3.74655981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.961052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.74, Y:2.68, Z:0.04 [[ 9.78483896e-01 -2.06271595e-01 -4.61451935e-03 2.97367779e+01] [ 2.06269601e-01 9.78494775e-01 -9.09287979e-04 2.68302175e+00] [ 4.70284336e-03 -6.21114188e-05 9.99988940e-01 3.88855587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.991052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.76, Y:2.69, Z:0.04 [[ 9.78710029e-01 -2.05195931e-01 -4.61620551e-03 2.97631173e+01] [ 2.05193964e-01 9.78720913e-01 -9.00943435e-04 2.68624244e+00] [ 4.70284680e-03 -6.54551312e-05 9.99988939e-01 4.16115498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.79, Y:2.69, Z:0.04 [[ 9.78445690e-01 -2.06452745e-01 -4.61470632e-03 2.97892424e+01] [ 2.06450756e-01 9.78456570e-01 -9.08357244e-04 2.69236305e+00] [ 4.70282257e-03 -6.39313812e-05 9.99988940e-01 4.17896052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.051052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.82, Y:2.70, Z:0.04 [[ 9.78561908e-01 -2.05901244e-01 -4.61195150e-03 2.98166222e+01] [ 2.05899185e-01 9.78572775e-01 -9.21964592e-04 2.69613832e+00] [ 4.70296383e-03 -4.73976238e-05 9.99988940e-01 4.45956604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.081052754000005 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:29.85, Y:2.70, Z:0.05 [[ 9.78795608e-01 -2.04787475e-01 -4.60944853e-03 2.98456224e+01] [ 2.04785346e-01 9.78806462e-01 -9.34313031e-04 2.70110870e+00] [ 4.70309361e-03 -2.94460188e-05 9.99988940e-01 4.53662311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.111052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:29.87, Y:2.71, Z:0.05 [[ 9.78762619e-01 -2.04945060e-01 -4.61057711e-03 2.98733444e+01] [ 2.04942959e-01 9.78773478e-01 -9.28748750e-04 2.70699629e+00] [ 4.70305306e-03 -3.58807537e-05 9.99988940e-01 4.66116365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.141052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.90, Y:2.71, Z:0.05 [[ 9.78501515e-01 -2.06188092e-01 -4.61046225e-03 2.99013378e+01] [ 2.06186002e-01 9.78512375e-01 -9.29314718e-04 2.71007681e+00] [ 4.70300799e-03 -4.12769196e-05 9.99988940e-01 4.70326269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.171052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.93, Y:2.71, Z:0.05 [[ 9.78170286e-01 -2.07753754e-01 -4.61184252e-03 2.99283304e+01] [ 2.07751713e-01 9.78181156e-01 -9.22517043e-04 2.71416226e+00] [ 4.70287383e-03 -5.57394233e-05 9.99988940e-01 4.71657669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.201052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:29.96, Y:2.72, Z:0.05 [[ 9.77532235e-01 -2.10735631e-01 -4.60696507e-03 2.99590240e+01] [ 2.10733510e-01 9.77543089e-01 -9.46499466e-04 2.72077843e+00] [ 4.70296803e-03 -4.56081821e-05 9.99988940e-01 4.59027206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.231052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.98, Y:2.73, Z:0.04 [[ 9.77376875e-01 -2.11454863e-01 -4.61353981e-03 2.99849463e+01] [ 2.11452903e-01 9.77387760e-01 -9.14209253e-04 2.72750072e+00] [ 4.70253134e-03 -8.20194029e-05 9.99988940e-01 4.14605725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.261052754000005 meters Centerline goodness : 0.999860 Centerline is valid? [True, True] Translation: X:30.01, Y:2.73, Z:0.04 [[ 9.77063668e-01 -2.12897496e-01 -4.60928370e-03 3.00134136e+01] [ 2.12895453e-01 9.77074537e-01 -9.35078025e-04 2.73347956e+00] [ 4.70268951e-03 -6.76647781e-05 9.99988940e-01 4.25333156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.291052754 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:30.04, Y:2.74, Z:0.04 [[ 9.76714344e-01 -2.14494395e-01 -4.60926830e-03 3.00392890e+01] [ 2.14492370e-01 9.76725217e-01 -9.35153485e-04 2.73826514e+00] [ 4.70257376e-03 -7.52750593e-05 9.99988940e-01 4.07132807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.07, Y:2.74, Z:0.04 [[ 9.76267145e-01 -2.16520858e-01 -4.60208409e-03 3.00675134e+01] [ 2.16518689e-01 9.76277991e-01 -9.70278681e-04 2.74393635e+00] [ 4.70299898e-03 -4.91860169e-05 9.99988940e-01 3.55549168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.351052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.10, Y:2.75, Z:0.04 [[ 9.75640530e-01 -2.19327023e-01 -4.60581052e-03 3.00950808e+01] [ 2.19324972e-01 9.75651398e-01 -9.52077239e-04 2.74838326e+00] [ 4.70248174e-03 -8.12841206e-05 9.99988940e-01 3.83088237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.12, Y:2.75, Z:0.04 [[ 9.75588398e-01 -2.19558797e-01 -4.60567208e-03 3.01230919e+01] [ 2.19556745e-01 9.75599266e-01 -9.52753093e-04 2.75417581e+00] [ 4.70247562e-03 -8.17115046e-05 9.99988940e-01 3.84429971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.15, Y:2.76, Z:0.04 [[ 9.75516153e-01 -2.19879572e-01 -4.60541754e-03 3.01519735e+01] [ 2.19877518e-01 9.75527020e-01 -9.53994106e-04 2.75636939e+00] [ 4.70247307e-03 -8.19911177e-05 9.99988940e-01 4.12715627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.441052754000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.18, Y:2.76, Z:0.04 [[ 9.74454669e-01 -2.24537014e-01 -4.60721514e-03 3.01798136e+01] [ 2.24535053e-01 9.74465554e-01 -9.45232296e-04 2.75996040e+00] [ 4.70181210e-03 -1.13395272e-04 9.99988940e-01 4.33817648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.471052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.21, Y:2.77, Z:0.05 [[ 9.74410759e-01 -2.24727524e-01 -4.60582791e-03 3.02051840e+01] [ 2.24725533e-01 9.74421638e-01 -9.51990413e-04 2.76521978e+00] [ 4.70195683e-03 -1.07417433e-04 9.99988940e-01 4.82119211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.501052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.23, Y:2.77, Z:0.04 [[ 9.74272828e-01 -2.25324875e-01 -4.59967261e-03 3.02349983e+01] [ 2.25322750e-01 9.74283683e-01 -9.81934856e-04 2.77259189e+00] [ 4.70264032e-03 -7.97384314e-05 9.99988939e-01 4.19600898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.531052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:30.26, Y:2.78, Z:0.04 [[ 9.74477590e-01 -2.24437528e-01 -4.60690839e-03 3.02593655e+01] [ 2.24435559e-01 9.74488473e-01 -9.46724467e-04 2.78058315e+00] [ 4.70185962e-03 -1.11392281e-04 9.99988940e-01 4.30530985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.561052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.29, Y:2.78, Z:0.05 [[ 9.75279751e-01 -2.20925902e-01 -4.59925596e-03 3.02901447e+01] [ 2.20923718e-01 9.75290594e-01 -9.83899593e-04 2.78267898e+00] [ 4.70297998e-03 -5.65073760e-05 9.99988939e-01 4.50098018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.591052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.32, Y:2.79, Z:0.05 [[ 9.76006672e-01 -2.17691878e-01 -4.60678303e-03 3.03185422e+01] [ 2.17689831e-01 9.76017541e-01 -9.47294756e-04 2.78868678e+00] [ 4.70251942e-03 -7.82838167e-05 9.99988940e-01 4.81089912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.621052754000004 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:30.34, Y:2.80, Z:0.05 [[ 9.76499125e-01 -2.15472129e-01 -4.60656604e-03 3.03448318e+01] [ 2.15470052e-01 9.76509988e-01 -9.48348793e-04 2.79597364e+00] [ 4.70270048e-03 -6.65152566e-05 9.99988940e-01 4.74366652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.651052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.37, Y:2.81, Z:0.05 [[ 9.77487091e-01 -2.10944939e-01 -4.60645817e-03 3.03711853e+01] [ 2.10942809e-01 9.77497944e-01 -9.48872464e-04 2.80506557e+00] [ 4.70296323e-03 -4.41886411e-05 9.99988940e-01 4.58602985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.681052754 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:30.40, Y:2.81, Z:0.05 [[ 9.78000551e-01 -2.08551444e-01 -4.60621298e-03 3.03985847e+01] [ 2.08549283e-01 9.78011398e-01 -9.50061223e-04 2.81206663e+00] [ 4.70306544e-03 -3.14620124e-05 9.99988940e-01 4.50022894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.711052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.43, Y:2.82, Z:0.04 [[ 9.78825763e-01 -2.04643375e-01 -4.60595879e-03 3.04261956e+01] [ 2.04641164e-01 9.78836600e-01 -9.51291978e-04 2.81899157e+00] [ 4.70315664e-03 -1.14196703e-05 9.99988940e-01 4.25778891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.741052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.45, Y:2.82, Z:0.04 [[ 9.78993698e-01 -2.03838484e-01 -4.60573817e-03 3.04549488e+01] [ 2.03836259e-01 9.79004531e-01 -9.52358928e-04 2.82485298e+00] [ 4.70316593e-03 -6.46304956e-06 9.99988940e-01 4.22359316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.771052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.48, Y:2.83, Z:0.04 [[ 9.78823600e-01 -2.04653731e-01 -4.60551230e-03 3.04827240e+01] [ 2.04651510e-01 9.78834435e-01 -9.53449957e-04 2.83329125e+00] [ 4.70316112e-03 -9.26572623e-06 9.99988940e-01 3.91022766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.801052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.51, Y:2.84, Z:0.04 [[ 9.78509688e-01 -2.06149416e-01 -4.60528661e-03 3.05095727e+01] [ 2.06147206e-01 9.78520525e-01 -9.54538826e-04 2.84077085e+00] [ 4.70314509e-03 -1.53414785e-05 9.99988940e-01 3.65988518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.831052754000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.54, Y:2.85, Z:0.04 [[ 9.77591643e-01 -2.10459911e-01 -4.60502858e-03 3.05368421e+01] [ 2.10457743e-01 9.77602488e-01 -9.55782022e-04 2.84607457e+00] [ 4.70304120e-03 -3.47994062e-05 9.99988940e-01 3.65733956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.57, Y:2.85, Z:0.04 [[ 9.77016814e-01 -2.13112507e-01 -4.60477061e-03 3.05659045e+01] [ 2.13110363e-01 9.77027665e-01 -9.57023256e-04 2.84999218e+00] [ 4.70294190e-03 -4.62965244e-05 9.99988940e-01 3.95667700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.891052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.59, Y:2.85, Z:0.04 [[ 9.76037084e-01 -2.17555532e-01 -4.60454591e-03 3.05937282e+01] [ 2.17553433e-01 9.76047942e-01 -9.58103120e-04 2.85306330e+00] [ 4.70269820e-03 -6.65905958e-05 9.99988940e-01 4.48420926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.921052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.62, Y:2.86, Z:0.05 [[ 9.75641822e-01 -2.19321305e-01 -4.60446641e-03 3.06219279e+01] [ 2.19319223e-01 9.75652684e-01 -9.58485051e-04 2.85990626e+00] [ 4.70257620e-03 -7.47098959e-05 9.99988940e-01 4.55141889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.951052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.65, Y:2.87, Z:0.05 [[ 9.75375326e-01 -2.20503457e-01 -4.60424365e-03 3.06495207e+01] [ 2.20501383e-01 9.75386190e-01 -9.59553901e-04 2.86892775e+00] [ 4.70250063e-03 -7.93168950e-05 9.99988940e-01 4.52061426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.981052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.68, Y:2.87, Z:0.05 [[ 9.75512228e-01 -2.19897011e-01 -4.60401783e-03 3.06771307e+01] [ 2.19894926e-01 9.75523090e-01 -9.60636182e-04 2.87488920e+00] [ 4.70256673e-03 -7.52878177e-05 9.99988940e-01 4.78548174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.011052754000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.70, Y:2.88, Z:0.05 [[ 9.75562401e-01 -2.19674322e-01 -4.60375956e-03 3.07049408e+01] [ 2.19672228e-01 9.75573261e-01 -9.61872369e-04 2.88036918e+00] [ 4.70260338e-03 -7.29516004e-05 9.99988940e-01 4.90800705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.041052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.73, Y:2.89, Z:0.05 [[ 9.75421894e-01 -2.20297383e-01 -4.60350094e-03 3.07326839e+01] [ 2.20295290e-01 9.75432754e-01 -9.63108487e-04 2.88740644e+00] [ 4.70257588e-03 -7.46924730e-05 9.99988940e-01 4.77253517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.76, Y:2.89, Z:0.05 [[ 9.75059114e-01 -2.21897577e-01 -4.60323657e-03 3.07602712e+01] [ 2.21895496e-01 9.75069976e-01 -9.64370422e-04 2.89399653e+00] [ 4.70246923e-03 -8.11192942e-05 9.99988940e-01 4.60140849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.101052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.79, Y:2.90, Z:0.04 [[ 9.74535950e-01 -2.24184063e-01 -4.60297248e-03 3.07875491e+01] [ 2.24182001e-01 9.74546817e-01 -9.65629291e-04 2.89940043e+00] [ 4.70229088e-03 -9.08631246e-05 9.99988940e-01 4.37734983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.81, Y:2.90, Z:0.04 [[ 9.74333435e-01 -2.25062595e-01 -4.60270525e-03 3.08145217e+01] [ 2.25060538e-01 9.74344302e-01 -9.66901376e-04 2.90433957e+00] [ 4.70223297e-03 -9.38029806e-05 9.99988940e-01 4.35587315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.84, Y:2.91, Z:0.04 [[ 9.74169123e-01 -2.25772756e-01 -4.60252368e-03 3.08420608e+01] [ 2.25770702e-01 9.74179990e-01 -9.67764890e-04 2.90991862e+00] [ 4.70218142e-03 -9.63483304e-05 9.99988940e-01 4.29691570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.191052754000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.87, Y:2.92, Z:0.04 [[ 9.74240368e-01 -2.25465128e-01 -4.60240264e-03 3.08691016e+01] [ 2.25463068e-01 9.74251234e-01 -9.68340178e-04 2.91601127e+00] [ 4.70222340e-03 -9.42757303e-05 9.99988940e-01 4.19112104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.90, Y:2.92, Z:0.04 [[ 9.74932328e-01 -2.22453986e-01 -4.60214715e-03 3.08967278e+01] [ 2.22451887e-01 9.74943187e-01 -9.69552894e-04 2.92355652e+00] [ 4.70251292e-03 -7.85078602e-05 9.99988940e-01 4.05786177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.251052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.92, Y:2.93, Z:0.04 [[ 9.75442750e-01 -2.20205049e-01 -4.60189070e-03 3.09246231e+01] [ 2.20202919e-01 9.75453603e-01 -9.70768603e-04 2.92917838e+00] [ 4.70269901e-03 -6.64205711e-05 9.99988940e-01 4.00358063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.281052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.95, Y:2.93, Z:0.04 [[ 9.75581926e-01 -2.19587640e-01 -4.60163088e-03 3.09507274e+01] [ 2.19585497e-01 9.75592776e-01 -9.71998620e-04 2.93474497e+00] [ 4.70275673e-03 -6.21871211e-05 9.99988940e-01 3.98237916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.311052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.98, Y:2.94, Z:0.04 [[ 9.75493528e-01 -2.19980008e-01 -4.60151814e-03 3.09783754e+01] [ 2.19977867e-01 9.75504378e-01 -9.72532066e-04 2.94102537e+00] [ 4.70273870e-03 -6.35334100e-05 9.99988940e-01 4.00865932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.341052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.00, Y:2.95, Z:0.04 [[ 9.74938142e-01 -2.22428521e-01 -4.60126128e-03 3.10047345e+01] [ 2.22426402e-01 9.74948997e-01 -9.73745797e-04 2.94777295e+00] [ 4.70258391e-03 -7.41000722e-05 9.99988940e-01 3.83714498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.371052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.03, Y:2.95, Z:0.04 [[ 9.74466145e-01 -2.24487330e-01 -4.60114985e-03 3.10323767e+01] [ 2.24485232e-01 9.74477004e-01 -9.74272081e-04 2.95312190e+00] [ 4.70242646e-03 -8.34950298e-05 9.99988940e-01 3.83878070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.401052754 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:31.06, Y:2.96, Z:0.04 [[ 9.73530958e-01 -2.28508874e-01 -4.60089717e-03 3.10603572e+01] [ 2.28506815e-01 9.73541825e-01 -9.75463874e-04 2.95617214e+00] [ 4.70206797e-03 -1.01692076e-04 9.99988940e-01 4.15886494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.431052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.09, Y:2.96, Z:0.04 [[ 9.73208920e-01 -2.29876558e-01 -4.60063212e-03 3.10879679e+01] [ 2.29874508e-01 9.73219788e-01 -9.76712321e-04 2.96155161e+00] [ 4.70194949e-03 -1.07022905e-04 9.99988940e-01 4.33622750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.461052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.12, Y:2.97, Z:0.05 [[ 9.73096570e-01 -2.30351691e-01 -4.60050870e-03 3.11162756e+01] [ 2.30349643e-01 9.73107438e-01 -9.77293329e-04 2.96774390e+00] [ 4.70191040e-03 -1.08724750e-04 9.99988940e-01 4.56624127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.14, Y:2.97, Z:0.04 [[ 9.73375915e-01 -2.29168422e-01 -4.60027969e-03 3.11434206e+01] [ 2.29166356e-01 9.73386780e-01 -9.78370130e-04 2.97469345e+00] [ 4.70206297e-03 -1.01907411e-04 9.99988940e-01 4.49744713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.17, Y:2.98, Z:0.04 [[ 9.73507483e-01 -2.28608880e-01 -4.60001597e-03 3.11702523e+01] [ 2.28606802e-01 9.73518346e-01 -9.79608487e-04 2.98174642e+00] [ 4.70214714e-03 -9.79387473e-05 9.99988940e-01 4.38307341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.551052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.20, Y:2.99, Z:0.04 [[ 9.73592879e-01 -2.28244929e-01 -4.59975260e-03 3.11977927e+01] [ 2.28242842e-01 9.73603740e-01 -9.80843599e-04 2.98823438e+00] [ 4.70220891e-03 -9.49182594e-05 9.99988940e-01 4.30852339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.581052754000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.22, Y:3.00, Z:0.04 [[ 9.73742637e-01 -2.27605188e-01 -4.59949018e-03 3.12226502e+01] [ 2.27603087e-01 9.73753496e-01 -9.82072626e-04 2.99511618e+00] [ 4.70229446e-03 -9.05721747e-05 9.99988940e-01 4.35079918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.25, Y:3.00, Z:0.04 [[ 9.73938588e-01 -2.26765348e-01 -4.59388385e-03 3.12521460e+01] [ 2.26763114e-01 9.73949420e-01 -1.00828843e-03 2.99943607e+00] [ 4.70285539e-03 -5.97124002e-05 9.99988940e-01 4.38623407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.641052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.28, Y:3.01, Z:0.04 [[ 9.74227833e-01 -2.25519351e-01 -4.59917169e-03 3.12784776e+01] [ 2.25517220e-01 9.74238685e-01 -9.83562300e-04 3.00726218e+00] [ 4.70250331e-03 -7.89786451e-05 9.99988940e-01 4.41438295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.671052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.31, Y:3.01, Z:0.04 [[ 9.74942733e-01 -2.22408535e-01 -4.59469940e-03 3.13073996e+01] [ 2.22406271e-01 9.74953559e-01 -1.00444821e-03 3.01444854e+00] [ 4.70301638e-03 -4.26104820e-05 9.99988940e-01 4.24174614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.701052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.33, Y:3.02, Z:0.04 [[ 9.75088844e-01 -2.21766989e-01 -4.59882867e-03 3.13336969e+01] [ 2.21764808e-01 9.75099687e-01 -9.85172560e-04 3.02231694e+00] [ 4.70279515e-03 -5.92275870e-05 9.99988940e-01 4.24362143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.731052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.36, Y:3.03, Z:0.04 [[ 9.74616975e-01 -2.23831709e-01 -4.59552581e-03 3.13617000e+01] [ 2.23829479e-01 9.74627808e-01 -1.00056449e-03 3.02805844e+00] [ 4.70288531e-03 -5.34470148e-05 9.99988940e-01 4.03834555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.761052754000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.39, Y:3.03, Z:0.04 [[ 9.73962898e-01 -2.26660820e-01 -4.59849890e-03 3.13897291e+01] [ 2.26658687e-01 9.73973750e-01 -9.86708593e-04 3.03300014e+00] [ 4.70246540e-03 -8.12721634e-05 9.99988940e-01 3.99916254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.791052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.41, Y:3.03, Z:0.04 [[ 9.72861055e-01 -2.31344382e-01 -4.59824638e-03 3.14139015e+01] [ 2.31342295e-01 9.72871917e-01 -9.87883974e-04 3.03459229e+00] [ 4.70204618e-03 -1.02695026e-04 9.99988940e-01 3.99475094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.821052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.45, Y:3.04, Z:0.04 [[ 9.70786335e-01 -2.39901753e-01 -4.58698995e-03 3.14456107e+01] [ 2.39899516e-01 9.70797168e-01 -1.04016372e-03 3.03913263e+00] [ 4.70257395e-03 -9.06399387e-05 9.99988939e-01 4.33347232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.851052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.47, Y:3.04, Z:0.05 [[ 9.70412874e-01 -2.41407773e-01 -4.59796591e-03 3.14728437e+01] [ 2.41405793e-01 9.70423755e-01 -9.89142682e-04 3.04451796e+00] [ 4.70076208e-03 -1.50098816e-04 9.99988940e-01 4.59286205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.881052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.50, Y:3.05, Z:0.05 [[ 9.70231779e-01 -2.42134582e-01 -4.59771703e-03 3.15001639e+01] [ 2.42132605e-01 9.70242661e-01 -9.90298183e-04 3.04988820e+00] [ 4.70068664e-03 -1.52438434e-04 9.99988940e-01 4.83813389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.911052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.53, Y:3.05, Z:0.05 [[ 9.70230226e-01 -2.42140807e-01 -4.59763994e-03 3.15281320e+01] [ 2.42138828e-01 9.70241107e-01 -9.90655968e-04 3.05470596e+00] [ 4.70069750e-03 -1.52102783e-04 9.99988940e-01 5.12312052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.941052754000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.56, Y:3.06, Z:0.05 [[ 9.70253974e-01 -2.42045637e-01 -4.59738000e-03 3.15557015e+01] [ 2.42043652e-01 9.70264854e-01 -9.91860809e-04 3.06126335e+00] [ 4.70075182e-03 -1.50409751e-04 9.99988940e-01 4.97901081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.971052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.58, Y:3.07, Z:0.04 [[ 9.70508747e-01 -2.41022071e-01 -4.59710846e-03 3.15814843e+01] [ 2.41020068e-01 9.70519624e-01 -9.93117773e-04 3.06947832e+00] [ 4.70094727e-03 -1.44165909e-04 9.99988940e-01 4.19400962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.001052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.61, Y:3.08, Z:0.04 [[ 9.70828164e-01 -2.39732235e-01 -4.59692394e-03 3.16092329e+01] [ 2.39730213e-01 9.70839038e-01 -9.93971138e-04 3.07603947e+00] [ 4.70116013e-03 -1.37046381e-04 9.99988940e-01 4.10087647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.031052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.64, Y:3.08, Z:0.04 [[ 9.72152678e-01 -2.34303311e-01 -4.59664828e-03 3.16357962e+01] [ 2.34301223e-01 9.72163539e-01 -9.95244294e-04 3.08070874e+00] [ 4.70188289e-03 -1.09470908e-04 9.99988940e-01 4.31748185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.061052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.66, Y:3.09, Z:0.04 [[ 9.73966498e-01 -2.26645389e-01 -4.59652932e-03 3.16635654e+01] [ 2.26643213e-01 9.73977342e-01 -9.95793407e-04 3.08643653e+00] [ 4.70260739e-03 -7.19027570e-05 9.99988940e-01 4.36697523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.091052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.69, Y:3.09, Z:0.04 [[ 9.74812428e-01 -2.22978928e-01 -4.59640359e-03 3.16905180e+01] [ 2.22976709e-01 9.74823263e-01 -9.96373408e-04 3.09294372e+00] [ 4.70285142e-03 -5.36137634e-05 9.99988940e-01 4.29195187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.121052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.72, Y:3.10, Z:0.04 [[ 9.76339213e-01 -2.16195783e-01 -4.59613348e-03 3.17179698e+01] [ 2.16193482e-01 9.76350031e-01 -9.97617839e-04 3.09940755e+00] [ 4.70311584e-03 -1.96406857e-05 9.99988940e-01 4.02512451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.151052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.74, Y:3.11, Z:0.04 [[ 9.76750152e-01 -2.14331560e-01 -4.59604975e-03 3.17446931e+01] [ 2.14329236e-01 9.76760965e-01 -9.98003435e-04 3.10571528e+00] [ 4.70314562e-03 -1.02678266e-05 9.99988940e-01 3.73643887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.181052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.77, Y:3.11, Z:0.03 [[ 9.76026998e-01 -2.17600958e-01 -4.59596645e-03 3.17721237e+01] [ 2.17598669e-01 9.76037818e-01 -9.98386906e-04 3.11291586e+00] [ 4.70308701e-03 -2.56236077e-05 9.99988940e-01 3.42398931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.211052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.80, Y:3.12, Z:0.03 [[ 9.75637917e-01 -2.19338889e-01 -4.59412320e-03 3.18001369e+01] [ 2.19336579e-01 9.75648734e-01 -1.00685948e-03 3.11606399e+00] [ 4.70309392e-03 -2.53289832e-05 9.99988940e-01 3.47008234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.241052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.83, Y:3.12, Z:0.04 [[ 9.73689479e-01 -2.27832568e-01 -4.59560735e-03 3.18281220e+01] [ 2.27830385e-01 9.73700321e-01 -1.00003917e-03 3.11726704e+00] [ 4.70258585e-03 -7.32913747e-05 9.99988940e-01 3.96317387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.271052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.86, Y:3.12, Z:0.04 [[ 9.72592471e-01 -2.32471003e-01 -4.59548065e-03 3.18562494e+01] [ 2.32468869e-01 9.72603323e-01 -1.00062105e-03 3.12115860e+00] [ 4.70219513e-03 -9.51096914e-05 9.99988940e-01 4.20251072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.301052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.88, Y:3.13, Z:0.04 [[ 9.72528568e-01 -2.32738195e-01 -4.59520432e-03 3.18842052e+01] [ 2.32736058e-01 9.72539420e-01 -1.00188847e-03 3.12731699e+00] [ 4.70219506e-03 -9.51045839e-05 9.99988940e-01 4.21590656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.331052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.91, Y:3.13, Z:0.05 [[ 9.70734651e-01 -2.40110648e-01 -4.59492872e-03 3.19123917e+01] [ 2.40108587e-01 9.70745518e-01 -1.00315082e-03 3.12960324e+00] [ 4.70137366e-03 -1.29488581e-04 9.99988940e-01 4.62450036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.94, Y:3.13, Z:0.05 [[ 9.69991890e-01 -2.43093852e-01 -4.59484343e-03 3.19390693e+01] [ 2.43091823e-01 9.70002762e-01 -1.00354136e-03 3.13404046e+00] [ 4.70096555e-03 -1.43541885e-04 9.99988940e-01 4.76991213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.391052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.97, Y:3.14, Z:0.05 [[ 9.69172258e-01 -2.46341274e-01 -4.59472493e-03 3.19665296e+01] [ 2.46339279e-01 9.69183136e-01 -1.00408363e-03 3.14203568e+00] [ 4.70047715e-03 -1.58731230e-04 9.99988940e-01 4.75172139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.421052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.99, Y:3.15, Z:0.05 [[ 9.69135696e-01 -2.46485078e-01 -4.59445517e-03 3.19930570e+01] [ 2.46483079e-01 9.69146574e-01 -1.00531645e-03 3.15023550e+00] [ 4.70049599e-03 -1.58167403e-04 9.99988940e-01 4.58330460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.451052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.02, Y:3.16, Z:0.04 [[ 9.69435254e-01 -2.45304266e-01 -4.59418559e-03 3.20202958e+01] [ 2.45302247e-01 9.69446128e-01 -1.00654691e-03 3.15887078e+00] [ 4.70072568e-03 -1.51181992e-04 9.99988940e-01 4.42253562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.481052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.05, Y:3.17, Z:0.05 [[ 9.70403716e-01 -2.41444661e-01 -4.59391671e-03 3.20473372e+01] [ 2.41442593e-01 9.70414581e-01 -1.00777259e-03 3.16685824e+00] [ 4.70132507e-03 -1.31220892e-04 9.99988940e-01 4.52453392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.511052754000005 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:32.07, Y:3.17, Z:0.05 [[ 9.71231746e-01 -2.38091987e-01 -4.59364296e-03 3.20729299e+01] [ 2.38089876e-01 9.71242603e-01 -1.00901885e-03 3.17437917e+00] [ 4.70178105e-03 -1.13708744e-04 9.99988940e-01 4.56533148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.541052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.10, Y:3.18, Z:0.05 [[ 9.72936131e-01 -2.31028537e-01 -4.59352402e-03 3.20989587e+01] [ 2.31026344e-01 9.72946971e-01 -1.00956006e-03 3.18371841e+00] [ 4.70249246e-03 -7.89876037e-05 9.99988940e-01 4.53098776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.571052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:32.12, Y:3.19, Z:0.04 [[ 9.73603160e-01 -2.28201200e-01 -4.59333905e-03 3.21243085e+01] [ 2.28198972e-01 9.73613994e-01 -1.01040093e-03 3.19215259e+00] [ 4.70271388e-03 -6.44657083e-05 9.99988940e-01 4.37192006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.601052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:32.15, Y:3.20, Z:0.04 [[ 9.74075696e-01 -2.26175685e-01 -4.59322581e-03 3.21506421e+01] [ 2.26173432e-01 9.74086524e-01 -1.01091544e-03 3.20123588e+00] [ 4.70284386e-03 -5.41574879e-05 9.99988940e-01 4.17924988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.631052754 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:32.18, Y:3.21, Z:0.04 [[ 9.74660328e-01 -2.23642906e-01 -4.59294754e-03 3.21765474e+01] [ 2.23640619e-01 9.74671149e-01 -1.01217816e-03 3.21108533e+00] [ 4.70297992e-03 -4.06397322e-05 9.99988940e-01 4.07729461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.661052754 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:32.20, Y:3.22, Z:0.04 [[ 9.74870304e-01 -2.22725833e-01 -4.59275792e-03 3.22033262e+01] [ 2.22723532e-01 9.74881122e-01 -1.01303781e-03 3.21694576e+00] [ 4.70302269e-03 -3.53347910e-05 9.99988940e-01 4.29444240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.691052754000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.23, Y:3.22, Z:0.04 [[ 9.74618063e-01 -2.23827028e-01 -4.59263855e-03 3.22309838e+01] [ 2.23824736e-01 9.74628883e-01 -1.01357870e-03 3.22243864e+00] [ 4.70298449e-03 -4.00940057e-05 9.99988940e-01 4.37930320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.721052754 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:32.26, Y:3.23, Z:0.04 [[ 9.73577867e-01 -2.28309105e-01 -4.59236606e-03 3.22588856e+01] [ 2.28306858e-01 9.73588696e-01 -1.01481183e-03 3.22821178e+00] [ 4.70276646e-03 -6.04703322e-05 9.99988940e-01 4.27741496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.751052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:32.29, Y:3.23, Z:0.04 [[ 9.72749724e-01 -2.31812179e-01 -4.59209525e-03 3.22859564e+01] [ 2.31809965e-01 9.72760560e-01 -1.01603575e-03 3.23475502e+00] [ 4.70253861e-03 -7.61449393e-05 9.99988940e-01 4.21735314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.781052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.31, Y:3.24, Z:0.04 [[ 9.71209171e-01 -2.38184093e-01 -4.59182447e-03 3.23132066e+01] [ 2.38181944e-01 9.71220020e-01 -1.01725805e-03 3.23967208e+00] [ 4.70196654e-03 -1.05719327e-04 9.99988940e-01 4.30117726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.811052754 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:32.34, Y:3.24, Z:0.04 [[ 9.70647068e-01 -2.40464520e-01 -4.59174077e-03 3.23405131e+01] [ 2.40462395e-01 9.70657922e-01 -1.01763573e-03 3.24455505e+00] [ 4.70171484e-03 -1.16375846e-04 9.99988940e-01 4.28354536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.841052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:32.37, Y:3.25, Z:0.04 [[ 9.69906679e-01 -2.43433673e-01 -4.59145937e-03 3.23675337e+01] [ 2.43431575e-01 9.69917538e-01 -1.01890378e-03 3.24920779e+00] [ 4.70137246e-03 -1.29464600e-04 9.99988940e-01 4.35802777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.871052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.40, Y:3.26, Z:0.04 [[ 9.69602836e-01 -2.44641082e-01 -4.59137210e-03 3.23950656e+01] [ 2.44638996e-01 9.69613698e-01 -1.01929689e-03 3.25510253e+00] [ 4.70121917e-03 -1.34915498e-04 9.99988940e-01 4.36272322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.901052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:32.42, Y:3.26, Z:0.04 [[ 9.70009541e-01 -2.43023479e-01 -4.59109342e-03 3.24226402e+01] [ 2.43021369e-01 9.70020398e-01 -1.02055058e-03 3.26146885e+00] [ 4.70147202e-03 -1.25790009e-04 9.99988940e-01 4.42043317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.931052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:32.45, Y:3.27, Z:0.04 [[ 9.70405243e-01 -2.41438576e-01 -4.59100724e-03 3.24506940e+01] [ 2.41436447e-01 9.70416096e-01 -1.02093808e-03 3.26818960e+00] [ 4.70168117e-03 -1.17712810e-04 9.99988940e-01 4.46744429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.961052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.48, Y:3.27, Z:0.05 [[ 9.71668377e-01 -2.36303808e-01 -4.59076878e-03 3.24786190e+01] [ 2.36301616e-01 9.71679218e-01 -1.02200923e-03 3.27290380e+00] [ 4.70225929e-03 -9.17520323e-05 9.99988940e-01 4.51983426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.991052754 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:32.51, Y:3.28, Z:0.05 [[ 9.72068885e-01 -2.34650827e-01 -4.59049466e-03 3.25090260e+01] [ 2.34648611e-01 9.72079720e-01 -1.02323899e-03 3.27851234e+00] [ 4.70243064e-03 -8.24944114e-05 9.99988940e-01 4.71603026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.021052754 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:32.53, Y:3.29, Z:0.04 [[ 9.73990529e-01 -2.26542045e-01 -4.59899629e-03 3.25347026e+01] [ 2.26539918e-01 9.74001384e-01 -9.85077209e-04 3.28519942e+00] [ 4.70259015e-03 -8.24003707e-05 9.99988939e-01 4.27412552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.051052754000004 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:32.56, Y:3.29, Z:0.04 [[ 9.74989366e-01 -2.22204109e-01 -4.59015371e-03 3.25625744e+01] [ 2.22201747e-01 9.75000171e-01 -1.02468808e-03 3.29157192e+00] [ 4.70309056e-03 -2.08801953e-05 9.99988940e-01 3.95058428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.081052754 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:32.59, Y:3.30, Z:0.04 [[ 9.76763815e-01 -2.14269416e-01 -4.58990655e-03 3.25895337e+01] [ 2.14266961e-01 9.76774599e-01 -1.02579400e-03 3.29803544e+00] [ 4.70310041e-03 1.84931304e-05 9.99988940e-01 3.69101059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.62, Y:3.30, Z:0.04 [[ 9.77765810e-01 -2.09649597e-01 -4.58981915e-03 3.26171459e+01] [ 2.09647089e-01 9.77776582e-01 -1.02618493e-03 3.30295327e+00] [ 4.70295694e-03 4.11263136e-05 9.99988940e-01 3.50121927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.141052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:32.64, Y:3.31, Z:0.03 [[ 9.77781392e-01 -2.09576922e-01 -4.58954338e-03 3.26447179e+01] [ 2.09574408e-01 9.77792162e-01 -1.02741682e-03 3.30742754e+00] [ 4.70294240e-03 4.27382132e-05 9.99988940e-01 3.46304283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.171052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:32.67, Y:3.31, Z:0.03 [[ 9.77622067e-01 -2.10318882e-01 -4.58926800e-03 3.26725462e+01] [ 2.10316371e-01 9.77632838e-01 -1.02864539e-03 3.31170128e+00] [ 4.70296265e-03 4.04282437e-05 9.99988940e-01 3.46147458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.201052754 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:32.70, Y:3.32, Z:0.03 [[ 9.75757346e-01 -2.18807089e-01 -4.58898543e-03 3.27037230e+01] [ 2.18804665e-01 9.75768137e-01 -1.02990446e-03 3.31565542e+00] [ 4.70313616e-03 8.45425241e-07 9.99988940e-01 3.14973496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.231052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.73, Y:3.32, Z:0.03 [[ 9.75213706e-01 -2.21217242e-01 -4.60003386e-03 3.27271946e+01] [ 2.21215077e-01 9.75224553e-01 -9.80630024e-04 3.31988270e+00] [ 4.70299823e-03 -6.12730022e-05 9.99988939e-01 3.43641697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.261052754000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.75, Y:3.33, Z:0.04 [[ 9.74046058e-01 -2.26303383e-01 -4.58864407e-03 3.27544211e+01] [ 2.26301036e-01 9.74056866e-01 -1.03130718e-03 3.32524911e+00] [ 4.70298857e-03 -3.38742164e-05 9.99988940e-01 3.53666692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.291052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.78, Y:3.33, Z:0.04 [[ 9.73686634e-01 -2.27844873e-01 -4.58835783e-03 3.27816217e+01] [ 2.27842536e-01 9.73697444e-01 -1.03257910e-03 3.33317612e+00] [ 4.70294015e-03 -4.00146180e-05 9.99988940e-01 3.56749076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.81, Y:3.34, Z:0.04 [[ 9.72977669e-01 -2.30853641e-01 -4.58826962e-03 3.28096668e+01] [ 2.30851336e-01 9.72988486e-01 -1.03297092e-03 3.34139125e+00] [ 4.70279861e-03 -5.41505340e-05 9.99988940e-01 3.73717703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.351052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.84, Y:3.35, Z:0.04 [[ 9.72615446e-01 -2.32375008e-01 -4.58801471e-03 3.28368412e+01] [ 2.32372715e-01 9.72626265e-01 -1.03410191e-03 3.34792936e+00] [ 4.70272305e-03 -6.03459422e-05 9.99988940e-01 4.30905771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.86, Y:3.36, Z:0.04 [[ 9.72475828e-01 -2.32958613e-01 -4.58792443e-03 3.28640710e+01] [ 2.32956324e-01 9.72486648e-01 -1.03450226e-03 3.35508359e+00] [ 4.70269147e-03 -6.27575701e-05 9.99988940e-01 4.37578894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.89, Y:3.36, Z:0.04 [[ 9.72752018e-01 -2.31802642e-01 -4.58763913e-03 3.28915951e+01] [ 2.31800335e-01 9.72762834e-01 -1.03576593e-03 3.36315980e+00] [ 4.70277812e-03 -5.58728897e-05 9.99988940e-01 4.18849488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.441052754000005 meters Centerline goodness : 0.999860 Centerline is valid? [True, True] Translation: X:32.92, Y:3.37, Z:0.04 [[ 9.73010789e-01 -2.30714022e-01 -4.58738659e-03 3.29190497e+01] [ 2.30711697e-01 9.73021602e-01 -1.03688324e-03 3.36941872e+00] [ 4.70284975e-03 -4.94651680e-05 9.99988940e-01 4.16399841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.471052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:32.95, Y:3.38, Z:0.04 [[ 9.73739561e-01 -2.27618594e-01 -4.58725257e-03 3.29468941e+01] [ 2.27616232e-01 9.73750366e-01 -1.03747579e-03 3.37682137e+00] [ 4.70298765e-03 -3.39019233e-05 9.99988940e-01 3.84304289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.501052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:32.97, Y:3.38, Z:0.04 [[ 9.74063881e-01 -2.26226691e-01 -4.58700050e-03 3.29744589e+01] [ 2.26224309e-01 9.74074681e-01 -1.03858907e-03 3.38402030e+00] [ 4.70303762e-03 -2.60389216e-05 9.99988940e-01 3.64813614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.531052754 meters Centerline goodness : 0.998581 Centerline is valid? [True, True] Translation: X:33.01, Y:3.39, Z:0.03 [[ 9.74342300e-01 -2.25024544e-01 -4.58671318e-03 3.30054419e+01] [ 2.25022142e-01 9.74353095e-01 -1.03985642e-03 3.39192466e+00] [ 4.70307140e-03 -1.89359240e-05 9.99988940e-01 2.97403618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.561052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.03, Y:3.40, Z:0.03 [[ 9.75281795e-01 -2.20916834e-01 -4.60133807e-03 3.30288209e+01] [ 2.20914691e-01 9.75292647e-01 -9.75215474e-04 3.39741023e+00] [ 4.70309270e-03 -6.53932819e-05 9.99988938e-01 3.48269152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.591052754 meters Centerline goodness : 0.998485 Centerline is valid? [True, True] Translation: X:33.06, Y:3.40, Z:0.04 [[ 9.75944309e-01 -2.17971719e-01 -4.58639991e-03 3.30629507e+01] [ 2.17969234e-01 9.75955086e-01 -1.04102776e-03 3.40027366e+00] [ 4.70303493e-03 1.62910476e-05 9.99988941e-01 3.58711926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.621052754000004 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:33.09, Y:3.41, Z:0.04 [[ 9.76085300e-01 -2.17339115e-01 -4.60401987e-03 3.30906985e+01] [ 2.17336988e-01 9.76096156e-01 -9.63338275e-04 3.40649457e+00] [ 4.70333718e-03 -6.03234820e-05 9.99988937e-01 3.92403063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.651052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.11, Y:3.41, Z:0.04 [[ 9.76287237e-01 -2.16430276e-01 -4.60073608e-03 3.31124244e+01] [ 2.16428072e-01 9.76298076e-01 -9.77787585e-04 3.41263497e+00] [ 4.70331263e-03 -4.11268991e-05 9.99988939e-01 4.31830915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.681052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.14, Y:3.42, Z:0.04 [[ 9.75044382e-01 -2.21962671e-01 -4.58529366e-03 3.31401094e+01] [ 2.21960208e-01 9.75055164e-01 -1.04551326e-03 3.41658691e+00] [ 4.70297918e-03 1.66909389e-06 9.99988941e-01 4.45165667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.711052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.17, Y:3.42, Z:0.05 [[ 9.74127394e-01 -2.25953087e-01 -4.58501331e-03 3.31675762e+01] [ 2.25950663e-01 9.74138184e-01 -1.04674127e-03 3.42147685e+00] [ 4.70295097e-03 -1.63274580e-05 9.99988941e-01 4.54588335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.741052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.19, Y:3.43, Z:0.05 [[ 9.73202005e-01 -2.29906151e-01 -4.58473113e-03 3.31949771e+01] [ 2.29903765e-01 9.73212803e-01 -1.04797580e-03 3.42576925e+00] [ 4.70285511e-03 -3.41548003e-05 9.99988941e-01 4.62231793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.771052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.22, Y:3.43, Z:0.05 [[ 9.71899063e-01 -2.35353337e-01 -4.58445041e-03 3.32240741e+01] [ 2.35351006e-01 9.71909874e-01 -1.04920237e-03 3.42860905e+00] [ 4.70260590e-03 -5.92362123e-05 9.99988941e-01 4.62255214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.801052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.25, Y:3.44, Z:0.04 [[ 9.71623314e-01 -2.36489156e-01 -4.58420618e-03 3.32516647e+01] [ 2.36486832e-01 9.71634126e-01 -1.05026838e-03 3.43569782e+00] [ 4.70254825e-03 -6.36391593e-05 9.99988941e-01 4.44782577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.831052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.28, Y:3.44, Z:0.04 [[ 9.71707537e-01 -2.36142858e-01 -4.58392275e-03 3.32776177e+01] [ 2.36140525e-01 9.71718348e-01 -1.05150399e-03 3.44328947e+00] [ 4.70258699e-03 -6.06955702e-05 9.99988941e-01 4.45094767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.30, Y:3.45, Z:0.04 [[ 9.72070869e-01 -2.34642737e-01 -4.58380001e-03 3.33034877e+01] [ 2.34640385e-01 9.72081675e-01 -1.05203877e-03 3.45252720e+00] [ 4.70268125e-03 -5.28883593e-05 9.99988941e-01 4.49858624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.891052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:33.33, Y:3.46, Z:0.04 [[ 9.72218263e-01 -2.34031277e-01 -4.58367951e-03 3.33308313e+01] [ 2.34028916e-01 9.72229067e-01 -1.05256350e-03 3.46023606e+00] [ 4.70271924e-03 -4.93920831e-05 9.99988941e-01 4.44543585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.921052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.36, Y:3.47, Z:0.04 [[ 9.72362340e-01 -2.33431944e-01 -4.58340473e-03 3.33582566e+01] [ 2.33429570e-01 9.72373141e-01 -1.05375870e-03 3.46849872e+00] [ 4.70276059e-03 -4.52669214e-05 9.99988941e-01 4.34572380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.951052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.38, Y:3.48, Z:0.04 [[ 9.72490124e-01 -2.32899017e-01 -4.58323340e-03 3.33843178e+01] [ 2.32896633e-01 9.72500923e-01 -1.05450332e-03 3.47515501e+00] [ 4.70279151e-03 -4.19255605e-05 9.99988941e-01 4.38072683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.981052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.41, Y:3.48, Z:0.05 [[ 9.72705536e-01 -2.31997704e-01 -4.58311387e-03 3.34100150e+01] [ 2.31995308e-01 9.72716333e-01 -1.05502261e-03 3.48308529e+00] [ 4.70283254e-03 -3.70345799e-05 9.99988941e-01 4.52033834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.011052754000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.44, Y:3.49, Z:0.05 [[ 9.72606804e-01 -2.32411278e-01 -4.58292748e-03 3.34369556e+01] [ 2.32408883e-01 9.72617600e-01 -1.05583165e-03 3.49079590e+00] [ 4.70282311e-03 -3.82040096e-05 9.99988941e-01 4.56028154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.041052754 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:33.46, Y:3.50, Z:0.04 [[ 9.72731953e-01 -2.31886928e-01 -4.58263882e-03 3.34628298e+01] [ 2.31884521e-01 9.72742747e-01 -1.05708302e-03 3.50009957e+00] [ 4.70285241e-03 -3.43845755e-05 9.99988941e-01 4.47602703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.49, Y:3.51, Z:0.04 [[ 9.73012349e-01 -2.30707539e-01 -4.58251362e-03 3.34884921e+01] [ 2.30705117e-01 9.73023140e-01 -1.05762551e-03 3.50735827e+00] [ 4.70289397e-03 -2.81266556e-05 9.99988941e-01 4.42613033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.101052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.52, Y:3.52, Z:0.04 [[ 9.73449730e-01 -2.28855030e-01 -4.58238963e-03 3.35155720e+01] [ 2.28852585e-01 9.73460515e-01 -1.05816244e-03 3.51557688e+00] [ 4.70294117e-03 -1.86237747e-05 9.99988941e-01 4.34747523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.131052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:33.54, Y:3.52, Z:0.04 [[ 9.73566315e-01 -2.28358567e-01 -4.58210754e-03 3.35432613e+01] [ 2.28356110e-01 9.73577097e-01 -1.05938256e-03 3.52213844e+00] [ 4.70295404e-03 -1.49730766e-05 9.99988941e-01 4.35469832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.161052754 meters Centerline goodness : 0.998544 Centerline is valid? [True, True] Translation: X:33.57, Y:3.53, Z:0.04 [[ 9.72580162e-01 -2.32522762e-01 -4.58181904e-03 3.35742766e+01] [ 2.32520345e-01 9.72590954e-01 -1.06062884e-03 3.52765394e+00] [ 4.70285610e-03 -3.38195768e-05 9.99988941e-01 3.90207230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.191052754000005 meters Centerline goodness : 0.998544 Centerline is valid? [True, True] Translation: X:33.60, Y:3.53, Z:0.04 [[ 9.72506353e-01 -2.32830994e-01 -4.59572783e-03 3.36019689e+01] [ 2.32828865e-01 9.72517207e-01 -1.00038570e-03 3.53435052e+00] [ 4.70234519e-03 -9.71366491e-05 9.99988939e-01 3.91859713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.221052754 meters Centerline goodness : 0.996280 Centerline is valid? [True, True] Translation: X:33.63, Y:3.54, Z:0.04 [[ 9.71865349e-01 -2.35492375e-01 -4.59175184e-03 3.36286341e+01] [ 2.35490195e-01 9.71876192e-01 -1.01748371e-03 3.54073989e+00] [ 4.70222395e-03 -9.24553791e-05 9.99988940e-01 4.32929553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.251052754 meters Centerline goodness : 0.998056 Centerline is valid? [True, True] Translation: X:33.66, Y:3.55, Z:0.05 [[ 9.69809560e-01 -2.43820401e-01 -4.58587076e-03 3.36557286e+01] [ 2.43818195e-01 9.69820396e-01 -1.04272926e-03 3.54634863e+00] [ 4.70170966e-03 -1.06869921e-04 9.99988941e-01 4.66654970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.281052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.68, Y:3.55, Z:0.05 [[ 9.68522691e-01 -2.48883046e-01 -4.58551215e-03 3.36802238e+01] [ 2.48880889e-01 9.68533537e-01 -1.04426484e-03 3.55346758e+00] [ 4.70112212e-03 -1.29852148e-04 9.99988941e-01 5.03371158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.311052754 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:33.71, Y:3.56, Z:0.05 [[ 9.66977410e-01 -2.54820957e-01 -4.57921420e-03 3.37075581e+01] [ 2.54818740e-01 9.66988243e-01 -1.07118790e-03 3.56070049e+00] [ 4.70100742e-03 -1.31055093e-04 9.99988942e-01 5.04958875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.341052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.74, Y:3.57, Z:0.05 [[ 9.66687630e-01 -2.55918072e-01 -4.57891310e-03 3.37352855e+01] [ 2.55915860e-01 9.66698465e-01 -1.07247345e-03 3.56714399e+00] [ 4.70089360e-03 -1.35069662e-04 9.99988942e-01 5.09676340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.371052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.76, Y:3.57, Z:0.05 [[ 9.67035098e-01 -2.54601954e-01 -4.57861145e-03 3.37614548e+01] [ 2.54599721e-01 9.67045929e-01 -1.07375970e-03 3.57365215e+00] [ 4.70110888e-03 -1.27349881e-04 9.99988942e-01 5.22310943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.401052754 meters Centerline goodness : 0.998128 Centerline is valid? [True, True] Translation: X:33.79, Y:3.58, Z:0.05 [[ 9.67570586e-01 -2.52559299e-01 -4.57848062e-03 3.37875267e+01] [ 2.52557041e-01 9.67581411e-01 -1.07431729e-03 3.58085096e+00] [ 4.70138156e-03 -1.16849709e-04 9.99988942e-01 5.13130907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.431052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.82, Y:3.59, Z:0.05 [[ 9.69487114e-01 -2.45099526e-01 -4.57812855e-03 3.38153641e+01] [ 2.45097177e-01 9.69497920e-01 -1.07581553e-03 3.59092736e+00] [ 4.70216798e-03 -7.90970958e-05 9.99988942e-01 5.02047402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.461052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.84, Y:3.60, Z:0.05 [[ 9.70675234e-01 -2.40351063e-01 -4.57781542e-03 3.38418668e+01] [ 2.40348655e-01 9.70686027e-01 -1.07714629e-03 3.59966457e+00] [ 4.70251472e-03 -5.47125546e-05 9.99988942e-01 4.76892524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.491052754 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:33.87, Y:3.61, Z:0.04 [[ 9.73248823e-01 -2.29708017e-01 -4.57772380e-03 3.38681958e+01] [ 2.29705490e-01 9.73259589e-01 -1.07753553e-03 3.60850053e+00] [ 4.70283213e-03 -2.81810475e-06 9.99988942e-01 3.92381880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.521052754 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:33.90, Y:3.62, Z:0.04 [[ 9.75389566e-01 -2.20441075e-01 -4.57460799e-03 3.38983494e+01] [ 2.20438384e-01 9.75400292e-01 -1.09075936e-03 3.61675869e+00] [ 4.70252213e-03 5.54961050e-05 9.99988942e-01 3.92256606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.551052754000004 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:33.92, Y:3.62, Z:0.04 [[ 9.76676552e-01 -2.14667034e-01 -4.58012336e-03 3.39238966e+01] [ 2.14664388e-01 9.76687289e-01 -1.06735384e-03 3.62286221e+00] [ 4.70247395e-03 5.92700932e-05 9.99988942e-01 3.55565719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.581052754 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:33.95, Y:3.63, Z:0.04 [[ 9.77789272e-01 -2.09540508e-01 -4.57328923e-03 3.39526801e+01] [ 2.09537671e-01 9.77799961e-01 -1.09628645e-03 3.63048534e+00] [ 4.70147844e-03 1.13660760e-04 9.99988942e-01 3.75770719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.611052754 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:33.98, Y:3.64, Z:0.04 [[ 9.78193965e-01 -2.07642997e-01 -4.57745202e-03 3.39786956e+01] [ 2.07640222e-01 9.78204669e-01 -1.07866373e-03 3.63569459e+00] [ 4.70166191e-03 1.04679193e-04 9.99988942e-01 3.77491949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.641052754 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:34.01, Y:3.64, Z:0.04 [[ 9.78349719e-01 -2.06908003e-01 -4.57224768e-03 3.40052473e+01] [ 2.06905117e-01 9.78360394e-01 -1.10065973e-03 3.64035309e+00] [ 4.70104135e-03 1.30808700e-04 9.99988941e-01 3.54679188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.671052754 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:34.03, Y:3.64, Z:0.04 [[ 9.77824474e-01 -2.09376279e-01 -4.56857498e-03 3.40345285e+01] [ 2.09373347e-01 9.77835137e-01 -1.11616923e-03 3.64137260e+00] [ 4.70101250e-03 1.34879758e-04 9.99988941e-01 3.86641989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.701052754 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:34.06, Y:3.64, Z:0.04 [[ 9.77390692e-01 -2.11391976e-01 -4.56801997e-03 3.40618683e+01] [ 2.11389056e-01 9.77401359e-01 -1.11851173e-03 3.64491630e+00] [ 4.70123333e-03 1.27593522e-04 9.99988941e-01 4.08708172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.731052754000004 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:34.09, Y:3.65, Z:0.04 [[ 9.76236247e-01 -2.16660883e-01 -4.56646701e-03 3.40897048e+01] [ 2.16657990e-01 9.76246920e-01 -1.12506493e-03 3.64698361e+00] [ 4.70175692e-03 1.08967599e-04 9.99988941e-01 4.29874418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.761052754000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.12, Y:3.65, Z:0.05 [[ 9.74422047e-01 -2.24679421e-01 -4.56428180e-03 3.41215518e+01] [ 2.24676572e-01 9.74432733e-01 -1.13427028e-03 3.65167771e+00] [ 4.70243278e-03 7.97707795e-05 9.99988940e-01 5.08490075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.791052754 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:34.15, Y:3.66, Z:0.05 [[ 9.74257308e-01 -2.25392453e-01 -4.57600073e-03 3.41460968e+01] [ 2.25389844e-01 9.74268054e-01 -1.08483819e-03 3.65552392e+00] [ 4.70276567e-03 2.55274491e-05 9.99988942e-01 4.65668664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.821052754 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:34.17, Y:3.66, Z:0.04 [[ 9.72466983e-01 -2.32996009e-01 -4.56361488e-03 3.41748947e+01] [ 2.32993238e-01 9.72477690e-01 -1.13694730e-03 3.66003822e+00] [ 4.70291784e-03 4.23523006e-05 9.99988940e-01 4.48639474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.851052754 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:34.20, Y:3.67, Z:0.05 [[ 9.71709815e-01 -2.36133760e-01 -4.56988640e-03 3.42033081e+01] [ 2.36131149e-01 9.71720560e-01 -1.11048785e-03 3.66503242e+00] [ 4.70287624e-03 -2.05832741e-08 9.99988941e-01 4.58912245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.881052754 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:34.23, Y:3.67, Z:0.04 [[ 9.70359723e-01 -2.41621856e-01 -4.57025042e-03 3.42312289e+01] [ 2.41619313e-01 9.70370485e-01 -1.10895257e-03 3.66830952e+00] [ 4.70278330e-03 -2.81778579e-05 9.99988941e-01 4.20628160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.911052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:34.26, Y:3.67, Z:0.05 [[ 9.70146066e-01 -2.42478303e-01 -4.56986243e-03 3.42625599e+01] [ 2.42475762e-01 9.70156828e-01 -1.11058875e-03 3.67432304e+00] [ 4.70277692e-03 -3.06475669e-05 9.99988941e-01 4.93972198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.941052754000005 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:34.29, Y:3.68, Z:0.05 [[ 9.69651199e-01 -2.44449525e-01 -4.58050734e-03 3.42881054e+01] [ 2.44447218e-01 9.69662014e-01 -1.06567194e-03 3.68146905e+00] [ 4.70204698e-03 -8.63621994e-05 9.99988942e-01 4.55356214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.971052754 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:34.32, Y:3.69, Z:0.05 [[ 9.69020646e-01 -2.46937352e-01 -4.57514199e-03 3.43156482e+01] [ 2.46934965e-01 9.69031444e-01 -1.08827672e-03 3.69038043e+00] [ 4.70219262e-03 -7.51999196e-05 9.99988942e-01 4.64970476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.001052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:34.34, Y:3.70, Z:0.05 [[ 9.68874363e-01 -2.47510674e-01 -4.57553400e-03 3.43396759e+01] [ 2.47508302e-01 9.68885163e-01 -1.08662605e-03 3.69871714e+00] [ 4.70211856e-03 -7.96785333e-05 9.99988942e-01 4.53612081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.031052754 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:34.37, Y:3.71, Z:0.04 [[ 9.68457256e-01 -2.49137818e-01 -4.57073157e-03 3.43669311e+01] [ 2.49135369e-01 9.68468039e-01 -1.10682396e-03 3.70762249e+00] [ 4.70235914e-03 -6.68192011e-05 9.99988942e-01 4.02831824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.061052754 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:34.39, Y:3.72, Z:0.04 [[ 9.68241101e-01 -2.49976588e-01 -4.56894594e-03 3.43927219e+01] [ 2.49974113e-01 9.68251879e-01 -1.11432773e-03 3.71772230e+00] [ 4.70244633e-03 -6.31802961e-05 9.99988941e-01 3.63944837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.091052754 meters Centerline goodness : 0.998184 Centerline is valid? [True, True] Translation: X:34.42, Y:3.73, Z:0.04 [[ 9.68028478e-01 -2.50798726e-01 -4.56782713e-03 3.44214401e+01] [ 2.50796237e-01 9.68039253e-01 -1.11902479e-03 3.72548221e+00] [ 4.70248595e-03 -6.23459920e-05 9.99988941e-01 3.91238276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.121052754000004 meters Centerline goodness : 0.998303 Centerline is valid? [True, True] Translation: X:34.45, Y:3.73, Z:0.04 [[ 9.68350281e-01 -2.49553289e-01 -4.57037704e-03 3.44499106e+01] [ 2.49550837e-01 9.68361065e-01 -1.10832148e-03 3.73078278e+00] [ 4.70236045e-03 -6.72979951e-05 9.99988942e-01 4.00659665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.151052754 meters Centerline goodness : 0.998512 Centerline is valid? [True, True] Translation: X:34.48, Y:3.74, Z:0.04 [[ 9.67682941e-01 -2.52128538e-01 -4.57458585e-03 3.44761130e+01] [ 2.52126198e-01 9.67693748e-01 -1.09065622e-03 3.73965691e+00] [ 4.70178369e-03 -9.79635204e-05 9.99988942e-01 4.34674841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.181052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.51, Y:3.75, Z:0.05 [[ 9.67397014e-01 -2.53223480e-01 -4.57008205e-03 3.45091156e+01] [ 2.53221064e-01 9.67407805e-01 -1.10953623e-03 3.74710896e+00] [ 4.70209367e-03 -8.38789998e-05 9.99988942e-01 5.02897982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.211052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:34.54, Y:3.75, Z:0.05 [[ 9.67683956e-01 -2.52124445e-01 -4.58529496e-03 3.45350431e+01] [ 2.52122316e-01 9.67694809e-01 -1.04611601e-03 3.75237474e+00] [ 4.70091755e-03 -1.43745504e-04 9.99988940e-01 5.19827214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.241052754 meters Centerline goodness : 0.998586 Centerline is valid? [True, True] Translation: X:34.56, Y:3.76, Z:0.05 [[ 9.67969238e-01 -2.51026991e-01 -4.58305094e-03 3.45583265e+01] [ 2.51024805e-01 9.67980079e-01 -1.05551599e-03 3.76177913e+00] [ 4.70126501e-03 -1.28752461e-04 9.99988941e-01 4.65996329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.271052754 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:34.58, Y:3.77, Z:0.05 [[ 9.68877583e-01 -2.47498116e-01 -4.57286884e-03 3.45849803e+01] [ 2.47495689e-01 9.68888372e-01 -1.09808608e-03 3.76769805e+00] [ 4.70237368e-03 -6.78543357e-05 9.99988941e-01 4.74158475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.301052754000004 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:34.61, Y:3.77, Z:0.05 [[ 9.70044572e-01 -2.42884051e-01 -4.56792180e-03 3.46136484e+01] [ 2.42881476e-01 9.70055327e-01 -1.11874477e-03 3.77394158e+00] [ 4.70286214e-03 -2.42312993e-05 9.99988941e-01 4.92949665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.331052754 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:34.64, Y:3.78, Z:0.05 [[ 9.71253115e-01 -2.38005268e-01 -4.56942496e-03 3.46426778e+01] [ 2.38002668e-01 9.71263863e-01 -1.11247287e-03 3.77711265e+00] [ 4.70289174e-03 -7.04258759e-06 9.99988941e-01 4.92549155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.67, Y:3.79, Z:0.06 [[ 9.72387454e-01 -2.33327502e-01 -4.57337376e-03 3.46734160e+01] [ 2.33324928e-01 9.72398209e-01 -1.09599528e-03 3.78634625e+00] [ 4.70286630e-03 -1.35004742e-06 9.99988941e-01 5.52932935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.391052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:34.70, Y:3.79, Z:0.06 [[ 9.73766584e-01 -2.27503050e-01 -4.58284420e-03 3.47024557e+01] [ 2.27500595e-01 9.73777368e-01 -1.05679737e-03 3.79290137e+00] [ 4.70309459e-03 -1.35258182e-05 9.99988940e-01 5.54929834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.421052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.73, Y:3.80, Z:0.06 [[ 9.73531643e-01 -2.28506323e-01 -4.58270708e-03 3.47316291e+01] [ 2.28503877e-01 9.73542429e-01 -1.05736276e-03 3.80102640e+00] [ 4.70307386e-03 -1.77902336e-05 9.99988940e-01 5.58398708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.451052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.76, Y:3.81, Z:0.06 [[ 9.73711007e-01 -2.27740746e-01 -4.58559197e-03 3.47583824e+01] [ 2.27738347e-01 9.73721804e-01 -1.04547951e-03 3.80597811e+00] [ 4.70318917e-03 -2.63202319e-05 9.99988940e-01 5.50841395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.481052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.79, Y:3.81, Z:0.06 [[ 9.72809978e-01 -2.31559352e-01 -4.58397528e-03 3.47875372e+01] [ 2.31556965e-01 9.72820778e-01 -1.05212546e-03 3.81042011e+00] [ 4.70301589e-03 -3.79332530e-05 9.99988940e-01 5.68583295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.511052754000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.81, Y:3.82, Z:0.05 [[ 9.72309982e-01 -2.33649917e-01 -4.58425737e-03 3.48147887e+01] [ 2.33647558e-01 9.72320788e-01 -1.05096662e-03 3.81591686e+00] [ 4.70292700e-03 -4.92352074e-05 9.99988940e-01 5.42154944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.541052754 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:34.84, Y:3.82, Z:0.05 [[ 9.70798784e-01 -2.39851414e-01 -4.58472986e-03 3.48377304e+01] [ 2.39849134e-01 9.70809607e-01 -1.04900733e-03 3.82088788e+00] [ 4.70250569e-03 -8.12684429e-05 9.99988940e-01 4.62593923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.571052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.87, Y:3.82, Z:0.05 [[ 9.69878411e-01 -2.43546616e-01 -4.57320472e-03 3.48651041e+01] [ 2.43544152e-01 9.69889191e-01 -1.09668658e-03 3.82348605e+00] [ 4.70259614e-03 -5.01246311e-05 9.99988941e-01 5.17277580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.601052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.89, Y:3.83, Z:0.05 [[ 9.69804802e-01 -2.43839602e-01 -4.57101157e-03 3.48928797e+01] [ 2.43837099e-01 9.69815574e-01 -1.10575273e-03 3.82980998e+00] [ 4.70266452e-03 -4.22178918e-05 9.99988942e-01 5.42203101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.631052754 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:34.93, Y:3.84, Z:0.05 [[ 9.70348266e-01 -2.41667854e-01 -4.57070440e-03 3.49259202e+01] [ 2.41665320e-01 9.70359030e-01 -1.10702099e-03 3.83554028e+00] [ 4.70275568e-03 -3.03848431e-05 9.99988942e-01 5.46833735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.661052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:34.95, Y:3.85, Z:0.05 [[ 9.70058902e-01 -2.42826489e-01 -4.58515138e-03 3.49529075e+01] [ 2.42824250e-01 9.70069733e-01 -1.04731925e-03 3.84509428e+00] [ 4.70223343e-03 -9.74245798e-05 9.99988940e-01 5.32134899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.691052754000005 meters Centerline goodness : 0.998491 Centerline is valid? [True, True] Translation: X:34.98, Y:3.86, Z:0.04 [[ 9.68934892e-01 -2.47273490e-01 -4.58217492e-03 3.49766923e+01] [ 2.47271242e-01 9.68945721e-01 -1.05969034e-03 3.85672746e+00] [ 4.70191211e-03 -1.06269136e-04 9.99988940e-01 4.24524915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.721052754 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:35.00, Y:3.86, Z:0.05 [[ 9.68698831e-01 -2.48196736e-01 -4.57762120e-03 3.50024868e+01] [ 2.48194409e-01 9.68709643e-01 -1.07859009e-03 3.86349700e+00] [ 4.70208834e-03 -9.13110328e-05 9.99988941e-01 4.94453343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.751052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.04, Y:3.87, Z:0.06 [[ 9.68314510e-01 -2.49692030e-01 -4.57172540e-03 3.50355396e+01] [ 2.49689604e-01 9.68325299e-01 -1.10302649e-03 3.86732902e+00] [ 4.70233429e-03 -7.34357473e-05 9.99988941e-01 5.57494100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.781052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:35.06, Y:3.88, Z:0.06 [[ 9.67872185e-01 -2.51400964e-01 -4.58134484e-03 3.50638024e+01] [ 2.51398746e-01 9.67883020e-01 -1.06313731e-03 3.87533292e+00] [ 4.70147962e-03 -1.22763321e-04 9.99988940e-01 5.67288813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.811052754 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:35.09, Y:3.89, Z:0.06 [[ 9.67520134e-01 -2.52752462e-01 -4.58087048e-03 3.50920769e+01] [ 2.52750249e-01 9.67530970e-01 -1.06510181e-03 3.88597620e+00] [ 4.70134116e-03 -1.27308714e-04 9.99988941e-01 5.53614995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.841052754 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] Translation: X:35.12, Y:3.89, Z:0.05 [[ 9.67774138e-01 -2.51778088e-01 -4.58396502e-03 3.51182277e+01] [ 2.51775926e-01 9.67784984e-01 -1.05229654e-03 3.89472565e+00] [ 4.70123772e-03 -1.35746654e-04 9.99988940e-01 5.44511711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.871052754000004 meters Centerline goodness : 0.999860 Centerline is valid? [True, True] Translation: X:35.15, Y:3.90, Z:0.05 [[ 9.69389151e-01 -2.45486628e-01 -4.58136739e-03 3.51464786e+01] [ 2.45484345e-01 9.69399972e-01 -1.06302877e-03 3.90347549e+00] [ 4.70213677e-03 -9.41654194e-05 9.99988940e-01 5.45894239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.901052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:35.18, Y:3.91, Z:0.06 [[ 9.70662961e-01 -2.40400550e-01 -4.58160899e-03 3.51758907e+01] [ 2.40398214e-01 9.70673772e-01 -1.06203429e-03 3.91041224e+00] [ 4.70256130e-03 -7.05332717e-05 9.99988940e-01 5.56695173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.931052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.20, Y:3.92, Z:0.06 [[ 9.72706650e-01 -2.31993004e-01 -4.58471707e-03 3.52033984e+01] [ 2.31990635e-01 9.72717453e-01 -1.04924879e-03 3.92023034e+00] [ 4.70305269e-03 -4.30001466e-05 9.99988940e-01 5.59428259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.961052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:35.23, Y:3.93, Z:0.06 [[ 9.74642619e-01 -2.23720225e-01 -4.58535721e-03 3.52320450e+01] [ 2.23717777e-01 9.74653406e-01 -1.04661851e-03 3.92813144e+00] [ 4.70328375e-03 -5.74691247e-06 9.99988939e-01 5.50623821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.991052754 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:35.26, Y:3.94, Z:0.06 [[ 9.74952105e-01 -2.22367598e-01 -4.58747991e-03 3.52577795e+01] [ 2.22365176e-01 9.74962897e-01 -1.03790452e-03 3.93513708e+00] [ 4.70341904e-03 -8.18858468e-06 9.99988939e-01 5.63383688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.021052754 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:35.29, Y:3.94, Z:0.06 [[ 9.75364662e-01 -2.20551002e-01 -4.58594051e-03 3.52858964e+01] [ 2.20548530e-01 9.75375443e-01 -1.04421907e-03 3.93882346e+00] [ 4.70331732e-03 7.07193742e-06 9.99988939e-01 6.08644840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.051052754000004 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:35.31, Y:3.94, Z:0.06 [[ 9.75024688e-01 -2.22049146e-01 -4.58632626e-03 3.53131677e+01] [ 2.22046698e-01 9.75035475e-01 -1.04263853e-03 3.94412865e+00] [ 4.70334779e-03 -1.78029422e-06 9.99988939e-01 6.24890420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.081052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:35.34, Y:3.95, Z:0.06 [[ 9.74915357e-01 -2.22528709e-01 -4.58488036e-03 3.53410185e+01] [ 2.22526239e-01 9.74926138e-01 -1.04855292e-03 3.95119503e+00] [ 4.70325282e-03 1.99415968e-06 9.99988940e-01 6.26210365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.111052754 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:35.37, Y:3.96, Z:0.06 [[ 9.73638793e-01 -2.28049317e-01 -4.58371272e-03 3.53696266e+01] [ 2.28046885e-01 9.73649582e-01 -1.05331278e-03 3.95626256e+00] [ 4.70313723e-03 -1.97552217e-05 9.99988940e-01 6.20799374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.141052754 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:35.40, Y:3.96, Z:0.06 [[ 9.72673013e-01 -2.32134033e-01 -4.58257873e-03 3.53986558e+01] [ 2.32131625e-01 9.72683808e-01 -1.05792251e-03 3.96226096e+00] [ 4.70297995e-03 -3.47487736e-05 9.99988940e-01 6.16990590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.171052754 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:35.43, Y:3.97, Z:0.06 [[ 9.70488710e-01 -2.41102972e-01 -4.58482474e-03 3.54266905e+01] [ 2.41100707e-01 9.70499536e-01 -1.04880135e-03 3.96613665e+00] [ 4.70243940e-03 -8.75546225e-05 9.99988940e-01 6.21844159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.201052754 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:35.45, Y:3.97, Z:0.06 [[ 9.68930608e-01 -2.47290244e-01 -4.58390107e-03 3.54549454e+01] [ 2.47288031e-01 9.68941444e-01 -1.05253991e-03 3.97227733e+00] [ 4.70181457e-03 -1.13705731e-04 9.99988940e-01 6.30352060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.231052754000004 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:35.48, Y:3.98, Z:0.06 [[ 9.66499537e-01 -2.56627402e-01 -4.58489253e-03 3.54804969e+01] [ 2.56625312e-01 9.66510398e-01 -1.04853068e-03 3.97633115e+00] [ 4.70042801e-03 -1.63195060e-04 9.99988940e-01 6.19876800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.261052754000005 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:35.51, Y:3.98, Z:0.06 [[ 9.65454656e-01 -2.60530898e-01 -4.57803103e-03 3.55104643e+01] [ 2.60528720e-01 9.65465498e-01 -1.07619381e-03 3.98216452e+00] [ 4.70031274e-03 -1.53692236e-04 9.99988942e-01 6.32127041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.291052754 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:35.54, Y:3.99, Z:0.06 [[ 9.63803310e-01 -2.66574910e-01 -4.58215502e-03 3.55380121e+01] [ 2.66572879e-01 9.63814182e-01 -1.05958475e-03 3.99291512e+00] [ 4.69880470e-03 -2.00246970e-04 9.99988941e-01 6.12614081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.321052754 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:35.57, Y:4.00, Z:0.06 [[ 9.63310339e-01 -2.68350874e-01 -4.58256436e-03 3.55677937e+01] [ 2.68348871e-01 9.63321215e-01 -1.05793982e-03 4.00038566e+00] [ 4.69838055e-03 -2.10601606e-04 9.99988940e-01 5.76351882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.351052754 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:35.59, Y:4.01, Z:0.06 [[ 9.60814665e-01 -2.77153664e-01 -4.58547098e-03 3.55874938e+01] [ 2.77151816e-01 9.60825570e-01 -1.04629320e-03 4.01209304e+00] [ 4.69582177e-03 -2.65577765e-04 9.99988939e-01 5.81749589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.381052754 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:35.62, Y:4.02, Z:0.06 [[ 9.61387545e-01 -2.75160286e-01 -4.56127190e-03 3.56225405e+01] [ 2.75157957e-01 9.61398353e-01 -1.14287323e-03 4.01808377e+00] [ 4.69967261e-03 -1.56326168e-04 9.99988944e-01 6.26407732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.411052754 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:35.65, Y:4.03, Z:0.06 [[ 9.61621340e-01 -2.74341788e-01 -4.58050807e-03 3.56503872e+01] [ 2.74339814e-01 9.61632222e-01 -1.06600636e-03 4.02733912e+00] [ 4.69721424e-03 -2.31521269e-04 9.99988941e-01 6.48748917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.441052754000005 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:35.68, Y:4.04, Z:0.06 [[ 9.62595022e-01 -2.70905599e-01 -4.58036568e-03 3.56750003e+01] [ 2.70903584e-01 9.62605896e-01 -1.06657486e-03 4.03863510e+00] [ 4.69802811e-03 -2.14157829e-04 9.99988941e-01 6.40152538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.471052754 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:35.70, Y:4.05, Z:0.06 [[ 9.62808199e-01 -2.70146990e-01 -4.57982994e-03 3.57025045e+01] [ 2.70144957e-01 9.62819069e-01 -1.06871159e-03 4.05012646e+00] [ 4.69825682e-03 -2.08253684e-04 9.99988941e-01 6.47328592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.501052754 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:35.73, Y:4.06, Z:0.06 [[ 9.63838614e-01 -2.66447297e-01 -4.57858964e-03 3.57300776e+01] [ 2.66445198e-01 9.63849472e-01 -1.07364879e-03 4.05809241e+00] [ 4.69914203e-03 -1.85119061e-04 9.99988942e-01 6.26764134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.531052754 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:35.76, Y:4.07, Z:0.07 [[ 9.64578530e-01 -2.63756128e-01 -4.57878515e-03 3.57569524e+01] [ 2.63754002e-01 9.64589382e-01 -1.07287172e-03 4.06781440e+00] [ 4.69962403e-03 -1.72803883e-04 9.99988942e-01 6.60560185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.561052754 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:35.79, Y:4.07, Z:0.07 [[ 9.64812137e-01 -2.62900358e-01 -4.57615953e-03 3.57868933e+01] [ 2.62898173e-01 9.64822977e-01 -1.08331000e-03 4.07487833e+00] [ 4.69998645e-03 -1.57873350e-04 9.99988943e-01 6.60604533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.591052754 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:35.81, Y:4.09, Z:0.06 [[ 9.65634890e-01 -2.59862005e-01 -4.58225891e-03 3.58123458e+01] [ 2.59859902e-01 9.65645748e-01 -1.05904726e-03 4.08554635e+00] [ 4.70004497e-03 -1.68092370e-04 9.99988941e-01 6.43389747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.621052754000004 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:35.84, Y:4.10, Z:0.06 [[ 9.66511137e-01 -2.56583783e-01 -4.58086227e-03 3.58374897e+01] [ 2.56581616e-01 9.66521982e-01 -1.06458437e-03 4.09762017e+00] [ 4.70065916e-03 -1.46432394e-04 9.99988941e-01 6.18111132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.651052754 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:35.87, Y:4.11, Z:0.06 [[ 9.67268671e-01 -2.53713157e-01 -4.57733236e-03 3.58656011e+01] [ 2.53710892e-01 9.67279494e-01 -1.07854110e-03 4.10501855e+00] [ 4.70119979e-03 -1.18080057e-04 9.99988942e-01 6.34510071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.681052754 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:35.89, Y:4.11, Z:0.07 [[ 9.67845171e-01 -2.51505065e-01 -4.57454398e-03 3.58949177e+01] [ 2.51502723e-01 9.67855977e-01 -1.08952822e-03 4.11194145e+00] [ 4.70152160e-03 -9.60156455e-05 9.99988943e-01 6.89477005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.711052754 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:35.92, Y:4.12, Z:0.07 [[ 9.68446350e-01 -2.49180086e-01 -4.57727010e-03 3.59211081e+01] [ 2.49177769e-01 9.68457162e-01 -1.07879505e-03 4.11773052e+00] [ 4.70170426e-03 -9.57988254e-05 9.99988942e-01 6.57593122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.741052754 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:35.95, Y:4.13, Z:0.06 [[ 9.68925082e-01 -2.47312070e-01 -4.57433483e-03 3.59474536e+01] [ 2.47309678e-01 9.68935877e-01 -1.09031270e-03 4.12853385e+00] [ 4.70188462e-03 -7.48459502e-05 9.99988943e-01 6.21011183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.771052754 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:35.98, Y:4.14, Z:0.06 [[ 9.69086111e-01 -2.46680374e-01 -4.57187017e-03 3.59750338e+01] [ 2.46677929e-01 9.69096894e-01 -1.09995540e-03 4.13802489e+00] [ 4.70192259e-03 -6.18279597e-05 9.99988944e-01 6.01062131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.801052754000004 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:36.00, Y:4.15, Z:0.06 [[ 9.69141197e-01 -2.46463846e-01 -4.57315899e-03 3.59979627e+01] [ 2.46461423e-01 9.69151984e-01 -1.09491972e-03 4.14656748e+00] [ 4.70194424e-03 -6.59754613e-05 9.99988944e-01 5.82241516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.831052754 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:36.03, Y:4.15, Z:0.06 [[ 9.69953221e-01 -2.43248748e-01 -4.56015042e-03 3.60279359e+01] [ 2.43246050e-01 9.69963941e-01 -1.14561741e-03 4.15117458e+00] [ 4.70185147e-03 1.95672452e-06 9.99988946e-01 5.92172005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.861052754 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:36.06, Y:4.16, Z:0.06 [[ 9.69799163e-01 -2.43862103e-01 -4.56709709e-03 3.60600696e+01] [ 2.43859539e-01 9.69809916e-01 -1.11852592e-03 4.15669065e+00] [ 4.70198213e-03 -2.89846883e-05 9.99988945e-01 6.49604845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.891052754 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:36.09, Y:4.17, Z:0.06 [[ 9.69356867e-01 -2.45614186e-01 -4.57551998e-03 3.60866807e+01] [ 2.45611797e-01 9.69367663e-01 -1.08572290e-03 4.16527411e+00] [ 4.70203006e-03 -7.13487390e-05 9.99988943e-01 6.46860734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.921052754 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:36.11, Y:4.17, Z:0.06 [[ 9.69020125e-01 -2.46939424e-01 -4.57356706e-03 3.61119309e+01] [ 2.46937014e-01 9.69030916e-01 -1.09336135e-03 4.17264028e+00] [ 4.70192190e-03 -6.98938443e-05 9.99988943e-01 6.11451680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.951052754 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:36.14, Y:4.18, Z:0.06 [[ 9.67932540e-01 -2.51168681e-01 -4.57078543e-03 3.61414135e+01] [ 2.51166266e-01 9.67943329e-01 -1.10423607e-03 4.18154954e+00] [ 4.70161078e-03 -7.92010902e-05 9.99988944e-01 6.11003200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.981052754000004 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:36.17, Y:4.19, Z:0.06 [[ 9.65412495e-01 -2.60687118e-01 -4.57613340e-03 3.61669265e+01] [ 2.60684909e-01 9.65423329e-01 -1.08332822e-03 4.18799550e+00] [ 4.70031566e-03 -1.47070314e-04 9.99988943e-01 6.05857556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.011052754000005 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:36.19, Y:4.19, Z:0.06 [[ 9.62913255e-01 -2.69772447e-01 -4.57053231e-03 3.61931832e+01] [ 2.69770236e-01 9.62924088e-01 -1.10504572e-03 4.19347761e+00] [ 4.69918655e-03 -1.68930410e-04 9.99988944e-01 6.39380397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.041052754 meters Centerline goodness : 0.999838 Centerline is valid? [True, True] Translation: X:36.22, Y:4.20, Z:0.07 [[ 9.61496557e-01 -2.74779058e-01 -4.56503387e-03 3.62226705e+01] [ 2.74776803e-01 9.61507379e-01 -1.12631356e-03 4.20136738e+00] [ 4.69880113e-03 -1.71418798e-04 9.99988946e-01 6.50318027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.071052754 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:36.25, Y:4.21, Z:0.06 [[ 9.60102434e-01 -2.79611248e-01 -4.56802325e-03 3.62453086e+01] [ 2.79609102e-01 9.60113278e-01 -1.11472942e-03 4.21127284e+00] [ 4.69751066e-03 -2.07006450e-04 9.99988945e-01 6.43375511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.101052754 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:36.27, Y:4.22, Z:0.07 [[ 9.60191341e-01 -2.79305999e-01 -4.55498810e-03 3.62746636e+01] [ 2.79303611e-01 9.60202132e-01 -1.16513577e-03 4.21596972e+00] [ 4.69913870e-03 -1.53471351e-04 9.99988947e-01 6.72765655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.131052754 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:36.30, Y:4.22, Z:0.07 [[ 9.60674454e-01 -2.77639622e-01 -4.56451180e-03 3.63016285e+01] [ 2.77637389e-01 9.60685280e-01 -1.12832335e-03 4.22477230e+00] [ 4.69832656e-03 -1.83327725e-04 9.99988946e-01 6.99234563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.161052754 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:36.33, Y:4.23, Z:0.07 [[ 9.61078314e-01 -2.76238405e-01 -4.56258380e-03 3.63305955e+01] [ 2.76236122e-01 9.61089130e-01 -1.13575381e-03 4.23382523e+00] [ 4.69878851e-03 -1.68802094e-04 9.99988946e-01 7.10408497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.191052754000005 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:36.35, Y:4.25, Z:0.07 [[ 9.60910685e-01 -2.76820902e-01 -4.56548775e-03 3.63546482e+01] [ 2.76818678e-01 9.60921513e-01 -1.12458610e-03 4.24503403e+00] [ 4.69838434e-03 -1.83185490e-04 9.99988946e-01 6.75028986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.221052754 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:36.38, Y:4.26, Z:0.07 [[ 9.63185100e-01 -2.68800454e-01 -4.55833511e-03 3.63835215e+01] [ 2.68798010e-01 9.63195880e-01 -1.15198801e-03 4.25518137e+00] [ 4.70022449e-03 -1.15693722e-04 9.99988947e-01 6.91392762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.251052754 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:36.41, Y:4.27, Z:0.07 [[ 9.64881968e-01 -2.62644191e-01 -4.56252342e-03 3.64114658e+01] [ 2.62641755e-01 9.64892750e-01 -1.13592269e-03 4.26656446e+00] [ 4.70068926e-03 -1.02277832e-04 9.99988946e-01 6.53972208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.281052754 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:36.44, Y:4.28, Z:0.07 [[ 9.65406637e-01 -2.60708993e-01 -4.56572791e-03 3.64387228e+01] [ 2.60706593e-01 9.65417428e-01 -1.12363572e-03 4.27569248e+00] [ 4.70077523e-03 -1.05549985e-04 9.99988946e-01 6.54141755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.311052754 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:36.47, Y:4.28, Z:0.06 [[ 9.66492614e-01 -2.56653858e-01 -4.56330317e-03 3.64665382e+01] [ 2.56651369e-01 9.66503384e-01 -1.13291476e-03 4.28329334e+00] [ 4.70121490e-03 -7.62242545e-05 9.99988946e-01 6.33855199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.341052754 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:36.49, Y:4.29, Z:0.06 [[ 9.66599638e-01 -2.56250413e-01 -4.56783417e-03 3.64941331e+01] [ 2.56248001e-01 9.66610427e-01 -1.11558071e-03 4.29100520e+00] [ 4.70118415e-03 -9.21784693e-05 9.99988945e-01 6.29461355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.371052754000004 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:36.52, Y:4.30, Z:0.06 [[ 9.65750051e-01 -2.59433942e-01 -4.56817849e-03 3.65203820e+01] [ 2.59431572e-01 9.65760849e-01 -1.11426501e-03 4.29913715e+00] [ 4.70084610e-03 -1.09028237e-04 9.99988945e-01 6.23986922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.401052754 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:36.55, Y:4.31, Z:0.06 [[ 9.64916240e-01 -2.62518206e-01 -4.56520353e-03 3.65493544e+01] [ 2.62515817e-01 9.64927033e-01 -1.12563544e-03 4.30547493e+00] [ 4.70058809e-03 -1.12294220e-04 9.99988946e-01 6.05145590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.431052754 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:36.58, Y:4.31, Z:0.06 [[ 9.62147952e-01 -2.72489344e-01 -4.56894733e-03 3.65779224e+01] [ 2.72487135e-01 9.62158784e-01 -1.11132381e-03 4.31062414e+00] [ 4.69887670e-03 -1.75721435e-04 9.99988945e-01 5.95239760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.461052754 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:36.61, Y:4.32, Z:0.06 [[ 9.60551237e-01 -2.78065500e-01 -4.57150378e-03 3.66067682e+01] [ 2.78063400e-01 9.60562092e-01 -1.10155218e-03 4.31672860e+00] [ 4.69751689e-03 -2.13070577e-04 9.99988944e-01 6.12938743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.491052754 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:36.64, Y:4.32, Z:0.06 [[ 9.58099628e-01 -2.86398640e-01 -4.57405866e-03 3.66358639e+01] [ 2.86396680e-01 9.58110510e-01 -1.09181452e-03 4.32318062e+00] [ 4.69514787e-03 -2.63928129e-04 9.99988943e-01 6.17860262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.521052754 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:36.66, Y:4.33, Z:0.06 [[ 9.57113896e-01 -2.89675771e-01 -4.57579822e-03 3.66639465e+01] [ 2.89673880e-01 9.57124791e-01 -1.08519638e-03 4.33146186e+00] [ 4.69396502e-03 -2.86832694e-04 9.99988942e-01 6.24152306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.551052754000004 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:36.69, Y:4.34, Z:0.07 [[ 9.55787557e-01 -2.94022555e-01 -4.56973687e-03 3.66934825e+01] [ 2.94020605e-01 9.55798439e-01 -1.10801726e-03 4.34182352e+00] [ 4.69352943e-03 -2.84567696e-04 9.99988945e-01 6.78378803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.581052754 meters Centerline goodness : 0.996173 Centerline is valid? [True, True] Translation: X:36.72, Y:4.35, Z:0.07 [[ 9.55453433e-01 -2.95106497e-01 -4.57088972e-03 3.67209856e+01] [ 2.95104580e-01 9.55464321e-01 -1.10367075e-03 4.35003458e+00] [ 4.69302245e-03 -2.94384478e-04 9.99988944e-01 6.63903354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.611052754 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:36.74, Y:4.36, Z:0.07 [[ 9.55051927e-01 -2.96403282e-01 -4.57293250e-03 3.67395310e+01] [ 2.96401417e-01 9.55062825e-01 -1.09597768e-03 4.36071333e+00] [ 4.69228922e-03 -3.08708079e-04 9.99988943e-01 7.25629154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.641052754 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:36.77, Y:4.37, Z:0.07 [[ 9.55477099e-01 -2.95030304e-01 -4.54226685e-03 3.67652787e+01] [ 2.95027876e-01 9.55487879e-01 -1.21099978e-03 4.36963829e+00] [ 4.69736255e-03 -1.83012782e-04 9.99988951e-01 7.18289002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.671052754 meters Centerline goodness : 0.996771 Centerline is valid? [True, True] Translation: X:36.80, Y:4.38, Z:0.07 [[ 9.57579416e-01 -2.88133705e-01 -4.54212136e-03 3.67993896e+01] [ 2.88131196e-01 9.57590176e-01 -1.21154524e-03 4.37869404e+00] [ 4.69857781e-03 -1.48576079e-04 9.99988951e-01 6.73212930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.701052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.82, Y:4.39, Z:0.07 [[ 9.57982384e-01 -2.86790646e-01 -4.56920964e-03 3.68184048e+01] [ 2.86788606e-01 9.57993248e-01 -1.10976909e-03 4.38971318e+00] [ 4.69554338e-03 -2.47258022e-04 9.99988945e-01 6.90987205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.731052754000004 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:36.85, Y:4.40, Z:0.06 [[ 9.60736704e-01 -2.77424514e-01 -4.54154554e-03 3.68510800e+01] [ 2.77421877e-01 9.60747433e-01 -1.21331811e-03 4.39783703e+00] [ 4.69988241e-03 -9.42448497e-05 9.99988951e-01 6.45078536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.761052754000005 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:36.88, Y:4.41, Z:0.06 [[ 9.61998130e-01 -2.73018013e-01 -4.55658326e-03 3.68786317e+01] [ 2.73015595e-01 9.62008912e-01 -1.15657924e-03 4.40596543e+00] [ 4.69924067e-03 -1.31391225e-04 9.99988950e-01 6.35895481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.791052754 meters Centerline goodness : 0.998370 Centerline is valid? [True, True] Translation: X:36.90, Y:4.41, Z:0.05 [[ 9.65330667e-01 -2.60990155e-01 -4.56532600e-03 3.69012078e+01] [ 2.60987759e-01 9.65341456e-01 -1.12357250e-03 4.41156306e+00] [ 4.70033981e-03 -1.06875206e-04 9.99988948e-01 5.43755159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.821052754 meters Centerline goodness : 0.996269 Centerline is valid? [True, True] Translation: X:36.93, Y:4.43, Z:0.06 [[ 9.64638544e-01 -2.63537170e-01 -4.54304681e-03 3.69323556e+01] [ 2.63534406e-01 9.64649241e-01 -1.20740168e-03 4.42548619e+00] [ 4.70064188e-03 -3.25429439e-05 9.99988951e-01 5.80855833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.851052754 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:36.96, Y:4.43, Z:0.06 [[ 9.64988996e-01 -2.62250675e-01 -4.56295038e-03 3.69595631e+01] [ 2.62248251e-01 9.64999779e-01 -1.13240010e-03 4.43256847e+00] [ 4.70021880e-03 -1.03872118e-04 9.99988949e-01 5.85968403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.881052754 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:36.99, Y:4.44, Z:0.06 [[ 9.64432349e-01 -2.64290422e-01 -4.56266859e-03 3.69876693e+01] [ 2.64288015e-01 9.64443135e-01 -1.13345616e-03 4.43993859e+00] [ 4.69999601e-03 -1.12716841e-04 9.99988949e-01 5.84602272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.911052754 meters Centerline goodness : 0.997897 Centerline is valid? [True, True] Translation: X:37.01, Y:4.45, Z:0.06 [[ 9.63805846e-01 -2.66566069e-01 -4.56309371e-03 3.70143516e+01] [ 2.66563695e-01 9.63816640e-01 -1.13186618e-03 4.44712122e+00] [ 4.69970276e-03 -1.25455884e-04 9.99988948e-01 5.78963125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.941052754000005 meters Centerline goodness : 0.998317 Centerline is valid? [True, True] Translation: X:37.04, Y:4.45, Z:0.06 [[ 9.62848928e-01 -2.70002127e-01 -4.55999999e-03 3.70427299e+01] [ 2.69999737e-01 9.62859717e-01 -1.14342216e-03 4.45203143e+00] [ 4.69936672e-03 -1.30256002e-04 9.99988949e-01 6.02508413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.971052754 meters Centerline goodness : 0.998317 Centerline is valid? [True, True] Translation: X:37.07, Y:4.46, Z:0.06 [[ 9.62659345e-01 -2.70677219e-01 -4.56379211e-03 3.70704278e+01] [ 2.70674904e-01 9.62670152e-01 -1.12928500e-03 4.45995032e+00] [ 4.69909817e-03 -1.48187237e-04 9.99988948e-01 6.03928943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.001052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.10, Y:4.47, Z:0.06 [[ 9.62015653e-01 -2.72956149e-01 -4.56335583e-03 3.70959631e+01] [ 2.72953852e-01 9.62026463e-01 -1.13090826e-03 4.46779480e+00] [ 4.69875743e-03 -1.57634102e-04 9.99988948e-01 6.32595530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.031052754 meters Centerline goodness : 0.997865 Centerline is valid? [True, True] Translation: X:37.13, Y:4.47, Z:0.06 [[ 9.61944592e-01 -2.73206612e-01 -4.55512562e-03 3.71254608e+01] [ 2.73204173e-01 9.61955368e-01 -1.16144348e-03 4.47470689e+00] [ 4.69914158e-03 -1.27235049e-04 9.99988951e-01 6.32449611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.061052754 meters Centerline goodness : 0.997955 Centerline is valid? [True, True] Translation: X:37.15, Y:4.48, Z:0.06 [[ 9.62266151e-01 -2.72071758e-01 -4.56224884e-03 3.71544883e+01] [ 2.72069431e-01 9.62276954e-01 -1.13501455e-03 4.48193893e+00] [ 4.69895232e-03 -1.49062365e-04 9.99988949e-01 6.28644103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.091052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:37.18, Y:4.49, Z:0.06 [[ 9.63852871e-01 -2.66395960e-01 -4.56468230e-03 3.71816048e+01] [ 2.66393612e-01 9.63863671e-01 -1.12601711e-03 4.48731707e+00] [ 4.69969785e-03 -1.30687385e-04 9.99988948e-01 6.22178000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.121052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.21, Y:4.50, Z:0.06 [[ 9.64731619e-01 -2.63196032e-01 -4.55537148e-03 3.72099127e+01] [ 2.63193487e-01 9.64742371e-01 -1.16018202e-03 4.49500172e+00] [ 4.70011518e-03 -7.96798215e-05 9.99988951e-01 6.09388249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.151052754 meters Centerline goodness : 0.998082 Centerline is valid? [True, True] Translation: X:37.25, Y:4.51, Z:0.06 [[ 9.66407784e-01 -2.56973227e-01 -4.55582126e-03 3.72457194e+01] [ 2.56970621e-01 9.66418521e-01 -1.15852687e-03 4.50589455e+00] [ 4.70054043e-03 -5.11028357e-05 9.99988951e-01 5.63339615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.181052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.26, Y:4.50, Z:0.06 [[ 9.69274290e-01 -2.45939325e-01 -4.60415307e-03 3.72583453e+01] [ 2.45937446e-01 9.69285208e-01 -9.78673425e-04 4.50379711e+00] [ 4.70343175e-03 -1.83730659e-04 9.99988922e-01 6.08962175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.211052754 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:37.29, Y:4.51, Z:0.06 [[ 9.70829724e-01 -2.39727075e-01 -4.53604941e-03 3.72926931e+01] [ 2.39723944e-01 9.70840315e-01 -1.22985865e-03 4.50835494e+00] [ 4.69861006e-03 1.06583682e-04 9.99988956e-01 5.90704514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.241052754 meters Centerline goodness : 0.998482 Centerline is valid? [True, True] Translation: X:37.32, Y:4.51, Z:0.06 [[ 9.71595121e-01 -2.36605480e-01 -4.55723528e-03 3.73196926e+01] [ 2.36602682e-01 9.71605808e-01 -1.15134876e-03 4.51330673e+00] [ 4.70025169e-03 4.03907492e-05 9.99988953e-01 5.73565966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.271052754 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:37.35, Y:4.52, Z:0.05 [[ 9.72782895e-01 -2.31673595e-01 -4.55893233e-03 3.73470248e+01] [ 2.31670772e-01 9.72793576e-01 -1.14505781e-03 4.51563949e+00] [ 4.70017975e-03 5.77212779e-05 9.99988952e-01 5.45275632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.301052754000004 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:37.37, Y:4.52, Z:0.05 [[ 9.72980107e-01 -2.30844094e-01 -4.55150343e-03 3.73746120e+01] [ 2.30841134e-01 9.72990748e-01 -1.17243963e-03 4.51844908e+00] [ 4.69922149e-03 9.00862285e-05 9.99988955e-01 4.75613745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.331052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.40, Y:4.52, Z:0.04 [[ 9.72227834e-01 -2.33992242e-01 -4.54647412e-03 3.73995175e+01] [ 2.33989230e-01 9.72238459e-01 -1.19092461e-03 4.52383143e+00] [ 4.69892411e-03 9.40240802e-05 9.99988956e-01 4.49836604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.361052754 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:37.43, Y:4.52, Z:0.05 [[ 9.71931070e-01 -2.35222029e-01 -4.53788488e-03 3.74299374e+01] [ 2.35218883e-01 9.71941656e-01 -1.22242786e-03 4.51814748e+00] [ 4.69810130e-03 1.20719404e-04 9.99988957e-01 5.07112035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.391052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.46, Y:4.53, Z:0.05 [[ 9.69073480e-01 -2.46730653e-01 -4.53602747e-03 3.74592917e+01] [ 2.46727601e-01 9.69084093e-01 -1.22923513e-03 4.52638493e+00] [ 4.69908205e-03 7.20559838e-05 9.99988957e-01 5.02319570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.421052754 meters Centerline goodness : 0.998615 Centerline is valid? [True, True] Translation: X:37.49, Y:4.52, Z:0.05 [[ 9.67136227e-01 -2.54218108e-01 -4.54659265e-03 3.74911139e+01] [ 2.54215320e-01 9.67146914e-01 -1.19048809e-03 4.52067799e+00] [ 4.69986668e-03 -4.44934588e-06 9.99988956e-01 5.35899154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.451052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.52, Y:4.52, Z:0.06 [[ 9.65128297e-01 -2.61737799e-01 -4.54922923e-03 3.75191476e+01] [ 2.61735141e-01 9.65139017e-01 -1.18083676e-03 4.52452720e+00] [ 4.69970825e-03 -5.10341791e-05 9.99988955e-01 5.64784754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.481052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.54, Y:4.52, Z:0.06 [[ 9.62258479e-01 -2.72099205e-01 -4.54341793e-03 3.75437186e+01] [ 2.72096562e-01 9.62269202e-01 -1.20192646e-03 4.52430023e+00] [ 4.69903438e-03 -7.96844699e-05 9.99988956e-01 6.03064102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.511052754000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.58, Y:4.53, Z:0.06 [[ 9.61138286e-01 -2.76030208e-01 -4.52989156e-03 3.75755090e+01] [ 2.76027378e-01 9.61148959e-01 -1.25090923e-03 4.53172622e+00] [ 4.69918930e-03 -4.80773414e-05 9.99988958e-01 6.10956559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.541052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.60, Y:4.54, Z:0.07 [[ 9.60626423e-01 -2.77806081e-01 -4.54490087e-03 3.75984376e+01] [ 2.77803527e-01 9.60637168e-01 -1.19649359e-03 4.53807297e+00] [ 4.69839389e-03 -1.13206131e-04 9.99988956e-01 6.58221569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.571052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.63, Y:4.55, Z:0.07 [[ 9.58047714e-01 -2.86572959e-01 -4.52944436e-03 3.76250379e+01] [ 2.86570240e-01 9.58058416e-01 -1.25239407e-03 4.54584027e+00] [ 4.69837457e-03 -9.81506835e-05 9.99988958e-01 7.08025227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.601052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.65, Y:4.55, Z:0.07 [[ 9.53877324e-01 -3.00162518e-01 -4.52928394e-03 3.76526908e+01] [ 3.00159948e-01 9.53888063e-01 -1.25297395e-03 4.55370556e+00] [ 4.69652570e-03 -1.64326195e-04 9.99988958e-01 7.36675079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.631052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.68, Y:4.56, Z:0.07 [[ 9.51777489e-01 -3.06755767e-01 -4.52897570e-03 3.76790937e+01] [ 3.06753266e-01 9.51788244e-01 -1.25408714e-03 4.56111115e+00] [ 4.69532429e-03 -1.95666178e-04 9.99988958e-01 7.49976399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.661052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.71, Y:4.57, Z:0.07 [[ 9.48175422e-01 -3.17715059e-01 -4.52882323e-03 3.77060908e+01] [ 3.17712680e-01 9.48186205e-01 -1.25463749e-03 4.57209252e+00] [ 4.69278494e-03 -2.49248128e-04 9.99988958e-01 7.07762515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.691052754000005 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:37.73, Y:4.58, Z:0.07 [[ 9.46234119e-01 -3.23450900e-01 -4.52851588e-03 3.77334673e+01] [ 3.23448581e-01 9.46244915e-01 -1.25574587e-03 4.58347079e+00] [ 4.69125726e-03 -2.76512451e-04 9.99988958e-01 6.85321374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.721052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.76, Y:4.60, Z:0.06 [[ 9.43358163e-01 -3.31745191e-01 -4.52821165e-03 3.77594850e+01] [ 3.31742961e-01 9.43368978e-01 -1.25684197e-03 4.59823108e+00] [ 4.68872567e-03 -3.16550209e-04 9.99988958e-01 6.32624567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.751052754 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:37.79, Y:4.61, Z:0.06 [[ 9.42255722e-01 -3.34863634e-01 -4.52790829e-03 3.77854727e+01] [ 3.34861435e-01 9.42266543e-01 -1.25793391e-03 4.60911425e+00] [ 4.68773281e-03 -3.30926441e-04 9.99988958e-01 6.16764137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.781052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.81, Y:4.62, Z:0.06 [[ 9.41197355e-01 -3.37826936e-01 -4.52780116e-03 3.78116058e+01] [ 3.37824769e-01 9.41208182e-01 -1.25831940e-03 4.62348917e+00] [ 4.68669768e-03 -3.45276486e-04 9.99988958e-01 5.74963085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.811052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.84, Y:4.64, Z:0.06 [[ 9.40611087e-01 -3.39455866e-01 -4.52750294e-03 3.78352591e+01] [ 3.39453713e-01 9.40621917e-01 -1.25939150e-03 4.63614724e+00] [ 4.68617632e-03 -3.52280080e-04 9.99988958e-01 5.65447157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.841052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.86, Y:4.65, Z:0.06 [[ 9.41921115e-01 -3.35803793e-01 -4.51953353e-03 3.78632528e+01] [ 3.35801461e-01 9.41931908e-01 -1.28801153e-03 4.64905112e+00] [ 4.68961200e-03 -3.04460711e-04 9.99988957e-01 5.63782649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.871052754000004 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:37.89, Y:4.66, Z:0.06 [[ 9.41984099e-01 -3.35626966e-01 -4.52732155e-03 3.78852525e+01] [ 3.35624766e-01 9.41994920e-01 -1.26002898e-03 4.66197137e+00] [ 4.68761360e-03 -3.32553974e-04 9.99988958e-01 5.73745059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.901052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.91, Y:4.68, Z:0.06 [[ 9.43777810e-01 -3.30549581e-01 -4.51879483e-03 3.79122556e+01] [ 3.30547176e-01 9.43788588e-01 -1.29064679e-03 4.67667602e+00] [ 4.69140974e-03 -2.75591072e-04 9.99988957e-01 5.76663136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.931052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.94, Y:4.69, Z:0.06 [[ 9.45089718e-01 -3.26779712e-01 -4.52154073e-03 3.79401811e+01] [ 3.26777312e-01 9.45100496e-01 -1.28078866e-03 4.68577297e+00] [ 4.69184614e-03 -2.67076727e-04 9.99988958e-01 5.84192098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.961052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.96, Y:4.70, Z:0.06 [[ 9.47111789e-01 -3.20871881e-01 -4.52718180e-03 3.79645826e+01] [ 3.20869509e-01 9.47122573e-01 -1.26052878e-03 4.69748318e+00] [ 4.69226432e-03 -2.58772934e-04 9.99988958e-01 5.99253295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.991052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.99, Y:4.71, Z:0.06 [[ 9.48168672e-01 -3.17735300e-01 -4.52208948e-03 3.79896996e+01] [ 3.17732806e-01 9.48179429e-01 -1.27879576e-03 4.70791501e+00] [ 4.69407077e-03 -2.24302100e-04 9.99988958e-01 5.98459019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.021052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:38.02, Y:4.72, Z:0.06 [[ 9.50121582e-01 -3.11846986e-01 -4.52066477e-03 3.80174513e+01] [ 3.11844401e-01 9.50132318e-01 -1.28390317e-03 4.72234804e+00] [ 4.69561103e-03 -1.89879882e-04 9.99988958e-01 5.74233406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.051052754000004 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:38.04, Y:4.73, Z:0.06 [[ 9.50489473e-01 -3.10723788e-01 -4.52648903e-03 3.80442375e+01] [ 3.10721289e-01 9.50500229e-01 -1.26303002e-03 4.73411000e+00] [ 4.69488233e-03 -2.05979772e-04 9.99988958e-01 5.67522408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.081052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.07, Y:4.75, Z:0.06 [[ 9.50486714e-01 -3.10732232e-01 -4.52618911e-03 3.80701062e+01] [ 3.10729728e-01 9.50497469e-01 -1.26410387e-03 4.74597610e+00] [ 4.69492911e-03 -2.04907578e-04 9.99988958e-01 5.69818174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.111052754 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:38.10, Y:4.76, Z:0.06 [[ 9.49284252e-01 -3.14386630e-01 -4.52276349e-03 3.80953874e+01] [ 3.14384110e-01 9.49295003e-01 -1.27636745e-03 4.75759170e+00] [ 4.69470964e-03 -2.10249459e-04 9.99988958e-01 5.63484308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.141052754 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:38.12, Y:4.77, Z:0.06 [[ 9.46710180e-01 -3.22054955e-01 -4.52125886e-03 3.81219852e+01] [ 3.22052496e-01 9.46720945e-01 -1.28175051e-03 4.76878502e+00] [ 4.69316457e-03 -2.42636442e-04 9.99988958e-01 5.79971272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.171052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.15, Y:4.78, Z:0.06 [[ 9.45137778e-01 -3.26640624e-01 -4.52588560e-03 3.81479553e+01] [ 3.26638296e-01 9.45148572e-01 -1.26519972e-03 4.77960544e+00] [ 4.69089993e-03 -2.82539511e-04 9.99988958e-01 5.79980577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.201052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.17, Y:4.79, Z:0.06 [[ 9.43522052e-01 -3.31278822e-01 -4.52553850e-03 3.81737713e+01] [ 3.31276541e-01 9.43532856e-01 -1.26644005e-03 4.79144690e+00] [ 4.68953903e-03 -3.04290621e-04 9.99988958e-01 5.71405271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.231052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.20, Y:4.81, Z:0.06 [[ 9.40851080e-01 -3.38790152e-01 -4.52518708e-03 3.81979019e+01] [ 3.38787951e-01 9.40861901e-01 -1.26769447e-03 4.80844306e+00] [ 4.68705852e-03 -3.40367152e-04 9.99988958e-01 5.52433198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.261052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.22, Y:4.82, Z:0.05 [[ 9.39128716e-01 -3.43535701e-01 -4.52507837e-03 3.82230928e+01] [ 3.43533553e-01 9.39139548e-01 -1.26808241e-03 4.82433408e+00] [ 4.68531163e-03 -3.63623647e-04 9.99988958e-01 5.20630184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.291052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.25, Y:4.84, Z:0.05 [[ 9.38511311e-01 -3.45218837e-01 -4.52477350e-03 3.82495128e+01] [ 3.45216703e-01 9.38522145e-01 -1.26916930e-03 4.83559900e+00] [ 4.68474129e-03 -3.70897646e-04 9.99988958e-01 5.25253337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.27, Y:4.85, Z:0.05 [[ 9.38547423e-01 -3.45120653e-01 -4.52442394e-03 3.82744908e+01] [ 3.45118512e-01 9.38558255e-01 -1.27041422e-03 4.85190677e+00] [ 4.68488163e-03 -3.69118466e-04 9.99988958e-01 5.34572668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.351052754 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:38.30, Y:4.87, Z:0.05 [[ 9.38877715e-01 -3.44221104e-01 -4.52411521e-03 3.82999117e+01] [ 3.44218947e-01 9.38888545e-01 -1.27151271e-03 4.86600755e+00] [ 4.68532145e-03 -3.63491223e-04 9.99988958e-01 5.28642594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.32, Y:4.88, Z:0.05 [[ 9.39097349e-01 -3.43621454e-01 -4.52400611e-03 3.83249702e+01] [ 3.43619288e-01 9.39108176e-01 -1.27190076e-03 4.88117814e+00] [ 4.68558352e-03 -3.60097129e-04 9.99988958e-01 5.10657491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.35, Y:4.90, Z:0.05 [[ 9.39756922e-01 -3.41813493e-01 -4.52365479e-03 3.83482293e+01] [ 3.41811300e-01 9.39767745e-01 -1.27314905e-03 4.90243800e+00] [ 4.68636438e-03 -3.49785696e-04 9.99988958e-01 5.13069324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.441052754000005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:38.37, Y:4.92, Z:0.05 [[ 9.40098315e-01 -3.40873432e-01 -4.52338154e-03 3.83745482e+01] [ 3.40871224e-01 9.40109135e-01 -1.27411968e-03 4.91531225e+00] [ 4.68678585e-03 -3.44092831e-04 9.99988958e-01 5.08094454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.471052754 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:38.40, Y:4.93, Z:0.05 [[ 9.40704907e-01 -3.39195838e-01 -4.52346161e-03 3.83987355e+01] [ 3.39193613e-01 9.40715722e-01 -1.27383533e-03 4.93359446e+00] [ 4.68737110e-03 -3.36026145e-04 9.99988958e-01 5.30470830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.501052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.42, Y:4.95, Z:0.05 [[ 9.41366407e-01 -3.37355634e-01 -4.52373722e-03 3.84222041e+01] [ 3.37353392e-01 9.41377219e-01 -1.27285729e-03 4.95327501e+00] [ 4.68794875e-03 -3.27873003e-04 9.99988958e-01 4.86573826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.531052754 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:38.45, Y:4.97, Z:0.05 [[ 9.41794316e-01 -3.36159256e-01 -4.51903522e-03 3.84487321e+01] [ 3.36156921e-01 9.41805108e-01 -1.28952041e-03 4.96728747e+00] [ 4.68953468e-03 -3.04641971e-04 9.99988958e-01 5.14096272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.561052754 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:38.47, Y:4.99, Z:0.05 [[ 9.42530840e-01 -3.34088554e-01 -4.52263548e-03 3.84707049e+01] [ 3.34086256e-01 9.42541640e-01 -1.27676739e-03 4.98754565e+00] [ 4.68932563e-03 -3.07557711e-04 9.99988958e-01 5.03182815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.591052754 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:38.50, Y:5.00, Z:0.05 [[ 9.42856464e-01 -3.33168480e-01 -4.52248440e-03 3.84971185e+01] [ 3.33166169e-01 9.42867261e-01 -1.27730230e-03 5.00073542e+00] [ 4.68965935e-03 -3.02426074e-04 9.99988958e-01 4.77734535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.621052754000004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:38.52, Y:5.02, Z:0.05 [[ 9.42794440e-01 -3.33343957e-01 -4.52217289e-03 3.85226460e+01] [ 3.33341642e-01 9.42805237e-01 -1.27840422e-03 5.01779896e+00] [ 4.68967661e-03 -3.02156153e-04 9.99988958e-01 4.76840140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.651052754 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:38.55, Y:5.03, Z:0.05 [[ 9.42625794e-01 -3.33820557e-01 -4.52186139e-03 3.85476731e+01] [ 3.33818243e-01 9.42636591e-01 -1.27950508e-03 5.03075857e+00] [ 4.68959711e-03 -3.03385335e-04 9.99988958e-01 4.80693152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.681052754 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:38.57, Y:5.05, Z:0.05 [[ 9.42379309e-01 -3.34515757e-01 -4.52175104e-03 3.85722323e+01] [ 3.34513449e-01 9.42390107e-01 -1.27989494e-03 5.05103347e+00] [ 4.68939847e-03 -3.06440032e-04 9.99988958e-01 4.77107359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.711052754 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:38.60, Y:5.06, Z:0.05 [[ 9.42286573e-01 -3.34776897e-01 -4.52144110e-03 3.85979558e+01] [ 3.34774586e-01 9.42297371e-01 -1.28098891e-03 5.06492750e+00] [ 4.68938756e-03 -3.06604924e-04 9.99988958e-01 4.74683744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.741052754 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:38.62, Y:5.08, Z:0.05 [[ 9.42303808e-01 -3.34728386e-01 -4.52108821e-03 3.86216397e+01] [ 3.34726069e-01 9.42314605e-01 -1.28223321e-03 5.08399605e+00] [ 4.68948730e-03 -3.05072844e-04 9.99988958e-01 4.81804360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.771052754 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:38.64, Y:5.10, Z:0.05 [[ 9.42192322e-01 -3.35042072e-01 -4.52097886e-03 3.86439719e+01] [ 3.35039756e-01 9.42203118e-01 -1.28261863e-03 5.09830835e+00] [ 4.68941158e-03 -3.06234234e-04 9.99988958e-01 4.69691635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.801052754000004 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:38.67, Y:5.11, Z:0.05 [[ 9.43504064e-01 -3.31330253e-01 -4.51050750e-03 3.86715229e+01] [ 3.31327719e-01 9.43514813e-01 -1.31948083e-03 5.11286023e+00] [ 4.69291455e-03 -2.49520633e-04 9.99988957e-01 4.96227047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.831052754 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:38.70, Y:5.13, Z:0.05 [[ 9.44125313e-01 -3.29555695e-01 -4.52079094e-03 3.86974336e+01] [ 3.29553314e-01 9.44136095e-01 -1.28325316e-03 5.12506359e+00] [ 4.69114529e-03 -2.78289843e-04 9.99988958e-01 4.99494819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.861052754 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:38.72, Y:5.14, Z:0.05 [[ 9.46094456e-01 -3.23859300e-01 -4.52043392e-03 3.87208530e+01] [ 3.23856848e-01 9.46105223e-01 -1.28450958e-03 5.14329399e+00] [ 4.69280651e-03 -2.48706084e-04 9.99988958e-01 5.01749483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.891052754 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:38.75, Y:5.15, Z:0.05 [[ 9.46006028e-01 -3.24117512e-01 -4.52032343e-03 3.87482986e+01] [ 3.24115061e-01 9.46016795e-01 -1.28489829e-03 5.15115404e+00] [ 4.69275992e-03 -2.49583372e-04 9.99988958e-01 5.03090120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.921052754 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:38.77, Y:5.16, Z:0.05 [[ 9.47108836e-01 -3.20880700e-01 -4.51997239e-03 3.87745798e+01] [ 3.20878206e-01 9.47119593e-01 -1.28613197e-03 5.16489009e+00] [ 4.69364934e-03 -2.32253685e-04 9.99988958e-01 4.84849033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.951052754 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:38.80, Y:5.18, Z:0.05 [[ 9.49545972e-01 -3.13595312e-01 -4.51966033e-03 3.87982171e+01] [ 3.13592731e-01 9.49556708e-01 -1.28722769e-03 5.18197999e+00] [ 4.69534235e-03 -1.95050761e-04 9.99988958e-01 4.56330197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.981052754000004 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:38.82, Y:5.19, Z:0.05 [[ 9.50576002e-01 -3.10459077e-01 -4.51946613e-03 3.88246076e+01] [ 3.10456458e-01 9.50586729e-01 -1.28790915e-03 5.19264261e+00] [ 4.69598761e-03 -1.78841913e-04 9.99988958e-01 4.54680543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.011052754 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:38.85, Y:5.21, Z:0.05 [[ 9.52579971e-01 -3.04254788e-01 -4.51910764e-03 3.88494456e+01] [ 3.04252092e-01 9.52590679e-01 -1.28916582e-03 5.20516442e+00] [ 4.69709469e-03 -1.46914418e-04 9.99988958e-01 4.78263550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.041052754 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:38.88, Y:5.22, Z:0.05 [[ 9.53361204e-01 -3.01797936e-01 -4.51895215e-03 3.88763033e+01] [ 3.01795211e-01 9.53371904e-01 -1.28971063e-03 5.21603198e+00] [ 4.69747402e-03 -1.34238033e-04 9.99988958e-01 4.88551414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.071052754 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:38.90, Y:5.23, Z:0.05 [[ 9.54533024e-01 -2.98070944e-01 -4.51863963e-03 3.89003205e+01] [ 2.98068171e-01 9.54543713e-01 -1.29080466e-03 5.22956621e+00] [ 4.69799041e-03 -1.14746977e-04 9.99988958e-01 4.99968681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.101052754 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:38.93, Y:5.24, Z:0.05 [[ 9.55145732e-01 -2.96101697e-01 -4.51839672e-03 3.89274811e+01] [ 2.96098898e-01 9.55156413e-01 -1.29165440e-03 5.23964124e+00] [ 4.69823666e-03 -1.04174100e-04 9.99988958e-01 4.87990045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.131052754 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:38.95, Y:5.25, Z:0.05 [[ 9.55841942e-01 -2.93846506e-01 -4.51808517e-03 3.89531030e+01] [ 2.93843677e-01 9.55852615e-01 -1.29274325e-03 5.25071377e+00] [ 4.69849161e-03 -9.19525377e-05 9.99988958e-01 4.79869133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.161052754 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:38.98, Y:5.26, Z:0.05 [[ 9.56016801e-01 -2.93277113e-01 -4.51791855e-03 3.89783853e+01] [ 2.93274274e-01 9.56027472e-01 -1.29332529e-03 5.25922568e+00] [ 4.69855696e-03 -8.85485773e-05 9.99988958e-01 4.74856650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.191052754000005 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:39.01, Y:5.27, Z:0.05 [[ 9.55642593e-01 -2.94494289e-01 -4.51091523e-03 3.90074752e+01] [ 2.94491349e-01 9.55653237e-01 -1.31774812e-03 5.26761120e+00] [ 4.69894004e-03 -6.91292802e-05 9.99988958e-01 4.87570430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.221052754 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:39.03, Y:5.28, Z:0.05 [[ 9.55230345e-01 -2.95828633e-01 -4.51746924e-03 3.90344533e+01] [ 2.95825816e-01 9.55241022e-01 -1.29488311e-03 5.27601968e+00] [ 4.69833543e-03 -9.94723846e-05 9.99988958e-01 4.87615910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.251052754 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:39.06, Y:5.29, Z:0.05 [[ 9.55218111e-01 -2.95868138e-01 -4.51711877e-03 3.90591099e+01] [ 2.95865315e-01 9.55228787e-01 -1.29610457e-03 5.28517080e+00] [ 4.69835792e-03 -9.83962101e-05 9.99988958e-01 4.68599450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.281052754 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:39.09, Y:5.29, Z:0.05 [[ 9.54960889e-01 -2.96697444e-01 -4.50858691e-03 3.90884068e+01] [ 2.96694490e-01 9.54971529e-01 -1.32579858e-03 5.29244991e+00] [ 4.69893318e-03 -7.15871033e-05 9.99988957e-01 4.77631842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.311052754 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:39.11, Y:5.30, Z:0.05 [[ 9.54979210e-01 -2.96638346e-01 -4.51662378e-03 3.91142825e+01] [ 2.96635524e-01 9.54989885e-01 -1.29782918e-03 5.29876393e+00] [ 4.69831592e-03 -1.00391181e-04 9.99988958e-01 4.90510714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.341052754 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:39.14, Y:5.31, Z:0.05 [[ 9.55001746e-01 -2.96565787e-01 -4.51646628e-03 3.91413917e+01] [ 2.96562962e-01 9.55012421e-01 -1.29837702e-03 5.30577355e+00] [ 4.69833560e-03 -9.94642922e-05 9.99988958e-01 4.92593615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.371052754000004 meters Centerline goodness : 0.996995 Centerline is valid? [True, True] Translation: X:39.17, Y:5.31, Z:0.05 [[ 9.55460302e-01 -2.95085099e-01 -4.51610295e-03 3.91689339e+01] [ 2.95082251e-01 9.55470971e-01 -1.29963956e-03 5.31316194e+00] [ 4.69850954e-03 -9.08678219e-05 9.99988958e-01 4.98430148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.401052754 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:39.20, Y:5.32, Z:0.05 [[ 9.55703286e-01 -2.94297170e-01 -4.51715310e-03 3.91957115e+01] [ 2.94294330e-01 9.55713957e-01 -1.29599268e-03 5.32122741e+00] [ 4.69851325e-03 -9.07880808e-05 9.99988958e-01 4.82532307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.431052754 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:39.23, Y:5.33, Z:0.04 [[ 9.57414287e-01 -2.88682338e-01 -4.51553498e-03 3.92259510e+01] [ 2.88679409e-01 9.57424934e-01 -1.30160630e-03 5.32551318e+00] [ 4.69903653e-03 -5.73655032e-05 9.99988958e-01 4.26135860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.461052754 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:39.25, Y:5.33, Z:0.05 [[ 9.57748087e-01 -2.87572903e-01 -4.51962410e-03 3.92511237e+01] [ 2.87570029e-01 9.57758749e-01 -1.28742659e-03 5.33268276e+00] [ 4.69893853e-03 -6.66780742e-05 9.99988958e-01 4.63016461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.491052754 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:39.28, Y:5.34, Z:0.05 [[ 9.59234839e-01 -2.82574128e-01 -4.51505466e-03 3.92797187e+01] [ 2.82571124e-01 9.59245465e-01 -1.30325716e-03 5.33566971e+00] [ 4.69931246e-03 -2.56943975e-05 9.99988958e-01 4.60163157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.521052754 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:39.31, Y:5.34, Z:0.05 [[ 9.60294761e-01 -2.78950870e-01 -4.51494313e-03 3.93075680e+01] [ 2.78947823e-01 9.60305375e-01 -1.30364341e-03 5.34096060e+00] [ 4.69937662e-03 -7.55161874e-06 9.99988958e-01 4.60788617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.551052754000004 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:39.33, Y:5.35, Z:0.05 [[ 9.60598080e-01 -2.77904564e-01 -4.51457864e-03 3.93344000e+01] [ 2.77901500e-01 9.60608689e-01 -1.30490446e-03 5.34708020e+00] [ 4.69938237e-03 -1.11945987e-06 9.99988958e-01 4.57924554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.581052754 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:39.36, Y:5.35, Z:0.05 [[ 9.60683380e-01 -2.77609554e-01 -4.51442050e-03 3.93614938e+01] [ 2.77606484e-01 9.60693987e-01 -1.30545133e-03 5.35205071e+00] [ 4.69938238e-03 8.92995809e-07 9.99988958e-01 4.63053122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.611052754 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:39.39, Y:5.35, Z:0.05 [[ 9.60000655e-01 -2.79961364e-01 -4.51418081e-03 3.93903637e+01] [ 2.79958317e-01 9.60011268e-01 -1.30627963e-03 5.35222018e+00] [ 4.69937227e-03 -9.75316197e-06 9.99988958e-01 5.09735082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.641052754 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:39.42, Y:5.35, Z:0.05 [[ 9.58887767e-01 -2.83749671e-01 -4.51380770e-03 3.94197878e+01] [ 2.83746660e-01 9.58898391e-01 -1.30756763e-03 5.35095090e+00] [ 4.69930482e-03 -2.69672569e-05 9.99988958e-01 5.37900162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.671052754 meters Centerline goodness : 0.995875 Centerline is valid? [True, True] Translation: X:39.45, Y:5.36, Z:0.05 [[ 9.57585554e-01 -2.88113707e-01 -4.51641621e-03 3.94491265e+01] [ 2.88110786e-01 9.57596203e-01 -1.29855363e-03 5.35759624e+00] [ 4.69903411e-03 -5.77520287e-05 9.99988958e-01 5.26363690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.701052754 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:39.47, Y:5.36, Z:0.06 [[ 9.55939764e-01 -2.93528073e-01 -4.52076709e-03 3.94743642e+01] [ 2.93525284e-01 9.55950449e-01 -1.28352418e-03 5.36267993e+00] [ 4.69837970e-03 -9.99876424e-05 9.99988958e-01 5.55573717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.731052754000004 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:39.50, Y:5.37, Z:0.06 [[ 9.55322278e-01 -2.95531680e-01 -4.51349831e-03 3.95010149e+01] [ 2.95528795e-01 9.55332936e-01 -1.30859506e-03 5.36821934e+00] [ 4.69862489e-03 -8.37387008e-05 9.99988958e-01 5.61700283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.761052754 meters Centerline goodness : 0.995761 Centerline is valid? [True, True] Translation: X:39.53, Y:5.37, Z:0.05 [[ 9.54765437e-01 -2.97325732e-01 -4.51334393e-03 3.95306060e+01] [ 2.97322864e-01 9.54776100e-01 -1.30912730e-03 5.37340477e+00] [ 4.69847014e-03 -9.20108457e-05 9.99988958e-01 5.44341972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.791052754 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:39.56, Y:5.38, Z:0.06 [[ 9.54454935e-01 -2.98320891e-01 -4.51927773e-03 3.95566538e+01] [ 2.98318131e-01 9.54465627e-01 -1.28866761e-03 5.37574879e+00] [ 4.69793172e-03 -1.18207327e-04 9.99988958e-01 5.72340312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.821052754 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:39.58, Y:5.38, Z:0.06 [[ 9.55449837e-01 -2.95119033e-01 -4.51275852e-03 3.95845058e+01] [ 2.95116131e-01 9.55460491e-01 -1.31110639e-03 5.37964055e+00] [ 4.69869492e-03 -7.90914466e-05 9.99988958e-01 5.96354659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.851052754 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:39.61, Y:5.39, Z:0.06 [[ 9.56356278e-01 -2.92168288e-01 -4.51239446e-03 3.96115891e+01] [ 2.92165348e-01 9.56366921e-01 -1.31235817e-03 5.38695256e+00] [ 4.69893424e-03 -6.32833221e-05 9.99988958e-01 6.01606387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.881052754 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:39.64, Y:5.39, Z:0.06 [[ 9.57646540e-01 -2.87911004e-01 -4.51202624e-03 3.96424242e+01] [ 2.87908010e-01 9.57657168e-01 -1.31362294e-03 5.39314450e+00] [ 4.69918077e-03 -4.10620310e-05 9.99988958e-01 5.96039165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.911052754 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:39.67, Y:5.40, Z:0.06 [[ 9.59123427e-01 -2.82951947e-01 -4.52190760e-03 3.96664543e+01] [ 2.82949058e-01 9.59134085e-01 -1.27966812e-03 5.39894216e+00] [ 4.69920030e-03 -5.21098307e-05 9.99988957e-01 5.87642181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.941052754000005 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:39.70, Y:5.40, Z:0.06 [[ 9.59760493e-01 -2.80783622e-01 -4.51153478e-03 3.96973910e+01] [ 2.80780541e-01 9.59771097e-01 -1.31524874e-03 5.40305127e+00] [ 4.69934099e-03 -4.42740151e-06 9.99988958e-01 5.78514157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.971052754 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:39.73, Y:5.41, Z:0.06 [[ 9.60117816e-01 -2.79559219e-01 -4.51908883e-03 3.97258719e+01] [ 2.79556247e-01 9.60128451e-01 -1.28934922e-03 5.40657125e+00] [ 4.69935522e-03 -2.54123549e-05 9.99988958e-01 5.71306656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.001052754 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:39.75, Y:5.41, Z:0.06 [[ 9.60476944e-01 -2.78322912e-01 -4.51615105e-03 3.97522774e+01] [ 2.78319879e-01 9.60487562e-01 -1.29940942e-03 5.41037657e+00] [ 4.69936233e-03 -8.88182776e-06 9.99988958e-01 5.79908801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.031052754 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:39.79, Y:5.41, Z:0.05 [[ 9.61367221e-01 -2.75232123e-01 -4.51047377e-03 3.97890768e+01] [ 2.75228964e-01 9.61377802e-01 -1.31882610e-03 5.40832340e+00] [ 4.69925267e-03 2.64631613e-05 9.99988958e-01 5.28275167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.061052754 meters Centerline goodness : 0.995034 Centerline is valid? [True, True] Translation: X:39.82, Y:5.41, Z:0.06 [[ 9.61128101e-01 -2.76065694e-01 -4.52827611e-03 3.98161293e+01] [ 2.76062833e-01 9.61138768e-01 -1.25746881e-03 5.41260863e+00] [ 4.69944572e-03 -4.15001259e-05 9.99988957e-01 5.91828475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.091052754 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:39.84, Y:5.41, Z:0.06 [[ 9.62091402e-01 -2.72689706e-01 -4.52305766e-03 3.98443647e+01] [ 2.72686724e-01 9.62102034e-01 -1.27544355e-03 5.41381112e+00] [ 4.69944330e-03 -6.28450374e-06 9.99988958e-01 6.03881297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.121052754000004 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:39.87, Y:5.42, Z:0.06 [[ 9.62421114e-01 -2.71523782e-01 -4.52043357e-03 3.98712049e+01] [ 2.71520744e-01 9.62431730e-01 -1.28444569e-03 5.41870220e+00] [ 4.69936626e-03 8.78616950e-06 9.99988958e-01 5.95971229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.151052754 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:39.90, Y:5.42, Z:0.06 [[ 9.62606384e-01 -2.70866267e-01 -4.51831159e-03 3.99000623e+01] [ 2.70863188e-01 9.62616988e-01 -1.29171744e-03 5.41930984e+00] [ 4.69928618e-03 1.95711748e-05 9.99988958e-01 5.97684033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.181052754 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:39.93, Y:5.42, Z:0.06 [[ 9.61997686e-01 -2.73020223e-01 -4.51775148e-03 3.99275966e+01] [ 2.73017159e-01 9.62008294e-01 -1.29363345e-03 5.42374601e+00] [ 4.69930248e-03 1.10487138e-05 9.99988958e-01 5.93779073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.211052754 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:39.96, Y:5.42, Z:0.06 [[ 9.59781586e-01 -2.80711419e-01 -4.51728654e-03 3.99570529e+01] [ 2.80708432e-01 9.59792216e-01 -1.29522192e-03 5.42282299e+00] [ 4.69924004e-03 -2.49102689e-05 9.99988958e-01 6.13922280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.241052754 meters Centerline goodness : 0.995140 Centerline is valid? [True, True] Translation: X:39.99, Y:5.42, Z:0.06 [[ 9.57012677e-01 -2.90010923e-01 -4.51671227e-03 3.99875698e+01] [ 2.90008030e-01 9.57023333e-01 -1.29718747e-03 5.42134876e+00] [ 4.69879757e-03 -6.84579710e-05 9.99988958e-01 6.14911304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.271052754 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:40.02, Y:5.43, Z:0.07 [[ 9.55163198e-01 -2.96045329e-01 -4.51984472e-03 4.00154023e+01] [ 2.96042554e-01 9.55173885e-01 -1.28646912e-03 5.42673904e+00] [ 4.69809082e-03 -1.09278414e-04 9.99988958e-01 6.52321602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.301052754000004 meters Centerline goodness : 0.994688 Centerline is valid? [True, True] Translation: X:40.05, Y:5.43, Z:0.06 [[ 9.53014002e-01 -3.02892585e-01 -4.51587753e-03 4.00450802e+01] [ 3.02889823e-01 9.53024693e-01 -1.30002742e-03 5.42795058e+00] [ 4.69751147e-03 -1.28869012e-04 9.99988958e-01 6.29966304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.331052754 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:40.07, Y:5.43, Z:0.06 [[ 9.52562445e-01 -3.04309618e-01 -4.52162505e-03 4.00720424e+01] [ 3.04306965e-01 9.52573163e-01 -1.28038063e-03 5.43313275e+00] [ 4.69681082e-03 -1.56319490e-04 9.99988958e-01 6.47820957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.361052754 meters Centerline goodness : 0.994668 Centerline is valid? [True, True] Translation: X:40.10, Y:5.44, Z:0.06 [[ 9.52430860e-01 -3.04721290e-01 -4.51579297e-03 4.01004936e+01] [ 3.04718547e-01 9.52441555e-01 -1.30027555e-03 5.43864754e+00] [ 4.69725053e-03 -1.37623315e-04 9.99988958e-01 6.39569607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.391052754 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:40.13, Y:5.44, Z:0.07 [[ 9.52502302e-01 -3.04497879e-01 -4.51733914e-03 4.01286174e+01] [ 3.04495158e-01 9.52513003e-01 -1.29500362e-03 5.44278953e+00] [ 4.69715013e-03 -1.42013965e-04 9.99988958e-01 6.57173571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.421052754 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:40.16, Y:5.45, Z:0.07 [[ 9.52469153e-01 -3.04601630e-01 -4.51224175e-03 4.01584464e+01] [ 3.04598828e-01 9.52479833e-01 -1.31234426e-03 5.44598018e+00] [ 4.69756146e-03 -1.24456126e-04 9.99988959e-01 6.51096172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.451052754 meters Centerline goodness : 0.993550 Centerline is valid? [True, True] Translation: X:40.19, Y:5.45, Z:0.06 [[ 9.52996538e-01 -3.02947499e-01 -4.51800978e-03 4.01856063e+01] [ 3.02944772e-01 9.53007237e-01 -1.29266536e-03 5.45159720e+00] [ 4.69730576e-03 -1.36801825e-04 9.99988958e-01 6.32528308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.481052754000004 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:40.21, Y:5.46, Z:0.07 [[ 9.54992347e-01 -2.96596059e-01 -4.51613631e-03 4.02123649e+01] [ 2.96593231e-01 9.55003020e-01 -1.29903730e-03 5.45681673e+00] [ 4.69821316e-03 -9.88847842e-05 9.99988958e-01 7.07617839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.511052754 meters Centerline goodness : 0.995061 Centerline is valid? [True, True] Translation: X:40.24, Y:5.47, Z:0.07 [[ 9.55502710e-01 -2.94947883e-01 -4.50758497e-03 4.02410239e+01] [ 2.94944899e-01 9.55513340e-01 -1.32806149e-03 5.46558925e+00] [ 4.69876650e-03 -6.05228400e-05 9.99988959e-01 6.66559941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.541052754 meters Centerline goodness : 0.994704 Centerline is valid? [True, True] Translation: X:40.27, Y:5.47, Z:0.07 [[ 9.57151767e-01 -2.89551571e-01 -4.51472914e-03 4.02682731e+01] [ 2.89548641e-01 9.57162413e-01 -1.30381941e-03 5.47211206e+00] [ 4.69885200e-03 -5.92806368e-05 9.99988959e-01 6.72877514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.571052754 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:40.30, Y:5.48, Z:0.07 [[ 9.57981165e-01 -2.86795595e-01 -4.51380947e-03 4.02951209e+01] [ 2.86792621e-01 9.57991798e-01 -1.30693698e-03 5.47702399e+00] [ 4.69901622e-03 -4.25062395e-05 9.99988959e-01 6.71860877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.601052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.32, Y:5.48, Z:0.07 [[ 9.59916162e-01 -2.80250953e-01 -4.51271295e-03 4.03239399e+01] [ 2.80247888e-01 9.59926770e-01 -1.31064154e-03 5.47761849e+00] [ 4.69918251e-03 -6.57227874e-06 9.99988959e-01 6.85289442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.631052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.35, Y:5.48, Z:0.07 [[ 9.61126859e-01 -2.76070315e-01 -4.51033244e-03 4.03521591e+01] [ 2.76067166e-01 9.61137441e-01 -1.31866009e-03 5.48347779e+00] [ 4.69909229e-03 2.22449358e-05 9.99988959e-01 7.14262003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.661052754 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:40.38, Y:5.49, Z:0.07 [[ 9.62853259e-01 -2.69987550e-01 -4.50828465e-03 4.03802066e+01] [ 2.69984302e-01 9.62863811e-01 -1.32555394e-03 5.48983077e+00] [ 4.69874720e-03 5.91478473e-05 9.99988959e-01 6.87442216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.691052754000005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:40.41, Y:5.50, Z:0.07 [[ 9.64268424e-01 -2.64888741e-01 -4.51235722e-03 4.04064857e+01] [ 2.64885502e-01 9.64278979e-01 -1.31183592e-03 5.49649874e+00] [ 4.69866178e-03 6.97039451e-05 9.99988959e-01 6.90442831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.721052754 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:40.43, Y:5.50, Z:0.07 [[ 9.66229122e-01 -2.57645097e-01 -4.50422311e-03 4.04344887e+01] [ 2.57641652e-01 9.66239611e-01 -1.33919407e-03 5.49991985e+00] [ 4.69719557e-03 1.33492827e-04 9.99988959e-01 6.83612309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.751052754 meters Centerline goodness : 0.998320 Centerline is valid? [True, True] Translation: X:40.47, Y:5.50, Z:0.06 [[ 9.66692364e-01 -2.55901517e-01 -4.50410836e-03 4.04650441e+01] [ 2.55898050e-01 9.66702846e-01 -1.33957990e-03 5.50487935e+00] [ 4.69693490e-03 1.42369113e-04 9.99988959e-01 6.40797785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.781052754 meters Centerline goodness : 0.998500 Centerline is valid? [True, True] Translation: X:40.50, Y:5.50, Z:0.07 [[ 9.67820479e-01 -2.51601222e-01 -4.51052560e-03 4.04952079e+01] [ 2.51597809e-01 9.67830980e-01 -1.31801738e-03 5.50369011e+00] [ 4.69704120e-03 1.40765856e-04 9.99988959e-01 6.70390683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.811052754 meters Centerline goodness : 0.998500 Centerline is valid? [True, True] Translation: X:40.52, Y:5.51, Z:0.07 [[ 9.67714014e-01 -2.52010415e-01 -4.50961950e-03 4.05225826e+01] [ 2.52006993e-01 9.67724512e-01 -1.32105829e-03 5.51213472e+00] [ 4.69698978e-03 1.41950977e-04 9.99988959e-01 6.71724007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.841052754 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:40.55, Y:5.52, Z:0.07 [[ 9.67877419e-01 -2.51382116e-01 -4.50918220e-03 4.05516228e+01] [ 2.51378680e-01 9.67887912e-01 -1.32252388e-03 5.51712488e+00] [ 4.69684179e-03 1.46528735e-04 9.99988959e-01 6.71830413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.871052754000004 meters Centerline goodness : 0.998362 Centerline is valid? [True, True] Translation: X:40.58, Y:5.52, Z:0.07 [[ 9.68330186e-01 -2.49632305e-01 -4.51262786e-03 4.05838069e+01] [ 2.49628904e-01 9.68340690e-01 -1.31097985e-03 5.51985272e+00] [ 4.69702410e-03 1.42979014e-04 9.99988959e-01 6.50770416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.901052754 meters Centerline goodness : 0.997315 Centerline is valid? [True, True] Translation: X:40.61, Y:5.52, Z:0.06 [[ 9.68889921e-01 -2.47450754e-01 -4.52165880e-03 4.06097243e+01] [ 2.47447470e-01 9.68900464e-01 -1.28069199e-03 5.52245113e+00] [ 4.69794551e-03 1.21976532e-04 9.99988957e-01 6.15802461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.931052754 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:40.64, Y:5.52, Z:0.07 [[ 9.69397646e-01 -2.45454441e-01 -4.50794464e-03 4.06406085e+01] [ 2.45450922e-01 9.69408111e-01 -1.32647448e-03 5.52017005e+00] [ 4.69562715e-03 1.79402068e-04 9.99988959e-01 6.64993013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.961052754 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:40.67, Y:5.52, Z:0.07 [[ 9.69292114e-01 -2.45870893e-01 -4.50574769e-03 4.06681838e+01] [ 2.45867344e-01 9.69302569e-01 -1.33379897e-03 5.52333263e+00] [ 4.69537515e-03 1.85024606e-04 9.99988960e-01 6.77250615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.991052754 meters Centerline goodness : 0.998431 Centerline is valid? [True, True] Translation: X:40.70, Y:5.52, Z:0.07 [[ 9.68579462e-01 -2.48663569e-01 -4.50052111e-03 4.07009706e+01] [ 2.48659970e-01 9.68589899e-01 -1.35120736e-03 5.52032308e+00] [ 4.69515533e-03 1.89652249e-04 9.99988960e-01 6.55071285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.73, Y:5.52, Z:0.07 [[ 9.68192508e-01 -2.50165865e-01 -4.50646583e-03 4.07289885e+01] [ 2.50162374e-01 9.68202982e-01 -1.33140443e-03 5.51631817e+00] [ 4.69624559e-03 1.61707606e-04 9.99988960e-01 7.44733082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.051052754000004 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:40.76, Y:5.52, Z:0.07 [[ 9.67633396e-01 -2.52319958e-01 -4.49998651e-03 4.07576298e+01] [ 2.52316390e-01 9.67643844e-01 -1.35295494e-03 5.51964619e+00] [ 4.69576177e-03 1.73744028e-04 9.99988960e-01 6.82517085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.081052754 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:40.79, Y:5.52, Z:0.07 [[ 9.66804457e-01 -2.55477724e-01 -4.50274266e-03 4.07896517e+01] [ 2.55474233e-01 9.66814931e-01 -1.34379335e-03 5.52486798e+00] [ 4.69662810e-03 1.48850669e-04 9.99988960e-01 7.34964901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.82, Y:5.52, Z:0.08 [[ 9.66904868e-01 -2.55097276e-01 -4.51172475e-03 4.08179753e+01] [ 2.55093920e-01 9.66915387e-01 -1.31394596e-03 5.52160716e+00] [ 4.69764012e-03 1.19547186e-04 9.99988959e-01 7.91708807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.141052754 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:40.85, Y:5.53, Z:0.08 [[ 9.66201904e-01 -2.57747239e-01 -4.49905068e-03 4.08485644e+01] [ 2.57743716e-01 9.66212367e-01 -1.35599717e-03 5.52570600e+00] [ 4.69654293e-03 1.50565007e-04 9.99988960e-01 7.56227488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.171052754 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:40.88, Y:5.52, Z:0.08 [[ 9.65700989e-01 -2.59617641e-01 -4.50347085e-03 4.08786304e+01] [ 2.59614206e-01 9.65711481e-01 -1.34134102e-03 5.52237284e+00] [ 4.69728929e-03 1.26169344e-04 9.99988960e-01 8.25546713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.201052754 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:40.91, Y:5.52, Z:0.08 [[ 9.65322067e-01 -2.61023123e-01 -4.49847218e-03 4.09080463e+01] [ 2.61019627e-01 9.65332539e-01 -1.35790067e-03 5.52483651e+00] [ 4.69696505e-03 1.36621956e-04 9.99988960e-01 7.91271180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.231052754000004 meters Centerline goodness : 0.999837 Centerline is valid? [True, True] Translation: X:40.94, Y:5.52, Z:0.08 [[ 9.63801151e-01 -2.66584054e-01 -4.50371331e-03 4.09362236e+01] [ 2.66580699e-01 9.63811669e-01 -1.34053996e-03 5.52422007e+00] [ 4.69809802e-03 9.14109128e-05 9.99988960e-01 8.44068395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.261052754 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:40.96, Y:5.53, Z:0.08 [[ 9.62547825e-01 -2.71074628e-01 -4.49781458e-03 4.09646725e+01] [ 2.71071231e-01 9.62558330e-01 -1.36004764e-03 5.52959275e+00] [ 4.69808330e-03 8.98827602e-05 9.99988960e-01 7.79175368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.291052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.99, Y:5.53, Z:0.08 [[ 9.60753251e-01 -2.77367867e-01 -4.50070934e-03 4.09922361e+01] [ 2.77364584e-01 9.60763792e-01 -1.35047481e-03 5.53188266e+00] [ 4.69869689e-03 4.91356860e-05 9.99988960e-01 8.09459019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.321052754 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:41.02, Y:5.54, Z:0.08 [[ 9.59972596e-01 -2.80057828e-01 -4.49744355e-03 4.10194256e+01] [ 2.80054524e-01 9.59983130e-01 -1.36126455e-03 5.53774381e+00] [ 4.69870274e-03 4.72472507e-05 9.99988960e-01 8.16358241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.351052754 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:41.05, Y:5.55, Z:0.08 [[ 9.59972445e-01 -2.80058353e-01 -4.49707313e-03 4.10471368e+01] [ 2.80055043e-01 9.59982977e-01 -1.36248719e-03 5.54730781e+00] [ 4.69868957e-03 4.85221508e-05 9.99988960e-01 8.25109439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.381052754 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:41.07, Y:5.56, Z:0.08 [[ 9.60165034e-01 -2.79397363e-01 -4.49675115e-03 4.10723774e+01] [ 2.79394040e-01 9.60175563e-01 -1.36354903e-03 5.55575517e+00] [ 4.69864257e-03 5.28666283e-05 9.99988960e-01 8.27921908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.411052754 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:41.10, Y:5.57, Z:0.08 [[ 9.60936830e-01 -2.76731259e-01 -4.49659111e-03 4.10987161e+01] [ 2.76727905e-01 9.60947348e-01 -1.36407657e-03 5.56728188e+00] [ 4.69846993e-03 6.64591785e-05 9.99988960e-01 8.29789666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.441052754000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.13, Y:5.58, Z:0.08 [[ 9.61238989e-01 -2.75679869e-01 -4.49627266e-03 4.11261605e+01] [ 2.75676499e-01 9.61249502e-01 -1.36512545e-03 5.57675145e+00] [ 4.69837746e-03 7.26951052e-05 9.99988960e-01 8.47002419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.471052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.15, Y:5.59, Z:0.09 [[ 9.61566108e-01 -2.74536713e-01 -4.49594964e-03 4.11529240e+01] [ 2.74533325e-01 9.61576615e-01 -1.36618847e-03 5.58574729e+00] [ 4.69826893e-03 7.93925286e-05 9.99988960e-01 8.59717115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.501052754 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:41.18, Y:5.59, Z:0.08 [[ 9.61686557e-01 -2.74114494e-01 -4.49557787e-03 4.11793007e+01] [ 2.74111096e-01 9.61697061e-01 -1.36741071e-03 5.59492378e+00] [ 4.69821112e-03 8.27327156e-05 9.99988960e-01 7.83078909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.531052754 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:41.21, Y:5.61, Z:0.08 [[ 9.61550189e-01 -2.74592516e-01 -4.49271980e-03 4.12080233e+01] [ 2.74589079e-01 9.61560680e-01 -1.37680010e-03 5.60577597e+00] [ 4.69808172e-03 9.02106074e-05 9.99988960e-01 7.61348132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.561052754 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:41.23, Y:5.61, Z:0.08 [[ 9.61341747e-01 -2.75321213e-01 -4.50278152e-03 4.12329990e+01] [ 2.75317939e-01 9.61352291e-01 -1.34375896e-03 5.61256972e+00] [ 4.69872467e-03 5.21150584e-05 9.99988960e-01 8.05334940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.591052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.26, Y:5.62, Z:0.08 [[ 9.60989940e-01 -2.76546799e-01 -4.49471539e-03 4.12611735e+01] [ 2.76543415e-01 9.61000449e-01 -1.37021822e-03 5.62014272e+00] [ 4.69835297e-03 7.37819841e-05 9.99988960e-01 8.32510011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.621052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.29, Y:5.63, Z:0.09 [[ 9.60618073e-01 -2.77835776e-01 -4.49439004e-03 4.12878700e+01] [ 2.77832400e-01 9.60628584e-01 -1.37128453e-03 5.62757983e+00] [ 4.69843145e-03 6.85935290e-05 9.99988960e-01 8.66076171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.651052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.32, Y:5.64, Z:0.09 [[ 9.60665010e-01 -2.77673443e-01 -4.49427560e-03 4.13152562e+01] [ 2.77670064e-01 9.60675520e-01 -1.37165952e-03 5.63608040e+00] [ 4.69841397e-03 6.97795123e-05 9.99988960e-01 8.83948287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.681052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.34, Y:5.64, Z:0.09 [[ 9.61094292e-01 -2.76183936e-01 -4.49396066e-03 4.13417909e+01] [ 2.76180536e-01 9.61104795e-01 -1.37269058e-03 5.64433933e+00] [ 4.69828223e-03 7.81406166e-05 9.99988960e-01 8.94449979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.711052754 meters Centerline goodness : 0.999837 Centerline is valid? [True, True] Translation: X:41.37, Y:5.65, Z:0.09 [[ 9.61188269e-01 -2.75856699e-01 -4.49358093e-03 4.13694909e+01] [ 2.75853289e-01 9.61198770e-01 -1.37393250e-03 5.65422413e+00] [ 4.69823295e-03 8.10387227e-05 9.99988960e-01 8.69268939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.741052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.40, Y:5.66, Z:0.08 [[ 9.61349889e-01 -2.75292938e-01 -4.49324897e-03 4.13959112e+01] [ 2.75289517e-01 9.61360386e-01 -1.37501728e-03 5.66334017e+00] [ 4.69816411e-03 8.49283648e-05 9.99988960e-01 8.38923750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.771052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.42, Y:5.67, Z:0.08 [[ 9.61066377e-01 -2.76281078e-01 -4.49286973e-03 4.14237308e+01] [ 2.76277662e-01 9.61076875e-01 -1.37625532e-03 5.67066547e+00] [ 4.69822651e-03 8.13931729e-05 9.99988960e-01 8.27693213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.801052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.45, Y:5.68, Z:0.09 [[ 9.60149330e-01 -2.79451392e-01 -4.49253670e-03 4.14509828e+01] [ 2.79448006e-01 9.60159838e-01 -1.37734159e-03 5.67508021e+00] [ 4.69845334e-03 6.70231881e-05 9.99988960e-01 8.50874725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.831052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.48, Y:5.68, Z:0.09 [[ 9.59801919e-01 -2.80642289e-01 -4.49237175e-03 4.14786061e+01] [ 2.80638913e-01 9.59812431e-01 -1.37787940e-03 5.68257617e+00] [ 4.69852548e-03 6.17569663e-05 9.99988960e-01 8.60243922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.51, Y:5.69, Z:0.09 [[ 9.59758488e-01 -2.80790789e-01 -4.49202507e-03 4.15059120e+01] [ 2.80787409e-01 9.59768998e-01 -1.37900867e-03 5.69137290e+00] [ 4.69851933e-03 6.22111902e-05 9.99988960e-01 8.50587384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.891052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.53, Y:5.70, Z:0.08 [[ 9.59766266e-01 -2.80764204e-01 -4.49171655e-03 4.15334127e+01] [ 2.80760820e-01 9.59776775e-01 -1.38001288e-03 5.70026631e+00] [ 4.69850344e-03 6.33917862e-05 9.99988960e-01 8.41861417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.921052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:41.56, Y:5.71, Z:0.08 [[ 9.59981224e-01 -2.80028352e-01 -4.49138165e-03 4.15602646e+01] [ 2.80024954e-01 9.59991728e-01 -1.38110198e-03 5.70811472e+00] [ 4.69843694e-03 6.81330273e-05 9.99988960e-01 8.41043344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.951052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.59, Y:5.72, Z:0.09 [[ 9.59844124e-01 -2.80497925e-01 -4.49126438e-03 4.15879517e+01] [ 2.80494530e-01 9.59854630e-01 -1.38148322e-03 5.71577658e+00] [ 4.69846408e-03 6.62334556e-05 9.99988960e-01 8.70480616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.981052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.61, Y:5.73, Z:0.09 [[ 9.59461566e-01 -2.81803716e-01 -4.49093264e-03 4.16137332e+01] [ 2.81800331e-01 9.59472075e-01 -1.38256080e-03 5.72517953e+00] [ 4.69853523e-03 6.09676484e-05 9.99988960e-01 8.74679715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.011052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.64, Y:5.74, Z:0.09 [[ 9.59349062e-01 -2.82186481e-01 -4.49079152e-03 4.16407675e+01] [ 2.82183098e-01 9.59359571e-01 -1.38301904e-03 5.73500754e+00] [ 4.69855310e-03 5.95725590e-05 9.99988960e-01 8.81897583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.041052754 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:41.67, Y:5.74, Z:0.09 [[ 9.58824280e-01 -2.83964497e-01 -4.49046071e-03 4.16699186e+01] [ 2.83961128e-01 9.58834794e-01 -1.38409230e-03 5.74469642e+00] [ 4.69864304e-03 5.19850127e-05 9.99988960e-01 8.94447907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.70, Y:5.75, Z:0.09 [[ 9.59356487e-01 -2.82161107e-01 -4.49889698e-03 4.16951491e+01] [ 2.82157847e-01 9.59367036e-01 -1.35671385e-03 5.75160297e+00] [ 4.69890534e-03 3.21731489e-05 9.99988960e-01 9.11565237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.101052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.72, Y:5.76, Z:0.09 [[ 9.59277990e-01 -2.82428007e-01 -4.48997003e-03 4.17211811e+01] [ 2.82424614e-01 9.59288495e-01 -1.38564037e-03 5.75926558e+00] [ 4.69852024e-03 6.11362504e-05 9.99988960e-01 9.12835559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.131052754 meters Centerline goodness : 0.999860 Centerline is valid? [True, True] Translation: X:41.75, Y:5.77, Z:0.09 [[ 9.59343435e-01 -2.82205627e-01 -4.48971504e-03 4.17480740e+01] [ 2.82202228e-01 9.59353939e-01 -1.38646609e-03 5.76827994e+00] [ 4.69849434e-03 6.30895490e-05 9.99988960e-01 9.01322426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.78, Y:5.78, Z:0.09 [[ 9.59841276e-01 -2.80507703e-01 -4.48934394e-03 4.17754293e+01] [ 2.80504280e-01 9.59851772e-01 -1.38766665e-03 5.77936687e+00] [ 4.69835592e-03 7.26595371e-05 9.99988960e-01 8.56205154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.191052754000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.80, Y:5.79, Z:0.08 [[ 9.60889180e-01 -2.76896790e-01 -4.48903184e-03 4.18027045e+01] [ 2.76893323e-01 9.60899662e-01 -1.38867556e-03 5.79065945e+00] [ 4.69802898e-03 9.13803806e-05 9.99988960e-01 8.18316885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.83, Y:5.80, Z:0.08 [[ 9.61409846e-01 -2.75083546e-01 -4.48885293e-03 4.18286849e+01] [ 2.75080056e-01 9.61420320e-01 -1.38925363e-03 5.79952384e+00] [ 4.69783524e-03 1.00848200e-04 9.99988960e-01 7.86546754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.251052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.86, Y:5.81, Z:0.08 [[ 9.62377001e-01 -2.71680618e-01 -4.48873451e-03 4.18562964e+01] [ 2.71677090e-01 9.62387462e-01 -1.38963614e-03 5.80867654e+00] [ 4.69743902e-03 1.17867533e-04 9.99988960e-01 7.64528327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.281052754 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:41.88, Y:5.82, Z:0.08 [[ 9.62607008e-01 -2.70864544e-01 -4.48863956e-03 4.18837858e+01] [ 2.70861005e-01 9.62617465e-01 -1.38994277e-03 5.81809741e+00] [ 4.69732905e-03 1.22171225e-04 9.99988960e-01 7.51507373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.311052754 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:41.91, Y:5.83, Z:0.07 [[ 9.62676076e-01 -2.70618971e-01 -4.48830753e-03 4.19112919e+01] [ 2.70615425e-01 9.62686531e-01 -1.39101411e-03 5.82741126e+00] [ 4.69726802e-03 1.24490757e-04 9.99988960e-01 7.47877746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.341052754 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:41.94, Y:5.84, Z:0.08 [[ 9.62391286e-01 -2.71630026e-01 -4.48797561e-03 4.19387760e+01] [ 2.71626485e-01 9.62401743e-01 -1.39208422e-03 5.83597871e+00] [ 4.69736742e-03 1.20676677e-04 9.99988960e-01 7.53382250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.371052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.97, Y:5.84, Z:0.08 [[ 9.61893181e-01 -2.73388680e-01 -4.48764386e-03 4.19670746e+01] [ 2.73385154e-01 9.61903642e-01 -1.39315285e-03 5.84317288e+00] [ 4.69755319e-03 1.13209018e-04 9.99988960e-01 7.68570826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.401052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.99, Y:5.85, Z:0.08 [[ 9.61616922e-01 -2.74358816e-01 -4.48731178e-03 4.19936774e+01] [ 2.74355296e-01 9.61627385e-01 -1.39422163e-03 5.85037988e+00] [ 4.69763889e-03 1.09589362e-04 9.99988960e-01 7.76126320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.431052754 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:42.02, Y:5.86, Z:0.08 [[ 9.60165031e-01 -2.79397526e-01 -4.48719432e-03 4.20197308e+01] [ 2.79394059e-01 9.60175513e-01 -1.39459958e-03 5.85819773e+00] [ 4.69814178e-03 8.53503216e-05 9.99988960e-01 7.98428163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.461052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.05, Y:5.86, Z:0.08 [[ 9.59787588e-01 -2.80691520e-01 -4.47854484e-03 4.20491181e+01] [ 2.80687937e-01 9.59798030e-01 -1.42238764e-03 5.86481124e+00] [ 4.69775066e-03 1.08116489e-04 9.99988960e-01 8.20903702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.08, Y:5.87, Z:0.09 [[ 9.58639002e-01 -2.84589411e-01 -4.48669469e-03 4.20769971e+01] [ 2.84585993e-01 9.58649500e-01 -1.39619800e-03 5.87159905e+00] [ 4.69851079e-03 6.15993929e-05 9.99988960e-01 8.54500447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.10, Y:5.88, Z:0.09 [[ 9.58261072e-01 -2.85859389e-01 -4.48636347e-03 4.21037522e+01] [ 2.85855980e-01 9.58271572e-01 -1.39726149e-03 5.87947139e+00] [ 4.69857490e-03 5.64874706e-05 9.99988960e-01 8.69935613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.551052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.13, Y:5.89, Z:0.09 [[ 9.58046302e-01 -2.86578361e-01 -4.48624626e-03 4.21295686e+01] [ 2.86574958e-01 9.58056804e-01 -1.39763773e-03 5.88720042e+00] [ 4.69861149e-03 5.33558258e-05 9.99988960e-01 8.66800998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.581052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.16, Y:5.90, Z:0.08 [[ 9.57921664e-01 -2.86994704e-01 -4.48608532e-03 4.21578963e+01] [ 2.86991303e-01 9.57932167e-01 -1.39815412e-03 5.89747378e+00] [ 4.69862826e-03 5.18546525e-05 9.99988960e-01 8.34483773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.611052754 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:42.18, Y:5.91, Z:0.07 [[ 9.58052943e-01 -2.86556116e-01 -4.48897406e-03 4.21789394e+01] [ 2.86552754e-01 9.58063458e-01 -1.38888939e-03 5.91010235e+00] [ 4.69871677e-03 4.43016919e-05 9.99988960e-01 7.39241778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.641052754 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:42.21, Y:5.92, Z:0.08 [[ 9.58925804e-01 -2.83621844e-01 -4.46669378e-03 4.22111140e+01] [ 2.83618117e-01 9.58936198e-01 -1.46014491e-03 5.91754449e+00] [ 4.69740334e-03 1.33335354e-04 9.99988958e-01 7.61110851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.671052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.24, Y:5.93, Z:0.07 [[ 9.59450068e-01 -2.81842950e-01 -4.48531391e-03 4.22372566e+01] [ 2.81839481e-01 9.59460549e-01 -1.40051165e-03 5.92771806e+00] [ 4.69820608e-03 7.95824552e-05 9.99988960e-01 7.43464710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.701052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:42.26, Y:5.94, Z:0.07 [[ 9.59718721e-01 -2.80926790e-01 -4.48493992e-03 4.22634164e+01] [ 2.80923306e-01 9.59729197e-01 -1.40170826e-03 5.93741088e+00] [ 4.69810519e-03 8.53215128e-05 9.99988960e-01 7.36414392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.731052754000004 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:42.29, Y:5.95, Z:0.07 [[ 9.59644620e-01 -2.81179819e-01 -4.48482406e-03 4.22907017e+01] [ 2.81176336e-01 9.59655096e-01 -1.40207886e-03 5.94602796e+00] [ 4.69812055e-03 8.44710394e-05 9.99988960e-01 7.37756945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.761052754 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:42.32, Y:5.96, Z:0.07 [[ 9.60319156e-01 -2.78867366e-01 -4.48445408e-03 4.23158609e+01] [ 2.78863852e-01 9.60329622e-01 -1.40326123e-03 5.95635503e+00] [ 4.69787785e-03 9.70265058e-05 9.99988960e-01 7.14771650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.791052754 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:42.34, Y:5.97, Z:0.07 [[ 9.60583852e-01 -2.77954230e-01 -4.48429370e-03 4.23397430e+01] [ 2.77950704e-01 9.60594314e-01 -1.40377356e-03 5.96605934e+00] [ 4.69777183e-03 1.02029625e-04 9.99988960e-01 6.90647290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.821052754 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:42.37, Y:5.97, Z:0.07 [[ 9.60137520e-01 -2.79492340e-01 -4.46924891e-03 4.23663840e+01] [ 2.79488607e-01 9.60147911e-01 -1.45174094e-03 5.97352928e+00] [ 4.69689048e-03 1.44766787e-04 9.99988959e-01 6.59582874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.851052754 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:42.39, Y:5.98, Z:0.07 [[ 9.59831559e-01 -2.80541267e-01 -4.46940053e-03 4.23939116e+01] [ 2.80537548e-01 9.59841955e-01 -1.45125765e-03 5.98121868e+00] [ 4.69705580e-03 1.39128230e-04 9.99988959e-01 6.58543893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.881052754 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:42.42, Y:5.99, Z:0.06 [[ 9.58442206e-01 -2.85251745e-01 -4.46992388e-03 4.24233609e+01] [ 2.85248085e-01 9.58452622e-01 -1.44958928e-03 5.99064449e+00] [ 4.69770814e-03 1.14310320e-04 9.99988959e-01 6.27921378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.911052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.45, Y:6.00, Z:0.07 [[ 9.58691244e-01 -2.84413451e-01 -4.48185103e-03 4.24520037e+01] [ 2.84409959e-01 9.58701717e-01 -1.41155905e-03 5.99688969e+00] [ 4.69822466e-03 7.85662276e-05 9.99988960e-01 6.99728110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.941052754000005 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:42.48, Y:6.00, Z:0.07 [[ 9.58265029e-01 -2.85846171e-01 -4.48332753e-03 4.24792877e+01] [ 2.85842716e-01 9.58275515e-01 -1.40685376e-03 6.00436550e+00] [ 4.69840676e-03 6.66122421e-05 9.99988960e-01 6.81870215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.971052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.51, Y:6.01, Z:0.07 [[ 9.58215463e-01 -2.86012307e-01 -4.48189919e-03 4.25060398e+01] [ 2.86008833e-01 9.58225942e-01 -1.41140206e-03 6.01242132e+00] [ 4.69835043e-03 7.05645200e-05 9.99988960e-01 7.23342308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.001052754 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:42.53, Y:6.02, Z:0.07 [[ 9.58389862e-01 -2.85427357e-01 -4.48277590e-03 4.25329286e+01] [ 2.85423890e-01 9.58400344e-01 -1.40861200e-03 6.01907088e+00] [ 4.69835036e-03 7.05081250e-05 9.99988960e-01 7.17083995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.031052754 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:42.56, Y:6.03, Z:0.07 [[ 9.58380080e-01 -2.85460257e-01 -4.47934166e-03 4.25598608e+01] [ 2.85456740e-01 9.58390544e-01 -1.41953337e-03 6.02715086e+00] [ 4.69817905e-03 8.17942351e-05 9.99988960e-01 7.12851347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.061052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.59, Y:6.04, Z:0.07 [[ 9.57996892e-01 -2.86743549e-01 -4.48237278e-03 4.25879039e+01] [ 2.86740091e-01 9.58007376e-01 -1.40989678e-03 6.03777227e+00] [ 4.69842499e-03 6.54007527e-05 9.99988960e-01 7.49217035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.091052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.61, Y:6.05, Z:0.07 [[ 9.57874109e-01 -2.87153414e-01 -4.48422770e-03 4.26142375e+01] [ 2.87149988e-01 9.57884603e-01 -1.40400878e-03 6.04647818e+00] [ 4.69853859e-03 5.72177253e-05 9.99988960e-01 7.38728059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.121052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.64, Y:6.06, Z:0.07 [[ 9.56840807e-01 -2.90578024e-01 -4.48130168e-03 4.26384209e+01] [ 2.90574591e-01 9.56851300e-01 -1.41328672e-03 6.05572703e+00] [ 4.69860940e-03 5.01380072e-05 9.99988960e-01 7.07324471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.151052754 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:42.67, Y:6.06, Z:0.07 [[ 9.57235279e-01 -2.89276022e-01 -4.47259459e-03 4.26686343e+01] [ 2.89272447e-01 9.57245724e-01 -1.44078538e-03 6.06236407e+00] [ 4.69815671e-03 8.53722088e-05 9.99988960e-01 7.04423532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.181052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.70, Y:6.07, Z:0.07 [[ 9.56324509e-01 -2.92272766e-01 -4.47931217e-03 4.26958614e+01] [ 2.92269323e-01 9.56334998e-01 -1.41957143e-03 6.06965627e+00] [ 4.69862506e-03 4.84054128e-05 9.99988960e-01 7.16801549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.211052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.72, Y:6.08, Z:0.07 [[ 9.56246336e-01 -2.92528426e-01 -4.47946424e-03 4.27226402e+01] [ 2.92524987e-01 9.56256826e-01 -1.41909142e-03 6.07809980e+00] [ 4.69864284e-03 4.66457521e-05 9.99988960e-01 7.14141139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.241052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.75, Y:6.09, Z:0.07 [[ 9.56283701e-01 -2.92406302e-01 -4.47632750e-03 4.27498355e+01] [ 2.92402816e-01 9.56294176e-01 -1.42898352e-03 6.08776981e+00] [ 4.69852971e-03 5.76228844e-05 9.99988960e-01 6.95676259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.271052754 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:42.78, Y:6.10, Z:0.07 [[ 9.56302292e-01 -2.92345456e-01 -4.47899005e-03 4.27756698e+01] [ 2.92342008e-01 9.56312779e-01 -1.42058873e-03 6.09742033e+00] [ 4.69861809e-03 4.91153110e-05 9.99988960e-01 6.86054112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.301052754000004 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:42.80, Y:6.11, Z:0.07 [[ 9.56503723e-01 -2.91685735e-01 -4.47881313e-03 4.28020017e+01] [ 2.91682278e-01 9.56514207e-01 -1.42114632e-03 6.10831151e+00] [ 4.69857650e-03 5.29413283e-05 9.99988960e-01 6.84004002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.331052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.83, Y:6.12, Z:0.07 [[ 9.56696816e-01 -2.91051794e-01 -4.47841153e-03 4.28281814e+01] [ 2.91048324e-01 9.56707296e-01 -1.42241075e-03 6.11728928e+00] [ 4.69852418e-03 5.73816656e-05 9.99988960e-01 6.88833787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.85, Y:6.12, Z:0.07 [[ 9.56618807e-01 -2.91308095e-01 -4.47800942e-03 4.28542071e+01] [ 2.91304622e-01 9.56629286e-01 -1.42367552e-03 6.12464784e+00] [ 4.69852316e-03 5.74499376e-05 9.99988960e-01 6.99406669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.391052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.88, Y:6.13, Z:0.07 [[ 9.56590605e-01 -2.91400704e-01 -4.47699850e-03 4.28824273e+01] [ 2.91397217e-01 9.56601080e-01 -1.42685258e-03 6.13209308e+00] [ 4.69848745e-03 6.03288715e-05 9.99988960e-01 7.08859467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.421052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.91, Y:6.14, Z:0.07 [[ 9.56288267e-01 -2.92391352e-01 -4.47750314e-03 4.29088599e+01] [ 2.92387883e-01 9.56298747e-01 -1.42526725e-03 6.14093013e+00] [ 4.69856646e-03 5.37986810e-05 9.99988960e-01 7.02366523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.451052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.94, Y:6.15, Z:0.07 [[ 9.56905135e-01 -2.90366175e-01 -4.47737824e-03 4.29372841e+01] [ 2.90362682e-01 9.56915608e-01 -1.42565952e-03 6.15034558e+00] [ 4.69843642e-03 6.41573602e-05 9.99988960e-01 7.03238376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.481052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.96, Y:6.16, Z:0.07 [[ 9.57148269e-01 -2.89563668e-01 -4.48041397e-03 4.29632453e+01] [ 2.89560211e-01 9.57158753e-01 -1.41612786e-03 6.15748953e+00] [ 4.69852662e-03 5.80947150e-05 9.99988960e-01 6.90796022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.511052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.99, Y:6.16, Z:0.07 [[ 9.58165930e-01 -2.86178277e-01 -4.47702504e-03 4.29923699e+01] [ 2.86174734e-01 9.58176386e-01 -1.42676194e-03 6.16467912e+00] [ 4.69808795e-03 8.58632330e-05 9.99988960e-01 7.12748160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.541052754 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:43.02, Y:6.17, Z:0.07 [[ 9.58198493e-01 -2.86069148e-01 -4.48229829e-03 4.30174824e+01] [ 2.86065681e-01 9.58208974e-01 -1.41021896e-03 6.17475912e+00] [ 4.69839858e-03 6.90379680e-05 9.99988960e-01 7.04986305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.571052754 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:43.04, Y:6.18, Z:0.07 [[ 9.58399390e-01 -2.85395498e-01 -4.47437460e-03 4.30429442e+01] [ 2.85391907e-01 9.58409829e-01 -1.43503968e-03 6.18455915e+00] [ 4.69783846e-03 9.83908580e-05 9.99988960e-01 7.14490308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.601052754 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:43.07, Y:6.20, Z:0.07 [[ 9.58508958e-01 -2.85027310e-01 -4.47318777e-03 4.30696106e+01] [ 2.85023698e-01 9.58519390e-01 -1.43875517e-03 6.19514671e+00] [ 4.69772173e-03 1.04095200e-04 9.99988960e-01 6.95291538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.631052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.10, Y:6.20, Z:0.07 [[ 9.58600058e-01 -2.84720764e-01 -4.47388682e-03 4.30969903e+01] [ 2.84717159e-01 9.58610492e-01 -1.43656736e-03 6.20380654e+00] [ 4.69773541e-03 1.03301205e-04 9.99988960e-01 6.71544201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.661052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.12, Y:6.21, Z:0.07 [[ 9.58392239e-01 -2.85419503e-01 -4.47477215e-03 4.31226024e+01] [ 2.85415918e-01 9.58402680e-01 -1.43379789e-03 6.21150397e+00] [ 4.69786750e-03 9.69695679e-05 9.99988960e-01 6.76973945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.691052754000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.15, Y:6.22, Z:0.07 [[ 9.58134713e-01 -2.86282826e-01 -4.47388502e-03 4.31505766e+01] [ 2.86279238e-01 9.58145153e-01 -1.43656995e-03 6.21828518e+00] [ 4.69789655e-03 9.56471418e-05 9.99988960e-01 6.66719719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.721052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:43.18, Y:6.23, Z:0.06 [[ 9.57812109e-01 -2.87360293e-01 -4.47508966e-03 4.31768850e+01] [ 2.87356734e-01 9.57822559e-01 -1.43280782e-03 6.22795355e+00] [ 4.69807390e-03 8.64135310e-05 9.99988960e-01 6.46481543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.751052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.20, Y:6.24, Z:0.06 [[ 9.57772449e-01 -2.87492457e-01 -4.47462848e-03 4.32034203e+01] [ 2.87488892e-01 9.57782898e-01 -1.43424668e-03 6.23699012e+00] [ 4.69805774e-03 8.72759656e-05 9.99988960e-01 6.10549229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.781052754 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:43.23, Y:6.25, Z:0.06 [[ 9.57776155e-01 -2.87480093e-01 -4.47578154e-03 4.32308795e+01] [ 2.87476546e-01 9.57786609e-01 -1.43065130e-03 6.24627014e+00] [ 4.69812739e-03 8.35614890e-05 9.99988960e-01 6.02319382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.811052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.26, Y:6.26, Z:0.06 [[ 9.58121178e-01 -2.86328077e-01 -4.47665847e-03 4.32572435e+01] [ 2.86324529e-01 9.58131632e-01 -1.42791834e-03 6.25579615e+00] [ 4.69808120e-03 8.63416732e-05 9.99988960e-01 5.80647310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.841052754 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:43.28, Y:6.26, Z:0.06 [[ 9.57840042e-01 -2.87267147e-01 -4.47663667e-03 4.32839168e+01] [ 2.87263610e-01 9.57850499e-01 -1.42798626e-03 6.26471088e+00] [ 4.69816221e-03 8.18076094e-05 9.99988960e-01 5.81623414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.871052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.31, Y:6.27, Z:0.06 [[ 9.58483107e-01 -2.85114216e-01 -4.47410613e-03 4.33130251e+01] [ 2.85110618e-01 9.58493544e-01 -1.43586068e-03 6.27093060e+00] [ 4.69778613e-03 1.00633042e-04 9.99988960e-01 5.88986079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.901052754 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:43.34, Y:6.28, Z:0.06 [[ 9.57895553e-01 -2.87081969e-01 -4.47805650e-03 4.33352512e+01] [ 2.87078450e-01 9.57906017e-01 -1.42357135e-03 6.28253228e+00] [ 4.69823893e-03 7.80791471e-05 9.99988960e-01 5.78776842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.931052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.36, Y:6.29, Z:0.06 [[ 9.58164347e-01 -2.86183709e-01 -4.46871233e-03 4.33622709e+01] [ 2.86180045e-01 9.58174761e-01 -1.45261408e-03 6.29222360e+00] [ 4.69752185e-03 1.12986720e-04 9.99988960e-01 5.75830559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.961052754 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:43.39, Y:6.30, Z:0.05 [[ 9.59228219e-01 -2.82597347e-01 -4.46812830e-03 4.33910997e+01] [ 2.82593635e-01 9.59238616e-01 -1.45442733e-03 6.30234024e+00] [ 4.69701851e-03 1.32463117e-04 9.99988960e-01 5.38529888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.991052754 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:43.42, Y:6.31, Z:0.05 [[ 9.59597418e-01 -2.81340998e-01 -4.47645590e-03 4.34194162e+01] [ 2.81337394e-01 9.59607852e-01 -1.42854649e-03 6.31075221e+00] [ 4.69755093e-03 1.11435083e-04 9.99988960e-01 4.92228140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.45, Y:6.32, Z:0.05 [[ 9.58871711e-01 -2.83804386e-01 -4.48475867e-03 4.34453022e+01] [ 2.83800928e-01 9.58882196e-01 -1.40280121e-03 6.32072263e+00] [ 4.69847638e-03 7.23277235e-05 9.99988959e-01 5.23304901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.051052754000004 meters Centerline goodness : 0.998205 Centerline is valid? [True, True] Translation: X:43.48, Y:6.33, Z:0.05 [[ 9.58472393e-01 -2.85150209e-01 -4.47544845e-03 4.34757450e+01] [ 2.85146631e-01 9.58482837e-01 -1.43162709e-03 6.32681661e+00] [ 4.69786929e-03 9.60159964e-05 9.99988960e-01 5.11926640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.081052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.50, Y:6.34, Z:0.06 [[ 9.57515525e-01 -2.88346845e-01 -4.48519311e-03 4.35016521e+01] [ 2.88343443e-01 9.57526028e-01 -1.40146781e-03 6.33710300e+00] [ 4.69879797e-03 4.86511640e-05 9.99988959e-01 5.51437704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.53, Y:6.35, Z:0.05 [[ 9.57033353e-01 -2.89943296e-01 -4.47722583e-03 4.35298161e+01] [ 2.89939797e-01 9.57043824e-01 -1.42602491e-03 6.34513495e+00] [ 4.69836769e-03 6.66274508e-05 9.99988960e-01 5.48867651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.141052754 meters Centerline goodness : 0.998446 Centerline is valid? [True, True] Translation: X:43.56, Y:6.35, Z:0.05 [[ 9.57270303e-01 -2.89160043e-01 -4.47627457e-03 4.35606946e+01] [ 2.89156522e-01 9.57280765e-01 -1.42895986e-03 6.35290880e+00] [ 4.69824965e-03 7.35568530e-05 9.99988960e-01 5.19105846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.171052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.59, Y:6.36, Z:0.06 [[ 9.56396988e-01 -2.92035319e-01 -4.49159559e-03 4.35851543e+01] [ 2.92032051e-01 9.56407535e-01 -1.38167155e-03 6.36405940e+00] [ 4.69929275e-03 9.73663588e-06 9.99988958e-01 5.62009236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.201052754 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:43.61, Y:6.37, Z:0.05 [[ 9.56331781e-01 -2.92248990e-01 -4.47793796e-03 4.36140329e+01] [ 2.92245527e-01 9.56342264e-01 -1.42373207e-03 6.37076847e+00] [ 4.69852559e-03 5.29028826e-05 9.99988960e-01 5.24440543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.231052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.64, Y:6.38, Z:0.06 [[ 9.55410371e-01 -2.95247117e-01 -4.49027919e-03 4.36382268e+01] [ 2.95243865e-01 9.55420923e-01 -1.38572980e-03 6.38076525e+00] [ 4.69923942e-03 -1.78676223e-06 9.99988959e-01 5.68569371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.261052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.67, Y:6.39, Z:0.06 [[ 9.55542076e-01 -2.94820793e-01 -4.47665205e-03 4.36675102e+01] [ 2.94817341e-01 9.55552562e-01 -1.42748440e-03 6.38893699e+00] [ 4.69852841e-03 4.42267569e-05 9.99988961e-01 5.56634949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.291052754 meters Centerline goodness : 0.998689 Centerline is valid? [True, True] Translation: X:43.70, Y:6.40, Z:0.05 [[ 9.55908372e-01 -2.93630856e-01 -4.48391691e-03 4.36958331e+01] [ 2.93627495e-01 9.55918888e-01 -1.40514247e-03 6.39819602e+00] [ 4.69885405e-03 2.65861570e-05 9.99988960e-01 5.27326349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.321052754 meters Centerline goodness : 0.998235 Centerline is valid? [True, True] Translation: X:43.72, Y:6.41, Z:0.05 [[ 9.55666180e-01 -2.94418035e-01 -4.49149907e-03 4.37239465e+01] [ 2.94414792e-01 9.55676735e-01 -1.38183533e-03 6.40718767e+00] [ 4.69925841e-03 -1.79047081e-06 9.99988958e-01 5.39319412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.351052754 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:43.75, Y:6.42, Z:0.05 [[ 9.55320203e-01 -2.95538703e-01 -4.49282692e-03 4.37503532e+01] [ 2.95535492e-01 9.55330767e-01 -1.37776288e-03 6.41614748e+00] [ 4.69931804e-03 -1.15851013e-05 9.99988958e-01 5.48635251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.381052754 meters Centerline goodness : 0.997377 Centerline is valid? [True, True] Translation: X:43.78, Y:6.42, Z:0.05 [[ 9.55320768e-01 -2.95536922e-01 -4.48966211e-03 4.37753085e+01] [ 2.95533665e-01 9.55331318e-01 -1.38746212e-03 6.42428578e+00] [ 4.69916111e-03 -1.37491812e-06 9.99988959e-01 5.44827096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.411052754 meters Centerline goodness : 0.998499 Centerline is valid? [True, True] Translation: X:43.80, Y:6.43, Z:0.05 [[ 9.55460475e-01 -2.95085025e-01 -4.48422796e-03 4.38030669e+01] [ 2.95081685e-01 9.55470998e-01 -1.40408379e-03 6.43457015e+00] [ 4.69887386e-03 1.83330250e-05 9.99988960e-01 5.48523834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.441052754000005 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:43.83, Y:6.45, Z:0.06 [[ 9.55317004e-01 -2.95549170e-01 -4.48437461e-03 4.38318880e+01] [ 2.95545838e-01 9.55327529e-01 -1.40363749e-03 6.44501023e+00] [ 4.69889042e-03 1.55805134e-05 9.99988960e-01 5.51546198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.471052754 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:43.86, Y:6.46, Z:0.05 [[ 9.55675053e-01 -2.94389252e-01 -4.49021655e-03 4.38566208e+01] [ 2.94385990e-01 9.55685601e-01 -1.38587717e-03 6.45524282e+00] [ 4.69922264e-03 2.59139850e-06 9.99988959e-01 5.34920576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.501052754 meters Centerline goodness : 0.998198 Centerline is valid? [True, True] Translation: X:43.88, Y:6.46, Z:0.05 [[ 9.55705147e-01 -2.94291621e-01 -4.48484876e-03 4.38835245e+01] [ 2.94288281e-01 9.55715670e-01 -1.40217781e-03 6.46495258e+00] [ 4.69888941e-03 2.02301149e-05 9.99988960e-01 5.18648995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.531052754 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:43.91, Y:6.48, Z:0.05 [[ 9.55331169e-01 -2.95503386e-01 -4.48393374e-03 4.39111473e+01] [ 2.95500046e-01 9.55341692e-01 -1.40495328e-03 6.47502709e+00] [ 4.69885730e-03 1.71930287e-05 9.99988960e-01 5.25299655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.561052754 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:43.94, Y:6.48, Z:0.06 [[ 9.55222013e-01 -2.95856012e-01 -4.48627443e-03 4.39367447e+01] [ 2.95852710e-01 9.55232548e-01 -1.39787417e-03 6.48088472e+00] [ 4.69900483e-03 8.00373119e-06 9.99988960e-01 5.53672212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.591052754 meters Centerline goodness : 0.998314 Centerline is valid? [True, True] Translation: X:43.96, Y:6.49, Z:0.06 [[ 9.54612659e-01 -2.97816404e-01 -4.47886814e-03 4.39646992e+01] [ 2.97813018e-01 9.54623166e-01 -1.42025170e-03 6.49012068e+00] [ 4.69860553e-03 2.19250187e-05 9.99988961e-01 5.59204862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.621052754000004 meters Centerline goodness : 0.998314 Centerline is valid? [True, True] Translation: X:43.99, Y:6.50, Z:0.06 [[ 9.54505468e-01 -2.98159761e-01 -4.47978706e-03 4.39916621e+01] [ 2.98156392e-01 9.54515980e-01 -1.41747772e-03 6.49939550e+00] [ 4.69866316e-03 1.73130877e-05 9.99988961e-01 5.60559192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.651052754 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:44.02, Y:6.51, Z:0.06 [[ 9.53830335e-01 -3.00312552e-01 -4.47924803e-03 4.40192566e+01] [ 3.00309199e-01 9.53840852e-01 -1.41910298e-03 6.50975780e+00] [ 4.69866420e-03 8.42408325e-06 9.99988961e-01 5.64541435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.681052754 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:44.05, Y:6.52, Z:0.05 [[ 9.53326598e-01 -3.01907795e-01 -4.48121516e-03 4.40462480e+01] [ 3.01904487e-01 9.53337130e-01 -1.41318290e-03 6.51716822e+00] [ 4.69875973e-03 -5.67412357e-06 9.99988961e-01 5.39335006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.711052754 meters Centerline goodness : 0.998456 Centerline is valid? [True, True] Translation: X:44.07, Y:6.53, Z:0.05 [[ 9.52912294e-01 -3.03212878e-01 -4.48453475e-03 4.40740575e+01] [ 3.03209632e-01 9.52922846e-01 -1.40320059e-03 6.52657657e+00] [ 4.69888411e-03 -2.26270438e-05 9.99988960e-01 5.42669533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.741052754 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:44.10, Y:6.53, Z:0.05 [[ 9.53199814e-01 -3.02307824e-01 -4.48258815e-03 4.40991869e+01] [ 3.02304540e-01 9.53210354e-01 -1.40903111e-03 6.53422811e+00] [ 4.69881057e-03 -1.20185553e-05 9.99988960e-01 5.47416859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.771052754 meters Centerline goodness : 0.998538 Centerline is valid? [True, True] Translation: X:44.13, Y:6.54, Z:0.05 [[ 9.53070515e-01 -3.02715382e-01 -4.47115302e-03 4.41250884e+01] [ 3.02711943e-01 9.53081002e-01 -1.44322334e-03 6.54395595e+00] [ 4.69825691e-03 2.20221994e-05 9.99988963e-01 5.31592929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.801052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.15, Y:6.56, Z:0.06 [[ 9.53014653e-01 -3.02891135e-01 -4.47569082e-03 4.41504501e+01] [ 3.02887761e-01 9.53025163e-01 -1.42964096e-03 6.55728562e+00] [ 4.69847155e-03 6.83681433e-06 9.99988962e-01 5.98897152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.831052754 meters Centerline goodness : 0.998397 Centerline is valid? [True, True] Translation: X:44.18, Y:6.57, Z:0.05 [[ 9.53979922e-01 -2.99837156e-01 -4.47084519e-03 4.41759999e+01] [ 2.99833681e-01 9.53990397e-01 -1.44410528e-03 6.56603555e+00] [ 4.69813980e-03 3.71374758e-05 9.99988963e-01 5.15876469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.861052754 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:44.20, Y:6.58, Z:0.05 [[ 9.54149483e-01 -2.99297238e-01 -4.46403279e-03 4.42026187e+01] [ 2.99293662e-01 9.54159923e-01 -1.46441674e-03 6.57799383e+00] [ 4.69769707e-03 6.12157559e-05 9.99988964e-01 5.02633814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.891052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.23, Y:6.59, Z:0.06 [[ 9.53788931e-01 -3.00444229e-01 -4.46550233e-03 4.42298893e+01] [ 3.00440685e-01 9.53799383e-01 -1.46004027e-03 6.58961038e+00] [ 4.69785404e-03 5.09516651e-05 9.99988964e-01 5.88222329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.921052754 meters Centerline goodness : 0.998316 Centerline is valid? [True, True] Translation: X:44.26, Y:6.60, Z:0.05 [[ 9.53542786e-01 -3.01224553e-01 -4.46353713e-03 4.42563612e+01] [ 3.01220991e-01 9.53553232e-01 -1.46588818e-03 6.59766899e+00] [ 4.69778176e-03 5.32760227e-05 9.99988964e-01 5.08802151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.951052754 meters Centerline goodness : 0.998080 Centerline is valid? [True, True] Translation: X:44.29, Y:6.61, Z:0.05 [[ 9.53449235e-01 -3.01520551e-01 -4.46236477e-03 4.42855039e+01] [ 3.01516976e-01 9.53459676e-01 -1.46936969e-03 6.60613585e+00] [ 4.69773003e-03 5.54906770e-05 9.99988964e-01 5.32562223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.981052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.31, Y:6.61, Z:0.06 [[ 9.52845236e-01 -3.03423800e-01 -4.46701228e-03 4.43117062e+01] [ 3.03420310e-01 9.52855706e-01 -1.45557750e-03 6.61471082e+00] [ 4.69807499e-03 3.15578398e-05 9.99988963e-01 6.37536677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.011052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.34, Y:6.62, Z:0.07 [[ 9.52242781e-01 -3.05309309e-01 -4.46223006e-03 4.43390279e+01] [ 3.05305774e-01 9.52253235e-01 -1.46970077e-03 6.62367468e+00] [ 4.69788634e-03 3.71673519e-05 9.99988964e-01 6.51646050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.041052754 meters Centerline goodness : 0.998176 Centerline is valid? [True, True] Translation: X:44.37, Y:6.63, Z:0.06 [[ 9.51766544e-01 -3.06790677e-01 -4.46385655e-03 4.43669055e+01] [ 3.06787181e-01 9.51777012e-01 -1.46488199e-03 6.63274223e+00] [ 4.69800818e-03 2.47717057e-05 9.99988964e-01 5.57853564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.071052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:44.39, Y:6.64, Z:0.07 [[ 9.50745237e-01 -3.09941157e-01 -4.46913082e-03 4.43894223e+01] [ 3.09937768e-01 9.50755741e-01 -1.44927940e-03 6.64390289e+00] [ 4.69824312e-03 -7.25694337e-06 9.99988963e-01 6.56143881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.101052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.42, Y:6.65, Z:0.07 [[ 9.51059144e-01 -3.08976868e-01 -4.44964241e-03 4.44216541e+01] [ 3.08973199e-01 9.51069551e-01 -1.50682844e-03 6.64986160e+00] [ 4.69749454e-03 5.82627168e-05 9.99988965e-01 6.51499278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.131052754 meters Centerline goodness : 0.997877 Centerline is valid? [True, True] Translation: X:44.45, Y:6.66, Z:0.06 [[ 9.51037958e-01 -3.09041793e-01 -4.46906826e-03 4.44482023e+01] [ 3.09038395e-01 9.51048459e-01 -1.44902538e-03 6.65716002e+00] [ 4.69810988e-03 -3.03554606e-06 9.99988964e-01 5.62625183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.48, Y:6.67, Z:0.07 [[ 9.50590433e-01 -3.10415616e-01 -4.46929074e-03 4.44766099e+01] [ 3.10412237e-01 9.50600939e-01 -1.44836375e-03 6.66750335e+00] [ 4.69810670e-03 -1.05218108e-05 9.99988964e-01 6.70635431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.191052754000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.50, Y:6.68, Z:0.07 [[ 9.50677224e-01 -3.10149722e-01 -4.46826940e-03 4.45041945e+01] [ 3.10146326e-01 9.50687725e-01 -1.45137626e-03 6.67671884e+00] [ 4.69807281e-03 -6.02698047e-06 9.99988964e-01 6.71298669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.53, Y:6.69, Z:0.07 [[ 9.50865228e-01 -3.09572838e-01 -4.46951640e-03 4.45293382e+01] [ 3.09569453e-01 9.50875732e-01 -1.44770073e-03 6.68680356e+00] [ 4.69812350e-03 -7.05746150e-06 9.99988964e-01 6.62334504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.251052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.56, Y:6.70, Z:0.07 [[ 9.50994884e-01 -3.09174324e-01 -4.46853802e-03 4.45553321e+01] [ 3.09170921e-01 9.51005382e-01 -1.45058113e-03 6.69666870e+00] [ 4.69808615e-03 -2.04678185e-06 9.99988964e-01 6.54416926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.281052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.58, Y:6.71, Z:0.07 [[ 9.50700876e-01 -3.10077261e-01 -4.46502683e-03 4.45824381e+01] [ 3.10073819e-01 9.50711361e-01 -1.46088965e-03 6.70743364e+00] [ 4.69794040e-03 4.38114708e-06 9.99988965e-01 6.66142958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.311052754 meters Centerline goodness : 0.997996 Centerline is valid? [True, True] Translation: X:44.61, Y:6.72, Z:0.06 [[ 9.50744752e-01 -3.09942690e-01 -4.46596811e-03 4.46086767e+01] [ 3.09939260e-01 9.50755241e-01 -1.45811007e-03 6.71514232e+00] [ 4.69797314e-03 2.11164631e-06 9.99988964e-01 5.67048738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.341052754 meters Centerline goodness : 0.997949 Centerline is valid? [True, True] Translation: X:44.64, Y:6.72, Z:0.06 [[ 9.50620038e-01 -3.10324960e-01 -4.46796427e-03 4.46363164e+01] [ 3.10321562e-01 9.50630538e-01 -1.45222205e-03 6.72394805e+00] [ 4.69804402e-03 -5.99427091e-06 9.99988964e-01 5.84560387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.371052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.66, Y:6.73, Z:0.07 [[ 9.50743230e-01 -3.09947309e-01 -4.46957032e-03 4.46592295e+01] [ 3.09943929e-01 9.50753736e-01 -1.44749019e-03 6.73459781e+00] [ 4.69810637e-03 -9.12468873e-06 9.99988964e-01 7.03264172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.401052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.69, Y:6.74, Z:0.07 [[ 9.51208467e-01 -3.08516892e-01 -4.44741747e-03 4.46918146e+01] [ 3.08513191e-01 9.51218862e-01 -1.51262405e-03 6.74186952e+00] [ 4.69713745e-03 6.67338520e-05 9.99988966e-01 6.99116573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.431052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.71, Y:6.75, Z:0.07 [[ 9.50971473e-01 -3.09246382e-01 -4.46455527e-03 4.47146865e+01] [ 3.09242925e-01 9.50981953e-01 -1.46223564e-03 6.75373257e+00] [ 4.69790257e-03 9.91225243e-06 9.99988965e-01 7.31856578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.461052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.74, Y:6.76, Z:0.07 [[ 9.50924680e-01 -3.09390500e-01 -4.44648169e-03 4.47413407e+01] [ 3.09386796e-01 9.50935074e-01 -1.51527160e-03 6.76243695e+00] [ 4.69712603e-03 6.52264331e-05 9.99988966e-01 7.31245004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.77, Y:6.77, Z:0.07 [[ 9.50732158e-01 -3.09981604e-01 -4.44635299e-03 4.47681480e+01] [ 3.09977904e-01 9.50742553e-01 -1.51564917e-03 6.77171475e+00] [ 4.69716035e-03 6.27052282e-05 9.99988966e-01 7.37699927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.521052754 meters Centerline goodness : 0.998526 Centerline is valid? [True, True] Translation: X:44.80, Y:6.78, Z:0.07 [[ 9.49827044e-01 -3.12744017e-01 -4.44594156e-03 4.47988866e+01] [ 3.12740343e-01 9.49837448e-01 -1.51685507e-03 6.77960188e+00] [ 4.69730913e-03 5.03246797e-05 9.99988966e-01 6.63384027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.551052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.82, Y:6.79, Z:0.08 [[ 9.49137341e-01 -3.14830689e-01 -4.46594884e-03 4.48214564e+01] [ 3.14827313e-01 9.49147848e-01 -1.45811464e-03 6.78699367e+00] [ 4.69790496e-03 -2.20516211e-05 9.99988965e-01 7.60484599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.581052754 meters Centerline goodness : 0.997893 Centerline is valid? [True, True] Translation: X:44.85, Y:6.80, Z:0.07 [[ 9.48148210e-01 -3.17797430e-01 -4.44581836e-03 4.48532739e+01] [ 3.17793810e-01 9.48158633e-01 -1.51710622e-03 6.79651543e+00] [ 4.69747351e-03 2.55879975e-05 9.99988966e-01 7.02447515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.88, Y:6.81, Z:0.08 [[ 9.47942051e-01 -3.18411580e-01 -4.46467039e-03 4.48761308e+01] [ 3.18408226e-01 9.47952565e-01 -1.46182802e-03 6.80720911e+00] [ 4.69775871e-03 -3.58595278e-05 9.99988965e-01 7.70177137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.641052754 meters Centerline goodness : 0.997995 Centerline is valid? [True, True] Translation: X:44.91, Y:6.82, Z:0.07 [[ 9.46727930e-01 -3.22003830e-01 -4.44525255e-03 4.49074564e+01] [ 3.22000249e-01 9.46738366e-01 -1.51866557e-03 6.81776270e+00] [ 4.69750727e-03 6.39068266e-06 9.99988967e-01 6.79450882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.671052754 meters Centerline goodness : 0.997454 Centerline is valid? [True, True] Translation: X:44.93, Y:6.83, Z:0.07 [[ 9.46191451e-01 -3.23576601e-01 -4.46332188e-03 4.49340330e+01] [ 3.23573286e-01 9.46201976e-01 -1.46574426e-03 6.82734829e+00] [ 4.69748453e-03 -5.73370403e-05 9.99988965e-01 6.69254869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.701052754 meters Centerline goodness : 0.998180 Centerline is valid? [True, True] Translation: X:44.96, Y:6.84, Z:0.07 [[ 9.45372545e-01 -3.25961447e-01 -4.45935822e-03 4.49616879e+01] [ 3.25958104e-01 9.45383061e-01 -1.47734027e-03 6.83744731e+00] [ 4.69735770e-03 -5.69270211e-05 9.99988966e-01 6.57263039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.731052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.99, Y:6.85, Z:0.07 [[ 9.45523313e-01 -3.25523896e-01 -4.45628451e-03 4.49862011e+01] [ 3.25520506e-01 9.45533813e-01 -1.48631842e-03 6.84705857e+00] [ 4.69739984e-03 -4.52632692e-05 9.99988966e-01 7.40022249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.761052754 meters Centerline goodness : 0.997669 Centerline is valid? [True, True] Translation: X:45.01, Y:6.86, Z:0.07 [[ 9.44889675e-01 -3.27358759e-01 -4.44355093e-03 4.50132981e+01] [ 3.27355214e-01 9.44900123e-01 -1.52345911e-03 6.85710616e+00] [ 4.69742950e-03 -1.51187794e-05 9.99988967e-01 7.01199491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.791052754 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:45.04, Y:6.87, Z:0.07 [[ 9.44622692e-01 -3.28128343e-01 -4.44535086e-03 4.50413837e+01] [ 3.28124832e-01 9.44633151e-01 -1.51821217e-03 6.86709241e+00] [ 4.69739423e-03 -2.44923327e-05 9.99988967e-01 7.28623410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.821052754 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:45.07, Y:6.88, Z:0.08 [[ 9.44741719e-01 -3.27785328e-01 -4.45676942e-03 4.50651327e+01] [ 3.27781970e-01 9.44752230e-01 -1.48491689e-03 6.87761138e+00] [ 4.69727682e-03 -5.79857227e-05 9.99988966e-01 7.58892290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.851052754 meters Centerline goodness : 0.998652 Centerline is valid? [True, True] Translation: X:45.09, Y:6.89, Z:0.08 [[ 9.45159903e-01 -3.26577714e-01 -4.44460458e-03 4.50928642e+01] [ 3.26574176e-01 9.45170353e-01 -1.52032133e-03 6.88632618e+00] [ 4.69741155e-03 -1.45463139e-05 9.99988967e-01 8.06894613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.881052754 meters Centerline goodness : 0.998582 Centerline is valid? [True, True] Translation: X:45.12, Y:6.90, Z:0.08 [[ 9.45520976e-01 -3.25530799e-01 -4.44769865e-03 4.51184743e+01] [ 3.25527292e-01 9.45531437e-01 -1.51131739e-03 6.89517760e+00] [ 4.69741925e-03 -1.88650057e-05 9.99988967e-01 8.11440971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.911052754 meters Centerline goodness : 0.997910 Centerline is valid? [True, True] Translation: X:45.15, Y:6.91, Z:0.08 [[ 9.45868882e-01 -3.24518554e-01 -4.44587979e-03 4.51457676e+01] [ 3.24515010e-01 9.45879331e-01 -1.51660715e-03 6.90506941e+00] [ 4.69743296e-03 -8.24321598e-06 9.99988967e-01 8.25020373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.941052754000005 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:45.17, Y:6.92, Z:0.09 [[ 9.47011898e-01 -3.21167717e-01 -4.44548845e-03 4.51729285e+01] [ 3.21164131e-01 9.47022332e-01 -1.51774427e-03 6.91596280e+00] [ 4.69742730e-03 9.59044850e-06 9.99988967e-01 8.50734475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.971052754 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:45.20, Y:6.93, Z:0.09 [[ 9.48457033e-01 -3.16874584e-01 -4.44454932e-03 4.51993447e+01] [ 3.16870938e-01 9.48467446e-01 -1.52046929e-03 6.92544653e+00] [ 4.69730842e-03 3.37512799e-05 9.99988967e-01 8.66265050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.001052754 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:45.22, Y:6.93, Z:0.09 [[ 9.49042790e-01 -3.15115911e-01 -4.44350882e-03 4.52246060e+01] [ 3.15112232e-01 9.49053191e-01 -1.52348551e-03 6.93456055e+00] [ 4.69720075e-03 4.56489549e-05 9.99988967e-01 8.78785804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.031052754 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:45.25, Y:6.94, Z:0.09 [[ 9.50388926e-01 -3.11032441e-01 -4.43951407e-03 4.52525637e+01] [ 3.11028663e-01 9.50399292e-01 -1.53505290e-03 6.94226569e+00] [ 4.69676228e-03 7.80811540e-05 9.99988967e-01 8.91660147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.061052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.28, Y:6.95, Z:0.09 [[ 9.50577491e-01 -3.10455623e-01 -4.44284832e-03 4.52776197e+01] [ 3.10451884e-01 9.50587871e-01 -1.52539980e-03 6.95134449e+00] [ 4.69688667e-03 7.07200885e-05 9.99988967e-01 8.79627065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.091052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.30, Y:6.96, Z:0.08 [[ 9.51602068e-01 -3.07300818e-01 -4.43975573e-03 4.53042573e+01] [ 3.07297002e-01 9.51612420e-01 -1.53434808e-03 6.95831897e+00] [ 4.69643311e-03 9.57651769e-05 9.99988967e-01 8.47885549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.121052754000004 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:45.33, Y:6.97, Z:0.08 [[ 9.51292271e-01 -3.08258515e-01 -4.43875816e-03 4.53318043e+01] [ 3.08254696e-01 9.51302622e-01 -1.53723298e-03 6.96723799e+00] [ 4.69646743e-03 9.40898065e-05 9.99988967e-01 8.01661689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.151052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.36, Y:6.98, Z:0.08 [[ 9.51460793e-01 -3.07737980e-01 -4.43795363e-03 4.53598395e+01] [ 3.07734145e-01 9.51471138e-01 -1.53955796e-03 6.97510524e+00] [ 4.69636524e-03 9.91191737e-05 9.99988967e-01 8.37840921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.181052754 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:45.39, Y:6.98, Z:0.08 [[ 9.50610563e-01 -3.10354400e-01 -4.43891701e-03 4.53884047e+01] [ 3.10350606e-01 9.50620923e-01 -1.53677526e-03 6.98352382e+00] [ 4.69667235e-03 8.32542086e-05 9.99988967e-01 7.78282990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.211052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.41, Y:6.99, Z:0.08 [[ 9.50006024e-01 -3.12200015e-01 -4.43896410e-03 4.54141724e+01] [ 3.12196242e-01 9.50016392e-01 -1.53663931e-03 6.99331579e+00] [ 4.69682747e-03 7.39886923e-05 9.99988967e-01 7.97219587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.241052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.44, Y:7.00, Z:0.08 [[ 9.49937356e-01 -3.12408903e-01 -4.43826788e-03 4.54412761e+01] [ 3.12405123e-01 9.49947721e-01 -1.53864757e-03 7.00283894e+00] [ 4.69680966e-03 7.50811842e-05 9.99988967e-01 8.05408590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.271052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.47, Y:7.01, Z:0.08 [[ 9.50067778e-01 -3.12012055e-01 -4.43790281e-03 4.54672833e+01] [ 3.12008266e-01 9.50078140e-01 -1.53969980e-03 7.01223231e+00] [ 4.69675935e-03 7.81568111e-05 9.99988967e-01 7.95879508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.301052754000004 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:45.50, Y:7.02, Z:0.08 [[ 9.50221283e-01 -3.11544249e-01 -4.43777469e-03 4.54950107e+01] [ 3.11540453e-01 9.50231642e-01 -1.54006899e-03 7.02147851e+00] [ 4.69671357e-03 8.08599923e-05 9.99988967e-01 8.19512158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.331052754 meters Centerline goodness : 0.999860 Centerline is valid? [True, True] Translation: X:45.52, Y:7.03, Z:0.08 [[ 9.50309131e-01 -3.11276187e-01 -4.43740635e-03 4.55212892e+01] [ 3.11272384e-01 9.50319487e-01 -1.54112957e-03 7.03052873e+00] [ 4.69667067e-03 8.33074466e-05 9.99988967e-01 7.99007525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.55, Y:7.04, Z:0.08 [[ 9.50965027e-01 -3.09266598e-01 -4.43727568e-03 4.55483257e+01] [ 3.09262770e-01 9.50975374e-01 -1.54150570e-03 7.04187725e+00] [ 4.69647613e-03 9.36338382e-05 9.99988967e-01 8.31402785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.391052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.57, Y:7.05, Z:0.08 [[ 9.51198284e-01 -3.08548436e-01 -4.43691089e-03 4.55746845e+01] [ 3.08544596e-01 9.51208627e-01 -1.54255498e-03 7.05261744e+00] [ 4.69638084e-03 9.82907736e-05 9.99988967e-01 8.28037292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.421052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.60, Y:7.06, Z:0.08 [[ 9.51528123e-01 -3.07529752e-01 -4.43649182e-03 4.56014226e+01] [ 3.07525895e-01 9.51538460e-01 -1.54375930e-03 7.06499611e+00] [ 4.69624451e-03 1.04594276e-04 9.99988967e-01 8.10565302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.451052754 meters Centerline goodness : 0.999837 Centerline is valid? [True, True] Translation: X:45.63, Y:7.08, Z:0.07 [[ 9.51093464e-01 -3.08871404e-01 -4.43611771e-03 4.56296185e+01] [ 3.08867557e-01 9.51103804e-01 -1.54483358e-03 7.07644298e+00] [ 4.69636335e-03 9.91082808e-05 9.99988967e-01 7.48236487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.481052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.65, Y:7.09, Z:0.08 [[ 9.51395888e-01 -3.07938538e-01 -4.44082633e-03 4.56546923e+01] [ 3.07934743e-01 9.51406248e-01 -1.53131613e-03 7.08506314e+00] [ 4.69658117e-03 8.94031515e-05 9.99988967e-01 7.92991490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.511052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.68, Y:7.09, Z:0.08 [[ 9.51312909e-01 -3.08194866e-01 -4.43554749e-03 4.56816807e+01] [ 3.08191003e-01 9.51323244e-01 -1.54645690e-03 7.09456176e+00] [ 4.69624950e-03 1.04168575e-04 9.99988967e-01 7.94254744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.541052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.71, Y:7.10, Z:0.08 [[ 9.51252415e-01 -3.08381539e-01 -4.43513061e-03 4.57100731e+01] [ 3.08377673e-01 9.51262748e-01 -1.54765156e-03 7.10220543e+00] [ 4.69624170e-03 1.04512021e-04 9.99988967e-01 8.39294610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.571052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.74, Y:7.11, Z:0.08 [[ 9.51302170e-01 -3.08228024e-01 -4.43475803e-03 4.57363387e+01] [ 3.08224152e-01 9.51312501e-01 -1.54871846e-03 7.11039120e+00] [ 4.69619918e-03 1.06399696e-04 9.99988967e-01 8.49057587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.601052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.76, Y:7.12, Z:0.09 [[ 9.51417578e-01 -3.07871609e-01 -4.43455843e-03 4.57628242e+01] [ 3.07867729e-01 9.51427906e-01 -1.54928976e-03 7.11923089e+00] [ 4.69614498e-03 1.08764071e-04 9.99988967e-01 8.55720969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.631052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.79, Y:7.13, Z:0.08 [[ 9.51643916e-01 -3.07171281e-01 -4.43413292e-03 4.57893245e+01] [ 3.07167389e-01 9.51654239e-01 -1.55050663e-03 7.12884050e+00] [ 4.69603250e-03 1.13509172e-04 9.99988967e-01 8.39250913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.661052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.82, Y:7.14, Z:0.09 [[ 9.51612088e-01 -3.07269870e-01 -4.43400031e-03 4.58158874e+01] [ 3.07265977e-01 9.51622411e-01 -1.55088577e-03 7.13859018e+00] [ 4.69603454e-03 1.13424212e-04 9.99988967e-01 8.71361906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.691052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.84, Y:7.15, Z:0.09 [[ 9.51233858e-01 -3.08438796e-01 -4.43356133e-03 4.58419242e+01] [ 3.08434910e-01 9.51244184e-01 -1.55213968e-03 7.14813495e+00] [ 4.69613952e-03 1.08982731e-04 9.99988967e-01 8.61465365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.721052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.87, Y:7.16, Z:0.09 [[ 9.50484608e-01 -3.10740010e-01 -4.43342705e-03 4.58697942e+01] [ 3.10736147e-01 9.50494943e-01 -1.55252313e-03 7.15684666e+00] [ 4.69638105e-03 9.80232984e-05 9.99988967e-01 8.84116793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.751052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.90, Y:7.16, Z:0.09 [[ 9.49993267e-01 -3.12238917e-01 -4.43305411e-03 4.58952758e+01] [ 3.12235066e-01 9.50003605e-01 -1.55358729e-03 7.16485045e+00] [ 4.69650780e-03 9.17425218e-05 9.99988967e-01 8.78908234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.781052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.92, Y:7.17, Z:0.09 [[ 9.49140388e-01 -3.14821973e-01 -4.43263284e-03 4.59234510e+01] [ 3.14818144e-01 9.49150736e-01 -1.55478831e-03 7.17183538e+00] [ 4.69671825e-03 8.02391312e-05 9.99988967e-01 8.85818581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.811052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.95, Y:7.18, Z:0.09 [[ 9.48676707e-01 -3.16216479e-01 -4.43225862e-03 4.59504150e+01] [ 3.16212660e-01 9.48687057e-01 -1.55585437e-03 7.18026862e+00] [ 4.69681318e-03 7.44665144e-05 9.99988967e-01 9.13520003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.841052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.98, Y:7.19, Z:0.09 [[ 9.47974481e-01 -3.18315477e-01 -4.43181851e-03 4.59761535e+01] [ 3.18311675e-01 9.47984838e-01 -1.55710703e-03 7.19117523e+00] [ 4.69694802e-03 6.53981550e-05 9.99988967e-01 9.16012567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.871052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.00, Y:7.20, Z:0.09 [[ 9.47654314e-01 -3.19267383e-01 -4.43168333e-03 4.60015493e+01] [ 3.19263590e-01 9.47664674e-01 -1.55749166e-03 7.20137236e+00] [ 4.69700602e-03 6.10885569e-05 9.99988967e-01 9.20876180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.901052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:46.03, Y:7.21, Z:0.10 [[ 9.46868587e-01 -3.21590176e-01 -4.43152277e-03 4.60290795e+01] [ 3.21586406e-01 9.46878955e-01 -1.55794837e-03 7.21146347e+00] [ 4.69713654e-03 5.00548845e-05 9.99988967e-01 9.64974237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.931052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.06, Y:7.22, Z:0.10 [[ 9.46329447e-01 -3.23173240e-01 -4.43115193e-03 4.60556416e+01] [ 3.23169483e-01 9.46339820e-01 -1.55900240e-03 7.22094981e+00] [ 4.69720338e-03 4.33168044e-05 9.99988967e-01 9.77025715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.961052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.08, Y:7.23, Z:0.10 [[ 9.45147121e-01 -3.26614890e-01 -4.43102053e-03 4.60831324e+01] [ 3.26611168e-01 9.45157507e-01 -1.55937577e-03 7.23043760e+00] [ 4.69732767e-03 2.66187291e-05 9.99988967e-01 9.91104877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.991052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.11, Y:7.24, Z:0.10 [[ 9.44517691e-01 -3.28430665e-01 -4.43064992e-03 4.61094830e+01] [ 3.28426958e-01 9.44528082e-01 -1.56042810e-03 7.23973867e+00] [ 4.69736571e-03 1.87070702e-05 9.99988967e-01 9.87837548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.14, Y:7.25, Z:0.10 [[ 9.42940259e-01 -3.32932486e-01 -4.43022754e-03 4.61366524e+01] [ 3.32928823e-01 9.42950667e-01 -1.56162635e-03 7.25035315e+00] [ 4.69740215e-03 -2.43009198e-06 9.99988967e-01 9.52268769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.051052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.16, Y:7.26, Z:0.09 [[ 9.41879717e-01 -3.35921084e-01 -4.42986130e-03 4.61631046e+01] [ 3.35917450e-01 9.41890134e-01 -1.56266458e-03 7.25978528e+00] [ 4.69737463e-03 -1.62256345e-05 9.99988967e-01 9.34634338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.081052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.19, Y:7.27, Z:0.09 [[ 9.39526723e-01 -3.42446952e-01 -4.42966606e-03 4.61909289e+01] [ 3.42443387e-01 9.39537164e-01 -1.56321783e-03 7.26878358e+00] [ 4.69715507e-03 -4.82249254e-05 9.99988967e-01 9.19927759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.22, Y:7.28, Z:0.09 [[ 9.38498492e-01 -3.45254922e-01 -4.42930687e-03 4.62169603e+01] [ 3.45251384e-01 9.38508942e-01 -1.56423490e-03 7.27880030e+00] [ 4.69700391e-03 -6.11922281e-05 9.99988967e-01 9.16263928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.141052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.24, Y:7.29, Z:0.09 [[ 9.37827595e-01 -3.47073173e-01 -4.42889927e-03 4.62426017e+01] [ 3.47069650e-01 9.37838050e-01 -1.56538811e-03 7.28972179e+00] [ 4.69689447e-03 -6.90723530e-05 9.99988967e-01 9.20201319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.171052754 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:46.27, Y:7.30, Z:0.09 [[ 9.38094811e-01 -3.46350273e-01 -4.42871026e-03 4.62672567e+01] [ 3.46346740e-01 9.38105263e-01 -1.56592267e-03 7.29849958e+00] [ 4.69695415e-03 -6.48854229e-05 9.99988967e-01 8.94346758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.201052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.30, Y:7.31, Z:0.09 [[ 9.38232746e-01 -3.45976601e-01 -4.41664587e-03 4.62957457e+01] [ 3.45972902e-01 9.38243141e-01 -1.60001241e-03 7.31214898e+00] [ 4.69745455e-03 -2.68557475e-05 9.99988967e-01 9.36680633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.231052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.32, Y:7.32, Z:0.09 [[ 9.38431790e-01 -3.45436193e-01 -4.42847589e-03 4.63216287e+01] [ 3.45432646e-01 9.38442237e-01 -1.56657061e-03 7.32436246e+00] [ 4.69701901e-03 -5.96204853e-05 9.99988967e-01 9.37505119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.261052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.35, Y:7.34, Z:0.09 [[ 9.38735756e-01 -3.44609305e-01 -4.42805131e-03 4.63476980e+01] [ 3.44605743e-01 9.38746198e-01 -1.56776981e-03 7.33552173e+00] [ 4.69708439e-03 -5.42103315e-05 9.99988967e-01 9.13416279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.291052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.37, Y:7.34, Z:0.09 [[ 9.38859521e-01 -3.44271981e-01 -4.42762923e-03 4.63739765e+01] [ 3.44268409e-01 9.38869959e-01 -1.56896092e-03 7.34477725e+00] [ 4.69711736e-03 -5.12589745e-05 9.99988967e-01 9.19056157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.40, Y:7.35, Z:0.09 [[ 9.39276611e-01 -3.43132401e-01 -4.42749829e-03 4.64008776e+01] [ 3.43128816e-01 9.39287045e-01 -1.56933033e-03 7.35449400e+00] [ 4.69717987e-03 -4.51669665e-05 9.99988967e-01 9.44507377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.351052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.43, Y:7.36, Z:0.10 [[ 9.39729642e-01 -3.41889749e-01 -4.42713619e-03 4.64273646e+01] [ 3.41886145e-01 9.39740069e-01 -1.57035117e-03 7.36382534e+00] [ 4.69724424e-03 -3.78709776e-05 9.99988967e-01 9.71292131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.45, Y:7.37, Z:0.10 [[ 9.40025065e-01 -3.41076648e-01 -4.42694421e-03 4.64540305e+01] [ 3.41073032e-01 9.40035488e-01 -1.57089217e-03 7.37281412e+00] [ 4.69727930e-03 -3.32332649e-05 9.99988967e-01 9.76221345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.48, Y:7.38, Z:0.10 [[ 9.40380794e-01 -3.40094642e-01 -4.42681695e-03 4.64807165e+01] [ 3.40091013e-01 9.40391213e-01 -1.57125074e-03 7.38166107e+00] [ 4.69731371e-03 -2.79466447e-05 9.99988967e-01 9.83836989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.441052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.51, Y:7.39, Z:0.10 [[ 9.41658368e-01 -3.36541120e-01 -4.42640784e-03 4.65073332e+01] [ 3.36537447e-01 9.41668771e-01 -1.57240239e-03 7.38970908e+00] [ 4.69738809e-03 -8.98612754e-06 9.99988967e-01 9.86156491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.471052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.53, Y:7.40, Z:0.10 [[ 9.42438702e-01 -3.34349672e-01 -4.42598844e-03 4.65337335e+01] [ 3.34345969e-01 9.42449095e-01 -1.57358204e-03 7.39876847e+00] [ 4.69739544e-03 3.19322655e-06 9.99988967e-01 9.74582103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.501052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.56, Y:7.41, Z:0.09 [[ 9.44019114e-01 -3.29861072e-01 -4.42556667e-03 4.65615224e+01] [ 3.29857314e-01 9.44029487e-01 -1.57476734e-03 7.40761605e+00] [ 4.69731987e-03 2.68049381e-05 9.99988967e-01 9.42609223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.531052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.59, Y:7.42, Z:0.09 [[ 9.44713921e-01 -3.27865864e-01 -4.42519758e-03 4.65879504e+01] [ 3.27862079e-01 9.44724285e-01 -1.57580382e-03 7.41606102e+00] [ 4.69724390e-03 3.78293266e-05 9.99988967e-01 9.31593988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.561052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.62, Y:7.42, Z:0.09 [[ 9.46033851e-01 -3.24037611e-01 -4.42477790e-03 4.66159694e+01] [ 3.24033779e-01 9.46044197e-01 -1.57698138e-03 7.42258401e+00] [ 4.69703673e-03 5.81002642e-05 9.99988967e-01 9.43933330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.591052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.64, Y:7.43, Z:0.09 [[ 9.46236483e-01 -3.23445425e-01 -4.42434099e-03 4.66423550e+01] [ 3.23441580e-01 9.46246825e-01 -1.57820622e-03 7.43107851e+00] [ 4.69698219e-03 6.23404588e-05 9.99988967e-01 8.83481616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.621052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.67, Y:7.44, Z:0.09 [[ 9.46446515e-01 -3.22830328e-01 -4.42420613e-03 4.66684366e+01] [ 3.22826475e-01 9.46456853e-01 -1.57858418e-03 7.44105345e+00] [ 4.69693506e-03 6.57946219e-05 9.99988967e-01 8.56254458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.651052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.70, Y:7.45, Z:0.09 [[ 9.46659774e-01 -3.22204439e-01 -4.42402673e-03 4.66960605e+01] [ 3.22200577e-01 9.46670109e-01 -1.57908680e-03 7.45092250e+00] [ 4.69688264e-03 6.94339896e-05 9.99988967e-01 8.62497033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.681052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.72, Y:7.46, Z:0.09 [[ 9.46710921e-01 -3.22054131e-01 -4.42368068e-03 4.67222078e+01] [ 3.22050263e-01 9.46721253e-01 -1.58005563e-03 7.45958614e+00] [ 4.69685596e-03 7.12083911e-05 9.99988967e-01 8.53960198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.711052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.75, Y:7.47, Z:0.09 [[ 9.46711812e-01 -3.22051514e-01 -4.42354842e-03 4.67489249e+01] [ 3.22047644e-01 9.46722144e-01 -1.58042580e-03 7.46933852e+00] [ 4.69684977e-03 7.16144270e-05 9.99988967e-01 8.53075399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.741052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.78, Y:7.48, Z:0.08 [[ 9.46677261e-01 -3.22153069e-01 -4.42312664e-03 4.67759741e+01] [ 3.22149194e-01 9.46687591e-01 -1.58160537e-03 7.48002660e+00] [ 4.69683813e-03 7.23631561e-05 9.99988967e-01 8.41662602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.771052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.80, Y:7.49, Z:0.08 [[ 9.46624013e-01 -3.22309504e-01 -4.42278314e-03 4.68009319e+01] [ 3.22305627e-01 9.46634343e-01 -1.58256535e-03 7.48991754e+00] [ 4.69683426e-03 7.26064743e-05 9.99988967e-01 7.86159470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.801052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.83, Y:7.50, Z:0.08 [[ 9.46456113e-01 -3.22802211e-01 -4.42259828e-03 4.68268469e+01] [ 3.22798337e-01 9.46466443e-01 -1.58308178e-03 7.49967928e+00] [ 4.69686316e-03 7.07100541e-05 9.99988967e-01 8.42613797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.831052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.85, Y:7.51, Z:0.08 [[ 9.46494607e-01 -3.22689328e-01 -4.42217253e-03 4.68530674e+01] [ 3.22685447e-01 9.46504935e-01 -1.58427017e-03 7.51034305e+00] [ 4.69683520e-03 7.25324506e-05 9.99988967e-01 7.77949081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.88, Y:7.52, Z:0.08 [[ 9.46485882e-01 -3.22714923e-01 -4.42204208e-03 4.68793544e+01] [ 3.22711040e-01 9.46496209e-01 -1.58463420e-03 7.52023873e+00] [ 4.69683117e-03 7.27920983e-05 9.99988967e-01 8.38023535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.891052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.91, Y:7.53, Z:0.08 [[ 9.46910413e-01 -3.21467137e-01 -4.42161017e-03 4.69065283e+01] [ 3.21463235e-01 9.46920732e-01 -1.58583846e-03 7.52978439e+00] [ 4.69670929e-03 8.02618440e-05 9.99988967e-01 8.33094739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.921052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.93, Y:7.54, Z:0.08 [[ 9.47130262e-01 -3.20818826e-01 -4.42122141e-03 4.69335715e+01] [ 3.20814913e-01 9.47140577e-01 -1.58692154e-03 7.53920027e+00] [ 4.69663251e-03 8.46276543e-05 9.99988967e-01 8.27276514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.951052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.96, Y:7.55, Z:0.08 [[ 9.47697870e-01 -3.19138220e-01 -4.42083153e-03 4.69597836e+01] [ 3.19134283e-01 9.47708177e-01 -1.58800694e-03 7.54790280e+00] [ 4.69645189e-03 9.41118961e-05 9.99988967e-01 8.01091449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.981052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.99, Y:7.56, Z:0.08 [[ 9.47802248e-01 -3.18828098e-01 -4.42069422e-03 4.69875263e+01] [ 3.18824156e-01 9.47812552e-01 -1.58838909e-03 7.55700630e+00] [ 4.69641254e-03 9.60546481e-05 9.99988967e-01 8.10813185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.011052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:47.01, Y:7.57, Z:0.08 [[ 9.48033955e-01 -3.18138463e-01 -4.42032082e-03 4.70140836e+01] [ 3.18134509e-01 9.48044254e-01 -1.58942753e-03 7.56650721e+00] [ 4.69631779e-03 1.00574670e-04 9.99988967e-01 8.30518072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.041052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.04, Y:7.58, Z:0.08 [[ 9.48218732e-01 -3.17587312e-01 -4.41988590e-03 4.70413093e+01] [ 3.17583346e-01 9.48229027e-01 -1.59063603e-03 7.57748639e+00] [ 4.69622993e-03 1.04588729e-04 9.99988967e-01 8.24463962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.07, Y:7.59, Z:0.08 [[ 9.48461085e-01 -3.16862806e-01 -4.41950794e-03 4.70676092e+01] [ 3.16858827e-01 9.48471376e-01 -1.59168549e-03 7.58826898e+00] [ 4.69612271e-03 1.09291642e-04 9.99988967e-01 8.41905428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.101052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.09, Y:7.60, Z:0.09 [[ 9.48454418e-01 -3.16882764e-01 -4.41937292e-03 4.70948580e+01] [ 3.16878783e-01 9.48464708e-01 -1.59206029e-03 7.59738036e+00] [ 4.69611571e-03 1.09591100e-04 9.99988967e-01 8.76216576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.12, Y:7.61, Z:0.09 [[ 9.48386639e-01 -3.17085566e-01 -4.41898186e-03 4.71209266e+01] [ 3.17081582e-01 9.48396927e-01 -1.59314499e-03 7.60661845e+00] [ 4.69611210e-03 1.09739662e-04 9.99988967e-01 8.64692715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.15, Y:7.62, Z:0.09 [[ 9.47925530e-01 -3.18461399e-01 -4.41884307e-03 4.71476162e+01] [ 3.18457429e-01 9.47935824e-01 -1.59352988e-03 7.61593129e+00] [ 4.69625740e-03 1.03334250e-04 9.99988967e-01 8.50416316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.191052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.17, Y:7.63, Z:0.09 [[ 9.45884325e-01 -3.24473915e-01 -4.41840723e-03 4.71650619e+01] [ 3.24470005e-01 9.45894642e-01 -1.59473740e-03 7.62921514e+00] [ 4.69679841e-03 7.47964946e-05 9.99988967e-01 8.69704360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.20, Y:7.63, Z:0.08 [[ 9.47337184e-01 -3.20207805e-01 -4.38426884e-03 4.72022008e+01] [ 3.20203410e-01 9.47347309e-01 -1.68915337e-03 7.63405632e+00] [ 4.69430538e-03 1.96339967e-04 9.99988962e-01 8.37402628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.251052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.23, Y:7.64, Z:0.09 [[ 9.46631139e-01 -3.22288632e-01 -4.41861052e-03 4.72287235e+01] [ 3.22284702e-01 9.46641448e-01 -1.59395467e-03 7.64136859e+00] [ 4.69655333e-03 8.48365468e-05 9.99988968e-01 8.52607045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.281052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.26, Y:7.65, Z:0.09 [[ 9.46016440e-01 -3.24088527e-01 -4.41837657e-03 4.72567934e+01] [ 3.24084613e-01 9.46026755e-01 -1.59460291e-03 7.64974638e+00] [ 4.69669496e-03 7.65927026e-05 9.99988968e-01 8.88339231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.311052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.28, Y:7.66, Z:0.09 [[ 9.45770320e-01 -3.24806071e-01 -4.41800435e-03 4.72826229e+01] [ 3.24802160e-01 9.45780636e-01 -1.59563353e-03 7.65970766e+00] [ 4.69673442e-03 7.41254780e-05 9.99988968e-01 8.90102797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.341052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.31, Y:7.67, Z:0.09 [[ 9.45069952e-01 -3.26838289e-01 -4.41787179e-03 4.73093631e+01] [ 3.26834399e-01 9.45080276e-01 -1.59600045e-03 7.67038267e+00] [ 4.69687755e-03 6.44195964e-05 9.99988968e-01 8.94799735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.371052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.34, Y:7.68, Z:0.09 [[ 9.44680174e-01 -3.27963190e-01 -4.41749565e-03 4.73351071e+01] [ 3.27959307e-01 9.44690501e-01 -1.59704089e-03 7.67982620e+00] [ 4.69693680e-03 5.99340549e-05 9.99988968e-01 8.94619094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.401052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.36, Y:7.69, Z:0.09 [[ 9.44593303e-01 -3.28213314e-01 -4.41720549e-03 4.73619884e+01] [ 3.28209430e-01 9.44603629e-01 -1.59784303e-03 7.68963587e+00] [ 4.69694169e-03 5.95433264e-05 9.99988968e-01 8.95958912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.431052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.39, Y:7.70, Z:0.09 [[ 9.43715188e-01 -3.30729701e-01 -4.41678210e-03 4.73885970e+01] [ 3.30725839e-01 9.43725523e-01 -1.59901251e-03 7.69897267e+00] [ 4.69707092e-03 4.82684314e-05 9.99988968e-01 9.02518394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.461052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.41, Y:7.71, Z:0.09 [[ 9.43172143e-01 -3.32275191e-01 -4.41665099e-03 4.74147439e+01] [ 3.32271344e-01 9.43182483e-01 -1.59937456e-03 7.70828872e+00] [ 4.69714033e-03 4.09589720e-05 9.99988968e-01 9.03867993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.44, Y:7.72, Z:0.09 [[ 9.42721228e-01 -3.33552365e-01 -4.41652088e-03 4.74413237e+01] [ 3.33548530e-01 9.42731573e-01 -1.59973376e-03 7.71757070e+00] [ 4.69718866e-03 3.49789243e-05 9.99988968e-01 9.05731489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.47, Y:7.73, Z:0.09 [[ 9.42149043e-01 -3.35165150e-01 -4.41610582e-03 4.74675651e+01] [ 3.35161328e-01 9.42159393e-01 -1.60087872e-03 7.72622520e+00] [ 4.69723434e-03 2.81584645e-05 9.99988968e-01 9.09639595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.551052754000004 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:47.49, Y:7.74, Z:0.09 [[ 9.41877272e-01 -3.35928123e-01 -4.41597766e-03 4.74949958e+01] [ 3.35924308e-01 9.41887624e-01 -1.60123217e-03 7.73630709e+00] [ 4.69725363e-03 2.47299458e-05 9.99988968e-01 9.11234875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.581052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.52, Y:7.75, Z:0.09 [[ 9.41468030e-01 -3.37073360e-01 -4.41561992e-03 4.75209889e+01] [ 3.37069553e-01 9.41478385e-01 -1.60221810e-03 7.74601236e+00] [ 4.69727575e-03 2.00660829e-05 9.99988968e-01 9.11492703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.55, Y:7.76, Z:0.09 [[ 9.41094738e-01 -3.38114181e-01 -4.41516985e-03 4.75468227e+01] [ 3.38110380e-01 9.41105095e-01 -1.60345738e-03 7.75628599e+00] [ 4.69729052e-03 1.61905475e-05 9.99988968e-01 8.73880382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.641052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.57, Y:7.77, Z:0.09 [[ 9.40676382e-01 -3.39276365e-01 -4.41502989e-03 4.75717560e+01] [ 3.39272575e-01 9.40686743e-01 -1.60384264e-03 7.76610160e+00] [ 4.69730599e-03 1.07983311e-05 9.99988968e-01 8.59242674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.671052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.59, Y:7.78, Z:0.09 [[ 9.39224103e-01 -3.43276264e-01 -4.41484241e-03 4.75920223e+01] [ 3.43272515e-01 9.39234479e-01 -1.60435856e-03 7.77929678e+00] [ 4.69731042e-03 -8.64182644e-06 9.99988968e-01 8.50998314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.701052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.62, Y:7.79, Z:0.08 [[ 9.38494465e-01 -3.45266328e-01 -4.39337384e-03 4.76184413e+01] [ 3.45262324e-01 9.38504747e-01 -1.66334662e-03 7.78798704e+00] [ 4.69749978e-03 4.41751326e-05 9.99988966e-01 8.24455965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.731052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.65, Y:7.80, Z:0.08 [[ 9.39324860e-01 -3.43000736e-01 -4.39339712e-03 4.76512839e+01] [ 3.42996708e-01 9.39335133e-01 -1.66328268e-03 7.79565326e+00] [ 4.69737945e-03 5.54420241e-05 9.99988966e-01 8.04819450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.761052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:47.68, Y:7.81, Z:0.08 [[ 9.39569996e-01 -3.42328404e-01 -4.41429825e-03 4.76772047e+01] [ 3.42324638e-01 9.39580366e-01 -1.60582705e-03 7.80618016e+00] [ 4.69730818e-03 -2.33613509e-06 9.99988968e-01 8.10262465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.791052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.70, Y:7.82, Z:0.08 [[ 9.39526154e-01 -3.42448718e-01 -4.41386339e-03 4.76965730e+01] [ 3.42444947e-01 9.39536522e-01 -1.60702143e-03 7.82170466e+00] [ 4.69730829e-03 -1.66654874e-06 9.99988968e-01 7.79678767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.821052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.73, Y:7.83, Z:0.07 [[ 9.40362391e-01 -3.40145952e-01 -4.39368279e-03 4.77286390e+01] [ 3.40141897e-01 9.40372653e-01 -1.66236893e-03 7.83086736e+00] [ 4.69714721e-03 6.87536249e-05 9.99988966e-01 7.49474873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.851052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.75, Y:7.85, Z:0.07 [[ 9.39570456e-01 -3.42327153e-01 -4.41346677e-03 4.77466967e+01] [ 3.42323376e-01 9.39580822e-01 -1.60807039e-03 7.84501052e+00] [ 4.69729489e-03 6.25884210e-08 9.99988968e-01 7.30754159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.881052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.77, Y:7.85, Z:0.07 [[ 9.39496603e-01 -3.42530170e-01 -4.38356852e-03 4.77735423e+01] [ 3.42526012e-01 9.39506826e-01 -1.68998596e-03 7.85308736e+00] [ 4.69726372e-03 8.62498254e-05 9.99988964e-01 7.36528827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.911052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.81, Y:7.86, Z:0.07 [[ 9.40352904e-01 -3.40172308e-01 -4.38374239e-03 4.78089903e+01] [ 3.40168127e-01 9.40363117e-01 -1.68950981e-03 7.85787735e+00] [ 4.69703411e-03 9.75260224e-05 9.99988964e-01 7.48358753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.941052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.84, Y:7.87, Z:0.08 [[ 9.40361200e-01 -3.40148991e-01 -4.41325531e-03 4.78364417e+01] [ 3.40145188e-01 9.40371556e-01 -1.60853688e-03 7.86805371e+00] [ 4.69724196e-03 1.14581128e-05 9.99988968e-01 7.75037795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.971052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.86, Y:7.88, Z:0.08 [[ 9.40753307e-01 -3.39063034e-01 -4.41287351e-03 4.78628894e+01] [ 3.39059214e-01 9.40763657e-01 -1.60958363e-03 7.87906936e+00] [ 4.69722133e-03 1.79956942e-05 9.99988968e-01 7.64279970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.001052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.89, Y:7.89, Z:0.08 [[ 9.40822332e-01 -3.38871464e-01 -4.41249400e-03 4.78904229e+01] [ 3.38867637e-01 9.40832679e-01 -1.61062333e-03 7.88913181e+00] [ 4.69721284e-03 2.00589837e-05 9.99988968e-01 7.73676715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.031052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.92, Y:7.90, Z:0.08 [[ 9.41025573e-01 -3.38306671e-01 -4.41210533e-03 4.79165441e+01] [ 3.38302833e-01 9.41035916e-01 -1.61168734e-03 7.89759656e+00] [ 4.69719416e-03 2.40112731e-05 9.99988968e-01 7.71549651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.061052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:47.94, Y:7.91, Z:0.08 [[ 9.41060392e-01 -3.38209806e-01 -4.41196833e-03 4.79396942e+01] [ 3.38205965e-01 9.41070734e-01 -1.61206230e-03 7.90729249e+00] [ 4.69718955e-03 2.48939792e-05 9.99988968e-01 7.72628277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.091052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.97, Y:7.91, Z:0.08 [[ 9.41658511e-01 -3.36541097e-01 -4.39757666e-03 4.79666426e+01] [ 3.36537054e-01 9.41668776e-01 -1.65139964e-03 7.91457359e+00] [ 4.69682448e-03 7.51070327e-05 9.99988967e-01 7.64301833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.121052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.00, Y:7.92, Z:0.08 [[ 9.42151375e-01 -3.35158822e-01 -4.39882319e-03 4.79973031e+01] [ 3.35154780e-01 9.42161641e-01 -1.64799220e-03 7.92377821e+00] [ 4.69674160e-03 7.83715033e-05 9.99988967e-01 7.59212539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.151052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.02, Y:7.93, Z:0.07 [[ 9.43718831e-01 -3.30719375e-01 -4.41165180e-03 4.80242618e+01] [ 3.30715448e-01 9.43729141e-01 -1.61290310e-03 7.93456176e+00] [ 4.69682266e-03 6.31256304e-05 9.99988968e-01 7.44462482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.181052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.05, Y:7.95, Z:0.07 [[ 9.44431675e-01 -3.28678187e-01 -4.41143696e-03 4.80515277e+01] [ 3.28674235e-01 9.44441975e-01 -1.61349049e-03 7.94535053e+00] [ 4.69666536e-03 7.39058602e-05 9.99988968e-01 7.38659060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.211052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.08, Y:7.96, Z:0.07 [[ 9.45763774e-01 -3.24825225e-01 -4.41103796e-03 4.80768516e+01] [ 3.24821226e-01 9.45774056e-01 -1.61458054e-03 7.95680930e+00] [ 4.69630175e-03 9.42130305e-05 9.99988968e-01 7.17762422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.241052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.10, Y:7.97, Z:0.07 [[ 9.46071947e-01 -3.23926558e-01 -4.41089754e-03 4.81040907e+01] [ 3.23922547e-01 9.46082224e-01 -1.61496407e-03 7.96677499e+00] [ 4.69620151e-03 9.90830332e-05 9.99988968e-01 7.23823381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.271052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.13, Y:7.98, Z:0.07 [[ 9.46376719e-01 -3.23035066e-01 -4.41050782e-03 4.81307646e+01] [ 3.23031040e-01 9.46386990e-01 -1.61602770e-03 7.97510913e+00] [ 4.69608084e-03 1.04640059e-04 9.99988968e-01 7.41138470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.301052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.16, Y:7.98, Z:0.08 [[ 9.46258158e-01 -3.23382203e-01 -4.41006246e-03 4.81584176e+01] [ 3.23378176e-01 9.46268429e-01 -1.61724216e-03 7.98470121e+00] [ 4.69609021e-03 1.04210632e-04 9.99988968e-01 7.56637004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.331052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.18, Y:7.99, Z:0.08 [[ 9.45928753e-01 -3.24344491e-01 -4.40966646e-03 4.81841194e+01] [ 3.24340470e-01 9.45939026e-01 -1.61832121e-03 7.99455047e+00] [ 4.69616916e-03 1.00583271e-04 9.99988968e-01 7.58398821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.21, Y:8.00, Z:0.07 [[ 9.45716478e-01 -3.24962919e-01 -4.40952627e-03 4.82098081e+01] [ 3.24958903e-01 9.45726753e-01 -1.61870309e-03 8.00428880e+00] [ 4.69622544e-03 9.79193663e-05 9.99988968e-01 7.45107542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.391052754 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:48.24, Y:8.01, Z:0.08 [[ 9.45233508e-01 -3.26365092e-01 -4.40938794e-03 4.82360980e+01] [ 3.26361089e-01 9.45243788e-01 -1.61907982e-03 8.01405354e+00] [ 4.69635769e-03 9.13558514e-05 9.99988968e-01 7.51817342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.421052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.26, Y:8.02, Z:0.08 [[ 9.44827787e-01 -3.27537806e-01 -4.40894104e-03 4.82625412e+01] [ 3.27533810e-01 9.44838070e-01 -1.62029587e-03 8.02268116e+00] [ 4.69644350e-03 8.68233006e-05 9.99988968e-01 7.60323329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.451052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.29, Y:8.03, Z:0.08 [[ 9.43901578e-01 -3.30197477e-01 -4.40880312e-03 4.82892721e+01] [ 3.30193508e-01 9.43911871e-01 -1.62067104e-03 8.03049717e+00] [ 4.69666310e-03 7.39957847e-05 9.99988968e-01 7.87038367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.481052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.32, Y:8.04, Z:0.08 [[ 9.42872442e-01 -3.33124784e-01 -4.40866832e-03 4.83155303e+01] [ 3.33120845e-01 9.42882747e-01 -1.62103766e-03 8.04000967e+00] [ 4.69686512e-03 5.98124242e-05 9.99988968e-01 7.99685945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.511052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.34, Y:8.05, Z:0.08 [[ 9.42166438e-01 -3.35116354e-01 -4.40821791e-03 4.83410517e+01] [ 3.35112431e-01 9.42176749e-01 -1.62226157e-03 8.05040188e+00] [ 4.69696681e-03 5.11917812e-05 9.99988968e-01 7.85499010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.541052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.37, Y:8.06, Z:0.08 [[ 9.41397030e-01 -3.37271703e-01 -4.40802296e-03 4.83676367e+01] [ 3.37267801e-01 9.41407349e-01 -1.62279114e-03 8.06099515e+00] [ 4.69706674e-03 4.10065471e-05 9.99988968e-01 7.84442786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.571052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.39, Y:8.07, Z:0.08 [[ 9.39149871e-01 -3.43479393e-01 -4.40758474e-03 4.83945216e+01] [ 3.43475554e-01 9.39160214e-01 -1.62398047e-03 8.07021412e+00] [ 4.69723206e-03 1.12634378e-05 9.99988968e-01 7.79788386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.601052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.42, Y:8.08, Z:0.08 [[ 9.37557240e-01 -3.47803103e-01 -4.40714243e-03 4.84216120e+01] [ 3.47799306e-01 9.37567598e-01 -1.62517993e-03 8.07808181e+00] [ 4.69723657e-03 -9.10186508e-06 9.99988968e-01 7.95689113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.631052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.45, Y:8.09, Z:0.08 [[ 9.34296920e-01 -3.56468576e-01 -4.40669763e-03 4.84489624e+01] [ 3.56464869e-01 9.34307311e-01 -1.62638512e-03 8.08541912e+00] [ 4.69696500e-03 -5.13062818e-05 9.99988968e-01 8.16208322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.661052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.47, Y:8.10, Z:0.08 [[ 9.33062407e-01 -3.59687542e-01 -4.40655991e-03 4.84743420e+01] [ 3.59683869e-01 9.33072810e-01 -1.62675817e-03 8.09679451e+00] [ 4.69676589e-03 -6.71016280e-05 9.99988968e-01 8.15899243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.691052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.50, Y:8.11, Z:0.08 [[ 9.30375427e-01 -3.66581711e-01 -4.40612877e-03 4.84993950e+01] [ 3.66578110e-01 9.30385855e-01 -1.62792511e-03 8.10927523e+00] [ 4.69616745e-03 -1.00608842e-04 9.99988968e-01 8.04673417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.721052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.53, Y:8.12, Z:0.08 [[ 9.28854878e-01 -3.70417611e-01 -4.40567683e-03 4.85259324e+01] [ 3.70414047e-01 9.28865318e-01 -1.62914728e-03 8.11998195e+00] [ 4.69574525e-03 -1.18683187e-04 9.99988968e-01 8.04422940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.751052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.55, Y:8.13, Z:0.08 [[ 9.25225438e-01 -3.79392255e-01 -4.40522477e-03 4.85521817e+01] [ 3.79388787e-01 9.25235911e-01 -1.63036873e-03 8.13103329e+00] [ 4.69442142e-03 -1.62834256e-04 9.99988968e-01 7.86707800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.781052754 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:48.58, Y:8.14, Z:0.08 [[ 9.21445867e-01 -3.88481803e-01 -4.40483314e-03 4.85780794e+01] [ 3.88478433e-01 9.21456372e-01 -1.63142612e-03 8.14139050e+00] [ 4.69264093e-03 -2.07911819e-04 9.99988968e-01 8.01205998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.811052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.60, Y:8.15, Z:0.08 [[ 9.20258535e-01 -3.91286123e-01 -4.40438953e-03 4.86039322e+01] [ 3.91282780e-01 9.20269048e-01 -1.63262286e-03 8.15238096e+00] [ 4.69204603e-03 -2.20926654e-04 9.99988968e-01 8.09444995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.841052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.63, Y:8.17, Z:0.08 [[ 9.19943869e-01 -3.92025361e-01 -4.40393410e-03 4.86287617e+01] [ 3.92022019e-01 9.19954383e-01 -1.63385046e-03 8.16692189e+00] [ 4.69192929e-03 -2.23388422e-04 9.99988968e-01 7.95746881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.871052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.65, Y:8.18, Z:0.08 [[ 9.20469443e-01 -3.90789727e-01 -4.40379331e-03 4.86529821e+01] [ 3.90786370e-01 9.20479952e-01 -1.63422984e-03 8.17816338e+00] [ 4.69224369e-03 -2.16683768e-04 9.99988968e-01 7.95985366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.901052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.68, Y:8.19, Z:0.08 [[ 9.22336073e-01 -3.86363530e-01 -4.40360176e-03 4.86779942e+01] [ 3.86360120e-01 9.22346565e-01 -1.63474582e-03 8.19058963e+00] [ 4.69325312e-03 -1.93591071e-04 9.99988968e-01 8.08917622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.931052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.70, Y:8.20, Z:0.08 [[ 9.23346975e-01 -3.83941371e-01 -4.40315033e-03 4.87025524e+01] [ 3.83937928e-01 9.23357456e-01 -1.63596085e-03 8.20178413e+00] [ 4.69379474e-03 -1.79976908e-04 9.99988968e-01 8.05732899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.961052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.73, Y:8.22, Z:0.08 [[ 9.25929941e-01 -3.77669643e-01 -4.40295457e-03 4.87270115e+01] [ 3.77666126e-01 9.25940397e-01 -1.63648753e-03 8.21524770e+00] [ 4.69492516e-03 -1.47573997e-04 9.99988968e-01 8.26075194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.991052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.75, Y:8.23, Z:0.08 [[ 9.27460558e-01 -3.73895080e-01 -4.40250108e-03 4.87527814e+01] [ 3.73891515e-01 9.27470998e-01 -1.63770661e-03 8.22710446e+00] [ 4.69552252e-03 -1.27149508e-04 9.99988968e-01 8.23913620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.78, Y:8.24, Z:0.09 [[ 9.30797319e-01 -3.65509194e-01 -4.40236040e-03 4.87787426e+01] [ 3.65505533e-01 9.30807726e-01 -1.63808468e-03 8.23947168e+00] [ 4.69648608e-03 -8.43622546e-05 9.99988968e-01 8.50566690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.051052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.80, Y:8.25, Z:0.09 [[ 9.32371856e-01 -3.61473852e-01 -4.40197385e-03 4.88047445e+01] [ 3.61470141e-01 9.32382245e-01 -1.63912280e-03 8.25082452e+00] [ 4.69682229e-03 -6.29101395e-05 9.99988968e-01 8.66562858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.081052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.83, Y:8.26, Z:0.09 [[ 9.35330199e-01 -3.53748562e-01 -4.40151526e-03 4.88290744e+01] [ 3.53744759e-01 9.35340555e-01 -1.64035330e-03 8.26468141e+00] [ 4.69718835e-03 -2.27409763e-05 9.99988968e-01 8.54223462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.86, Y:8.28, Z:0.08 [[ 9.35829122e-01 -3.52426563e-01 -4.40137304e-03 4.88556158e+01] [ 3.52422744e-01 9.35839472e-01 -1.64073483e-03 8.27692670e+00] [ 4.69721716e-03 -1.56965297e-05 9.99988968e-01 8.40412302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.141052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.88, Y:8.29, Z:0.08 [[ 9.37519637e-01 -3.47904474e-01 -4.40528349e-03 4.88810941e+01] [ 3.47900654e-01 9.37529987e-01 -1.63025012e-03 8.28811756e+00] [ 4.69725668e-03 -4.20950527e-06 9.99988968e-01 8.47602427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.171052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.91, Y:8.30, Z:0.09 [[ 9.38011191e-01 -3.46577033e-01 -4.40073551e-03 4.89068992e+01] [ 3.46573142e-01 9.38021514e-01 -1.64243595e-03 8.29863103e+00] [ 4.69721516e-03 1.54465634e-05 9.99988968e-01 8.55615177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.201052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.93, Y:8.31, Z:0.08 [[ 9.38549785e-01 -3.45115833e-01 -4.40030266e-03 4.89317619e+01] [ 3.45111920e-01 9.38560100e-01 -1.64359479e-03 8.30832873e+00] [ 4.69717909e-03 2.39986386e-05 9.99988968e-01 8.40363004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.231052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.96, Y:8.32, Z:0.08 [[ 9.38277240e-01 -3.45856126e-01 -4.40010099e-03 4.89576272e+01] [ 3.45852218e-01 9.38287557e-01 -1.64413451e-03 8.31921383e+00] [ 4.69719400e-03 2.08693068e-05 9.99988968e-01 8.27555122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.261052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.99, Y:8.33, Z:0.08 [[ 9.39221325e-01 -3.43284085e-01 -4.39776222e-03 4.89851961e+01] [ 3.43280120e-01 9.39231620e-01 -1.65039109e-03 8.32788314e+00] [ 4.69707033e-03 4.04181631e-05 9.99988968e-01 8.46773351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.291052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.01, Y:8.34, Z:0.08 [[ 9.39673785e-01 -3.42043596e-01 -4.39957992e-03 4.90121276e+01] [ 3.42039640e-01 9.39684083e-01 -1.64553120e-03 8.33831133e+00] [ 4.69705863e-03 4.14317948e-05 9.99988968e-01 8.40478060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.04, Y:8.35, Z:0.08 [[ 9.39578278e-01 -3.42305868e-01 -4.39917905e-03 4.90389038e+01] [ 3.42301910e-01 9.39588575e-01 -1.64660219e-03 8.34840166e+00] [ 4.69705997e-03 4.12642588e-05 9.99988968e-01 8.41816756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.351052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.07, Y:8.36, Z:0.08 [[ 9.40860068e-01 -3.38766859e-01 -4.39871910e-03 4.90650929e+01] [ 3.38762856e-01 9.40870348e-01 -1.64782997e-03 8.35752715e+00] [ 4.69685456e-03 6.02547705e-05 9.99988968e-01 8.49340706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.09, Y:8.37, Z:0.08 [[ 9.41093979e-01 -3.38116515e-01 -4.39826247e-03 4.90925951e+01] [ 3.38112500e-01 9.41104255e-01 -1.64904788e-03 8.36753798e+00] [ 4.69679385e-03 6.48015147e-05 9.99988968e-01 8.36009076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.12, Y:8.37, Z:0.08 [[ 9.42471415e-01 -3.34257793e-01 -4.39992941e-03 4.91195707e+01] [ 3.34253757e-01 9.42481682e-01 -1.64460447e-03 8.37476344e+00] [ 4.69657474e-03 7.92997681e-05 9.99988968e-01 8.30789858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.441052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.15, Y:8.38, Z:0.08 [[ 9.42673545e-01 -3.33687351e-01 -4.39766155e-03 4.91472328e+01] [ 3.33683280e-01 9.42683799e-01 -1.65064652e-03 8.38274966e+00] [ 4.69640416e-03 8.85946718e-05 9.99988968e-01 8.30262284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.471052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.17, Y:8.39, Z:0.08 [[ 9.43330792e-01 -3.31824728e-01 -4.40076406e-03 4.91748685e+01] [ 3.31820676e-01 9.43341053e-01 -1.64238272e-03 8.38609226e+00] [ 4.69640460e-03 8.90456888e-05 9.99988968e-01 8.48998858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.501052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.20, Y:8.39, Z:0.09 [[ 9.43210817e-01 -3.32165654e-01 -4.39702455e-03 4.92032033e+01] [ 3.32161558e-01 9.43221060e-01 -1.65233393e-03 8.39386606e+00] [ 4.69621474e-03 9.79767050e-05 9.99988968e-01 8.66110741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.531052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.23, Y:8.40, Z:0.09 [[ 9.43616580e-01 -3.31011188e-01 -4.39805578e-03 4.92319863e+01] [ 3.31007093e-01 9.43626824e-01 -1.64959098e-03 8.39927149e+00] [ 4.69615648e-03 1.00793744e-04 9.99988968e-01 8.65844727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.561052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.26, Y:8.41, Z:0.09 [[ 9.43737607e-01 -3.30665965e-01 -4.39874343e-03 4.92588796e+01] [ 3.30661875e-01 9.43747853e-01 -1.64776265e-03 8.40701130e+00] [ 4.69616369e-03 1.00558834e-04 9.99988968e-01 8.51627727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.591052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.29, Y:8.41, Z:0.08 [[ 9.44006526e-01 -3.29897429e-01 -4.40053693e-03 4.92871565e+01] [ 3.29893353e-01 9.44016778e-01 -1.64299580e-03 8.41044634e+00] [ 4.69620079e-03 9.92908729e-05 9.99988968e-01 8.47044821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.621052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.32, Y:8.42, Z:0.09 [[ 9.43937202e-01 -3.30095736e-01 -4.40032937e-03 4.93157518e+01] [ 3.30091659e-01 9.43947454e-01 -1.64354709e-03 8.41670127e+00] [ 4.69620759e-03 9.88932198e-05 9.99988968e-01 8.69361311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.651052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:49.34, Y:8.42, Z:0.08 [[ 9.43705499e-01 -3.30757560e-01 -4.40079546e-03 4.93443723e+01] [ 3.30753496e-01 9.43715756e-01 -1.64230955e-03 8.41982816e+00] [ 4.69630632e-03 9.42780714e-05 9.99988968e-01 8.28279852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.681052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.37, Y:8.43, Z:0.08 [[ 9.42925262e-01 -3.32975348e-01 -4.40103211e-03 4.93707841e+01] [ 3.32971311e-01 9.42935529e-01 -1.64168149e-03 8.42876729e+00] [ 4.69652900e-03 8.25655165e-05 9.99988968e-01 8.29785202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.711052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.40, Y:8.44, Z:0.08 [[ 9.42425751e-01 -3.34386572e-01 -4.39586950e-03 4.93976246e+01] [ 3.34382487e-01 9.42435999e-01 -1.65537273e-03 8.43898098e+00] [ 4.69636008e-03 9.01641098e-05 9.99988968e-01 8.44470662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.741052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.42, Y:8.45, Z:0.08 [[ 9.42589423e-01 -3.33924939e-01 -4.39494391e-03 4.94234650e+01] [ 3.33920837e-01 9.42599664e-01 -1.65782562e-03 8.44866724e+00] [ 4.69626197e-03 9.50855487e-05 9.99988968e-01 8.38815566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.771052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.45, Y:8.46, Z:0.09 [[ 9.42612862e-01 -3.33858771e-01 -4.39460140e-03 4.94513786e+01] [ 3.33854664e-01 9.42623102e-01 -1.65873306e-03 8.46066011e+00] [ 4.69623538e-03 9.63849474e-05 9.99988968e-01 8.54453126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.801052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.48, Y:8.47, Z:0.09 [[ 9.42482746e-01 -3.34225881e-01 -4.39700962e-03 4.94784297e+01] [ 3.34221808e-01 9.42492999e-01 -1.65235604e-03 8.47246116e+00] [ 4.69641093e-03 8.77405590e-05 9.99988968e-01 8.70255723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.831052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.50, Y:8.48, Z:0.09 [[ 9.42602208e-01 -3.33888814e-01 -4.39738417e-03 4.95031859e+01] [ 3.33884742e-01 9.42612461e-01 -1.65136478e-03 8.48208667e+00] [ 4.69640134e-03 8.83606087e-05 9.99988968e-01 8.55703432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.53, Y:8.49, Z:0.08 [[ 9.42412315e-01 -3.34424455e-01 -4.39458727e-03 4.95296877e+01] [ 3.34420354e-01 9.42422557e-01 -1.65876286e-03 8.49157844e+00] [ 4.69628904e-03 9.35991163e-05 9.99988968e-01 8.42174724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.891052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.56, Y:8.50, Z:0.08 [[ 9.41879073e-01 -3.35923356e-01 -4.39436493e-03 4.95553293e+01] [ 3.35919269e-01 9.41889320e-01 -1.65935074e-03 8.50150771e+00] [ 4.69642007e-03 8.67558798e-05 9.99988968e-01 8.26683298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.921052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.58, Y:8.51, Z:0.08 [[ 9.39504725e-01 -3.42507752e-01 -4.39445363e-03 4.95768435e+01] [ 3.42503738e-01 9.39515001e-01 -1.65911634e-03 8.51443528e+00] [ 4.69691531e-03 5.36308452e-05 9.99988968e-01 8.32504253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.951052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.61, Y:8.52, Z:0.09 [[ 9.39635672e-01 -3.42148626e-01 -4.37279784e-03 4.96093557e+01] [ 3.42144341e-01 9.39645840e-01 -1.71626986e-03 8.51958126e+00] [ 4.69610067e-03 1.16540347e-04 9.99988966e-01 8.89536653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.981052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.64, Y:8.53, Z:0.09 [[ 9.39107731e-01 -3.43594786e-01 -4.39242874e-03 4.96367963e+01] [ 3.43590759e-01 9.39118001e-01 -1.66441352e-03 8.52902564e+00] [ 4.69689270e-03 5.38656804e-05 9.99988968e-01 9.38730636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.011052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.66, Y:8.54, Z:0.10 [[ 9.38891833e-01 -3.44184284e-01 -4.39369991e-03 4.96624885e+01] [ 3.44180279e-01 9.38902112e-01 -1.66105722e-03 8.53900342e+00] [ 4.69696392e-03 4.73281967e-05 9.99988968e-01 9.54646967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.041052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.69, Y:8.55, Z:0.10 [[ 9.38359464e-01 -3.45633085e-01 -4.39159001e-03 4.96884347e+01] [ 3.45629070e-01 9.38369740e-01 -1.66662481e-03 8.55029103e+00] [ 4.69697585e-03 4.60319932e-05 9.99988968e-01 9.52022166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.71, Y:8.56, Z:0.10 [[ 9.38306937e-01 -3.45775627e-01 -4.39398389e-03 4.97138017e+01] [ 3.45771643e-01 9.38317225e-01 -1.66030935e-03 8.55972028e+00] [ 4.69704527e-03 3.85647526e-05 9.99988968e-01 9.82723944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.101052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.74, Y:8.57, Z:0.10 [[ 9.37722628e-01 -3.47357188e-01 -4.38833211e-03 4.97402350e+01] [ 3.47353151e-01 9.37732895e-01 -1.67520309e-03 8.56877061e+00] [ 4.69697720e-03 4.65748636e-05 9.99988968e-01 9.87570568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.131052754 meters Centerline goodness : 0.996907 Centerline is valid? [True, True] Translation: X:49.77, Y:8.58, Z:0.09 [[ 9.37621918e-01 -3.47628956e-01 -4.38733657e-03 4.97675017e+01] [ 3.47624910e-01 9.37632181e-01 -1.67782113e-03 8.57800333e+00] [ 4.69696717e-03 4.80143863e-05 9.99988968e-01 9.06900290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.79, Y:8.59, Z:0.09 [[ 9.37003940e-01 -3.49291157e-01 -4.39359304e-03 4.97906865e+01] [ 3.49287206e-01 9.37014241e-01 -1.66137114e-03 8.58850046e+00] [ 4.69716149e-03 2.20854667e-05 9.99988968e-01 9.40092409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.191052754 meters Centerline goodness : 0.997710 Centerline is valid? [True, True] Translation: X:49.82, Y:8.59, Z:0.09 [[ 9.38298117e-01 -3.45799729e-01 -4.38082836e-03 4.98212151e+01] [ 3.45795583e-01 9.38308340e-01 -1.69491915e-03 8.59471992e+00] [ 4.69667037e-03 7.54683501e-05 9.99988968e-01 8.70224502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.221052754 meters Centerline goodness : 0.998380 Centerline is valid? [True, True] Translation: X:49.85, Y:8.61, Z:0.09 [[ 9.38342523e-01 -3.45679091e-01 -4.39033518e-03 4.98468503e+01] [ 3.45675061e-01 9.38352793e-01 -1.66992515e-03 8.60544933e+00] [ 4.69694148e-03 4.93324016e-05 9.99988968e-01 8.60672198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.251052754 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:49.87, Y:8.62, Z:0.08 [[ 9.38675885e-01 -3.44772842e-01 -4.38979107e-03 4.98722931e+01] [ 3.44768795e-01 9.38686148e-01 -1.67135424e-03 8.61782274e+00] [ 4.69687362e-03 5.53969418e-05 9.99988968e-01 8.49337510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.281052754 meters Centerline goodness : 0.998269 Centerline is valid? [True, True] Translation: X:49.90, Y:8.63, Z:0.08 [[ 9.38527753e-01 -3.45175879e-01 -4.38962539e-03 4.98989115e+01] [ 3.45171835e-01 9.38538017e-01 -1.67178927e-03 8.62895255e+00] [ 4.69689164e-03 5.38455733e-05 9.99988968e-01 8.43295166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.311052754 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:49.93, Y:8.64, Z:0.09 [[ 9.38335444e-01 -3.45698318e-01 -4.38936390e-03 4.99251107e+01] [ 3.45694276e-01 9.38345709e-01 -1.67247554e-03 8.63864489e+00] [ 4.69691276e-03 5.19651020e-05 9.99988968e-01 8.74610525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.341052754 meters Centerline goodness : 0.998220 Centerline is valid? [True, True] Translation: X:49.95, Y:8.65, Z:0.09 [[ 9.38502561e-01 -3.45244374e-01 -4.38911603e-03 4.99520210e+01] [ 3.45240324e-01 9.38512823e-01 -1.67312578e-03 8.64832624e+00] [ 4.69687894e-03 5.49329882e-05 9.99988968e-01 9.27525687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.371052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.98, Y:8.66, Z:0.10 [[ 9.38222643e-01 -3.46004353e-01 -4.38866283e-03 4.99764086e+01] [ 3.46000306e-01 9.38232906e-01 -1.67431369e-03 8.65956013e+00] [ 4.69690770e-03 5.24003375e-05 9.99988968e-01 9.96784371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.401052754 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:50.01, Y:8.67, Z:0.09 [[ 9.38931390e-01 -3.44076491e-01 -4.38324824e-03 5.00058729e+01] [ 3.44072357e-01 9.38941618e-01 -1.68850074e-03 8.66917683e+00] [ 4.69658760e-03 7.72317960e-05 9.99988968e-01 9.43843373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.431052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.03, Y:8.68, Z:0.10 [[ 9.38450864e-01 -3.45384863e-01 -4.39001509e-03 5.00287547e+01] [ 3.45380825e-01 9.38461131e-01 -1.67076643e-03 8.67989631e+00] [ 4.69691596e-03 5.17051663e-05 9.99988968e-01 9.93620764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.461052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.06, Y:8.69, Z:0.10 [[ 9.38370682e-01 -3.45602774e-01 -4.38017417e-03 5.00567484e+01] [ 3.45598618e-01 9.38380902e-01 -1.69659157e-03 8.68947831e+00] [ 4.69661854e-03 7.82496498e-05 9.99988968e-01 9.84967448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.08, Y:8.70, Z:0.10 [[ 9.38312657e-01 -3.45760227e-01 -4.38442871e-03 5.00838642e+01] [ 3.45756125e-01 9.38322898e-01 -1.68542893e-03 8.69911852e+00] [ 4.69676414e-03 6.55162158e-05 9.99988968e-01 9.88846535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.521052754 meters Centerline goodness : 0.997107 Centerline is valid? [True, True] Translation: X:50.11, Y:8.71, Z:0.09 [[ 9.38045521e-01 -3.46484300e-01 -4.38520699e-03 5.01117020e+01] [ 3.46480216e-01 9.38055769e-01 -1.68338968e-03 8.70821594e+00] [ 4.69683681e-03 5.97086838e-05 9.99988968e-01 9.10782624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.551052754000004 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:50.14, Y:8.72, Z:0.10 [[ 9.37671104e-01 -3.47496276e-01 -4.38625618e-03 5.01373563e+01] [ 3.47492216e-01 9.37681361e-01 -1.68064128e-03 8.71774510e+00] [ 4.69692725e-03 5.16988907e-05 9.99988968e-01 9.52450060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.581052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.16, Y:8.73, Z:0.10 [[ 9.36869261e-01 -3.49652381e-01 -4.38183569e-03 5.01648501e+01] [ 3.49648290e-01 9.36879507e-01 -1.69221801e-03 8.72778428e+00] [ 4.69694011e-03 5.32856864e-05 9.99988968e-01 1.01544824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.19, Y:8.74, Z:0.11 [[ 9.35864494e-01 -3.52332795e-01 -4.38744928e-03 5.01902837e+01] [ 3.52328803e-01 9.35874778e-01 -1.67751632e-03 8.73931165e+00] [ 4.69714713e-03 2.41032144e-05 9.99988968e-01 1.06111196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.641052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.22, Y:8.75, Z:0.11 [[ 9.36125549e-01 -3.51638701e-01 -4.37951619e-03 5.02174650e+01] [ 3.51634603e-01 9.36135792e-01 -1.69828064e-03 8.74899544e+00] [ 4.69700305e-03 4.98144620e-05 9.99988968e-01 1.05281160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.671052754 meters Centerline goodness : 0.996901 Centerline is valid? [True, True] Translation: X:50.24, Y:8.76, Z:0.10 [[ 9.35723906e-01 -3.52706005e-01 -4.38702014e-03 5.02440058e+01] [ 3.52702011e-01 9.35734190e-01 -1.67864108e-03 8.76070763e+00] [ 4.69715152e-03 2.34337600e-05 9.99988968e-01 9.77444266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.701052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.27, Y:8.77, Z:0.10 [[ 9.35455021e-01 -3.53418500e-01 -4.38957668e-03 5.02695473e+01] [ 3.53414545e-01 9.35465320e-01 -1.67195209e-03 8.77222432e+00] [ 4.69719555e-03 1.26957356e-05 9.99988968e-01 1.02364867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.731052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.30, Y:8.78, Z:0.10 [[ 9.36238068e-01 -3.51338912e-01 -4.38743020e-03 5.02966948e+01] [ 3.51334908e-01 9.36248348e-01 -1.67756588e-03 8.78230994e+00] [ 4.69711845e-03 2.91436494e-05 9.99988968e-01 1.00597958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.761052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.32, Y:8.79, Z:0.10 [[ 9.36244847e-01 -3.51320868e-01 -4.38578098e-03 5.03222316e+01] [ 3.51316844e-01 9.36255118e-01 -1.68187713e-03 8.79336924e+00] [ 4.69708842e-03 3.38500673e-05 9.99988968e-01 1.00802143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.791052754 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:50.35, Y:8.80, Z:0.10 [[ 9.36878521e-01 -3.49627551e-01 -4.38325977e-03 5.03508623e+01] [ 3.49623478e-01 9.36888773e-01 -1.68846624e-03 8.80166460e+00] [ 4.69696118e-03 4.93972289e-05 9.99988968e-01 1.01853521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.821052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.38, Y:8.81, Z:0.10 [[ 9.36562002e-01 -3.50474494e-01 -4.38690842e-03 5.03773893e+01] [ 3.50470475e-01 9.36572276e-01 -1.67893260e-03 8.81178564e+00] [ 4.69707986e-03 3.49426024e-05 9.99988968e-01 1.04421931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.851052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.40, Y:8.82, Z:0.11 [[ 9.36667515e-01 -3.50192408e-01 -4.38676902e-03 5.04030934e+01] [ 3.50188383e-01 9.36677787e-01 -1.67929676e-03 8.82134397e+00] [ 4.69706607e-03 3.67471724e-05 9.99988968e-01 1.05175129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.881052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.43, Y:8.83, Z:0.11 [[ 9.36778783e-01 -3.49894654e-01 -4.38663087e-03 5.04305321e+01] [ 3.49890625e-01 9.36789053e-01 -1.67965756e-03 8.83191112e+00] [ 4.69705098e-03 3.86265546e-05 9.99988968e-01 1.05307236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.911052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.46, Y:8.84, Z:0.11 [[ 9.36913786e-01 -3.49533000e-01 -4.38624519e-03 5.04577163e+01] [ 3.49528962e-01 9.36924053e-01 -1.68066412e-03 8.84180614e+00] [ 4.69702619e-03 4.15176555e-05 9.99988968e-01 1.05677063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.941052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.48, Y:8.85, Z:0.11 [[ 9.37210846e-01 -3.48735710e-01 -4.38586271e-03 5.04842837e+01] [ 3.48731658e-01 9.37221107e-01 -1.68166164e-03 8.85119646e+00] [ 4.69697857e-03 4.65823466e-05 9.99988968e-01 1.07158924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.971052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.51, Y:8.86, Z:0.11 [[ 9.37171888e-01 -3.48840393e-01 -4.38542270e-03 5.05091701e+01] [ 3.48836337e-01 9.37182148e-01 -1.68280832e-03 8.86100732e+00] [ 4.69697138e-03 4.72858616e-05 9.99988968e-01 1.07391596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.001052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.54, Y:8.87, Z:0.11 [[ 9.37279120e-01 -3.48552177e-01 -4.38523221e-03 5.05354602e+01] [ 3.48548116e-01 9.37289378e-01 -1.68330457e-03 8.86893806e+00] [ 4.69695104e-03 4.92618023e-05 9.99988968e-01 1.09886249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.031052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.56, Y:8.88, Z:0.11 [[ 9.37458304e-01 -3.48069964e-01 -4.38504300e-03 5.05617054e+01] [ 3.48065895e-01 9.37468558e-01 -1.68379733e-03 8.87909803e+00] [ 4.69691921e-03 5.22058797e-05 9.99988968e-01 1.10546779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.061052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.59, Y:8.89, Z:0.11 [[ 9.37928266e-01 -3.46801586e-01 -4.38490913e-03 5.05870112e+01] [ 3.46797501e-01 9.37938514e-01 -1.68414587e-03 8.89244791e+00] [ 4.69683961e-03 5.89324818e-05 9.99988968e-01 1.10014589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.091052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.61, Y:8.90, Z:0.11 [[ 9.38094528e-01 -3.46351602e-01 -4.38445458e-03 5.06130113e+01] [ 3.46347508e-01 9.38104772e-01 -1.68532840e-03 8.90415135e+00] [ 4.69679396e-03 6.24524312e-05 9.99988968e-01 1.05852381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.121052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.64, Y:8.92, Z:0.10 [[ 9.38360738e-01 -3.45629723e-01 -4.38406228e-03 5.06396994e+01] [ 3.45625616e-01 9.38370977e-01 -1.68634829e-03 8.91595797e+00] [ 4.69672889e-03 6.71588022e-05 9.99988968e-01 1.01594533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.151052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.67, Y:8.93, Z:0.10 [[ 9.38401379e-01 -3.45519370e-01 -4.38369435e-03 5.06658302e+01] [ 3.45515257e-01 9.38411616e-01 -1.68730418e-03 8.92595007e+00] [ 4.69670597e-03 6.87352901e-05 9.99988968e-01 1.01490518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.181052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.69, Y:8.93, Z:0.11 [[ 9.38250058e-01 -3.45930072e-01 -4.38327555e-03 5.06926739e+01] [ 3.45925959e-01 9.38260295e-01 -1.68839144e-03 8.93461985e+00] [ 4.69671878e-03 6.78445673e-05 9.99988968e-01 1.06526273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.211052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.72, Y:8.94, Z:0.11 [[ 9.38120583e-01 -3.46281045e-01 -4.38299270e-03 5.07200501e+01] [ 3.46276932e-01 9.38130819e-01 -1.68912539e-03 8.94192405e+00] [ 4.69673263e-03 6.68740351e-05 9.99988968e-01 1.10191883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.241052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.75, Y:8.95, Z:0.11 [[ 9.38028182e-01 -3.46531271e-01 -4.38278021e-03 5.07467210e+01] [ 3.46527158e-01 9.38038418e-01 -1.68967655e-03 8.95229504e+00] [ 4.69674198e-03 6.62118528e-05 9.99988968e-01 1.10325995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.271052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.77, Y:8.96, Z:0.11 [[ 9.38017042e-01 -3.46561429e-01 -4.38232919e-03 5.07737217e+01] [ 3.46557310e-01 9.38027277e-01 -1.69084551e-03 8.96221450e+00] [ 4.69672615e-03 6.73136884e-05 9.99988968e-01 1.12339554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.301052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.80, Y:8.97, Z:0.11 [[ 9.38577442e-01 -3.45040844e-01 -4.38193019e-03 5.07996193e+01] [ 3.45036704e-01 9.38587668e-01 -1.69187890e-03 8.97464623e+00] [ 4.69659296e-03 7.60326210e-05 9.99988968e-01 1.10993796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.331052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.82, Y:8.99, Z:0.11 [[ 9.38640929e-01 -3.44868030e-01 -4.38731953e-03 5.08236149e+01] [ 3.44863954e-01 9.38651180e-01 -1.67792066e-03 8.98543558e+00] [ 4.69682384e-03 6.19366475e-05 9.99988968e-01 1.08773873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.85, Y:9.00, Z:0.11 [[ 9.38577960e-01 -3.45039441e-01 -4.38145170e-03 5.08509524e+01] [ 3.45035296e-01 9.38588183e-01 -1.69310552e-03 8.99670486e+00] [ 4.69656698e-03 7.73560430e-05 9.99988968e-01 1.06525085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.391052754 meters Centerline goodness : 0.997991 Centerline is valid? [True, True] Translation: X:50.88, Y:9.01, Z:0.10 [[ 9.38947026e-01 -3.44033797e-01 -4.38520955e-03 5.08776579e+01] [ 3.44029686e-01 9.38957263e-01 -1.68337403e-03 9.00590250e+00] [ 4.69666191e-03 7.19567707e-05 9.99988968e-01 1.00046579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.421052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.90, Y:9.02, Z:0.11 [[ 9.38750727e-01 -3.44569071e-01 -4.38498150e-03 5.09038022e+01] [ 3.44564963e-01 9.38760966e-01 -1.68396426e-03 9.01537891e+00] [ 4.69669147e-03 6.99116862e-05 9.99988968e-01 1.10100774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.451052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.93, Y:9.02, Z:0.11 [[ 9.37819493e-01 -3.47095673e-01 -4.38091913e-03 5.09273975e+01] [ 3.47091543e-01 9.37829723e-01 -1.69446724e-03 9.02463649e+00] [ 4.69669841e-03 6.85244243e-05 9.99988968e-01 1.13654874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.481052754000004 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:50.96, Y:9.04, Z:0.11 [[ 9.38070897e-01 -3.46415818e-01 -4.36728346e-03 5.09605365e+01] [ 3.46411518e-01 9.38081057e-01 -1.72956381e-03 9.03510863e+00] [ 4.69601415e-03 1.09576181e-04 9.99988968e-01 1.07649254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.511052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.98, Y:9.05, Z:0.11 [[ 9.37944218e-01 -3.46758303e-01 -4.39580469e-03 5.09832848e+01] [ 3.46754349e-01 9.37954518e-01 -1.65608341e-03 9.04670975e+00] [ 4.69732554e-03 2.90494628e-05 9.99988967e-01 1.09601896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.541052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.01, Y:9.06, Z:0.11 [[ 9.37301988e-01 -3.48490730e-01 -4.38103966e-03 5.10076236e+01] [ 3.48486618e-01 9.37312225e-01 -1.69404616e-03 9.05795850e+00] [ 4.69676141e-03 6.10991418e-05 9.99988968e-01 1.10683979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.571052754 meters Centerline goodness : 0.997672 Centerline is valid? [True, True] Translation: X:51.03, Y:9.07, Z:0.11 [[ 9.37134580e-01 -3.48940729e-01 -4.37564479e-03 5.10348385e+01] [ 3.48936557e-01 9.37144793e-01 -1.70790496e-03 9.06800380e+00] [ 4.69657033e-03 7.37143740e-05 9.99988968e-01 1.05474352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.601052754 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:51.06, Y:9.08, Z:0.11 [[ 9.37015684e-01 -3.49259848e-01 -4.37792068e-03 5.10621696e+01] [ 3.49255707e-01 9.37025909e-01 -1.70205997e-03 9.07720765e+00] [ 4.69668632e-03 6.58431082e-05 9.99988968e-01 1.09817414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.631052754 meters Centerline goodness : 0.998556 Centerline is valid? [True, True] Translation: X:51.09, Y:9.09, Z:0.11 [[ 9.36974611e-01 -3.49370033e-01 -4.37699390e-03 5.10887154e+01] [ 3.49365882e-01 9.36984832e-01 -1.70443830e-03 9.08678805e+00] [ 4.69665656e-03 6.78430780e-05 9.99988968e-01 1.10336869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.661052754 meters Centerline goodness : 0.998227 Centerline is valid? [True, True] Translation: X:51.12, Y:9.10, Z:0.11 [[ 9.37474103e-01 -3.48027495e-01 -4.37824380e-03 5.11154810e+01] [ 3.48023344e-01 9.37484324e-01 -1.70123237e-03 9.09787071e+00] [ 4.69661057e-03 7.11302406e-05 9.99988968e-01 1.08553294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.691052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.14, Y:9.11, Z:0.11 [[ 9.37493083e-01 -3.47976351e-01 -4.37927597e-03 5.11400199e+01] [ 3.47972212e-01 9.37503309e-01 -1.69858790e-03 9.11080652e+00] [ 4.69665413e-03 6.85480585e-05 9.99988968e-01 1.13666662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.721052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.17, Y:9.12, Z:0.11 [[ 9.38112620e-01 -3.46302740e-01 -4.37321306e-03 5.11650152e+01] [ 3.46298510e-01 9.38122808e-01 -1.71411921e-03 9.12334993e+00] [ 4.69621510e-03 9.35996891e-05 9.99988968e-01 1.07257224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.751052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.19, Y:9.13, Z:0.11 [[ 9.37677459e-01 -3.47479289e-01 -4.37346194e-03 5.11922739e+01] [ 3.47475076e-01 9.37687654e-01 -1.71348186e-03 9.13401171e+00] [ 4.69634072e-03 8.70242999e-05 9.99988968e-01 1.07267822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.781052754 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:51.22, Y:9.14, Z:0.11 [[ 9.36635230e-01 -3.50278915e-01 -4.37357697e-03 5.12183239e+01] [ 3.50274733e-01 9.36645438e-01 -1.71318734e-03 9.14494409e+00] [ 4.69658432e-03 7.26781141e-05 9.99988968e-01 1.05502646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.811052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.24, Y:9.16, Z:0.10 [[ 9.36170090e-01 -3.51520170e-01 -4.37405013e-03 5.12449701e+01] [ 3.51516007e-01 9.36180306e-01 -1.71197634e-03 9.15588985e+00] [ 4.69669381e-03 6.51524090e-05 9.99988968e-01 1.04973811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.841052754 meters Centerline goodness : 0.997665 Centerline is valid? [True, True] Translation: X:51.27, Y:9.17, Z:0.10 [[ 9.36165872e-01 -3.51531396e-01 -4.37460477e-03 5.12708597e+01] [ 3.51527240e-01 9.36176091e-01 -1.71055726e-03 9.16575949e+00] [ 4.69671497e-03 6.35725928e-05 9.99988968e-01 9.99846244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.871052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.30, Y:9.18, Z:0.11 [[ 9.36289041e-01 -3.51203215e-01 -4.37424831e-03 5.12977215e+01] [ 3.51199051e-01 9.36299256e-01 -1.71146851e-03 9.17660439e+00] [ 4.69667868e-03 6.61973532e-05 9.99988968e-01 1.05926128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.901052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.33, Y:9.19, Z:0.11 [[ 9.36642577e-01 -3.50259250e-01 -4.37500995e-03 5.13254567e+01] [ 3.50255085e-01 9.36652792e-01 -1.70952261e-03 9.18701009e+00] [ 4.69664139e-03 6.88421847e-05 9.99988968e-01 1.06108406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.931052754 meters Centerline goodness : 0.998490 Centerline is valid? [True, True] Translation: X:51.35, Y:9.20, Z:0.10 [[ 9.36588730e-01 -3.50403152e-01 -4.37971650e-03 5.13501397e+01] [ 3.50399045e-01 9.36598969e-01 -1.69749818e-03 9.19956044e+00] [ 4.69684667e-03 5.52091866e-05 9.99988968e-01 1.04351790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.961052754 meters Centerline goodness : 0.997620 Centerline is valid? [True, True] Translation: X:51.38, Y:9.21, Z:0.11 [[ 9.35934486e-01 -3.52147014e-01 -4.37240419e-03 5.13762690e+01] [ 3.52142839e-01 9.35944697e-01 -1.71616514e-03 9.20805401e+00] [ 4.69667095e-03 6.65073120e-05 9.99988968e-01 1.06263123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.991052754 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:51.40, Y:9.22, Z:0.11 [[ 9.35356301e-01 -3.53679899e-01 -4.37265861e-03 5.14034737e+01] [ 3.53675743e-01 9.35366520e-01 -1.71551591e-03 9.21677304e+00] [ 4.69678196e-03 5.81153358e-05 9.99988968e-01 1.10423183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.021052754 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:51.43, Y:9.23, Z:0.11 [[ 9.34884169e-01 -3.54925999e-01 -4.37328759e-03 5.14294387e+01] [ 3.54921864e-01 9.34894397e-01 -1.71391151e-03 9.22542417e+00] [ 4.69687382e-03 5.01333483e-05 9.99988968e-01 1.13945604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.051052754000004 meters Centerline goodness : 0.998343 Centerline is valid? [True, True] Translation: X:51.46, Y:9.24, Z:0.12 [[ 9.33708820e-01 -3.58006616e-01 -4.37058874e-03 5.14572459e+01] [ 3.58002483e-01 9.33719048e-01 -1.72079465e-03 9.23524602e+00] [ 4.69695782e-03 4.20395172e-05 9.99988968e-01 1.20602559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.081052754 meters Centerline goodness : 0.997797 Centerline is valid? [True, True] Translation: X:51.48, Y:9.25, Z:0.12 [[ 9.33301742e-01 -3.59066457e-01 -4.37465324e-03 5.14834503e+01] [ 3.59062384e-01 9.33311994e-01 -1.71042908e-03 9.24561131e+00] [ 4.69707405e-03 2.55730222e-05 9.99988968e-01 1.19793044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.51, Y:9.26, Z:0.13 [[ 9.33282320e-01 -3.59116942e-01 -4.37407045e-03 5.15102812e+01] [ 3.59112863e-01 9.33292570e-01 -1.71191412e-03 9.25619772e+00] [ 4.69706482e-03 2.69142195e-05 9.99988968e-01 1.25108243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.141052754 meters Centerline goodness : 0.998057 Centerline is valid? [True, True] Translation: X:51.54, Y:9.27, Z:0.12 [[ 9.32228652e-01 -3.61843371e-01 -4.37212181e-03 5.15374357e+01] [ 3.61839299e-01 9.32238904e-01 -1.71687646e-03 9.26607170e+00] [ 4.69710241e-03 1.85159431e-05 9.99988968e-01 1.21933659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.171052754 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:51.56, Y:9.28, Z:0.12 [[ 9.32764604e-01 -3.60459464e-01 -4.37825456e-03 5.15629662e+01] [ 3.60455449e-01 9.32774879e-01 -1.70126280e-03 9.27521312e+00] [ 4.69716215e-03 8.71200928e-06 9.99988968e-01 1.22530711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.201052754 meters Centerline goodness : 0.998410 Centerline is valid? [True, True] Translation: X:51.59, Y:9.29, Z:0.12 [[ 9.32448077e-01 -3.61277593e-01 -4.36871917e-03 5.15901147e+01] [ 3.61273473e-01 9.32458310e-01 -1.72552174e-03 9.28595287e+00] [ 4.69704084e-03 3.06570828e-05 9.99988968e-01 1.20847495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.231052754000004 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:51.62, Y:9.30, Z:0.12 [[ 9.32854759e-01 -3.60226148e-01 -4.37263110e-03 5.16167923e+01] [ 3.60222064e-01 9.32865007e-01 -1.71557159e-03 9.29680572e+00] [ 4.69706829e-03 2.52609210e-05 9.99988968e-01 1.16281848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.261052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.64, Y:9.31, Z:0.12 [[ 9.33359989e-01 -3.58915064e-01 -4.37113599e-03 5.16421857e+01] [ 3.58910948e-01 9.33370224e-01 -1.71937192e-03 9.30746779e+00] [ 4.69699666e-03 3.59443945e-05 9.99988968e-01 1.18166973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.291052754 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:51.67, Y:9.32, Z:0.11 [[ 9.34870924e-01 -3.54960915e-01 -4.37085432e-03 5.16663420e+01] [ 3.54956752e-01 9.34881140e-01 -1.72008766e-03 9.31881542e+00] [ 4.69679316e-03 5.65956836e-05 9.99988968e-01 1.08753454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.69, Y:9.33, Z:0.12 [[ 9.35961082e-01 -3.52076434e-01 -4.36316931e-03 5.16936321e+01] [ 3.52072149e-01 9.35971247e-01 -1.73959655e-03 9.33251966e+00] [ 4.69627197e-03 9.20442710e-05 9.99988968e-01 1.16443205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.351052754 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:51.72, Y:9.34, Z:0.11 [[ 9.36642761e-01 -3.50258817e-01 -4.37026277e-03 5.17191388e+01] [ 3.50254595e-01 9.36652953e-01 -1.72158976e-03 9.34409721e+00] [ 4.69642153e-03 8.18099684e-05 9.99988968e-01 1.08260884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.75, Y:9.36, Z:0.12 [[ 9.36877402e-01 -3.49630778e-01 -4.36493052e-03 5.17464275e+01] [ 3.49626487e-01 9.36887565e-01 -1.73511647e-03 9.35628094e+00] [ 4.69609925e-03 9.94960938e-05 9.99988968e-01 1.15882700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.77, Y:9.37, Z:0.12 [[ 9.37385224e-01 -3.48266921e-01 -4.36969747e-03 5.17735418e+01] [ 3.48262671e-01 9.37395404e-01 -1.72302721e-03 9.36714360e+00] [ 4.69620770e-03 9.33377352e-05 9.99988968e-01 1.18548748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.441052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.80, Y:9.38, Z:0.12 [[ 9.37343647e-01 -3.48378811e-01 -4.36929546e-03 5.17999237e+01] [ 3.48374558e-01 9.37353826e-01 -1.72404604e-03 9.37717467e+00] [ 4.69619692e-03 9.38722323e-05 9.99988968e-01 1.20970201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.471052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.83, Y:9.39, Z:0.12 [[ 9.36379130e-01 -3.50963045e-01 -4.36636761e-03 5.18269940e+01] [ 3.50958785e-01 9.36389306e-01 -1.73146278e-03 9.38698593e+00] [ 4.69629938e-03 8.88905464e-05 9.99988968e-01 1.20800922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.501052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.85, Y:9.40, Z:0.12 [[ 9.35196768e-01 -3.54101562e-01 -4.36902618e-03 5.18530480e+01] [ 3.54097368e-01 9.35206972e-01 -1.72472816e-03 9.39630677e+00] [ 4.69667268e-03 6.58995361e-05 9.99988968e-01 1.19958664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.531052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.88, Y:9.41, Z:0.12 [[ 9.34732529e-01 -3.55325222e-01 -4.36881359e-03 5.18803061e+01] [ 3.55321039e-01 9.34742736e-01 -1.72526651e-03 9.40658132e+00] [ 4.69674747e-03 6.03313477e-05 9.99988968e-01 1.20590755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.561052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.91, Y:9.42, Z:0.12 [[ 9.33794941e-01 -3.57781951e-01 -4.36842145e-03 5.19061778e+01] [ 3.57777790e-01 9.33805158e-01 -1.72625883e-03 9.41629109e+00] [ 4.69687874e-03 4.90475863e-05 9.99988968e-01 1.21087625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.591052754 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:51.93, Y:9.43, Z:0.11 [[ 9.33545337e-01 -3.58432734e-01 -4.36797380e-03 5.19319426e+01] [ 3.58428575e-01 9.33555554e-01 -1.72739080e-03 9.42634457e+00] [ 4.69689961e-03 4.69910018e-05 9.99988968e-01 1.14858364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.621052754 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:51.96, Y:9.44, Z:0.12 [[ 9.32591516e-01 -3.60907247e-01 -4.36146728e-03 5.19606382e+01] [ 3.60903038e-01 9.32601714e-01 -1.74383967e-03 9.43794335e+00] [ 4.69687623e-03 5.22232924e-05 9.99988968e-01 1.16470137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.651052754 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:51.99, Y:9.45, Z:0.12 [[ 9.31880783e-01 -3.62738326e-01 -4.37184075e-03 5.19879725e+01] [ 3.62734259e-01 9.31891038e-01 -1.71760526e-03 9.44989896e+00] [ 4.69712047e-03 1.47869176e-05 9.99988968e-01 1.19856221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.681052754 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:52.01, Y:9.46, Z:0.12 [[ 9.33065507e-01 -3.59679795e-01 -4.38228138e-03 5.20120602e+01] [ 3.59675819e-01 9.33075798e-01 -1.69122122e-03 9.45931994e+00] [ 4.69729880e-03 1.81953939e-06 9.99988968e-01 1.18131951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.711052754 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:52.04, Y:9.47, Z:0.12 [[ 9.33854124e-01 -3.57627542e-01 -4.36084368e-03 5.20368393e+01] [ 3.57623290e-01 9.33864303e-01 -1.74531707e-03 9.47276628e+00] [ 4.69660970e-03 7.03322847e-05 9.99988968e-01 1.17965833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.741052754 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:52.06, Y:9.48, Z:0.12 [[ 9.34213407e-01 -3.56687964e-01 -4.35970976e-03 5.20636861e+01] [ 3.56683689e-01 9.34223576e-01 -1.74818017e-03 9.48437758e+00] [ 4.69649847e-03 7.81359907e-05 9.99988968e-01 1.19916896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.771052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.09, Y:9.50, Z:0.12 [[ 9.34788927e-01 -3.55176904e-01 -4.36222482e-03 5.20885791e+01] [ 3.55172641e-01 9.34799102e-01 -1.74183267e-03 9.49736949e+00] [ 4.69646258e-03 7.89029771e-05 9.99988968e-01 1.19851637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.801052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.12, Y:9.51, Z:0.12 [[ 9.35898666e-01 -3.52242382e-01 -4.35799451e-03 5.21169783e+01] [ 3.52238038e-01 9.35908806e-01 -1.75252726e-03 9.50695973e+00] [ 4.69599982e-03 1.05136491e-04 9.99988968e-01 1.18240841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.831052754 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:52.14, Y:9.52, Z:0.11 [[ 9.36066847e-01 -3.51795082e-01 -4.36784483e-03 5.21427725e+01] [ 3.51790850e-01 9.36077034e-01 -1.72762331e-03 9.51866465e+00] [ 4.69640861e-03 8.06030598e-05 9.99988969e-01 1.11894002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.17, Y:9.53, Z:0.12 [[ 9.35960724e-01 -3.52077359e-01 -4.36538565e-03 5.21689118e+01] [ 3.52073101e-01 9.35970900e-01 -1.73383682e-03 9.52777902e+00] [ 4.69631863e-03 8.58682994e-05 9.99988969e-01 1.16619447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.891052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.20, Y:9.54, Z:0.12 [[ 9.35211930e-01 -3.54061540e-01 -4.36710210e-03 5.21963525e+01] [ 3.54057323e-01 9.35222124e-01 -1.72950268e-03 9.53621547e+00] [ 4.69656088e-03 7.12470611e-05 9.99988969e-01 1.17920267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.921052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.22, Y:9.55, Z:0.12 [[ 9.34699497e-01 -3.55412151e-01 -4.36497652e-03 5.22243667e+01] [ 3.55407924e-01 9.34709686e-01 -1.73486798e-03 9.54544808e+00] [ 4.69657899e-03 7.02329868e-05 9.99988969e-01 1.19668219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.951052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.25, Y:9.55, Z:0.12 [[ 9.33612733e-01 -3.58257167e-01 -4.36661889e-03 5.22517960e+01] [ 3.58252990e-01 9.33622943e-01 -1.73072427e-03 9.55411505e+00] [ 4.69681995e-03 5.14719407e-05 9.99988969e-01 1.21623876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.981052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.28, Y:9.56, Z:0.12 [[ 9.33300361e-01 -3.59070150e-01 -4.36620399e-03 5.22788919e+01] [ 3.59065977e-01 9.33310573e-01 -1.73177033e-03 9.56410117e+00] [ 4.69685138e-03 4.85065706e-05 9.99988969e-01 1.21806042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.011052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.31, Y:9.57, Z:0.12 [[ 9.32935091e-01 -3.60018133e-01 -4.36578992e-03 5.23053103e+01] [ 3.60013965e-01 9.32945305e-01 -1.73281356e-03 9.57387577e+00] [ 4.69688751e-03 4.48572372e-05 9.99988969e-01 1.21657931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.041052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.33, Y:9.58, Z:0.12 [[ 9.32530705e-01 -3.61064294e-01 -4.36564224e-03 5.23315026e+01] [ 3.61060137e-01 9.32540923e-01 -1.73318555e-03 9.58386710e+00] [ 4.69693146e-03 3.99893607e-05 9.99988969e-01 1.20736727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.36, Y:9.59, Z:0.12 [[ 9.31868423e-01 -3.62770155e-01 -4.36549686e-03 5.23591878e+01] [ 3.62766014e-01 9.31878648e-01 -1.73355166e-03 9.59286940e+00] [ 4.69699411e-03 3.17881569e-05 9.99988969e-01 1.22428324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.101052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.39, Y:9.60, Z:0.12 [[ 9.31545597e-01 -3.63598331e-01 -4.36508282e-03 5.23853386e+01] [ 3.63594194e-01 9.31555824e-01 -1.73459359e-03 9.60344250e+00] [ 4.69701365e-03 2.87342532e-05 9.99988969e-01 1.21487788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.41, Y:9.61, Z:0.12 [[ 9.32015200e-01 -3.62392903e-01 -4.36467174e-03 5.24142067e+01] [ 3.62388748e-01 9.32025420e-01 -1.73562734e-03 9.61364716e+00] [ 4.69696404e-03 3.59231382e-05 9.99988969e-01 1.21093182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.44, Y:9.62, Z:0.12 [[ 9.31872867e-01 -3.62758631e-01 -4.37443656e-03 5.24408091e+01] [ 3.62754595e-01 9.31883134e-01 -1.71106913e-03 9.62437813e+00] [ 4.69716875e-03 7.65193442e-06 9.99988968e-01 1.21241615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.191052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.46, Y:9.64, Z:0.12 [[ 9.31795851e-01 -3.62956417e-01 -4.37387152e-03 5.24646584e+01] [ 3.62952377e-01 9.31806117e-01 -1.71248876e-03 9.63550559e+00] [ 4.69715902e-03 8.18285721e-06 9.99988968e-01 1.22074488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.221052754 meters Centerline goodness : 0.998154 Centerline is valid? [True, True] Translation: X:52.50, Y:9.65, Z:0.12 [[ 9.32981704e-01 -3.59897348e-01 -4.36343417e-03 5.24952476e+01] [ 3.59893152e-01 9.32991906e-01 -1.73868256e-03 9.64554995e+00] [ 4.69679600e-03 5.17889451e-05 9.99988969e-01 1.18836511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.251052754 meters Centerline goodness : 0.997795 Centerline is valid? [True, True] Translation: X:52.52, Y:9.66, Z:0.12 [[ 9.33405260e-01 -3.58797197e-01 -4.38095173e-03 5.25206763e+01] [ 3.58793195e-01 9.33415541e-01 -1.69468810e-03 9.65634614e+00] [ 4.69729776e-03 9.97512209e-06 9.99988968e-01 1.17770557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.281052754 meters Centerline goodness : 0.998179 Centerline is valid? [True, True] Translation: X:52.55, Y:9.67, Z:0.12 [[ 9.34009210e-01 -3.57222098e-01 -4.37818920e-03 5.25468211e+01] [ 3.57218046e-01 9.34019471e-01 -1.70161871e-03 9.66886929e+00] [ 4.69716977e-03 2.53593577e-05 9.99988968e-01 1.16711525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.311052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.57, Y:9.68, Z:0.12 [[ 9.33723680e-01 -3.57967759e-01 -4.37865817e-03 5.25711025e+01] [ 3.57963721e-01 9.33733947e-01 -1.70044400e-03 9.68157614e+00] [ 4.69720590e-03 2.03440637e-05 9.99988968e-01 1.17349764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.341052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.60, Y:9.69, Z:0.12 [[ 9.33618237e-01 -3.58242816e-01 -4.36718297e-03 5.25965459e+01] [ 3.58238646e-01 9.33628450e-01 -1.72909376e-03 9.69208134e+00] [ 4.69676168e-03 4.98197579e-05 9.99988969e-01 1.18329190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.371052754 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:52.62, Y:9.70, Z:0.12 [[ 9.33303335e-01 -3.59062420e-01 -4.36609976e-03 5.26245876e+01] [ 3.59058247e-01 9.33313547e-01 -1.73180000e-03 9.70165327e+00] [ 4.69676435e-03 4.86105907e-05 9.99988969e-01 1.18024942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.401052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.65, Y:9.71, Z:0.12 [[ 9.33106168e-01 -3.59574424e-01 -4.37180068e-03 5.26478955e+01] [ 3.59570323e-01 9.33116409e-01 -1.71756140e-03 9.71256311e+00] [ 4.69699010e-03 3.06973551e-05 9.99988969e-01 1.20969877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.431052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.67, Y:9.72, Z:0.12 [[ 9.32942504e-01 -3.59998998e-01 -4.35969742e-03 5.26742906e+01] [ 3.59994760e-01 9.32952688e-01 -1.74775250e-03 9.72252910e+00] [ 4.69658057e-03 6.10843671e-05 9.99988969e-01 1.20793801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.461052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.70, Y:9.73, Z:0.12 [[ 9.32946414e-01 -3.59988865e-01 -4.35955169e-03 5.26992677e+01] [ 3.59984626e-01 9.32956598e-01 -1.74811592e-03 9.73485251e+00] [ 4.69657478e-03 6.15268990e-05 9.99988969e-01 1.19490273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.72, Y:9.75, Z:0.12 [[ 9.32996029e-01 -3.59860263e-01 -4.35907463e-03 5.27247528e+01] [ 3.59856017e-01 9.33006209e-01 -1.74930470e-03 9.74642914e+00] [ 4.69654895e-03 6.34551033e-05 9.99988969e-01 1.17883223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.75, Y:9.76, Z:0.12 [[ 9.32930558e-01 -3.60029966e-01 -4.35859158e-03 5.27505652e+01] [ 3.60025717e-01 9.32940737e-01 -1.75050744e-03 9.75658810e+00] [ 4.69654278e-03 6.38968243e-05 9.99988969e-01 1.16943259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.551052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.78, Y:9.77, Z:0.12 [[ 9.32734931e-01 -3.60536483e-01 -4.35813787e-03 5.27764116e+01] [ 3.60532233e-01 9.32745110e-01 -1.75163629e-03 9.76646280e+00] [ 4.69656058e-03 6.25631785e-05 9.99988969e-01 1.18501180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.581052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.80, Y:9.78, Z:0.12 [[ 9.32566385e-01 -3.60972227e-01 -4.35764454e-03 5.28017208e+01] [ 3.60967976e-01 9.32576564e-01 -1.75286271e-03 9.77682965e+00] [ 4.69657193e-03 6.16907137e-05 9.99988969e-01 1.19116267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.83, Y:9.79, Z:0.12 [[ 9.32388201e-01 -3.61432228e-01 -4.35743334e-03 5.28268867e+01] [ 3.61427980e-01 9.32398381e-01 -1.75338758e-03 9.78660871e+00] [ 4.69659457e-03 5.99395622e-05 9.99988969e-01 1.18774463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.641052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.85, Y:9.80, Z:0.12 [[ 9.32178754e-01 -3.61972077e-01 -4.35722392e-03 5.28532370e+01] [ 3.61967832e-01 9.32188936e-01 -1.75390785e-03 9.79705045e+00] [ 4.69662159e-03 5.77807365e-05 9.99988969e-01 1.18730044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.671052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.88, Y:9.81, Z:0.12 [[ 9.32012112e-01 -3.62400940e-01 -4.35675265e-03 5.28789839e+01] [ 3.62396695e-01 9.32022293e-01 -1.75507771e-03 9.80909238e+00] [ 4.69663241e-03 5.68809246e-05 9.99988969e-01 1.16645375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.701052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.90, Y:9.82, Z:0.11 [[ 9.31937238e-01 -3.62593447e-01 -4.35628216e-03 5.29039084e+01] [ 3.62589198e-01 9.31947417e-01 -1.75624473e-03 9.82064344e+00] [ 4.69662874e-03 5.71690029e-05 9.99988969e-01 1.14449444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.731052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.93, Y:9.83, Z:0.11 [[ 9.32120409e-01 -3.62122310e-01 -4.35613590e-03 5.29290784e+01] [ 3.62118054e-01 9.32130586e-01 -1.75660744e-03 9.83189387e+00] [ 4.69659425e-03 5.99341872e-05 9.99988969e-01 1.12650280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.761052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.96, Y:9.84, Z:0.11 [[ 9.32164424e-01 -3.62008993e-01 -4.35599073e-03 5.29553601e+01] [ 3.62004735e-01 9.32174600e-01 -1.75696736e-03 9.84269609e+00] [ 4.69658190e-03 6.08931974e-05 9.99988969e-01 1.14108273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.791052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.98, Y:9.85, Z:0.12 [[ 9.31445754e-01 -3.63854141e-01 -4.35550938e-03 5.29820075e+01] [ 3.63849897e-01 9.31455936e-01 -1.75815982e-03 9.85255288e+00] [ 4.69667880e-03 5.28788599e-05 9.99988969e-01 1.15710930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.821052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.01, Y:9.86, Z:0.12 [[ 9.30627071e-01 -3.65943012e-01 -4.35502758e-03 5.30078469e+01] [ 3.65938785e-01 9.30637260e-01 -1.75935244e-03 9.86294316e+00] [ 4.69677367e-03 4.36275020e-05 9.99988969e-01 1.15862640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.851052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.03, Y:9.87, Z:0.12 [[ 9.28877187e-01 -3.70362267e-01 -4.35454644e-03 5.30334683e+01] [ 3.70358083e-01 9.28887394e-01 -1.76054251e-03 9.87335612e+00] [ 4.69692180e-03 2.25863010e-05 9.99988969e-01 1.15394673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.881052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.06, Y:9.88, Z:0.12 [[ 9.27479427e-01 -3.73848840e-01 -4.35405912e-03 5.30596146e+01] [ 3.73844689e-01 9.27489647e-01 -1.76174688e-03 9.88322086e+00] [ 4.69697178e-03 6.24210875e-06 9.99988969e-01 1.15726985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.911052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.09, Y:9.89, Z:0.12 [[ 9.26941714e-01 -3.75180092e-01 -4.35390929e-03 5.30856602e+01] [ 3.75175954e-01 9.26951940e-01 -1.76211709e-03 9.89301370e+00] [ 4.69697591e-03 -1.02236759e-07 9.99988969e-01 1.18047387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.941052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.11, Y:9.90, Z:0.12 [[ 9.26440594e-01 -3.76415825e-01 -4.35342113e-03 5.31114780e+01] [ 3.76411695e-01 9.26450823e-01 -1.76332229e-03 9.90284443e+00] [ 4.69697300e-03 -5.06527541e-06 9.99988969e-01 1.20826446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.971052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.14, Y:9.91, Z:0.12 [[ 9.26020543e-01 -3.77448013e-01 -4.35326907e-03 5.31380461e+01] [ 3.77443893e-01 9.26030775e-01 -1.76369762e-03 9.91376154e+00] [ 4.69696529e-03 -9.89459400e-06 9.99988969e-01 1.22955230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.001052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.16, Y:9.93, Z:0.12 [[ 9.25791017e-01 -3.78010643e-01 -4.35286018e-03 5.31648265e+01] [ 3.78006524e-01 9.25801250e-01 -1.76470620e-03 9.92528453e+00] [ 4.69696112e-03 -1.16603940e-05 9.99988969e-01 1.24640244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.031052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.19, Y:9.94, Z:0.13 [[ 9.26448859e-01 -3.76395494e-01 -4.35244766e-03 5.31903706e+01] [ 3.76391352e-01 9.26459083e-01 -1.76572304e-03 9.93776935e+00] [ 4.69697486e-03 -2.37156576e-06 9.99988969e-01 1.25728829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.061052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.22, Y:9.95, Z:0.13 [[ 9.27256934e-01 -3.74400369e-01 -4.35229955e-03 5.32160641e+01] [ 3.74396203e-01 9.27267148e-01 -1.76608804e-03 9.94867314e+00] [ 4.69696840e-03 8.13295404e-06 9.99988969e-01 1.26810377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.091052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.24, Y:9.96, Z:0.13 [[ 9.27740129e-01 -3.73201440e-01 -4.35182705e-03 5.32413132e+01] [ 3.73197256e-01 9.27750336e-01 -1.76725156e-03 9.95793403e+00] [ 4.69694983e-03 1.54602759e-05 9.99988969e-01 1.27126929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.121052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.27, Y:9.97, Z:0.13 [[ 9.28393743e-01 -3.71572499e-01 -4.35162254e-03 5.32679455e+01] [ 3.71568294e-01 9.28403941e-01 -1.76775500e-03 9.96845973e+00] [ 4.69691266e-03 2.42477205e-05 9.99988969e-01 1.26164851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.151052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.29, Y:9.98, Z:0.13 [[ 9.28721273e-01 -3.70753104e-01 -4.35120904e-03 5.32934191e+01] [ 3.70748886e-01 9.28731466e-01 -1.76877220e-03 9.98005978e+00] [ 4.69688254e-03 2.94904692e-05 9.99988969e-01 1.25282359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.181052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.32, Y:9.99, Z:0.12 [[ 9.29691948e-01 -3.68312305e-01 -4.35071792e-03 5.33189021e+01] [ 3.68308054e-01 9.29702127e-01 -1.76997943e-03 9.99286812e+00] [ 4.69677690e-03 4.31311678e-05 9.99988969e-01 1.21814298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.211052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.35, Y:10.00, Z:0.12 [[ 9.30269915e-01 -3.66850052e-01 -4.35029120e-03 5.33457990e+01] [ 3.66845781e-01 9.30280085e-01 -1.77102761e-03 1.00044901e+01] [ 4.69669083e-03 5.16477324e-05 9.99988969e-01 1.20834253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.241052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.37, Y:10.02, Z:0.12 [[ 9.31276678e-01 -3.64286739e-01 -4.34987049e-03 5.33714258e+01] [ 3.64282435e-01 9.31286834e-01 -1.77206031e-03 1.00152689e+01] [ 4.69651519e-03 6.56970194e-05 9.99988969e-01 1.18024336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.271052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.40, Y:10.03, Z:0.12 [[ 9.31554057e-01 -3.63576840e-01 -4.34972102e-03 5.33974114e+01] [ 3.63572527e-01 9.31564209e-01 -1.77242712e-03 1.00252587e+01] [ 4.69645788e-03 6.96726068e-05 9.99988969e-01 1.17546584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.301052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.43, Y:10.03, Z:0.11 [[ 9.32206674e-01 -3.61900259e-01 -4.34957286e-03 5.34290411e+01] [ 3.61895925e-01 9.32216818e-01 -1.77279064e-03 1.00340178e+01] [ 4.69631837e-03 7.85145660e-05 9.99988969e-01 1.13432074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.331052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.45, Y:10.05, Z:0.12 [[ 9.31208833e-01 -3.64459951e-01 -4.36495095e-03 5.34524065e+01] [ 3.64455822e-01 9.31219063e-01 -1.73503921e-03 1.00471815e+01] [ 4.69707784e-03 2.48520514e-05 9.99988968e-01 1.16810736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.48, Y:10.06, Z:0.12 [[ 9.30444237e-01 -3.66407708e-01 -4.34904827e-03 5.34782726e+01] [ 3.66403418e-01 9.30454399e-01 -1.77402488e-03 1.00576276e+01] [ 4.69660749e-03 5.71250779e-05 9.99988969e-01 1.16133588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.391052754 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:53.51, Y:10.07, Z:0.11 [[ 9.30347183e-01 -3.66654072e-01 -4.34857183e-03 5.35059489e+01] [ 3.66649779e-01 9.30357345e-01 -1.77519200e-03 1.00676446e+01] [ 4.69660711e-03 5.71419809e-05 9.99988969e-01 1.11062916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.421052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.53, Y:10.08, Z:0.11 [[ 9.30319983e-01 -3.66723008e-01 -4.35490271e-03 5.35318517e+01] [ 3.66718788e-01 9.30330175e-01 -1.75968472e-03 1.00771032e+01] [ 4.69681427e-03 4.00452178e-05 9.99988969e-01 1.12541039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.451052754 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:53.56, Y:10.09, Z:0.11 [[ 9.29918040e-01 -3.67741032e-01 -4.35581659e-03 5.35577522e+01] [ 3.67736834e-01 9.29928240e-01 -1.75744613e-03 1.00885492e+01] [ 4.69688191e-03 3.24866615e-05 9.99988969e-01 1.11968987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.481052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.58, Y:10.10, Z:0.12 [[ 9.29181491e-01 -3.69598185e-01 -4.35187148e-03 5.35837088e+01] [ 3.69593962e-01 9.29191681e-01 -1.76709874e-03 1.01009039e+01] [ 4.69683927e-03 3.35300238e-05 9.99988969e-01 1.22721829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.511052754 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:53.61, Y:10.11, Z:0.12 [[ 9.29207091e-01 -3.69533871e-01 -4.34732993e-03 5.36103927e+01] [ 3.69529596e-01 9.29217260e-01 -1.77820187e-03 1.01124587e+01] [ 4.69671983e-03 4.58507191e-05 9.99988969e-01 1.18644962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.541052754 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:53.63, Y:10.13, Z:0.11 [[ 9.28704302e-01 -3.70795655e-01 -4.34774608e-03 5.36347262e+01] [ 3.70791398e-01 9.28714478e-01 -1.77718479e-03 1.01256806e+01] [ 4.69678712e-03 3.83723118e-05 9.99988969e-01 1.14293392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.571052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.66, Y:10.14, Z:0.12 [[ 9.28148578e-01 -3.72184518e-01 -4.34772649e-03 5.36616625e+01] [ 3.72180276e-01 9.28158760e-01 -1.77723264e-03 1.01375017e+01] [ 4.69683890e-03 3.13979037e-05 9.99988969e-01 1.20643831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.601052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.69, Y:10.15, Z:0.12 [[ 9.27925521e-01 -3.72740304e-01 -4.34657633e-03 5.36893213e+01] [ 3.72736055e-01 9.27935701e-01 -1.78004115e-03 1.01475847e+01] [ 4.69683643e-03 3.16198952e-05 9.99988969e-01 1.20566007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.631052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.72, Y:10.16, Z:0.12 [[ 9.27711616e-01 -3.73272379e-01 -4.34618570e-03 5.37157601e+01] [ 3.73268131e-01 9.27721796e-01 -1.78099442e-03 1.01569811e+01] [ 4.69684722e-03 2.99565956e-05 9.99988969e-01 1.20764513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.661052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.74, Y:10.17, Z:0.12 [[ 9.27663656e-01 -3.73391556e-01 -4.34603701e-03 5.37421117e+01] [ 3.73387308e-01 9.27673836e-01 -1.78135718e-03 1.01685156e+01] [ 4.69684855e-03 2.97452548e-05 9.99988969e-01 1.20518371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.691052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.76, Y:10.18, Z:0.12 [[ 9.26498636e-01 -3.76273030e-01 -4.34561386e-03 5.37622161e+01] [ 3.76268809e-01 9.26508827e-01 -1.78238886e-03 1.01817205e+01] [ 4.69691445e-03 1.62619024e-05 9.99988969e-01 1.22393275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.721052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.79, Y:10.19, Z:0.12 [[ 9.26405681e-01 -3.76502119e-01 -4.32063793e-03 5.37871096e+01] [ 3.76497616e-01 9.26415753e-01 -1.84321223e-03 1.01929268e+01] [ 4.69668035e-03 8.08524029e-05 9.99988967e-01 1.17696512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.751052754 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:53.82, Y:10.20, Z:0.11 [[ 9.26861820e-01 -3.75377860e-01 -4.31614468e-03 5.38218282e+01] [ 3.75373294e-01 9.26871864e-01 -1.85408518e-03 1.02035035e+01] [ 4.69649560e-03 9.83153194e-05 9.99988967e-01 1.09404289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.781052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.85, Y:10.21, Z:0.12 [[ 9.26838585e-01 -3.75434896e-01 -4.34475608e-03 5.38481201e+01] [ 3.75430654e-01 9.26848768e-01 -1.78476408e-03 1.02130984e+01] [ 4.69699454e-03 2.30335911e-05 9.99988969e-01 1.20922846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.811052754 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:53.88, Y:10.22, Z:0.12 [[ 9.26791187e-01 -3.75551923e-01 -4.34149575e-03 5.38766061e+01] [ 3.75547646e-01 9.26801355e-01 -1.79266001e-03 1.02228624e+01] [ 4.69694106e-03 3.09829938e-05 9.99988969e-01 1.16272278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.841052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.90, Y:10.23, Z:0.13 [[ 9.27374848e-01 -3.74108240e-01 -4.34922527e-03 5.39006754e+01] [ 3.74104034e-01 9.27385047e-01 -1.77394064e-03 1.02329477e+01] [ 4.69705228e-03 1.80452115e-05 9.99988969e-01 1.27563926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.871052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.93, Y:10.24, Z:0.13 [[ 9.27719936e-01 -3.73251759e-01 -4.34097858e-03 5.39269317e+01] [ 3.73247450e-01 9.27730092e-01 -1.79389646e-03 1.02440692e+01] [ 4.69683147e-03 4.39743210e-05 9.99988969e-01 1.28726122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.901052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.95, Y:10.26, Z:0.13 [[ 9.27756416e-01 -3.73161082e-01 -4.34050148e-03 5.39518982e+01] [ 3.73156767e-01 9.27766568e-01 -1.79505012e-03 1.02571226e+01] [ 4.69681500e-03 4.56817726e-05 9.99988969e-01 1.30305414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.931052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.98, Y:10.27, Z:0.13 [[ 9.27708546e-01 -3.73280150e-01 -4.33404514e-03 5.39775100e+01] [ 3.73275764e-01 9.27718667e-01 -1.81065736e-03 1.02691258e+01] [ 4.69665703e-03 6.19682930e-05 9.99988969e-01 1.30146138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.961052754 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:54.01, Y:10.28, Z:0.12 [[ 9.27283262e-01 -3.74335395e-01 -4.33167112e-03 5.40055093e+01] [ 3.74330994e-01 9.27293377e-01 -1.81638230e-03 1.02797762e+01] [ 4.69666613e-03 6.28221561e-05 9.99988969e-01 1.17962324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.991052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.03, Y:10.29, Z:0.13 [[ 9.25754888e-01 -3.78099246e-01 -4.34147200e-03 5.40302003e+01] [ 3.78094996e-01 9.25765067e-01 -1.79275482e-03 1.02912078e+01] [ 4.69702237e-03 1.81626980e-05 9.99988969e-01 1.29611643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.06, Y:10.30, Z:0.13 [[ 9.24740864e-01 -3.80572688e-01 -4.33165580e-03 5.40598201e+01] [ 3.80568354e-01 9.24751009e-01 -1.81644591e-03 1.02988310e+01] [ 4.69699277e-03 3.12506434e-05 9.99988969e-01 1.28898843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.051052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.09, Y:10.31, Z:0.13 [[ 9.24638690e-01 -3.80820777e-01 -4.33924742e-03 5.40862276e+01] [ 3.80816532e-01 9.24648871e-01 -1.79812575e-03 1.03098503e+01] [ 4.69704388e-03 1.01594806e-05 9.99988969e-01 1.29043382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.081052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.11, Y:10.32, Z:0.13 [[ 9.23147535e-01 -3.84421388e-01 -4.33876451e-03 5.41121871e+01] [ 3.84417177e-01 9.23157731e-01 -1.79929023e-03 1.03196558e+01] [ 4.69704965e-03 -6.88525905e-06 9.99988969e-01 1.29739367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.14, Y:10.33, Z:0.13 [[ 9.22621539e-01 -3.85682087e-01 -4.33861504e-03 5.41384384e+01] [ 3.85677889e-01 9.22631740e-01 -1.79965057e-03 1.03308949e+01] [ 4.69703694e-03 -1.29115115e-05 9.99988969e-01 1.31933461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.141052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.16, Y:10.34, Z:0.13 [[ 9.22423052e-01 -3.86156565e-01 -4.33813519e-03 5.41643904e+01] [ 3.86152367e-01 9.22433253e-01 -1.80080654e-03 1.03439272e+01] [ 4.69703342e-03 -1.40757028e-05 9.99988969e-01 1.27918813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.171052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.19, Y:10.36, Z:0.13 [[ 9.22997647e-01 -3.84781139e-01 -4.33818697e-03 5.41894047e+01] [ 3.84776925e-01 9.23007841e-01 -1.80068185e-03 1.03553512e+01] [ 4.69704900e-03 -7.20913554e-06 9.99988969e-01 1.28496763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.201052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.22, Y:10.37, Z:0.13 [[ 9.23997863e-01 -3.82373029e-01 -4.33763165e-03 5.42164525e+01] [ 3.82368783e-01 9.24008045e-01 -1.80201854e-03 1.03660086e+01] [ 4.69704983e-03 6.48634801e-06 9.99988969e-01 1.28445699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.231052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.24, Y:10.38, Z:0.13 [[ 9.24871605e-01 -3.80254787e-01 -4.33721265e-03 5.42433076e+01] [ 3.80250513e-01 9.24881774e-01 -1.80302647e-03 1.03755099e+01] [ 4.69701838e-03 1.83406496e-05 9.99988969e-01 1.30575612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.261052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.27, Y:10.39, Z:0.13 [[ 9.25431844e-01 -3.78889292e-01 -4.33673005e-03 5.42689331e+01] [ 3.78884997e-01 9.25442005e-01 -1.80418649e-03 1.03859348e+01] [ 4.69697909e-03 2.65296784e-05 9.99988969e-01 1.31712046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.291052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.30, Y:10.40, Z:0.13 [[ 9.26068579e-01 -3.77330338e-01 -4.33624500e-03 5.42980717e+01] [ 3.77326021e-01 9.26078730e-01 -1.80535152e-03 1.03979424e+01] [ 4.69691817e-03 3.57012435e-05 9.99988969e-01 1.33327995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.32, Y:10.41, Z:0.13 [[ 9.27399614e-01 -3.74046897e-01 -4.34456068e-03 5.43211784e+01] [ 3.74042637e-01 9.27409790e-01 -1.78538199e-03 1.04110022e+01] [ 4.69700470e-03 3.07116350e-05 9.99988969e-01 1.31349237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.351052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.35, Y:10.42, Z:0.13 [[ 9.27858600e-01 -3.72906990e-01 -4.33536460e-03 5.43472670e+01] [ 3.72902615e-01 9.27868726e-01 -1.80743991e-03 1.04221869e+01] [ 4.69665620e-03 6.03798645e-05 9.99988969e-01 1.31296780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.37, Y:10.43, Z:0.13 [[ 9.28479227e-01 -3.71359037e-01 -4.33487148e-03 5.43733121e+01] [ 3.71354640e-01 9.28489343e-01 -1.80862180e-03 1.04312324e+01] [ 4.69653003e-03 6.94931310e-05 9.99988969e-01 1.29187304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.40, Y:10.44, Z:0.13 [[ 9.28294032e-01 -3.71821736e-01 -4.33443792e-03 5.43994952e+01] [ 3.71817338e-01 9.28304148e-01 -1.80966025e-03 1.04406764e+01] [ 4.69654772e-03 6.82776364e-05 9.99988969e-01 1.31282496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.441052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.43, Y:10.45, Z:0.13 [[ 9.27926601e-01 -3.72737763e-01 -4.33392368e-03 5.44263462e+01] [ 3.72733370e-01 9.27936720e-01 -1.81089096e-03 1.04503123e+01] [ 4.69659437e-03 6.49759196e-05 9.99988969e-01 1.32474310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.471052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.45, Y:10.46, Z:0.13 [[ 9.27231834e-01 -3.74462746e-01 -4.33341788e-03 5.44518812e+01] [ 3.74458366e-01 9.27241958e-01 -1.81210052e-03 1.04603883e+01] [ 4.69669102e-03 5.75527056e-05 9.99988969e-01 1.32788933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.501052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.48, Y:10.47, Z:0.13 [[ 9.27458992e-01 -3.73899774e-01 -4.33326106e-03 5.44769821e+01] [ 3.73895386e-01 9.27469113e-01 -1.81247545e-03 1.04725018e+01] [ 4.69664995e-03 6.08103415e-05 9.99988969e-01 1.30515217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.531052754 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:54.51, Y:10.48, Z:0.13 [[ 9.27978095e-01 -3.72609553e-01 -4.33310665e-03 5.45069776e+01] [ 3.72605149e-01 9.27988209e-01 -1.81284452e-03 1.04842922e+01] [ 4.69655507e-03 6.77421532e-05 9.99988969e-01 1.27335580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.561052754 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:54.53, Y:10.50, Z:0.13 [[ 9.27993800e-01 -3.72570208e-01 -4.35280268e-03 5.45281900e+01] [ 3.72566024e-01 9.28004008e-01 -1.76574976e-03 1.04961502e+01] [ 4.69728409e-03 1.68984390e-05 9.99988968e-01 1.27312072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.591052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.55, Y:10.51, Z:0.13 [[ 9.27949116e-01 -3.72681742e-01 -4.33098271e-03 5.45549832e+01] [ 3.72677316e-01 9.27959220e-01 -1.81783034e-03 1.05072183e+01] [ 4.69644752e-03 7.27950447e-05 9.99988969e-01 1.34708357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.621052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.58, Y:10.52, Z:0.13 [[ 9.27690754e-01 -3.73324388e-01 -4.33191025e-03 5.45812495e+01] [ 3.73319979e-01 9.27700866e-01 -1.81561732e-03 1.05178814e+01] [ 4.69653111e-03 6.71427530e-05 9.99988969e-01 1.34966816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.651052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.61, Y:10.53, Z:0.13 [[ 9.27119484e-01 -3.74740847e-01 -4.33140879e-03 5.46064914e+01] [ 3.74736447e-01 9.27129599e-01 -1.81681284e-03 1.05289394e+01] [ 4.69661128e-03 6.12658430e-05 9.99988969e-01 1.32781862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.681052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.63, Y:10.54, Z:0.13 [[ 9.26430167e-01 -3.76441744e-01 -4.33125333e-03 5.46326887e+01] [ 3.76437362e-01 9.26440290e-01 -1.81718338e-03 1.05408055e+01] [ 4.69671127e-03 5.30479301e-05 9.99988969e-01 1.28842116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.711052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.66, Y:10.55, Z:0.13 [[ 9.26405095e-01 -3.76503391e-01 -4.33551753e-03 5.46583583e+01] [ 3.76499057e-01 9.26415239e-01 -1.80702126e-03 1.05515793e+01] [ 4.69683914e-03 4.17154340e-05 9.99988969e-01 1.27824772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.741052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.69, Y:10.56, Z:0.13 [[ 9.26440213e-01 -3.76417026e-01 -4.33074607e-03 5.46852632e+01] [ 3.76412638e-01 9.26450333e-01 -1.81838519e-03 1.05622581e+01] [ 4.69669228e-03 5.44776120e-05 9.99988969e-01 1.27709046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.771052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.71, Y:10.57, Z:0.13 [[ 9.26393999e-01 -3.76530750e-01 -4.33035226e-03 5.47123657e+01] [ 3.76526359e-01 9.26404119e-01 -1.81932253e-03 1.05734874e+01] [ 4.69668705e-03 5.49177082e-05 9.99988969e-01 1.29701857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.801052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.74, Y:10.58, Z:0.13 [[ 9.26417453e-01 -3.76473046e-01 -4.32992121e-03 5.47393929e+01] [ 3.76468650e-01 9.26427570e-01 -1.82034784e-03 1.05840998e+01] [ 4.69667028e-03 5.63224168e-05 9.99988969e-01 1.33565005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.831052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.77, Y:10.60, Z:0.13 [[ 9.26347638e-01 -3.76644804e-01 -4.32949085e-03 5.47661673e+01] [ 3.76640404e-01 9.26357754e-01 -1.82137083e-03 1.05962189e+01] [ 4.69666728e-03 5.65613881e-05 9.99988969e-01 1.34302291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.79, Y:10.61, Z:0.14 [[ 9.26188831e-01 -3.77035156e-01 -4.32906482e-03 5.47920270e+01] [ 3.77030756e-01 9.26198946e-01 -1.82238286e-03 1.06076321e+01] [ 4.69667768e-03 5.56800679e-05 9.99988969e-01 1.35049968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.891052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.82, Y:10.62, Z:0.14 [[ 9.25832174e-01 -3.77910103e-01 -4.32891364e-03 5.48193865e+01] [ 3.77905711e-01 9.25842293e-01 -1.82274190e-03 1.06182119e+01] [ 4.69672391e-03 5.16319092e-05 9.99988969e-01 1.36485684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.921052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.85, Y:10.63, Z:0.14 [[ 9.24871350e-01 -3.80255505e-01 -4.32849098e-03 5.48452293e+01] [ 3.80251134e-01 9.24881478e-01 -1.82374504e-03 1.06276375e+01] [ 4.69683023e-03 4.08159350e-05 9.99988969e-01 1.38536174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.951052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.87, Y:10.64, Z:0.14 [[ 9.24448715e-01 -3.81281836e-01 -4.32834213e-03 5.48706486e+01] [ 3.81277475e-01 9.24458847e-01 -1.82409825e-03 1.06378274e+01] [ 4.69686971e-03 3.59859264e-05 9.99988969e-01 1.39996837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.981052754000004 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:54.90, Y:10.65, Z:0.14 [[ 9.23218041e-01 -3.84252153e-01 -4.32808197e-03 5.48999219e+01] [ 3.84247821e-01 9.23228186e-01 -1.82471534e-03 1.06499291e+01] [ 4.69695806e-03 2.15540551e-05 9.99988969e-01 1.36866520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.011052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.92, Y:10.66, Z:0.14 [[ 9.24027301e-01 -3.82301801e-01 -4.34501421e-03 5.49235400e+01] [ 3.82297637e-01 9.24037517e-01 -1.78453371e-03 1.06603475e+01] [ 4.69718659e-03 -1.21307938e-05 9.99988968e-01 1.40785398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.041052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.95, Y:10.67, Z:0.14 [[ 9.23048695e-01 -3.84658784e-01 -4.32743448e-03 5.49528392e+01] [ 3.84654450e-01 9.23058839e-01 -1.82619151e-03 1.06721004e+01] [ 4.69693726e-03 2.10967592e-05 9.99988969e-01 1.39552709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.98, Y:10.68, Z:0.14 [[ 9.23159097e-01 -3.84393651e-01 -4.33619151e-03 5.49776214e+01] [ 3.84389411e-01 9.23169281e-01 -1.80544046e-03 1.06818114e+01] [ 4.69703865e-03 -7.73170390e-08 9.99988969e-01 1.40268486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.101052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.00, Y:10.69, Z:0.14 [[ 9.23499730e-01 -3.83574635e-01 -4.32986174e-03 5.50033903e+01] [ 3.83570316e-01 9.23509880e-01 -1.82042668e-03 1.06933156e+01] [ 4.69693960e-03 2.03571161e-05 9.99988969e-01 1.42544599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.03, Y:10.71, Z:0.14 [[ 9.23126122e-01 -3.84472946e-01 -4.32623592e-03 5.50304979e+01] [ 3.84468597e-01 9.23136259e-01 -1.82900301e-03 1.07051998e+01] [ 4.69690742e-03 2.50986000e-05 9.99988969e-01 1.43614420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.06, Y:10.72, Z:0.14 [[ 9.22917131e-01 -3.84974308e-01 -4.33027833e-03 5.50559575e+01] [ 3.84970009e-01 9.22927290e-01 -1.81944365e-03 1.07171145e+01] [ 4.69697110e-03 1.21684296e-05 9.99988969e-01 1.42641429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.191052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.08, Y:10.73, Z:0.14 [[ 9.22602643e-01 -3.85727432e-01 -4.32564255e-03 5.50816707e+01] [ 3.85723090e-01 9.22612783e-01 -1.83039903e-03 1.07288690e+01] [ 4.69692823e-03 2.02307674e-05 9.99988969e-01 1.41875501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.11, Y:10.74, Z:0.14 [[ 9.22434839e-01 -3.86128555e-01 -4.32515597e-03 5.51083440e+01] [ 3.86124212e-01 9.22444979e-01 -1.83154808e-03 1.07394941e+01] [ 4.69693142e-03 1.94363149e-05 9.99988969e-01 1.41520776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.251052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.14, Y:10.75, Z:0.14 [[ 9.22444907e-01 -3.86104508e-01 -4.32471403e-03 5.51353057e+01] [ 3.86100159e-01 9.22455044e-01 -1.83259102e-03 1.07504153e+01] [ 4.69692592e-03 2.06914741e-05 9.99988969e-01 1.40756771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.281052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.16, Y:10.76, Z:0.14 [[ 9.22821680e-01 -3.85203125e-01 -4.32426782e-03 5.51607741e+01] [ 3.85198761e-01 9.22831811e-01 -1.83364331e-03 1.07622542e+01] [ 4.69689704e-03 2.64231927e-05 9.99988969e-01 1.37245540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.311052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.19, Y:10.77, Z:0.14 [[ 9.23061700e-01 -3.84627612e-01 -4.32410905e-03 5.51860782e+01] [ 3.84623240e-01 9.23071828e-01 -1.83401764e-03 1.07735996e+01] [ 4.69687707e-03 2.97586099e-05 9.99988969e-01 1.36756616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.341052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.21, Y:10.79, Z:0.14 [[ 9.23222004e-01 -3.84242680e-01 -4.32361535e-03 5.52113749e+01] [ 3.84238299e-01 9.23232128e-01 -1.83518077e-03 1.07850948e+01] [ 4.69685538e-03 3.29806615e-05 9.99988969e-01 1.37159359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.371052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.24, Y:10.80, Z:0.14 [[ 9.24077675e-01 -3.82180272e-01 -4.32312024e-03 5.52369344e+01] [ 3.82175863e-01 9.24087787e-01 -1.83634636e-03 1.07974272e+01] [ 4.69675797e-03 4.47344640e-05 9.99988969e-01 1.40462136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.401052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.26, Y:10.81, Z:0.14 [[ 9.24463386e-01 -3.81246324e-01 -4.32296168e-03 5.52618051e+01] [ 3.81241903e-01 9.24473492e-01 -1.83671957e-03 1.08093026e+01] [ 4.69670606e-03 4.98858571e-05 9.99988969e-01 1.40085094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.431052754 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:55.29, Y:10.82, Z:0.14 [[ 9.24446766e-01 -3.81286624e-01 -4.32280445e-03 5.52862857e+01] [ 3.81282202e-01 9.24456872e-01 -1.83708954e-03 1.08199213e+01] [ 4.69670395e-03 5.00830829e-05 9.99988969e-01 1.39128558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.461052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.31, Y:10.83, Z:0.14 [[ 9.24284643e-01 -3.81679465e-01 -4.32258758e-03 5.53124182e+01] [ 3.81675044e-01 9.24294749e-01 -1.83759968e-03 1.08304192e+01] [ 4.69671906e-03 4.86413614e-05 9.99988969e-01 1.39295117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.34, Y:10.84, Z:0.14 [[ 9.23775618e-01 -3.82909816e-01 -4.32209036e-03 5.53389145e+01] [ 3.82905403e-01 9.23785728e-01 -1.83876840e-03 1.08403334e+01] [ 4.69676786e-03 4.36576656e-05 9.99988969e-01 1.40557068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.521052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:55.37, Y:10.85, Z:0.14 [[ 9.23606290e-01 -3.83318068e-01 -4.32193605e-03 5.53656262e+01] [ 3.83313658e-01 9.23616401e-01 -1.83913104e-03 1.08509963e+01] [ 4.69678318e-03 4.19758765e-05 9.99988969e-01 1.42728840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.551052754000004 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:55.39, Y:10.86, Z:0.14 [[ 9.23891794e-01 -3.82629427e-01 -4.32150181e-03 5.53914180e+01] [ 3.82625005e-01 9.23901899e-01 -1.84015083e-03 1.08614071e+01] [ 4.69673959e-03 4.65856018e-05 9.99988969e-01 1.44770507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.581052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.42, Y:10.87, Z:0.15 [[ 9.24419581e-01 -3.81352550e-01 -4.32100698e-03 5.54180131e+01] [ 3.81348108e-01 9.24429678e-01 -1.84131204e-03 1.08719348e+01] [ 4.69665614e-03 5.43370614e-05 9.99988969e-01 1.45596183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.44, Y:10.88, Z:0.15 [[ 9.24123795e-01 -3.82068769e-01 -4.32050647e-03 5.54444470e+01] [ 3.82064330e-01 9.24133893e-01 -1.84248571e-03 1.08824571e+01] [ 4.69668271e-03 5.19734765e-05 9.99988969e-01 1.45619006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.641052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.47, Y:10.89, Z:0.14 [[ 9.23355375e-01 -3.83922114e-01 -4.32000652e-03 5.54717886e+01] [ 3.83917690e-01 9.23365479e-01 -1.84365717e-03 1.08913949e+01] [ 4.69676565e-03 4.38238318e-05 9.99988969e-01 1.44695923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.671052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.50, Y:10.90, Z:0.14 [[ 9.23035242e-01 -3.84691153e-01 -4.31956830e-03 5.54980761e+01] [ 3.84686732e-01 9.23045349e-01 -1.84468333e-03 1.09012800e+01] [ 4.69679078e-03 4.10271149e-05 9.99988969e-01 1.43974648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.701052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.52, Y:10.91, Z:0.14 [[ 9.22618214e-01 -3.85690257e-01 -4.31941330e-03 5.55239074e+01] [ 3.85685846e-01 9.22628324e-01 -1.84504618e-03 1.09107237e+01] [ 4.69682939e-03 3.63366402e-05 9.99988969e-01 1.43152355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.731052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.55, Y:10.92, Z:0.14 [[ 9.22665334e-01 -3.85577524e-01 -4.31918357e-03 5.55505985e+01] [ 3.85573108e-01 9.22675442e-01 -1.84558383e-03 1.09220358e+01] [ 4.69682025e-03 3.74951903e-05 9.99988969e-01 1.44368272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.761052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.58, Y:10.93, Z:0.14 [[ 9.22808642e-01 -3.85234421e-01 -4.31874696e-03 5.55758822e+01] [ 3.85229997e-01 9.22818747e-01 -1.84660495e-03 1.09334700e+01] [ 4.69679645e-03 4.03521310e-05 9.99988969e-01 1.44143458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.791052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.60, Y:10.95, Z:0.14 [[ 9.23436776e-01 -3.83726300e-01 -4.31825092e-03 5.56003002e+01] [ 3.83721855e-01 9.23446871e-01 -1.84776420e-03 1.09475521e+01] [ 4.69671102e-03 4.92861688e-05 9.99988969e-01 1.43585782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.821052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.63, Y:10.96, Z:0.15 [[ 9.23694323e-01 -3.83105931e-01 -4.31775096e-03 5.56268409e+01] [ 3.83101473e-01 9.23704413e-01 -1.84893175e-03 1.09600680e+01] [ 4.69666233e-03 5.37110110e-05 9.99988969e-01 1.45966691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.851052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.65, Y:10.97, Z:0.15 [[ 9.23419402e-01 -3.83768119e-01 -4.31730067e-03 5.56523628e+01] [ 3.83763663e-01 9.23429493e-01 -1.84998258e-03 1.09704064e+01] [ 4.69668710e-03 5.14866913e-05 9.99988969e-01 1.46513144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.881052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.68, Y:10.98, Z:0.15 [[ 9.22819651e-01 -3.85208069e-01 -4.31678954e-03 5.56776638e+01] [ 3.85203623e-01 9.22829747e-01 -1.85117449e-03 1.09809037e+01] [ 4.69674915e-03 4.54572296e-05 9.99988969e-01 1.46619682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.911052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.70, Y:10.99, Z:0.15 [[ 9.22502676e-01 -3.85966554e-01 -4.31660011e-03 5.57031868e+01] [ 3.85962115e-01 9.22512774e-01 -1.85161611e-03 1.09916047e+01] [ 4.69678063e-03 4.20767056e-05 9.99988969e-01 1.47757506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.941052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.73, Y:11.00, Z:0.15 [[ 9.22398787e-01 -3.86214770e-01 -4.31610185e-03 5.57294535e+01] [ 3.86210328e-01 9.22408884e-01 -1.85277681e-03 1.10029670e+01] [ 4.69678046e-03 4.20759737e-05 9.99988969e-01 1.47891277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.971052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.76, Y:11.01, Z:0.15 [[ 9.22283868e-01 -3.86489124e-01 -4.31560299e-03 5.57557093e+01] [ 3.86484680e-01 9.22293964e-01 -1.85393806e-03 1.10135952e+01] [ 4.69678149e-03 4.19427224e-05 9.99988969e-01 1.48791194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.001052754 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:55.78, Y:11.03, Z:0.15 [[ 9.22306451e-01 -3.86435234e-01 -4.31516982e-03 5.57830127e+01] [ 3.86430785e-01 9.22316544e-01 -1.85494576e-03 1.10251367e+01] [ 4.69676891e-03 4.33139833e-05 9.99988969e-01 1.49497305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.031052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.81, Y:11.04, Z:0.15 [[ 9.22907154e-01 -3.84998314e-01 -4.32235993e-03 5.58077014e+01] [ 3.84993927e-01 9.22917275e-01 -1.83822005e-03 1.10370108e+01] [ 4.69689227e-03 3.24241153e-05 9.99988969e-01 1.52942457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.061052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.83, Y:11.05, Z:0.15 [[ 9.23214504e-01 -3.84260805e-01 -4.31431366e-03 5.58325930e+01] [ 3.84256323e-01 9.23224583e-01 -1.85691458e-03 1.10480773e+01] [ 4.69661992e-03 5.65281758e-05 9.99988969e-01 1.51042175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.091052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.86, Y:11.06, Z:0.15 [[ 9.23210379e-01 -3.84270717e-01 -4.31409003e-03 5.58600595e+01] [ 3.84266232e-01 9.23220457e-01 -1.85743397e-03 1.10596330e+01] [ 4.69661366e-03 5.70431965e-05 9.99988969e-01 1.48392888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.121052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.89, Y:11.07, Z:0.15 [[ 9.23867639e-01 -3.82687757e-01 -4.32045337e-03 5.58857112e+01] [ 3.82683324e-01 9.23877740e-01 -1.84265526e-03 1.10687680e+01] [ 4.69673231e-03 4.90041095e-05 9.99988969e-01 1.49390291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.151052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.91, Y:11.08, Z:0.15 [[ 9.24746709e-01 -3.80558707e-01 -4.31223447e-03 5.59132847e+01] [ 3.80554161e-01 9.24756760e-01 -1.86173076e-03 1.10785533e+01] [ 4.69626582e-03 8.05906214e-05 9.99988969e-01 1.49345083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.181052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.94, Y:11.09, Z:0.15 [[ 9.25232590e-01 -3.79375869e-01 -4.31334679e-03 5.59403858e+01] [ 3.79371323e-01 9.25242640e-01 -1.85915009e-03 1.10899643e+01] [ 4.69620906e-03 8.37861736e-05 9.99988969e-01 1.49163585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.211052754 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:55.96, Y:11.10, Z:0.14 [[ 9.25867231e-01 -3.77824389e-01 -4.31292522e-03 5.59647345e+01] [ 3.77819822e-01 9.25877272e-01 -1.86012757e-03 1.11007009e+01] [ 4.69604100e-03 9.27225218e-05 9.99988969e-01 1.40047072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.241052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.99, Y:11.12, Z:0.15 [[ 9.26561647e-01 -3.76118276e-01 -4.30774347e-03 5.59909071e+01] [ 3.76113634e-01 9.26571654e-01 -1.87213410e-03 1.11155893e+01] [ 4.69557684e-03 1.14446603e-04 9.99988969e-01 1.45708923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.271052754 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:56.02, Y:11.13, Z:0.14 [[ 9.27192817e-01 -3.74559586e-01 -4.31236669e-03 5.60150328e+01] [ 3.74554977e-01 9.27202839e-01 -1.86142348e-03 1.11283454e+01] [ 4.69565264e-03 1.10680072e-04 9.99988969e-01 1.38392228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.301052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.04, Y:11.14, Z:0.14 [[ 9.27350286e-01 -3.74169633e-01 -4.30487184e-03 5.60416367e+01] [ 3.74164940e-01 9.27360269e-01 -1.87876742e-03 1.11430874e+01] [ 4.69514482e-03 1.31543393e-04 9.99988969e-01 1.42787117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.331052754 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:56.07, Y:11.15, Z:0.14 [[ 9.27133296e-01 -3.74706904e-01 -4.31130962e-03 5.60684939e+01] [ 3.74702285e-01 9.27143313e-01 -1.86387626e-03 1.11541731e+01] [ 4.69560919e-03 1.12604167e-04 9.99988969e-01 1.43727261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.10, Y:11.16, Z:0.15 [[ 9.26899094e-01 -3.75285872e-01 -4.31085459e-03 5.60956255e+01] [ 3.75281255e-01 9.26909112e-01 -1.86492808e-03 1.11639332e+01] [ 4.69565156e-03 1.10817227e-04 9.99988969e-01 1.45406544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.391052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.12, Y:11.17, Z:0.14 [[ 9.26827880e-01 -3.75461717e-01 -4.31039910e-03 5.61218824e+01] [ 3.75457096e-01 9.26837897e-01 -1.86598026e-03 1.11743799e+01] [ 4.69564539e-03 1.11072596e-04 9.99988969e-01 1.44811575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.421052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.15, Y:11.19, Z:0.15 [[ 9.26753375e-01 -3.75645581e-01 -4.31023783e-03 5.61474344e+01] [ 3.75640961e-01 9.26763392e-01 -1.86635271e-03 1.11850751e+01] [ 4.69565778e-03 1.10546792e-04 9.99988969e-01 1.45257789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.451052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.17, Y:11.20, Z:0.14 [[ 9.26430553e-01 -3.76441040e-01 -4.30971267e-03 5.61726766e+01] [ 3.76436423e-01 9.26440571e-01 -1.86756461e-03 1.11960930e+01] [ 4.69572063e-03 1.07836093e-04 9.99988969e-01 1.43826060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.481052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.20, Y:11.21, Z:0.14 [[ 9.25632514e-01 -3.78399098e-01 -4.30946664e-03 5.61979902e+01] [ 3.78394499e-01 9.25642541e-01 -1.86813215e-03 1.12073258e+01] [ 4.69592517e-03 9.85253901e-05 9.99988969e-01 1.44403147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.511052754 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:56.22, Y:11.22, Z:0.14 [[ 9.24945001e-01 -3.80076542e-01 -4.30894957e-03 5.62234246e+01] [ 3.80071956e-01 9.24955034e-01 -1.86932405e-03 1.12165887e+01] [ 4.69607081e-03 9.13110445e-05 9.99988969e-01 1.39357511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.541052754 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:56.25, Y:11.23, Z:0.14 [[ 9.24695557e-01 -3.80683051e-01 -4.30601640e-03 5.62487076e+01] [ 3.80678440e-01 9.24705578e-01 -1.87608169e-03 1.12272342e+01] [ 4.69598988e-03 9.55967946e-05 9.99988969e-01 1.39250901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.571052754 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:56.27, Y:11.24, Z:0.14 [[ 9.24375052e-01 -3.81460700e-01 -4.30086153e-03 5.62747210e+01] [ 3.81456043e-01 9.24385051e-01 -1.88794939e-03 1.12375680e+01] [ 4.69583060e-03 1.04583694e-04 9.99988969e-01 1.41641849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.601052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.30, Y:11.25, Z:0.15 [[ 9.24503001e-01 -3.81150504e-01 -4.30052762e-03 5.63002654e+01] [ 3.81145840e-01 9.24512997e-01 -1.88871835e-03 1.12482249e+01] [ 4.69577963e-03 1.06997567e-04 9.99988969e-01 1.46353042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.631052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.33, Y:11.26, Z:0.15 [[ 9.23850057e-01 -3.82730441e-01 -4.29890136e-03 5.63275011e+01] [ 3.82725776e-01 9.23860054e-01 -1.89246588e-03 1.12602931e+01] [ 4.69588754e-03 1.03054356e-04 9.99988969e-01 1.50202423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.661052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.35, Y:11.27, Z:0.15 [[ 9.23629757e-01 -3.83261667e-01 -4.30879220e-03 5.63540349e+01] [ 3.83257114e-01 9.23639805e-01 -1.86967172e-03 1.12726717e+01] [ 4.69634549e-03 7.55091747e-05 9.99988969e-01 1.52471513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.691052754 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:56.38, Y:11.28, Z:0.15 [[ 9.23262409e-01 -3.84145757e-01 -4.30833697e-03 5.63793335e+01] [ 3.84141209e-01 9.23272458e-01 -1.87072014e-03 1.12842922e+01] [ 4.69639807e-03 7.21558136e-05 9.99988969e-01 1.46135035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.721052754 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:56.40, Y:11.29, Z:0.15 [[ 9.23207343e-01 -3.84278083e-01 -4.30780872e-03 5.64047461e+01] [ 3.84273530e-01 9.23217390e-01 -1.87193578e-03 1.12945732e+01] [ 4.69638782e-03 7.28079872e-05 9.99988969e-01 1.46760030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.751052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.43, Y:11.31, Z:0.15 [[ 9.23060011e-01 -3.84631944e-01 -4.29922793e-03 5.64300514e+01] [ 3.84627303e-01 9.23070019e-01 -1.89166141e-03 1.13050793e+01] [ 4.69608181e-03 9.25165616e-05 9.99988969e-01 1.49428919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.781052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.46, Y:11.32, Z:0.15 [[ 9.22397308e-01 -3.86218485e-01 -4.29965976e-03 5.64576093e+01] [ 3.86213867e-01 9.22407326e-01 -1.89066637e-03 1.13162492e+01] [ 4.69624796e-03 8.33573451e-05 9.99988969e-01 1.51220583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.811052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.48, Y:11.33, Z:0.15 [[ 9.22229722e-01 -3.86618387e-01 -4.30846518e-03 5.64831106e+01] [ 3.86613868e-01 9.22239784e-01 -1.87038291e-03 1.13264857e+01] [ 4.69656242e-03 5.92103278e-05 9.99988969e-01 1.51778963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.841052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.51, Y:11.34, Z:0.15 [[ 9.21934361e-01 -3.87322181e-01 -4.30830444e-03 5.65089236e+01] [ 3.87317668e-01 9.21944426e-01 -1.87075309e-03 1.13368048e+01] [ 4.69660143e-03 5.60291299e-05 9.99988969e-01 1.53812017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.871052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.54, Y:11.35, Z:0.16 [[ 9.21573268e-01 -3.88180566e-01 -4.30814582e-03 5.65350416e+01] [ 3.88176060e-01 9.21583336e-01 -1.87111831e-03 1.13486184e+01] [ 4.69664716e-03 5.20535487e-05 9.99988969e-01 1.55970702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.901052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.56, Y:11.36, Z:0.16 [[ 9.21036183e-01 -3.89453199e-01 -4.30770164e-03 5.65599607e+01] [ 3.89448702e-01 9.21046255e-01 -1.87214033e-03 1.13606894e+01] [ 4.69670351e-03 4.66801729e-05 9.99988969e-01 1.56579870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.931052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.59, Y:11.37, Z:0.16 [[ 9.20608736e-01 -3.90462547e-01 -4.30754475e-03 5.65855252e+01] [ 3.90458059e-01 9.20618812e-01 -1.87250126e-03 1.13722596e+01] [ 4.69674834e-03 4.19254554e-05 9.99988969e-01 1.56529851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.961052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.61, Y:11.38, Z:0.16 [[ 9.19900456e-01 -3.92128293e-01 -4.30738842e-03 5.66109534e+01] [ 3.92123822e-01 9.19910540e-01 -1.87286080e-03 1.13831319e+01] [ 4.69681371e-03 3.38158890e-05 9.99988969e-01 1.56226966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.991052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.64, Y:11.39, Z:0.15 [[ 9.19677797e-01 -3.92650226e-01 -4.30687141e-03 5.66365335e+01] [ 3.92645755e-01 9.19687881e-01 -1.87404898e-03 1.13940450e+01] [ 4.69682319e-03 3.24464567e-05 9.99988969e-01 1.54993897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.66, Y:11.41, Z:0.15 [[ 9.19714008e-01 -3.92565407e-01 -4.30635721e-03 5.66630006e+01] [ 3.92560929e-01 9.19724089e-01 -1.87522981e-03 1.14051682e+01] [ 4.69681081e-03 3.41675345e-05 9.99988969e-01 1.53588709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.051052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.69, Y:11.42, Z:0.15 [[ 9.19894197e-01 -3.92142992e-01 -4.30590993e-03 5.66890947e+01] [ 3.92138505e-01 9.19904273e-01 -1.87625628e-03 1.14157160e+01] [ 4.69678570e-03 3.74441742e-05 9.99988969e-01 1.54247933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.081052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.71, Y:11.43, Z:0.15 [[ 9.20171089e-01 -3.91492822e-01 -4.30540113e-03 5.67147392e+01] [ 3.91488323e-01 9.20181161e-01 -1.87742310e-03 1.14273803e+01] [ 4.69674667e-03 4.20361897e-05 9.99988969e-01 1.54596511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.74, Y:11.44, Z:0.16 [[ 9.20531127e-01 -3.90645503e-01 -4.30524310e-03 5.67403413e+01] [ 3.90640992e-01 9.20541193e-01 -1.87778540e-03 1.14397664e+01] [ 4.69670205e-03 4.67554725e-05 9.99988969e-01 1.55412938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.141052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.76, Y:11.45, Z:0.15 [[ 9.21782888e-01 -3.87682573e-01 -4.30472813e-03 5.67644746e+01] [ 3.87678025e-01 9.21792937e-01 -1.87896522e-03 1.14545043e+01] [ 4.69651005e-03 6.31494871e-05 9.99988969e-01 1.54843663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.171052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.79, Y:11.47, Z:0.15 [[ 9.22714824e-01 -3.85459241e-01 -4.30421307e-03 5.67888489e+01] [ 3.85454663e-01 9.22724860e-01 -1.88014433e-03 1.14683116e+01] [ 4.69632341e-03 7.57580464e-05 9.99988969e-01 1.53435174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.201052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.81, Y:11.48, Z:0.15 [[ 9.22756356e-01 -3.85359813e-01 -4.30369653e-03 5.68141186e+01] [ 3.85355228e-01 9.22766389e-01 -1.88132598e-03 1.14792745e+01] [ 4.69629393e-03 7.75535483e-05 9.99988969e-01 1.53409722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.231052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.84, Y:11.49, Z:0.15 [[ 9.22115055e-01 -3.86891852e-01 -4.30347221e-03 5.68402091e+01] [ 3.86887282e-01 9.22125094e-01 -1.88183895e-03 1.14886857e+01] [ 4.69640788e-03 7.03133637e-05 9.99988969e-01 1.53694895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.261052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.87, Y:11.50, Z:0.15 [[ 9.21704874e-01 -3.87868032e-01 -4.30296423e-03 5.68655478e+01] [ 3.87863467e-01 9.21714916e-01 -1.88299978e-03 1.14989879e+01] [ 4.69646173e-03 6.66074520e-05 9.99988969e-01 1.53760482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.291052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.90, Y:11.51, Z:0.15 [[ 9.21622176e-01 -3.88064493e-01 -4.30274412e-03 5.68950191e+01] [ 3.88059927e-01 9.21632218e-01 -1.88350260e-03 1.15084866e+01] [ 4.69646809e-03 6.61551971e-05 9.99988969e-01 1.52266786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.92, Y:11.52, Z:0.15 [[ 9.21028286e-01 -3.89471784e-01 -4.31581274e-03 5.69183367e+01] [ 3.89467373e-01 9.21038397e-01 -1.85363802e-03 1.15188088e+01] [ 4.69696895e-03 2.63847943e-05 9.99988969e-01 1.51056912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.351052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.94, Y:11.53, Z:0.15 [[ 9.21010577e-01 -3.89513809e-01 -4.30222077e-03 5.69444186e+01] [ 3.89509254e-01 9.21020624e-01 -1.88466510e-03 1.15298219e+01] [ 4.69653714e-03 6.00416851e-05 9.99988969e-01 1.51795317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.97, Y:11.54, Z:0.15 [[ 9.20929783e-01 -3.89704798e-01 -4.30172133e-03 5.69703496e+01] [ 3.89700240e-01 9.20939828e-01 -1.88580438e-03 1.15410350e+01] [ 4.69653351e-03 6.03115879e-05 9.99988969e-01 1.52943532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.00, Y:11.55, Z:0.15 [[ 9.21008484e-01 -3.89518771e-01 -4.30121346e-03 5.69952208e+01] [ 3.89514205e-01 9.21018525e-01 -1.88696203e-03 1.15541301e+01] [ 4.69650441e-03 6.25242917e-05 9.99988969e-01 1.52373247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.441052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.02, Y:11.57, Z:0.15 [[ 9.21254749e-01 -3.88935974e-01 -4.30068796e-03 5.70200452e+01] [ 3.88931397e-01 9.21264785e-01 -1.88815896e-03 1.15669529e+01] [ 4.69644532e-03 6.68028311e-05 9.99988969e-01 1.47926984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.471052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.05, Y:11.58, Z:0.15 [[ 9.21421860e-01 -3.88539910e-01 -4.30052478e-03 5.70464265e+01] [ 3.88535326e-01 9.21431893e-01 -1.88853057e-03 1.15789178e+01] [ 4.69641018e-03 6.92275564e-05 9.99988969e-01 1.45387586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.501052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.07, Y:11.59, Z:0.15 [[ 9.21157706e-01 -3.89165762e-01 -4.30008678e-03 5.70737383e+01] [ 3.89161180e-01 9.21167740e-01 -1.88952734e-03 1.15890955e+01] [ 4.69644057e-03 6.71258250e-05 9.99988969e-01 1.46869123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.531052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.10, Y:11.60, Z:0.15 [[ 9.20665888e-01 -3.90327856e-01 -4.29967381e-03 5.71015767e+01] [ 3.90323283e-01 9.20675926e-01 -1.89046659e-03 1.15978056e+01] [ 4.69650794e-03 6.22253049e-05 9.99988969e-01 1.52020174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.561052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.13, Y:11.61, Z:0.15 [[ 9.20360358e-01 -3.91047731e-01 -4.29921044e-03 5.71278213e+01] [ 3.91043161e-01 9.20370397e-01 -1.89151978e-03 1.16100363e+01] [ 4.69654054e-03 5.97029840e-05 9.99988969e-01 1.52493291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.591052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.15, Y:11.62, Z:0.15 [[ 9.20277974e-01 -3.91241576e-01 -4.29875213e-03 5.71541361e+01] [ 3.91237003e-01 9.20288012e-01 -1.89256080e-03 1.16229012e+01] [ 4.69653852e-03 5.98511187e-05 9.99988969e-01 1.51551605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.621052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.18, Y:11.64, Z:0.15 [[ 9.20447618e-01 -3.90842304e-01 -4.29829647e-03 5.71785066e+01] [ 3.90837722e-01 9.20457652e-01 -1.89359509e-03 1.16358161e+01] [ 4.69649695e-03 6.30186947e-05 9.99988969e-01 1.50916476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.651052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.20, Y:11.65, Z:0.15 [[ 9.20427257e-01 -3.90890254e-01 -4.29813543e-03 5.72035597e+01] [ 3.90885670e-01 9.20437290e-01 -1.89396056e-03 1.16477600e+01] [ 4.69649485e-03 6.31733737e-05 9.99988969e-01 1.50762511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.681052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.23, Y:11.66, Z:0.15 [[ 9.20285653e-01 -3.91223525e-01 -4.29761915e-03 5.72285847e+01] [ 3.91218940e-01 9.20295686e-01 -1.89513133e-03 1.16590326e+01] [ 4.69650032e-03 6.27521654e-05 9.99988969e-01 1.49480940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.711052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.25, Y:11.67, Z:0.15 [[ 9.19474620e-01 -3.93125881e-01 -4.29710347e-03 5.72549356e+01] [ 3.93121311e-01 9.19484659e-01 -1.89629988e-03 1.16685743e+01] [ 4.69660528e-03 5.43166638e-05 9.99988969e-01 1.52330531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.741052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.28, Y:11.68, Z:0.15 [[ 9.19150559e-01 -3.93882963e-01 -4.29656628e-03 5.72809022e+01] [ 3.93878396e-01 9.19160600e-01 -1.89751625e-03 1.16798244e+01] [ 4.69663376e-03 5.17784906e-05 9.99988969e-01 1.52505594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.771052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.31, Y:11.69, Z:0.15 [[ 9.18511476e-01 -3.95370977e-01 -4.29640170e-03 5.73055078e+01] [ 3.95366424e-01 9.18521523e-01 -1.89788883e-03 1.16927985e+01] [ 4.69670759e-03 4.45796980e-05 9.99988969e-01 1.50868743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.801052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.33, Y:11.70, Z:0.15 [[ 9.17974976e-01 -3.96615034e-01 -4.29623966e-03 5.73315057e+01] [ 3.96610493e-01 9.17985029e-01 -1.89825557e-03 1.17046342e+01] [ 4.69676038e-03 3.86173769e-05 9.99988969e-01 1.51055607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.831052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.36, Y:11.72, Z:0.15 [[ 9.17867317e-01 -3.96864128e-01 -4.29572000e-03 5.73576535e+01] [ 3.96859584e-01 9.17877368e-01 -1.89943081e-03 1.17162743e+01] [ 4.69676012e-03 3.86278094e-05 9.99988969e-01 1.51189380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.38, Y:11.73, Z:0.15 [[ 9.16366289e-01 -4.00317843e-01 -4.29520425e-03 5.73840815e+01] [ 4.00313332e-01 9.16376355e-01 -1.90059638e-03 1.17266821e+01] [ 4.69686626e-03 2.22149248e-05 9.99988969e-01 1.51642596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.891052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.41, Y:11.74, Z:0.15 [[ 9.15518404e-01 -4.02253159e-01 -4.29504442e-03 5.74104169e+01] [ 4.02248667e-01 9.15528479e-01 -1.90095750e-03 1.17374857e+01] [ 4.69690164e-03 1.26856867e-05 9.99988969e-01 1.53379728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.921052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.44, Y:11.75, Z:0.15 [[ 9.14493939e-01 -4.04576807e-01 -4.29451451e-03 5.74366605e+01] [ 4.04572336e-01 9.14504022e-01 -1.90215388e-03 1.17482299e+01] [ 4.69691814e-03 2.06643183e-06 9.99988969e-01 1.53420074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.951052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.46, Y:11.76, Z:0.15 [[ 9.14123121e-01 -4.05413958e-01 -4.29435097e-03 5.74617099e+01] [ 4.05409494e-01 9.14133208e-01 -1.90252301e-03 1.17594042e+01] [ 4.69691822e-03 -1.83037942e-06 9.99988969e-01 1.54102659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.981052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.49, Y:11.77, Z:0.15 [[ 9.13633115e-01 -4.06517025e-01 -4.29419009e-03 5.74872167e+01] [ 4.06512571e-01 9.13643206e-01 -1.90288608e-03 1.17708828e+01] [ 4.69691319e-03 -7.10252265e-06 9.99988969e-01 1.54563079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.01105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.51, Y:11.78, Z:0.15 [[ 9.12804059e-01 -4.08375212e-01 -4.29366848e-03 5.75124926e+01] [ 4.08370773e-01 9.12814157e-01 -1.90406230e-03 1.17831734e+01] [ 4.69689322e-03 -1.53729234e-05 9.99988969e-01 1.53969325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.54, Y:11.79, Z:0.15 [[ 9.12644138e-01 -4.08732488e-01 -4.29315105e-03 5.75385165e+01] [ 4.08728048e-01 9.12654235e-01 -1.90522826e-03 1.17943909e+01] [ 4.69689117e-03 -1.59358414e-05 9.99988969e-01 1.54353776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.56, Y:11.81, Z:0.16 [[ 9.12460134e-01 -4.09143097e-01 -4.29299097e-03 5.75648286e+01] [ 4.09138659e-01 9.12470233e-01 -1.90558890e-03 1.18054433e+01] [ 4.69688501e-03 -1.76546703e-05 9.99988969e-01 1.55597439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.101052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.59, Y:11.82, Z:0.16 [[ 9.12264685e-01 -4.09578710e-01 -4.29248094e-03 5.75901209e+01] [ 4.09574272e-01 9.12274783e-01 -1.90673708e-03 1.18160490e+01] [ 4.69688103e-03 -1.86408539e-05 9.99988969e-01 1.57489990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.62, Y:11.83, Z:0.16 [[ 9.12401627e-01 -4.09273562e-01 -4.29224232e-03 5.76160432e+01] [ 4.09269118e-01 9.12411723e-01 -1.90727408e-03 1.18270976e+01] [ 4.69688907e-03 -1.64822549e-05 9.99988969e-01 1.59123982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.64, Y:11.84, Z:0.16 [[ 9.12543506e-01 -4.08957127e-01 -4.29172814e-03 5.76421188e+01] [ 4.08952674e-01 9.12553597e-01 -1.90843039e-03 1.18386519e+01] [ 4.69689816e-03 -1.35879438e-05 9.99988969e-01 1.58897247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.191052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.67, Y:11.85, Z:0.16 [[ 9.13708609e-01 -4.06347343e-01 -4.29120737e-03 5.76670960e+01] [ 4.06342856e-01 9.13718686e-01 -1.90960065e-03 1.18518478e+01] [ 4.69691751e-03 1.11710205e-06 9.99988969e-01 1.55278034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.69, Y:11.86, Z:0.15 [[ 9.14318013e-01 -4.04974269e-01 -4.29104587e-03 5.76916716e+01] [ 4.04969765e-01 9.14328082e-01 -1.90996349e-03 1.18643255e+01] [ 4.69690981e-03 8.57018239e-06 9.99988969e-01 1.52952715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.251052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.72, Y:11.88, Z:0.15 [[ 9.15020729e-01 -4.03384003e-01 -4.29082459e-03 5.77171896e+01] [ 4.03379479e-01 9.15030790e-01 -1.91046048e-03 1.18760406e+01] [ 4.69688581e-03 1.72803552e-05 9.99988969e-01 1.52841505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28105275399999 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:57.74, Y:11.89, Z:0.15 [[ 9.16529178e-01 -3.99944821e-01 -4.29030109e-03 5.77440738e+01] [ 3.99940254e-01 9.16539219e-01 -1.91163537e-03 1.18876139e+01] [ 4.69677787e-03 3.62054879e-05 9.99988969e-01 1.51725513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.31105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.77, Y:11.90, Z:0.15 [[ 9.17213205e-01 -3.98373610e-01 -4.28984464e-03 5.77704644e+01] [ 3.98369021e-01 9.17223236e-01 -1.91265912e-03 1.18992500e+01] [ 4.69669810e-03 4.53749920e-05 9.99988969e-01 1.51694815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.79, Y:11.91, Z:0.15 [[ 9.18406015e-01 -3.95615967e-01 -4.28938162e-03 5.77949491e+01] [ 3.95611343e-01 9.18416030e-01 -1.91369695e-03 1.19110682e+01] [ 4.69652590e-03 6.06227683e-05 9.99988969e-01 1.48526597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.37105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.82, Y:11.92, Z:0.15 [[ 9.18951527e-01 -3.94347193e-01 -4.28750465e-03 5.78208813e+01] [ 3.94342535e-01 9.18961526e-01 -1.91790143e-03 1.19227121e+01] [ 4.69637086e-03 7.17129963e-05 9.99988969e-01 1.46867816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.85, Y:11.94, Z:0.15 [[ 9.19928947e-01 -3.92061653e-01 -4.28865636e-03 5.78460689e+01] [ 3.92056983e-01 9.19938940e-01 -1.91532261e-03 1.19356607e+01] [ 4.69622653e-03 8.05630342e-05 9.99988969e-01 1.46078084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.43105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.87, Y:11.95, Z:0.15 [[ 9.20249517e-01 -3.91308623e-01 -4.28813697e-03 5.78716890e+01] [ 3.91303939e-01 9.20259504e-01 -1.91648475e-03 1.19479470e+01] [ 4.69613580e-03 8.56792752e-05 9.99988969e-01 1.46074085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.461052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.90, Y:11.96, Z:0.15 [[ 9.20209501e-01 -3.91402722e-01 -4.28760956e-03 5.78977446e+01] [ 3.91398034e-01 9.20219485e-01 -1.91766394e-03 1.19588101e+01] [ 4.69612075e-03 8.64906197e-05 9.99988969e-01 1.47147226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.92, Y:11.97, Z:0.15 [[ 9.19176836e-01 -3.93821739e-01 -4.28744549e-03 5.79243152e+01] [ 3.93817075e-01 9.19186832e-01 -1.91803069e-03 1.19683793e+01] [ 4.69632562e-03 7.45401400e-05 9.99988969e-01 1.50415060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.95, Y:11.98, Z:0.15 [[ 9.18544388e-01 -3.95294606e-01 -4.28728245e-03 5.79499087e+01] [ 3.95289957e-01 9.18554391e-01 -1.91839506e-03 1.19791499e+01] [ 4.69643334e-03 6.74113184e-05 9.99988969e-01 1.51672413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.551052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.98, Y:11.99, Z:0.15 [[ 9.17840489e-01 -3.96926267e-01 -4.28675660e-03 5.79761578e+01] [ 3.96921630e-01 9.17850497e-01 -1.91956939e-03 1.19907861e+01] [ 4.69652919e-03 6.03520861e-05 9.99988969e-01 1.52199045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.581052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.00, Y:12.00, Z:0.15 [[ 9.17227612e-01 -3.98340476e-01 -4.28629384e-03 5.80006573e+01] [ 3.98335849e-01 9.17237626e-01 -1.92060215e-03 1.20011396e+01] [ 4.69660356e-03 5.42448275e-05 9.99988969e-01 1.51445731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.03, Y:12.01, Z:0.15 [[ 9.17110521e-01 -3.98609988e-01 -4.28606395e-03 5.80264651e+01] [ 3.98605362e-01 9.17120534e-01 -1.92111505e-03 1.20128167e+01] [ 4.69661290e-03 5.34267529e-05 9.99988969e-01 1.50847549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.641052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.05, Y:12.03, Z:0.15 [[ 9.17162432e-01 -3.98490536e-01 -4.28554591e-03 5.80512102e+01] [ 3.98485903e-01 9.17172443e-01 -1.92226996e-03 1.20253654e+01] [ 4.69659100e-03 5.53041604e-05 9.99988969e-01 1.50489880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.67105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.08, Y:12.04, Z:0.15 [[ 9.17175595e-01 -3.98460245e-01 -4.28501987e-03 5.80764200e+01] [ 3.98455606e-01 9.17185603e-01 -1.92344187e-03 1.20377251e+01] [ 4.69657365e-03 5.67437544e-05 9.99988969e-01 1.45645173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.10, Y:12.05, Z:0.15 [[ 9.16997165e-01 -3.98870707e-01 -4.28477688e-03 5.81023017e+01] [ 3.98866070e-01 9.17007173e-01 -1.92398302e-03 1.20503482e+01] [ 4.69659160e-03 5.52348544e-05 9.99988969e-01 1.49146370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.73105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.13, Y:12.06, Z:0.15 [[ 9.16365954e-01 -4.00318727e-01 -4.28431669e-03 5.81272456e+01] [ 4.00314102e-01 9.16375968e-01 -1.92500723e-03 1.20634674e+01] [ 4.69666129e-03 4.89386937e-05 9.99988969e-01 1.49448689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.15, Y:12.07, Z:0.15 [[ 9.15968230e-01 -4.01227930e-01 -4.28378902e-03 5.81532156e+01] [ 4.01223309e-01 9.15978246e-01 -1.92618074e-03 1.20745558e+01] [ 4.69669507e-03 4.55643573e-05 9.99988969e-01 1.49932004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.79105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.18, Y:12.09, Z:0.15 [[ 9.15366210e-01 -4.02599493e-01 -4.28362572e-03 5.81796774e+01] [ 4.02594885e-01 9.15376232e-01 -1.92654385e-03 1.20853002e+01] [ 4.69675475e-03 3.89273396e-05 9.99988969e-01 1.51087941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.821052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.21, Y:12.10, Z:0.15 [[ 9.14009616e-01 -4.05669911e-01 -4.28309820e-03 5.82061020e+01] [ 4.05665332e-01 9.14019651e-01 -1.92771592e-03 1.20966300e+01] [ 4.69685227e-03 2.44464427e-05 9.99988969e-01 1.53896051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.851052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.23, Y:12.11, Z:0.16 [[ 9.13220478e-01 -4.07443269e-01 -4.28263418e-03 5.82323807e+01] [ 4.07438704e-01 9.13230520e-01 -1.92874623e-03 1.21083908e+01] [ 4.69688691e-03 1.64596319e-05 9.99988969e-01 1.55720055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.881052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.26, Y:12.12, Z:0.16 [[ 9.11814947e-01 -4.10579062e-01 -4.28217604e-03 5.82582115e+01] [ 4.10574527e-01 9.11825002e-01 -1.92976285e-03 1.21192928e+01] [ 4.69691540e-03 1.43421125e-06 9.99988969e-01 1.59595265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.911052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.28, Y:12.13, Z:0.16 [[ 9.10164965e-01 -4.14223853e-01 -4.28201326e-03 5.82846025e+01] [ 4.14219356e-01 9.10175038e-01 -1.93012399e-03 1.21300764e+01] [ 4.69688498e-03 -1.69615435e-05 9.99988969e-01 1.61233964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.941052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.31, Y:12.14, Z:0.16 [[ 9.09228376e-01 -4.16275665e-01 -4.28149438e-03 5.83101999e+01] [ 4.16271186e-01 9.09238456e-01 -1.93127431e-03 1.21413583e+01] [ 4.69684184e-03 -2.62933430e-05 9.99988969e-01 1.60751354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.971052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.34, Y:12.15, Z:0.16 [[ 9.08327519e-01 -4.18237721e-01 -4.28098047e-03 5.83357434e+01] [ 4.18233258e-01 9.08337607e-01 -1.93241280e-03 1.21528817e+01] [ 4.69678348e-03 -3.51846841e-05 9.99988969e-01 1.61378192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.001052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.36, Y:12.16, Z:0.16 [[ 9.06763222e-01 -4.21618472e-01 -4.28043746e-03 5.83610750e+01] [ 4.21614042e-01 9.06773324e-01 -1.93361485e-03 1.21633126e+01] [ 4.69663425e-03 -5.13617016e-05 9.99988969e-01 1.61878924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.03105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.39, Y:12.17, Z:0.16 [[ 9.05740676e-01 -4.23810698e-01 -4.28020304e-03 5.83867472e+01] [ 4.23806289e-01 9.05750787e-01 -1.93413362e-03 1.21740249e+01] [ 4.69650380e-03 -6.21534781e-05 9.99988969e-01 1.63066107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06105275399999 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:58.41, Y:12.18, Z:0.17 [[ 9.04035098e-01 -4.27436807e-01 -4.28004367e-03 5.84106718e+01] [ 4.27432437e-01 9.04045226e-01 -1.93448624e-03 1.21840657e+01] [ 4.69622366e-03 -8.05860421e-05 9.99988969e-01 1.66655194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.09105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.44, Y:12.20, Z:0.17 [[ 9.01677940e-01 -4.32387199e-01 -4.26646786e-03 5.84368873e+01] [ 4.32382742e-01 9.01688031e-01 -1.96449089e-03 1.21984564e+01] [ 4.69644371e-03 -7.34089766e-05 9.99988969e-01 1.66779225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.46, Y:12.21, Z:0.17 [[ 9.01314961e-01 -4.33143198e-01 -4.27924775e-03 5.84624356e+01] [ 4.33138884e-01 9.01325112e-01 -1.93624638e-03 1.22113103e+01] [ 4.69566541e-03 -1.08340765e-04 9.99988969e-01 1.65715482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.15105275399999 meters Centerline goodness : 0.998224 Centerline is valid? [True, True] Translation: X:58.49, Y:12.22, Z:0.16 [[ 9.01316675e-01 -4.33139635e-01 -4.27871814e-03 5.84871249e+01] [ 4.33135315e-01 9.01326825e-01 -1.93741601e-03 1.22249057e+01] [ 4.69569510e-03 -1.07038576e-04 9.99988969e-01 1.58692656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.51, Y:12.24, Z:0.16 [[ 9.01043153e-01 -4.33708405e-01 -4.27282200e-03 5.85124199e+01] [ 4.33704029e-01 9.01053278e-01 -1.95042724e-03 1.22365588e+01] [ 4.69595696e-03 -9.57210130e-05 9.99988969e-01 1.61390954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.211052754 meters Centerline goodness : 0.998633 Centerline is valid? [True, True] Translation: X:58.54, Y:12.25, Z:0.15 [[ 9.00948334e-01 -4.33905288e-01 -4.27788248e-03 5.85357020e+01] [ 4.33900968e-01 9.00958484e-01 -1.93926417e-03 1.22484429e+01] [ 4.69565149e-03 -1.09000530e-04 9.99988969e-01 1.53787575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.241052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.56, Y:12.26, Z:0.16 [[ 9.00084470e-01 -4.35694576e-01 -4.26428686e-03 5.85636073e+01] [ 4.35690134e-01 9.00094567e-01 -1.96919416e-03 1.22625046e+01] [ 4.69622865e-03 -8.54666356e-05 9.99988969e-01 1.59277240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.271052754 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:58.59, Y:12.28, Z:0.16 [[ 9.00151070e-01 -4.35556842e-01 -4.27646848e-03 5.85884130e+01] [ 4.35552526e-01 9.00161221e-01 -1.94237425e-03 1.22751637e+01] [ 4.69552548e-03 -1.14196385e-04 9.99988969e-01 1.55711271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.301052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.61, Y:12.29, Z:0.16 [[ 9.00402202e-01 -4.35037513e-01 -4.27046378e-03 5.86141410e+01] [ 4.35033129e-01 9.00412324e-01 -1.95558514e-03 1.22890834e+01] [ 4.69593111e-03 -9.69800509e-05 9.99988969e-01 1.60950022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.331052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.64, Y:12.30, Z:0.16 [[ 9.01333139e-01 -4.33105404e-01 -4.27573807e-03 5.86396130e+01] [ 4.33101053e-01 9.01343275e-01 -1.94398450e-03 1.23027287e+01] [ 4.69585794e-03 -9.96490107e-05 9.99988969e-01 1.61209307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.66, Y:12.31, Z:0.16 [[ 9.01408037e-01 -4.32949505e-01 -4.27527396e-03 5.86645065e+01] [ 4.32945147e-01 9.01418170e-01 -1.94500465e-03 1.23149776e+01] [ 4.69589843e-03 -9.77162854e-05 9.99988969e-01 1.63086402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.391052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.69, Y:12.33, Z:0.16 [[ 9.02044451e-01 -4.31621983e-01 -4.27469850e-03 5.86888405e+01] [ 4.31617604e-01 9.02054575e-01 -1.94626856e-03 1.23277709e+01] [ 4.69606363e-03 -8.94143638e-05 9.99988969e-01 1.63946475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.71, Y:12.34, Z:0.17 [[ 9.02251088e-01 -4.31189869e-01 -4.27453226e-03 5.87145462e+01] [ 4.31185483e-01 9.02261209e-01 -1.94663359e-03 1.23401132e+01] [ 4.69611333e-03 -8.67639822e-05 9.99988969e-01 1.65334590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.45105275399999 meters Centerline goodness : 0.998599 Centerline is valid? [True, True] Translation: X:58.74, Y:12.35, Z:0.17 [[ 9.02044002e-01 -4.31622928e-01 -4.27407374e-03 5.87401785e+01] [ 4.31618542e-01 9.02054123e-01 -1.94763982e-03 1.23527304e+01] [ 4.69609184e-03 -8.79126627e-05 9.99988969e-01 1.66107909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48105275399999 meters Centerline goodness : 0.997502 Centerline is valid? [True, True] Translation: X:58.77, Y:12.36, Z:0.17 [[ 9.01599475e-01 -4.32550672e-01 -4.27818686e-03 5.87654022e+01] [ 4.32546339e-01 9.01609620e-01 -1.93861491e-03 1.23644629e+01] [ 4.69580360e-03 -1.02659880e-04 9.99988969e-01 1.66671734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.51105275399999 meters Centerline goodness : 0.998199 Centerline is valid? [True, True] Translation: X:58.79, Y:12.38, Z:0.17 [[ 9.01566169e-01 -4.32620074e-01 -4.27954599e-03 5.87906948e+01] [ 4.32615756e-01 9.01576320e-01 -1.93563319e-03 1.23758402e+01] [ 4.69573110e-03 -1.06297622e-04 9.99988969e-01 1.66944277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54105275399999 meters Centerline goodness : 0.998483 Centerline is valid? [True, True] Translation: X:58.82, Y:12.39, Z:0.17 [[ 9.01498792e-01 -4.32760491e-01 -4.27617094e-03 5.88155283e+01] [ 4.32756140e-01 9.01508928e-01 -1.94303276e-03 1.23880995e+01] [ 4.69587409e-03 -9.88975491e-05 9.99988969e-01 1.66846080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.571052754 meters Centerline goodness : 0.998459 Centerline is valid? [True, True] Translation: X:58.84, Y:12.40, Z:0.17 [[ 9.00107608e-01 -4.35646697e-01 -4.27183570e-03 5.88427989e+01] [ 4.35642334e-01 9.00117739e-01 -1.95252863e-03 1.24038603e+01] [ 4.69576774e-03 -1.03506600e-04 9.99988969e-01 1.65123600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.601052754 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:58.87, Y:12.41, Z:0.16 [[ 9.01034238e-01 -4.33726748e-01 -4.29061065e-03 5.88662439e+01] [ 4.33722559e-01 9.01044443e-01 -1.91145466e-03 1.24147088e+01] [ 4.69507990e-03 -1.38648535e-04 9.99988968e-01 1.64705095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.631052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.89, Y:12.43, Z:0.17 [[ 9.01418062e-01 -4.32928659e-01 -4.27243623e-03 5.88907711e+01] [ 4.32924272e-01 9.01428182e-01 -1.95116634e-03 1.24255430e+01] [ 4.69601025e-03 -9.08247656e-05 9.99988970e-01 1.69209523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.661052754 meters Centerline goodness : 0.998203 Centerline is valid? [True, True] Translation: X:58.92, Y:12.44, Z:0.17 [[ 9.02451979e-01 -4.30769298e-01 -4.27053681e-03 5.89191341e+01] [ 4.30764867e-01 9.02462080e-01 -1.95531479e-03 1.24362178e+01] [ 4.69628712e-03 -7.50195205e-05 9.99988970e-01 1.68022146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.691052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.94, Y:12.45, Z:0.17 [[ 9.02263246e-01 -4.31164387e-01 -4.27854197e-03 5.89423347e+01] [ 4.31160043e-01 9.02273385e-01 -1.93782996e-03 1.24486268e+01] [ 4.69593781e-03 -9.63035841e-05 9.99988969e-01 1.72478007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.721052754 meters Centerline goodness : 0.997927 Centerline is valid? [True, True] Translation: X:58.97, Y:12.46, Z:0.17 [[ 9.02208830e-01 -4.31278329e-01 -4.26975967e-03 5.89689129e+01] [ 4.31273895e-01 9.02218930e-01 -1.95699116e-03 1.24602830e+01] [ 4.69626588e-03 -7.58211799e-05 9.99988970e-01 1.71130943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.751052754 meters Centerline goodness : 0.997927 Centerline is valid? [True, True] Translation: X:58.99, Y:12.47, Z:0.17 [[ 9.02059028e-01 -4.31591549e-01 -4.27138286e-03 5.89948675e+01] [ 4.31587136e-01 9.02069137e-01 -1.95345117e-03 1.24724347e+01] [ 4.69617567e-03 -8.13456378e-05 9.99988970e-01 1.71267503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.02, Y:12.48, Z:0.17 [[ 9.01529585e-01 -4.32696394e-01 -4.27069635e-03 5.90217139e+01] [ 4.32691986e-01 9.01539696e-01 -1.95494700e-03 1.24846213e+01] [ 4.69610080e-03 -8.54535240e-05 9.99988970e-01 1.72029048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.81105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.05, Y:12.50, Z:0.17 [[ 9.00696921e-01 -4.34426994e-01 -4.27120502e-03 5.90469099e+01] [ 4.34422611e-01 9.00707043e-01 -1.95383942e-03 1.24962692e+01] [ 4.69590503e-03 -9.56908851e-05 9.99988970e-01 1.71826053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.07, Y:12.51, Z:0.17 [[ 8.98532172e-01 -4.38886880e-01 -4.27110725e-03 5.90727414e+01] [ 4.38882546e-01 8.98542315e-01 -1.95405222e-03 1.25066181e+01] [ 4.69537848e-03 -1.18735639e-04 9.99988970e-01 1.74000076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.87105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.10, Y:12.52, Z:0.17 [[ 8.97106943e-01 -4.41792826e-01 -4.26986561e-03 5.90977009e+01] [ 4.41788512e-01 8.97117095e-01 -1.95675288e-03 1.25165625e+01] [ 4.69504881e-03 -1.30960976e-04 9.99988970e-01 1.74818102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.12, Y:12.53, Z:0.18 [[ 8.92654440e-01 -4.50721491e-01 -4.26487424e-03 5.91243295e+01] [ 4.50717226e-01 8.92664613e-01 -1.96760220e-03 1.25272323e+01] [ 4.69394290e-03 -1.65863451e-04 9.99988970e-01 1.77706923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.93105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.15, Y:12.54, Z:0.18 [[ 8.90240883e-01 -4.55470050e-01 -4.26662689e-03 5.91500954e+01] [ 4.55465858e-01 8.90251086e-01 -1.96379430e-03 1.25385818e+01] [ 4.69281871e-03 -1.95052911e-04 9.99988970e-01 1.77757908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.961052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.18, Y:12.55, Z:0.18 [[ 8.84625249e-01 -4.66283143e-01 -4.26608949e-03 5.91757940e+01] [ 4.66279070e-01 8.84635500e-01 -1.96496103e-03 1.25498476e+01] [ 4.69016242e-03 -2.50934101e-04 9.99988970e-01 1.78352408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.991052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.20, Y:12.56, Z:0.18 [[ 8.82826256e-01 -4.69680353e-01 -4.26249768e-03 5.92021144e+01] [ 4.69676282e-01 8.82836507e-01 -1.97275219e-03 1.25596594e+01] [ 4.68965151e-03 -2.60396636e-04 9.99988970e-01 1.79423314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.23, Y:12.57, Z:0.18 [[ 8.77885983e-01 -4.78850742e-01 -4.26232447e-03 5.92272930e+01] [ 4.78846777e-01 8.77896276e-01 -1.97312769e-03 1.25720513e+01] [ 4.68671244e-03 -3.08819196e-04 9.99988970e-01 1.79754183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.051052754 meters Centerline goodness : 0.997708 Centerline is valid? [True, True] Translation: X:59.25, Y:12.59, Z:0.18 [[ 8.76093946e-01 -4.82121572e-01 -4.26474785e-03 5.92515818e+01] [ 4.82117670e-01 8.76104263e-01 -1.96787577e-03 1.25850675e+01] [ 4.68511914e-03 -3.32066247e-04 9.99988970e-01 1.78313582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.081052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.27, Y:12.60, Z:0.18 [[ 8.73209154e-01 -4.87327001e-01 -4.26235954e-03 5.92741625e+01] [ 4.87323136e-01 8.73219485e-01 -1.97304863e-03 1.26024425e+01] [ 4.68349527e-03 -3.54262294e-04 9.99988970e-01 1.81044748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.30, Y:12.62, Z:0.19 [[ 8.72460102e-01 -4.88666747e-01 -4.26393607e-03 5.92981831e+01] [ 4.88662914e-01 8.72470445e-01 -1.96963568e-03 1.26201035e+01] [ 4.68265366e-03 -3.65198882e-04 9.99988970e-01 1.85761575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.141052754 meters Centerline goodness : 0.998391 Centerline is valid? [True, True] Translation: X:59.32, Y:12.64, Z:0.19 [[ 8.72818877e-01 -4.88025609e-01 -4.26769863e-03 5.93223975e+01] [ 4.88021808e-01 8.72829232e-01 -1.96148970e-03 1.26356862e+01] [ 4.68222932e-03 -3.70704763e-04 9.99988970e-01 1.86763745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.17105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.34, Y:12.66, Z:0.19 [[ 8.75536357e-01 -4.83133376e-01 -4.26952532e-03 5.93436156e+01] [ 4.83129537e-01 8.75546697e-01 -1.95753680e-03 1.26560553e+01] [ 4.68392016e-03 -3.48839151e-04 9.99988970e-01 1.87065812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.37, Y:12.67, Z:0.19 [[ 8.77417581e-01 -4.79708438e-01 -4.26642314e-03 5.93668047e+01] [ 4.79704526e-01 8.77427894e-01 -1.96424327e-03 1.26729206e+01] [ 4.68574274e-03 -3.23160911e-04 9.99988970e-01 1.86193888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.23105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.39, Y:12.69, Z:0.18 [[ 8.81474354e-01 -4.72212660e-01 -4.26225838e-03 5.93906489e+01] [ 4.72208616e-01 8.81484616e-01 -1.97323927e-03 1.26926906e+01] [ 4.68890376e-03 -2.73315324e-04 9.99988970e-01 1.83095612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26105275399999 meters Centerline goodness : 0.998504 Centerline is valid? [True, True] Translation: X:59.41, Y:12.71, Z:0.18 [[ 8.87682362e-01 -4.60436517e-01 -4.27065020e-03 5.94138415e+01] [ 4.60432423e-01 8.87692605e-01 -1.95510866e-03 1.27094570e+01] [ 4.69122802e-03 -2.30830351e-04 9.99988969e-01 1.80799546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.29105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.44, Y:12.73, Z:0.18 [[ 8.89226157e-01 -4.57447980e-01 -4.26468828e-03 5.94361032e+01] [ 4.57443791e-01 8.89236361e-01 -1.96798081e-03 1.27258327e+01] [ 4.69256473e-03 -2.00875166e-04 9.99988970e-01 1.83625207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.46, Y:12.74, Z:0.18 [[ 8.91159691e-01 -4.53669743e-01 -4.26253842e-03 5.94592379e+01] [ 4.53665489e-01 8.91169868e-01 -1.97261800e-03 1.27413694e+01] [ 4.69356290e-03 -1.75848934e-04 9.99988970e-01 1.80089405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.351052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.48, Y:12.76, Z:0.18 [[ 8.94889363e-01 -4.46267715e-01 -4.26073607e-03 5.94833232e+01] [ 4.46263358e-01 8.94899497e-01 -1.97650332e-03 1.27596717e+01] [ 4.69498018e-03 -1.32658587e-04 9.99988970e-01 1.75173600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.50, Y:12.77, Z:0.17 [[ 8.98222507e-01 -4.39520335e-01 -4.26649574e-03 5.95049201e+01] [ 4.39515961e-01 8.98232633e-01 -1.96408718e-03 1.27747509e+01] [ 4.69556196e-03 -1.11005664e-04 9.99988970e-01 1.72620399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.411052754 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:59.53, Y:12.79, Z:0.17 [[ 8.99318314e-01 -4.37273851e-01 -4.26015033e-03 5.95294250e+01] [ 4.37269386e-01 8.99328401e-01 -1.97775541e-03 1.27874760e+01] [ 4.69609491e-03 -8.42016605e-05 9.99988970e-01 1.70273732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.441052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.56, Y:12.80, Z:0.17 [[ 9.00496772e-01 -4.34841847e-01 -4.25811870e-03 5.95563865e+01] [ 4.34837334e-01 9.00506837e-01 -1.98212950e-03 1.27994168e+01] [ 4.69637786e-03 -6.66877653e-05 9.99988970e-01 1.70983252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.471052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.58, Y:12.81, Z:0.17 [[ 9.01034064e-01 -4.33727376e-01 -4.26373220e-03 5.95809695e+01] [ 4.33722908e-01 9.01044149e-01 -1.97004668e-03 1.28104951e+01] [ 4.69627413e-03 -7.41991638e-05 9.99988970e-01 1.72846765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.501052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.61, Y:12.82, Z:0.18 [[ 9.01664893e-01 -4.32414446e-01 -4.26235280e-03 5.96067368e+01] [ 4.32409950e-01 9.01674965e-01 -1.97301319e-03 1.28223206e+01] [ 4.69641621e-03 -6.40870351e-05 9.99988970e-01 1.75024478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.53105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.63, Y:12.83, Z:0.18 [[ 9.03373099e-01 -4.28834339e-01 -4.26072254e-03 5.96336098e+01] [ 4.28829787e-01 9.03383145e-01 -1.97651693e-03 1.28344133e+01] [ 4.69666327e-03 -4.15925111e-05 9.99988970e-01 1.77195309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.66, Y:12.85, Z:0.18 [[ 9.05586570e-01 -4.24140057e-01 -4.26330349e-03 5.96578927e+01] [ 4.24135478e-01 9.05596605e-01 -1.97097315e-03 1.28455605e+01] [ 4.69680183e-03 -2.33314502e-05 9.99988970e-01 1.76452700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.59105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.68, Y:12.86, Z:0.18 [[ 9.06228164e-01 -4.22767535e-01 -4.25752491e-03 5.96836129e+01] [ 4.22762883e-01 9.06238165e-01 -1.98337746e-03 1.28570205e+01] [ 4.69683916e-03 -2.53099427e-06 9.99988970e-01 1.75168993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.71, Y:12.87, Z:0.17 [[ 9.06336575e-01 -4.22535077e-01 -4.25700807e-03 5.97111060e+01] [ 4.22530417e-01 9.06346572e-01 -1.98448616e-03 1.28684647e+01] [ 4.69683968e-03 -1.03007965e-07 9.99988970e-01 1.73178407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.65105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.74, Y:12.88, Z:0.17 [[ 9.06689728e-01 -4.21776681e-01 -4.26240713e-03 5.97366309e+01] [ 4.21772067e-01 9.06699747e-01 -1.97290705e-03 1.28761316e+01] [ 4.69684965e-03 -8.94971269e-06 9.99988970e-01 1.74536228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.76, Y:12.88, Z:0.18 [[ 9.05002838e-01 -4.25384235e-01 -4.25631791e-03 5.97637809e+01] [ 4.25379599e-01 9.05012847e-01 -1.98595751e-03 1.28816222e+01] [ 4.69681740e-03 -1.32536238e-05 9.99988970e-01 1.76529600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.711052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.79, Y:12.89, Z:0.18 [[ 9.03152616e-01 -4.29298557e-01 -4.25458129e-03 5.97900123e+01] [ 4.29293947e-01 9.03162637e-01 -1.98967739e-03 1.28926000e+01] [ 4.69674449e-03 -2.94836588e-05 9.99988970e-01 1.75402338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.741052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.82, Y:12.90, Z:0.18 [[ 9.00272391e-01 -4.35306258e-01 -4.25240197e-03 5.98207934e+01] [ 4.35301693e-01 9.00282433e-01 -1.99434799e-03 1.28982042e+01] [ 4.69651495e-03 -5.56213435e-05 9.99988970e-01 1.80695063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.771052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.85, Y:12.91, Z:0.18 [[ 8.98308963e-01 -4.39343652e-01 -4.26170375e-03 5.98455500e+01] [ 4.39339227e-01 8.98319067e-01 -1.97441828e-03 1.29059063e+01] [ 4.69581788e-03 -9.86959935e-05 9.99988970e-01 1.80999609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.801052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.87, Y:12.91, Z:0.18 [[ 8.95955909e-01 -4.44122617e-01 -4.25559365e-03 5.98715887e+01] [ 4.44118183e-01 8.95966009e-01 -1.98750110e-03 1.29134785e+01] [ 4.69556145e-03 -1.09273169e-04 9.99988970e-01 1.82257293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.831052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.90, Y:12.92, Z:0.19 [[ 8.91770643e-01 -4.52467693e-01 -4.25523383e-03 5.99002074e+01] [ 4.52463350e-01 8.91780782e-01 -1.98827117e-03 1.29177507e+01] [ 4.69436423e-03 -1.52255491e-04 9.99988970e-01 1.86116248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.93, Y:12.92, Z:0.19 [[ 8.89035227e-01 -4.57819029e-01 -4.25468525e-03 5.99284860e+01] [ 4.57814742e-01 8.89045389e-01 -1.98944439e-03 1.29238111e+01] [ 4.69341380e-03 -1.79171484e-04 9.99988970e-01 1.87825731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.891052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.95, Y:12.93, Z:0.19 [[ 8.88318022e-01 -4.59209095e-01 -4.25413183e-03 5.99542355e+01] [ 4.59204818e-01 8.88328190e-01 -1.99062708e-03 1.29326674e+01] [ 4.69317929e-03 -1.85207922e-04 9.99988970e-01 1.88347109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.98, Y:12.94, Z:0.19 [[ 8.87595560e-01 -4.60603979e-01 -4.25389243e-03 5.99816254e+01] [ 4.60599715e-01 8.87605733e-01 -1.99113855e-03 1.29405216e+01] [ 4.69290565e-03 -1.92015906e-04 9.99988970e-01 1.87322376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.95105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.01, Y:12.95, Z:0.19 [[ 8.87319868e-01 -4.61134863e-01 -4.25333781e-03 6.00064291e+01] [ 4.61130600e-01 8.87330040e-01 -1.99232259e-03 1.29502094e+01] [ 4.69284382e-03 -1.93516794e-04 9.99988970e-01 1.86726708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.03, Y:12.96, Z:0.19 [[ 8.86381009e-01 -4.62936949e-01 -4.25309776e-03 6.00340852e+01] [ 4.62932704e-01 8.86391189e-01 -1.99283489e-03 1.29576157e+01] [ 4.69246529e-03 -2.02487046e-04 9.99988970e-01 1.87588678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.01105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.06, Y:12.97, Z:0.19 [[ 8.85773452e-01 -4.64098382e-01 -4.25254474e-03 6.00609466e+01] [ 4.64094145e-01 8.85783635e-01 -1.99401430e-03 1.29673272e+01] [ 4.69225335e-03 -2.07336183e-04 9.99988970e-01 1.88153567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.09, Y:12.98, Z:0.19 [[ 8.85182451e-01 -4.65224621e-01 -4.25198723e-03 6.00865561e+01] [ 4.65220391e-01 8.85192638e-01 -1.99520242e-03 1.29772213e+01] [ 4.69204508e-03 -2.11992996e-04 9.99988970e-01 1.87131491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.11, Y:12.99, Z:0.19 [[ 8.83990748e-01 -4.67485059e-01 -4.25174567e-03 6.01132909e+01] [ 4.67480852e-01 8.84000944e-01 -1.99571705e-03 1.29873284e+01] [ 4.69151509e-03 -2.23414278e-04 9.99988970e-01 1.85739860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.101052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.14, Y:12.99, Z:0.19 [[ 8.82912051e-01 -4.69519156e-01 -4.25119211e-03 6.01401077e+01] [ 4.69514968e-01 8.82922255e-01 -1.99689551e-03 1.29947694e+01] [ 4.69105282e-03 -2.32915215e-04 9.99988970e-01 1.86842866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.17, Y:13.01, Z:0.19 [[ 8.82121508e-01 -4.71002733e-01 -4.25095278e-03 6.01666735e+01] [ 4.70998559e-01 8.82131718e-01 -1.99740488e-03 1.30051207e+01] [ 4.69068343e-03 -2.40238833e-04 9.99988970e-01 1.87285953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.19, Y:13.02, Z:0.19 [[ 8.80962583e-01 -4.73166843e-01 -4.25040114e-03 6.01923142e+01] [ 4.73162688e-01 8.80972801e-01 -1.99857804e-03 1.30150843e+01] [ 4.69014866e-03 -2.50458753e-04 9.99988970e-01 1.85396897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.191052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.22, Y:13.03, Z:0.18 [[ 8.80755306e-01 -4.73552559e-01 -4.25023080e-03 6.02178012e+01] [ 4.73548407e-01 8.80765525e-01 -1.99894023e-03 1.30265156e+01] [ 4.69006003e-03 -2.52112807e-04 9.99988970e-01 1.84543368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.24, Y:13.04, Z:0.18 [[ 8.80940366e-01 -4.73208211e-01 -4.24968818e-03 6.02438463e+01] [ 4.73204050e-01 8.80950581e-01 -2.00009317e-03 1.30380944e+01] [ 4.69022578e-03 -2.49006845e-04 9.99988970e-01 1.84315802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.251052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.27, Y:13.05, Z:0.18 [[ 8.80876696e-01 -4.73326728e-01 -4.24912897e-03 6.02686548e+01] [ 4.73322563e-01 8.80886909e-01 -2.00128049e-03 1.30504720e+01] [ 4.69026163e-03 -2.48327266e-04 9.99988970e-01 1.84230446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.29, Y:13.06, Z:0.19 [[ 8.80689737e-01 -4.73674502e-01 -4.24895616e-03 6.02938175e+01] [ 4.73670339e-01 8.80699951e-01 -2.00164731e-03 1.30624746e+01] [ 4.69018477e-03 -2.49774261e-04 9.99988970e-01 1.85269321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.31105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.32, Y:13.07, Z:0.19 [[ 8.80232468e-01 -4.74523712e-01 -4.24842304e-03 6.03193302e+01] [ 4.74519553e-01 8.80242684e-01 -2.00277820e-03 1.30748827e+01] [ 4.69000904e-03 -2.53049404e-04 9.99988970e-01 1.86242445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.34, Y:13.09, Z:0.19 [[ 8.78461766e-01 -4.77793765e-01 -4.24787583e-03 6.03443002e+01] [ 4.77789638e-01 8.78471995e-01 -2.00393816e-03 1.30875578e+01] [ 4.68910911e-03 -2.69208000e-04 9.99988970e-01 1.86426055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.37105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.37, Y:13.10, Z:0.19 [[ 8.77436477e-01 -4.79674060e-01 -4.24571022e-03 6.03698564e+01] [ 4.79669933e-01 8.77446706e-01 -2.00852642e-03 1.30986943e+01] [ 4.68882246e-03 -2.74185192e-04 9.99988970e-01 1.91148141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.39, Y:13.11, Z:0.19 [[ 8.74744689e-01 -4.84565466e-01 -4.24715097e-03 6.03940006e+01] [ 4.84561411e-01 8.74754947e-01 -2.00547521e-03 1.31140501e+01] [ 4.68700035e-03 -3.03726676e-04 9.99988970e-01 1.91564806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.43105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.42, Y:13.13, Z:0.19 [[ 8.73914819e-01 -4.86060578e-01 -4.24305987e-03 6.04193220e+01] [ 4.86056499e-01 8.73925067e-01 -2.01413274e-03 1.31267613e+01] [ 4.68710691e-03 -3.02186377e-04 9.99988970e-01 1.93423439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.461052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.44, Y:13.14, Z:0.19 [[ 8.72618318e-01 -4.88384315e-01 -4.24643023e-03 6.04440412e+01] [ 4.88380297e-01 8.72628591e-01 -2.00700170e-03 1.31403114e+01] [ 4.68574458e-03 -3.22526409e-04 9.99988970e-01 1.94397556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.491052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:60.47, Y:13.15, Z:0.20 [[ 8.72209799e-01 -4.89113524e-01 -4.24588043e-03 6.04689920e+01] [ 4.89109509e-01 8.72220073e-01 -2.00816415e-03 1.31534140e+01] [ 4.68556238e-03 -3.25160045e-04 9.99988970e-01 1.95264316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.49, Y:13.17, Z:0.20 [[ 8.72364000e-01 -4.88838449e-01 -4.24533071e-03 6.04925078e+01] [ 4.88834425e-01 8.72374270e-01 -2.00932561e-03 1.31687212e+01] [ 4.68575289e-03 -3.22400469e-04 9.99988970e-01 1.95545769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.551052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.52, Y:13.18, Z:0.20 [[ 8.73005748e-01 -4.87691446e-01 -4.24477751e-03 6.05154141e+01] [ 4.87687403e-01 8.73016010e-01 -2.01049359e-03 1.31839085e+01] [ 4.68625925e-03 -3.14952066e-04 9.99988970e-01 1.96556279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.581052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.54, Y:13.20, Z:0.20 [[ 8.73140850e-01 -4.87449526e-01 -4.24440060e-03 6.05419813e+01] [ 4.87445477e-01 8.73151110e-01 -2.01128897e-03 1.31980713e+01] [ 4.68640495e-03 -3.12775319e-04 9.99988970e-01 1.97322303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.56, Y:13.21, Z:0.20 [[ 8.73023203e-01 -4.87660155e-01 -4.24973512e-03 6.05648844e+01] [ 4.87656163e-01 8.73033486e-01 -2.00003380e-03 1.32115768e+01] [ 4.68549786e-03 -3.26333604e-04 9.99988970e-01 1.97271819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.641052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.59, Y:13.22, Z:0.20 [[ 8.72890272e-01 -4.87898108e-01 -4.24369945e-03 6.05907163e+01] [ 4.87894057e-01 8.72900532e-01 -2.01275941e-03 1.32238971e+01] [ 4.68634901e-03 -3.13557630e-04 9.99988970e-01 1.97399174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.67105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.61, Y:13.24, Z:0.20 [[ 8.72675743e-01 -4.88281726e-01 -4.24315062e-03 6.06137089e+01] [ 4.88277674e-01 8.72686001e-01 -2.01391574e-03 1.32400735e+01] [ 4.68629640e-03 -3.14340298e-04 9.99988970e-01 1.95741767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.64, Y:13.26, Z:0.19 [[ 8.73602670e-01 -4.86621387e-01 -4.24260023e-03 6.06371551e+01] [ 4.86617310e-01 8.73612919e-01 -2.01507454e-03 1.32560792e+01] [ 4.68696874e-03 -3.04148215e-04 9.99988970e-01 1.93999060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.73105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.66, Y:13.27, Z:0.19 [[ 8.74985594e-01 -4.84130370e-01 -4.24204118e-03 6.06627446e+01] [ 4.84126258e-01 8.74995829e-01 -2.01625075e-03 1.32692718e+01] [ 4.68789656e-03 -2.89493161e-04 9.99988970e-01 1.93659235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.69, Y:13.28, Z:0.19 [[ 8.77967534e-01 -4.78701344e-01 -4.24639262e-03 6.06855080e+01] [ 4.78697213e-01 8.77977762e-01 -2.00709710e-03 1.32839356e+01] [ 4.68903837e-03 -2.70570216e-04 9.99988970e-01 1.92427778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.79105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.71, Y:13.30, Z:0.19 [[ 8.79867193e-01 -4.75200709e-01 -4.24379727e-03 6.07107911e+01] [ 4.75196511e-01 8.79877393e-01 -2.01255026e-03 1.32979237e+01] [ 4.69038659e-03 -2.45860703e-04 9.99988970e-01 1.92227157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.821052754 meters Centerline goodness : 0.994415 Centerline is valid? [True, True] Translation: X:60.74, Y:13.31, Z:0.19 [[ 8.85488385e-01 -4.64642115e-01 -4.24561772e-03 6.07388556e+01] [ 4.64637814e-01 8.85498542e-01 -2.00872157e-03 1.33131562e+01] [ 4.69282494e-03 -1.93974917e-04 9.99988970e-01 1.89947574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.851052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.76, Y:13.33, Z:0.19 [[ 8.86666428e-01 -4.62389893e-01 -4.26993600e-03 6.07588564e+01] [ 4.62385811e-01 8.86676677e-01 -1.95754206e-03 1.33275791e+01] [ 4.69120033e-03 -2.38670998e-04 9.99988968e-01 1.88831098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.881052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.78, Y:13.34, Z:0.19 [[ 8.91127354e-01 -4.53733434e-01 -4.24385124e-03 6.07836700e+01] [ 4.53728991e-01 8.91137449e-01 -2.01230827e-03 1.33406385e+01] [ 4.69490631e-03 -1.32335404e-04 9.99988970e-01 1.85996156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.911052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.81, Y:13.35, Z:0.19 [[ 8.92958070e-01 -4.50119838e-01 -4.24469367e-03 6.08094858e+01] [ 4.50115363e-01 8.92968151e-01 -2.01053961e-03 1.33527237e+01] [ 4.69536002e-03 -1.15274261e-04 9.99988970e-01 1.85249886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.941052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.83, Y:13.36, Z:0.19 [[ 8.96123255e-01 -4.43784947e-01 -4.24663767e-03 6.08331056e+01] [ 4.43780419e-01 8.96133312e-01 -2.00645973e-03 1.33644000e+01] [ 4.69599011e-03 -8.65394189e-05 9.99988970e-01 1.86387404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.971052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.86, Y:13.38, Z:0.19 [[ 8.99268442e-01 -4.37376605e-01 -4.23958819e-03 6.08596411e+01] [ 4.37371936e-01 8.99278435e-01 -2.02124609e-03 1.33760842e+01] [ 4.69661599e-03 -3.66340730e-05 9.99988970e-01 1.85063767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.001052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.88, Y:13.39, Z:0.18 [[ 9.00393455e-01 -4.35055880e-01 -4.24344893e-03 6.08842391e+01] [ 4.35051224e-01 9.00403454e-01 -2.01314920e-03 1.33880315e+01] [ 4.69664847e-03 -3.34912866e-05 9.99988970e-01 1.84331948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.03105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.91, Y:13.40, Z:0.18 [[ 9.01435432e-01 -4.32892820e-01 -4.23888649e-03 6.09106858e+01] [ 4.32888094e-01 9.01445398e-01 -2.02271048e-03 1.33989231e+01] [ 4.69674156e-03 -1.16206011e-05 9.99988970e-01 1.83022365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.94, Y:13.41, Z:0.18 [[ 9.02428894e-01 -4.30817955e-01 -4.24032094e-03 6.09388588e+01] [ 4.30813221e-01 9.02438856e-01 -2.01970561e-03 1.34075149e+01] [ 4.69675582e-03 -4.14561828e-06 9.99988970e-01 1.80863978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.09105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.96, Y:13.42, Z:0.18 [[ 9.01529706e-01 -4.32696430e-01 -4.24119563e-03 6.09627182e+01] [ 4.32691726e-01 9.01539682e-01 -2.01787379e-03 1.34185758e+01] [ 4.69673295e-03 -1.59570890e-05 9.99988970e-01 1.81020516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12105275399999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:60.99, Y:13.43, Z:0.18 [[ 9.02537587e-01 -4.30590291e-01 -4.23153369e-03 6.09933375e+01] [ 4.30585468e-01 9.02547506e-01 -2.03808525e-03 1.34252778e+01] [ 4.69673990e-03 1.74116327e-05 9.99988970e-01 1.80639692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.15105275399999 meters Centerline goodness : 0.997854 Centerline is valid? [True, True] Translation: X:61.02, Y:13.43, Z:0.18 [[ 9.02650089e-01 -4.30354318e-01 -4.24014015e-03 6.10209515e+01] [ 4.30349577e-01 9.02660047e-01 -2.02008286e-03 1.34347580e+01] [ 4.69675649e-03 -1.31454607e-06 9.99988970e-01 1.78861130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.05, Y:13.45, Z:0.18 [[ 9.01666860e-01 -4.32410554e-01 -4.24093413e-03 6.10455649e+01] [ 4.32405844e-01 9.01676834e-01 -2.01842252e-03 1.34457905e+01] [ 4.69673926e-03 -1.38600071e-05 9.99988970e-01 1.81200819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.211052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.07, Y:13.45, Z:0.18 [[ 9.00803618e-01 -4.34206062e-01 -4.23519046e-03 6.10735347e+01] [ 4.34201315e-01 9.00813574e-01 -2.03042734e-03 1.34519815e+01] [ 4.69674091e-03 -9.90897551e-06 9.99988970e-01 1.80488409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.241052754 meters Centerline goodness : 0.997898 Centerline is valid? [True, True] Translation: X:61.10, Y:13.46, Z:0.17 [[ 8.99984834e-01 -4.35900676e-01 -4.23061472e-03 6.11027410e+01] [ 4.35895903e-01 8.99994778e-01 -2.03997373e-03 1.34610691e+01] [ 4.69675708e-03 -8.16219971e-06 9.99988970e-01 1.74289180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.271052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.13, Y:13.47, Z:0.18 [[ 8.97674103e-01 -4.40639561e-01 -4.24061543e-03 6.11277956e+01] [ 4.40634939e-01 8.97684117e-01 -2.01910833e-03 1.34688091e+01] [ 4.69643212e-03 -5.60620631e-05 9.99988970e-01 1.77535527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.301052754 meters Centerline goodness : 0.997761 Centerline is valid? [True, True] Translation: X:61.16, Y:13.48, Z:0.17 [[ 8.97545727e-01 -4.40901089e-01 -4.23062036e-03 6.11567074e+01] [ 4.40896372e-01 8.97555696e-01 -2.03994898e-03 1.34791795e+01] [ 4.69663313e-03 -3.43176810e-05 9.99988970e-01 1.72250032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.331052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.18, Y:13.49, Z:0.18 [[ 8.96259138e-01 -4.43510510e-01 -4.24083100e-03 6.11809388e+01] [ 4.43505921e-01 8.96269169e-01 -2.01866216e-03 1.34916804e+01] [ 4.69622396e-03 -7.15892459e-05 9.99988970e-01 1.77204877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.20, Y:13.50, Z:0.18 [[ 8.96275047e-01 -4.43478424e-01 -4.23418511e-03 6.12036938e+01] [ 4.43473770e-01 8.96285046e-01 -2.03250709e-03 1.35043885e+01] [ 4.69640984e-03 -5.60646463e-05 9.99988970e-01 1.80336870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.391052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.23, Y:13.52, Z:0.18 [[ 8.97047800e-01 -4.41913375e-01 -4.22057605e-03 6.12268366e+01] [ 4.41908570e-01 8.97057729e-01 -2.06083566e-03 1.35196172e+01] [ 4.69681121e-03 -1.64406318e-05 9.99988970e-01 1.79497354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.25, Y:13.53, Z:0.18 [[ 8.97718161e-01 -4.40550062e-01 -4.21251854e-03 6.12541204e+01] [ 4.40545163e-01 8.97728045e-01 -2.07759960e-03 1.35328140e+01] [ 4.69698267e-03 9.29422500e-06 9.99988969e-01 1.78695530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.45105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.28, Y:13.55, Z:0.17 [[ 8.98381302e-01 -4.39196106e-01 -4.22097252e-03 6.12780997e+01] [ 4.39191275e-01 8.98391218e-01 -2.06001295e-03 1.35481605e+01] [ 4.69683431e-03 -3.13718720e-06 9.99988970e-01 1.74711596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.30, Y:13.56, Z:0.17 [[ 8.98694542e-01 -4.38554796e-01 -4.22032520e-03 6.13026226e+01] [ 4.38549951e-01 8.98704452e-01 -2.06135950e-03 1.35619876e+01] [ 4.69684413e-03 1.70912069e-06 9.99988970e-01 1.72115700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.51105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.33, Y:13.57, Z:0.17 [[ 8.99856478e-01 -4.36165695e-01 -4.21961954e-03 6.13308755e+01] [ 4.36160817e-01 8.99866371e-01 -2.06282654e-03 1.35731418e+01] [ 4.69682789e-03 1.58151206e-05 9.99988970e-01 1.69233384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54105275399999 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:61.36, Y:13.58, Z:0.16 [[ 8.99527631e-01 -4.36843365e-01 -4.23275666e-03 6.13561786e+01] [ 4.36838623e-01 8.99537589e-01 -2.03550843e-03 1.35848582e+01] [ 4.69672208e-03 -1.80355159e-05 9.99988970e-01 1.64365417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.571052754 meters Centerline goodness : 0.998652 Centerline is valid? [True, True] Translation: X:61.38, Y:13.60, Z:0.17 [[ 9.00688967e-01 -4.34443912e-01 -4.22763609e-03 6.13836545e+01] [ 4.34439093e-01 9.00698888e-01 -2.04614848e-03 1.35952492e+01] [ 4.69676388e-03 6.29296830e-06 9.99988970e-01 1.66104062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.601052754 meters Centerline goodness : 0.998278 Centerline is valid? [True, True] Translation: X:61.41, Y:13.61, Z:0.17 [[ 9.01282635e-01 -4.33210873e-01 -4.23696632e-03 6.14084370e+01] [ 4.33206132e-01 9.01292594e-01 -2.02676935e-03 1.36083268e+01] [ 4.69676489e-03 -8.78777193e-06 9.99988970e-01 1.68400765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.631052754 meters Centerline goodness : 0.998165 Centerline is valid? [True, True] Translation: X:61.43, Y:13.62, Z:0.17 [[ 9.03334734e-01 -4.28915411e-01 -4.23412269e-03 6.14331678e+01] [ 4.28910595e-01 9.03344657e-01 -2.03267285e-03 1.36207496e+01] [ 4.69671682e-03 2.01239080e-05 9.99988970e-01 1.66765108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.661052754 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:61.46, Y:13.63, Z:0.17 [[ 9.04413561e-01 -4.26635889e-01 -4.23425813e-03 6.14593054e+01] [ 4.26631049e-01 9.04423472e-01 -2.03239186e-03 1.36340206e+01] [ 4.69665375e-03 3.16567731e-05 9.99988970e-01 1.70100238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.691052754 meters Centerline goodness : 0.998377 Centerline is valid? [True, True] Translation: X:61.48, Y:13.65, Z:0.17 [[ 9.06361387e-01 -4.22482087e-01 -4.23357231e-03 6.14840651e+01] [ 4.22477195e-01 9.06371272e-01 -2.03381355e-03 1.36469043e+01] [ 4.69643812e-03 5.47823113e-05 9.99988970e-01 1.67192304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.721052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.51, Y:13.66, Z:0.17 [[ 9.07688360e-01 -4.19623502e-01 -4.23772459e-03 6.15089919e+01] [ 4.19618619e-01 9.07698250e-01 -2.02520812e-03 1.36585250e+01] [ 4.69640012e-03 6.00296961e-05 9.99988970e-01 1.74933726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.751052754 meters Centerline goodness : 0.998423 Centerline is valid? [True, True] Translation: X:61.54, Y:13.67, Z:0.17 [[ 9.07776675e-01 -4.19432502e-01 -4.22912241e-03 6.15366357e+01] [ 4.19427534e-01 9.07786522e-01 -2.04301499e-03 1.36707709e+01] [ 4.69604721e-03 8.07909680e-05 9.99988970e-01 1.69549167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.56, Y:13.68, Z:0.18 [[ 9.08567245e-01 -4.17717162e-01 -4.23473982e-03 6.15622815e+01] [ 4.17712230e-01 9.08577111e-01 -2.03139114e-03 1.36825100e+01] [ 4.69613461e-03 7.67528430e-05 9.99988970e-01 1.79808628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.81105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.59, Y:13.69, Z:0.18 [[ 9.08806573e-01 -4.17196279e-01 -4.22822265e-03 6.15866553e+01] [ 4.17191279e-01 9.08816404e-01 -2.04486685e-03 1.36938522e+01] [ 4.69578894e-03 9.44108240e-05 9.99988970e-01 1.76473351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:61.61, Y:13.71, Z:0.18 [[ 9.08670889e-01 -4.17491727e-01 -4.22762022e-03 6.16125675e+01] [ 4.17486724e-01 9.08680719e-01 -2.04611157e-03 1.37070957e+01] [ 4.69579164e-03 9.42667090e-05 9.99988970e-01 1.78537728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.87105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.64, Y:13.72, Z:0.18 [[ 9.08307931e-01 -4.18280809e-01 -4.22709471e-03 6.16379973e+01] [ 4.18275809e-01 9.08317762e-01 -2.04719666e-03 1.37189318e+01] [ 4.69584828e-03 9.13935001e-05 9.99988970e-01 1.78197588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90105275399999 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:61.66, Y:13.73, Z:0.18 [[ 9.07435209e-01 -4.20170773e-01 -4.22653049e-03 6.16640398e+01] [ 4.20165788e-01 9.07445048e-01 -2.04836086e-03 1.37285950e+01] [ 4.69600553e-03 8.29112508e-05 9.99988970e-01 1.76751788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.93105275399999 meters Centerline goodness : 0.998043 Centerline is valid? [True, True] Translation: X:61.69, Y:13.74, Z:0.17 [[ 9.06645309e-01 -4.21872520e-01 -4.22627018e-03 6.16924539e+01] [ 4.21867551e-01 9.06655156e-01 -2.04889779e-03 1.37406034e+01] [ 4.69614333e-03 7.46973200e-05 9.99988970e-01 1.70953864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.961052754 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:61.72, Y:13.75, Z:0.18 [[ 9.06902604e-01 -4.21318993e-01 -4.23934353e-03 6.17164165e+01] [ 4.21314144e-01 9.06912512e-01 -2.02192401e-03 1.37505736e+01] [ 4.69658868e-03 4.75927583e-05 9.99988970e-01 1.78650445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.991052754 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:61.74, Y:13.76, Z:0.17 [[ 9.06825977e-01 -4.21484037e-01 -4.22549433e-03 6.17430736e+01] [ 4.21479056e-01 9.06835818e-01 -2.05046376e-03 1.37626538e+01] [ 4.69606735e-03 7.84564383e-05 9.99988970e-01 1.69212718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.021052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:61.77, Y:13.77, Z:0.18 [[ 9.06837555e-01 -4.21459005e-01 -4.23748578e-03 6.17683357e+01] [ 4.21454140e-01 9.06847454e-01 -2.02574931e-03 1.37733609e+01] [ 4.69652348e-03 5.11196285e-05 9.99988970e-01 1.80020596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.051052754 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:61.79, Y:13.78, Z:0.18 [[ 9.06800121e-01 -4.21539670e-01 -4.22464695e-03 6.17932611e+01] [ 4.21534682e-01 9.06809958e-01 -2.05217952e-03 1.37848846e+01] [ 4.69602700e-03 8.00814224e-05 9.99988970e-01 1.80733002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.081052754 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:61.82, Y:13.80, Z:0.18 [[ 9.06530706e-01 -4.22118742e-01 -4.22447319e-03 6.18205713e+01] [ 4.22113759e-01 9.06540546e-01 -2.05253715e-03 1.37977767e+01] [ 4.69607063e-03 7.74796881e-05 9.99988970e-01 1.78014438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.84, Y:13.81, Z:0.18 [[ 9.06804645e-01 -4.21529850e-01 -4.23326065e-03 6.18439618e+01] [ 4.21524945e-01 9.06814525e-01 -2.03445178e-03 1.38103859e+01] [ 4.69636440e-03 6.04253641e-05 9.99988970e-01 1.79142214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.141052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:61.87, Y:13.83, Z:0.18 [[ 9.06141888e-01 -4.22952735e-01 -4.22642685e-03 6.18676731e+01] [ 4.22947780e-01 9.06151742e-01 -2.04850268e-03 1.38252139e+01] [ 4.69620386e-03 6.86762295e-05 9.99988970e-01 1.76592500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.17105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.90, Y:13.84, Z:0.18 [[ 9.06511611e-01 -4.22159732e-01 -4.22606429e-03 6.18959800e+01] [ 4.22154764e-01 9.06521459e-01 -2.04924785e-03 1.38374956e+01] [ 4.69612789e-03 7.36137941e-05 9.99988970e-01 1.77416701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.92, Y:13.85, Z:0.18 [[ 9.06066613e-01 -4.23113887e-01 -4.23446342e-03 6.19194089e+01] [ 4.23109011e-01 9.06076507e-01 -2.03198764e-03 1.38503228e+01] [ 4.69651001e-03 4.94765363e-05 9.99988970e-01 1.76535259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.23105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.95, Y:13.86, Z:0.18 [[ 9.07120614e-01 -4.20849559e-01 -4.22384949e-03 6.19467462e+01] [ 4.20844556e-01 9.07130443e-01 -2.05377894e-03 1.38609594e+01] [ 4.69591442e-03 8.54411504e-05 9.99988970e-01 1.79008064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:61.97, Y:13.88, Z:0.18 [[ 9.04995584e-01 -4.25400008e-01 -4.22212556e-03 6.19658817e+01] [ 4.25395039e-01 9.05005430e-01 -2.05731688e-03 1.38767784e+01] [ 4.69622917e-03 6.57914284e-05 9.99988970e-01 1.82417048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.29105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.00, Y:13.89, Z:0.18 [[ 9.06992156e-01 -4.21126652e-01 -4.19186364e-03 6.20012607e+01] [ 4.21121349e-01 9.07001829e-01 -2.11928723e-03 1.38884775e+01] [ 4.69451632e-03 1.56893629e-04 9.99988968e-01 1.82143585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.02, Y:13.90, Z:0.18 [[ 9.07654508e-01 -4.19696643e-01 -4.24515094e-03 6.20247564e+01] [ 4.19691833e-01 9.07664435e-01 -2.00986915e-03 1.38999781e+01] [ 4.69670786e-03 4.26116138e-05 9.99988969e-01 1.81696820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.351052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.05, Y:13.91, Z:0.18 [[ 9.07316840e-01 -4.20426315e-01 -4.22671495e-03 6.20481743e+01] [ 4.20421336e-01 9.07326681e-01 -2.04767971e-03 1.39118156e+01] [ 4.69590969e-03 8.08931389e-05 9.99988971e-01 1.82157654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.07, Y:13.92, Z:0.18 [[ 9.06909575e-01 -4.21304251e-01 -4.21328877e-03 6.20734003e+01] [ 4.21299153e-01 9.06919355e-01 -2.07520628e-03 1.39238196e+01] [ 4.69540637e-03 1.06969454e-04 9.99988971e-01 1.80643364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.10, Y:13.93, Z:0.18 [[ 9.06648162e-01 -4.21866551e-01 -4.20989656e-03 6.21020434e+01] [ 4.21861427e-01 9.06657929e-01 -2.08215794e-03 1.39336209e+01] [ 4.69532888e-03 1.11791695e-04 9.99988971e-01 1.78455172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.441052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.13, Y:13.94, Z:0.18 [[ 9.05707185e-01 -4.23882859e-01 -4.22107087e-03 6.21289608e+01] [ 4.23877864e-01 9.05717018e-01 -2.05925276e-03 1.39449827e+01] [ 4.69597766e-03 7.58615159e-05 9.99988971e-01 1.80512456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.471052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.16, Y:13.96, Z:0.19 [[ 9.03971470e-01 -4.27571923e-01 -4.22290354e-03 6.21567528e+01] [ 4.27566985e-01 9.03981332e-01 -2.05549749e-03 1.39552849e+01] [ 4.69629898e-03 5.25369547e-05 9.99988971e-01 1.86347882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.501052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.18, Y:13.97, Z:0.19 [[ 9.03169324e-01 -4.29263668e-01 -4.22800947e-03 6.21842538e+01] [ 4.29258798e-01 9.03179219e-01 -2.04503640e-03 1.39677762e+01] [ 4.69651012e-03 3.21038756e-05 9.99988971e-01 1.86379042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.53105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.21, Y:13.98, Z:0.19 [[ 9.03966670e-01 -4.27581914e-01 -4.23858210e-03 6.22071924e+01] [ 4.27577127e-01 9.03976607e-01 -2.02338214e-03 1.39801178e+01] [ 4.69674068e-03 1.67492552e-05 9.99988970e-01 1.86023216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.23, Y:13.99, Z:0.19 [[ 9.03840629e-01 -4.27848440e-01 -4.22259288e-03 6.22328692e+01] [ 4.27843502e-01 9.03850491e-01 -2.05609421e-03 1.39927904e+01] [ 4.69628934e-03 5.17725607e-05 9.99988971e-01 1.86138462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.59105275399999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:62.25, Y:14.01, Z:0.18 [[ 9.03990134e-01 -4.27532472e-01 -4.22174754e-03 6.22540983e+01] [ 4.27527523e-01 9.03999990e-01 -2.05782207e-03 1.40099352e+01] [ 4.69624549e-03 5.53375748e-05 9.99988971e-01 1.83950969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.28, Y:14.02, Z:0.18 [[ 9.04609363e-01 -4.26220850e-01 -4.20573666e-03 6.22792658e+01] [ 4.26215735e-01 9.04619134e-01 -2.09054342e-03 1.40238111e+01] [ 4.69562305e-03 9.85740051e-05 9.99988971e-01 1.82477861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.65105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.30, Y:14.04, Z:0.18 [[ 9.04544434e-01 -4.26358626e-01 -4.20583873e-03 6.23041037e+01] [ 4.26353513e-01 9.04554206e-01 -2.09033484e-03 1.40362883e+01] [ 4.69564141e-03 9.76266269e-05 9.99988971e-01 1.82224807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:62.33, Y:14.05, Z:0.18 [[ 9.03831661e-01 -4.27867541e-01 -4.20669285e-03 6.23304836e+01] [ 4.27862452e-01 9.03841446e-01 -2.08859074e-03 1.40488079e+01] [ 4.69582353e-03 8.78485159e-05 9.99988971e-01 1.83001643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.711052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.36, Y:14.06, Z:0.18 [[ 9.03848324e-01 -4.27832329e-01 -4.20772439e-03 6.23583712e+01] [ 4.27827250e-01 9.03858114e-01 -2.08648496e-03 1.40604838e+01] [ 4.69585155e-03 8.56867803e-05 9.99988971e-01 1.83338790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.741052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.38, Y:14.07, Z:0.18 [[ 9.03115395e-01 -4.29377215e-01 -4.21786169e-03 6.23808885e+01] [ 4.29372249e-01 9.03125243e-01 -2.06578694e-03 1.40747822e+01] [ 4.69625920e-03 5.46112274e-05 9.99988971e-01 1.84510821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.771052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.41, Y:14.09, Z:0.18 [[ 9.02349724e-01 -4.30984096e-01 -4.20538818e-03 6.24067228e+01] [ 4.30979029e-01 9.02359520e-01 -2.09123836e-03 1.40870521e+01] [ 4.69606253e-03 7.45942487e-05 9.99988971e-01 1.84476418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.801052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.43, Y:14.10, Z:0.18 [[ 9.01502116e-01 -4.32754251e-01 -4.20641984e-03 6.24321320e+01] [ 4.32749213e-01 9.01511927e-01 -2.08913364e-03 1.40982857e+01] [ 4.69621912e-03 6.30335165e-05 9.99988971e-01 1.84442572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.831052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.46, Y:14.11, Z:0.18 [[ 9.01286413e-01 -4.33203333e-01 -4.20415909e-03 6.24579291e+01] [ 4.33198278e-01 9.01296216e-01 -2.09374467e-03 1.41104750e+01] [ 4.69620985e-03 6.58291448e-05 9.99988971e-01 1.84878997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.48, Y:14.13, Z:0.18 [[ 9.01271235e-01 -4.33234888e-01 -4.20625196e-03 6.24823320e+01] [ 4.33229853e-01 9.01281048e-01 -2.08947779e-03 1.41257746e+01] [ 4.69624986e-03 6.09123068e-05 9.99988971e-01 1.83762071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.89105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.51, Y:14.14, Z:0.18 [[ 9.01809137e-01 -4.32114035e-01 -4.21206744e-03 6.25056824e+01] [ 4.32109044e-01 9.01818972e-01 -2.07762554e-03 1.41381527e+01] [ 4.69629348e-03 5.35492638e-05 9.99988971e-01 1.82432754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.53, Y:14.15, Z:0.18 [[ 9.02351891e-01 -4.30979552e-01 -4.20601566e-03 6.25307496e+01] [ 4.30974490e-01 9.02361691e-01 -2.08996216e-03 1.41524655e+01] [ 4.69607836e-03 7.31958555e-05 9.99988971e-01 1.81466624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.95105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.56, Y:14.17, Z:0.18 [[ 9.02544047e-01 -4.30576998e-01 -4.20619904e-03 6.25555326e+01] [ 4.30571934e-01 9.02553845e-01 -2.08958850e-03 1.41656584e+01] [ 4.69604986e-03 7.48744039e-05 9.99988971e-01 1.80779072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.58, Y:14.18, Z:0.18 [[ 9.02984022e-01 -4.29653537e-01 -4.20643566e-03 6.25803013e+01] [ 4.29648465e-01 9.02993816e-01 -2.08910645e-03 1.41783045e+01] [ 4.69597737e-03 7.91411199e-05 9.99988971e-01 1.80351230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.01105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.60, Y:14.19, Z:0.18 [[ 9.03570190e-01 -4.28419447e-01 -4.20589603e-03 6.26044900e+01] [ 4.28414357e-01 9.03579974e-01 -2.09020516e-03 1.41919824e+01] [ 4.69584797e-03 8.67808340e-05 9.99988971e-01 1.80736295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.63, Y:14.21, Z:0.18 [[ 9.04261518e-01 -4.26958327e-01 -4.20651277e-03 6.26278963e+01] [ 4.26953227e-01 9.04271297e-01 -2.08894917e-03 1.42053998e+01] [ 4.69572300e-03 9.29721445e-05 9.99988971e-01 1.81253856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.65, Y:14.22, Z:0.18 [[ 9.04426258e-01 -4.26609253e-01 -4.20584664e-03 6.26536473e+01] [ 4.26604142e-01 9.04436032e-01 -2.09030471e-03 1.42181988e+01] [ 4.69566258e-03 9.62948648e-05 9.99988971e-01 1.79493555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.101052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.68, Y:14.23, Z:0.18 [[ 9.04581280e-01 -4.26280355e-01 -4.21494675e-03 6.26785814e+01] [ 4.26275328e-01 9.04591097e-01 -2.07179104e-03 1.42321785e+01] [ 4.69596712e-03 7.73755847e-05 9.99988971e-01 1.79460899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.70, Y:14.25, Z:0.18 [[ 9.04542843e-01 -4.26361916e-01 -4.21444401e-03 6.27035251e+01] [ 4.26356884e-01 9.04552658e-01 -2.07281321e-03 1.42451248e+01] [ 4.69595514e-03 7.80911390e-05 9.99988971e-01 1.79098980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.161052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:62.73, Y:14.26, Z:0.18 [[ 9.04200126e-01 -4.27088305e-01 -4.20858521e-03 6.27284773e+01] [ 4.27083226e-01 9.04209916e-01 -2.08471979e-03 1.42577475e+01] [ 4.69580392e-03 8.75877499e-05 9.99988971e-01 1.79623716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.191052754 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:62.75, Y:14.27, Z:0.18 [[ 9.03449697e-01 -4.28673472e-01 -4.20713953e-03 6.27533569e+01] [ 4.28668396e-01 9.03459489e-01 -2.08765462e-03 1.42706496e+01] [ 4.69590228e-03 8.26231793e-05 9.99988971e-01 1.76169258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.78, Y:14.28, Z:0.18 [[ 9.03200373e-01 -4.29198508e-01 -4.21039194e-03 6.27790069e+01] [ 4.29193469e-01 9.03210183e-01 -2.08105566e-03 1.42832584e+01] [ 4.69605486e-03 7.25375201e-05 9.99988971e-01 1.77475264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.251052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.81, Y:14.30, Z:0.18 [[ 9.02754904e-01 -4.30134699e-01 -4.20984962e-03 6.28055433e+01] [ 4.30129665e-01 9.02764718e-01 -2.08215538e-03 1.42954782e+01] [ 4.69611098e-03 6.88947716e-05 9.99988971e-01 1.77701698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.83, Y:14.31, Z:0.18 [[ 9.02324034e-01 -4.31037815e-01 -4.21189169e-03 6.28300464e+01] [ 4.31032810e-01 9.02333862e-01 -2.07801633e-03 1.43063299e+01] [ 4.69623612e-03 5.95805694e-05 9.99988971e-01 1.78300374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.31105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.86, Y:14.32, Z:0.18 [[ 9.02096087e-01 -4.31514672e-01 -4.21147395e-03 6.28559696e+01] [ 4.31509669e-01 9.02105916e-01 -2.07886262e-03 1.43181209e+01] [ 4.69625529e-03 5.80421078e-05 9.99988971e-01 1.79087896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.88, Y:14.33, Z:0.18 [[ 9.01918245e-01 -4.31886266e-01 -4.21112166e-03 6.28808922e+01] [ 4.31881263e-01 9.01928074e-01 -2.07957601e-03 1.43298219e+01] [ 4.69626916e-03 5.69030058e-05 9.99988971e-01 1.79279852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.37105275399999 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:62.91, Y:14.34, Z:0.18 [[ 9.01841960e-01 -4.32045539e-01 -4.21085714e-03 6.29089270e+01] [ 4.32040536e-01 9.01851789e-01 -2.08011149e-03 1.43400487e+01] [ 4.69627193e-03 5.66708528e-05 9.99988971e-01 1.78968460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:62.93, Y:14.35, Z:0.18 [[ 9.01177040e-01 -4.33430655e-01 -4.22028652e-03 6.29326223e+01] [ 4.33425755e-01 9.01186921e-01 -2.06103032e-03 1.43527263e+01] [ 4.69658073e-03 2.81723313e-05 9.99988971e-01 1.82487530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.43105275399999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:62.96, Y:14.36, Z:0.18 [[ 9.01020520e-01 -4.33756037e-01 -4.20982503e-03 6.29602664e+01] [ 4.33751042e-01 9.01030354e-01 -2.08218171e-03 1.43636972e+01] [ 4.69633902e-03 5.00724496e-05 9.99988971e-01 1.81463507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.461052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.98, Y:14.38, Z:0.18 [[ 9.00659514e-01 -4.34505055e-01 -4.21865252e-03 6.29826902e+01] [ 4.34500152e-01 9.00669394e-01 -2.06433378e-03 1.43764315e+01] [ 4.69657467e-03 2.62567002e-05 9.99988971e-01 1.83457986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.01, Y:14.39, Z:0.18 [[ 9.00861775e-01 -4.34085644e-01 -4.20900553e-03 6.30075545e+01] [ 4.34080645e-01 9.00871606e-01 -2.08381927e-03 1.43895351e+01] [ 4.69632960e-03 5.01852883e-05 9.99988971e-01 1.82965850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.03, Y:14.40, Z:0.18 [[ 9.00937966e-01 -4.33927495e-01 -4.20844536e-03 6.30321868e+01] [ 4.33922489e-01 9.00947793e-01 -2.08494996e-03 1.44040278e+01] [ 4.69630668e-03 5.22714870e-05 9.99988971e-01 1.81527282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.551052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.06, Y:14.42, Z:0.18 [[ 9.01625260e-01 -4.32497613e-01 -4.20788580e-03 6.30559617e+01] [ 4.32492586e-01 9.01635077e-01 -2.08607867e-03 1.44200740e+01] [ 4.69620148e-03 6.09818061e-05 9.99988971e-01 1.78857928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.581052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.08, Y:14.43, Z:0.18 [[ 9.02135149e-01 -4.31433043e-01 -4.20732100e-03 6.30809769e+01] [ 4.31428000e-01 9.02144958e-01 -2.08721716e-03 1.44325366e+01] [ 4.69610788e-03 6.77958811e-05 9.99988971e-01 1.78754172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.11, Y:14.45, Z:0.18 [[ 9.02953649e-01 -4.29717359e-01 -4.20714676e-03 6.31067062e+01] [ 4.29712295e-01 9.02963446e-01 -2.08756833e-03 1.44452081e+01] [ 4.69596408e-03 7.71147511e-05 9.99988971e-01 1.79578666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.13, Y:14.46, Z:0.18 [[ 9.02837416e-01 -4.29961515e-01 -4.20665652e-03 6.31318998e+01] [ 4.29956450e-01 9.02847213e-01 -2.08855572e-03 1.44576246e+01] [ 4.69596670e-03 7.69471478e-05 9.99988971e-01 1.78490680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.67105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.16, Y:14.47, Z:0.18 [[ 9.02298624e-01 -4.31091057e-01 -4.20640819e-03 6.31573725e+01] [ 4.31086001e-01 9.02308426e-01 -2.08905575e-03 1.44692239e+01] [ 4.69605081e-03 7.16284464e-05 9.99988971e-01 1.79689303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.18, Y:14.48, Z:0.18 [[ 9.01241496e-01 -4.33296753e-01 -4.20584968e-03 6.31835466e+01] [ 4.33291716e-01 9.01251308e-01 -2.09017960e-03 1.44809240e+01] [ 4.69619555e-03 6.13967625e-05 9.99988971e-01 1.82929892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.73105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.21, Y:14.49, Z:0.18 [[ 9.00916532e-01 -4.33972023e-01 -4.20534034e-03 6.32082079e+01] [ 4.33966989e-01 9.00926345e-01 -2.09120385e-03 1.44931017e+01] [ 4.69622587e-03 5.90212377e-05 9.99988971e-01 1.82997761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.23, Y:14.51, Z:0.18 [[ 9.00529355e-01 -4.34774881e-01 -4.20515977e-03 6.32334117e+01] [ 4.34769853e-01 9.00539172e-01 -2.09156689e-03 1.45053178e+01] [ 4.69627184e-03 5.52406873e-05 9.99988971e-01 1.83946347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.79105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.26, Y:14.52, Z:0.19 [[ 9.00094457e-01 -4.35674522e-01 -4.20458798e-03 6.32591098e+01] [ 4.35669499e-01 9.00104276e-01 -2.09271571e-03 1.45167092e+01] [ 4.69631054e-03 5.18310671e-05 9.99988971e-01 1.86221663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.821052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.28, Y:14.53, Z:0.19 [[ 9.00057664e-01 -4.35750534e-01 -4.20400698e-03 6.32836542e+01] [ 4.35745507e-01 9.00067480e-01 -2.09388222e-03 1.45304087e+01] [ 4.69630026e-03 5.27375870e-05 9.99988971e-01 1.85736212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.851052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.31, Y:14.54, Z:0.18 [[ 8.99551123e-01 -4.36795267e-01 -4.20380677e-03 6.33106267e+01] [ 4.36790249e-01 8.99560944e-01 -2.09428409e-03 1.45442424e+01] [ 4.69635377e-03 4.77337971e-05 9.99988971e-01 1.82009223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.881052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.33, Y:14.56, Z:0.18 [[ 9.00121645e-01 -4.35618239e-01 -4.21606588e-03 6.33331174e+01] [ 4.35613323e-01 9.00131518e-01 -2.06970163e-03 1.45593545e+01] [ 4.69661356e-03 2.64087731e-05 9.99988971e-01 1.82788175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.911052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.36, Y:14.57, Z:0.18 [[ 9.00330587e-01 -4.35186368e-01 -4.20219074e-03 6.33568898e+01] [ 4.35181317e-01 9.00340392e-01 -2.09749949e-03 1.45716673e+01] [ 4.69620525e-03 5.97280439e-05 9.99988971e-01 1.83211154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.941052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.38, Y:14.58, Z:0.18 [[ 9.00327197e-01 -4.35193384e-01 -4.20193935e-03 6.33824375e+01] [ 4.35188331e-01 9.00337001e-01 -2.09800298e-03 1.45842298e+01] [ 4.69619849e-03 6.02541668e-05 9.99988971e-01 1.84085983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.971052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.41, Y:14.60, Z:0.18 [[ 8.99887221e-01 -4.36102441e-01 -4.20135279e-03 6.34070924e+01] [ 4.36097392e-01 8.99897026e-01 -2.09917695e-03 1.45972245e+01] [ 4.69624107e-03 5.68235146e-05 9.99988971e-01 1.83771024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.001052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.43, Y:14.61, Z:0.18 [[ 8.99436197e-01 -4.37031899e-01 -4.20077383e-03 6.34319957e+01] [ 4.37026856e-01 8.99446005e-01 -2.10033489e-03 1.46097707e+01] [ 4.69628259e-03 5.32662488e-05 9.99988971e-01 1.83851609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.03105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.46, Y:14.62, Z:0.18 [[ 8.98811385e-01 -4.38315471e-01 -4.20019455e-03 6.34603096e+01] [ 4.38310436e-01 8.98821198e-01 -2.10149268e-03 1.46200353e+01] [ 4.69634065e-03 4.78564389e-05 9.99988971e-01 1.84642911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06105275399999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:63.49, Y:14.63, Z:0.18 [[ 8.98420717e-01 -4.39115525e-01 -4.21557287e-03 6.34851073e+01] [ 4.39110643e-01 8.98430607e-01 -2.07067560e-03 1.46319195e+01] [ 4.69666549e-03 9.23495070e-06 9.99988971e-01 1.79694713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.09105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.51, Y:14.64, Z:0.19 [[ 8.98926444e-01 -4.38079324e-01 -4.21344979e-03 6.35089404e+01] [ 4.38074411e-01 8.98936319e-01 -2.07492508e-03 1.46442873e+01] [ 4.69660482e-03 1.94004879e-05 9.99988971e-01 1.85086281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.53, Y:14.66, Z:0.18 [[ 8.99000323e-01 -4.37927821e-01 -4.20039401e-03 6.35338584e+01] [ 4.37922784e-01 8.99010134e-01 -2.10102633e-03 1.46572744e+01] [ 4.69629466e-03 4.93751115e-05 9.99988971e-01 1.84388827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.15105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.56, Y:14.67, Z:0.18 [[ 8.99120534e-01 -4.37680964e-01 -4.19981772e-03 6.35613009e+01] [ 4.37675919e-01 8.99130341e-01 -2.10217767e-03 1.46708383e+01] [ 4.69626669e-03 5.19520327e-05 9.99988971e-01 1.80300349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18105275399999 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:63.59, Y:14.68, Z:0.18 [[ 8.99123698e-01 -4.37674350e-01 -4.21174697e-03 6.35866016e+01] [ 4.37669416e-01 8.99133562e-01 -2.07832110e-03 1.46833891e+01] [ 4.69655089e-03 2.53149199e-05 9.99988971e-01 1.79476334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.211052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.61, Y:14.70, Z:0.19 [[ 8.99109234e-01 -4.37704090e-01 -4.20889230e-03 6.36102342e+01] [ 4.37699130e-01 8.99119085e-01 -2.08402590e-03 1.46955802e+01] [ 4.69648205e-03 3.15384346e-05 9.99988971e-01 1.88061852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.241052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.64, Y:14.71, Z:0.19 [[ 8.99160024e-01 -4.37599839e-01 -4.19917361e-03 6.36352295e+01] [ 4.37594787e-01 8.99169827e-01 -2.10342778e-03 1.47081829e+01] [ 4.69622987e-03 5.37816918e-05 9.99988971e-01 1.89176070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.271052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.66, Y:14.72, Z:0.19 [[ 8.99449623e-01 -4.37004285e-01 -4.19899572e-03 6.36588225e+01] [ 4.36999224e-01 8.99459422e-01 -2.10378283e-03 1.47213139e+01] [ 4.69618838e-03 5.72887964e-05 9.99988971e-01 1.89207099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.301052754 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:63.69, Y:14.74, Z:0.18 [[ 8.99237853e-01 -4.37439886e-01 -4.19875350e-03 6.36856943e+01] [ 4.37434828e-01 8.99247654e-01 -2.10426615e-03 1.47354956e+01] [ 4.69620918e-03 5.55547553e-05 9.99988971e-01 1.84055189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.331052754 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:63.71, Y:14.75, Z:0.18 [[ 8.99422459e-01 -4.37060101e-01 -4.20811833e-03 6.37128352e+01] [ 4.37055127e-01 8.99432302e-01 -2.08558105e-03 1.47494878e+01] [ 4.69644182e-03 3.66387508e-05 9.99988971e-01 1.80727706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.74, Y:14.76, Z:0.19 [[ 8.98961787e-01 -4.38006764e-01 -4.21665797e-03 6.37359239e+01] [ 4.38001879e-01 8.98971676e-01 -2.06856160e-03 1.47621927e+01] [ 4.69670005e-03 1.26537232e-05 9.99988970e-01 1.85571213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.39105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.76, Y:14.77, Z:0.19 [[ 8.98469758e-01 -4.39015356e-01 -4.19642521e-03 6.37622542e+01] [ 4.39010295e-01 8.98479557e-01 -2.10882353e-03 1.47733700e+01] [ 4.69620817e-03 5.24402976e-05 9.99988971e-01 1.87371129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.79, Y:14.79, Z:0.19 [[ 8.98431191e-01 -4.39094283e-01 -4.19584568e-03 6.37874996e+01] [ 4.39089217e-01 8.98440987e-01 -2.10997597e-03 1.47864875e+01] [ 4.69619812e-03 5.33176299e-05 9.99988971e-01 1.88642112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.45105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.81, Y:14.80, Z:0.19 [[ 8.98309320e-01 -4.39343562e-01 -4.19525911e-03 6.38130389e+01] [ 4.39338493e-01 8.98319115e-01 -2.11114159e-03 1.47994126e+01] [ 4.69619791e-03 5.33193566e-05 9.99988971e-01 1.88775878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.84, Y:14.81, Z:0.19 [[ 8.98843156e-01 -4.38250368e-01 -4.19467299e-03 6.38370259e+01] [ 4.38245282e-01 8.98852942e-01 -2.11230552e-03 1.48138803e+01] [ 4.69611283e-03 6.03357113e-05 9.99988971e-01 1.87601854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.51105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.86, Y:14.83, Z:0.19 [[ 8.99276971e-01 -4.37359505e-01 -4.19449156e-03 6.38621228e+01] [ 4.37354407e-01 8.99286750e-01 -2.11266574e-03 1.48269607e+01] [ 4.69604512e-03 6.53922730e-05 9.99988971e-01 1.87044157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54105275399999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:63.89, Y:14.84, Z:0.18 [[ 8.99746074e-01 -4.36393645e-01 -4.19390916e-03 6.38904885e+01] [ 4.36388531e-01 8.99755846e-01 -2.11382123e-03 1.48401622e+01] [ 4.69595244e-03 7.17284940e-05 9.99988971e-01 1.80021495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.571052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.91, Y:14.85, Z:0.19 [[ 8.99745671e-01 -4.36394355e-01 -4.20641454e-03 6.39130691e+01] [ 4.36389357e-01 8.99755503e-01 -2.08900727e-03 1.48525714e+01] [ 4.69637561e-03 4.39407123e-05 9.99988971e-01 1.85882620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.601052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.94, Y:14.86, Z:0.19 [[ 8.99603250e-01 -4.36688003e-01 -4.19294725e-03 6.39375652e+01] [ 4.36682884e-01 8.99613018e-01 -2.11569714e-03 1.48648873e+01] [ 4.69592949e-03 7.22997218e-05 9.99988971e-01 1.86040684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.631052754 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:63.97, Y:14.88, Z:0.18 [[ 8.99629440e-01 -4.36634048e-01 -4.19269705e-03 6.39673008e+01] [ 4.36628926e-01 8.99639207e-01 -2.11619284e-03 1.48774201e+01] [ 4.69591650e-03 7.31365684e-05 9.99988971e-01 1.81768710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.661052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.99, Y:14.89, Z:0.19 [[ 8.99518379e-01 -4.36862611e-01 -4.21251226e-03 6.39885296e+01] [ 4.36857675e-01 8.99528242e-01 -2.07692753e-03 1.48896956e+01] [ 4.69660573e-03 2.79661756e-05 9.99988970e-01 1.88668336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.691052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.01, Y:14.90, Z:0.19 [[ 8.99586791e-01 -4.36721918e-01 -4.19190883e-03 6.40135067e+01] [ 4.36716790e-01 8.99596555e-01 -2.11771105e-03 1.49016417e+01] [ 4.69587757e-03 7.43879242e-05 9.99988972e-01 1.89066958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.721052754 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:64.04, Y:14.91, Z:0.19 [[ 8.99286285e-01 -4.37340378e-01 -4.19172982e-03 6.40383035e+01] [ 4.37335255e-01 8.99296052e-01 -2.11806531e-03 1.49144730e+01] [ 4.69592157e-03 7.15558543e-05 9.99988972e-01 1.89741898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.751052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.06, Y:14.93, Z:0.19 [[ 8.99102027e-01 -4.37719064e-01 -4.19116138e-03 6.40628874e+01] [ 4.37713939e-01 8.99111793e-01 -2.11918953e-03 1.49271198e+01] [ 4.69593228e-03 7.08378480e-05 9.99988972e-01 1.89108683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.09, Y:14.94, Z:0.19 [[ 8.98941026e-01 -4.38049618e-01 -4.19098572e-03 6.40880600e+01] [ 4.38044496e-01 8.98950792e-01 -2.11953686e-03 1.49399069e+01] [ 4.69595225e-03 6.95004124e-05 9.99988972e-01 1.89756352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.81105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.11, Y:14.95, Z:0.19 [[ 8.99012410e-01 -4.37903102e-01 -4.19040526e-03 6.41124974e+01] [ 4.37897973e-01 8.99022173e-01 -2.12068385e-03 1.49530957e+01] [ 4.69592128e-03 7.15511288e-05 9.99988972e-01 1.87215673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.14, Y:14.97, Z:0.19 [[ 8.99241350e-01 -4.37432780e-01 -4.19013481e-03 6.41376211e+01] [ 4.37427643e-01 8.99251109e-01 -2.12121807e-03 1.49661845e+01] [ 4.69587369e-03 7.46062038e-05 9.99988972e-01 1.87331318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.87105275399999 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:64.17, Y:14.98, Z:0.18 [[ 8.99900232e-01 -4.36075705e-01 -4.18956578e-03 6.41674432e+01] [ 4.36070548e-01 8.99909980e-01 -2.12234135e-03 1.49785151e+01] [ 4.69573356e-03 8.29492293e-05 9.99988972e-01 1.80844687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.19, Y:14.99, Z:0.19 [[ 8.99647078e-01 -4.36597596e-01 -4.20411288e-03 6.41902191e+01] [ 4.36592579e-01 8.99656899e-01 -2.09363641e-03 1.49934358e+01] [ 4.69633578e-03 4.80493934e-05 9.99988971e-01 1.88688429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.22, Y:15.01, Z:0.19 [[ 8.99493594e-01 -4.36913872e-01 -4.18847403e-03 6.42157283e+01] [ 4.36908715e-01 8.99503342e-01 -2.12446903e-03 1.50077668e+01] [ 4.69575637e-03 8.09654784e-05 9.99988972e-01 1.91096738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.961052754 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:64.24, Y:15.02, Z:0.19 [[ 8.99963161e-01 -4.35945834e-01 -4.18795783e-03 6.42446098e+01] [ 4.35940661e-01 8.99972901e-01 -2.12548612e-03 1.50219452e+01] [ 4.69564537e-03 8.71581074e-05 9.99988972e-01 1.86069395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.991052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.27, Y:15.03, Z:0.19 [[ 8.99950359e-01 -4.35972089e-01 -4.20585416e-03 6.42698681e+01] [ 4.35967081e-01 8.99960185e-01 -2.09020586e-03 1.50345634e+01] [ 4.69637271e-03 4.74675547e-05 9.99988971e-01 1.90881013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.29, Y:15.05, Z:0.19 [[ 8.99587832e-01 -4.36719606e-01 -4.20934936e-03 6.42930212e+01] [ 4.36714638e-01 8.99597679e-01 -2.08333924e-03 1.50487798e+01] [ 4.69655601e-03 3.58621470e-05 9.99988970e-01 1.90957974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.051052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.32, Y:15.06, Z:0.19 [[ 8.99726044e-01 -4.36434904e-01 -4.19774966e-03 6.43186393e+01] [ 4.36429826e-01 8.99735834e-01 -2.10610160e-03 1.50614470e+01] [ 4.69604204e-03 6.28913049e-05 9.99988972e-01 1.89878890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.081052754 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:64.34, Y:15.08, Z:0.19 [[ 8.99574530e-01 -4.36747055e-01 -4.20419947e-03 6.43414539e+01] [ 4.36742041e-01 8.99584353e-01 -2.09341217e-03 1.50751841e+01] [ 4.69632366e-03 4.70296103e-05 9.99988971e-01 1.88325777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.37, Y:15.09, Z:0.19 [[ 8.99695847e-01 -4.36497190e-01 -4.19364937e-03 6.43703614e+01] [ 4.36492076e-01 8.99705618e-01 -2.11415016e-03 1.50883164e+01] [ 4.69587050e-03 7.15973992e-05 9.99988972e-01 1.90975408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.40, Y:15.10, Z:0.19 [[ 8.99833521e-01 -4.36213169e-01 -4.20792258e-03 6.43953649e+01] [ 4.36208182e-01 8.99843358e-01 -2.08623665e-03 1.51013702e+01] [ 4.69651508e-03 4.17354097e-05 9.99988970e-01 1.90462531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.17105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.42, Y:15.11, Z:0.19 [[ 8.98008673e-01 -4.39957684e-01 -4.20232358e-03 6.44151138e+01] [ 4.39952687e-01 8.98018505e-01 -2.09717451e-03 1.51145236e+01] [ 4.69643238e-03 3.44573445e-05 9.99988971e-01 1.87930368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20105275399999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:64.44, Y:15.13, Z:0.19 [[ 8.97641694e-01 -4.40706164e-01 -4.17930783e-03 6.44427917e+01] [ 4.40700965e-01 8.97651419e-01 -2.14207943e-03 1.51255217e+01] [ 4.69558922e-03 8.09948111e-05 9.99988972e-01 1.88394200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.23105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.47, Y:15.14, Z:0.19 [[ 8.97096935e-01 -4.41813940e-01 -4.18710501e-03 6.44715239e+01] [ 4.41808824e-01 8.97106704e-01 -2.12686935e-03 1.51378680e+01] [ 4.69596051e-03 5.81080287e-05 9.99988972e-01 1.90305833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.49, Y:15.15, Z:0.19 [[ 8.94753644e-01 -4.46540371e-01 -4.19694760e-03 6.44926490e+01] [ 4.46535397e-01 8.94763487e-01 -2.10767431e-03 1.51481525e+01] [ 4.69643714e-03 1.17636091e-05 9.99988972e-01 1.90596326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.29105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.52, Y:15.16, Z:0.19 [[ 8.94288839e-01 -4.47470691e-01 -4.17772864e-03 6.45180026e+01] [ 4.47465552e-01 8.94298596e-01 -2.14510448e-03 1.51595057e+01] [ 4.69600824e-03 4.89533486e-05 9.99988972e-01 1.93492157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.54, Y:15.17, Z:0.19 [[ 8.94173544e-01 -4.47701042e-01 -4.17745789e-03 6.45422836e+01] [ 4.47695903e-01 8.94183301e-01 -2.14563162e-03 1.51724486e+01] [ 4.69601459e-03 4.83362509e-05 9.99988972e-01 1.94291272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.351052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.57, Y:15.19, Z:0.20 [[ 8.94510980e-01 -4.47026463e-01 -4.17719028e-03 6.45657285e+01] [ 4.47021314e-01 8.94520731e-01 -2.14615247e-03 1.51879033e+01] [ 4.69597026e-03 5.24638621e-05 9.99988972e-01 1.95309955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.381052754 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:64.59, Y:15.20, Z:0.19 [[ 8.94571315e-01 -4.46905712e-01 -4.17701534e-03 6.45916958e+01] [ 4.46900560e-01 8.94581065e-01 -2.14649291e-03 1.52036808e+01] [ 4.69595877e-03 5.34804876e-05 9.99988972e-01 1.93266820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.61, Y:15.22, Z:0.19 [[ 8.95382960e-01 -4.45277278e-01 -4.18327728e-03 6.46139483e+01] [ 4.45272166e-01 8.95392731e-01 -2.13430928e-03 1.52186659e+01] [ 4.69603549e-03 4.83272282e-05 9.99988972e-01 1.92171819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.441052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.64, Y:15.23, Z:0.19 [[ 8.95546252e-01 -4.44948839e-01 -4.17617289e-03 6.46396346e+01] [ 4.44943659e-01 8.95555987e-01 -2.14812096e-03 1.52329674e+01] [ 4.69580056e-03 6.55800288e-05 9.99988973e-01 1.91381524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.471052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.67, Y:15.24, Z:0.19 [[ 8.96297651e-01 -4.43433292e-01 -4.17565129e-03 6.46656681e+01] [ 4.43428090e-01 8.96307375e-01 -2.14913439e-03 1.52444704e+01] [ 4.69566478e-03 7.46630336e-05 9.99988973e-01 1.93602247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.501052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.69, Y:15.25, Z:0.20 [[ 8.97054272e-01 -4.41900669e-01 -4.17505586e-03 6.46906878e+01] [ 4.41895445e-01 8.97063984e-01 -2.15029050e-03 1.52547825e+01] [ 4.69550705e-03 8.39891126e-05 9.99988973e-01 1.96941808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.53105275399999 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:64.72, Y:15.27, Z:0.19 [[ 8.97611371e-01 -4.40767963e-01 -4.17479746e-03 6.47161240e+01] [ 4.40762725e-01 8.97621075e-01 -2.15079205e-03 1.52686091e+01] [ 4.69538642e-03 9.04802933e-05 9.99988973e-01 1.92696648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.74, Y:15.28, Z:0.20 [[ 8.97275567e-01 -4.41451159e-01 -4.17517248e-03 6.47398425e+01] [ 4.41445931e-01 8.97285276e-01 -2.15006428e-03 1.52827723e+01] [ 4.69546916e-03 8.60872413e-05 9.99988973e-01 1.96513552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.59105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.76, Y:15.30, Z:0.19 [[ 8.96975502e-01 -4.42060546e-01 -4.17402612e-03 6.47641861e+01] [ 4.42055315e-01 8.96985209e-01 -2.15228747e-03 1.52974769e+01] [ 4.69548107e-03 8.53987018e-05 9.99988973e-01 1.94732232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.79, Y:15.31, Z:0.19 [[ 8.96693571e-01 -4.42632152e-01 -4.17342116e-03 6.47899899e+01] [ 4.42626922e-01 8.96703279e-01 -2.15345989e-03 1.53098440e+01] [ 4.69551102e-03 8.37250788e-05 9.99988973e-01 1.94076756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.65105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.82, Y:15.32, Z:0.19 [[ 8.96871701e-01 -4.42271115e-01 -4.17289360e-03 6.48238636e+01] [ 4.42265876e-01 8.96881404e-01 -2.15448167e-03 1.53193515e+01] [ 4.69545569e-03 8.67651998e-05 9.99988973e-01 1.93530156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68105275399999 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:64.84, Y:15.33, Z:0.19 [[ 8.94762225e-01 -4.46523128e-01 -4.20192974e-03 6.48449850e+01] [ 4.46518199e-01 8.94772092e-01 -2.09794525e-03 1.53306820e+01] [ 4.69655054e-03 9.24062906e-07 9.99988971e-01 1.90486370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.711052754 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:64.87, Y:15.34, Z:0.19 [[ 8.95107990e-01 -4.45829778e-01 -4.18274349e-03 6.48690141e+01] [ 4.45824667e-01 8.95117761e-01 -2.13525931e-03 1.53426319e+01] [ 4.69601017e-03 4.65174458e-05 9.99988973e-01 1.90551345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.741052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.89, Y:15.36, Z:0.19 [[ 8.95330958e-01 -4.45381937e-01 -4.17193408e-03 6.48930923e+01] [ 4.45376723e-01 8.95340675e-01 -2.15626472e-03 1.53558399e+01] [ 4.69566363e-03 7.24882281e-05 9.99988973e-01 1.94402837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.771052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.92, Y:15.37, Z:0.20 [[ 8.96095533e-01 -4.43841593e-01 -4.17557690e-03 6.49167768e+01] [ 4.43836395e-01 8.96105259e-01 -2.14918722e-03 1.53708394e+01] [ 4.69565510e-03 7.26040661e-05 9.99988973e-01 1.95073036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.801052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.94, Y:15.39, Z:0.20 [[ 8.96378067e-01 -4.43270715e-01 -4.17539815e-03 6.49419264e+01] [ 4.43265510e-01 8.96387788e-01 -2.14953444e-03 1.53852143e+01] [ 4.69560158e-03 7.59855368e-05 9.99988973e-01 1.97273826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.831052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.97, Y:15.40, Z:0.20 [[ 8.96950841e-01 -4.42110574e-01 -4.17487850e-03 6.49658088e+01] [ 4.42105351e-01 8.96960553e-01 -2.15054323e-03 1.54001212e+01] [ 4.69547923e-03 8.31954321e-05 9.99988973e-01 1.96913563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.99, Y:15.41, Z:0.20 [[ 8.96998746e-01 -4.42013373e-01 -4.17469401e-03 6.49905455e+01] [ 4.42008147e-01 8.97008457e-01 -2.15090131e-03 1.54136385e+01] [ 4.69546297e-03 8.41070165e-05 9.99988973e-01 1.98485203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.89105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.01, Y:15.43, Z:0.20 [[ 8.97299689e-01 -4.41402134e-01 -4.17410879e-03 6.50149825e+01] [ 4.41396897e-01 8.97309394e-01 -2.15203642e-03 1.54261469e+01] [ 4.69538049e-03 8.85829454e-05 9.99988973e-01 1.98856148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.04, Y:15.44, Z:0.20 [[ 8.97082851e-01 -4.41842662e-01 -4.17385386e-03 6.50396224e+01] [ 4.41837427e-01 8.97092556e-01 -2.15253073e-03 1.54387719e+01] [ 4.69541314e-03 8.68335477e-05 9.99988973e-01 1.99972901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.95105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.06, Y:15.45, Z:0.20 [[ 8.96615136e-01 -4.42791014e-01 -4.17325970e-03 6.50643874e+01] [ 4.42785784e-01 8.96624844e-01 -2.15368205e-03 1.54530388e+01] [ 4.69547939e-03 8.31638520e-05 9.99988973e-01 1.98785587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.09, Y:15.47, Z:0.20 [[ 8.96029301e-01 -4.43975316e-01 -4.17272458e-03 6.50897940e+01] [ 4.43970094e-01 8.96039013e-01 -2.15471833e-03 1.54668999e+01] [ 4.69556577e-03 7.81258363e-05 9.99988973e-01 1.96986969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.01105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.12, Y:15.48, Z:0.19 [[ 8.94473092e-01 -4.47102315e-01 -4.17219953e-03 6.51150382e+01] [ 4.47097123e-01 8.94482820e-01 -2.15573452e-03 1.54787769e+01] [ 4.69579470e-03 6.28681142e-05 9.99988973e-01 1.92505510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.14, Y:15.49, Z:0.19 [[ 8.93567313e-01 -4.48909848e-01 -4.17201239e-03 6.51416357e+01] [ 4.48904674e-01 8.93577050e-01 -2.15609664e-03 1.54905055e+01] [ 4.69590754e-03 5.37816242e-05 9.99988973e-01 1.93463488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.17, Y:15.50, Z:0.19 [[ 8.91419591e-01 -4.53159697e-01 -4.17150325e-03 6.51689899e+01] [ 4.53154564e-01 8.91429351e-01 -2.15708125e-03 1.55006517e+01] [ 4.69610272e-03 3.25287516e-05 9.99988973e-01 1.94275399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.101052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.19, Y:15.51, Z:0.19 [[ 8.90580257e-01 -4.54807002e-01 -4.17098946e-03 6.51945241e+01] [ 4.54801883e-01 8.90590024e-01 -2.15807426e-03 1.55134682e+01] [ 4.69614889e-03 2.49644743e-05 9.99988973e-01 1.94175095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.22, Y:15.53, Z:0.19 [[ 8.90756969e-01 -4.54460812e-01 -4.17040027e-03 6.52190427e+01] [ 4.54455684e-01 8.90766731e-01 -2.15921225e-03 1.55271390e+01] [ 4.69613117e-03 2.80712549e-05 9.99988973e-01 1.93747101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.24, Y:15.54, Z:0.19 [[ 8.91244220e-01 -4.53504523e-01 -4.16981658e-03 6.52437796e+01] [ 4.53499379e-01 8.91253974e-01 -2.16033888e-03 1.55408254e+01] [ 4.69608905e-03 3.43803115e-05 9.99988973e-01 1.94160386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.191052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.27, Y:15.55, Z:0.20 [[ 8.92728917e-01 -4.50574852e-01 -4.16923456e-03 6.52681887e+01] [ 4.50569671e-01 8.92738652e-01 -2.16146153e-03 1.55547056e+01] [ 4.69593705e-03 5.10685697e-05 9.99988973e-01 1.95300458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.29, Y:15.57, Z:0.20 [[ 8.93883976e-01 -4.48278998e-01 -4.16864998e-03 6.52929911e+01] [ 4.48273786e-01 8.93893694e-01 -2.16258837e-03 1.55691108e+01] [ 4.69577288e-03 6.44065824e-05 9.99988973e-01 1.96076749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.251052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.32, Y:15.58, Z:0.20 [[ 8.94152146e-01 -4.47743862e-01 -4.16817422e-03 6.53176990e+01] [ 4.47738640e-01 8.94161859e-01 -2.16350496e-03 1.55822933e+01] [ 4.69571848e-03 6.82499488e-05 9.99988973e-01 1.96922199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.34, Y:15.60, Z:0.20 [[ 8.94129427e-01 -4.47789236e-01 -4.16757939e-03 6.53432690e+01] [ 4.47784009e-01 8.94139137e-01 -2.16465019e-03 1.55950030e+01] [ 4.69570289e-03 6.93020271e-05 9.99988973e-01 1.97481540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.31105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.37, Y:15.61, Z:0.20 [[ 8.93840757e-01 -4.48365182e-01 -4.16706514e-03 6.53692875e+01] [ 4.48359956e-01 8.93850468e-01 -2.16563970e-03 1.56072973e+01] [ 4.69573056e-03 6.73918850e-05 9.99988973e-01 2.00054885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.39, Y:15.62, Z:0.20 [[ 8.93239989e-01 -4.49560854e-01 -4.16654998e-03 6.53949792e+01] [ 4.49555638e-01 8.93249704e-01 -2.16663037e-03 1.56211733e+01] [ 4.69580174e-03 6.22248540e-05 9.99988973e-01 2.00535240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.37105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.42, Y:15.63, Z:0.20 [[ 8.93118365e-01 -4.49802435e-01 -4.16603726e-03 6.54203314e+01] [ 4.49797216e-01 8.93128079e-01 -2.16761580e-03 1.56344460e+01] [ 4.69580372e-03 6.20655232e-05 9.99988973e-01 2.00669068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.45, Y:15.65, Z:0.20 [[ 8.92940653e-01 -4.50155129e-01 -4.16545067e-03 6.54464382e+01] [ 4.50149909e-01 8.92950366e-01 -2.16874244e-03 1.56478642e+01] [ 4.69581123e-03 6.14810453e-05 9.99988973e-01 2.01557707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.43105275399999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:65.47, Y:15.66, Z:0.20 [[ 8.92853372e-01 -4.50328223e-01 -4.16494118e-03 6.54720816e+01] [ 4.50323000e-01 8.92863085e-01 -2.16972045e-03 1.56606452e+01] [ 4.69580858e-03 6.16734183e-05 9.99988973e-01 2.01888808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.461052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.50, Y:15.67, Z:0.21 [[ 8.93104604e-01 -4.49829765e-01 -4.16520738e-03 6.54969907e+01] [ 4.49824539e-01 8.93114314e-01 -2.16920955e-03 1.56728280e+01] [ 4.69578136e-03 6.37185427e-05 9.99988973e-01 2.06335230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.52, Y:15.68, Z:0.21 [[ 8.93339407e-01 -4.49363286e-01 -4.16437672e-03 6.55236463e+01] [ 4.49358047e-01 8.93349110e-01 -2.17080306e-03 1.56844966e+01] [ 4.69572143e-03 6.79677329e-05 9.99988973e-01 2.08355916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.55, Y:15.70, Z:0.21 [[ 8.92790222e-01 -4.50453418e-01 -4.16385101e-03 6.55503746e+01] [ 4.50448187e-01 8.92799930e-01 -2.17181097e-03 1.56983184e+01] [ 4.69578556e-03 6.33724625e-05 9.99988973e-01 2.06801801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.551052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.58, Y:15.71, Z:0.20 [[ 8.92006115e-01 -4.52004111e-01 -4.16822657e-03 6.55760221e+01] [ 4.51998936e-01 8.92015853e-01 -2.16342213e-03 1.57120989e+01] [ 4.69599987e-03 4.57517987e-05 9.99988973e-01 2.03063473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.581052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.60, Y:15.73, Z:0.20 [[ 8.91719850e-01 -4.52568523e-01 -4.17619574e-03 6.56012815e+01] [ 4.52563426e-01 8.91729629e-01 -2.14815245e-03 1.57253425e+01] [ 4.69622366e-03 2.55567288e-05 9.99988972e-01 2.03815364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.63, Y:15.74, Z:0.20 [[ 8.92708775e-01 -4.50614717e-01 -4.17375391e-03 6.56256533e+01] [ 4.50609576e-01 8.92718531e-01 -2.15282868e-03 1.57373833e+01] [ 4.69608375e-03 4.11155740e-05 9.99988972e-01 1.98901316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.65, Y:15.75, Z:0.20 [[ 8.93462677e-01 -4.49118130e-01 -4.16522278e-03 6.56509059e+01] [ 4.49112897e-01 8.93472384e-01 -2.16914942e-03 1.57504791e+01] [ 4.69571586e-03 6.73987739e-05 9.99988973e-01 2.00219088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.67105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.68, Y:15.76, Z:0.20 [[ 8.95546349e-01 -4.44948786e-01 -4.16109179e-03 6.56817270e+01] [ 4.44943471e-01 8.95556011e-01 -2.17704518e-03 1.57643384e+01] [ 4.69516438e-03 9.81942415e-05 9.99988973e-01 1.96789411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.71, Y:15.78, Z:0.20 [[ 8.95675220e-01 -4.44689072e-01 -4.18688086e-03 6.57071656e+01] [ 4.44683984e-01 8.95685004e-01 -2.12783068e-03 1.57790072e+01] [ 4.69634946e-03 4.40063525e-05 9.99988971e-01 1.97737732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.73105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.73, Y:15.79, Z:0.19 [[ 8.95802857e-01 -4.44431882e-01 -4.18855892e-03 6.57250844e+01] [ 4.44426805e-01 8.95812648e-01 -2.12463073e-03 1.57932335e+01] [ 4.69641769e-03 4.17424212e-05 9.99988971e-01 1.93480198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.75, Y:15.81, Z:0.19 [[ 8.95925986e-01 -4.44183905e-01 -4.15756811e-03 6.57505582e+01] [ 4.44178551e-01 8.95935626e-01 -2.18363618e-03 1.58077685e+01] [ 4.69484943e-03 1.09673820e-04 9.99988973e-01 1.94433576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.79105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.78, Y:15.82, Z:0.19 [[ 8.95577100e-01 -4.44886925e-01 -4.15703483e-03 6.57759415e+01] [ 4.44881574e-01 8.95586742e-01 -2.18465092e-03 1.58222485e+01] [ 4.69490791e-03 1.07135139e-04 9.99988973e-01 1.93096601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.821052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.81, Y:15.83, Z:0.20 [[ 8.95351388e-01 -4.45341010e-01 -4.15654407e-03 6.58101531e+01] [ 4.45335660e-01 8.95361030e-01 -2.18558425e-03 1.58305511e+01] [ 4.69493788e-03 1.05808601e-04 9.99988973e-01 1.98693963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.851052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.84, Y:15.84, Z:0.20 [[ 8.94357601e-01 -4.47333073e-01 -4.19573916e-03 6.58359658e+01] [ 4.47328092e-01 8.94367442e-01 -2.11096533e-03 1.58416898e+01] [ 4.69683711e-03 1.10858926e-05 9.99988970e-01 2.01625674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.881052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.85, Y:15.85, Z:0.20 [[ 8.92424636e-01 -4.51176993e-01 -4.19403476e-03 6.58540553e+01] [ 4.51172040e-01 8.92434491e-01 -2.11420719e-03 1.58546389e+01] [ 4.69678292e-03 -5.46063988e-06 9.99988970e-01 2.03436806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.911052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.88, Y:15.87, Z:0.21 [[ 8.91301229e-01 -4.53392610e-01 -4.15455473e-03 6.58793344e+01] [ 4.53387330e-01 8.91310909e-01 -2.18913276e-03 1.58695788e+01] [ 4.69553657e-03 6.75542482e-05 9.99988974e-01 2.06153259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.941052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.90, Y:15.88, Z:0.20 [[ 8.90847066e-01 -4.54284327e-01 -4.15402058e-03 6.59033909e+01] [ 4.54279052e-01 8.90856748e-01 -2.19014587e-03 1.58836672e+01] [ 4.69558621e-03 6.40004846e-05 9.99988974e-01 2.03767375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.971052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.93, Y:15.90, Z:0.20 [[ 8.90410848e-01 -4.55138735e-01 -4.15383270e-03 6.59285208e+01] [ 4.55133467e-01 8.90420535e-01 -2.19050216e-03 1.58968915e+01] [ 4.69564031e-03 5.98986073e-05 9.99988974e-01 2.03347244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.001052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.96, Y:15.91, Z:0.20 [[ 8.89564691e-01 -4.56790336e-01 -4.15323748e-03 6.59554479e+01] [ 4.56785081e-01 8.89574385e-01 -2.19163012e-03 1.59087143e+01] [ 4.69572913e-03 5.24598570e-05 9.99988974e-01 2.03031677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.03105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.98, Y:15.92, Z:0.20 [[ 8.88354805e-01 -4.59138862e-01 -4.15272227e-03 6.59805827e+01] [ 4.59133629e-01 8.88364511e-01 -2.19260590e-03 1.59215604e+01] [ 4.69584167e-03 4.11575440e-05 9.99988974e-01 2.02773186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.01, Y:15.94, Z:0.20 [[ 8.87818207e-01 -4.60175609e-01 -4.15216594e-03 6.60051729e+01] [ 4.60170382e-01 8.87827915e-01 -2.19365893e-03 1.59351473e+01] [ 4.69587717e-03 3.68665549e-05 9.99988974e-01 2.02498030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.09105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.03, Y:15.95, Z:0.20 [[ 8.87338536e-01 -4.61099866e-01 -4.15156831e-03 6.60292200e+01] [ 4.61094644e-01 8.87348248e-01 -2.19478938e-03 1.59490908e+01] [ 4.69590396e-03 3.32552831e-05 9.99988974e-01 2.03210807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.05, Y:15.96, Z:0.20 [[ 8.87348698e-01 -4.61080312e-01 -4.15129271e-03 6.60538774e+01] [ 4.61075087e-01 8.87358408e-01 -2.19531053e-03 1.59631679e+01] [ 4.69589896e-03 3.39482935e-05 9.99988974e-01 2.03720398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.15105275399999 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:66.08, Y:15.98, Z:0.20 [[ 8.87196855e-01 -4.61372418e-01 -4.15111098e-03 6.60801402e+01] [ 4.61367195e-01 8.87206566e-01 -2.19565412e-03 1.59777311e+01] [ 4.69590717e-03 3.27910053e-05 9.99988974e-01 2.00477402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.10, Y:15.99, Z:0.21 [[ 8.87148399e-01 -4.61465496e-01 -4.16090645e-03 6.61030798e+01] [ 4.61460361e-01 8.87158157e-01 -2.17713477e-03 1.59903595e+01] [ 4.69605467e-03 1.13482344e-05 9.99988973e-01 2.05849189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.211052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.13, Y:16.00, Z:0.21 [[ 8.86799413e-01 -4.62135886e-01 -4.15021337e-03 6.61285928e+01] [ 4.62130663e-01 8.86809124e-01 -2.19733135e-03 1.60032115e+01] [ 4.69591275e-03 3.06512918e-05 9.99988974e-01 2.07245424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.241052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.15, Y:16.02, Z:0.21 [[ 8.85826366e-01 -4.63998308e-01 -4.14962119e-03 6.61549468e+01] [ 4.63993100e-01 8.85836085e-01 -2.19844910e-03 1.60161203e+01] [ 4.69596085e-03 2.20485791e-05 9.99988974e-01 2.10043822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.271052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.18, Y:16.03, Z:0.21 [[ 8.85447528e-01 -4.64720842e-01 -4.14910427e-03 6.61803229e+01] [ 4.64715637e-01 8.85457248e-01 -2.19942424e-03 1.60291610e+01] [ 4.69597273e-03 1.93211157e-05 9.99988974e-01 2.10874154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.301052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.21, Y:16.04, Z:0.21 [[ 8.85202150e-01 -4.65188072e-01 -4.14851476e-03 6.62053747e+01] [ 4.65182868e-01 8.85211871e-01 -2.20053559e-03 1.60434296e+01] [ 4.69597743e-03 1.81008436e-05 9.99988974e-01 2.09530802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.331052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.23, Y:16.06, Z:0.21 [[ 8.85300949e-01 -4.65000027e-01 -4.14799945e-03 6.62301273e+01] [ 4.64994816e-01 8.85310666e-01 -2.20150653e-03 1.60571681e+01] [ 4.69596875e-03 2.01975777e-05 9.99988974e-01 2.08807615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.25, Y:16.07, Z:0.21 [[ 8.86375420e-01 -4.62948609e-01 -4.14741253e-03 6.62541083e+01] [ 4.62943370e-01 8.86385122e-01 -2.20261168e-03 1.60691234e+01] [ 4.69590077e-03 3.23237157e-05 9.99988974e-01 2.08769672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.39105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.28, Y:16.08, Z:0.21 [[ 8.86945433e-01 -4.61855608e-01 -4.14682990e-03 6.62791804e+01] [ 4.61850352e-01 8.86955126e-01 -2.20370804e-03 1.60812992e+01] [ 4.69584695e-03 3.93539394e-05 9.99988974e-01 2.09594631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.31, Y:16.09, Z:0.21 [[ 8.87720715e-01 -4.60363706e-01 -4.14624871e-03 6.63050304e+01] [ 4.60358428e-01 8.87730396e-01 -2.20480099e-03 1.60934907e+01] [ 4.69576137e-03 4.84869731e-05 9.99988974e-01 2.10241578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.45105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.33, Y:16.11, Z:0.21 [[ 8.87970151e-01 -4.59882403e-01 -4.14571747e-03 6.63300063e+01] [ 4.59877115e-01 8.87979827e-01 -2.20579945e-03 1.61072366e+01] [ 4.69572183e-03 5.21634824e-05 9.99988974e-01 2.08623197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.35, Y:16.12, Z:0.20 [[ 8.88878626e-01 -4.58124007e-01 -4.14518282e-03 6.63536115e+01] [ 4.58118696e-01 8.88888289e-01 -2.20680372e-03 1.61221927e+01] [ 4.69559422e-03 6.25949097e-05 9.99988974e-01 2.03284778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.51105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.38, Y:16.14, Z:0.20 [[ 8.89363568e-01 -4.57181871e-01 -4.14499350e-03 6.63784940e+01] [ 4.57176549e-01 8.89373224e-01 -2.20715925e-03 1.61363773e+01] [ 4.69551943e-03 6.79732046e-05 9.99988974e-01 2.01669988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54105275399999 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:66.40, Y:16.15, Z:0.20 [[ 8.90086660e-01 -4.55772489e-01 -4.14446017e-03 6.64034123e+01] [ 4.55767146e-01 8.90096305e-01 -2.20816026e-03 1.61507083e+01] [ 4.69538738e-03 7.65452030e-05 9.99988974e-01 1.99197892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.571052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.43, Y:16.16, Z:0.20 [[ 8.89888628e-01 -4.56159027e-01 -4.14392729e-03 6.64285364e+01] [ 4.56153684e-01 8.89898273e-01 -2.20915981e-03 1.61648936e+01] [ 4.69540193e-03 7.56384950e-05 9.99988974e-01 1.99981407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.601052754 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:66.45, Y:16.18, Z:0.20 [[ 8.89530772e-01 -4.56856474e-01 -4.14338368e-03 6.64537705e+01] [ 4.56851134e-01 8.89540419e-01 -2.21017892e-03 1.61787433e+01] [ 4.69544180e-03 7.31126287e-05 9.99988974e-01 1.95070157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.631052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.48, Y:16.19, Z:0.20 [[ 8.88834243e-01 -4.58210089e-01 -4.14759502e-03 6.64775233e+01] [ 4.58204800e-01 8.88843919e-01 -2.20228640e-03 1.61916555e+01] [ 4.69567446e-03 5.70196178e-05 9.99988974e-01 2.00845290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.661052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.51, Y:16.20, Z:0.20 [[ 8.89549204e-01 -4.56820593e-01 -4.14253664e-03 6.65076035e+01] [ 4.56815244e-01 8.89558846e-01 -2.21176054e-03 1.62043763e+01] [ 4.69540787e-03 7.50959420e-05 9.99988974e-01 2.00415371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.691052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.53, Y:16.22, Z:0.20 [[ 8.88430475e-01 -4.58992304e-01 -4.16600055e-03 6.65289766e+01] [ 4.58987185e-01 8.88440243e-01 -2.16779423e-03 1.62174323e+01] [ 4.69624341e-03 1.37935929e-05 9.99988972e-01 2.01000890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.721052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.55, Y:16.23, Z:0.20 [[ 8.88480185e-01 -4.58896294e-01 -4.14152513e-03 6.65536919e+01] [ 4.58890960e-01 8.88489835e-01 -2.21358671e-03 1.62296531e+01] [ 4.69550971e-03 6.62194911e-05 9.99988974e-01 2.01666742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.751052754 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:66.59, Y:16.24, Z:0.20 [[ 8.89319044e-01 -4.57268506e-01 -4.14133270e-03 6.65871612e+01] [ 4.57263153e-01 8.89328684e-01 -2.21394665e-03 1.62409451e+01] [ 4.69537404e-03 7.52260714e-05 9.99988974e-01 2.03246361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.60, Y:16.25, Z:0.21 [[ 8.87719842e-01 -4.60365068e-01 -4.18158413e-03 6.66045749e+01] [ 4.60360101e-01 8.87729691e-01 -2.13855283e-03 1.62547708e+01] [ 4.69663140e-03 -2.65987101e-05 9.99988970e-01 2.08030464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.81105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.63, Y:16.27, Z:0.21 [[ 8.87097895e-01 -4.61562757e-01 -4.14072856e-03 6.66288955e+01] [ 4.61557445e-01 8.87107558e-01 -2.21493078e-03 1.62696465e+01] [ 4.69560116e-03 5.36763341e-05 9.99988974e-01 2.05400744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.65, Y:16.28, Z:0.20 [[ 8.86615066e-01 -4.62489550e-01 -4.14012841e-03 6.66540139e+01] [ 4.62484244e-01 8.86624731e-01 -2.21605201e-03 1.62824738e+01] [ 4.69564114e-03 5.00409399e-05 9.99988974e-01 2.04330625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.87105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.68, Y:16.30, Z:0.20 [[ 8.86332892e-01 -4.63030095e-01 -4.13952483e-03 6.66806168e+01] [ 4.63024789e-01 8.86342557e-01 -2.21717891e-03 1.62951492e+01] [ 4.69565759e-03 4.84559773e-05 9.99988974e-01 2.04605539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.70, Y:16.31, Z:0.20 [[ 8.86123624e-01 -4.63430461e-01 -4.13903068e-03 6.67045963e+01] [ 4.63425155e-01 8.86133289e-01 -2.21810101e-03 1.63070583e+01] [ 4.69566844e-03 4.73807649e-05 9.99988974e-01 2.03617272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.93105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.73, Y:16.32, Z:0.21 [[ 8.86437890e-01 -4.62829059e-01 -4.13876702e-03 6.67301443e+01] [ 4.62823745e-01 8.86447550e-01 -2.21859287e-03 1.63215410e+01] [ 4.69562913e-03 5.11251303e-05 9.99988974e-01 2.06584532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.961052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.75, Y:16.34, Z:0.21 [[ 8.87728017e-01 -4.60349696e-01 -4.13822796e-03 6.67531550e+01] [ 4.60344349e-01 8.87737660e-01 -2.21959789e-03 1.63370238e+01] [ 4.69545202e-03 6.53893715e-05 9.99988974e-01 2.07296967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.991052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.78, Y:16.35, Z:0.21 [[ 8.88400456e-01 -4.59050658e-01 -4.13803647e-03 6.67772449e+01] [ 4.59045296e-01 8.88410090e-01 -2.21995484e-03 1.63516998e+01] [ 4.69534508e-03 7.26627188e-05 9.99988974e-01 2.08127196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.80, Y:16.37, Z:0.21 [[ 8.89345533e-01 -4.57217021e-01 -4.13742481e-03 6.68005628e+01] [ 4.57211633e-01 8.89355153e-01 -2.22109422e-03 1.63670521e+01] [ 4.69516216e-03 8.36414695e-05 9.99988974e-01 2.08288686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.051052754 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:66.84, Y:16.38, Z:0.20 [[ 8.90855372e-01 -4.54268195e-01 -4.13680468e-03 6.68368101e+01] [ 4.54262770e-01 8.90864971e-01 -2.22224861e-03 1.63788300e+01] [ 4.69483125e-03 1.00505759e-04 9.99988974e-01 2.04670822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.081052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.86, Y:16.39, Z:0.21 [[ 8.90018753e-01 -4.55904663e-01 -4.19020009e-03 6.68628676e+01] [ 4.55899721e-01 8.90028616e-01 -2.12269502e-03 1.63925441e+01] [ 4.69714455e-03 -2.10726817e-05 9.99988968e-01 2.05070387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.88, Y:16.41, Z:0.21 [[ 8.88235900e-01 -4.59368529e-01 -4.18812564e-03 6.68781840e+01] [ 4.59363608e-01 8.88245773e-01 -2.12655840e-03 1.64050554e+01] [ 4.69695890e-03 -3.49869931e-05 9.99988969e-01 2.09904176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.90, Y:16.42, Z:0.21 [[ 8.87667703e-01 -4.60466016e-01 -4.13488976e-03 6.69030594e+01] [ 4.60460644e-01 8.87677330e-01 -2.22546992e-03 1.64183693e+01] [ 4.69520118e-03 7.15237719e-05 9.99988975e-01 2.10783677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.17105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.93, Y:16.43, Z:0.21 [[ 8.87513508e-01 -4.60763147e-01 -4.13469909e-03 6.69285843e+01] [ 4.60757776e-01 8.87523136e-01 -2.22582411e-03 1.64314267e+01] [ 4.69521883e-03 7.03542039e-05 9.99988975e-01 2.12421398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20105275399999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:66.95, Y:16.44, Z:0.21 [[ 8.87764123e-01 -4.60280100e-01 -4.13416466e-03 6.69523748e+01] [ 4.60274719e-01 8.87773746e-01 -2.22681631e-03 1.64434761e+01] [ 4.69516208e-03 7.40361473e-05 9.99988975e-01 2.13350258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.23105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.98, Y:16.46, Z:0.21 [[ 8.87902027e-01 -4.60014023e-01 -4.13390009e-03 6.69789033e+01] [ 4.60008637e-01 8.87911647e-01 -2.22730735e-03 1.64560301e+01] [ 4.69513065e-03 7.60009621e-05 9.99988975e-01 2.14481456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.00, Y:16.47, Z:0.21 [[ 8.87775586e-01 -4.60257998e-01 -4.13336589e-03 6.70040624e+01] [ 4.60252610e-01 8.87785205e-01 -2.22829827e-03 1.64696804e+01] [ 4.69513318e-03 7.58363639e-05 9.99988975e-01 2.14615287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.29105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.03, Y:16.48, Z:0.21 [[ 8.87752285e-01 -4.60302944e-01 -4.13275325e-03 6.70288117e+01] [ 4.60297552e-01 8.87761901e-01 -2.22943392e-03 1.64834497e+01] [ 4.69511588e-03 7.68888580e-05 9.99988975e-01 2.12477630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.05, Y:16.50, Z:0.21 [[ 8.87740908e-01 -4.60324887e-01 -4.13256365e-03 6.70527950e+01] [ 4.60319493e-01 8.87750524e-01 -2.22978531e-03 1.64977144e+01] [ 4.69511122e-03 7.71720341e-05 9.99988975e-01 2.11057559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.351052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.08, Y:16.51, Z:0.21 [[ 8.87812427e-01 -4.60186942e-01 -4.13195748e-03 6.70762322e+01] [ 4.60181541e-01 8.87822039e-01 -2.23090803e-03 1.65120760e+01] [ 4.69507766e-03 7.91773129e-05 9.99988975e-01 2.09163093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.10, Y:16.53, Z:0.21 [[ 8.88474025e-01 -4.58908310e-01 -4.13154561e-03 6.71002869e+01] [ 4.58902892e-01 8.88483627e-01 -2.23167054e-03 1.65265265e+01] [ 4.69494278e-03 8.68030752e-05 9.99988975e-01 2.08877896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.12, Y:16.54, Z:0.21 [[ 8.88162008e-01 -4.59511896e-01 -4.13092829e-03 6.71243968e+01] [ 4.59506479e-01 8.88171611e-01 -2.23281264e-03 1.65402458e+01] [ 4.69497720e-03 8.49110398e-05 9.99988975e-01 2.10401639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.441052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.15, Y:16.55, Z:0.21 [[ 8.87678489e-01 -4.60445263e-01 -4.13031021e-03 6.71500200e+01] [ 4.60439851e-01 8.87688095e-01 -2.23395539e-03 1.65546433e+01] [ 4.69504138e-03 8.12747310e-05 9.99988975e-01 2.11035609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.471052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.17, Y:16.57, Z:0.21 [[ 8.87093842e-01 -4.61570645e-01 -4.12976417e-03 6.71742288e+01] [ 4.61565240e-01 8.87103452e-01 -2.23496438e-03 1.65680289e+01] [ 4.69512199e-03 7.64675488e-05 9.99988975e-01 2.11318638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.501052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.20, Y:16.58, Z:0.21 [[ 8.86694005e-01 -4.62338283e-01 -4.12957083e-03 6.71983846e+01] [ 4.62332885e-01 8.86703618e-01 -2.23532154e-03 1.65816301e+01] [ 4.69518012e-03 7.28098124e-05 9.99988975e-01 2.11044242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.53105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.23, Y:16.59, Z:0.21 [[ 8.88806560e-01 -4.58263953e-01 -4.12895384e-03 6.72324093e+01] [ 4.58258505e-01 8.88816146e-01 -2.23646064e-03 1.65936431e+01] [ 4.69477013e-03 9.56526738e-05 9.99988975e-01 2.07819718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.25, Y:16.61, Z:0.21 [[ 8.86219041e-01 -4.63247686e-01 -4.17045466e-03 6.72477291e+01] [ 4.63242652e-01 8.86228853e-01 -2.15974980e-03 1.66081290e+01] [ 4.69647635e-03 -1.79210791e-05 9.99988971e-01 2.10082325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.59105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.28, Y:16.62, Z:0.21 [[ 8.87888521e-01 -4.60040141e-01 -4.12832389e-03 6.72801189e+01] [ 4.60034708e-01 8.87898114e-01 -2.23748423e-03 1.66177798e+01] [ 4.69486355e-03 8.74642939e-05 9.99988975e-01 2.10567310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.30, Y:16.64, Z:0.21 [[ 8.86056581e-01 -4.63558508e-01 -4.15274138e-03 6.72977676e+01] [ 4.63553324e-01 8.86066312e-01 -2.19245737e-03 1.66353171e+01] [ 4.69593651e-03 1.76242093e-05 9.99988974e-01 2.12958456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.65105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.33, Y:16.65, Z:0.21 [[ 8.88876155e-01 -4.58128971e-01 -4.12637464e-03 6.73331054e+01] [ 4.58123502e-01 8.88885727e-01 -2.24100658e-03 1.66477088e+01] [ 4.69454556e-03 1.01588116e-04 9.99988975e-01 2.11903124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.36, Y:16.66, Z:0.21 [[ 8.88614194e-01 -4.58636440e-01 -4.17491315e-03 6.73570452e+01] [ 4.58631394e-01 8.88624001e-01 -2.15147296e-03 1.66620669e+01] [ 4.69667192e-03 -2.91683045e-06 9.99988971e-01 2.08032291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.711052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.38, Y:16.68, Z:0.21 [[ 8.87847473e-01 -4.60118880e-01 -4.18113082e-03 6.73812852e+01] [ 4.60113904e-01 8.87857317e-01 -2.13997461e-03 1.66760015e+01] [ 4.69689032e-03 -2.38253766e-05 9.99988969e-01 2.06799794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.741052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.40, Y:16.69, Z:0.21 [[ 8.84827759e-01 -4.65899553e-01 -4.17643379e-03 6.73959877e+01] [ 4.65894601e-01 8.84837615e-01 -2.14863546e-03 1.66910600e+01] [ 4.69651401e-03 -4.46056537e-05 9.99988970e-01 2.09860223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.771052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.44, Y:16.70, Z:0.22 [[ 8.85827371e-01 -4.63996608e-01 -4.12520067e-03 6.74368494e+01] [ 4.63991193e-01 8.85836973e-01 -2.24286623e-03 1.66977691e+01] [ 4.69493760e-03 7.27355137e-05 9.99988976e-01 2.16978013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.801052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.46, Y:16.71, Z:0.22 [[ 8.85155435e-01 -4.65276611e-01 -4.18696665e-03 6.74613818e+01] [ 4.65271746e-01 8.85165335e-01 -2.12870011e-03 1.67092879e+01] [ 4.69659211e-03 -6.38468129e-05 9.99988969e-01 2.18261310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.831052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.49, Y:16.72, Z:0.22 [[ 8.84309355e-01 -4.66882701e-01 -4.18428056e-03 6.74857029e+01] [ 4.66877830e-01 8.84319252e-01 -2.13366350e-03 1.67249923e+01] [ 4.69641043e-03 -6.67292377e-05 9.99988970e-01 2.19933257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.51, Y:16.74, Z:0.22 [[ 8.84026885e-01 -4.67417291e-01 -4.18841071e-03 6.75059305e+01] [ 4.67412463e-01 8.84036803e-01 -2.12603556e-03 1.67390322e+01] [ 4.69645500e-03 -7.82427738e-05 9.99988969e-01 2.17600505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.89105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.52, Y:16.76, Z:0.22 [[ 8.81372984e-01 -4.72402582e-01 -4.17902093e-03 6.75185709e+01] [ 4.72397727e-01 8.81382887e-01 -2.14336659e-03 1.67566446e+01] [ 4.69584944e-03 -8.50545819e-05 9.99988971e-01 2.17005242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.54, Y:16.77, Z:0.22 [[ 8.80492179e-01 -4.74042719e-01 -4.12593803e-03 6.75424292e+01] [ 4.74037422e-01 8.80501846e-01 -2.24109423e-03 1.67703847e+01] [ 4.69527046e-03 1.74169171e-05 9.99988977e-01 2.16922557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.95105275399999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:67.57, Y:16.78, Z:0.22 [[ 8.78378749e-01 -4.77947436e-01 -4.12567166e-03 6.75746231e+01] [ 4.77942179e-01 8.78388438e-01 -2.24158449e-03 1.67824387e+01] [ 4.69530185e-03 -2.87232217e-06 9.99988977e-01 2.15320136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.59, Y:16.79, Z:0.22 [[ 8.75227091e-01 -4.83694322e-01 -4.16443640e-03 6.75930938e+01] [ 4.83689467e-01 8.75236990e-01 -2.17016067e-03 1.67942425e+01] [ 4.69456318e-03 -1.14910620e-04 9.99988974e-01 2.19639680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.01105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.63, Y:16.81, Z:0.22 [[ 8.76360684e-01 -4.81637766e-01 -4.12491878e-03 6.76286578e+01] [ 4.81632544e-01 8.76370391e-01 -2.24283955e-03 1.68059859e+01] [ 4.69519291e-03 -2.11587239e-05 9.99988977e-01 2.22112625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.65, Y:16.82, Z:0.22 [[ 8.74759195e-01 -4.84539873e-01 -4.17880375e-03 6.76518315e+01] [ 4.84535155e-01 8.74769163e-01 -2.14358635e-03 1.68223606e+01] [ 4.69414172e-03 -1.49655449e-04 9.99988971e-01 2.21004134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.66, Y:16.84, Z:0.22 [[ 8.72085612e-01 -4.89335558e-01 -4.17090989e-03 6.76648342e+01] [ 4.89330825e-01 8.72095572e-01 -2.15811088e-03 1.68403058e+01] [ 4.69347244e-03 -1.58897325e-04 9.99988973e-01 2.17118146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.101052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.70, Y:16.85, Z:0.22 [[ 8.73690341e-01 -4.86464992e-01 -4.12300072e-03 6.76987876e+01] [ 4.86459809e-01 8.73700068e-01 -2.24605600e-03 1.68529139e+01] [ 4.69489362e-03 -4.33167059e-05 9.99988978e-01 2.19497241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.72, Y:16.87, Z:0.22 [[ 8.74872951e-01 -4.84334551e-01 -4.16682062e-03 6.77212288e+01] [ 4.84329725e-01 8.74882865e-01 -2.16551925e-03 1.68664953e+01] [ 4.69431575e-03 -1.23560871e-04 9.99988974e-01 2.21546271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.75, Y:16.88, Z:0.22 [[ 8.76082388e-01 -4.82143533e-01 -4.15475467e-03 6.77460149e+01] [ 4.82138578e-01 8.76092236e-01 -2.18765785e-03 1.68837409e+01] [ 4.69471340e-03 -8.65990011e-05 9.99988976e-01 2.19382742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.191052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.77, Y:16.90, Z:0.22 [[ 8.77494765e-01 -4.79568205e-01 -4.15632511e-03 6.77715041e+01] [ 4.79563234e-01 8.77504605e-01 -2.18477908e-03 1.68985632e+01] [ 4.69494500e-03 -7.60885115e-05 9.99988976e-01 2.19691417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.79, Y:16.91, Z:0.22 [[ 8.80967654e-01 -4.73158234e-01 -4.15663425e-03 6.77940660e+01] [ 4.73153194e-01 8.80977459e-01 -2.18421267e-03 1.69122257e+01] [ 4.69537929e-03 -4.25040589e-05 9.99988976e-01 2.22029248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.251052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.82, Y:16.93, Z:0.22 [[ 8.82429006e-01 -4.70427286e-01 -4.14940115e-03 6.78199215e+01] [ 4.70422154e-01 8.82438762e-01 -2.19745803e-03 1.69277377e+01] [ 4.69533663e-03 -1.28695165e-05 9.99988977e-01 2.22126447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.84, Y:16.94, Z:0.22 [[ 8.84855472e-01 -4.65847118e-01 -4.15395201e-03 6.78440823e+01] [ 4.65841975e-01 8.84865223e-01 -2.18910070e-03 1.69429771e+01] [ 4.69547392e-03 1.95252397e-06 9.99988976e-01 2.20996039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.31105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.88, Y:16.96, Z:0.22 [[ 8.86806837e-01 -4.62121599e-01 -4.15473263e-03 6.78777404e+01] [ 4.62116421e-01 8.86816569e-01 -2.18766991e-03 1.69581919e+01] [ 4.69545525e-03 2.00704595e-05 9.99988976e-01 2.21164888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.90, Y:16.97, Z:0.22 [[ 8.88816346e-01 -4.58244406e-01 -4.19126912e-03 6.79005909e+01] [ 4.58239497e-01 8.88826228e-01 -2.12129961e-03 1.69705975e+01] [ 4.69738360e-03 -3.51592873e-05 9.99988967e-01 2.19777153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.37105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.92, Y:16.99, Z:0.22 [[ 8.85507560e-01 -4.64606228e-01 -4.17294775e-03 6.79159250e+01] [ 4.64601234e-01 8.85517392e-01 -2.15452573e-03 1.69873274e+01] [ 4.69622388e-03 -3.09078480e-05 9.99988972e-01 2.18748350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.94, Y:17.00, Z:0.22 [[ 8.86143354e-01 -4.63392737e-01 -4.13842961e-03 6.79420660e+01] [ 4.63387436e-01 8.86153017e-01 -2.21701187e-03 1.70003163e+01] [ 4.69462909e-03 4.68940495e-05 9.99988979e-01 2.17378096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.43105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.97, Y:17.01, Z:0.22 [[ 8.85062351e-01 -4.65454092e-01 -4.13794559e-03 6.79660046e+01] [ 4.65448809e-01 8.85072024e-01 -2.21788757e-03 1.70122648e+01] [ 4.69470472e-03 3.69669363e-05 9.99988979e-01 2.17827614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.461052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.00, Y:17.02, Z:0.22 [[ 8.83028684e-01 -4.69300788e-01 -4.13685154e-03 6.79957090e+01] [ 4.69295538e-01 8.83038374e-01 -2.21986604e-03 1.70249218e+01] [ 4.69478354e-03 1.87994139e-05 9.99988979e-01 2.21849734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.02, Y:17.04, Z:0.22 [[ 8.83644890e-01 -4.68139320e-01 -4.15772199e-03 6.80184493e+01] [ 4.68134234e-01 8.83654671e-01 -2.18207608e-03 1.70359251e+01] [ 4.69550607e-03 -1.81916221e-05 9.99988976e-01 2.19656995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.05, Y:17.05, Z:0.22 [[ 8.83128421e-01 -4.69113104e-01 -4.13373790e-03 6.80473087e+01] [ 4.69107826e-01 8.83138095e-01 -2.22543931e-03 1.70501058e+01] [ 4.69464415e-03 2.61799012e-05 9.99988980e-01 2.21918856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.551052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.07, Y:17.06, Z:0.22 [[ 8.81880497e-01 -4.71454716e-01 -4.15205187e-03 6.80713151e+01] [ 4.71449619e-01 8.81890271e-01 -2.19233396e-03 1.70614950e+01] [ 4.69524033e-03 -2.41067147e-05 9.99988977e-01 2.17969539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.581052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.10, Y:17.07, Z:0.22 [[ 8.81748780e-01 -4.71700987e-01 -4.15531631e-03 6.80952527e+01] [ 4.71695921e-01 8.81758571e-01 -2.18642329e-03 1.70733925e+01] [ 4.69532379e-03 -3.21696826e-05 9.99988976e-01 2.16769689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.611052754 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:68.12, Y:17.09, Z:0.21 [[ 8.81320990e-01 -4.72499904e-01 -4.14168702e-03 6.81177909e+01] [ 4.72494731e-01 8.81330721e-01 -2.21105426e-03 1.70876888e+01] [ 4.69491894e-03 -8.27676949e-06 9.99988979e-01 2.12447459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.14, Y:17.10, Z:0.21 [[ 8.81881232e-01 -4.71453534e-01 -4.13018559e-03 6.81419013e+01] [ 4.71448252e-01 8.81890903e-01 -2.23182233e-03 1.71022260e+01] [ 4.69457362e-03 2.10334449e-05 9.99988980e-01 2.13032213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.67105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.17, Y:17.12, Z:0.21 [[ 8.81933648e-01 -4.71355481e-01 -4.12931627e-03 6.81658351e+01] [ 4.71350191e-01 8.81943314e-01 -2.23338511e-03 1.71158332e+01] [ 4.69454119e-03 2.33434688e-05 9.99988980e-01 2.14656958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.19, Y:17.13, Z:0.21 [[ 8.82141341e-01 -4.70966745e-01 -4.12054750e-03 6.81903739e+01] [ 4.70961377e-01 8.82150964e-01 -2.24914794e-03 1.71285777e+01] [ 4.69421884e-03 4.34476603e-05 9.99988981e-01 2.11784772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.73105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.21, Y:17.14, Z:0.22 [[ 8.82256829e-01 -4.70750373e-01 -4.11992723e-03 6.82139642e+01] [ 4.70744997e-01 8.82266447e-01 -2.25026224e-03 1.71432528e+01] [ 4.69418535e-03 4.58741001e-05 9.99988981e-01 2.15570898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.24, Y:17.16, Z:0.22 [[ 8.81886943e-01 -4.71443008e-01 -4.11217934e-03 6.82439426e+01] [ 4.71437575e-01 8.81896528e-01 -2.26414962e-03 1.71581862e+01] [ 4.69393419e-03 5.80881277e-05 9.99988982e-01 2.18546802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.79105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.26, Y:17.17, Z:0.22 [[ 8.81102123e-01 -4.72907908e-01 -4.14247857e-03 6.82597679e+01] [ 4.72902745e-01 8.81111860e-01 -2.20983223e-03 1.71725127e+01] [ 4.69503413e-03 -1.19016171e-05 9.99988978e-01 2.18132396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.821052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.29, Y:17.19, Z:0.21 [[ 8.81409360e-01 -4.72335415e-01 -4.09830813e-03 6.82877787e+01] [ 4.72329876e-01 8.81418884e-01 -2.28887644e-03 1.71865983e+01] [ 4.69344358e-03 8.16837493e-05 9.99988982e-01 2.14835189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.851052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.32, Y:17.20, Z:0.22 [[ 8.81580369e-01 -4.72016047e-01 -4.11142625e-03 6.83150951e+01] [ 4.72010614e-01 8.81589955e-01 -2.26542029e-03 1.72015560e+01] [ 4.69390681e-03 5.65132249e-05 9.99988982e-01 2.16025323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.881052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.34, Y:17.21, Z:0.22 [[ 8.81972100e-01 -4.71283570e-01 -4.12456652e-03 6.83391535e+01] [ 4.71278238e-01 8.81981743e-01 -2.24192015e-03 1.72145947e+01] [ 4.69437250e-03 3.34925778e-05 9.99988981e-01 2.16179218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.911052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.36, Y:17.23, Z:0.22 [[ 8.80652608e-01 -4.73744684e-01 -4.11812892e-03 6.83616285e+01] [ 4.73739326e-01 8.80662236e-01 -2.25342596e-03 1.72286934e+01] [ 4.69422919e-03 3.35658270e-05 9.99988981e-01 2.15439328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.941052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.39, Y:17.24, Z:0.22 [[ 8.79782858e-01 -4.75358014e-01 -4.10864604e-03 6.83907825e+01] [ 4.75352594e-01 8.79792451e-01 -2.27036287e-03 1.72401175e+01] [ 4.69399095e-03 4.43707755e-05 9.99988982e-01 2.18607083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.971052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.41, Y:17.25, Z:0.22 [[ 8.79134855e-01 -4.76555261e-01 -4.12190047e-03 6.84144861e+01] [ 4.76549965e-01 8.79144518e-01 -2.24669996e-03 1.72526874e+01] [ 4.69442288e-03 1.08607147e-05 9.99988981e-01 2.20051526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.001052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.44, Y:17.27, Z:0.23 [[ 8.78257935e-01 -4.78169478e-01 -4.11697766e-03 6.84356909e+01] [ 4.78164158e-01 8.78267585e-01 -2.25548523e-03 1.72667188e+01] [ 4.69431222e-03 1.23066440e-05 9.99988982e-01 2.26671478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.03105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.46, Y:17.28, Z:0.23 [[ 8.79062875e-01 -4.76688222e-01 -4.09891578e-03 6.84633007e+01] [ 4.76682736e-01 8.79072429e-01 -2.28768762e-03 1.72810100e+01] [ 4.69375760e-03 5.71388647e-05 9.99988983e-01 2.29887796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.48, Y:17.30, Z:0.22 [[ 8.79177410e-01 -4.76476820e-01 -4.11371054e-03 6.84826633e+01] [ 4.76471455e-01 8.79187033e-01 -2.26131264e-03 1.72972671e+01] [ 4.69418402e-03 2.80293452e-05 9.99988982e-01 2.22330742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.09105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.50, Y:17.31, Z:0.22 [[ 8.77827351e-01 -4.78959680e-01 -4.09467562e-03 6.85020849e+01] [ 4.78954184e-01 8.77836899e-01 -2.29521347e-03 1.73138470e+01] [ 4.69377206e-03 5.36391397e-05 9.99988983e-01 2.18618630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.53, Y:17.33, Z:0.22 [[ 8.77804296e-01 -4.79002116e-01 -4.07313232e-03 6.85303241e+01] [ 4.78996442e-01 8.77813741e-01 -2.33354141e-03 1.73258313e+01] [ 4.69322279e-03 9.73767789e-05 9.99988982e-01 2.17413503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.15105275399999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:68.56, Y:17.34, Z:0.22 [[ 8.77947799e-01 -4.78738901e-01 -4.08992201e-03 6.85581483e+01] [ 4.78733363e-01 8.77957323e-01 -2.30366603e-03 1.73365931e+01] [ 4.69363152e-03 6.45164027e-05 9.99988983e-01 2.16264078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18105275399999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:68.58, Y:17.35, Z:0.22 [[ 8.77844824e-01 -4.78927569e-01 -4.10463134e-03 6.85821149e+01] [ 4.78922155e-01 8.77854420e-01 -2.27749084e-03 1.73502853e+01] [ 4.69402191e-03 3.34846576e-05 9.99988982e-01 2.16408972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.211052754 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:68.61, Y:17.37, Z:0.22 [[ 8.77159487e-01 -4.80181621e-01 -4.10424559e-03 6.86061900e+01] [ 4.80176217e-01 8.77169089e-01 -2.27817707e-03 1.73650335e+01] [ 4.69405612e-03 2.75635105e-05 9.99988982e-01 2.18561332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.241052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.63, Y:17.38, Z:0.22 [[ 8.74797796e-01 -4.84470866e-01 -4.09822311e-03 6.86273767e+01] [ 4.84465460e-01 8.74807396e-01 -2.28887693e-03 1.73838435e+01] [ 4.69405008e-03 1.68569544e-05 9.99988983e-01 2.21430217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.271052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.65, Y:17.40, Z:0.22 [[ 8.76057817e-01 -4.82188724e-01 -4.09090966e-03 6.86496983e+01] [ 4.82183232e-01 8.76067367e-01 -2.30186220e-03 1.73987910e+01] [ 4.69384446e-03 4.39963333e-05 9.99988983e-01 2.18352827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.301052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.68, Y:17.41, Z:0.22 [[ 8.75750901e-01 -4.82746024e-01 -4.07860141e-03 6.86758033e+01] [ 4.82740436e-01 8.75760396e-01 -2.32369825e-03 1.74140171e+01] [ 4.69363368e-03 6.60750085e-05 9.99988983e-01 2.20951846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.331052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.70, Y:17.43, Z:0.22 [[ 8.75832162e-01 -4.82598490e-01 -4.08903843e-03 6.86999280e+01] [ 4.82592987e-01 8.75841707e-01 -2.30518460e-03 1.74287968e+01] [ 4.69382901e-03 4.56135429e-05 9.99988983e-01 2.20788038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.72, Y:17.44, Z:0.22 [[ 8.76012700e-01 -4.82270706e-01 -4.08841501e-03 6.87236177e+01] [ 4.82265194e-01 8.76022239e-01 -2.30628975e-03 1.74426141e+01] [ 4.69379846e-03 4.86388588e-05 9.99988983e-01 2.19939957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.39105275399999 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:68.75, Y:17.46, Z:0.22 [[ 8.76223809e-01 -4.81887043e-01 -4.08822065e-03 6.87479053e+01] [ 4.81881526e-01 8.76233345e-01 -2.30663424e-03 1.74573965e+01] [ 4.69377241e-03 5.10898361e-05 9.99988983e-01 2.16789886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.78, Y:17.47, Z:0.22 [[ 8.76963297e-01 -4.80539975e-01 -4.08768154e-03 6.87753292e+01] [ 4.80534438e-01 8.76972821e-01 -2.30758922e-03 1.74716351e+01] [ 4.69367448e-03 5.93992992e-05 9.99988983e-01 2.17026335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.45105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.80, Y:17.49, Z:0.22 [[ 8.76417568e-01 -4.81534453e-01 -4.10090907e-03 6.87967684e+01] [ 4.81529037e-01 8.76427162e-01 -2.28415244e-03 1.74858193e+01] [ 4.69404619e-03 2.71645323e-05 9.99988983e-01 2.15217573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.82, Y:17.50, Z:0.22 [[ 8.76859449e-01 -4.80729449e-01 -4.08698925e-03 6.88243484e+01] [ 4.80723909e-01 8.76868971e-01 -2.30879309e-03 1.74991212e+01] [ 4.69365889e-03 5.97735881e-05 9.99988983e-01 2.16999300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.51105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.85, Y:17.51, Z:0.21 [[ 8.75966992e-01 -4.82353662e-01 -4.09571473e-03 6.88456247e+01] [ 4.82348211e-01 8.75976566e-01 -2.29334885e-03 1.75135678e+01] [ 4.69395534e-03 3.33372249e-05 9.99988983e-01 2.14526493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54105275399999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:68.87, Y:17.53, Z:0.21 [[ 8.76485390e-01 -4.81411117e-01 -4.08629298e-03 6.88741277e+01] [ 4.81405578e-01 8.76494913e-01 -2.31001542e-03 1.75283762e+01] [ 4.69368211e-03 5.75305304e-05 9.99988983e-01 2.13846560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.571052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.89, Y:17.54, Z:0.21 [[ 8.76808380e-01 -4.80822449e-01 -4.10346380e-03 6.88935297e+01] [ 4.80817045e-01 8.76817981e-01 -2.27963181e-03 1.75418951e+01] [ 4.69408899e-03 2.57849351e-05 9.99988982e-01 2.08156696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.601052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.92, Y:17.56, Z:0.21 [[ 8.76769158e-01 -4.80894211e-01 -4.07458668e-03 6.89198370e+01] [ 4.80888570e-01 8.76778621e-01 -2.33064222e-03 1.75563297e+01] [ 4.69330285e-03 8.40130529e-05 9.99988983e-01 2.10081622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.631052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.95, Y:17.57, Z:0.22 [[ 8.77983121e-01 -4.78674159e-01 -4.08509021e-03 6.89494432e+01] [ 4.78668581e-01 8.77992622e-01 -2.31208414e-03 1.75696768e+01] [ 4.69341399e-03 7.45665197e-05 9.99988983e-01 2.15278592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.661052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.97, Y:17.58, Z:0.21 [[ 8.77667949e-01 -4.79251643e-01 -4.10284669e-03 6.89695390e+01] [ 4.79246218e-01 8.77677538e-01 -2.28069963e-03 1.75838952e+01] [ 4.69400543e-03 3.54232099e-05 9.99988982e-01 2.12276741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.691052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.00, Y:17.60, Z:0.21 [[ 8.79112821e-01 -4.76596229e-01 -4.08432919e-03 6.89961605e+01] [ 4.76590622e-01 8.79122305e-01 -2.31339256e-03 1.75987011e+01] [ 4.69317906e-03 8.71800710e-05 9.99988983e-01 2.12678404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.721052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.02, Y:17.61, Z:0.21 [[ 8.78097307e-01 -4.78464599e-01 -4.09236101e-03 6.90189305e+01] [ 4.78459079e-01 8.78106841e-01 -2.29921488e-03 1.76136655e+01] [ 4.69362312e-03 6.09071177e-05 9.99988983e-01 2.09490150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.751052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.05, Y:17.63, Z:0.21 [[ 8.78302198e-01 -4.78088461e-01 -4.08328071e-03 6.90468429e+01] [ 4.78082862e-01 8.78311686e-01 -2.31522946e-03 1.76270010e+01] [ 4.69327765e-03 8.13245959e-05 9.99988983e-01 2.11558125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.07, Y:17.64, Z:0.21 [[ 8.78043431e-01 -4.78563427e-01 -4.09625521e-03 6.90692689e+01] [ 4.78557940e-01 8.78052984e-01 -2.29234102e-03 1.76396282e+01] [ 4.69375968e-03 5.24795223e-05 9.99988983e-01 2.09962372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.81105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.10, Y:17.65, Z:0.22 [[ 8.77879124e-01 -4.78864883e-01 -4.08264896e-03 6.91001841e+01] [ 4.78859287e-01 8.77888614e-01 -2.31632280e-03 1.76517548e+01] [ 4.69331668e-03 7.84370658e-05 9.99988983e-01 2.15751399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.12, Y:17.67, Z:0.21 [[ 8.77022159e-01 -4.80432361e-01 -4.10833819e-03 6.91202133e+01] [ 4.80426994e-01 8.77031781e-01 -2.27101034e-03 1.76654515e+01] [ 4.69421002e-03 1.79698217e-05 9.99988982e-01 2.13675349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.87105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.15, Y:17.68, Z:0.22 [[ 8.76793399e-01 -4.80849949e-01 -4.08188247e-03 6.91455247e+01] [ 4.80844369e-01 8.76802898e-01 -2.31760548e-03 1.76791501e+01] [ 4.69342686e-03 6.93109872e-05 9.99988983e-01 2.17837727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.17, Y:17.69, Z:0.22 [[ 8.76889763e-01 -4.80674201e-01 -4.08132333e-03 6.91702611e+01] [ 4.80668614e-01 8.76899257e-01 -2.31858973e-03 1.76918942e+01] [ 4.69339566e-03 7.13835682e-05 9.99988983e-01 2.17465801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.93105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.20, Y:17.71, Z:0.22 [[ 8.77291396e-01 -4.79940779e-01 -4.08112520e-03 6.91958395e+01] [ 4.79935183e-01 8.77300885e-01 -2.31893841e-03 1.77063780e+01] [ 4.69332786e-03 7.57091468e-05 9.99988983e-01 2.15388906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.961052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.22, Y:17.72, Z:0.21 [[ 8.76594061e-01 -4.81213259e-01 -4.08061461e-03 6.92213251e+01] [ 4.81207672e-01 8.76603556e-01 -2.31983655e-03 1.77211520e+01] [ 4.69341738e-03 6.99318891e-05 9.99988983e-01 2.12695645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.991052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.25, Y:17.74, Z:0.21 [[ 8.76305265e-01 -4.81738971e-01 -4.08010569e-03 6.92469502e+01] [ 4.81733386e-01 8.76314760e-01 -2.32073129e-03 1.77351800e+01] [ 4.69344354e-03 6.81459145e-05 9.99988983e-01 2.10790541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.27, Y:17.75, Z:0.21 [[ 8.76227320e-01 -4.81880732e-01 -4.07955723e-03 6.92681104e+01] [ 4.81875144e-01 8.76236815e-01 -2.32169502e-03 1.77467302e+01] [ 4.69343832e-03 6.84953797e-05 9.99988983e-01 2.08780563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.051052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.30, Y:17.76, Z:0.21 [[ 8.76209804e-01 -4.81912776e-01 -4.05668853e-03 6.92978860e+01] [ 4.81907002e-01 8.76219187e-01 -2.36184053e-03 1.77619139e+01] [ 4.69274945e-03 1.14521221e-04 9.99988982e-01 2.14263859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.081052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.32, Y:17.78, Z:0.21 [[ 8.77424247e-01 -4.79697876e-01 -4.07911740e-03 6.93204027e+01] [ 4.79692261e-01 8.77433725e-01 -2.32244674e-03 1.77757594e+01] [ 4.69322795e-03 8.10500366e-05 9.99988983e-01 2.12850137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.35, Y:17.79, Z:0.22 [[ 8.76684110e-01 -4.81049281e-01 -4.06949295e-03 6.93453596e+01] [ 4.81043602e-01 8.76693550e-01 -2.33935119e-03 1.77918199e+01] [ 4.69304143e-03 9.32684719e-05 9.99988983e-01 2.15222359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.37, Y:17.81, Z:0.21 [[ 8.76951547e-01 -4.80561531e-01 -4.07432169e-03 6.93722740e+01] [ 4.80555886e-01 8.76961007e-01 -2.33086897e-03 1.78068591e+01] [ 4.69314721e-03 8.61198815e-05 9.99988983e-01 2.13594507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.17105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.39, Y:17.81, Z:0.21 [[ 8.77718497e-01 -4.79159191e-01 -4.08785454e-03 6.93915738e+01] [ 4.79153641e-01 8.77728014e-01 -2.30709282e-03 1.78146355e+01] [ 4.69348917e-03 6.62676531e-05 9.99988983e-01 2.07452314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.42, Y:17.83, Z:0.22 [[ 8.76518534e-01 -4.81351240e-01 -4.03035515e-03 6.94221434e+01] [ 4.81345248e-01 8.76527783e-01 -2.40775698e-03 1.78316281e+01] [ 4.69169508e-03 1.70451314e-04 9.99988979e-01 2.16926031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.23105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.45, Y:17.84, Z:0.22 [[ 8.76713979e-01 -4.80994776e-01 -4.07722150e-03 6.94468262e+01] [ 4.80989160e-01 8.76723457e-01 -2.32559103e-03 1.78444638e+01] [ 4.69319287e-03 7.77788226e-05 9.99988984e-01 2.18969506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.47, Y:17.86, Z:0.22 [[ 8.77175332e-01 -4.80152911e-01 -4.07657119e-03 6.94719296e+01] [ 4.80147281e-01 8.77184801e-01 -2.32673041e-03 1.78590400e+01] [ 4.69309267e-03 8.35959479e-05 9.99988984e-01 2.17655239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.29105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.50, Y:17.87, Z:0.21 [[ 8.77904575e-01 -4.78818278e-01 -4.07601618e-03 6.94966834e+01] [ 4.78812629e-01 8.77914032e-01 -2.32770229e-03 1.78744675e+01] [ 4.69293820e-03 9.18524635e-05 9.99988984e-01 2.12914086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.321052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:69.52, Y:17.89, Z:0.21 [[ 8.78038381e-01 -4.78572870e-01 -4.07545608e-03 6.95201994e+01] [ 4.78567214e-01 8.78047834e-01 -2.32868254e-03 1.78886342e+01] [ 4.69288967e-03 9.42929836e-05 9.99988984e-01 2.09653329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.351052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:69.54, Y:17.90, Z:0.21 [[ 8.78145355e-01 -4.78376554e-01 -4.07525719e-03 6.95445437e+01] [ 4.78370894e-01 8.78154806e-01 -2.32903055e-03 1.79019123e+01] [ 4.69286029e-03 9.57429349e-05 9.99988984e-01 2.10030142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.57, Y:17.91, Z:0.21 [[ 8.78098306e-01 -4.78462917e-01 -4.07461824e-03 6.95688434e+01] [ 4.78457253e-01 8.78107754e-01 -2.33014783e-03 1.79149674e+01] [ 4.69284320e-03 9.65682125e-05 9.99988984e-01 2.10939907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.59, Y:17.93, Z:0.22 [[ 8.77840320e-01 -4.78936083e-01 -4.07442008e-03 6.95944389e+01] [ 4.78930422e-01 8.77849771e-01 -2.33049428e-03 1.79277551e+01] [ 4.69288654e-03 9.44381128e-05 9.99988984e-01 2.16805263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.441052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.62, Y:17.94, Z:0.22 [[ 8.77750610e-01 -4.79100480e-01 -4.07385096e-03 6.96187512e+01] [ 4.79094816e-01 8.77760059e-01 -2.33148871e-03 1.79408569e+01] [ 4.69288102e-03 9.47047631e-05 9.99988984e-01 2.17197030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.471052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.64, Y:17.96, Z:0.22 [[ 8.77391602e-01 -4.79757630e-01 -4.07354866e-03 6.96437280e+01] [ 4.79751971e-01 8.77401053e-01 -2.33201677e-03 1.79553133e+01] [ 4.69293873e-03 9.17989267e-05 9.99988984e-01 2.16183986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.501052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.67, Y:17.97, Z:0.21 [[ 8.77252741e-01 -4.80011499e-01 -4.07298838e-03 6.96679896e+01] [ 4.80005838e-01 8.77262191e-01 -2.33299492e-03 1.79699034e+01] [ 4.69294310e-03 9.15679909e-05 9.99988984e-01 2.12206515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.53105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.69, Y:17.98, Z:0.21 [[ 8.77182643e-01 -4.80139587e-01 -4.07279067e-03 6.96920841e+01] [ 4.80133926e-01 8.77192093e-01 -2.33334002e-03 1.79841455e+01] [ 4.69294869e-03 9.12803942e-05 9.99988984e-01 2.12364132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.72, Y:18.00, Z:0.21 [[ 8.77280378e-01 -4.79960994e-01 -4.07216428e-03 6.97169479e+01] [ 4.79955326e-01 8.77289824e-01 -2.33443270e-03 1.79980848e+01] [ 4.69290492e-03 9.34950669e-05 9.99988984e-01 2.13424637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.59105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.74, Y:18.01, Z:0.21 [[ 8.77342874e-01 -4.79846749e-01 -4.07159088e-03 6.97413946e+01] [ 4.79841075e-01 8.77352317e-01 -2.33543235e-03 1.80107457e+01] [ 4.69286932e-03 9.52583822e-05 9.99988984e-01 2.13597920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.77, Y:18.02, Z:0.21 [[ 8.77496690e-01 -4.79565412e-01 -4.07114410e-03 6.97650314e+01] [ 4.79559732e-01 8.77506129e-01 -2.33621092e-03 1.80242820e+01] [ 4.69281985e-03 9.76605803e-05 9.99988984e-01 2.12039423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.65105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.79, Y:18.04, Z:0.21 [[ 8.78031041e-01 -4.78586377e-01 -4.07071280e-03 6.97886737e+01] [ 4.78580682e-01 8.78040471e-01 -2.33696220e-03 1.80392828e+01] [ 4.69268886e-03 1.03760844e-04 9.99988984e-01 2.14107108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68105275399999 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:69.81, Y:18.05, Z:0.21 [[ 8.78356993e-01 -4.77987894e-01 -4.07006692e-03 6.98116514e+01] [ 4.77982188e-01 8.78366416e-01 -2.33808653e-03 1.80529234e+01] [ 4.69258715e-03 1.08255164e-04 9.99988984e-01 2.10730795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.711052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.84, Y:18.07, Z:0.21 [[ 8.78365879e-01 -4.77971568e-01 -4.06978791e-03 6.98363805e+01] [ 4.77965860e-01 8.78375300e-01 -2.33857209e-03 1.80671695e+01] [ 4.69257214e-03 1.08902247e-04 9.99988984e-01 2.14704579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.741052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.86, Y:18.08, Z:0.22 [[ 8.77894105e-01 -4.78837533e-01 -4.06914104e-03 6.98612128e+01] [ 4.78831828e-01 8.77903529e-01 -2.33969710e-03 1.80807807e+01] [ 4.69264807e-03 1.05572048e-04 9.99988984e-01 2.15143644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.771052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.89, Y:18.09, Z:0.22 [[ 8.77468174e-01 -4.79617609e-01 -4.06848892e-03 6.98860053e+01] [ 4.79611908e-01 8.77477600e-01 -2.34083052e-03 1.80949513e+01] [ 4.69271143e-03 1.02708541e-04 9.99988984e-01 2.15113521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.801052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.91, Y:18.11, Z:0.22 [[ 8.76941562e-01 -4.80579804e-01 -4.06791319e-03 6.99105931e+01] [ 4.80574109e-01 8.76950992e-01 -2.34183060e-03 1.81084866e+01] [ 4.69279700e-03 9.87148335e-05 9.99988984e-01 2.15339756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.831052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.93, Y:18.12, Z:0.21 [[ 8.76252206e-01 -4.81835578e-01 -4.06770828e-03 6.99342661e+01] [ 4.81829894e-01 8.76261643e-01 -2.34218647e-03 1.81216457e+01] [ 4.69292552e-03 9.24026124e-05 9.99988984e-01 2.14777730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.95, Y:18.14, Z:0.21 [[ 8.74315999e-01 -4.85340077e-01 -4.06742635e-03 6.99548335e+01] [ 4.85334429e-01 8.74325457e-01 -2.34267596e-03 1.81387574e+01] [ 4.69324894e-03 7.41770290e-05 9.99988984e-01 2.13440259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.89105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:69.98, Y:18.15, Z:0.22 [[ 8.75073297e-01 -4.83973459e-01 -4.05164866e-03 6.99829905e+01] [ 4.83967669e-01 8.75082669e-01 -2.37004362e-03 1.81518502e+01] [ 4.69256573e-03 1.13094923e-04 9.99988983e-01 2.15241197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.00, Y:18.17, Z:0.22 [[ 8.73184902e-01 -4.87372128e-01 -4.06642594e-03 7.00022866e+01] [ 4.87366493e-01 8.73194368e-01 -2.34441216e-03 1.81685607e+01] [ 4.69338137e-03 6.52655478e-05 9.99988984e-01 2.15855932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.95105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.03, Y:18.18, Z:0.21 [[ 8.73174517e-01 -4.87390949e-01 -4.04059553e-03 7.00251631e+01] [ 4.87385107e-01 8.73183858e-01 -2.38909334e-03 1.81827925e+01] [ 4.69260526e-03 1.16769335e-04 9.99988983e-01 2.14226769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.06, Y:18.20, Z:0.22 [[ 8.74010846e-01 -4.85889696e-01 -4.03040408e-03 7.00557748e+01] [ 4.85883757e-01 8.74020127e-01 -2.40670070e-03 1.81965133e+01] [ 4.69204535e-03 1.45174638e-04 9.99988982e-01 2.15734129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.01105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.08, Y:18.21, Z:0.21 [[ 8.73251252e-01 -4.87253262e-01 -4.06328537e-03 7.00791179e+01] [ 4.87247601e-01 8.73260702e-01 -2.34984328e-03 1.82121115e+01] [ 4.69327624e-03 7.21775382e-05 9.99988984e-01 2.14529939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.10, Y:18.23, Z:0.21 [[ 8.72239492e-01 -4.89062127e-01 -4.06264771e-03 7.01030792e+01] [ 4.89056481e-01 8.72248950e-01 -2.35094521e-03 1.82273396e+01] [ 4.69339847e-03 6.37230655e-05 9.99988984e-01 2.14391399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.13, Y:18.24, Z:0.21 [[ 8.72107324e-01 -4.89297778e-01 -4.06201027e-03 7.01278070e+01] [ 4.89292129e-01 8.72116781e-01 -2.35204607e-03 1.82417457e+01] [ 4.69339824e-03 6.37269467e-05 9.99988984e-01 2.14525084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.101052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.14, Y:18.26, Z:0.22 [[ 8.68107893e-01 -4.96358934e-01 -4.06137449e-03 7.01411906e+01] [ 4.96353356e-01 8.68117393e-01 -2.35314339e-03 1.82598678e+01] [ 4.69375358e-03 2.69054956e-05 9.99988984e-01 2.15306079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.17, Y:18.27, Z:0.21 [[ 8.68568847e-01 -4.95552251e-01 -4.01555530e-03 7.01744497e+01] [ 4.95546298e-01 8.68578121e-01 -2.43209221e-03 1.82724920e+01] [ 4.69305225e-03 1.22545967e-04 9.99988980e-01 2.14896951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.20, Y:18.29, Z:0.22 [[ 8.66582963e-01 -4.99016511e-01 -4.06089692e-03 7.01988027e+01] [ 4.99010959e-01 8.66592477e-01 -2.35386885e-03 1.82865675e+01] [ 4.69376214e-03 1.33905721e-05 9.99988984e-01 2.15060628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.191052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.22, Y:18.30, Z:0.21 [[ 8.65460155e-01 -5.00961311e-01 -4.06026649e-03 7.02229651e+01] [ 5.00955776e-01 8.65469679e-01 -2.35495580e-03 1.83006548e+01] [ 4.69377928e-03 4.10646271e-06 9.99988984e-01 2.14201971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.25, Y:18.32, Z:0.21 [[ 8.64512534e-01 -5.02594861e-01 -4.06007012e-03 7.02479946e+01] [ 5.02589342e-01 8.64522068e-01 -2.35529429e-03 1.83157776e+01] [ 4.69377903e-03 -4.36653665e-06 9.99988984e-01 2.13033046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.251052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.27, Y:18.33, Z:0.21 [[ 8.63329827e-01 -5.04623752e-01 -4.05952394e-03 7.02723530e+01] [ 5.04618251e-01 8.63339371e-01 -2.35623530e-03 1.83306615e+01] [ 4.69375914e-03 -1.43016633e-05 9.99988984e-01 2.12558691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.30, Y:18.34, Z:0.22 [[ 8.63121029e-01 -5.04980807e-01 -4.05889081e-03 7.02986069e+01] [ 5.04975305e-01 8.63130572e-01 -2.35732543e-03 1.83433067e+01] [ 4.69375685e-03 -1.49824728e-05 9.99988984e-01 2.16787050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.31105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.32, Y:18.36, Z:0.22 [[ 8.63503107e-01 -5.04327189e-01 -4.05832924e-03 7.03239482e+01] [ 5.04321676e-01 8.63512644e-01 -2.35829183e-03 1.83569709e+01] [ 4.69376930e-03 -1.03110753e-05 9.99988984e-01 2.18801634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34105275399999 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:70.34, Y:18.37, Z:0.22 [[ 8.65727176e-01 -5.00499741e-01 -4.05776165e-03 7.03404015e+01] [ 5.00494180e-01 8.65736686e-01 -2.35926804e-03 1.83705229e+01] [ 4.69376617e-03 1.15963644e-05 9.99988984e-01 2.17278366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.37105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.37, Y:18.39, Z:0.21 [[ 8.65613518e-01 -5.00696621e-01 -4.01648559e-03 7.03683461e+01] [ 5.00690732e-01 8.65622831e-01 -2.43018757e-03 1.83869230e+01] [ 4.69354833e-03 9.25861001e-05 9.99988981e-01 2.13960850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.39, Y:18.40, Z:0.22 [[ 8.67729725e-01 -4.97019879e-01 -4.04531631e-03 7.03946176e+01] [ 4.97014181e-01 8.67739153e-01 -2.38054580e-03 1.84004380e+01] [ 4.69345794e-03 5.50907770e-05 9.99988984e-01 2.19404390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.43105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.42, Y:18.42, Z:0.22 [[ 8.68296027e-01 -4.96029773e-01 -4.05882162e-03 7.04189392e+01] [ 4.96024173e-01 8.68305513e-01 -2.35729215e-03 1.84150085e+01] [ 4.69358428e-03 3.35537744e-05 9.99988985e-01 2.22433775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.461052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.44, Y:18.43, Z:0.22 [[ 8.69928278e-01 -4.93161555e-01 -4.05861808e-03 7.04426187e+01] [ 4.93155922e-01 8.69937744e-01 -2.35764254e-03 1.84299352e+01] [ 4.69344372e-03 4.94483724e-05 9.99988985e-01 2.22223124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.47, Y:18.44, Z:0.22 [[ 8.70572311e-01 -4.92023764e-01 -4.05796751e-03 7.04656883e+01] [ 4.92018114e-01 8.70581766e-01 -2.35876179e-03 1.84440350e+01] [ 4.69335937e-03 5.68791807e-05 9.99988985e-01 2.20726761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.521052754 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:70.49, Y:18.46, Z:0.21 [[ 8.71299921e-01 -4.90734127e-01 -4.05770025e-03 7.04930399e+01] [ 4.90728460e-01 8.71309367e-01 -2.35922144e-03 1.84596137e+01] [ 4.69326271e-03 6.43604625e-05 9.99988985e-01 2.14108717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.551052754 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:70.51, Y:18.47, Z:0.21 [[ 8.71947566e-01 -4.89582289e-01 -4.07736934e-03 7.05133363e+01] [ 4.89576767e-01 8.71957098e-01 -2.32538386e-03 1.84724297e+01] [ 4.69375789e-03 3.14274934e-05 9.99988984e-01 2.13645911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.581052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.54, Y:18.49, Z:0.22 [[ 8.70847872e-01 -4.91535958e-01 -4.04796581e-03 7.05372656e+01] [ 4.91530222e-01 8.70857276e-01 -2.37590670e-03 1.84887768e+01] [ 4.69304405e-03 7.93557574e-05 9.99988984e-01 2.15195891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.56, Y:18.50, Z:0.22 [[ 8.70937516e-01 -4.91377030e-01 -4.05672340e-03 7.05613174e+01] [ 4.91371363e-01 8.70946962e-01 -2.36085831e-03 1.85026732e+01] [ 4.69326246e-03 6.28023670e-05 9.99988985e-01 2.17539072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.59, Y:18.52, Z:0.22 [[ 8.71308902e-01 -4.90718193e-01 -4.05606816e-03 7.05860960e+01] [ 4.90712514e-01 8.71318340e-01 -2.36198350e-03 1.85163786e+01] [ 4.69319485e-03 6.76538457e-05 9.99988985e-01 2.21377056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.67105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.61, Y:18.53, Z:0.22 [[ 8.71652861e-01 -4.90106971e-01 -4.05541623e-03 7.06096491e+01] [ 4.90101279e-01 8.71662292e-01 -2.36310231e-03 1.85300187e+01] [ 4.69312632e-03 7.22402052e-05 9.99988985e-01 2.20956314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.63, Y:18.54, Z:0.22 [[ 8.71730342e-01 -4.89969149e-01 -4.05513497e-03 7.06338857e+01] [ 4.89963454e-01 8.71739771e-01 -2.36358486e-03 1.85444834e+01] [ 4.69310609e-03 7.35407008e-05 9.99988985e-01 2.20605737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.73105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.66, Y:18.56, Z:0.22 [[ 8.71113916e-01 -4.91064259e-01 -4.05449704e-03 7.06580978e+01] [ 4.91058571e-01 8.71123349e-01 -2.36467865e-03 1.85588068e+01] [ 4.69317621e-03 6.89089593e-05 9.99988985e-01 2.19621179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.68, Y:18.57, Z:0.22 [[ 8.69956933e-01 -4.93111044e-01 -4.05385033e-03 7.06833172e+01] [ 4.93105372e-01 8.69966376e-01 -2.36578681e-03 1.85721836e+01] [ 4.69330908e-03 5.91572626e-05 9.99988985e-01 2.19088195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.79105275399999 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:70.71, Y:18.58, Z:0.22 [[ 8.71442717e-01 -4.90480542e-01 -4.05320093e-03 7.07127463e+01] [ 4.90474836e-01 8.71452140e-01 -2.36689888e-03 1.85824464e+01] [ 4.69308847e-03 7.46237309e-05 9.99988985e-01 2.16179874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.821052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:70.74, Y:18.60, Z:0.22 [[ 8.68898838e-01 -4.94973003e-01 -4.06637725e-03 7.07350487e+01] [ 4.94967452e-01 8.68908353e-01 -2.34434326e-03 1.85972519e+01] [ 4.69369578e-03 2.42727520e-05 9.99988984e-01 2.19285063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.851052754 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:70.76, Y:18.61, Z:0.22 [[ 8.68970940e-01 -4.94846531e-01 -4.05166431e-03 7.07605725e+01] [ 4.94840861e-01 8.68980384e-01 -2.36950125e-03 1.86103224e+01] [ 4.69335629e-03 5.40986746e-05 9.99988985e-01 2.17841602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.881052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.78, Y:18.62, Z:0.22 [[ 8.69456835e-01 -4.93992308e-01 -4.05108542e-03 7.07842724e+01] [ 4.93986624e-01 8.69466271e-01 -2.37049057e-03 1.86244253e+01] [ 4.69328624e-03 5.98572175e-05 9.99988985e-01 2.16090853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.911052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.81, Y:18.64, Z:0.21 [[ 8.69940295e-01 -4.93140419e-01 -4.05088101e-03 7.08082559e+01] [ 4.93134725e-01 8.69949724e-01 -2.37083983e-03 1.86395568e+01] [ 4.69321976e-03 6.48590082e-05 9.99988985e-01 2.13814769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.941052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.83, Y:18.65, Z:0.22 [[ 8.71029253e-01 -4.91214447e-01 -4.05067825e-03 7.08324484e+01] [ 4.91208729e-01 8.71038668e-01 -2.37118619e-03 1.86545934e+01] [ 4.69305830e-03 7.56440182e-05 9.99988985e-01 2.15113762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.971052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.86, Y:18.67, Z:0.22 [[ 8.71257954e-01 -4.90808695e-01 -4.05002860e-03 7.08560430e+01] [ 4.90802968e-01 8.71267364e-01 -2.37229528e-03 1.86673300e+01] [ 4.69300090e-03 7.91150741e-05 9.99988985e-01 2.17125368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.001052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.88, Y:18.68, Z:0.22 [[ 8.71455515e-01 -4.90457834e-01 -4.04958548e-03 7.08810709e+01] [ 4.90452100e-01 8.71464920e-01 -2.37305147e-03 1.86808753e+01] [ 4.69295337e-03 8.18810884e-05 9.99988985e-01 2.18799772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.03105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:70.90, Y:18.69, Z:0.22 [[ 8.71469581e-01 -4.90432845e-01 -4.04892876e-03 7.09042505e+01] [ 4.90427105e-01 8.71478983e-01 -2.37417144e-03 1.86939359e+01] [ 4.69292797e-03 8.33137800e-05 9.99988985e-01 2.18579200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06105275399999 meters Centerline goodness : 0.997841 Centerline is valid? [True, True] Translation: X:70.93, Y:18.71, Z:0.21 [[ 8.71944687e-01 -4.89587657e-01 -4.04848159e-03 7.09305857e+01] [ 4.89581904e-01 8.71954081e-01 -2.37493371e-03 1.87089720e+01] [ 4.69282828e-03 8.87475056e-05 9.99988985e-01 2.13122981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.09105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.95, Y:18.72, Z:0.22 [[ 8.72373889e-01 -4.88822424e-01 -4.05408774e-03 7.09546777e+01] [ 4.88816708e-01 8.72383305e-01 -2.36537830e-03 1.87237849e+01] [ 4.69296841e-03 8.17884468e-05 9.99988985e-01 2.17068745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.98, Y:18.74, Z:0.22 [[ 8.72478156e-01 -4.88636352e-01 -4.04757648e-03 7.09784200e+01] [ 4.88630582e-01 8.72487540e-01 -2.37646821e-03 1.87379594e+01] [ 4.69268880e-03 9.56469544e-05 9.99988985e-01 2.17200070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.15105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.00, Y:18.75, Z:0.22 [[ 8.72885514e-01 -4.87908293e-01 -4.04692500e-03 7.10033366e+01] [ 4.87902511e-01 8.72894889e-01 -2.37757711e-03 1.87517825e+01] [ 4.69257974e-03 1.00847747e-04 9.99988985e-01 2.19358119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.03, Y:18.77, Z:0.22 [[ 8.72931895e-01 -4.87825311e-01 -4.04635000e-03 7.10270612e+01] [ 4.87819523e-01 8.72941267e-01 -2.37855528e-03 1.87658247e+01] [ 4.69254537e-03 1.02428234e-04 9.99988985e-01 2.19299468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.211052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.05, Y:18.78, Z:0.22 [[ 8.73150312e-01 -4.87434266e-01 -4.04590254e-03 7.10515644e+01] [ 4.87428471e-01 8.73159679e-01 -2.37931616e-03 1.87804348e+01] [ 4.69247919e-03 1.05412559e-04 9.99988985e-01 2.19210617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.241052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.08, Y:18.79, Z:0.22 [[ 8.73370729e-01 -4.87039223e-01 -4.04525970e-03 7.10762417e+01] [ 4.87033418e-01 8.73380091e-01 -2.38040862e-03 1.87948949e+01] [ 4.69240164e-03 1.08802553e-04 9.99988985e-01 2.17857898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.271052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.11, Y:18.81, Z:0.22 [[ 8.73527378e-01 -4.86758215e-01 -4.04468616e-03 7.11096461e+01] [ 4.86752403e-01 8.73536735e-01 -2.38138274e-03 1.88089727e+01] [ 4.69233956e-03 1.11442316e-04 9.99988985e-01 2.17299429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.301052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.13, Y:18.82, Z:0.22 [[ 8.73140346e-01 -4.87451731e-01 -4.09233242e-03 7.11252314e+01] [ 4.87446303e-01 8.73149936e-01 -2.30036120e-03 1.88226211e+01] [ 4.69453484e-03 1.37458656e-05 9.99988981e-01 2.15973232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.331052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.15, Y:18.84, Z:0.22 [[ 8.73156908e-01 -4.87422466e-01 -4.04388062e-03 7.11496879e+01] [ 4.87416655e-01 8.73166266e-01 -2.38259646e-03 1.88373142e+01] [ 4.69231118e-03 1.09325794e-04 9.99988985e-01 2.17892228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.18, Y:18.85, Z:0.22 [[ 8.73280091e-01 -4.87201739e-01 -4.04329618e-03 7.11826108e+01] [ 4.87195921e-01 8.73289444e-01 -2.38358783e-03 1.88525340e+01] [ 4.69225601e-03 1.11662391e-04 9.99988985e-01 2.19462652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.39105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.20, Y:18.86, Z:0.22 [[ 8.73532048e-01 -4.86749442e-01 -4.09165879e-03 7.11997269e+01] [ 4.86744001e-01 8.73541631e-01 -2.30143548e-03 1.88640770e+01] [ 4.69445673e-03 1.87872808e-05 9.99988981e-01 2.24231600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.22, Y:18.88, Z:0.22 [[ 8.73434907e-01 -4.86924141e-01 -4.04269027e-03 7.12245629e+01] [ 4.86918316e-01 8.73444256e-01 -2.38445839e-03 1.88779692e+01] [ 4.69211495e-03 1.14209254e-04 9.99988985e-01 2.24525069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.45105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.26, Y:18.89, Z:0.22 [[ 8.72838470e-01 -4.87992487e-01 -4.04211132e-03 7.12571333e+01] [ 4.87986669e-01 8.72847822e-01 -2.38543942e-03 1.88936650e+01] [ 4.69222458e-03 1.09606856e-04 9.99988985e-01 2.22200955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.27, Y:18.91, Z:0.22 [[ 8.73232099e-01 -4.87287381e-01 -4.08769840e-03 7.12725814e+01] [ 4.87281916e-01 8.73241666e-01 -2.30811841e-03 1.89086085e+01] [ 4.69426554e-03 2.36615787e-05 9.99988982e-01 2.16815564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.51105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.30, Y:18.92, Z:0.22 [[ 8.73154033e-01 -4.87427640e-01 -4.04120137e-03 7.12976301e+01] [ 4.87421809e-01 8.73163377e-01 -2.38684329e-03 1.89233729e+01] [ 4.69204243e-03 1.14312161e-04 9.99988986e-01 2.16530393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54105275399999 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:71.33, Y:18.94, Z:0.22 [[ 8.71934274e-01 -4.89606266e-01 -4.04062541e-03 7.13302399e+01] [ 4.89600455e-01 8.71943630e-01 -2.38781793e-03 1.89373992e+01] [ 4.69228820e-03 1.03728260e-04 9.99988986e-01 2.18026976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.571052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.35, Y:18.95, Z:0.22 [[ 8.70451818e-01 -4.92236723e-01 -4.07938968e-03 7.13513287e+01] [ 4.92231246e-01 8.70461377e-01 -2.32217208e-03 1.89496140e+01] [ 4.69400953e-03 1.33358429e-05 9.99988983e-01 2.21138077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.601052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.37, Y:18.96, Z:0.22 [[ 8.70300174e-01 -4.92504996e-01 -4.05424695e-03 7.13723963e+01] [ 4.92499323e-01 8.70309615e-01 -2.36470421e-03 1.89624201e+01] [ 4.69307874e-03 6.12886071e-05 9.99988986e-01 2.22673120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.631052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.40, Y:18.98, Z:0.22 [[ 8.68365497e-01 -4.95908305e-01 -4.03942071e-03 7.13955203e+01] [ 4.95902552e-01 8.68374889e-01 -2.38976500e-03 1.89777276e+01] [ 4.69283583e-03 7.20304348e-05 9.99988986e-01 2.23467362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.661052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.42, Y:18.99, Z:0.22 [[ 8.67128303e-01 -4.98068459e-01 -4.03922213e-03 7.14198006e+01] [ 4.98062728e-01 8.67137709e-01 -2.39010061e-03 1.89928058e+01] [ 4.69299555e-03 6.07378903e-05 9.99988986e-01 2.22799003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.691052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.44, Y:19.00, Z:0.22 [[ 8.65302729e-01 -5.01233356e-01 -4.03865970e-03 7.14439914e+01] [ 5.01227655e-01 8.65312152e-01 -2.39105060e-03 1.90046197e+01] [ 4.69317563e-03 4.46946816e-05 9.99988986e-01 2.24033906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.721052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.47, Y:19.02, Z:0.22 [[ 8.63188591e-01 -5.04865475e-01 -4.03838090e-03 7.14680428e+01] [ 5.04859812e-01 8.63198037e-01 -2.39152137e-03 1.90200037e+01] [ 4.69331904e-03 2.55177411e-05 9.99988986e-01 2.24313908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.751052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.49, Y:19.03, Z:0.23 [[ 8.61836938e-01 -5.07169375e-01 -4.03953729e-03 7.14946161e+01] [ 5.07163745e-01 8.61846405e-01 -2.38956922e-03 1.90340608e+01] [ 4.69337702e-03 1.07121587e-05 9.99988986e-01 2.26079786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.52, Y:19.05, Z:0.23 [[ 8.62604184e-01 -5.05863217e-01 -4.05301328e-03 7.15167334e+01] [ 5.05857680e-01 8.62613706e-01 -2.36685069e-03 1.90463047e+01] [ 4.69348751e-03 -8.59258258e-06 9.99988985e-01 2.28214589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.81105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.54, Y:19.06, Z:0.22 [[ 8.63223540e-01 -5.04805801e-01 -4.02776097e-03 7.15415245e+01] [ 5.04800053e-01 8.63232936e-01 -2.40936617e-03 1.90621550e+01] [ 4.69315794e-03 4.66076449e-05 9.99988986e-01 2.24412680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.56, Y:19.08, Z:0.22 [[ 8.64581257e-01 -5.02476827e-01 -4.03577278e-03 7.15646203e+01] [ 5.02471117e-01 8.64590675e-01 -2.39587655e-03 1.90766274e+01] [ 4.69316396e-03 4.35707022e-05 9.99988986e-01 2.23033987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.87105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.59, Y:19.09, Z:0.22 [[ 8.66294717e-01 -4.99516998e-01 -4.02881354e-03 7.15872287e+01] [ 4.99511201e-01 8.66304083e-01 -2.40759498e-03 1.90908838e+01] [ 4.69281223e-03 7.32493233e-05 9.99988986e-01 2.24866688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.61, Y:19.11, Z:0.22 [[ 8.69631769e-01 -4.93684547e-01 -4.01928184e-03 7.16122681e+01] [ 4.93678613e-01 8.69641048e-01 -2.42363485e-03 1.91052313e+01] [ 4.69184355e-03 1.23436379e-04 9.99988986e-01 2.19381985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.93105275399999 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:71.63, Y:19.12, Z:0.22 [[ 8.71317836e-01 -4.90702603e-01 -4.02282898e-03 7.16349699e+01] [ 4.90696665e-01 8.71327113e-01 -2.41766662e-03 1.91189630e+01] [ 4.69155527e-03 1.32567279e-04 9.99988986e-01 2.24377507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.961052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.66, Y:19.13, Z:0.22 [[ 8.72787028e-01 -4.88084707e-01 -4.01529475e-03 7.16620385e+01] [ 4.88078683e-01 8.72796249e-01 -2.43033799e-03 1.91332035e+01] [ 4.69074500e-03 1.61387697e-04 9.99988985e-01 2.20499287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.991052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.69, Y:19.15, Z:0.22 [[ 8.72664572e-01 -4.88303460e-01 -4.03439977e-03 7.16865853e+01] [ 4.88297586e-01 8.72673889e-01 -2.39819833e-03 1.91478992e+01] [ 4.69176388e-03 1.22835055e-04 9.99988986e-01 2.20652859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.71, Y:19.16, Z:0.22 [[ 8.71480256e-01 -4.90414001e-01 -4.03379798e-03 7.17128805e+01] [ 4.90408145e-01 8.71489584e-01 -2.39921013e-03 1.91647952e+01] [ 4.69201916e-03 1.12656870e-04 9.99988986e-01 2.21047188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.051052754 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:71.73, Y:19.18, Z:0.23 [[ 8.71987381e-01 -4.89511611e-01 -4.04843576e-03 7.17321071e+01] [ 4.89505859e-01 8.71996775e-01 -2.37466268e-03 1.91781842e+01] [ 4.69264788e-03 8.89428661e-05 9.99988986e-01 2.25184879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.081052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.76, Y:19.19, Z:0.22 [[ 8.71414676e-01 -4.90530704e-01 -4.01122245e-03 7.17594879e+01] [ 4.90524676e-01 8.71423894e-01 -2.43696170e-03 1.91930674e+01] [ 4.69087963e-03 1.56000603e-04 9.99988986e-01 2.22020949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.111052754 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:71.78, Y:19.21, Z:0.22 [[ 8.69696275e-01 -4.93570819e-01 -4.02937995e-03 7.17811417e+01] [ 4.93564963e-01 8.69705603e-01 -2.40656002e-03 1.92069912e+01] [ 4.69218212e-03 1.04215517e-04 9.99988986e-01 2.23843043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.81, Y:19.22, Z:0.22 [[ 8.67586806e-01 -4.97269585e-01 -4.01178524e-03 7.18051971e+01] [ 4.97263632e-01 8.67596073e-01 -2.43599253e-03 1.92230485e+01] [ 4.69195411e-03 1.18520076e-04 9.99988986e-01 2.22813602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.17105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.83, Y:19.24, Z:0.22 [[ 8.65279852e-01 -5.01273072e-01 -4.01057100e-03 7.18316279e+01] [ 5.01267153e-01 8.65289141e-01 -2.43802301e-03 1.92383367e+01] [ 4.69241882e-03 9.92046843e-05 9.99988986e-01 2.18608132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.85, Y:19.25, Z:0.22 [[ 8.64950796e-01 -5.01840505e-01 -4.02837598e-03 7.18546246e+01] [ 5.01834730e-01 8.64960175e-01 -2.40823980e-03 1.92528468e+01] [ 4.69293707e-03 6.14299601e-05 9.99988986e-01 2.18645655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.23105275399999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:71.88, Y:19.27, Z:0.22 [[ 8.65738834e-01 -5.00479815e-01 -4.02812850e-03 7.18787106e+01] [ 5.00474024e-01 8.65748202e-01 -2.40865367e-03 1.92665490e+01] [ 4.69282755e-03 6.92913438e-05 9.99988986e-01 2.20622526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26105275399999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:71.90, Y:19.28, Z:0.22 [[ 8.65987825e-01 -5.00048931e-01 -4.01924341e-03 7.19019542e+01] [ 5.00043066e-01 8.65997147e-01 -2.42350215e-03 1.92823869e+01] [ 4.69252298e-03 8.89285598e-05 9.99988986e-01 2.19145963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.29105275399999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:71.92, Y:19.30, Z:0.21 [[ 8.66091806e-01 -4.99868885e-01 -4.01012642e-03 7.19245735e+01] [ 4.99862948e-01 8.66101083e-01 -2.43872888e-03 1.93022171e+01] [ 4.69221952e-03 1.07649486e-04 9.99988986e-01 2.13430504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.95, Y:19.32, Z:0.21 [[ 8.66529126e-01 -4.99110362e-01 -4.01498974e-03 7.19494167e+01] [ 4.99104454e-01 8.66538422e-01 -2.43060273e-03 1.93161701e+01] [ 4.69228188e-03 1.02288796e-04 9.99988986e-01 2.11835356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.351052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.97, Y:19.33, Z:0.22 [[ 8.65815557e-01 -5.00347198e-01 -4.01292433e-03 7.19732534e+01] [ 5.00341287e-01 8.65824850e-01 -2.43405229e-03 1.93302982e+01] [ 4.69236085e-03 9.96086162e-05 9.99988986e-01 2.15191943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.00, Y:19.34, Z:0.21 [[ 8.65127206e-01 -5.01536466e-01 -4.01124969e-03 7.20009548e+01] [ 5.01530555e-01 8.65136500e-01 -2.43684984e-03 1.93448420e+01] [ 4.69244758e-03 9.64208089e-05 9.99988986e-01 2.14650407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.03, Y:19.36, Z:0.21 [[ 8.64233689e-01 -5.03074460e-01 -4.02735545e-03 7.20257014e+01] [ 5.03068691e-01 8.64243070e-01 -2.40993476e-03 1.93595732e+01] [ 4.69299067e-03 5.67103704e-05 9.99988986e-01 2.14810203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.441052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.05, Y:19.37, Z:0.21 [[ 8.64923477e-01 -5.01887601e-01 -4.02678677e-03 7.20495368e+01] [ 5.01881814e-01 8.64932848e-01 -2.41088460e-03 1.93740498e+01] [ 4.69289324e-03 6.42596387e-05 9.99988986e-01 2.08515441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.471052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:72.07, Y:19.39, Z:0.21 [[ 8.64737126e-01 -5.02208681e-01 -4.01797820e-03 7.20745666e+01] [ 5.02202830e-01 8.64746457e-01 -2.42558532e-03 1.93898778e+01] [ 4.69268242e-03 7.96536566e-05 9.99988986e-01 2.10921710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.501052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.10, Y:19.40, Z:0.21 [[ 8.65070209e-01 -5.01634653e-01 -4.02601051e-03 7.20981447e+01] [ 5.01628858e-01 8.65079574e-01 -2.41217912e-03 1.94049118e+01] [ 4.69285209e-03 6.71412435e-05 9.99988986e-01 2.10688611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.53105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.12, Y:19.42, Z:0.21 [[ 8.66114994e-01 -4.99828584e-01 -4.02534751e-03 7.21220733e+01] [ 4.99822764e-01 8.66124345e-01 -2.41328500e-03 1.94195165e+01] [ 4.69268030e-03 7.82220058e-05 9.99988986e-01 2.08628608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.15, Y:19.43, Z:0.21 [[ 8.66873730e-01 -4.98511518e-01 -4.02514281e-03 7.21465386e+01] [ 4.98505683e-01 8.66883071e-01 -2.41362637e-03 1.94334113e+01] [ 4.69254871e-03 8.57527250e-05 9.99988986e-01 2.13447688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.59105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.17, Y:19.45, Z:0.21 [[ 8.66356075e-01 -4.99410685e-01 -4.01486100e-03 7.21721548e+01] [ 4.99404780e-01 8.66365372e-01 -2.43076382e-03 1.94489215e+01] [ 4.69228597e-03 1.00866230e-04 9.99988986e-01 2.14342374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.20, Y:19.46, Z:0.22 [[ 8.66110976e-01 -4.99835554e-01 -4.02451616e-03 7.21969851e+01] [ 4.99829728e-01 8.66120322e-01 -2.41467164e-03 1.94641649e+01] [ 4.69265397e-03 7.98007962e-05 9.99988986e-01 2.16209371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.65105275399999 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:72.22, Y:19.48, Z:0.22 [[ 8.65456131e-01 -5.00968554e-01 -4.02396379e-03 7.22215520e+01] [ 5.00962736e-01 8.65465483e-01 -2.41559180e-03 1.94791344e+01] [ 4.69273730e-03 7.47328218e-05 9.99988986e-01 2.21348385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.25, Y:19.49, Z:0.22 [[ 8.65031425e-01 -5.01701551e-01 -4.02339815e-03 7.22468244e+01] [ 5.01695736e-01 8.65040779e-01 -2.41653357e-03 1.94938660e+01] [ 4.69278210e-03 7.18557797e-05 9.99988986e-01 2.22837688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.711052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.27, Y:19.51, Z:0.22 [[ 8.64204738e-01 -5.03124227e-01 -4.02283264e-03 7.22703288e+01] [ 5.03118424e-01 8.64214098e-01 -2.41747460e-03 1.95088375e+01] [ 4.69287872e-03 6.52317812e-05 9.99988986e-01 2.23807634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.741052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.29, Y:19.52, Z:0.23 [[ 8.64260057e-01 -5.03029196e-01 -4.02263252e-03 7.22937500e+01] [ 5.03023390e-01 8.64269416e-01 -2.41780755e-03 1.95249856e+01] [ 4.69286605e-03 6.61362476e-05 9.99988986e-01 2.25711964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.771052754 meters Centerline goodness : 0.997933 Centerline is valid? [True, True] Translation: X:72.32, Y:19.54, Z:0.22 [[ 8.65016404e-01 -5.01727456e-01 -4.02243196e-03 7.23184924e+01] [ 5.01721634e-01 8.65025754e-01 -2.41814117e-03 1.95397013e+01] [ 4.69275506e-03 7.35906480e-05 9.99988986e-01 2.22560730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.801052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.34, Y:19.56, Z:0.23 [[ 8.65544962e-01 -5.00815052e-01 -4.02513837e-03 7.23418887e+01] [ 5.00809241e-01 8.65554319e-01 -2.41364106e-03 1.95550843e+01] [ 4.69276368e-03 7.32883701e-05 9.99988986e-01 2.28880250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.831052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.36, Y:19.57, Z:0.23 [[ 8.67441654e-01 -4.97522667e-01 -4.02149855e-03 7.23645774e+01] [ 4.97516792e-01 8.67450971e-01 -2.41969041e-03 1.95726943e+01] [ 4.69230364e-03 9.81771952e-05 9.99988986e-01 2.29924030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.39, Y:19.59, Z:0.23 [[ 8.68532724e-01 -4.95615517e-01 -4.02083923e-03 7.23863390e+01] [ 4.95609617e-01 8.68542024e-01 -2.42078552e-03 1.95885911e+01] [ 4.69204671e-03 1.09764853e-04 9.99988986e-01 2.27582237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.89105275399999 meters Centerline goodness : 0.997653 Centerline is valid? [True, True] Translation: X:72.41, Y:19.61, Z:0.22 [[ 8.70751642e-01 -4.91706633e-01 -4.02055299e-03 7.24089189e+01] [ 4.91700689e-01 8.70760914e-01 -2.42126082e-03 1.96053822e+01] [ 4.69149040e-03 1.31408159e-04 9.99988986e-01 2.19952692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.43, Y:19.62, Z:0.23 [[ 8.70700263e-01 -4.91797655e-01 -4.01476863e-03 7.24329366e+01] [ 4.91791668e-01 8.70709507e-01 -2.43085970e-03 1.96221252e+01] [ 4.69118831e-03 1.42120416e-04 9.99988986e-01 2.26859525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.95105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.46, Y:19.64, Z:0.23 [[ 8.70625862e-01 -4.91929319e-01 -4.01920724e-03 7.24561143e+01] [ 4.91923367e-01 8.70635129e-01 -2.42349856e-03 1.96370417e+01] [ 4.69145301e-03 1.32818568e-04 9.99988986e-01 2.27140788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.48, Y:19.65, Z:0.23 [[ 8.69662964e-01 -4.93629594e-01 -4.01900079e-03 7.24811703e+01] [ 4.93623659e-01 8.69672242e-01 -2.42384088e-03 1.96521350e+01] [ 4.69169302e-03 1.24050768e-04 9.99988986e-01 2.29309187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.01105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.51, Y:19.67, Z:0.23 [[ 8.69720255e-01 -4.93528653e-01 -4.01842074e-03 7.25093141e+01] [ 4.93522712e-01 8.69729529e-01 -2.42480215e-03 1.96662687e+01] [ 4.69164851e-03 1.25717644e-04 9.99988986e-01 2.32113576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.53, Y:19.68, Z:0.23 [[ 8.67883106e-01 -4.96752097e-01 -4.03338475e-03 7.25304937e+01] [ 4.96746306e-01 8.67892475e-01 -2.40000198e-03 1.96816616e+01] [ 4.69275029e-03 7.93521958e-05 9.99988986e-01 2.29549319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.55, Y:19.70, Z:0.23 [[ 8.66477863e-01 -4.99199331e-01 -4.01761268e-03 7.25544759e+01] [ 4.99193445e-01 8.66487171e-01 -2.42612025e-03 1.96964813e+01] [ 4.69232746e-03 9.66135727e-05 9.99988986e-01 2.28118708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.101052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.58, Y:19.71, Z:0.23 [[ 8.65350607e-01 -5.01150866e-01 -4.01695021e-03 7.25801890e+01] [ 5.01144996e-01 8.65359926e-01 -2.42721663e-03 1.97094758e+01] [ 4.69250945e-03 8.73188918e-05 9.99988986e-01 2.27680807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.60, Y:19.72, Z:0.23 [[ 8.64518626e-01 -5.02584734e-01 -4.01636770e-03 7.26026589e+01] [ 5.02578875e-01 8.64527951e-01 -2.42818014e-03 1.97225879e+01] [ 4.69262841e-03 8.06653965e-05 9.99988986e-01 2.31162265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.63, Y:19.74, Z:0.23 [[ 8.64584170e-01 -5.02472110e-01 -3.99896402e-03 7.26294335e+01] [ 5.02466116e-01 8.64593410e-01 -2.45694214e-03 1.97374071e+01] [ 4.69202284e-03 1.14889359e-04 9.99988986e-01 2.30850985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.191052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.65, Y:19.75, Z:0.23 [[ 8.64962822e-01 -5.01819878e-01 -4.01572975e-03 7.26537501e+01] [ 5.01814006e-01 8.64972140e-01 -2.42922689e-03 1.97515198e+01] [ 4.69252870e-03 8.60415135e-05 9.99988986e-01 2.32492009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.68, Y:19.77, Z:0.23 [[ 8.65585275e-01 -5.00745452e-01 -4.01552495e-03 7.26782998e+01] [ 5.00739566e-01 8.65594584e-01 -2.42956538e-03 1.97674934e+01] [ 4.69241046e-03 9.22637984e-05 9.99988986e-01 2.31094871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.251052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.70, Y:19.78, Z:0.23 [[ 8.67436154e-01 -4.97532309e-01 -4.01494693e-03 7.27008363e+01] [ 4.97526385e-01 8.67445439e-01 -2.43052021e-03 1.97836644e+01] [ 4.69200973e-03 1.10779074e-04 9.99988986e-01 2.26722023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28105275399999 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:72.72, Y:19.80, Z:0.22 [[ 8.68102989e-01 -4.96367891e-01 -4.01464069e-03 7.27235635e+01] [ 4.96361951e-01 8.68112264e-01 -2.43102594e-03 1.97977929e+01] [ 4.69184204e-03 1.17665994e-04 9.99988986e-01 2.21806103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.31105275399999 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:72.75, Y:19.81, Z:0.22 [[ 8.69993868e-01 -4.93046324e-01 -3.99903949e-03 7.27513109e+01] [ 4.93040231e-01 8.70003043e-01 -2.45676368e-03 1.98106797e+01] [ 4.69047483e-03 1.65681978e-04 9.99988986e-01 2.18039905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.78, Y:19.83, Z:0.23 [[ 8.70069716e-01 -4.92912347e-01 -4.01340725e-03 7.27764461e+01] [ 4.92906362e-01 8.70078961e-01 -2.43305549e-03 1.98254368e+01] [ 4.69126430e-03 1.38693930e-04 9.99988986e-01 2.26235804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.37105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.80, Y:19.84, Z:0.23 [[ 8.66788179e-01 -4.98660293e-01 -4.02055501e-03 7.27976114e+01] [ 4.98654423e-01 8.66797499e-01 -2.42128118e-03 1.98444092e+01] [ 4.69240380e-03 9.38703637e-05 9.99988986e-01 2.26061527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40105275399999 meters Centerline goodness : 0.998230 Centerline is valid? [True, True] Translation: X:72.82, Y:19.86, Z:0.22 [[ 8.68666303e-01 -4.95381433e-01 -4.01118514e-03 7.28248616e+01] [ 4.95375457e-01 8.68675554e-01 -2.43670539e-03 1.98567670e+01] [ 4.69151709e-03 1.29641185e-04 9.99988986e-01 2.18733975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.43105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.85, Y:19.87, Z:0.23 [[ 8.67385842e-01 -4.97620024e-01 -4.01405337e-03 7.28503592e+01] [ 4.97614094e-01 8.67395123e-01 -2.43198548e-03 1.98721428e+01] [ 4.69197499e-03 1.12020242e-04 9.99988986e-01 2.27034376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.461052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.87, Y:19.89, Z:0.23 [[ 8.64781853e-01 -5.02131628e-01 -4.02180526e-03 7.28677355e+01] [ 5.02125806e-01 8.64791202e-01 -2.41925951e-03 1.98856114e+01] [ 4.69280853e-03 7.26795178e-05 9.99988986e-01 2.26477427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.90, Y:19.90, Z:0.23 [[ 8.64618460e-01 -5.02413209e-01 -3.98585598e-03 7.28982317e+01] [ 5.02407116e-01 8.64627635e-01 -2.47819522e-03 1.99001856e+01] [ 4.69135924e-03 1.40170923e-04 9.99988986e-01 2.28705481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.92, Y:19.91, Z:0.23 [[ 8.63445463e-01 -5.04426199e-01 -4.01772811e-03 7.29238830e+01] [ 5.04420370e-01 8.63454808e-01 -2.42590703e-03 1.99139656e+01] [ 4.69281772e-03 6.80145131e-05 9.99988986e-01 2.29873896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.551052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.95, Y:19.93, Z:0.23 [[ 8.60871493e-01 -5.08806587e-01 -4.01623956e-03 7.29520663e+01] [ 5.08800795e-01 8.60880860e-01 -2.42834775e-03 1.99262018e+01] [ 4.69306310e-03 4.70294662e-05 9.99988986e-01 2.31753686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.581052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.97, Y:19.94, Z:0.23 [[ 8.59197745e-01 -5.11627824e-01 -4.02558787e-03 7.29714847e+01] [ 5.11622133e-01 8.59207175e-01 -2.41302306e-03 1.99415602e+01] [ 4.69338372e-03 1.36841133e-05 9.99988986e-01 2.33439340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.00, Y:19.95, Z:0.23 [[ 8.59131253e-01 -5.11739627e-01 -4.00541789e-03 7.30007378e+01] [ 5.11733784e-01 8.59140589e-01 -2.44605148e-03 1.99536710e+01] [ 4.69295856e-03 5.17716180e-05 9.99988987e-01 2.33586947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.02, Y:19.97, Z:0.24 [[ 8.59860668e-01 -5.10512939e-01 -4.02135213e-03 7.30243469e+01] [ 5.10507204e-01 8.59870071e-01 -2.41996186e-03 1.99661707e+01] [ 4.69326218e-03 2.79007897e-05 9.99988986e-01 2.36749367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.67105275399999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:73.05, Y:19.98, Z:0.23 [[ 8.59959637e-01 -5.10346294e-01 -4.01040069e-03 7.30476690e+01] [ 5.10340474e-01 8.59968986e-01 -2.43787836e-03 1.99786955e+01] [ 4.69298240e-03 4.98071947e-05 9.99988987e-01 2.34794624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.07, Y:19.99, Z:0.23 [[ 8.58049804e-01 -5.13550879e-01 -4.00363567e-03 7.30706674e+01] [ 5.13545042e-01 8.58059143e-01 -2.44893982e-03 1.99943125e+01] [ 4.69301139e-03 4.52650799e-05 9.99988987e-01 2.34055207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.73105275399999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:73.10, Y:20.01, Z:0.23 [[ 8.59038684e-01 -5.11895019e-01 -4.00348610e-03 7.31011860e+01] [ 5.11889163e-01 8.59048012e-01 -2.44918432e-03 2.00070677e+01] [ 4.69291202e-03 5.46029291e-05 9.99988987e-01 2.34332596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.13, Y:20.02, Z:0.23 [[ 8.58245310e-01 -5.13223898e-01 -4.02709233e-03 7.31268544e+01] [ 5.13218237e-01 8.58254758e-01 -2.41058475e-03 2.00217121e+01] [ 4.69344086e-03 2.09582863e-06 9.99988986e-01 2.33483292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.79105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.15, Y:20.03, Z:0.23 [[ 8.57460260e-01 -5.14534423e-01 -4.02871181e-03 7.31515448e+01] [ 5.14528788e-01 8.57469724e-01 -2.40793803e-03 2.00346292e+01] [ 4.69346541e-03 -8.17703704e-06 9.99988986e-01 2.31301064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.821052754 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:73.17, Y:20.05, Z:0.23 [[ 8.58725879e-01 -5.12419415e-01 -4.02595511e-03 7.31740251e+01] [ 5.12413736e-01 8.58735316e-01 -2.41245238e-03 2.00462065e+01] [ 4.69341727e-03 8.68059114e-06 9.99988986e-01 2.25893102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.851052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.19, Y:20.06, Z:0.23 [[ 8.57067708e-01 -5.15188188e-01 -4.00926340e-03 7.31939257e+01] [ 5.15182412e-01 8.57077085e-01 -2.43975532e-03 2.00647852e+01] [ 4.69318091e-03 2.55335160e-05 9.99988987e-01 2.28296625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.881052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.22, Y:20.08, Z:0.23 [[ 8.56940346e-01 -5.15400054e-01 -4.00347659e-03 7.32182716e+01] [ 5.15394236e-01 8.56949697e-01 -2.44921441e-03 2.00798050e+01] [ 4.69310329e-03 3.54618879e-05 9.99988987e-01 2.28425181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.911052754 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:73.24, Y:20.10, Z:0.22 [[ 8.58332425e-01 -5.13078381e-01 -4.00287098e-03 7.32443753e+01] [ 5.13072532e-01 8.58341758e-01 -2.45020379e-03 2.00983845e+01] [ 4.69297790e-03 4.93262151e-05 9.99988987e-01 2.19031416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.941052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.27, Y:20.12, Z:0.22 [[ 8.58135771e-01 -5.13407069e-01 -4.02245295e-03 7.32677229e+01] [ 5.13401374e-01 8.58145198e-01 -2.41821014e-03 2.01168736e+01] [ 4.69337486e-03 1.00197479e-05 9.99988986e-01 2.24447862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.971052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.28, Y:20.13, Z:0.22 [[ 8.57683656e-01 -5.14161980e-01 -4.02551874e-03 7.32832886e+01] [ 5.14156317e-01 8.57693103e-01 -2.41322088e-03 2.01344308e+01] [ 4.69344608e-03 3.42183243e-08 9.99988986e-01 2.22405300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.001052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.31, Y:20.15, Z:0.23 [[ 8.59087932e-01 -5.11812413e-01 -3.99732350e-03 7.33134848e+01] [ 5.11806510e-01 8.59097229e-01 -2.45905376e-03 2.01480191e+01] [ 4.69266378e-03 6.66872168e-05 9.99988987e-01 2.25560001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.03105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.34, Y:20.16, Z:0.23 [[ 8.59498591e-01 -5.11122236e-01 -4.02897367e-03 7.33373215e+01] [ 5.11116566e-01 8.59508034e-01 -2.40757219e-03 2.01630428e+01] [ 4.69349892e-03 1.00297199e-05 9.99988985e-01 2.26682840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.36, Y:20.18, Z:0.22 [[ 8.59668670e-01 -5.10836152e-01 -4.02532370e-03 7.33597467e+01] [ 5.10830451e-01 8.59678094e-01 -2.41350677e-03 2.01771690e+01] [ 4.69338912e-03 1.85582336e-05 9.99988986e-01 2.22199042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.09105275399999 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:73.38, Y:20.19, Z:0.23 [[ 8.60162580e-01 -5.10004113e-01 -4.01749666e-03 7.33846660e+01] [ 5.09998343e-01 8.60171962e-01 -2.42622523e-03 2.01941731e+01] [ 4.69312283e-03 3.80315135e-05 9.99988987e-01 2.31760854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.41, Y:20.21, Z:0.24 [[ 8.60430442e-01 -5.09552045e-01 -4.02090966e-03 7.34103917e+01] [ 5.09546297e-01 8.60439836e-01 -2.42068324e-03 2.02111333e+01] [ 4.69321495e-03 3.39899245e-05 9.99988986e-01 2.39030358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.15105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.43, Y:20.22, Z:0.24 [[ 8.61104965e-01 -5.08411300e-01 -4.02366456e-03 7.34344472e+01] [ 5.08405560e-01 8.61114365e-01 -2.41621570e-03 2.02246308e+01] [ 4.69326672e-03 3.49619018e-05 9.99988986e-01 2.38045460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.45, Y:20.24, Z:0.24 [[ 8.59311578e-01 -5.11436638e-01 -4.02210983e-03 7.34535819e+01] [ 5.11430919e-01 8.59320991e-01 -2.41873430e-03 2.02401444e+01] [ 4.69331274e-03 2.14150660e-05 9.99988986e-01 2.40273114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.211052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.49, Y:20.25, Z:0.24 [[ 8.59740618e-01 -5.10715316e-01 -3.99202423e-03 7.34855537e+01] [ 5.10709362e-01 8.59749882e-01 -2.46740982e-03 2.02532923e+01] [ 4.69228635e-03 8.25682927e-05 9.99988988e-01 2.41299633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.241052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.50, Y:20.27, Z:0.24 [[ 8.57140228e-01 -5.15067386e-01 -4.02701025e-03 7.35032238e+01] [ 5.15061745e-01 8.57149688e-01 -2.41077419e-03 2.02666400e+01] [ 4.69346175e-03 -7.78738463e-06 9.99988986e-01 2.40721141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.271052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.53, Y:20.28, Z:0.24 [[ 8.56648472e-01 -5.15885129e-01 -3.99106782e-03 7.35292772e+01] [ 5.15879224e-01 8.56657768e-01 -2.46887703e-03 2.02799611e+01] [ 4.69263619e-03 5.60507715e-05 9.99988988e-01 2.41249174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.301052754 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:73.55, Y:20.29, Z:0.24 [[ 8.56762201e-01 -5.15696236e-01 -3.99048285e-03 7.35534236e+01] [ 5.15690325e-01 8.56771492e-01 -2.46982216e-03 2.02949238e+01] [ 4.69260993e-03 5.81968752e-05 9.99988988e-01 2.39451232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.331052754 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:73.58, Y:20.31, Z:0.23 [[ 8.58216362e-01 -5.13272633e-01 -3.98496094e-03 7.35838213e+01] [ 5.13266655e-01 8.58225610e-01 -2.47873754e-03 2.03113440e+01] [ 4.69226368e-03 8.19455478e-05 9.99988988e-01 2.32908074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.60, Y:20.33, Z:0.24 [[ 8.57934667e-01 -5.13743008e-01 -4.02860746e-03 7.36011712e+01] [ 5.13737363e-01 8.57944125e-01 -2.40819905e-03 2.03276314e+01] [ 4.69351553e-03 -3.56871973e-06 9.99988985e-01 2.35855365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.39105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.62, Y:20.34, Z:0.23 [[ 8.58289369e-01 -5.13150512e-01 -3.98897226e-03 7.36244823e+01] [ 5.13144562e-01 8.58298635e-01 -2.47215293e-03 2.03439089e+01] [ 4.69231599e-03 7.49031490e-05 9.99988988e-01 2.33659512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.65, Y:20.36, Z:0.23 [[ 8.58231022e-01 -5.13248094e-01 -3.98831987e-03 7.36480808e+01] [ 5.13242140e-01 8.58240286e-01 -2.47320497e-03 2.03585985e+01] [ 4.69230453e-03 7.56074050e-05 9.99988988e-01 2.34366529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.45105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.68, Y:20.37, Z:0.23 [[ 8.59524743e-01 -5.11078579e-01 -3.98767240e-03 7.36803652e+01] [ 5.11072598e-01 8.59533989e-01 -2.47424848e-03 2.03730122e+01] [ 4.69207537e-03 8.86876973e-05 9.99988988e-01 2.34910069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.70, Y:20.39, Z:0.24 [[ 8.59822017e-01 -5.10577956e-01 -4.03113618e-03 7.37033865e+01] [ 5.10572296e-01 8.59831466e-01 -2.40411829e-03 2.03886791e+01] [ 4.69358753e-03 8.92738211e-06 9.99988985e-01 2.35302270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.51105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.72, Y:20.41, Z:0.23 [[ 8.59139994e-01 -5.11724775e-01 -4.02795472e-03 7.37206280e+01] [ 5.11719104e-01 8.59149437e-01 -2.40924139e-03 2.04058742e+01] [ 4.69348353e-03 8.69425340e-06 9.99988986e-01 2.30694723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.74, Y:20.42, Z:0.23 [[ 8.59299587e-01 -5.11456967e-01 -3.99877453e-03 7.37407900e+01] [ 5.11451074e-01 8.59308889e-01 -2.45618082e-03 2.04203202e+01] [ 4.69241329e-03 6.54176377e-05 9.99988988e-01 2.29089996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.571052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.77, Y:20.43, Z:0.23 [[ 8.59191182e-01 -5.11639166e-01 -3.98454820e-03 7.37655683e+01] [ 5.11633168e-01 8.59200416e-01 -2.47904667e-03 2.04331888e+01] [ 4.69190284e-03 9.13480219e-05 9.99988989e-01 2.29336283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.601052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.79, Y:20.45, Z:0.23 [[ 8.58646244e-01 -5.12553171e-01 -3.98435153e-03 7.37912096e+01] [ 5.12547182e-01 8.58655484e-01 -2.47936272e-03 2.04475354e+01] [ 4.69199051e-03 8.67273365e-05 9.99988989e-01 2.31434655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.631052754 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:73.82, Y:20.46, Z:0.23 [[ 8.57653411e-01 -5.14212754e-01 -3.98379320e-03 7.38175979e+01] [ 5.14206779e-01 8.57662659e-01 -2.48025951e-03 2.04629485e+01] [ 4.69213174e-03 7.87095657e-05 9.99988989e-01 2.30854437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.661052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.84, Y:20.48, Z:0.23 [[ 8.57254361e-01 -5.14877640e-01 -3.99707213e-03 7.38388229e+01] [ 5.14871771e-01 8.57263678e-01 -2.45893538e-03 2.04771498e+01] [ 4.69259560e-03 4.99534713e-05 9.99988988e-01 2.32993362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.691052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.86, Y:20.49, Z:0.23 [[ 8.56864947e-01 -5.15525557e-01 -3.98281151e-03 7.38633440e+01] [ 5.15519588e-01 8.56874200e-01 -2.48182075e-03 2.04918198e+01] [ 4.69221045e-03 7.33678532e-05 9.99988989e-01 2.33755173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.721052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.89, Y:20.51, Z:0.23 [[ 8.56998754e-01 -5.15303092e-01 -3.98226734e-03 7.38867852e+01] [ 5.15297117e-01 8.57008003e-01 -2.48269361e-03 2.05059775e+01] [ 4.69217467e-03 7.56144541e-05 9.99988989e-01 2.34327814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.751052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.91, Y:20.52, Z:0.23 [[ 8.57604344e-01 -5.14294596e-01 -3.98205818e-03 7.39108458e+01] [ 5.14288609e-01 8.57613585e-01 -2.48302904e-03 2.05211346e+01] [ 4.69207561e-03 8.15293315e-05 9.99988989e-01 2.33437200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.93, Y:20.54, Z:0.23 [[ 8.57620710e-01 -5.14267310e-01 -3.98144794e-03 7.39349599e+01] [ 5.14261317e-01 8.57629948e-01 -2.48400714e-03 2.05362015e+01] [ 4.69205266e-03 8.28313067e-05 9.99988989e-01 2.34866803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.81105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.96, Y:20.55, Z:0.24 [[ 8.57991874e-01 -5.13647834e-01 -3.98077544e-03 7.39578369e+01] [ 5.13641830e-01 8.58001104e-01 -2.48508441e-03 2.05501031e+01] [ 4.69196795e-03 8.74894430e-05 9.99988989e-01 2.37007005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.98, Y:20.57, Z:0.24 [[ 8.57992192e-01 -5.13647305e-01 -3.98046803e-03 7.39816031e+01] [ 5.13641299e-01 8.58001421e-01 -2.48557669e-03 2.05653701e+01] [ 4.69195700e-03 8.80726231e-05 9.99988989e-01 2.36968890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.87105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.01, Y:20.58, Z:0.24 [[ 8.57968916e-01 -5.13686188e-01 -3.97980742e-03 7.40054634e+01] [ 5.13680178e-01 8.57978142e-01 -2.48663400e-03 2.05811140e+01] [ 4.69193731e-03 8.91064940e-05 9.99988989e-01 2.37441982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.03, Y:20.60, Z:0.24 [[ 8.57910987e-01 -5.13782935e-01 -3.97912036e-03 7.40283188e+01] [ 5.13776920e-01 8.57920210e-01 -2.48773294e-03 2.05963565e+01] [ 4.69192251e-03 8.98732179e-05 9.99988989e-01 2.36725070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.93105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.05, Y:20.61, Z:0.24 [[ 8.57882054e-01 -5.13831246e-01 -3.97890714e-03 7.40526331e+01] [ 5.13825230e-01 8.57891276e-01 -2.48807392e-03 2.06109954e+01] [ 4.69191985e-03 9.00110863e-05 9.99988989e-01 2.37197082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.961052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.08, Y:20.62, Z:0.24 [[ 8.57743485e-01 -5.14062534e-01 -3.97822792e-03 7.40757405e+01] [ 5.14056515e-01 8.57752705e-01 -2.48915947e-03 2.06245424e+01] [ 4.69191938e-03 9.00263380e-05 9.99988989e-01 2.37540895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.991052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:74.10, Y:20.64, Z:0.24 [[ 8.57736738e-01 -5.14073792e-01 -3.97793319e-03 7.41040010e+01] [ 5.14067772e-01 8.57745958e-01 -2.48963039e-03 2.06390184e+01] [ 4.69190985e-03 9.05201997e-05 9.99988989e-01 2.35868946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.12, Y:20.65, Z:0.24 [[ 8.57393654e-01 -5.14645610e-01 -4.00233645e-03 7.41240029e+01] [ 5.14639777e-01 8.57402994e-01 -2.45062111e-03 2.06527513e+01] [ 4.69281665e-03 4.13854460e-05 9.99988988e-01 2.39258684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.051052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.16, Y:20.67, Z:0.24 [[ 8.58889179e-01 -5.12146034e-01 -3.97725816e-03 7.41551617e+01] [ 5.12139988e-01 8.58898381e-01 -2.49066774e-03 2.06676705e+01] [ 4.69164620e-03 1.02294626e-04 9.99988989e-01 2.43024543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.081052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.17, Y:20.68, Z:0.24 [[ 8.57595007e-01 -5.14309919e-01 -4.01380289e-03 7.41710561e+01] [ 5.14304168e-01 8.57604400e-01 -2.43230998e-03 2.06843644e+01] [ 4.69321617e-03 2.16213389e-05 9.99988987e-01 2.44142138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.19, Y:20.70, Z:0.24 [[ 8.57669700e-01 -5.14185651e-01 -3.97530675e-03 7.41941197e+01] [ 5.14179612e-01 8.57678907e-01 -2.49367876e-03 2.07005475e+01] [ 4.69175059e-03 9.47310319e-05 9.99988989e-01 2.43812978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.22, Y:20.72, Z:0.24 [[ 8.57973047e-01 -5.13679328e-01 -3.97461318e-03 7.42155551e+01] [ 5.13673280e-01 8.57982248e-01 -2.49478375e-03 2.07164096e+01] [ 4.69166639e-03 9.88046301e-05 9.99988989e-01 2.40547342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.17105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.24, Y:20.73, Z:0.24 [[ 8.57959176e-01 -5.13702498e-01 -3.97431155e-03 7.42394627e+01] [ 5.13696448e-01 8.57968376e-01 -2.49526417e-03 2.07314173e+01] [ 4.69165706e-03 9.92450667e-05 9.99988989e-01 2.40557497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.26, Y:20.75, Z:0.24 [[ 8.57205403e-01 -5.14959325e-01 -3.97361845e-03 7.42649904e+01] [ 5.14953283e-01 8.57214608e-01 -2.49636741e-03 2.07460803e+01] [ 4.69177146e-03 9.36717666e-05 9.99988989e-01 2.39111970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.23105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.29, Y:20.76, Z:0.24 [[ 8.56307508e-01 -5.16451030e-01 -3.97314581e-03 7.42914138e+01] [ 5.16445000e-01 8.56316721e-01 -2.49711942e-03 2.07598515e+01] [ 4.69191109e-03 8.63908197e-05 9.99988989e-01 2.38081061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.31, Y:20.77, Z:0.24 [[ 8.56449087e-01 -5.16216137e-01 -3.98257299e-03 7.43145109e+01] [ 5.16210175e-01 8.56458344e-01 -2.48212140e-03 2.07747060e+01] [ 4.69221899e-03 6.99659068e-05 9.99988989e-01 2.39496486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.29105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.34, Y:20.79, Z:0.24 [[ 8.56829015e-01 -5.15585358e-01 -3.97215000e-03 7.43374782e+01] [ 5.15579312e-01 8.56838217e-01 -2.49869075e-03 2.07899550e+01] [ 4.69177829e-03 9.29923631e-05 9.99988989e-01 2.37427805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.36, Y:20.81, Z:0.24 [[ 8.57020263e-01 -5.15267400e-01 -3.97193539e-03 7.43613154e+01] [ 5.15261348e-01 8.57029461e-01 -2.49903185e-03 2.08056940e+01] [ 4.69173529e-03 9.51361485e-05 9.99988989e-01 2.36310274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.351052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:74.38, Y:20.82, Z:0.23 [[ 8.57488404e-01 -5.14487964e-01 -3.97133342e-03 7.43842031e+01] [ 5.14481900e-01 8.57497594e-01 -2.49998810e-03 2.08206206e+01] [ 4.69162264e-03 1.00531642e-04 9.99988989e-01 2.34389056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.41, Y:20.84, Z:0.23 [[ 8.57860905e-01 -5.13866616e-01 -3.97104707e-03 7.44066664e+01] [ 5.13860543e-01 8.57870089e-01 -2.50044287e-03 2.08368895e+01] [ 4.69153662e-03 1.04467778e-04 9.99988989e-01 2.32977207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.43, Y:20.85, Z:0.24 [[ 8.57196800e-01 -5.14973671e-01 -3.97036471e-03 7.44312733e+01] [ 5.14967605e-01 8.57205989e-01 -2.50152590e-03 2.08514415e+01] [ 4.69164038e-03 9.96907864e-05 9.99988989e-01 2.35699802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.441052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.46, Y:20.87, Z:0.24 [[ 8.56831036e-01 -5.15582017e-01 -3.96976867e-03 7.44564837e+01] [ 5.15575953e-01 8.56840227e-01 -2.50247141e-03 2.08650935e+01] [ 4.69168675e-03 9.74779041e-05 9.99988989e-01 2.38671285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.471052754 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:74.49, Y:20.88, Z:0.24 [[ 8.56479203e-01 -5.16166273e-01 -3.96917008e-03 7.44868440e+01] [ 5.16160211e-01 8.56488394e-01 -2.50342049e-03 2.08781830e+01] [ 4.69172933e-03 9.53999175e-05 9.99988989e-01 2.41710395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.51, Y:20.89, Z:0.24 [[ 8.55218783e-01 -5.18251704e-01 -4.00048782e-03 7.45053934e+01] [ 5.18245896e-01 8.55228140e-01 -2.45373999e-03 2.08941196e+01] [ 4.69298469e-03 2.52481375e-05 9.99988988e-01 2.44548425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.53105275399999 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:74.53, Y:20.91, Z:0.24 [[ 8.54790408e-01 -5.18958198e-01 -3.96827712e-03 7.45336143e+01] [ 5.18952160e-01 8.54799615e-01 -2.50477102e-03 2.09100565e+01] [ 4.69195321e-03 8.17082546e-05 9.99988989e-01 2.39892089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.55, Y:20.92, Z:0.24 [[ 8.53654958e-01 -5.20823612e-01 -3.99711891e-03 7.45529782e+01] [ 5.20817807e-01 8.53664316e-01 -2.45905489e-03 2.09239891e+01] [ 4.69293163e-03 1.74136952e-05 9.99988988e-01 2.42705758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.59105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.58, Y:20.94, Z:0.24 [[ 8.51641332e-01 -5.24110009e-01 -3.96732370e-03 7.45773417e+01] [ 5.24104020e-01 8.51650571e-01 -2.50622045e-03 2.09368017e+01] [ 4.69230872e-03 5.51106269e-05 9.99988990e-01 2.42379840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.60, Y:20.95, Z:0.24 [[ 8.51210980e-01 -5.24808661e-01 -3.96702659e-03 7.46007944e+01] [ 5.24802677e-01 8.51220222e-01 -2.50669064e-03 2.09518854e+01] [ 4.69234622e-03 5.18164221e-05 9.99988990e-01 2.42897406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.65105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.62, Y:20.97, Z:0.24 [[ 8.50112386e-01 -5.26586361e-01 -3.96678675e-03 7.46237160e+01] [ 5.26580395e-01 8.50121640e-01 -2.50707014e-03 2.09679462e+01] [ 4.69244019e-03 4.24592429e-05 9.99988990e-01 2.43550388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.65, Y:20.98, Z:0.24 [[ 8.49026307e-01 -5.28335684e-01 -3.96659116e-03 7.46468839e+01] [ 5.28329736e-01 8.49035573e-01 -2.50737955e-03 2.09842314e+01] [ 4.69251509e-03 3.31631407e-05 9.99988990e-01 2.44970196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.711052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.67, Y:21.00, Z:0.25 [[ 8.47098383e-01 -5.31421302e-01 -3.96591150e-03 7.46693865e+01] [ 5.31415382e-01 8.47107667e-01 -2.50845411e-03 2.10021332e+01] [ 4.69259998e-03 1.73610431e-05 9.99988990e-01 2.45801720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.741052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.69, Y:21.02, Z:0.25 [[ 8.46098821e-01 -5.33011314e-01 -3.96530353e-03 7.46921688e+01] [ 5.33005407e-01 8.46108113e-01 -2.50941479e-03 2.10175688e+01] [ 4.69262197e-03 9.68467203e-06 9.99988990e-01 2.46141589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.771052754 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:74.72, Y:21.03, Z:0.25 [[ 8.44965054e-01 -5.34806821e-01 -3.96501268e-03 7.47161954e+01] [ 5.34800931e-01 8.44974357e-01 -2.50987428e-03 2.10329660e+01] [ 4.69263192e-03 2.63587877e-07 9.99988990e-01 2.46651881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.801052754 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:74.74, Y:21.05, Z:0.25 [[ 8.44787246e-01 -5.35087630e-01 -3.96711469e-03 7.47402983e+01] [ 5.35081759e-01 8.44796560e-01 -2.50655477e-03 2.10484596e+01] [ 4.69263130e-03 -5.22521071e-06 9.99988990e-01 2.46788332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.831052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.76, Y:21.06, Z:0.25 [[ 8.43606966e-01 -5.36946510e-01 -3.96632833e-03 7.47633962e+01] [ 5.36940654e-01 8.43616290e-01 -2.50779571e-03 2.10631927e+01] [ 4.69261135e-03 -1.40889986e-05 9.99988990e-01 2.47988053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.79, Y:21.08, Z:0.25 [[ 8.44137443e-01 -5.36112181e-01 -3.96314061e-03 7.47856429e+01] [ 5.36106292e-01 8.44146746e-01 -2.51282327e-03 2.10800227e+01] [ 4.69262742e-03 -3.49641179e-06 9.99988990e-01 2.46002153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.89105275399999 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:74.81, Y:21.10, Z:0.24 [[ 8.44848671e-01 -5.34990675e-01 -3.96244449e-03 7.48097106e+01] [ 5.34984769e-01 8.44857963e-01 -2.51392050e-03 2.10953473e+01] [ 4.69262681e-03 4.03494153e-06 9.99988990e-01 2.42957033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.83, Y:21.11, Z:0.25 [[ 8.47007024e-01 -5.31566932e-01 -3.96204870e-03 7.48331017e+01] [ 5.31560985e-01 8.47016291e-01 -2.51454413e-03 2.11111189e+01] [ 4.69256830e-03 2.37660345e-05 9.99988990e-01 2.46227431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.95105275399999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:74.86, Y:21.13, Z:0.24 [[ 8.48663651e-01 -5.28918059e-01 -3.96166086e-03 7.48575282e+01] [ 5.28912080e-01 8.48672897e-01 -2.51515502e-03 2.11268623e+01] [ 4.69246511e-03 3.91503540e-05 9.99988990e-01 2.43766533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.88, Y:21.14, Z:0.24 [[ 8.52299021e-01 -5.23039803e-01 -3.96783286e-03 7.48788124e+01] [ 5.23033806e-01 8.52308255e-01 -2.50543504e-03 2.11438425e+01] [ 4.69225895e-03 6.00691129e-05 9.99988989e-01 2.44694803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.01105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.90, Y:21.16, Z:0.24 [[ 8.56518536e-01 -5.16101067e-01 -3.96061627e-03 7.49010428e+01] [ 5.16094943e-01 8.56527685e-01 -2.51679162e-03 2.11605028e+01] [ 4.69129632e-03 1.11624651e-04 9.99988990e-01 2.41963982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.92, Y:21.18, Z:0.24 [[ 8.57544548e-01 -5.14394467e-01 -3.95991946e-03 7.49245325e+01] [ 5.14388319e-01 8.57553682e-01 -2.51788750e-03 2.11762604e+01] [ 4.69103091e-03 1.22264385e-04 9.99988990e-01 2.40360138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.95, Y:21.19, Z:0.24 [[ 8.57508018e-01 -5.14455366e-01 -3.95921771e-03 7.49483459e+01] [ 5.14449214e-01 8.57517149e-01 -2.51899047e-03 2.11912551e+01] [ 4.69100525e-03 1.23238092e-04 9.99988990e-01 2.39115525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.101052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.97, Y:21.20, Z:0.24 [[ 8.56427826e-01 -5.16251591e-01 -3.95899923e-03 7.49734649e+01] [ 5.16245457e-01 8.56436969e-01 -2.51933379e-03 2.12030577e+01] [ 4.69124338e-03 1.13812197e-04 9.99988990e-01 2.43199999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.00, Y:21.22, Z:0.25 [[ 8.56028964e-01 -5.16912703e-01 -3.95867824e-03 7.50010132e+01] [ 5.16906573e-01 8.56038110e-01 -2.51983808e-03 2.12168039e+01] [ 4.69131575e-03 1.10787578e-04 9.99988990e-01 2.48268050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.03, Y:21.23, Z:0.25 [[ 8.55047754e-01 -5.18534064e-01 -3.97022690e-03 7.50262414e+01] [ 5.18528035e-01 8.55056968e-01 -2.50169976e-03 2.12310726e+01] [ 4.69198672e-03 8.03988074e-05 9.99988989e-01 2.51023715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.191052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.05, Y:21.25, Z:0.25 [[ 8.54033929e-01 -5.20202144e-01 -3.97217487e-03 7.50462532e+01] [ 5.20196148e-01 8.54043163e-01 -2.49864160e-03 2.12461025e+01] [ 4.69220751e-03 6.76146354e-05 9.99988989e-01 2.49736940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.07, Y:21.26, Z:0.25 [[ 8.53946145e-01 -5.20346350e-01 -3.95689195e-03 7.50703163e+01] [ 5.20340244e-01 8.53955307e-01 -2.52261390e-03 2.12610539e+01] [ 4.69164182e-03 9.52462896e-05 9.99988990e-01 2.46798377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.25105275399999 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:75.10, Y:21.28, Z:0.24 [[ 8.53771939e-01 -5.20632136e-01 -3.95667799e-03 7.50954189e+01] [ 5.20626031e-01 8.53781102e-01 -2.52294946e-03 2.12754934e+01] [ 4.69166546e-03 9.40738976e-05 9.99988990e-01 2.39865913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.12, Y:21.29, Z:0.24 [[ 8.53047821e-01 -5.21817719e-01 -3.96011941e-03 7.51200096e+01] [ 5.21811652e-01 8.53057010e-01 -2.51755339e-03 2.12907805e+01] [ 4.69191159e-03 8.11569799e-05 9.99988990e-01 2.43655901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.31105275399999 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:75.14, Y:21.30, Z:0.24 [[ 8.53122798e-01 -5.21695087e-01 -3.96579183e-03 7.51426934e+01] [ 5.21689060e-01 8.53132013e-01 -2.50866360e-03 2.13043900e+01] [ 4.69210144e-03 7.12878989e-05 9.99988989e-01 2.39518511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.17, Y:21.32, Z:0.24 [[ 8.52471802e-01 -5.22758273e-01 -3.95162793e-03 7.51686151e+01] [ 5.22752155e-01 8.52480955e-01 -2.53084686e-03 2.13188542e+01] [ 4.69170869e-03 9.17535629e-05 9.99988990e-01 2.44294410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.37105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.19, Y:21.33, Z:0.25 [[ 8.52730194e-01 -5.22336562e-01 -3.96643394e-03 7.51927525e+01] [ 5.22330547e-01 8.52739416e-01 -2.50769463e-03 2.13328384e+01] [ 4.69219515e-03 6.65973263e-05 9.99988989e-01 2.45005470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.21, Y:21.35, Z:0.25 [[ 8.52193466e-01 -5.23211761e-01 -3.96871317e-03 7.52123662e+01] [ 5.23205771e-01 8.52202705e-01 -2.50413151e-03 2.13498486e+01] [ 4.69233916e-03 5.75508737e-05 9.99988989e-01 2.45050363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.43105275399999 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:75.24, Y:21.37, Z:0.24 [[ 8.53323458e-01 -5.21366915e-01 -3.95177870e-03 7.52363763e+01] [ 5.21360783e-01 8.53332603e-01 -2.53057659e-03 2.13678541e+01] [ 4.69154051e-03 9.90979370e-05 9.99988990e-01 2.37385546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.461052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.26, Y:21.38, Z:0.24 [[ 8.53067201e-01 -5.21786021e-01 -3.96226698e-03 7.52607675e+01] [ 5.21779969e-01 8.53076399e-01 -2.51420907e-03 2.13845923e+01] [ 4.69199559e-03 7.73577482e-05 9.99988990e-01 2.40935988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.29, Y:21.40, Z:0.25 [[ 8.52495771e-01 -5.22719094e-01 -3.96346123e-03 7.52864065e+01] [ 5.22713061e-01 8.52504982e-01 -2.51235010e-03 2.13983145e+01] [ 4.69212381e-03 7.00148883e-05 9.99988989e-01 2.45521684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.31, Y:21.41, Z:0.25 [[ 8.50604145e-01 -5.25791647e-01 -3.96649895e-03 7.53068070e+01] [ 5.25785669e-01 8.50613392e-01 -2.50762428e-03 2.14125895e+01] [ 4.69244502e-03 4.74673029e-05 9.99988989e-01 2.45817512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.551052754 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:75.33, Y:21.43, Z:0.25 [[ 8.50015786e-01 -5.26742432e-01 -3.94627988e-03 7.53346958e+01] [ 5.26736319e-01 8.50024943e-01 -2.53904947e-03 2.14256286e+01] [ 4.69186142e-03 7.95831916e-05 9.99988990e-01 2.45352956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.581052754 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:75.36, Y:21.44, Z:0.25 [[ 8.49405847e-01 -5.27725338e-01 -3.95912666e-03 7.53595751e+01] [ 5.27719328e-01 8.49415072e-01 -2.51908832e-03 2.14409775e+01] [ 4.69232859e-03 5.04206884e-05 9.99988990e-01 2.45522728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.38, Y:21.46, Z:0.25 [[ 8.48689634e-01 -5.28876381e-01 -3.95955149e-03 7.53833629e+01] [ 5.28870387e-01 8.48698870e-01 -2.51842858e-03 2.14585242e+01] [ 4.69240427e-03 4.32747075e-05 9.99988990e-01 2.49932903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.40, Y:21.47, Z:0.25 [[ 8.47830813e-01 -5.30252044e-01 -3.96003750e-03 7.54020897e+01] [ 5.30246068e-01 8.47840061e-01 -2.51767580e-03 2.14747878e+01] [ 4.69248117e-03 3.47688017e-05 9.99988990e-01 2.46056674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.67105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.43, Y:21.49, Z:0.25 [[ 8.49450655e-01 -5.27653344e-01 -3.94108270e-03 7.54290153e+01] [ 5.27647204e-01 8.49459794e-01 -2.54700533e-03 2.14895447e+01] [ 4.69172717e-03 8.40540808e-05 9.99988990e-01 2.45488594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.70105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.45, Y:21.50, Z:0.25 [[ 8.49335629e-01 -5.27838338e-01 -3.95959740e-03 7.54524745e+01] [ 5.27832332e-01 8.49344857e-01 -2.51835107e-03 2.15048250e+01] [ 4.69234593e-03 4.89217587e-05 9.99988990e-01 2.47852675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.73105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.47, Y:21.52, Z:0.25 [[ 8.49071572e-01 -5.28263013e-01 -3.95676794e-03 7.54735988e+01] [ 5.28256991e-01 8.49080789e-01 -2.52272829e-03 2.15206659e+01] [ 4.69227969e-03 5.17865494e-05 9.99988990e-01 2.50813253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.50, Y:21.54, Z:0.25 [[ 8.48529547e-01 -5.29133337e-01 -3.93962537e-03 7.54982525e+01] [ 5.29127202e-01 8.48538688e-01 -2.54922081e-03 2.15364607e+01] [ 4.69180226e-03 7.85262288e-05 9.99988990e-01 2.51835511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.79105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.52, Y:21.55, Z:0.25 [[ 8.50325581e-01 -5.26242183e-01 -3.94609561e-03 7.55231455e+01] [ 5.26236063e-01 8.50334733e-01 -2.53922462e-03 2.15534050e+01] [ 4.69174926e-03 8.25898302e-05 9.99988990e-01 2.53254852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.821052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.55, Y:21.57, Z:0.25 [[ 8.50856606e-01 -5.25383073e-01 -3.95759962e-03 7.55456523e+01] [ 5.25377027e-01 8.50865807e-01 -2.52146158e-03 2.15703000e+01] [ 4.69211943e-03 6.61703217e-05 9.99988990e-01 2.53515148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.851052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.57, Y:21.59, Z:0.25 [[ 8.51550952e-01 -5.24256988e-01 -3.94796920e-03 7.55695087e+01] [ 5.24250861e-01 8.51560099e-01 -2.53631760e-03 2.15861794e+01] [ 4.69161527e-03 9.00774116e-05 9.99988990e-01 2.49507400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.881052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.60, Y:21.60, Z:0.25 [[ 8.50707027e-01 -5.25625299e-01 -3.94962312e-03 7.55950245e+01] [ 5.25619198e-01 8.50716191e-01 -2.53376739e-03 2.16011675e+01] [ 4.69182058e-03 7.94959831e-05 9.99988990e-01 2.53207090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.911052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.62, Y:21.62, Z:0.25 [[ 8.49995624e-01 -5.26774963e-01 -3.94689130e-03 7.56200843e+01] [ 5.26768855e-01 8.50004784e-01 -2.53797410e-03 2.16151790e+01] [ 4.69181770e-03 7.81674660e-05 9.99988990e-01 2.53407880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.941052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.64, Y:21.63, Z:0.25 [[ 8.48536624e-01 -5.29121895e-01 -3.95185634e-03 7.56438742e+01] [ 5.29115848e-01 8.48545825e-01 -2.53033021e-03 2.16285467e+01] [ 4.69218431e-03 5.60880381e-05 9.99988990e-01 2.52994066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.971052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.67, Y:21.64, Z:0.25 [[ 8.47631861e-01 -5.30570112e-01 -3.94775860e-03 7.56666746e+01] [ 5.30564051e-01 8.47641052e-01 -2.53663622e-03 2.16443369e+01] [ 4.69214562e-03 5.55948835e-05 9.99988990e-01 2.53460789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.69, Y:21.66, Z:0.25 [[ 8.47079491e-01 -5.31451578e-01 -3.94427983e-03 7.56900096e+01] [ 5.31445501e-01 8.47088671e-01 -2.54198700e-03 2.16602426e+01] [ 4.69209777e-03 5.70952777e-05 9.99988990e-01 2.52517645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.03105275399999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:75.71, Y:21.67, Z:0.25 [[ 8.46943655e-01 -5.31668030e-01 -3.94345809e-03 7.57124255e+01] [ 5.31661951e-01 8.46952834e-01 -2.54325164e-03 2.16737019e+01] [ 4.69208859e-03 5.74042259e-05 9.99988990e-01 2.47324008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.74, Y:21.69, Z:0.25 [[ 8.46652022e-01 -5.32132391e-01 -3.93346769e-03 7.57371436e+01] [ 5.32126245e-01 8.46661156e-01 -2.55861033e-03 2.16914736e+01] [ 4.69183374e-03 7.31512182e-05 9.99988991e-01 2.52715129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.09105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.76, Y:21.71, Z:0.25 [[ 8.46441096e-01 -5.32467794e-01 -3.93947218e-03 7.57602149e+01] [ 5.32461695e-01 8.46450261e-01 -2.54938883e-03 2.17068015e+01] [ 4.69203470e-03 6.02894410e-05 9.99988991e-01 2.51728084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.78, Y:21.72, Z:0.25 [[ 8.46889164e-01 -5.31754829e-01 -3.94278124e-03 7.57840781e+01] [ 5.31748745e-01 8.46898340e-01 -2.54430611e-03 2.17214385e+01] [ 4.69208195e-03 5.81762980e-05 9.99988990e-01 2.52668478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.15105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.81, Y:21.74, Z:0.25 [[ 8.46669617e-01 -5.32104361e-01 -3.93811657e-03 7.58083833e+01] [ 5.32098247e-01 8.46678773e-01 -2.55146597e-03 2.17358052e+01] [ 4.69196587e-03 6.47837957e-05 9.99988991e-01 2.54395254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.83, Y:21.75, Z:0.25 [[ 8.45366037e-01 -5.34172930e-01 -3.94265237e-03 7.58328864e+01] [ 5.34166871e-01 8.45375230e-01 -2.54450542e-03 2.17512491e+01] [ 4.69222656e-03 4.50041809e-05 9.99988990e-01 2.52851916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.211052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.85, Y:21.77, Z:0.25 [[ 8.44773937e-01 -5.35108805e-01 -3.94485711e-03 7.58546530e+01] [ 5.35102773e-01 8.44783147e-01 -2.54112415e-03 2.17666674e+01] [ 4.69232671e-03 3.57714741e-05 9.99988990e-01 2.50845408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.241052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.88, Y:21.78, Z:0.25 [[ 8.44033293e-01 -5.36276354e-01 -3.93366560e-03 7.58781105e+01] [ 5.36270254e-01 8.44042458e-01 -2.55827247e-03 2.17832023e+01] [ 4.69212182e-03 4.97592871e-05 9.99988991e-01 2.48501383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.271052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.90, Y:21.80, Z:0.25 [[ 8.43581297e-01 -5.36987074e-01 -3.93424113e-03 7.59025676e+01] [ 5.36980986e-01 8.43590470e-01 -2.55739084e-03 2.17994071e+01] [ 4.69217415e-03 4.47543984e-05 9.99988991e-01 2.48981373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.301052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.92, Y:21.81, Z:0.25 [[ 8.43729335e-01 -5.36754412e-01 -3.93826071e-03 7.59237103e+01] [ 5.36748350e-01 8.43738526e-01 -2.55123665e-03 2.18141633e+01] [ 4.69224981e-03 3.86982606e-05 9.99988991e-01 2.48474508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.331052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.95, Y:21.83, Z:0.25 [[ 8.44603263e-01 -5.35378279e-01 -3.92771149e-03 7.59477948e+01] [ 5.35372127e-01 8.44612393e-01 -2.56737542e-03 2.18301655e+01] [ 4.69191083e-03 6.56264041e-05 9.99988991e-01 2.52216162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.97, Y:21.85, Z:0.25 [[ 8.45222962e-01 -5.34399404e-01 -3.92707922e-03 7.59744681e+01] [ 5.34393237e-01 8.45232081e-01 -2.56834218e-03 2.18458709e+01] [ 4.69181387e-03 7.22172108e-05 9.99988991e-01 2.53186742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.39105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.00, Y:21.86, Z:0.25 [[ 8.44855213e-01 -5.34980497e-01 -3.94156294e-03 7.59954059e+01] [ 5.34974440e-01 8.44864407e-01 -2.54620240e-03 2.18615312e+01] [ 4.69225486e-03 4.25369468e-05 9.99988990e-01 2.54862135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.02, Y:21.88, Z:0.25 [[ 8.44983414e-01 -5.34778102e-01 -3.92576007e-03 7.60186843e+01] [ 5.34771930e-01 8.44992530e-01 -2.57033862e-03 2.18763960e+01] [ 4.69179875e-03 7.25072102e-05 9.99988991e-01 2.53181542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.45105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.04, Y:21.89, Z:0.25 [[ 8.44718600e-01 -5.35196298e-01 -3.92546154e-03 7.60435937e+01] [ 5.35190129e-01 8.44727718e-01 -2.57079446e-03 2.18923911e+01] [ 4.69182585e-03 7.07296348e-05 9.99988991e-01 2.51783568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.48105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.07, Y:21.91, Z:0.25 [[ 8.44454617e-01 -5.35612712e-01 -3.92712873e-03 7.60664919e+01] [ 5.35606558e-01 8.44463746e-01 -2.56824931e-03 2.19075113e+01] [ 4.69190482e-03 6.53740851e-05 9.99988991e-01 2.50641200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.51105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.09, Y:21.92, Z:0.25 [[ 8.42873728e-01 -5.38097088e-01 -3.92467930e-03 7.60926536e+01] [ 5.38090944e-01 8.42882863e-01 -2.57198697e-03 2.19212096e+01] [ 4.69202363e-03 5.60258584e-05 9.99988991e-01 2.51383898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.12, Y:21.94, Z:0.25 [[ 8.41956199e-01 -5.39531613e-01 -3.92404928e-03 7.61166037e+01] [ 5.39525480e-01 8.41965342e-01 -2.57294783e-03 2.19353519e+01] [ 4.69210018e-03 4.91848002e-05 9.99988991e-01 2.51575035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.571052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.14, Y:21.95, Z:0.25 [[ 8.41267584e-01 -5.40604714e-01 -3.92382712e-03 7.61434039e+01] [ 5.40598591e-01 8.41276733e-01 -2.57328658e-03 2.19512935e+01] [ 4.69215532e-03 4.36071678e-05 9.99988991e-01 2.51896501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.601052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.17, Y:21.97, Z:0.26 [[ 8.40570762e-01 -5.41687452e-01 -3.93693564e-03 7.61658466e+01] [ 5.41681434e-01 8.40579981e-01 -2.55330616e-03 2.19665946e+01] [ 4.69240320e-03 1.36695619e-05 9.99988991e-01 2.55516944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.631052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.19, Y:21.98, Z:0.26 [[ 8.40522891e-01 -5.41761835e-01 -3.92228134e-03 7.61894892e+01] [ 5.41755714e-01 8.40532042e-01 -2.57562245e-03 2.19820816e+01] [ 4.69217708e-03 3.99513006e-05 9.99988991e-01 2.56258142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.661052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.21, Y:22.00, Z:0.26 [[ 8.41059216e-01 -5.40928843e-01 -3.92194117e-03 7.62117797e+01] [ 5.40922711e-01 8.41068359e-01 -2.57614033e-03 2.19995382e+01] [ 4.69212923e-03 4.52195172e-05 9.99988991e-01 2.56456183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.691052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.24, Y:22.02, Z:0.26 [[ 8.40909487e-01 -5.41161582e-01 -3.92127800e-03 7.62356556e+01] [ 5.41155447e-01 8.40918629e-01 -2.57714937e-03 2.20153270e+01] [ 4.69212995e-03 4.51284037e-05 9.99988991e-01 2.56589875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.721052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.26, Y:22.03, Z:0.25 [[ 8.41396231e-01 -5.40404488e-01 -3.92056449e-03 7.62573223e+01] [ 5.40398340e-01 8.41405364e-01 -2.57823436e-03 2.20349866e+01] [ 4.69207341e-03 5.06501246e-05 9.99988991e-01 2.54368755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.75105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.28, Y:22.05, Z:0.25 [[ 8.41679250e-01 -5.39963585e-01 -3.91994059e-03 7.62813330e+01] [ 5.39957428e-01 8.41688377e-01 -2.57918259e-03 2.20520391e+01] [ 4.69203311e-03 5.42434296e-05 9.99988991e-01 2.53982961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.31, Y:22.07, Z:0.25 [[ 8.42427616e-01 -5.38795279e-01 -3.91917890e-03 7.63079563e+01] [ 5.38789103e-01 8.42436730e-01 -2.58033968e-03 2.20684940e+01] [ 4.69193509e-03 6.21385187e-05 9.99988991e-01 2.54777123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.81105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.33, Y:22.08, Z:0.25 [[ 8.43095311e-01 -5.37749771e-01 -3.93449141e-03 7.63309668e+01] [ 5.37743693e-01 8.43104491e-01 -2.55706885e-03 2.20817266e+01] [ 4.69225056e-03 4.01048163e-05 9.99988991e-01 2.54209218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.84105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.35, Y:22.10, Z:0.26 [[ 8.43205107e-01 -5.37577706e-01 -3.91881485e-03 7.63525299e+01] [ 5.37571515e-01 8.43214211e-01 -2.58087225e-03 2.20992968e+01] [ 4.69181976e-03 6.95614207e-05 9.99988991e-01 2.55981486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.87105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.37, Y:22.12, Z:0.26 [[ 8.43359867e-01 -5.37334885e-01 -3.91856838e-03 7.63745562e+01] [ 5.37328690e-01 8.43368968e-01 -2.58124642e-03 2.21152969e+01] [ 4.69179272e-03 7.13604287e-05 9.99988991e-01 2.56317136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.40, Y:22.13, Z:0.25 [[ 8.46085262e-01 -5.33033187e-01 -3.91804014e-03 7.63989648e+01] [ 5.33026942e-01 8.46094328e-01 -2.58204798e-03 2.21311244e+01] [ 4.69134880e-03 9.62117909e-05 9.99988991e-01 2.52349968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.93105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.42, Y:22.15, Z:0.25 [[ 8.47035942e-01 -5.31521183e-01 -3.91736991e-03 7.64221853e+01] [ 5.31514917e-01 8.47044993e-01 -2.58306442e-03 2.21475066e+01] [ 4.69114203e-03 1.05807865e-04 9.99988991e-01 2.51604977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.961052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.44, Y:22.17, Z:0.25 [[ 8.46524687e-01 -5.32335060e-01 -3.91652307e-03 7.64428779e+01] [ 5.32328796e-01 8.46533740e-01 -2.58434778e-03 2.21663143e+01] [ 4.69120786e-03 1.02836184e-04 9.99988991e-01 2.51923062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.991052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.47, Y:22.18, Z:0.25 [[ 8.47875059e-01 -5.30181617e-01 -3.91626338e-03 7.64666199e+01] [ 5.30175329e-01 8.47884096e-01 -2.58474126e-03 2.21834483e+01] [ 4.69091973e-03 1.15231423e-04 9.99988991e-01 2.49474944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.49, Y:22.20, Z:0.25 [[ 8.47823954e-01 -5.30263340e-01 -3.91567198e-03 7.64904797e+01] [ 5.30257049e-01 8.47832989e-01 -2.58563687e-03 2.21990818e+01] [ 4.69090432e-03 1.15852205e-04 9.99988991e-01 2.49554708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.051052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.51, Y:22.21, Z:0.25 [[ 8.46689266e-01 -5.32073266e-01 -3.91493587e-03 7.65149031e+01] [ 5.32066989e-01 8.46698310e-01 -2.58675094e-03 2.22124358e+01] [ 4.69111060e-03 1.07166120e-04 9.99988991e-01 2.51626590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.081052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.54, Y:22.23, Z:0.26 [[ 8.45393738e-01 -5.34129294e-01 -3.91471202e-03 7.65398173e+01] [ 5.34123037e-01 8.45402796e-01 -2.58708967e-03 2.22264922e+01] [ 4.69134886e-03 9.61715298e-05 9.99988991e-01 2.56086737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.56, Y:22.24, Z:0.26 [[ 8.45092257e-01 -5.34606170e-01 -3.91407943e-03 7.65629747e+01] [ 5.34599914e-01 8.45101316e-01 -2.58804638e-03 2.22417985e+01] [ 4.69137923e-03 9.46714293e-05 9.99988991e-01 2.55822585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.59, Y:22.26, Z:0.26 [[ 8.44955770e-01 -5.34821867e-01 -3.91373945e-03 7.65861228e+01] [ 5.34815611e-01 8.44964829e-01 -2.58856041e-03 2.22580091e+01] [ 4.69139089e-03 9.40900982e-05 9.99988991e-01 2.55146698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.17105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.61, Y:22.27, Z:0.25 [[ 8.45114644e-01 -5.34570788e-01 -3.91301565e-03 7.66088226e+01] [ 5.34564524e-01 8.45123697e-01 -2.58965407e-03 2.22729507e+01] [ 4.69133567e-03 9.67952288e-05 9.99988991e-01 2.54294065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.63, Y:22.29, Z:0.25 [[ 8.44846468e-01 -5.34994519e-01 -3.91270214e-03 7.66328263e+01] [ 5.34988258e-01 8.44855523e-01 -2.59012767e-03 2.22881378e+01] [ 4.69137212e-03 9.50105130e-05 9.99988991e-01 2.54156892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.23105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.66, Y:22.30, Z:0.25 [[ 8.42846886e-01 -5.38139223e-01 -3.91199103e-03 7.66563720e+01] [ 5.38132991e-01 8.42855960e-01 -2.59120125e-03 2.23018541e+01] [ 4.69167198e-03 7.88144760e-05 9.99988991e-01 2.54875607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.68, Y:22.32, Z:0.26 [[ 8.40612030e-01 -5.41623590e-01 -3.91168145e-03 7.66818142e+01] [ 5.41617393e-01 8.40621129e-01 -2.59166851e-03 2.23161707e+01] [ 4.69195088e-03 5.99530169e-05 9.99988991e-01 2.58620923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.29105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.71, Y:22.33, Z:0.26 [[ 8.39548495e-01 -5.43270676e-01 -3.91105553e-03 7.67057819e+01] [ 5.43264493e-01 8.39557603e-01 -2.59261273e-03 2.23312073e+01] [ 4.69204688e-03 5.18865134e-05 9.99988991e-01 2.60461668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.73, Y:22.35, Z:0.26 [[ 8.38023922e-01 -5.45619474e-01 -3.91083283e-03 7.67285942e+01] [ 5.45613314e-01 8.38033047e-01 -2.59294862e-03 2.23463956e+01] [ 4.69217041e-03 3.91505068e-05 9.99988991e-01 2.60847517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.351052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.75, Y:22.36, Z:0.26 [[ 8.37463892e-01 -5.46478671e-01 -3.91054191e-03 7.67518045e+01] [ 5.46472518e-01 8.37473021e-01 -2.59338729e-03 2.23618068e+01] [ 4.69220419e-03 3.48645307e-05 9.99988991e-01 2.60961232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.77, Y:22.38, Z:0.26 [[ 8.36457713e-01 -5.48017525e-01 -3.90983546e-03 7.67741777e+01] [ 5.48011384e-01 8.36466850e-01 -2.59445192e-03 2.23776918e+01] [ 4.69225287e-03 2.75149747e-05 9.99988991e-01 2.60424609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.80, Y:22.39, Z:0.26 [[ 8.35836115e-01 -5.48965121e-01 -3.90953063e-03 7.67970837e+01] [ 5.48958989e-01 8.35845258e-01 -2.59491117e-03 2.23938684e+01] [ 4.69227837e-03 2.27484942e-05 9.99988991e-01 2.60582841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.441052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.82, Y:22.41, Z:0.26 [[ 8.34445151e-01 -5.51077137e-01 -3.90882468e-03 7.68191023e+01] [ 5.51071022e-01 8.34454306e-01 -2.59597414e-03 2.24095137e+01] [ 4.69231758e-03 1.21580189e-05 9.99988991e-01 2.61116209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.471052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.84, Y:22.43, Z:0.26 [[ 8.33470147e-01 -5.52550665e-01 -3.90853626e-03 7.68426865e+01] [ 5.52544565e-01 8.33479311e-01 -2.59640832e-03 2.24254060e+01] [ 4.69233125e-03 4.38835802e-06 9.99988991e-01 2.61801555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.87, Y:22.44, Z:0.26 [[ 8.33210806e-01 -5.52941662e-01 -3.90783503e-03 7.68743183e+01] [ 5.52935561e-01 8.33219970e-01 -2.59746330e-03 2.24404465e+01] [ 4.69233186e-03 3.45353373e-06 9.99988991e-01 2.60800358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.53105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.89, Y:22.46, Z:0.26 [[ 8.31231490e-01 -5.55912363e-01 -3.95661098e-03 7.68894383e+01] [ 5.55906642e-01 8.31240900e-01 -2.52399136e-03 2.24565209e+01] [ 4.69201488e-03 -1.01485223e-04 9.99988987e-01 2.64179335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56105275399999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:76.91, Y:22.47, Z:0.27 [[ 8.30182049e-01 -5.57478699e-01 -3.90704015e-03 7.69133898e+01] [ 5.57472643e-01 8.30191243e-01 -2.59852417e-03 2.24716201e+01] [ 4.69221239e-03 -2.08198741e-05 9.99988991e-01 2.65911339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.59105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.94, Y:22.49, Z:0.27 [[ 8.29773505e-01 -5.58086616e-01 -3.90635616e-03 7.69363233e+01] [ 5.58080562e-01 8.29782700e-01 -2.59955201e-03 2.24875681e+01] [ 4.69220194e-03 -2.30220539e-05 9.99988991e-01 2.65648497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.96, Y:22.50, Z:0.26 [[ 8.29395739e-01 -5.58647880e-01 -3.90565532e-03 7.69596070e+01] [ 5.58641827e-01 8.29404935e-01 -2.60060455e-03 2.25038998e+01] [ 4.69219201e-03 -2.49320939e-05 9.99988991e-01 2.64978939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.65105275399999 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:76.99, Y:22.52, Z:0.26 [[ 8.30025160e-01 -5.57712278e-01 -3.90492992e-03 7.69902336e+01] [ 5.57706210e-01 8.30034346e-01 -2.60169331e-03 2.25185799e+01] [ 4.69222225e-03 -1.83327550e-05 9.99988991e-01 2.63099474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.02, Y:22.54, Z:0.27 [[ 8.30545464e-01 -5.56936838e-01 -3.94851087e-03 7.70189338e+01] [ 5.56931070e-01 8.30554845e-01 -2.53629806e-03 2.25368614e+01] [ 4.69201266e-03 -9.25375342e-05 9.99988988e-01 2.66865306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.711052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.03, Y:22.55, Z:0.27 [[ 8.27193629e-01 -5.61902986e-01 -3.96663954e-03 7.70274868e+01] [ 5.61897404e-01 8.27203125e-01 -2.50937335e-03 2.25546305e+01] [ 4.69124101e-03 -1.53106814e-04 9.99988984e-01 2.65069539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.741052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.06, Y:22.57, Z:0.26 [[ 8.31699424e-01 -5.55212526e-01 -3.88833632e-03 7.70618548e+01] [ 5.55206319e-01 8.31708513e-01 -2.62534642e-03 2.25713859e+01] [ 4.69158764e-03 2.46702146e-05 9.99988994e-01 2.61649112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.771052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.08, Y:22.59, Z:0.26 [[ 8.33483581e-01 -5.52530090e-01 -3.95215642e-03 7.70835430e+01] [ 5.52524299e-01 8.33492948e-01 -2.53068557e-03 2.25871199e+01] [ 4.69237443e-03 -7.43775869e-05 9.99988988e-01 2.62441729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.801052754 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:77.10, Y:22.60, Z:0.26 [[ 8.33496823e-01 -5.52510138e-01 -3.94872186e-03 7.71030656e+01] [ 5.52504323e-01 8.33506174e-01 -2.53581301e-03 2.26024287e+01] [ 4.69234645e-03 -6.80938153e-05 9.99988989e-01 2.59074635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.831052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.12, Y:22.62, Z:0.26 [[ 8.34538622e-01 -5.50935463e-01 -3.92474347e-03 7.71209379e+01] [ 5.50929461e-01 8.34547851e-01 -2.57157625e-03 2.26194767e+01] [ 4.69215878e-03 -1.61771060e-05 9.99988992e-01 2.61761100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.14, Y:22.64, Z:0.26 [[ 8.35028248e-01 -5.50193283e-01 -3.89558578e-03 7.71419246e+01] [ 5.50187070e-01 8.35037334e-01 -2.61501250e-03 2.26360098e+01] [ 4.69172188e-03 4.03083799e-05 9.99988993e-01 2.59996993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.89105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.16, Y:22.65, Z:0.26 [[ 8.35438867e-01 -5.49569583e-01 -3.89527417e-03 7.71649701e+01] [ 5.49563361e-01 8.35447947e-01 -2.61547658e-03 2.26536079e+01] [ 4.69168518e-03 4.43708298e-05 9.99988993e-01 2.60414898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.19, Y:22.67, Z:0.26 [[ 8.35102348e-01 -5.50080812e-01 -3.89464664e-03 7.71875275e+01] [ 5.50074591e-01 8.35111429e-01 -2.61641069e-03 2.26689957e+01] [ 4.69170124e-03 4.26245496e-05 9.99988993e-01 2.60716968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.95105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.22, Y:22.68, Z:0.26 [[ 8.35944730e-01 -5.48799820e-01 -3.89433540e-03 7.72191413e+01] [ 5.48793583e-01 8.35953800e-01 -2.61687387e-03 2.26840601e+01] [ 4.69162438e-03 5.03756478e-05 9.99988993e-01 2.62606336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.24, Y:22.70, Z:0.26 [[ 8.35447689e-01 -5.49555857e-01 -3.93942751e-03 7.72403287e+01] [ 5.49549943e-01 8.35456976e-01 -2.54970694e-03 2.26979260e+01] [ 4.69242858e-03 -3.47653879e-05 9.99988990e-01 2.61447245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.01105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.26, Y:22.71, Z:0.26 [[ 8.33618039e-01 -5.52327347e-01 -3.93289447e-03 7.72569040e+01] [ 5.52321418e-01 8.33627315e-01 -2.55944437e-03 2.27148138e+01] [ 4.69221937e-03 -3.86228522e-05 9.99988991e-01 2.64934085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.29, Y:22.73, Z:0.26 [[ 8.35244547e-01 -5.49864877e-01 -3.89415544e-03 7.72870290e+01] [ 5.49858650e-01 8.35253623e-01 -2.61708702e-03 2.27304525e+01] [ 4.69165167e-03 4.46726103e-05 9.99988993e-01 2.63256713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.071052754 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:77.31, Y:22.75, Z:0.26 [[ 8.34605971e-01 -5.50833372e-01 -3.93317855e-03 7.73069265e+01] [ 5.50827429e-01 8.34615238e-01 -2.55890191e-03 2.27492922e+01] [ 4.69221932e-03 -3.08278203e-05 9.99988991e-01 2.58160173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.101052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.33, Y:22.77, Z:0.26 [[ 8.34846995e-01 -5.50468130e-01 -3.91572649e-03 7.73314161e+01] [ 5.50462061e-01 8.34856178e-01 -2.58490006e-03 2.27655630e+01] [ 4.69197355e-03 2.53717504e-06 9.99988993e-01 2.57801844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.36, Y:22.78, Z:0.26 [[ 8.34183198e-01 -5.51473475e-01 -3.92409127e-03 7.73562846e+01] [ 5.51467476e-01 8.34192427e-01 -2.57247717e-03 2.27807693e+01] [ 4.69210015e-03 -1.80914792e-05 9.99988992e-01 2.55351057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.38, Y:22.79, Z:0.26 [[ 8.33806799e-01 -5.52042435e-01 -3.92070473e-03 7.73804639e+01] [ 5.52036418e-01 8.33816017e-01 -2.57750525e-03 2.27947619e+01] [ 4.69203868e-03 -1.52303925e-05 9.99988992e-01 2.58188206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.191052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.40, Y:22.81, Z:0.26 [[ 8.32300276e-01 -5.54311154e-01 -3.92371207e-03 7.74030700e+01] [ 5.54305183e-01 8.32309524e-01 -2.57304121e-03 2.28101138e+01] [ 4.69200837e-03 -3.33910258e-05 9.99988992e-01 2.58132261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.42, Y:22.83, Z:0.26 [[ 8.28960728e-01 -5.59293112e-01 -3.91503844e-03 7.74207593e+01] [ 5.59287135e-01 8.28969971e-01 -2.58590004e-03 2.28288293e+01] [ 4.69172538e-03 -4.60210554e-05 9.99988993e-01 2.61792451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.25105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.44, Y:22.84, Z:0.26 [[ 8.26989842e-01 -5.62203419e-01 -3.88798664e-03 7.74424393e+01] [ 5.62197287e-01 8.26998981e-01 -2.62595295e-03 2.28446027e+01] [ 4.69168072e-03 -1.41791180e-05 9.99988994e-01 2.59623600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.47, Y:22.86, Z:0.26 [[ 8.26709605e-01 -5.62615423e-01 -3.88767599e-03 7.74697598e+01] [ 5.62609293e-01 8.26718746e-01 -2.62641277e-03 2.28590920e+01] [ 4.69167496e-03 -1.59619749e-05 9.99988994e-01 2.57898099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.31105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.49, Y:22.87, Z:0.26 [[ 8.25427855e-01 -5.64494102e-01 -3.90709699e-03 7.74893930e+01] [ 5.64488128e-01 8.25437100e-01 -2.59765555e-03 2.28740414e+01] [ 4.69142404e-03 -6.13326226e-05 9.99988993e-01 2.63529181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.34105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.51, Y:22.89, Z:0.27 [[ 8.25418305e-01 -5.64508205e-01 -3.88698006e-03 7.75132458e+01] [ 5.64502091e-01 8.25427456e-01 -2.62741640e-03 2.28893773e+01] [ 4.69161818e-03 -2.54907851e-05 9.99988994e-01 2.68637443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.37105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.54, Y:22.91, Z:0.27 [[ 8.25869820e-01 -5.63847439e-01 -3.88675986e-03 7.75357992e+01] [ 5.63841316e-01 8.25878965e-01 -2.62774210e-03 2.29059648e+01] [ 4.69163886e-03 -2.13429012e-05 9.99988994e-01 2.69735980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.56, Y:22.92, Z:0.27 [[ 8.26364032e-01 -5.63122883e-01 -3.88654095e-03 7.75580701e+01] [ 5.63116751e-01 8.26373171e-01 -2.62806584e-03 2.29226223e+01] [ 4.69165718e-03 -1.68372302e-05 9.99988994e-01 2.70342141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.43105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.59, Y:22.94, Z:0.27 [[ 8.29673657e-01 -5.58235187e-01 -3.88583499e-03 7.75882283e+01] [ 5.58228996e-01 8.29682756e-01 -2.62910925e-03 2.29395329e+01] [ 4.69167158e-03 1.21169220e-05 9.99988994e-01 2.68591971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.461052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.60, Y:22.96, Z:0.27 [[ 8.28726203e-01 -5.59640505e-01 -3.92243814e-03 7.76043902e+01] [ 5.59634584e-01 8.28735484e-01 -2.57497448e-03 2.29561996e+01] [ 4.69172368e-03 -6.11832117e-05 9.99988992e-01 2.65665802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.63, Y:22.97, Z:0.27 [[ 8.29860740e-01 -5.57957040e-01 -3.88499552e-03 7.76337774e+01] [ 5.57950841e-01 8.29869834e-01 -2.63027831e-03 2.29717686e+01] [ 4.69162288e-03 1.51281888e-05 9.99988994e-01 2.66558687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.66, Y:22.99, Z:0.27 [[ 8.28579543e-01 -5.59857658e-01 -3.91719607e-03 7.76581817e+01] [ 5.59851703e-01 8.28588800e-01 -2.58269188e-03 2.29889899e+01] [ 4.69168462e-03 -5.30832318e-05 9.99988993e-01 2.68637977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.551052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.67, Y:23.01, Z:0.27 [[ 8.25462146e-01 -5.64443868e-01 -3.91989777e-03 7.76732714e+01] [ 5.64437983e-01 8.25471449e-01 -2.57870846e-03 2.30057229e+01] [ 4.69129987e-03 -8.39129691e-05 9.99988992e-01 2.67797344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.581052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.71, Y:23.02, Z:0.27 [[ 8.25416799e-01 -5.64510449e-01 -3.88084038e-03 7.77065203e+01] [ 5.64504294e-01 8.25425922e-01 -2.63620607e-03 2.30212681e+01] [ 4.69151212e-03 -1.47822823e-05 9.99988995e-01 2.73425705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.73, Y:23.04, Z:0.27 [[ 8.25089286e-01 -5.64988681e-01 -3.93201394e-03 7.77302136e+01] [ 5.64982888e-01 8.25098648e-01 -2.56079504e-03 2.30375914e+01] [ 4.69111959e-03 -1.08636040e-04 9.99988991e-01 2.73606744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.75, Y:23.05, Z:0.27 [[ 8.23980411e-01 -5.66604677e-01 -3.92723178e-03 7.77542124e+01] [ 5.66598868e-01 8.23989762e-01 -2.56782670e-03 2.30549131e+01] [ 4.69094140e-03 -1.09326186e-04 9.99988991e-01 2.74033546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.67105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.77, Y:23.07, Z:0.27 [[ 8.19567365e-01 -5.72969369e-01 -3.92900251e-03 7.77654835e+01] [ 5.72963646e-01 8.19576769e-01 -2.56522446e-03 2.30727953e+01] [ 4.68991422e-03 -1.48801353e-04 9.99988991e-01 2.73210801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.70105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.80, Y:23.09, Z:0.27 [[ 8.19560021e-01 -5.72980232e-01 -3.87633956e-03 7.77993231e+01] [ 5.72974141e-01 8.19569186e-01 -2.64247754e-03 2.30890889e+01] [ 4.69101586e-03 -5.53733821e-05 9.99988996e-01 2.74963161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.73105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.82, Y:23.11, Z:0.27 [[ 8.15419432e-01 -5.78857196e-01 -3.93644895e-03 7.78167262e+01] [ 5.78851594e-01 8.15428910e-01 -2.55418174e-03 2.31109215e+01] [ 4.68840075e-03 -1.95890325e-04 9.99988990e-01 2.74989173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.85, Y:23.13, Z:0.28 [[ 8.14259694e-01 -5.80487553e-01 -3.91823965e-03 7.78454233e+01] [ 5.80481841e-01 8.14269103e-01 -2.58079094e-03 2.31298777e+01] [ 4.68861850e-03 -1.73032923e-04 9.99988993e-01 2.75834418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.79105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.86, Y:23.15, Z:0.28 [[ 8.10515869e-01 -5.85703368e-01 -3.94860115e-03 7.78615814e+01] [ 5.85697932e-01 8.10525446e-01 -2.53643997e-03 2.31499296e+01] [ 4.68604314e-03 -2.56862684e-04 9.99988987e-01 2.76679245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.821052754 meters Centerline goodness : 0.996344 Centerline is valid? [True, True] Translation: X:77.87, Y:23.17, Z:0.27 [[ 8.06294066e-01 -5.91501761e-01 -3.94280051e-03 7.78695500e+01] [ 5.91496352e-01 8.06303658e-01 -2.54503568e-03 2.31658005e+01] [ 4.68448756e-03 -2.80104949e-04 9.99988988e-01 2.72601677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.851052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.90, Y:23.20, Z:0.27 [[ 8.04353561e-01 -5.94138358e-01 -3.86779455e-03 7.79041000e+01] [ 5.94132444e-01 8.04362844e-01 -2.65593423e-03 2.31957511e+01] [ 4.68910263e-03 -1.61672069e-04 9.99988993e-01 2.72047283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.881052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.92, Y:23.21, Z:0.27 [[ 8.03375812e-01 -5.95459030e-01 -3.98094239e-03 7.79220231e+01] [ 5.95453934e-01 8.03385590e-01 -2.49112340e-03 2.32142711e+01] [ 4.68159368e-03 -3.69159524e-04 9.99988973e-01 2.70821333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.911052754 meters Centerline goodness : 0.990607 Centerline is valid? [True, True] Translation: X:77.93, Y:23.23, Z:0.27 [[ 8.00582208e-01 -5.99209792e-01 -3.96892001e-03 7.79254742e+01] [ 5.99204653e-01 8.00591961e-01 -2.50901311e-03 2.32320346e+01] [ 4.68091068e-03 -3.69524078e-04 9.99988976e-01 2.71573508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.941052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.96, Y:23.25, Z:0.27 [[ 8.03619395e-01 -5.95130867e-01 -3.88839404e-03 7.79551678e+01] [ 5.95125097e-01 8.03628776e-01 -2.62849379e-03 2.32533060e+01] [ 4.68912314e-03 -2.01772293e-04 9.99988986e-01 2.72151300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.971052754 meters Centerline goodness : 0.991096 Centerline is valid? [True, True] Translation: X:77.96, Y:23.27, Z:0.27 [[ 8.04305671e-01 -5.94202728e-01 -3.93759957e-03 7.79592423e+01] [ 5.94197301e-01 8.04315260e-01 -2.55548407e-03 2.32736810e+01] [ 4.68554702e-03 -2.84320709e-04 9.99988982e-01 2.71134674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.98, Y:23.30, Z:0.27 [[ 8.06402879e-01 -5.91353976e-01 -3.85633932e-03 7.79813661e+01] [ 5.91347935e-01 8.06412091e-01 -2.67576514e-03 2.32950433e+01] [ 4.69212301e-03 -1.22693584e-04 9.99988984e-01 2.70436279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.03105275399999 meters Centerline goodness : 0.991125 Centerline is valid? [True, True] Translation: X:77.99, Y:23.32, Z:0.27 [[ 8.07013147e-01 -5.90520705e-01 -3.88293292e-03 7.79936188e+01] [ 5.90514843e-01 8.07022471e-01 -2.63639711e-03 2.33213401e+01] [ 4.69046120e-03 -1.65322395e-04 9.99988986e-01 2.65147464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.03, Y:23.35, Z:0.27 [[ 8.11849537e-01 -5.83854008e-01 -3.85054974e-03 7.80287129e+01] [ 5.83847841e-01 8.11858666e-01 -2.68426677e-03 2.33459093e+01] [ 4.69332208e-03 -6.89144138e-05 9.99988984e-01 2.70474580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.09105275399999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.05, Y:23.38, Z:0.27 [[ 8.10002172e-01 -5.86413504e-01 -3.96035690e-03 7.80535248e+01] [ 5.86408134e-01 8.10011806e-01 -2.52478060e-03 2.33761719e+01] [ 4.68850128e-03 -2.77307728e-04 9.99988970e-01 2.65499593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12105275399999 meters Centerline goodness : 0.991557 Centerline is valid? [True, True] Translation: X:78.06, Y:23.39, Z:0.26 [[ 8.08779296e-01 -5.88098670e-01 -4.00067575e-03 7.80561352e+01] [ 5.88093615e-01 8.08789110e-01 -2.46468966e-03 2.33859126e+01] [ 4.68518369e-03 -3.59381892e-04 9.99988960e-01 2.63899027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.15105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.08, Y:23.42, Z:0.27 [[ 8.10475325e-01 -5.85760007e-01 -3.86821186e-03 7.80811502e+01] [ 5.85753971e-01 8.10484548e-01 -2.66128116e-03 2.34176963e+01] [ 4.69399802e-03 -1.08917747e-04 9.99988977e-01 2.65595887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.12, Y:23.44, Z:0.27 [[ 8.15964275e-01 -5.78088934e-01 -3.93512416e-03 7.81194609e+01] [ 5.78083282e-01 8.15973744e-01 -2.56297339e-03 2.34407785e+01] [ 4.69258454e-03 -1.83534762e-04 9.99988973e-01 2.66906087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.211052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.14, Y:23.47, Z:0.26 [[ 8.16807958e-01 -5.76895561e-01 -4.03382355e-03 7.81362992e+01] [ 5.76890602e-01 8.16817842e-01 -2.41773613e-03 2.34718154e+01] [ 4.68968028e-03 -3.52248789e-04 9.99988941e-01 2.59143804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.241052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.15, Y:23.49, Z:0.26 [[ 8.17974668e-01 -5.75240048e-01 -4.04088007e-03 7.81548200e+01] [ 5.75235121e-01 8.17984572e-01 -2.40736114e-03 2.34917684e+01] [ 4.69018810e-03 -3.55295707e-04 9.99988938e-01 2.61260414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.271052754 meters Centerline goodness : 0.996708 Centerline is valid? [True, True] Translation: X:78.15, Y:23.52, Z:0.26 [[ 8.11987337e-01 -5.83661306e-01 -4.00564929e-03 7.81546125e+01] [ 5.83656223e-01 8.11997145e-01 -2.45965636e-03 2.35186855e+01] [ 4.68818203e-03 -3.40712320e-04 9.99988952e-01 2.58796363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.301052754 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:78.18, Y:23.54, Z:0.26 [[ 8.17425148e-01 -5.76021565e-01 -3.90949908e-03 7.81810031e+01] [ 5.76015702e-01 8.17434487e-01 -2.60185485e-03 2.35373683e+01] [ 4.69448388e-03 -1.25111271e-04 9.99988973e-01 2.63839962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.331052754 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:78.21, Y:23.57, Z:0.26 [[ 8.20441751e-01 -5.71716442e-01 -3.95510174e-03 7.82099709e+01] [ 5.71710852e-01 8.20451264e-01 -2.53471740e-03 2.35671264e+01] [ 4.69410784e-03 -1.81586605e-04 9.99988966e-01 2.64971684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.21, Y:23.60, Z:0.26 [[ 8.16800314e-01 -5.76906385e-01 -4.03363837e-03 7.82118041e+01] [ 5.76901421e-01 8.16810198e-01 -2.41882625e-03 2.35972856e+01] [ 4.69015327e-03 -3.51313667e-04 9.99988939e-01 2.62151312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.39105275399999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:78.25, Y:23.62, Z:0.26 [[ 8.20045148e-01 -5.72285094e-01 -3.96571716e-03 7.82462894e+01] [ 5.72279588e-01 8.20054711e-01 -2.51869721e-03 2.36176385e+01] [ 4.69351791e-03 -2.04053556e-04 9.99988965e-01 2.63031439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42105275399999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:78.26, Y:23.65, Z:0.27 [[ 8.19381051e-01 -5.73235103e-01 -4.02619582e-03 7.82629271e+01] [ 5.73230041e-01 8.19390881e-01 -2.42993835e-03 2.36455758e+01] [ 4.69195410e-03 -3.16890959e-04 9.99988943e-01 2.66008009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.45105275399999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:78.29, Y:23.67, Z:0.26 [[ 8.17641895e-01 -5.75713335e-01 -3.98586312e-03 7.82850619e+01] [ 5.75708016e-01 8.17651569e-01 -2.48830538e-03 2.36737285e+01] [ 4.69159782e-03 -2.60150621e-04 9.99988961e-01 2.63928155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48105275399999 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:78.31, Y:23.70, Z:0.26 [[ 8.19847698e-01 -5.72567639e-01 -4.00635887e-03 7.83078437e+01] [ 5.72562427e-01 8.19857440e-01 -2.45870874e-03 2.36980182e+01] [ 4.69242018e-03 -2.78123855e-04 9.99988952e-01 2.62567361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.51105275399999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:78.31, Y:23.73, Z:0.26 [[ 8.19395625e-01 -5.73214320e-01 -4.01894150e-03 7.83086332e+01] [ 5.73209205e-01 8.19405425e-01 -2.44059566e-03 2.37339062e+01] [ 4.69212685e-03 -3.03880853e-04 9.99988946e-01 2.60819781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54105275399999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:78.32, Y:23.76, Z:0.26 [[ 8.22342691e-01 -5.68978774e-01 -3.95653553e-03 7.83214122e+01] [ 5.68973174e-01 8.22352191e-01 -2.53012739e-03 2.37625880e+01] [ 4.69325444e-03 -1.70530809e-04 9.99988972e-01 2.60309226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.571052754 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:78.34, Y:23.78, Z:0.26 [[ 8.22967738e-01 -5.68074304e-01 -3.96069705e-03 7.83412504e+01] [ 5.68068723e-01 8.22977250e-01 -2.52415583e-03 2.37827946e+01] [ 4.69347164e-03 -1.72649303e-04 9.99988971e-01 2.61175368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.601052754 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:78.34, Y:23.80, Z:0.26 [[ 8.22095757e-01 -5.69335433e-01 -3.96627196e-03 7.83406591e+01] [ 5.69329905e-01 8.22105303e-01 -2.51616642e-03 2.38012821e+01] [ 4.69323591e-03 -1.89587506e-04 9.99988969e-01 2.61488423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.631052754 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:78.38, Y:23.83, Z:0.26 [[ 8.21874174e-01 -5.69656102e-01 -3.84285787e-03 7.83782504e+01] [ 5.69649741e-01 8.21883157e-01 -2.69232053e-03 2.38285894e+01] [ 4.69207698e-03 2.36657252e-05 9.99988992e-01 2.64352767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.661052754 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.40, Y:23.86, Z:0.27 [[ 8.23623601e-01 -5.67122885e-01 -3.97463180e-03 7.84031399e+01] [ 5.67117392e-01 8.23633169e-01 -2.50338540e-03 2.38567569e+01] [ 4.69336573e-03 -1.92235526e-04 9.99988968e-01 2.66883472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.691052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.42, Y:23.88, Z:0.26 [[ 8.20810312e-01 -5.71186695e-01 -4.02385678e-03 7.84161872e+01] [ 5.71181594e-01 8.20820120e-01 -2.43275371e-03 2.38826218e+01] [ 4.69241916e-03 -3.01523593e-04 9.99988945e-01 2.61014694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.721052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.45, Y:23.91, Z:0.26 [[ 8.24133224e-01 -5.66381935e-01 -3.99170647e-03 7.84471362e+01] [ 5.66376553e-01 8.24142862e-01 -2.47864813e-03 2.39107624e+01] [ 4.69359792e-03 -2.18072675e-04 9.99988961e-01 2.56892193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.75105275399999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:78.45, Y:23.93, Z:0.26 [[ 8.22467088e-01 -5.68798128e-01 -4.07158969e-03 7.84544457e+01] [ 5.68793335e-01 8.22477083e-01 -2.36433451e-03 2.39331671e+01] [ 4.69361825e-03 -3.71305755e-04 9.99988916e-01 2.62253584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78105275399999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:78.48, Y:23.95, Z:0.26 [[ 8.25829808e-01 -5.63905179e-01 -4.00970837e-03 7.84840270e+01] [ 5.63899894e-01 8.25839508e-01 -2.45269272e-03 2.39533414e+01] [ 4.69446172e-03 -2.35567364e-04 9.99988953e-01 2.61026009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.81105275399999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:78.50, Y:23.98, Z:0.26 [[ 8.27552851e-01 -5.61373122e-01 -4.06162614e-03 7.84969491e+01] [ 5.61368170e-01 8.27562760e-01 -2.37841423e-03 2.39810406e+01] [ 4.69642835e-03 -3.11804156e-04 9.99988923e-01 2.60202123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84105275399999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:78.51, Y:24.01, Z:0.26 [[ 8.24388283e-01 -5.66010349e-01 -4.03037784e-03 7.85087859e+01] [ 5.66005235e-01 8.24398086e-01 -2.42267205e-03 2.40089464e+01] [ 4.69389323e-03 -2.83992503e-04 9.99988943e-01 2.61442922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.87105275399999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:78.53, Y:24.04, Z:0.26 [[ 8.24604371e-01 -5.65695745e-01 -3.99438970e-03 7.85262118e+01] [ 5.65690380e-01 8.24614017e-01 -2.47340351e-03 2.40381742e+01] [ 4.69302357e-03 -2.20008479e-04 9.99988964e-01 2.64139735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90105275399999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.55, Y:24.06, Z:0.26 [[ 8.25192798e-01 -5.64836974e-01 -4.00484963e-03 7.85459205e+01] [ 5.64831671e-01 8.25202483e-01 -2.45867135e-03 2.40615522e+01] [ 4.69356035e-03 -2.33188015e-04 9.99988958e-01 2.64911519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.93105275399999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:78.56, Y:24.08, Z:0.27 [[ 8.23169550e-01 -5.67781426e-01 -4.01795480e-03 7.85624917e+01] [ 5.67776247e-01 8.23179311e-01 -2.44020427e-03 2.40824925e+01] [ 4.69299992e-03 -2.72597448e-04 9.99988951e-01 2.66054351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.961052754 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:78.58, Y:24.10, Z:0.27 [[ 8.22756634e-01 -5.68379801e-01 -3.99038996e-03 7.85840775e+01] [ 5.68374442e-01 8.22766279e-01 -2.47879019e-03 2.41031681e+01] [ 4.69205258e-03 -2.28594599e-04 9.99988966e-01 2.65982878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.991052754 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:78.57, Y:24.12, Z:0.27 [[ 8.23199445e-01 -5.67738321e-01 -3.98401655e-03 7.85713145e+01] [ 5.67732911e-01 8.23209058e-01 -2.48766590e-03 2.41224254e+01] [ 4.69202178e-03 -2.14012123e-04 9.99988970e-01 2.67548063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.021052754 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.59, Y:24.14, Z:0.27 [[ 8.23762861e-01 -5.66921793e-01 -3.79868974e-03 7.85903046e+01] [ 5.66915161e-01 8.23771612e-01 -2.74420643e-03 2.41430769e+01] [ 4.68500320e-03 1.07040530e-04 9.99989020e-01 2.65608865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.051052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.64, Y:24.17, Z:0.26 [[ 8.22731102e-01 -5.68418073e-01 -3.79845132e-03 7.86385841e+01] [ 5.68411456e-01 8.22739864e-01 -2.74453640e-03 2.41726015e+01] [ 4.68518142e-03 9.89322085e-05 9.99989020e-01 2.58885840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.081052754 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:78.63, Y:24.19, Z:0.26 [[ 8.24321584e-01 -5.66107716e-01 -3.99743859e-03 7.86294864e+01] [ 5.66102379e-01 8.24331245e-01 -2.46876727e-03 2.41856490e+01] [ 4.69280173e-03 -2.27901352e-04 9.99988963e-01 2.60712565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.111052754 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:78.65, Y:24.20, Z:0.26 [[ 8.24304786e-01 -5.66133593e-01 -3.79126736e-03 7.86506513e+01] [ 5.66126914e-01 8.24313496e-01 -2.75272304e-03 2.42035563e+01] [ 4.68360184e-03 1.22744285e-04 9.99989024e-01 2.61376892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.70, Y:24.23, Z:0.25 [[ 8.23700233e-01 -5.67012835e-01 -3.79103029e-03 7.86958780e+01] [ 5.67006164e-01 8.23708948e-01 -2.75304950e-03 2.42269560e+01] [ 4.68371997e-03 1.18149971e-04 9.99989024e-01 2.47908401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.17105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.72, Y:24.25, Z:0.25 [[ 8.21161502e-01 -5.70682375e-01 -3.92603811e-03 7.87170806e+01] [ 5.70676616e-01 8.21170877e-01 -2.56729686e-03 2.42547286e+01] [ 4.68905923e-03 -1.32332792e-04 9.99988998e-01 2.50576974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.20105275399999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:78.71, Y:24.27, Z:0.26 [[ 8.24078841e-01 -5.66461370e-01 -3.94711627e-03 7.87146998e+01] [ 5.66455701e-01 8.24088281e-01 -2.53832878e-03 2.42654250e+01] [ 4.69063746e-03 -1.44083476e-04 9.99988989e-01 2.64514232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.23105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.76, Y:24.29, Z:0.25 [[ 8.24096527e-01 -5.66436773e-01 -3.78100233e-03 7.87608439e+01] [ 5.66430039e-01 8.24105190e-01 -2.76544522e-03 2.42915670e+01] [ 4.68239350e-03 1.37320505e-04 9.99989028e-01 2.51610658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.78, Y:24.31, Z:0.25 [[ 8.27259400e-01 -5.61806280e-01 -3.94822031e-03 7.87818982e+01] [ 5.61800569e-01 8.27268813e-01 -2.53599554e-03 2.43131580e+01] [ 4.69097775e-03 -1.20186267e-04 9.99988990e-01 2.53941603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.29105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.80, Y:24.33, Z:0.26 [[ 8.28253244e-01 -5.60340122e-01 -3.93846427e-03 7.88035937e+01] [ 5.60334330e-01 8.28262603e-01 -2.54934391e-03 2.43319436e+01] [ 4.69058234e-03 -9.53543722e-05 9.99988995e-01 2.55371584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.82, Y:24.35, Z:0.25 [[ 8.32776725e-01 -5.53595015e-01 -3.93510121e-03 7.88203645e+01] [ 5.53589126e-01 8.32786021e-01 -2.55393880e-03 2.43461239e+01] [ 4.69094507e-03 -5.15684447e-05 9.99988996e-01 2.54053829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.351052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.84, Y:24.36, Z:0.25 [[ 8.33116335e-01 -5.53084063e-01 -3.89760681e-03 7.88426864e+01] [ 5.53077928e-01 8.33125452e-01 -2.60518495e-03 2.43643689e+01] [ 4.68808171e-03 1.47418385e-05 9.99989011e-01 2.53238794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.86, Y:24.39, Z:0.25 [[ 8.33479468e-01 -5.52536638e-01 -3.90388771e-03 7.88635632e+01] [ 5.52530537e-01 8.33488610e-01 -2.59660559e-03 2.43854158e+01] [ 4.68856567e-03 7.20027076e-06 9.99989009e-01 2.51249027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.88, Y:24.40, Z:0.25 [[ 8.33094782e-01 -5.53116463e-01 -3.90674383e-03 7.88843628e+01] [ 5.53110386e-01 8.33103942e-01 -2.59270837e-03 2.44035588e+01] [ 4.68879337e-03 -8.88775893e-07 9.99989008e-01 2.51598540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.441052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.91, Y:24.42, Z:0.25 [[ 8.32839370e-01 -5.53501007e-01 -3.90127402e-03 7.89061005e+01] [ 5.53494899e-01 8.32848507e-01 -2.60016209e-03 2.44212115e+01] [ 4.68836257e-03 6.18208585e-06 9.99989010e-01 2.53733565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.471052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.93, Y:24.44, Z:0.25 [[ 8.32398082e-01 -5.54164460e-01 -3.89663478e-03 7.89294493e+01] [ 5.54158331e-01 8.32407202e-01 -2.60647484e-03 2.44394912e+01] [ 4.68800258e-03 1.02720373e-05 9.99989011e-01 2.54994761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.95, Y:24.46, Z:0.26 [[ 8.31949521e-01 -5.54837616e-01 -3.90058602e-03 7.89519562e+01] [ 5.54831519e-01 8.31958665e-01 -2.60110552e-03 2.44567785e+01] [ 4.68831752e-03 -1.79573583e-07 9.99989010e-01 2.55127851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.53105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.97, Y:24.48, Z:0.26 [[ 8.30780642e-01 -5.56586328e-01 -3.89666678e-03 7.89738307e+01] [ 5.56580226e-01 8.30789780e-01 -2.60641927e-03 2.44778069e+01] [ 4.68800827e-03 -3.44499528e-06 9.99989011e-01 2.55914238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.99, Y:24.50, Z:0.26 [[ 8.30474162e-01 -5.57043579e-01 -3.88821930e-03 7.89947392e+01] [ 5.57037428e-01 8.30483264e-01 -2.61780732e-03 2.44963540e+01] [ 4.68733381e-03 8.13766054e-06 9.99989014e-01 2.55595278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.59105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.02, Y:24.52, Z:0.25 [[ 8.29594314e-01 -5.58353133e-01 -3.87981260e-03 7.90161012e+01] [ 5.58346943e-01 8.29603387e-01 -2.62912623e-03 2.45167759e+01] [ 4.68668654e-03 1.48266681e-05 9.99989017e-01 2.53181674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.04, Y:24.54, Z:0.25 [[ 8.28854864e-01 -5.59450218e-01 -3.88169545e-03 7.90375928e+01] [ 5.59444052e-01 8.28863953e-01 -2.62659440e-03 2.45363442e+01] [ 4.68684625e-03 5.47410771e-06 9.99989017e-01 2.53458765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.65105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.06, Y:24.55, Z:0.25 [[ 8.28644483e-01 -5.59761787e-01 -3.88119538e-03 7.90574085e+01] [ 5.59755621e-01 8.28653572e-01 -2.62726591e-03 2.45539543e+01] [ 4.68680947e-03 4.54846750e-06 9.99989017e-01 2.53329095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.08, Y:24.57, Z:0.26 [[ 8.28822784e-01 -5.59497778e-01 -3.87679347e-03 7.90773364e+01] [ 5.59491582e-01 8.28831851e-01 -2.63317314e-03 2.45726131e+01] [ 4.68646442e-03 1.34005780e-05 9.99989018e-01 2.55791276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.711052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.10, Y:24.59, Z:0.26 [[ 8.27772490e-01 -5.61050625e-01 -3.86021650e-03 7.90982452e+01] [ 5.61044343e-01 8.27781490e-01 -2.65532120e-03 2.45918473e+01] [ 4.68518539e-03 3.22492125e-05 9.99989024e-01 2.58153979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.741052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.12, Y:24.61, Z:0.26 [[ 8.26407452e-01 -5.63059390e-01 -3.85309936e-03 7.91195410e+01] [ 5.63053085e-01 8.26416434e-01 -2.66480098e-03 2.46115899e+01] [ 4.68470584e-03 3.27119072e-05 9.99989026e-01 2.60671879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.771052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.14, Y:24.63, Z:0.26 [[ 8.24159018e-01 -5.66345365e-01 -3.85229656e-03 7.91376250e+01] [ 5.66339091e-01 8.24168021e-01 -2.66586920e-03 2.46329051e+01] [ 4.68474230e-03 1.53940084e-05 9.99989026e-01 2.63503456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.801052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.16, Y:24.65, Z:0.26 [[ 8.22305522e-01 -5.69033227e-01 -3.84898114e-03 7.91561224e+01] [ 5.69026961e-01 8.22314530e-01 -2.67027645e-03 2.46523834e+01] [ 4.68454915e-03 5.60902735e-06 9.99989027e-01 2.60450496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.831052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.18, Y:24.67, Z:0.26 [[ 8.19343145e-01 -5.73290600e-01 -3.83377064e-03 7.91763623e+01] [ 5.73284287e-01 8.19352115e-01 -2.69045604e-03 2.46727284e+01] [ 4.68362124e-03 6.56624665e-06 9.99989032e-01 2.59051197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.20, Y:24.69, Z:0.26 [[ 8.17758112e-01 -5.75549278e-01 -3.83394937e-03 7.91978147e+01] [ 5.75542991e-01 8.17767099e-01 -2.69021908e-03 2.46916369e+01] [ 4.68363130e-03 -6.65420900e-06 9.99989032e-01 2.64033485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.89105275399999 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:79.22, Y:24.72, Z:0.26 [[ 8.16281908e-01 -5.77641002e-01 -3.83666161e-03 7.92176264e+01] [ 5.77634755e-01 8.16290924e-01 -2.68657470e-03 2.47155117e+01] [ 4.68370775e-03 -2.31867646e-05 9.99989031e-01 2.60018618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.24, Y:24.74, Z:0.26 [[ 8.14575260e-01 -5.80045175e-01 -3.83949184e-03 7.92365102e+01] [ 5.80038972e-01 8.14584307e-01 -2.68277536e-03 2.47355066e+01] [ 4.68372070e-03 -4.17324624e-05 9.99989030e-01 2.61417019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.95105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.25, Y:24.76, Z:0.27 [[ 8.13824529e-01 -5.81098156e-01 -3.81698590e-03 7.92532818e+01] [ 5.81091825e-01 8.13833480e-01 -2.71251554e-03 2.47571308e+01] [ 4.68262870e-03 -1.05076160e-05 9.99989036e-01 2.67734758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.27, Y:24.78, Z:0.27 [[ 8.13949526e-01 -5.80923120e-01 -3.80759463e-03 7.92712383e+01] [ 5.80916729e-01 8.13958432e-01 -2.72489547e-03 2.47784658e+01] [ 4.68217853e-03 6.03195540e-06 9.99989039e-01 2.69775488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.01105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.29, Y:24.81, Z:0.27 [[ 8.11698685e-01 -5.84064038e-01 -3.80061376e-03 7.92891286e+01] [ 5.84057639e-01 8.11707583e-01 -2.73407509e-03 2.48102626e+01] [ 4.68186195e-03 -5.32343720e-07 9.99989040e-01 2.73371688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.30, Y:24.83, Z:0.27 [[ 8.13160869e-01 -5.82026367e-01 -3.83534033e-03 7.93018284e+01] [ 5.82020159e-01 8.13169912e-01 -2.68840753e-03 2.48290081e+01] [ 4.68350743e-03 -4.61375833e-05 9.99989031e-01 2.74857720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.32, Y:24.86, Z:0.27 [[ 8.11891434e-01 -5.83796153e-01 -3.78815144e-03 7.93169102e+01] [ 5.83789675e-01 8.11900272e-01 -2.75033252e-03 2.48556256e+01] [ 4.68123473e-03 2.14877111e-05 9.99989043e-01 2.74463257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.101052754 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:79.33, Y:24.88, Z:0.27 [[ 8.10825924e-01 -5.85275157e-01 -3.78302937e-03 7.93348889e+01] [ 5.85268663e-01 8.10834749e-01 -2.75711442e-03 2.48794449e+01] [ 4.68108225e-03 2.14513034e-05 9.99989043e-01 2.70293722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.35, Y:24.90, Z:0.27 [[ 8.09725514e-01 -5.86796586e-01 -3.78931936e-03 7.93524639e+01] [ 5.86790148e-01 8.09734380e-01 -2.74878932e-03 2.49002570e+01] [ 4.68132235e-03 2.22957660e-06 9.99989043e-01 2.71422969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.37, Y:24.92, Z:0.27 [[ 8.09004088e-01 -5.87790932e-01 -3.76902334e-03 7.93696504e+01] [ 5.87784380e-01 8.09012867e-01 -2.77538739e-03 2.49236852e+01] [ 4.68053592e-03 2.99267003e-05 9.99989046e-01 2.72810526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.191052754 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:79.38, Y:24.96, Z:0.27 [[ 8.09657402e-01 -5.86890717e-01 -3.76536403e-03 7.93766349e+01] [ 5.86884133e-01 8.09666156e-01 -2.78017873e-03 2.49565107e+01] [ 4.68034891e-03 4.11598799e-05 9.99989046e-01 2.71767103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.221052754 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:79.39, Y:24.98, Z:0.27 [[ 8.11208614e-01 -5.84744878e-01 -3.74320938e-03 7.93932957e+01] [ 5.84738138e-01 8.11217245e-01 -2.80913215e-03 2.49808251e+01] [ 4.67918164e-03 8.99949183e-05 9.99989049e-01 2.73290261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.25105275399999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:79.41, Y:25.01, Z:0.28 [[ 8.13626094e-01 -5.81376468e-01 -3.73921703e-03 7.94050111e+01] [ 5.81369667e-01 8.13634678e-01 -2.81434740e-03 2.50087220e+01] [ 4.67855199e-03 1.15959121e-04 9.99989049e-01 2.75711720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28105275399999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:79.42, Y:25.04, Z:0.28 [[ 8.14499757e-01 -5.80151911e-01 -3.72905670e-03 7.94172073e+01] [ 5.80145037e-01 8.14508282e-01 -2.82761160e-03 2.50370465e+01] [ 4.67779184e-03 1.39695224e-04 9.99989049e-01 2.75766931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.31105275399999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:79.43, Y:25.06, Z:0.27 [[ 8.14978927e-01 -5.79478614e-01 -3.72618832e-03 7.94326082e+01] [ 5.79471716e-01 8.14987432e-01 -2.83135211e-03 2.50606071e+01] [ 4.67750464e-03 1.48271565e-04 9.99989049e-01 2.73394935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34105275399999 meters Centerline goodness : 0.998577 Centerline is valid? [True, True] Translation: X:79.45, Y:25.08, Z:0.27 [[ 8.15313412e-01 -5.79007992e-01 -3.71287025e-03 7.94484605e+01] [ 5.79001010e-01 8.15321848e-01 -2.84871024e-03 2.50849294e+01] [ 4.67661022e-03 1.72836043e-04 9.99989050e-01 2.71806684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.37105275399999 meters Centerline goodness : 0.998097 Centerline is valid? [True, True] Translation: X:79.46, Y:25.11, Z:0.27 [[ 8.15874542e-01 -5.78217044e-01 -3.71234067e-03 7.94615442e+01] [ 5.78210051e-01 8.15882969e-01 -2.84940020e-03 2.51141270e+01] [ 4.67640728e-03 1.78240398e-04 9.99989050e-01 2.69592127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40105275399999 meters Centerline goodness : 0.997901 Centerline is valid? [True, True] Translation: X:79.48, Y:25.14, Z:0.27 [[ 8.16010004e-01 -5.78025863e-01 -3.71154418e-03 7.94786365e+01] [ 5.78018863e-01 8.16018425e-01 -2.85043730e-03 2.51367574e+01] [ 4.67631492e-03 1.80642808e-04 9.99989050e-01 2.69595237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.43105275399999 meters Centerline goodness : 0.997406 Centerline is valid? [True, True] Translation: X:79.49, Y:25.17, Z:0.27 [[ 8.16042687e-01 -5.77979730e-01 -3.71001029e-03 7.94897610e+01] [ 5.77972721e-01 8.16051100e-01 -2.85243341e-03 2.51688213e+01] [ 4.67620668e-03 1.83422684e-04 9.99989050e-01 2.71732569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.461052754 meters Centerline goodness : 0.997486 Centerline is valid? [True, True] Translation: X:79.50, Y:25.20, Z:0.27 [[ 8.15877701e-01 -5.78212626e-01 -3.70630285e-03 7.94998431e+01] [ 5.78205597e-01 8.15886097e-01 -2.85725694e-03 2.52019559e+01] [ 4.67602301e-03 1.88167173e-04 9.99989050e-01 2.71851641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.491052754 meters Centerline goodness : 0.997274 Centerline is valid? [True, True] Translation: X:79.52, Y:25.22, Z:0.27 [[ 8.15597645e-01 -5.78607614e-01 -3.70263871e-03 7.95164696e+01] [ 5.78600568e-01 8.15606027e-01 -2.86202257e-03 2.52249261e+01] [ 4.67588250e-03 1.91910005e-04 9.99989050e-01 2.71317091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.521052754 meters Centerline goodness : 0.996627 Centerline is valid? [True, True] Translation: X:79.53, Y:25.25, Z:0.27 [[ 8.15053591e-01 -5.79373755e-01 -3.70067485e-03 7.95342655e+01] [ 5.79366705e-01 8.15061970e-01 -2.86457537e-03 2.52470367e+01] [ 4.67593913e-03 1.90734650e-04 9.99989050e-01 2.69244560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.551052754 meters Centerline goodness : 0.996597 Centerline is valid? [True, True] Translation: X:79.57, Y:25.27, Z:0.27 [[ 8.20661047e-01 -5.71403308e-01 -3.70204175e-03 7.95739480e+01] [ 5.71396185e-01 8.20669364e-01 -2.86279894e-03 2.52721967e+01] [ 4.67396504e-03 2.34055044e-04 9.99989050e-01 2.66392671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.581052754 meters Centerline goodness : 0.995458 Centerline is valid? [True, True] Translation: X:79.56, Y:25.31, Z:0.27 [[ 8.09657888e-01 -5.86889625e-01 -3.83042372e-03 7.95624274e+01] [ 5.86883437e-01 8.09666946e-01 -2.69582037e-03 2.53093510e+01] [ 4.68351648e-03 -6.53200108e-05 9.99989030e-01 2.69723014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.611052754 meters Centerline goodness : 0.995150 Centerline is valid? [True, True] Translation: X:79.58, Y:25.34, Z:0.27 [[ 8.08107066e-01 -5.89023973e-01 -3.70538463e-03 7.95807144e+01] [ 5.89017053e-01 8.08115551e-01 -2.85793676e-03 2.53374624e+01] [ 4.67777220e-03 1.26984155e-04 9.99989051e-01 2.72545854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64105275399999 meters Centerline goodness : 0.994149 Centerline is valid? [True, True] Translation: X:79.59, Y:25.37, Z:0.27 [[ 8.03486712e-01 -5.95311182e-01 -3.70140333e-03 7.95935496e+01] [ 5.95304305e-01 8.03495232e-01 -2.86309898e-03 2.53727914e+01] [ 4.67849476e-03 9.70006527e-05 9.99989051e-01 2.73624968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.67105275399999 meters Centerline goodness : 0.993822 Centerline is valid? [True, True] Translation: X:79.61, Y:25.40, Z:0.27 [[ 8.01192220e-01 -5.98395603e-01 -3.70516989e-03 7.96148834e+01] [ 5.98388781e-01 8.01200785e-01 -2.85821357e-03 2.53997291e+01] [ 4.67892745e-03 7.28463830e-05 9.99989051e-01 2.71249754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.70105275399999 meters Centerline goodness : 0.996071 Centerline is valid? [True, True] Translation: X:79.66, Y:25.42, Z:0.27 [[ 8.08548309e-01 -5.88418127e-01 -3.70665955e-03 7.96643260e+01] [ 5.88411209e-01 8.08556795e-01 -2.85628039e-03 2.54226686e+01] [ 4.67773193e-03 1.28400656e-04 9.99989051e-01 2.68243788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.73105275399999 meters Centerline goodness : 0.995029 Centerline is valid? [True, True] Translation: X:79.65, Y:25.46, Z:0.27 [[ 7.95132084e-01 -6.06423907e-01 -3.87480582e-03 7.96461711e+01] [ 6.06418225e-01 7.95141485e-01 -2.63733298e-03 2.54586507e+01] [ 4.68036063e-03 -2.52724795e-04 9.99989015e-01 2.67445507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76105275399999 meters Centerline goodness : 0.997667 Centerline is valid? [True, True] Translation: X:79.69, Y:25.49, Z:0.27 [[ 8.01794024e-01 -5.97589004e-01 -3.70473896e-03 7.96891267e+01] [ 5.97582176e-01 8.01802579e-01 -2.85780115e-03 2.54850436e+01] [ 4.67825980e-03 7.74819127e-05 9.99989054e-01 2.69453412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.79105275399999 meters Centerline goodness : 0.996894 Centerline is valid? [True, True] Translation: X:79.67, Y:25.53, Z:0.27 [[ 7.92400420e-01 -6.09989161e-01 -3.84678361e-03 7.96717464e+01] [ 6.09983347e-01 7.92409724e-01 -2.67315905e-03 2.55256213e+01] [ 4.67882679e-03 -2.28261586e-04 9.99989028e-01 2.70606941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.821052754 meters Centerline goodness : 0.996724 Centerline is valid? [True, True] Translation: X:79.69, Y:25.56, Z:0.27 [[ 7.92021712e-01 -6.10481690e-01 -3.70322172e-03 7.96909367e+01] [ 6.10474994e-01 7.92030370e-01 -2.85910603e-03 2.55555431e+01] [ 4.67849595e-03 3.74979059e-06 9.99989056e-01 2.72034342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.851052754 meters Centerline goodness : 0.997059 Centerline is valid? [True, True] Translation: X:79.70, Y:25.59, Z:0.27 [[ 7.91331231e-01 -6.11376449e-01 -3.70400696e-03 7.97028700e+01] [ 6.11369769e-01 7.91339900e-01 -2.85808838e-03 2.55939429e+01] [ 4.67849642e-03 -2.82328516e-06 9.99989056e-01 2.74699592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.881052754 meters Centerline goodness : 0.997613 Centerline is valid? [True, True] Translation: X:79.71, Y:25.63, Z:0.28 [[ 7.94007933e-01 -6.07896107e-01 -3.70479795e-03 7.97140126e+01] [ 6.07889393e-01 7.94016576e-01 -2.85706268e-03 2.56337888e+01] [ 4.67846827e-03 1.64230559e-05 9.99989056e-01 2.77766521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.911052754 meters Centerline goodness : 0.997739 Centerline is valid? [True, True] Translation: X:79.73, Y:25.66, Z:0.28 [[ 7.97221821e-01 -6.03675108e-01 -3.70558394e-03 7.97319343e+01] [ 6.03668353e-01 7.97230432e-01 -2.85604291e-03 2.56645114e+01] [ 4.67832630e-03 3.99559763e-05 9.99989056e-01 2.79910196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.941052754 meters Centerline goodness : 0.998733 Centerline is valid? [True, True] Translation: X:79.74, Y:25.71, Z:0.28 [[ 8.06505601e-01 -5.91214833e-01 -3.70637313e-03 7.97397204e+01] [ 5.91207949e-01 8.06514110e-01 -2.85501838e-03 2.57074266e+01] [ 4.67717144e-03 1.11351058e-04 9.99989056e-01 2.83138596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.971052754 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:79.79, Y:25.74, Z:0.28 [[ 8.19449355e-01 -5.73139609e-01 -3.70706684e-03 7.97889660e+01] [ 5.73132543e-01 8.19457713e-01 -2.85411736e-03 2.57363279e+01] [ 4.67359222e-03 2.14163990e-04 9.99989056e-01 2.79229711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00105275399999 meters Centerline goodness : 0.998176 Centerline is valid? [True, True] Translation: X:79.76, Y:25.78, Z:0.28 [[ 8.22422317e-01 -5.68864010e-01 -3.90774844e-03 7.97590211e+01] [ 5.68858114e-01 8.22431596e-01 -2.59157702e-03 2.57768166e+01] [ 4.68811068e-03 -9.15836287e-05 9.99989007e-01 2.76321005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.03105275399999 meters Centerline goodness : 0.997117 Centerline is valid? [True, True] Translation: X:79.78, Y:25.80, Z:0.27 [[ 8.24396978e-01 -5.65999881e-01 -3.70894881e-03 7.97795071e+01] [ 5.65992760e-01 8.24405284e-01 -2.85026806e-03 2.58038258e+01] [ 4.67092838e-03 2.50514205e-04 9.99989060e-01 2.70592233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06105275399999 meters Centerline goodness : 0.998317 Centerline is valid? [True, True] Translation: X:79.81, Y:25.82, Z:0.28 [[ 8.12832364e-01 -5.82485869e-01 -3.70959203e-03 7.98051571e+01] [ 5.82478920e-01 8.12840814e-01 -2.84943066e-03 2.58235139e+01] [ 4.67506090e-03 1.55350302e-04 9.99989060e-01 2.77423453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.09105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.87, Y:25.84, Z:0.28 [[ 8.13485346e-01 -5.81573577e-01 -3.71026462e-03 7.98687608e+01] [ 5.81566623e-01 8.13493792e-01 -2.84855462e-03 2.58439313e+01] [ 4.67492133e-03 1.59491381e-04 9.99989060e-01 2.75197802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12105275399999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:79.89, Y:25.86, Z:0.27 [[ 8.06156584e-01 -5.91689150e-01 -3.93852057e-03 7.98885985e+01] [ 5.91683720e-01 8.06166158e-01 -2.54976648e-03 2.58596834e+01] [ 4.68377116e-03 -2.74847466e-04 9.99988993e-01 2.70596377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.15105275399999 meters Centerline goodness : 0.998613 Centerline is valid? [True, True] Translation: X:79.88, Y:25.88, Z:0.27 [[ 7.97982785e-01 -6.02667671e-01 -3.89266668e-03 7.98769245e+01] [ 6.02662078e-01 7.97992236e-01 -2.60971093e-03 2.58768788e+01] [ 4.67910620e-03 -2.63458195e-04 9.99989018e-01 2.69786425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18105275399999 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:79.90, Y:25.90, Z:0.27 [[ 7.98743989e-01 -6.01659619e-01 -3.70703088e-03 7.99040226e+01] [ 6.01652866e-01 7.98752590e-01 -2.85107875e-03 2.58963185e+01] [ 4.67637947e-03 4.69362671e-05 9.99989065e-01 2.69377648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.211052754 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:79.96, Y:25.92, Z:0.27 [[ 8.06440910e-01 -5.91303062e-01 -3.70780204e-03 7.99622532e+01] [ 5.91296203e-01 8.06449427e-01 -2.85007550e-03 2.59152816e+01] [ 4.67541320e-03 1.06008213e-04 9.99989065e-01 2.69824401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.241052754 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:79.98, Y:25.94, Z:0.27 [[ 8.12616553e-01 -5.82785630e-01 -3.90469634e-03 7.99813193e+01] [ 5.82779887e-01 8.12625917e-01 -2.59282513e-03 2.59369465e+01] [ 4.68411867e-03 -1.68605875e-04 9.99989015e-01 2.71086299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.271052754 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:79.97, Y:25.96, Z:0.28 [[ 8.13703856e-01 -5.81266699e-01 -3.88063143e-03 7.99690527e+01] [ 5.81260787e-01 8.13713101e-01 -2.62434832e-03 2.59581471e+01] [ 4.68316691e-03 -1.20216531e-04 9.99989027e-01 2.75890985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.301052754 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:80.02, Y:25.98, Z:0.27 [[ 8.17502615e-01 -5.75912934e-01 -3.71036507e-03 8.00248272e+01] [ 5.75905932e-01 8.17511013e-01 -2.84630329e-03 2.59773279e+01] [ 4.67248719e-03 1.90039130e-04 9.99989066e-01 2.72264486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.331052754 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:80.05, Y:25.99, Z:0.27 [[ 8.14759932e-01 -5.79785562e-01 -3.86717428e-03 8.00509719e+01] [ 5.79779547e-01 8.14769105e-01 -2.64243975e-03 2.59947396e+01] [ 4.68290254e-03 -8.91545273e-05 9.99989031e-01 2.66598944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.361052754 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:80.08, Y:26.02, Z:0.27 [[ 8.12099393e-01 -5.83506296e-01 -3.87026244e-03 8.00776051e+01] [ 5.83500342e-01 8.12108607e-01 -2.63842502e-03 2.60179621e+01] [ 4.68261105e-03 -1.15636101e-04 9.99989030e-01 2.66728336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.39105275399999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:80.10, Y:26.04, Z:0.27 [[ 8.12606966e-01 -5.82799054e-01 -3.89631973e-03 8.00951140e+01] [ 5.82793254e-01 8.12616293e-01 -2.60457379e-03 2.60372224e+01] [ 4.68415603e-03 -1.54254054e-04 9.99989017e-01 2.71517366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42105275399999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:80.12, Y:26.06, Z:0.27 [[ 8.12194759e-01 -5.83373640e-01 -3.85614102e-03 8.01195528e+01] [ 5.83367598e-01 8.12203908e-01 -2.65662698e-03 2.60568381e+01] [ 4.68177896e-03 -9.18492175e-05 9.99989036e-01 2.71696405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.45105275399999 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:80.15, Y:26.08, Z:0.28 [[ 8.08810078e-01 -5.88057284e-01 -3.85861656e-03 8.01451632e+01] [ 5.88051310e-01 8.08819273e-01 -2.65342053e-03 2.60826612e+01] [ 4.68128671e-03 -1.22951256e-04 9.99989035e-01 2.78513657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48105275399999 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:80.17, Y:26.10, Z:0.28 [[ 8.09282959e-01 -5.87406171e-01 -3.88361430e-03 8.01656234e+01] [ 5.87400344e-01 8.09292262e-01 -2.62121007e-03 2.61027028e+01] [ 4.68269397e-03 -1.59935735e-04 9.99989023e-01 2.80929016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.51105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:80.19, Y:26.12, Z:0.28 [[ 8.09002633e-01 -5.87792280e-01 -3.86995641e-03 8.01894645e+01] [ 5.87786373e-01 8.09011877e-01 -2.63878813e-03 2.61240109e+01] [ 4.68189998e-03 -1.39921097e-04 9.99989030e-01 2.82477360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.21, Y:26.15, Z:0.29 [[ 8.07999638e-01 -5.89170257e-01 -3.87221293e-03 8.02135253e+01] [ 5.89164380e-01 8.08008902e-01 -2.63588171e-03 2.61470565e+01] [ 4.68176562e-03 -1.51578465e-04 9.99989029e-01 2.86899864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.571052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:80.23, Y:26.17, Z:0.29 [[ 8.06977928e-01 -5.90568829e-01 -3.88357562e-03 8.02343753e+01] [ 5.90563038e-01 8.06987253e-01 -2.62125230e-03 2.61658728e+01] [ 4.68202592e-03 -1.78203468e-04 9.99989023e-01 2.87119595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.601052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:80.26, Y:26.19, Z:0.29 [[ 8.05518602e-01 -5.92558018e-01 -3.84406157e-03 8.02611137e+01] [ 5.92552008e-01 8.05527764e-01 -2.67176351e-03 2.61865391e+01] [ 4.67967321e-03 -1.25651201e-04 9.99989042e-01 2.87486062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.631052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.28, Y:26.20, Z:0.29 [[ 8.07477837e-01 -5.89885251e-01 -3.86446338e-03 8.02807375e+01] [ 5.89879335e-01 8.07487072e-01 -2.64571547e-03 2.62027548e+01] [ 4.68117275e-03 -1.43210478e-04 9.99989033e-01 2.85043151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.661052754 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:80.30, Y:26.22, Z:0.28 [[ 8.08453612e-01 -5.88547466e-01 -3.82591678e-03 8.03043856e+01] [ 5.88541301e-01 8.08462661e-01 -2.69483115e-03 2.62207319e+01] [ 4.67914691e-03 -7.30640603e-05 9.99989050e-01 2.81380694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.691052754 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:80.30, Y:26.24, Z:0.28 [[ 8.08042105e-01 -5.89112335e-01 -3.82280315e-03 8.03019782e+01] [ 5.89106157e-01 8.08051144e-01 -2.69879647e-03 2.62368646e+01] [ 4.67891475e-03 -7.12956974e-05 9.99989051e-01 2.79121469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.721052754 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:80.33, Y:26.26, Z:0.28 [[ 8.11851014e-01 -5.83853121e-01 -3.66941458e-03 8.03278170e+01] [ 5.83845988e-01 8.11859280e-01 -2.89332909e-03 2.62575553e+01] [ 4.66832750e-03 2.06579178e-04 9.99989082e-01 2.80599424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.75105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.35, Y:26.28, Z:0.28 [[ 8.14133881e-01 -5.80665613e-01 -3.67017844e-03 8.03520125e+01] [ 5.80658452e-01 8.14142123e-01 -2.89235982e-03 2.62764876e+01] [ 4.66754075e-03 2.23647994e-04 9.99989082e-01 2.81381401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78105275399999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:80.38, Y:26.30, Z:0.28 [[ 8.20662768e-01 -5.71401039e-01 -3.67050971e-03 8.03776430e+01] [ 5.71393788e-01 8.20670930e-01 -2.89193937e-03 2.62950520e+01] [ 4.66473778e-03 2.76000524e-04 9.99989082e-01 2.82609169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.81105275399999 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:80.40, Y:26.32, Z:0.28 [[ 8.24402296e-01 -5.65992385e-01 -3.67086076e-03 8.04031253e+01] [ 5.65985082e-01 8.24410411e-01 -2.89149369e-03 2.63159459e+01] [ 4.66285924e-03 3.06101613e-04 9.99989082e-01 2.84013029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84105275399999 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:80.45, Y:26.34, Z:0.29 [[ 8.26521872e-01 -5.62892631e-01 -3.67160559e-03 8.04534035e+01] [ 5.62885302e-01 8.26529964e-01 -2.89054760e-03 2.63405899e+01] [ 4.66175998e-03 3.22407986e-04 9.99989082e-01 2.88163934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.87105275399999 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:80.45, Y:26.36, Z:0.29 [[ 8.32479834e-01 -5.54042063e-01 -3.83640397e-03 8.04490268e+01] [ 5.54035589e-01 8.32488667e-01 -2.68055628e-03 2.63550777e+01] [ 4.67890376e-03 1.06004715e-04 9.99989048e-01 2.90311599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.47, Y:26.38, Z:0.29 [[ 8.36461617e-01 -5.48013228e-01 -3.66955323e-03 8.04742226e+01] [ 5.48005748e-01 8.36469566e-01 -2.89224914e-03 2.63751132e+01] [ 4.65446038e-03 4.08319129e-04 9.99989085e-01 2.93313174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.93105275399999 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:80.50, Y:26.40, Z:0.29 [[ 8.38619715e-01 -5.44704968e-01 -3.67023842e-03 8.05010898e+01] [ 5.44697460e-01 8.38627639e-01 -2.89137937e-03 2.63953103e+01] [ 4.65291209e-03 4.25598195e-04 9.99989085e-01 2.94552396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.961052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:80.53, Y:26.42, Z:0.29 [[ 8.41829141e-01 -5.39731620e-01 -3.67096197e-03 8.05271845e+01] [ 5.39724069e-01 8.41837024e-01 -2.89046045e-03 2.64156954e+01] [ 4.65042460e-03 4.51967306e-04 9.99989085e-01 2.94715027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.991052754 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:80.55, Y:26.44, Z:0.29 [[ 8.43268831e-01 -5.37479485e-01 -3.67170680e-03 8.05529279e+01] [ 5.37471917e-01 8.43276698e-01 -2.88951398e-03 2.64362178e+01] [ 4.64931928e-03 4.63197784e-04 9.99989085e-01 2.94588449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.021052754 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:80.58, Y:26.46, Z:0.29 [[ 8.44480097e-01 -5.35574345e-01 -3.67246333e-03 8.05785821e+01] [ 5.35566764e-01 8.44487950e-01 -2.88855215e-03 2.64561533e+01] [ 4.64838545e-03 4.72475500e-04 9.99989085e-01 2.94530356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.051052754 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:80.61, Y:26.48, Z:0.29 [[ 8.45405967e-01 -5.34111654e-01 -3.67316718e-03 8.06054089e+01] [ 5.34104063e-01 8.45413811e-01 -2.88765683e-03 2.64760501e+01] [ 4.64767743e-03 4.79388802e-04 9.99989085e-01 2.92977356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.081052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.63, Y:26.50, Z:0.29 [[ 8.45497382e-01 -5.33966927e-01 -3.67393340e-03 8.06309492e+01] [ 5.33959339e-01 8.45505229e-01 -2.88668164e-03 2.64955093e+01] [ 4.64772243e-03 4.78950722e-04 9.99989085e-01 2.91985481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.111052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:80.66, Y:26.52, Z:0.29 [[ 8.45797759e-01 -5.33491000e-01 -3.67464564e-03 8.06569740e+01] [ 5.33483412e-01 8.45805605e-01 -2.88577471e-03 2.65160248e+01] [ 4.64757072e-03 4.80419288e-04 9.99989085e-01 2.91864169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:80.68, Y:26.54, Z:0.29 [[ 8.47099162e-01 -5.31422150e-01 -3.67541385e-03 8.06815931e+01] [ 5.31414546e-01 8.47106993e-01 -2.88479596e-03 2.65365818e+01] [ 4.64651325e-03 4.90539863e-04 9.99989085e-01 2.92742795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.17105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:80.71, Y:26.56, Z:0.29 [[ 8.47926902e-01 -5.30100419e-01 -3.67612863e-03 8.07078481e+01] [ 5.30092807e-01 8.47934726e-01 -2.88388482e-03 2.65571312e+01] [ 4.64586567e-03 4.96634183e-04 9.99989085e-01 2.92888385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.20105275399999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:80.73, Y:26.58, Z:0.29 [[ 8.49103778e-01 -5.28213266e-01 -3.67689130e-03 8.07325166e+01] [ 5.28205641e-01 8.49111589e-01 -2.88291210e-03 2.65763319e+01] [ 4.64488343e-03 5.05736829e-04 9.99989085e-01 2.91819869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.23105275399999 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:80.76, Y:26.60, Z:0.29 [[ 8.49478736e-01 -5.27610039e-01 -3.67750556e-03 8.07584071e+01] [ 5.27602412e-01 8.49486544e-01 -2.88212832e-03 2.65965046e+01] [ 4.64463133e-03 5.08045921e-04 9.99989085e-01 2.91561332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26105275399999 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:80.78, Y:26.61, Z:0.29 [[ 8.48814887e-01 -5.28677367e-01 -3.67826490e-03 8.07837226e+01] [ 5.28669754e-01 8.48822708e-01 -2.88115891e-03 2.66145426e+01] [ 4.64539828e-03 5.00983175e-04 9.99989085e-01 2.88672454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.29105275399999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:80.81, Y:26.63, Z:0.29 [[ 8.47781111e-01 -5.30333531e-01 -3.67887737e-03 8.08108428e+01] [ 5.30325937e-01 8.47788950e-01 -2.88037665e-03 2.66343650e+01] [ 4.64647190e-03 4.90924830e-04 9.99989085e-01 2.88278629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.321052754 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:80.84, Y:26.66, Z:0.29 [[ 8.47378760e-01 -5.30976174e-01 -3.67962716e-03 8.08369400e+01] [ 5.30968589e-01 8.47386610e-01 -2.87941849e-03 2.66550363e+01] [ 4.64696939e-03 4.86191632e-04 9.99989085e-01 2.90232169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.351052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:80.86, Y:26.68, Z:0.29 [[ 8.46351752e-01 -5.32611647e-01 -3.68040939e-03 8.08616969e+01] [ 5.32604082e-01 8.46359620e-01 -2.87841831e-03 2.66759652e+01] [ 4.64802901e-03 4.75953308e-04 9.99989085e-01 2.93860196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.89, Y:26.70, Z:0.30 [[ 8.45535676e-01 -5.33906237e-01 -3.68113799e-03 8.08868015e+01] [ 5.33898687e-01 8.45543560e-01 -2.87748622e-03 2.66964775e+01] [ 4.64887036e-03 4.67662513e-04 9.99989085e-01 2.95829878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.411052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:80.91, Y:26.72, Z:0.30 [[ 8.42874091e-01 -5.38098235e-01 -3.68185640e-03 8.09124344e+01] [ 5.38090729e-01 8.42882016e-01 -2.87656669e-03 2.67179623e+01] [ 4.65124600e-03 4.43410742e-04 9.99989085e-01 2.99051049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.441052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:80.94, Y:26.74, Z:0.30 [[ 8.40758399e-01 -5.41397961e-01 -3.68263083e-03 8.09389320e+01] [ 5.41390491e-01 8.40766357e-01 -2.87557491e-03 2.67384547e+01] [ 4.65306250e-03 4.23922446e-04 9.99989085e-01 2.98744435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.471052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:80.96, Y:26.76, Z:0.30 [[ 8.35646416e-01 -5.49255405e-01 -3.68341881e-03 8.09642701e+01] [ 5.49248013e-01 8.35654448e-01 -2.87456521e-03 2.67587158e+01] [ 4.65693579e-03 3.79009658e-04 9.99989085e-01 2.97509942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:80.99, Y:26.78, Z:0.30 [[ 8.32137056e-01 -5.54557795e-01 -3.68414933e-03 8.09895814e+01] [ 5.54550459e-01 8.32145138e-01 -2.87362865e-03 2.67792641e+01] [ 4.65934011e-03 3.48206183e-04 9.99989085e-01 2.96943107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.53105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.02, Y:26.80, Z:0.30 [[ 8.24376688e-01 -5.66029591e-01 -3.68487508e-03 8.10153404e+01] [ 5.66022372e-01 8.24384875e-01 -2.87269771e-03 2.68003590e+01] [ 4.66378719e-03 2.82463292e-04 9.99989085e-01 2.96355258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.04, Y:26.82, Z:0.30 [[ 8.20923727e-01 -5.71025963e-01 -3.68565028e-03 8.10403023e+01] [ 5.71018798e-01 8.20931961e-01 -2.87170279e-03 2.68203770e+01] [ 4.66548496e-03 2.52873364e-04 9.99989085e-01 2.95413921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.59105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:81.07, Y:26.84, Z:0.30 [[ 8.13226341e-01 -5.81935846e-01 -3.68637352e-03 8.10660798e+01] [ 5.81928796e-01 8.13234674e-01 -2.87077407e-03 2.68411479e+01] [ 4.66849310e-03 1.89382194e-04 9.99989085e-01 2.95360096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:81.09, Y:26.86, Z:0.30 [[ 8.09789510e-01 -5.86708918e-01 -3.68713116e-03 8.10914096e+01] [ 5.86701922e-01 8.09797888e-01 -2.86980065e-03 2.68622082e+01] [ 4.66956866e-03 1.60687524e-04 9.99989085e-01 2.96035851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.65105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:81.12, Y:26.88, Z:0.30 [[ 8.04480259e-01 -5.93967938e-01 -3.68788518e-03 8.11163247e+01] [ 5.93961022e-01 8.04488704e-01 -2.86883136e-03 2.68849283e+01] [ 4.67085581e-03 1.17458152e-04 9.99989085e-01 2.97475664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.14, Y:26.91, Z:0.30 [[ 8.01634655e-01 -5.97802872e-01 -3.68866051e-03 8.11414525e+01] [ 5.97796001e-01 8.01643136e-01 -2.86783411e-03 2.69057027e+01] [ 4.67138885e-03 9.38887033e-05 9.99989085e-01 2.97542716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.711052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.17, Y:26.93, Z:0.30 [[ 8.03613739e-01 -5.95139771e-01 -3.68938447e-03 8.11678889e+01] [ 5.95132876e-01 8.03622200e-01 -2.86690245e-03 2.69253879e+01] [ 4.67107894e-03 1.08208206e-04 9.99989085e-01 2.98128894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.741052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:81.19, Y:26.95, Z:0.30 [[ 8.07784632e-01 -5.89466174e-01 -3.69015173e-03 8.11914610e+01] [ 5.89459224e-01 8.07793049e-01 -2.86591453e-03 2.69453946e+01] [ 4.67023859e-03 1.39847739e-04 9.99989085e-01 3.02372421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.771052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:81.22, Y:26.97, Z:0.30 [[ 8.10215491e-01 -5.86120497e-01 -3.69076843e-03 8.12172994e+01] [ 5.86113515e-01 8.10223881e-01 -2.86512012e-03 2.69653991e+01] [ 4.66965435e-03 1.58155450e-04 9.99989085e-01 3.03879705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.801052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:81.24, Y:26.99, Z:0.30 [[ 8.13396540e-01 -5.81697895e-01 -3.69152233e-03 8.12440533e+01] [ 5.81690873e-01 8.13404896e-01 -2.86414844e-03 2.69854117e+01] [ 4.66877145e-03 1.82363585e-04 9.99989085e-01 3.04559061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.831052754 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:81.27, Y:27.00, Z:0.30 [[ 8.14125276e-01 -5.80677538e-01 -3.69229144e-03 8.12699770e+01] [ 5.80670509e-01 8.14133627e-01 -2.86315660e-03 2.70042084e+01] [ 4.66858935e-03 1.86963411e-04 9.99989085e-01 3.02828903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.861052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:81.30, Y:27.02, Z:0.30 [[ 8.16466247e-01 -5.77381355e-01 -3.69300159e-03 8.12988706e+01] [ 5.77374297e-01 8.16474573e-01 -2.86224033e-03 2.70214410e+01] [ 4.66784610e-03 2.04678420e-04 9.99989085e-01 2.96552699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.89105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.33, Y:27.04, Z:0.30 [[ 8.17374802e-01 -5.76094428e-01 -3.69373611e-03 8.13259632e+01] [ 5.76087361e-01 8.17383121e-01 -2.86129211e-03 2.70404402e+01] [ 4.66757199e-03 2.10833385e-04 9.99989085e-01 2.95010065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.35, Y:27.06, Z:0.30 [[ 8.18835660e-01 -5.74016125e-01 -3.69447933e-03 8.13531904e+01] [ 5.74009041e-01 8.18843965e-01 -2.86033216e-03 2.70588522e+01] [ 4.66707888e-03 2.21477433e-04 9.99989085e-01 2.95892331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.95105275399999 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:81.38, Y:27.08, Z:0.30 [[ 8.19254661e-01 -5.73417950e-01 -3.69521971e-03 8.13808296e+01] [ 5.73410865e-01 8.19262964e-01 -2.85937535e-03 2.70780911e+01] [ 4.66697380e-03 2.23677457e-04 9.99989085e-01 2.97658373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98105275399999 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:81.41, Y:27.10, Z:0.30 [[ 8.18913336e-01 -5.73905295e-01 -3.69596834e-03 8.14075688e+01] [ 5.73898219e-01 8.18921647e-01 -2.85840736e-03 2.70974900e+01] [ 4.66716360e-03 2.19678265e-04 9.99989085e-01 2.97740158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.01105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:81.44, Y:27.11, Z:0.30 [[ 8.16991240e-01 -5.76638230e-01 -3.69671391e-03 8.14352107e+01] [ 5.76631186e-01 8.16999578e-01 -2.85744280e-03 2.71141055e+01] [ 4.66792446e-03 2.02865205e-04 9.99989085e-01 2.95425700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04105275399999 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:81.46, Y:27.13, Z:0.29 [[ 8.15593746e-01 -5.78613144e-01 -3.69740846e-03 8.14625822e+01] [ 5.78606124e-01 8.15602105e-01 -2.85654380e-03 2.71321957e+01] [ 4.66844791e-03 1.90436084e-04 9.99989085e-01 2.93587104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.071052754 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:81.49, Y:27.15, Z:0.29 [[ 8.14072831e-01 -5.80751022e-01 -3.69815993e-03 8.14902774e+01] [ 5.80744029e-01 8.14081212e-01 -2.85557059e-03 2.71505370e+01] [ 4.66897806e-03 1.76958139e-04 9.99989085e-01 2.92520016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.101052754 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:81.52, Y:27.17, Z:0.29 [[ 8.10971506e-01 -5.85073956e-01 -3.69893885e-03 8.15179700e+01] [ 5.85067011e-01 8.10979928e-01 -2.85456127e-03 2.71674091e+01] [ 4.66989462e-03 1.50840748e-04 9.99989085e-01 2.91951212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.131052754 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:81.55, Y:27.19, Z:0.29 [[ 8.09352738e-01 -5.87311210e-01 -3.69966368e-03 8.15451536e+01] [ 5.87304293e-01 8.09361183e-01 -2.85362154e-03 2.71868967e+01] [ 4.67032809e-03 1.36758048e-04 9.99989085e-01 2.93465942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.161052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:81.57, Y:27.20, Z:0.29 [[ 8.04774653e-01 -5.93568922e-01 -3.70042236e-03 8.15730057e+01] [ 5.93562076e-01 8.04783154e-01 -2.85263739e-03 2.72043481e+01] [ 4.67127448e-03 9.92998931e-05 9.99989085e-01 2.91504388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.191052754 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:81.60, Y:27.22, Z:0.29 [[ 7.99413580e-01 -6.00769698e-01 -3.70108210e-03 8.16008142e+01] [ 6.00762932e-01 7.99422146e-01 -2.85178117e-03 2.72216815e+01] [ 4.67199070e-03 5.62796664e-05 9.99989085e-01 2.89442470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.221052754 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:81.63, Y:27.24, Z:0.29 [[ 7.96754490e-01 -6.04291801e-01 -3.70174122e-03 8.16265906e+01] [ 6.04285077e-01 7.96763088e-01 -2.85092534e-03 2.72404842e+01] [ 4.67220158e-03 3.45805863e-05 9.99989085e-01 2.89230968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.25105275399999 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:81.65, Y:27.26, Z:0.29 [[ 7.92402821e-01 -6.09986935e-01 -3.70244406e-03 8.16532054e+01] [ 6.09980277e-01 7.92411471e-01 -2.85001229e-03 2.72601094e+01] [ 4.67232940e-03 -6.00743809e-08 9.99989085e-01 2.92214836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28105275399999 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:81.68, Y:27.28, Z:0.29 [[ 7.91825551e-01 -6.10736099e-01 -3.70320449e-03 8.16794527e+01] [ 6.10729454e-01 7.91834211e-01 -2.84902386e-03 2.72797377e+01] [ 4.67232573e-03 -5.72616862e-06 9.99989085e-01 2.93597290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.31105275399999 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:81.71, Y:27.30, Z:0.29 [[ 7.91989445e-01 -6.10523545e-01 -3.70396776e-03 8.17061753e+01] [ 6.10516902e-01 7.91998107e-01 -2.84803121e-03 2.73001900e+01] [ 4.67232556e-03 -5.72426956e-06 9.99989085e-01 2.93753892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34105275399999 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:81.73, Y:27.32, Z:0.30 [[ 7.92583235e-01 -6.09752484e-01 -3.70473192e-03 8.17312639e+01] [ 6.09745837e-01 7.92591893e-01 -2.84703684e-03 2.73185132e+01] [ 4.67232827e-03 -2.43119851e-06 9.99989085e-01 2.95709721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.37105275399999 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:81.76, Y:27.34, Z:0.30 [[ 7.93549541e-01 -6.08494368e-01 -3.70534712e-03 8.17576816e+01] [ 6.08487711e-01 7.93558192e-01 -2.84623594e-03 2.73392423e+01] [ 4.67232710e-03 3.97103300e-06 9.99989085e-01 2.98066654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40105275399999 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:81.78, Y:27.36, Z:0.30 [[ 7.94272979e-01 -6.07549750e-01 -3.70611554e-03 8.17841448e+01] [ 6.07543088e-01 7.94281626e-01 -2.84523502e-03 2.73598296e+01] [ 4.67232131e-03 8.26841597e-06 9.99989085e-01 3.01187718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.43105275399999 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:81.81, Y:27.38, Z:0.30 [[ 7.94753385e-01 -6.06921177e-01 -3.70688073e-03 8.18095203e+01] [ 6.06914513e-01 7.94762030e-01 -2.84423776e-03 2.73789428e+01] [ 4.67231618e-03 1.07078722e-05 9.99989085e-01 3.01120699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.461052754 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:81.84, Y:27.40, Z:0.30 [[ 7.97052410e-01 -6.03898757e-01 -3.70759249e-03 8.18365589e+01] [ 6.03892064e-01 7.97061033e-01 -2.84330965e-03 2.73975630e+01] [ 4.67224866e-03 2.72811293e-05 9.99989085e-01 2.99159434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.491052754 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:81.86, Y:27.42, Z:0.30 [[ 7.98082528e-01 -6.02536743e-01 -3.70834443e-03 8.18634822e+01] [ 6.02530039e-01 7.98091143e-01 -2.84232860e-03 2.74168842e+01] [ 4.67220426e-03 3.40238853e-05 9.99989085e-01 2.99061703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.521052754 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:81.89, Y:27.44, Z:0.30 [[ 8.00769804e-01 -5.98960736e-01 -3.70909361e-03 8.18896807e+01] [ 5.98953999e-01 8.00778392e-01 -2.84135061e-03 2.74364684e+01] [ 4.67201948e-03 5.36913212e-05 9.99989085e-01 3.00838148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.551052754 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:81.91, Y:27.46, Z:0.30 [[ 8.03054785e-01 -5.95893656e-01 -3.70987706e-03 8.19147371e+01] [ 5.95886891e-01 8.03063351e-01 -2.84032732e-03 2.74572938e+01] [ 4.67179934e-03 7.02713423e-05 9.99989085e-01 3.01420460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.581052754 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:81.94, Y:27.48, Z:0.30 [[ 8.09782686e-01 -5.86718190e-01 -3.71036312e-03 8.19378135e+01] [ 5.86711331e-01 8.09791177e-01 -2.83969223e-03 2.74816597e+01] [ 4.67071840e-03 1.22621519e-04 9.99989085e-01 3.01661025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.611052754 meters Centerline goodness : 0.999837 Centerline is valid? [True, True] Translation: X:81.96, Y:27.50, Z:0.30 [[ 8.13859783e-01 -5.81049465e-01 -3.71113657e-03 8.19606598e+01] [ 5.81042551e-01 8.13868230e-01 -2.83868107e-03 2.75049129e+01] [ 4.66979026e-03 1.53960102e-04 9.99989085e-01 3.02347851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:81.98, Y:27.53, Z:0.31 [[ 8.20326021e-01 -5.71884116e-01 -3.71161794e-03 8.19785962e+01] [ 5.71877111e-01 8.20334392e-01 -2.83805152e-03 2.75340734e+01] [ 4.66780444e-03 2.05538169e-04 9.99989085e-01 3.05379529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.67105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.00, Y:27.56, Z:0.31 [[ 8.21533275e-01 -5.70148486e-01 -3.71233028e-03 8.20019599e+01] [ 5.70141468e-01 8.21541635e-01 -2.83711944e-03 2.75580743e+01] [ 4.66741324e-03 2.14234590e-04 9.99989085e-01 3.05047003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:82.03, Y:27.58, Z:0.31 [[ 8.14183421e-01 -5.80595875e-01 -3.71308745e-03 8.20263313e+01] [ 5.80588968e-01 8.14191873e-01 -2.83612814e-03 2.75772049e+01] [ 4.66980993e-03 1.53350901e-04 9.99989085e-01 3.06145568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.73105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.05, Y:27.60, Z:0.30 [[ 8.09121874e-01 -5.87629136e-01 -3.71369696e-03 8.20524200e+01] [ 5.87622306e-01 8.09130389e-01 -2.83532981e-03 2.75971974e+01] [ 4.67098747e-03 1.11876195e-04 9.99989085e-01 3.04709285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:82.08, Y:27.62, Z:0.30 [[ 7.98236199e-01 -6.02333108e-01 -3.71447059e-03 8.20791459e+01] [ 6.02326440e-01 7.98244841e-01 -2.83431594e-03 2.76172830e+01] [ 4.67225932e-03 2.51297290e-05 9.99989085e-01 3.00307668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.79105275399999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:82.11, Y:27.63, Z:0.30 [[ 7.88499508e-01 -6.15024164e-01 -3.71525520e-03 8.21056864e+01] [ 6.15017640e-01 7.88508259e-01 -2.83328710e-03 2.76348926e+01] [ 4.67204944e-03 -5.09019968e-05 9.99989085e-01 2.95245788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.821052754 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:82.13, Y:27.65, Z:0.29 [[ 7.84979001e-01 -6.19511227e-01 -3.71598354e-03 8.21323492e+01] [ 6.19504757e-01 7.84987792e-01 -2.83233152e-03 2.76543253e+01] [ 4.67166289e-03 -7.87487139e-05 9.99989085e-01 2.93305498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.851052754 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:82.16, Y:27.67, Z:0.29 [[ 7.85341446e-01 -6.19051693e-01 -3.71675681e-03 8.21591882e+01] [ 6.19045223e-01 7.85350237e-01 -2.83131643e-03 2.76746240e+01] [ 4.67168707e-03 -7.72904097e-05 9.99989085e-01 2.90267175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.881052754 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:82.19, Y:27.69, Z:0.29 [[ 7.85709969e-01 -6.18583887e-01 -3.71752861e-03 8.21854621e+01] [ 6.18577417e-01 7.85718759e-01 -2.83030269e-03 2.76940704e+01] [ 4.67171161e-03 -7.57822064e-05 9.99989085e-01 2.90756538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.911052754 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:82.21, Y:27.71, Z:0.29 [[ 7.86361386e-01 -6.17755571e-01 -3.71829452e-03 8.22115193e+01] [ 6.17749096e-01 7.86370173e-01 -2.82929612e-03 2.77143929e+01] [ 4.67176935e-03 -7.21238561e-05 9.99989085e-01 2.91834428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.941052754 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:82.24, Y:27.74, Z:0.29 [[ 7.87543625e-01 -6.16247683e-01 -3.71905683e-03 8.22371737e+01] [ 6.16241196e-01 7.87552404e-01 -2.82829371e-03 2.77360750e+01] [ 4.67188160e-03 -6.44313471e-05 9.99989085e-01 2.94678549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.971052754 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:82.26, Y:27.76, Z:0.30 [[ 7.88862346e-01 -6.14558629e-01 -3.72705342e-03 8.22612731e+01] [ 6.14552173e-01 7.88871147e-01 -2.81777330e-03 2.77551392e+01] [ 4.67185180e-03 -6.76335244e-05 9.99989085e-01 2.96582468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00105275399999 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:82.29, Y:27.77, Z:0.30 [[ 7.91357909e-01 -6.11341820e-01 -3.71997359e-03 8.22875851e+01] [ 6.11335284e-01 7.91366652e-01 -2.82708916e-03 2.77747669e+01] [ 4.67218088e-03 -3.69117427e-05 9.99989085e-01 2.96837623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.03105275399999 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:82.31, Y:27.79, Z:0.30 [[ 7.94066543e-01 -6.07819448e-01 -3.72071435e-03 8.23131357e+01] [ 6.07812878e-01 7.94075260e-01 -2.82611392e-03 2.77942367e+01] [ 4.67229421e-03 -1.73755824e-05 9.99989085e-01 2.97996146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06105275399999 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:82.36, Y:27.82, Z:0.30 [[ 8.00579116e-01 -5.99215513e-01 -3.72136685e-03 8.23553815e+01] [ 5.99208853e-01 8.00587764e-01 -2.82525445e-03 2.78154449e+01] [ 4.67221706e-03 3.19637502e-05 9.99989085e-01 2.99288648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.09105275399999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:82.36, Y:27.83, Z:0.30 [[ 7.96237677e-01 -6.04971704e-01 -3.84689168e-03 8.23612091e+01] [ 6.04965894e-01 7.96246943e-01 -2.65964508e-03 2.78304510e+01] [ 4.67208576e-03 -2.09528649e-04 9.99989064e-01 2.97234189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12105275399999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:82.39, Y:27.85, Z:0.30 [[ 7.96486191e-01 -6.04645283e-01 -3.71885146e-03 8.23878566e+01] [ 6.04638669e-01 7.96494872e-01 -2.82801847e-03 2.78503743e+01] [ 4.67199415e-03 3.91625584e-06 9.99989086e-01 2.97191337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.15105275399999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:82.41, Y:27.87, Z:0.30 [[ 7.96263813e-01 -6.04938099e-01 -3.71958579e-03 8.24137082e+01] [ 6.04931494e-01 7.96272501e-01 -2.82705231e-03 2.78703055e+01] [ 4.67199553e-03 9.84864429e-07 9.99989086e-01 2.98249327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:82.44, Y:27.89, Z:0.30 [[ 7.95945275e-01 -6.05357150e-01 -3.72031265e-03 8.24406445e+01] [ 6.05350553e-01 7.95953969e-01 -2.82609545e-03 2.78902747e+01] [ 4.67199471e-03 -2.67600039e-06 9.99989086e-01 2.97717701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.211052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:82.47, Y:27.91, Z:0.30 [[ 7.94041930e-01 -6.07851600e-01 -3.72105645e-03 8.24696951e+01] [ 6.07845035e-01 7.94050649e-01 -2.82511577e-03 2.79110352e+01] [ 4.67195843e-03 -1.85653120e-05 9.99989086e-01 2.98123857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.241052754 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:82.49, Y:27.93, Z:0.30 [[ 7.94226243e-01 -6.07610588e-01 -3.74805004e-03 8.24918191e+01] [ 6.07604188e-01 7.94235085e-01 -2.78952509e-03 2.79283360e+01] [ 4.67177782e-03 -6.18168711e-05 9.99989085e-01 2.97968161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.271052754 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:82.52, Y:27.95, Z:0.30 [[ 7.93115792e-01 -6.09059512e-01 -3.72179172e-03 8.25162764e+01] [ 6.09052965e-01 7.93124524e-01 -2.82412974e-03 2.79473367e+01] [ 4.67190737e-03 -2.69063829e-05 9.99989086e-01 2.98221694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.301052754 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:82.54, Y:27.97, Z:0.29 [[ 7.91026774e-01 -6.11770209e-01 -3.72214367e-03 8.25419103e+01] [ 6.11763694e-01 7.91035530e-01 -2.82366580e-03 2.79662291e+01] [ 4.67178251e-03 -4.34771158e-05 9.99989086e-01 2.94068480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.331052754 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:82.57, Y:27.98, Z:0.29 [[ 7.90534880e-01 -6.12405702e-01 -3.72276947e-03 8.25675657e+01] [ 6.12399198e-01 7.90543644e-01 -2.82284049e-03 2.79846402e+01] [ 4.67173536e-03 -4.82671699e-05 9.99989086e-01 2.91148135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.361052754 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:82.59, Y:28.00, Z:0.29 [[ 7.90151672e-01 -6.12900052e-01 -3.72313806e-03 8.25940331e+01] [ 6.12893556e-01 7.90160442e-01 -2.82235426e-03 2.80032082e+01] [ 4.67169749e-03 -5.17993891e-05 9.99989086e-01 2.86912500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.39105275399999 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:82.62, Y:28.02, Z:0.29 [[ 7.90321425e-01 -6.12681139e-01 -3.72384705e-03 8.26201829e+01] [ 6.12674645e-01 7.90330196e-01 -2.82141851e-03 2.80229808e+01] [ 4.67169867e-03 -5.16791747e-05 9.99989086e-01 2.87268665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42105275399999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:82.65, Y:28.04, Z:0.29 [[ 7.91971505e-01 -6.10546692e-01 -3.72461253e-03 8.26501927e+01] [ 6.10540179e-01 7.91980262e-01 -2.82040762e-03 2.80424887e+01] [ 4.67181015e-03 -4.03431365e-05 9.99989086e-01 2.86055188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.45105275399999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:82.68, Y:28.06, Z:0.29 [[ 7.92336559e-01 -6.10072728e-01 -3.74753881e-03 8.26778361e+01] [ 6.10066353e-01 7.92345418e-01 -2.79010573e-03 2.80619171e+01] [ 4.67151262e-03 -7.55445560e-05 9.99989086e-01 2.86960647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48105275399999 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:82.70, Y:28.08, Z:0.29 [[ 7.90246170e-01 -6.12778004e-01 -3.75614109e-03 8.26972852e+01] [ 6.12771713e-01 7.90255089e-01 -2.77873532e-03 2.80822803e+01] [ 4.67105750e-03 -1.05772073e-04 9.99989085e-01 2.90664465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.51105275399999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:82.72, Y:28.10, Z:0.30 [[ 7.89985586e-01 -6.13114096e-01 -3.72549058e-03 8.27218685e+01] [ 6.13107617e-01 7.89994368e-01 -2.81923853e-03 2.81017832e+01] [ 4.67163146e-03 -5.69688543e-05 9.99989086e-01 2.95068458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54105275399999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:82.75, Y:28.12, Z:0.30 [[ 7.89857790e-01 -6.13278719e-01 -3.72610963e-03 8.27481398e+01] [ 6.13272246e-01 7.89866577e-01 -2.81842011e-03 2.81218466e+01] [ 4.67160653e-03 -5.89685434e-05 9.99989086e-01 2.96517580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.571052754 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:82.77, Y:28.14, Z:0.30 [[ 7.90317706e-01 -6.12685918e-01 -3.72686974e-03 8.27749020e+01] [ 6.12679443e-01 7.90326491e-01 -2.81741464e-03 2.81416957e+01] [ 4.67163416e-03 -5.67237972e-05 9.99989086e-01 2.96569144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.601052754 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:82.80, Y:28.16, Z:0.29 [[ 7.90730439e-01 -6.12153149e-01 -3.72764909e-03 8.28011373e+01] [ 6.12146673e-01 7.90739223e-01 -2.81638312e-03 2.81598777e+01] [ 4.67165614e-03 -5.48681236e-05 9.99989086e-01 2.94692212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.631052754 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:82.83, Y:28.18, Z:0.29 [[ 7.90733862e-01 -6.12148724e-01 -3.72813295e-03 8.28279149e+01] [ 6.12142251e-01 7.90742649e-01 -2.81574248e-03 2.81782685e+01] [ 4.67164689e-03 -5.56447724e-05 9.99989086e-01 2.93279001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.661052754 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:82.85, Y:28.20, Z:0.29 [[ 7.91094766e-01 -6.11682244e-01 -3.72885147e-03 8.28546829e+01] [ 6.11675770e-01 7.91103552e-01 -2.81479063e-03 2.81979249e+01] [ 4.67166509e-03 -5.40819552e-05 9.99989086e-01 2.93194509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.691052754 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:82.88, Y:28.22, Z:0.29 [[ 7.92023173e-01 -6.10479634e-01 -3.72960988e-03 8.28806522e+01] [ 6.10473151e-01 7.92031953e-01 -2.81378538e-03 2.82164691e+01] [ 4.67172886e-03 -4.82434681e-05 9.99989086e-01 2.92936848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.721052754 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:82.91, Y:28.24, Z:0.29 [[ 7.92410252e-01 -6.09977113e-01 -3.73008153e-03 8.29063460e+01] [ 6.09970628e-01 7.92419030e-01 -2.81316000e-03 2.82353791e+01] [ 4.67175080e-03 -4.60633525e-05 9.99989086e-01 2.92950221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.75105275399999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:82.93, Y:28.25, Z:0.29 [[ 7.92651367e-01 -6.09663752e-01 -3.73077912e-03 8.29327789e+01] [ 6.09657268e-01 7.92660146e-01 -2.81223455e-03 2.82544317e+01] [ 4.67175739e-03 -4.53750463e-05 9.99989086e-01 2.91859507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78105275399999 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:82.96, Y:28.27, Z:0.29 [[ 7.92945657e-01 -6.09280938e-01 -3.73147226e-03 8.29600429e+01] [ 6.09274454e-01 7.92954436e-01 -2.81131454e-03 2.82737002e+01] [ 4.67176784e-03 -4.42710690e-05 9.99989086e-01 2.90603226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.81105275399999 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:82.99, Y:28.29, Z:0.29 [[ 7.93469053e-01 -6.08599156e-01 -3.73220431e-03 8.29862297e+01] [ 6.08592669e-01 7.93477829e-01 -2.81034237e-03 2.82916605e+01] [ 4.67179337e-03 -4.14724812e-05 9.99989086e-01 2.88480163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84105275399999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:83.01, Y:28.31, Z:0.29 [[ 7.93988641e-01 -6.07921132e-01 -3.73288516e-03 8.30131154e+01] [ 6.07914642e-01 7.93997415e-01 -2.80943772e-03 2.83114158e+01] [ 4.67181773e-03 -3.86139105e-05 9.99989086e-01 2.88589555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.87105275399999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:83.04, Y:28.33, Z:0.29 [[ 7.95591877e-01 -6.05821447e-01 -3.73360613e-03 8.30393682e+01] [ 6.05814938e-01 7.95600637e-01 -2.80847927e-03 2.83298824e+01] [ 4.67189639e-03 -2.74710715e-05 9.99989086e-01 2.88575705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90105275399999 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:83.07, Y:28.35, Z:0.29 [[ 7.97979814e-01 -6.02672609e-01 -3.73405395e-03 8.30675517e+01] [ 6.02666068e-01 7.97988550e-01 -2.80788373e-03 2.83481541e+01] [ 4.67196691e-03 -9.75307628e-06 9.99989086e-01 2.86732463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.93105275399999 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:83.09, Y:28.37, Z:0.29 [[ 7.99294701e-01 -6.00927643e-01 -3.73476135e-03 8.30948001e+01] [ 6.00921087e-01 7.99303427e-01 -2.80694250e-03 2.83676505e+01] [ 4.67197689e-03 -7.22583467e-07 9.99989086e-01 2.86909817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.961052754 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:83.12, Y:28.39, Z:0.29 [[ 8.00326079e-01 -5.99553345e-01 -3.73547729e-03 8.31210774e+01] [ 5.99546779e-01 8.00334797e-01 -2.80598941e-03 2.83871067e+01] [ 4.67197279e-03 6.11313292e-06 9.99989086e-01 2.88296574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.991052754 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:83.15, Y:28.41, Z:0.29 [[ 8.00259280e-01 -5.99642498e-01 -3.73621285e-03 8.31470508e+01] [ 5.99635938e-01 8.00268001e-01 -2.80500966e-03 2.84071776e+01] [ 4.67197459e-03 4.36751548e-06 9.99989086e-01 2.90535872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.021052754 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:83.17, Y:28.43, Z:0.29 [[ 8.00215677e-01 -5.99700680e-01 -3.73695220e-03 8.31736417e+01] [ 5.99694124e-01 8.00224403e-01 -2.80402432e-03 2.84265003e+01] [ 4.67197563e-03 2.79594734e-06 9.99989086e-01 2.90523378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.051052754 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:83.20, Y:28.44, Z:0.29 [[ 8.00134631e-01 -5.99808804e-01 -3.73768984e-03 8.31999590e+01] [ 5.99802254e-01 8.00143361e-01 -2.80304071e-03 2.84443665e+01] [ 4.67197621e-03 9.35153304e-07 9.99989086e-01 2.88249899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.081052754 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:83.23, Y:28.46, Z:0.29 [[ 7.99953118e-01 -6.00050859e-01 -3.73837742e-03 8.32273310e+01] [ 6.00044316e-01 7.99961853e-01 -2.80212341e-03 2.84637978e+01] [ 4.67197588e-03 -1.62476245e-06 9.99989086e-01 2.88573042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.111052754 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:83.25, Y:28.48, Z:0.29 [[ 7.99808884e-01 -6.00243091e-01 -3.73914198e-03 8.32535053e+01] [ 6.00236555e-01 7.99817624e-01 -2.80110280e-03 2.84837997e+01] [ 4.67197426e-03 -4.02280151e-06 9.99989086e-01 2.90045635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14105275399999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:83.28, Y:28.50, Z:0.29 [[ 7.98982326e-01 -6.01342877e-01 -3.73992301e-03 8.32787725e+01] [ 6.01336358e-01 7.98991079e-01 -2.80005961e-03 2.85041767e+01] [ 4.67196103e-03 -1.17535423e-05 9.99989086e-01 2.91025683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.17105275399999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:83.30, Y:28.52, Z:0.29 [[ 7.99126780e-01 -6.01150894e-01 -3.74064980e-03 8.33040294e+01] [ 6.01144377e-01 7.99135535e-01 -2.79908834e-03 2.85242800e+01] [ 4.67196064e-03 -1.18441435e-05 9.99989086e-01 2.90718692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20105275399999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:83.33, Y:28.54, Z:0.29 [[ 7.98639546e-01 -6.01798037e-01 -3.74132233e-03 8.33287157e+01] [ 6.01791532e-01 7.98648310e-01 -2.79818914e-03 2.85432624e+01] [ 4.67194549e-03 -1.67515949e-05 9.99989086e-01 2.88791520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.23105275399999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:83.36, Y:28.56, Z:0.29 [[ 7.98802770e-01 -6.01581359e-01 -3.74194273e-03 8.33557134e+01] [ 6.01574856e-01 7.98811535e-01 -2.79735924e-03 2.85633581e+01] [ 4.67194619e-03 -1.65203467e-05 9.99989086e-01 2.88948226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26105275399999 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:83.38, Y:28.58, Z:0.29 [[ 7.98574555e-01 -6.01884268e-01 -3.74270132e-03 8.33819865e+01] [ 6.01877773e-01 7.98583325e-01 -2.79634393e-03 2.85825428e+01] [ 4.67193429e-03 -1.95596286e-05 9.99989086e-01 2.88236477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.29105275399999 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:83.43, Y:28.60, Z:0.29 [[ 7.98193643e-01 -6.02389322e-01 -3.74336023e-03 8.34287381e+01] [ 6.02382836e-01 7.98202421e-01 -2.79546159e-03 2.86033831e+01] [ 4.67191541e-03 -2.36162806e-05 9.99989086e-01 2.87316049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.321052754 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:83.46, Y:28.62, Z:0.29 [[ 7.97658221e-01 -6.03097299e-01 -3.87437073e-03 8.34557771e+01] [ 6.03091660e-01 7.97667592e-01 -2.61952319e-03 2.86231277e+01] [ 4.67028733e-03 -2.47116470e-04 9.99989064e-01 2.89501999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.351052754 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:83.48, Y:28.65, Z:0.30 [[ 7.98354712e-01 -6.02175009e-01 -3.87472935e-03 8.34790765e+01] [ 6.02169362e-01 7.98364078e-01 -2.61904254e-03 2.86455052e+01] [ 4.67056669e-03 -2.42318344e-04 9.99989063e-01 2.95056039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.381052754 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:83.48, Y:28.66, Z:0.30 [[ 7.97456740e-01 -6.03363640e-01 -3.88137194e-03 8.34782447e+01] [ 6.03358051e-01 7.97466143e-01 -2.61014929e-03 2.86618725e+01] [ 4.67013189e-03 -2.60375861e-04 9.99989061e-01 2.97872238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.411052754 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:83.53, Y:28.69, Z:0.30 [[ 7.96304742e-01 -6.04884115e-01 -3.73702181e-03 8.35256550e+01] [ 6.04877623e-01 7.96313510e-01 -2.80262601e-03 2.86866552e+01] [ 4.67110490e-03 -2.86964901e-05 9.99989090e-01 3.02558777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.441052754 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:83.55, Y:28.71, Z:0.30 [[ 7.95239347e-01 -6.06283148e-01 -3.88903275e-03 8.35506779e+01] [ 6.06277647e-01 7.95248804e-01 -2.59913908e-03 2.87070537e+01] [ 4.66856286e-03 -2.90895960e-04 9.99989060e-01 3.02145702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.471052754 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:83.55, Y:28.72, Z:0.30 [[ 7.90887911e-01 -6.11948668e-01 -3.89095424e-03 8.35476158e+01] [ 6.11943247e-01 7.90897415e-01 -2.59656861e-03 2.87230425e+01] [ 4.66631235e-03 -3.27448448e-04 9.99989059e-01 2.98753909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50105275399999 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:83.60, Y:28.75, Z:0.30 [[ 7.82761154e-01 -6.22311036e-01 -3.73494105e-03 8.35963133e+01] [ 6.22304731e-01 7.82770054e-01 -2.80435301e-03 2.87479117e+01] [ 4.66877983e-03 -1.29132889e-04 9.99989093e-01 2.96180511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.53105275399999 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:83.60, Y:28.76, Z:0.30 [[ 7.81007649e-01 -6.24509327e-01 -3.89263444e-03 8.35961634e+01] [ 6.24504073e-01 7.81017245e-01 -2.59365688e-03 2.87607622e+01] [ 4.65997754e-03 -4.05300201e-04 9.99989060e-01 2.95551442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56105275399999 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:83.62, Y:28.78, Z:0.30 [[ 7.74649872e-01 -6.32379348e-01 -3.73309004e-03 8.36221256e+01] [ 6.32373151e-01 7.74658844e-01 -2.80592035e-03 2.87813585e+01] [ 4.66627730e-03 -1.87100065e-04 9.99989095e-01 2.95789239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.59105275399999 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:83.65, Y:28.80, Z:0.29 [[ 7.71993820e-01 -6.35619068e-01 -3.73385446e-03 8.36468810e+01] [ 6.35612914e-01 7.72002822e-01 -2.80490276e-03 2.88020796e+01] [ 4.66539586e-03 -2.07918517e-04 9.99989095e-01 2.94887736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62105275399999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:83.67, Y:28.82, Z:0.29 [[ 7.70426852e-01 -6.37517467e-01 -3.73433011e-03 8.36728908e+01] [ 6.37511337e-01 7.70435871e-01 -2.80426936e-03 2.88219451e+01] [ 4.66483257e-03 -2.20193365e-04 9.99989095e-01 2.93633826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.65105275399999 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:83.70, Y:28.84, Z:0.29 [[ 7.67644254e-01 -6.40865316e-01 -3.73456689e-03 8.37007315e+01] [ 6.40859227e-01 7.67653300e-01 -2.80395398e-03 2.88407820e+01] [ 4.66380946e-03 -2.40892490e-04 9.99989095e-01 2.91170948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68105275399999 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:83.73, Y:28.86, Z:0.29 [[ 7.67245733e-01 -6.41342367e-01 -3.73533359e-03 8.37273356e+01] [ 6.41336289e-01 7.67254787e-01 -2.80293224e-03 2.88604807e+01] [ 4.66359178e-03 -2.45067184e-04 9.99989095e-01 2.91462506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.711052754 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:83.75, Y:28.88, Z:0.29 [[ 7.65888004e-01 -6.42963146e-01 -3.73610385e-03 8.37524527e+01] [ 6.42957092e-01 7.65897074e-01 -2.80190517e-03 2.88799201e+01] [ 4.66299277e-03 -2.56208909e-04 9.99989095e-01 2.91853603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.741052754 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:83.78, Y:28.90, Z:0.29 [[ 7.66701728e-01 -6.41992599e-01 -3.73672334e-03 8.37779637e+01] [ 6.41986538e-01 7.66710793e-01 -2.80107875e-03 2.88992458e+01] [ 4.66325794e-03 -2.51334157e-04 9.99989095e-01 2.91301069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.771052754 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:83.80, Y:28.92, Z:0.29 [[ 7.68523344e-01 -6.39810833e-01 -3.73738735e-03 8.38029960e+01] [ 6.39804750e-01 7.68532394e-01 -2.80019250e-03 2.89193022e+01] [ 4.66389675e-03 -2.39184875e-04 9.99989095e-01 2.90313630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.801052754 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:83.83, Y:28.94, Z:0.29 [[ 7.74366205e-01 -6.32726645e-01 -3.73809470e-03 8.38283249e+01] [ 6.32720484e-01 7.74375202e-01 -2.79924791e-03 2.89400200e+01] [ 4.66584658e-03 -1.97526108e-04 9.99989095e-01 2.89870810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.831052754 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:83.85, Y:28.96, Z:0.29 [[ 7.76833892e-01 -6.29694470e-01 -3.73876275e-03 8.38544512e+01] [ 6.29688278e-01 7.76842868e-01 -2.79835537e-03 2.89599274e+01] [ 4.66654007e-03 -1.80397785e-04 9.99989095e-01 2.91216266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.861052754 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:83.88, Y:28.98, Z:0.29 [[ 7.83474134e-01 -6.21413145e-01 -3.73952116e-03 8.38787750e+01] [ 6.21406863e-01 7.83483048e-01 -2.79734150e-03 2.89796497e+01] [ 4.66815622e-03 -1.32119400e-04 9.99989095e-01 2.94798240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.89105275399999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:83.91, Y:29.00, Z:0.30 [[ 7.87504855e-01 -6.16297099e-01 -3.74013068e-03 8.39051240e+01] [ 6.16290763e-01 7.87513730e-01 -2.79652632e-03 2.90002580e+01] [ 4.66889532e-03 -1.02729938e-04 9.99989095e-01 2.96307978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92105275399999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:83.93, Y:29.02, Z:0.30 [[ 7.94828493e-01 -6.06822605e-01 -3.74087383e-03 8.39321936e+01] [ 6.06816167e-01 7.94837294e-01 -2.79553187e-03 2.90195119e+01] [ 4.66977796e-03 -4.80543318e-05 9.99989095e-01 2.97413410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.95105275399999 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:83.96, Y:29.04, Z:0.30 [[ 7.98401053e-01 -6.02114406e-01 -3.74162319e-03 8.39585237e+01] [ 6.02107922e-01 7.98409820e-01 -2.79452855e-03 2.90379572e+01] [ 4.66997459e-03 -2.17064259e-05 9.99989095e-01 2.96912049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98105275399999 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:83.99, Y:29.06, Z:0.30 [[ 8.03580735e-01 -5.95184003e-01 -3.74231838e-03 8.39850894e+01] [ 5.95177448e-01 8.03589449e-01 -2.79359727e-03 2.90558442e+01] [ 4.66999197e-03 1.75374474e-05 9.99989095e-01 2.97284279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.01105275399999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:84.01, Y:29.08, Z:0.30 [[ 8.06205110e-01 -5.91624298e-01 -3.74300722e-03 8.40116969e+01] [ 5.91617708e-01 8.06213798e-01 -2.79267401e-03 2.90753437e+01] [ 4.66987787e-03 3.70387049e-05 9.99989095e-01 2.97985730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04105275399999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:84.04, Y:29.10, Z:0.30 [[ 8.11768172e-01 -5.83967824e-01 -3.74373871e-03 8.40380382e+01] [ 5.83961157e-01 8.11776800e-01 -2.79169306e-03 2.90951948e+01] [ 4.66933916e-03 8.00095815e-05 9.99989095e-01 2.99672665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.071052754 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:84.06, Y:29.11, Z:0.30 [[ 8.15115205e-01 -5.79286788e-01 -3.74446598e-03 8.40645902e+01] [ 5.79280075e-01 8.15123798e-01 -2.79071725e-03 2.91132497e+01] [ 4.66882896e-03 1.05661531e-04 9.99989095e-01 3.01273715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.101052754 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:84.09, Y:29.13, Z:0.30 [[ 8.16924164e-01 -5.76732941e-01 -3.74510681e-03 8.40905695e+01] [ 5.76726205e-01 8.16932739e-01 -2.78985700e-03 2.91317811e+01] [ 4.66850279e-03 1.19200359e-04 9.99989095e-01 3.01508012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.131052754 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:84.12, Y:29.15, Z:0.30 [[ 8.19621580e-01 -5.72893039e-01 -3.74578914e-03 8.41175119e+01] [ 5.72886267e-01 8.19630128e-01 -2.78894057e-03 2.91514763e+01] [ 4.66792627e-03 1.39964716e-04 9.99989095e-01 3.03301921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.161052754 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:84.14, Y:29.17, Z:0.30 [[ 8.20446750e-01 -5.71710673e-01 -3.74652132e-03 8.41425569e+01] [ 5.71703894e-01 8.20455291e-01 -2.78795665e-03 2.91709328e+01] [ 4.66775781e-03 1.45469150e-04 9.99989095e-01 3.04546849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.191052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:84.17, Y:29.19, Z:0.31 [[ 8.21453142e-01 -5.70263705e-01 -3.74720193e-03 8.41689025e+01] [ 5.70256915e-01 8.21461675e-01 -2.78704156e-03 2.91915002e+01] [ 4.66753142e-03 1.52556229e-04 9.99989095e-01 3.05851151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.221052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:84.20, Y:29.21, Z:0.31 [[ 8.21787840e-01 -5.69781273e-01 -3.74794026e-03 8.41959006e+01] [ 5.69774482e-01 8.21796372e-01 -2.78604832e-03 2.92106221e+01] [ 4.66748187e-03 1.54059912e-04 9.99989095e-01 3.05111058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.25105275399999 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:84.22, Y:29.23, Z:0.30 [[ 8.21543469e-01 -5.70133560e-01 -3.74867612e-03 8.42224110e+01] [ 5.70126777e-01 8.21552008e-01 -2.78505786e-03 2.92289715e+01] [ 4.66758734e-03 1.50825458e-04 9.99989095e-01 3.04721309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28105275399999 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:84.25, Y:29.25, Z:0.31 [[ 8.20263518e-01 -5.71973516e-01 -3.74935757e-03 8.42483760e+01] [ 5.71966757e-01 8.20272075e-01 -2.78414015e-03 2.92491106e+01] [ 4.66794775e-03 1.39220703e-04 9.99989095e-01 3.05382223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.31105275399999 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:84.27, Y:29.27, Z:0.31 [[ 8.18867751e-01 -5.73969985e-01 -3.75009819e-03 8.42748612e+01] [ 5.73963251e-01 8.18876328e-01 -2.78314222e-03 2.92692235e+01] [ 4.66830673e-03 1.26606856e-04 9.99989095e-01 3.06806269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34105275399999 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:84.30, Y:29.29, Z:0.31 [[ 8.13839558e-01 -5.81077538e-01 -3.75084397e-03 8.43000080e+01] [ 5.81070884e-01 8.13848197e-01 -2.78213676e-03 2.92903963e+01] [ 4.66925479e-03 8.47067314e-05 9.99989095e-01 3.08865803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.37105275399999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:84.33, Y:29.31, Z:0.31 [[ 8.08465326e-01 -5.88531854e-01 -3.75158253e-03 8.43251987e+01] [ 5.88525284e-01 8.08474029e-01 -2.78114050e-03 2.93107477e+01] [ 4.66984682e-03 4.05544917e-05 9.99989095e-01 3.10207401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40105275399999 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:84.35, Y:29.33, Z:0.31 [[ 8.06578437e-01 -5.91115173e-01 -3.75204107e-03 8.43519440e+01] [ 5.91108634e-01 8.06587163e-01 -2.78052174e-03 2.93311695e+01] [ 4.66995675e-03 2.48450059e-05 9.99989095e-01 3.09877547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.43105275399999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:84.38, Y:29.35, Z:0.31 [[ 8.00370570e-01 -5.99493843e-01 -3.75276847e-03 8.43782453e+01] [ 5.99487400e-01 8.00379367e-01 -2.77953965e-03 2.93490036e+01] [ 4.66995536e-03 -2.50756749e-05 9.99989095e-01 3.05424678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.461052754 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:84.41, Y:29.37, Z:0.30 [[ 7.96990076e-01 -6.03980737e-01 -3.75344505e-03 8.44051110e+01] [ 6.03974347e-01 7.96998913e-01 -2.77862570e-03 2.93679522e+01] [ 4.66972803e-03 -5.24474147e-05 9.99989095e-01 3.04916157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.491052754 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:84.43, Y:29.39, Z:0.30 [[ 7.90869547e-01 -6.11973256e-01 -3.75416145e-03 8.44300930e+01] [ 6.11966961e-01 7.90878451e-01 -2.77765745e-03 2.93876822e+01] [ 4.66893747e-03 -1.00658088e-04 9.99989095e-01 3.04563572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.521052754 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:84.46, Y:29.41, Z:0.30 [[ 7.89564451e-01 -6.13656157e-01 -3.75482959e-03 8.44567322e+01] [ 6.13649885e-01 7.89573371e-01 -2.77675397e-03 2.94073920e+01] [ 4.66868563e-03 -1.11724517e-04 9.99989095e-01 3.03727963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.551052754 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:84.48, Y:29.43, Z:0.30 [[ 7.91180753e-01 -6.11570856e-01 -3.75553369e-03 8.44827887e+01] [ 6.11564565e-01 7.91189660e-01 -2.77580136e-03 2.94266053e+01] [ 4.66893863e-03 -1.00590715e-04 9.99989095e-01 3.03675691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.581052754 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:84.51, Y:29.45, Z:0.30 [[ 7.92265750e-01 -6.10164627e-01 -3.75618891e-03 8.45100053e+01] [ 6.10158325e-01 7.92274649e-01 -2.77491443e-03 2.94458628e+01] [ 4.66908788e-03 -9.34002689e-05 9.99989095e-01 3.03718097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.611052754 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:84.54, Y:29.46, Z:0.30 [[ 7.94090461e-01 -6.07787977e-01 -3.75691890e-03 8.45367969e+01] [ 6.07781652e-01 7.94099344e-01 -2.77392576e-03 2.94638814e+01] [ 4.66932556e-03 -8.06383870e-05 9.99989095e-01 3.02816066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64105275399999 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:84.56, Y:29.48, Z:0.30 [[ 7.94875795e-01 -6.06760540e-01 -3.75737282e-03 8.45636175e+01] [ 6.06754206e-01 7.94884672e-01 -2.77331077e-03 2.94836801e+01] [ 4.66941360e-03 -7.53641621e-05 9.99989095e-01 3.04184064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.67105275399999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:84.59, Y:29.50, Z:0.31 [[ 7.96291417e-01 -6.04901526e-01 -3.75806650e-03 8.45893348e+01] [ 6.04895176e-01 7.96300282e-01 -2.77237046e-03 2.95039998e+01] [ 4.66956054e-03 -6.56215011e-05 9.99989095e-01 3.08005776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70105275399999 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:84.62, Y:29.52, Z:0.31 [[ 7.97242766e-01 -6.03647118e-01 -3.75878322e-03 8.46157875e+01] [ 6.03640759e-01 7.97251625e-01 -2.77139839e-03 2.95238583e+01] [ 4.66964268e-03 -5.94774337e-05 9.99989095e-01 3.09282259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.73105275399999 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:84.64, Y:29.54, Z:0.31 [[ 7.99638576e-01 -6.00469827e-01 -3.75950699e-03 8.46422680e+01] [ 6.00463438e-01 7.99647413e-01 -2.77041622e-03 2.95443653e+01] [ 4.66983139e-03 -4.21148096e-05 9.99989095e-01 3.11424954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76105275399999 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:84.67, Y:29.56, Z:0.31 [[ 8.01184758e-01 -5.98405251e-01 -3.76022960e-03 8.46687923e+01] [ 5.98398843e-01 8.01193581e-01 -2.76943508e-03 2.95634825e+01] [ 4.66991632e-03 -3.12878688e-05 9.99989095e-01 3.13015602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.79105275399999 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:84.70, Y:29.58, Z:0.31 [[ 8.01805207e-01 -5.97573649e-01 -3.76095196e-03 8.46957453e+01] [ 5.97567236e-01 8.01814027e-01 -2.76845375e-03 2.95829755e+01] [ 4.66993905e-03 -2.76610359e-05 9.99989095e-01 3.13287283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.821052754 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:84.72, Y:29.60, Z:0.31 [[ 8.02253770e-01 -5.96971305e-01 -3.76167374e-03 8.47232017e+01] [ 5.96964890e-01 8.02262588e-01 -2.76747269e-03 2.96023831e+01] [ 4.66995189e-03 -2.53717548e-05 9.99989095e-01 3.12855934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.851052754 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:84.75, Y:29.62, Z:0.31 [[ 8.02912930e-01 -5.96084450e-01 -3.76239813e-03 8.47509562e+01] [ 5.96078030e-01 8.02921745e-01 -2.76648753e-03 2.96210770e+01] [ 4.66997146e-03 -2.14342589e-05 9.99989095e-01 3.08927266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.881052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:84.78, Y:29.64, Z:0.31 [[ 8.02697950e-01 -5.96373909e-01 -3.76312078e-03 8.47777024e+01] [ 5.96367498e-01 8.02706771e-01 -2.76550418e-03 2.96398910e+01] [ 4.66995707e-03 -2.43383855e-05 9.99989095e-01 3.07626170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.911052754 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:84.80, Y:29.66, Z:0.31 [[ 8.02778565e-01 -5.96265385e-01 -3.76383556e-03 8.48034471e+01] [ 5.96258977e-01 8.02787388e-01 -2.76453103e-03 2.96594768e+01] [ 4.66995388e-03 -2.49144824e-05 9.99989095e-01 3.07218847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.941052754 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:84.83, Y:29.68, Z:0.31 [[ 8.03037454e-01 -5.95916669e-01 -3.76448585e-03 8.48283617e+01] [ 5.95910261e-01 8.03046277e-01 -2.76364524e-03 2.96788765e+01] [ 4.66995861e-03 -2.39851165e-05 9.99989095e-01 3.06047051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.971052754 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:84.85, Y:29.70, Z:0.31 [[ 8.02735149e-01 -5.96323827e-01 -3.76485157e-03 8.48549233e+01] [ 5.96317425e-01 8.02743977e-01 -2.76314694e-03 2.96979825e+01] [ 4.66994228e-03 -2.69714256e-05 9.99989095e-01 3.06239155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00105275399999 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:84.88, Y:29.72, Z:0.31 [[ 8.00440675e-01 -5.99400156e-01 -3.76558356e-03 8.48815061e+01] [ 5.99393793e-01 8.00449531e-01 -2.76214903e-03 2.97168187e+01] [ 4.66979215e-03 -4.61309834e-05 9.99989095e-01 3.05740299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.03105275399999 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:84.91, Y:29.74, Z:0.31 [[ 7.99293863e-01 -6.00928561e-01 -3.76626622e-03 8.49083013e+01] [ 6.00922220e-01 7.99302734e-01 -2.76121790e-03 2.97357988e+01] [ 4.66968158e-03 -5.62085361e-05 9.99989095e-01 3.07070866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06105275399999 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:84.93, Y:29.75, Z:0.31 [[ 7.97985737e-01 -6.02664562e-01 -3.76699368e-03 8.49340764e+01] [ 6.02658244e-01 7.97994625e-01 -2.76022510e-03 2.97543154e+01] [ 4.66953056e-03 -6.75895385e-05 9.99989095e-01 3.07730429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.09105275399999 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:84.96, Y:29.77, Z:0.31 [[ 7.96602126e-01 -6.04492232e-01 -3.76767045e-03 8.49604749e+01] [ 6.04485939e-01 7.96611031e-01 -2.75930101e-03 2.97747381e+01] [ 4.66934387e-03 -7.94387607e-05 9.99989095e-01 3.10372055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12105275399999 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:84.99, Y:29.79, Z:0.31 [[ 7.96759504e-01 -6.04284778e-01 -3.76838854e-03 8.49876844e+01] [ 6.04278487e-01 7.96768411e-01 -2.75831996e-03 2.97945459e+01] [ 4.66934371e-03 -7.94384810e-05 9.99989095e-01 3.10528583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.15105275399999 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:85.01, Y:29.81, Z:0.31 [[ 7.97824761e-01 -6.02877636e-01 -3.76910653e-03 8.50133109e+01] [ 6.02871335e-01 7.97833661e-01 -2.75733850e-03 2.98137466e+01] [ 4.66945778e-03 -7.24133526e-05 9.99989095e-01 3.13816171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18105275399999 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:85.04, Y:29.83, Z:0.32 [[ 7.98766721e-01 -6.01629050e-01 -3.76977469e-03 8.50399898e+01] [ 6.01622739e-01 7.98775614e-01 -2.75642472e-03 2.98340068e+01] [ 4.66954928e-03 -6.62418430e-05 9.99989095e-01 3.15937677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.211052754 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:85.07, Y:29.85, Z:0.32 [[ 8.00869606e-01 -5.98826901e-01 -3.77049618e-03 8.50656763e+01] [ 5.98820564e-01 8.00878480e-01 -2.75543743e-03 2.98545026e+01] [ 4.66973931e-03 -5.11045603e-05 9.99989095e-01 3.17757030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.241052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:85.09, Y:29.87, Z:0.32 [[ 8.02130106e-01 -5.97137397e-01 -3.77121473e-03 8.50920885e+01] [ 5.97131046e-01 8.02138970e-01 -2.75445365e-03 2.98741782e+01] [ 4.66982558e-03 -4.24791951e-05 9.99989095e-01 3.17939633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.271052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:85.12, Y:29.89, Z:0.32 [[ 8.03767667e-01 -5.94931349e-01 -3.77193066e-03 8.51186735e+01] [ 5.94924978e-01 8.03776517e-01 -2.75347290e-03 2.98929276e+01] [ 4.66991664e-03 -3.08632782e-05 9.99989095e-01 3.16185497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.301052754 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:85.15, Y:29.91, Z:0.32 [[ 8.04694295e-01 -5.93677403e-01 -3.77259581e-03 8.51450117e+01] [ 5.93671022e-01 8.04703138e-01 -2.75256127e-03 2.99115813e+01] [ 4.66995311e-03 -2.47104569e-05 9.99989095e-01 3.15546078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.331052754 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:85.17, Y:29.93, Z:0.32 [[ 8.06469013e-01 -5.91264318e-01 -3.77325345e-03 8.51709735e+01] [ 5.91257915e-01 8.06477840e-01 -2.75165947e-03 2.99302792e+01] [ 4.67000335e-03 -1.18378736e-05 9.99989095e-01 3.18866996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.361052754 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:85.20, Y:29.95, Z:0.32 [[ 8.07521936e-01 -5.89825466e-01 -3.77385900e-03 8.51978566e+01] [ 5.89819051e-01 8.07530755e-01 -2.75082872e-03 2.99503633e+01] [ 4.67001604e-03 -4.53940367e-06 9.99989095e-01 3.21180435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.39105275399999 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:85.22, Y:29.97, Z:0.32 [[ 8.09941412e-01 -5.86498646e-01 -3.77455706e-03 8.52239922e+01] [ 5.86492200e-01 8.09950207e-01 -2.74987054e-03 2.99686904e+01] [ 4.66999862e-03 1.34857549e-05 9.99989095e-01 3.23411547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42105275399999 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:85.25, Y:29.99, Z:0.32 [[ 8.10788665e-01 -5.85326822e-01 -3.77520708e-03 8.52512964e+01] [ 5.85320367e-01 8.10797454e-01 -2.74897786e-03 2.99874866e+01] [ 4.66997876e-03 1.91345000e-05 9.99989095e-01 3.23625833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.45105275399999 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:85.28, Y:30.01, Z:0.32 [[ 8.10862798e-01 -5.85224115e-01 -3.77595562e-03 8.52784187e+01] [ 5.85217664e-01 8.10871590e-01 -2.74794928e-03 3.00050678e+01] [ 4.66998133e-03 1.84539163e-05 9.99989095e-01 3.21975560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48105275399999 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:85.31, Y:30.02, Z:0.32 [[ 8.10529093e-01 -5.85686201e-01 -3.77665215e-03 8.53061317e+01] [ 5.85679759e-01 8.10537892e-01 -2.74699168e-03 3.00239331e+01] [ 4.66999479e-03 1.46079566e-05 9.99989095e-01 3.20664607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.51105275399999 meters Centerline goodness : 0.998496 Centerline is valid? [True, True] Translation: X:85.33, Y:30.04, Z:0.32 [[ 8.09424388e-01 -5.87211965e-01 -3.77739839e-03 8.53325130e+01] [ 5.87205544e-01 8.09433202e-01 -2.74596514e-03 3.00402673e+01] [ 4.67001526e-03 4.54186891e-06 9.99989095e-01 3.17416353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54105275399999 meters Centerline goodness : 0.998362 Centerline is valid? [True, True] Translation: X:85.36, Y:30.06, Z:0.31 [[ 8.08020464e-01 -5.89142306e-01 -3.77800057e-03 8.53598818e+01] [ 5.89135911e-01 8.08029296e-01 -2.74513639e-03 3.00566939e+01] [ 4.67001112e-03 -7.62942644e-06 9.99989095e-01 3.14415342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.571052754 meters Centerline goodness : 0.998003 Centerline is valid? [True, True] Translation: X:85.39, Y:30.08, Z:0.31 [[ 8.07686492e-01 -5.89600079e-01 -3.77863040e-03 8.53871584e+01] [ 5.89593693e-01 8.07695330e-01 -2.74426916e-03 3.00754490e+01] [ 4.67000344e-03 -1.13475173e-05 9.99989095e-01 3.14415097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.601052754 meters Centerline goodness : 0.997700 Centerline is valid? [True, True] Translation: X:85.41, Y:30.09, Z:0.31 [[ 8.05590590e-01 -5.92460562e-01 -3.77937802e-03 8.54137740e+01] [ 5.92454212e-01 8.05599455e-01 -2.74323916e-03 3.00930719e+01] [ 4.66992589e-03 -2.91807687e-05 9.99989095e-01 3.14600258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.631052754 meters Centerline goodness : 0.997848 Centerline is valid? [True, True] Translation: X:85.44, Y:30.11, Z:0.31 [[ 8.04511026e-01 -5.93925686e-01 -3.78007351e-03 8.54408926e+01] [ 5.93919356e-01 8.04519906e-01 -2.74228048e-03 3.01121055e+01] [ 4.66985519e-03 -3.88639428e-05 9.99989095e-01 3.14954499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.661052754 meters Centerline goodness : 0.997872 Centerline is valid? [True, True] Translation: X:85.47, Y:30.13, Z:0.31 [[ 8.03310827e-01 -5.95548001e-01 -3.78081116e-03 8.54675566e+01] [ 5.95541694e-01 8.03319723e-01 -2.74126308e-03 3.01307449e+01] [ 4.66975392e-03 -4.95443725e-05 9.99989095e-01 3.14614059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.691052754 meters Centerline goodness : 0.997551 Centerline is valid? [True, True] Translation: X:85.49, Y:30.15, Z:0.32 [[ 8.01061387e-01 -5.98570259e-01 -3.78149714e-03 8.54940103e+01] [ 5.98563990e-01 8.01070309e-01 -2.74031647e-03 3.01495572e+01] [ 4.66951702e-03 -6.83063011e-05 9.99989095e-01 3.15065222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.721052754 meters Centerline goodness : 0.997532 Centerline is valid? [True, True] Translation: X:85.52, Y:30.17, Z:0.32 [[ 8.00059898e-01 -5.99908205e-01 -3.78217339e-03 8.55211787e+01] [ 5.99901956e-01 8.00068834e-01 -2.73938279e-03 3.01685810e+01] [ 4.66937727e-03 -7.72628993e-05 9.99989095e-01 3.16817900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.75105275399999 meters Centerline goodness : 0.997702 Centerline is valid? [True, True] Translation: X:85.55, Y:30.19, Z:0.32 [[ 7.99452566e-01 -6.00717308e-01 -3.78291696e-03 8.55474329e+01] [ 6.00711072e-01 7.99461512e-01 -2.73835559e-03 3.01878980e+01] [ 4.66927411e-03 -8.32546954e-05 9.99989095e-01 3.16788147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78105275399999 meters Centerline goodness : 0.997352 Centerline is valid? [True, True] Translation: X:85.57, Y:30.21, Z:0.32 [[ 7.99647248e-01 -6.00458128e-01 -3.78360910e-03 8.55735003e+01] [ 6.00451894e-01 7.99656195e-01 -2.73739891e-03 3.02075915e+01] [ 4.66927988e-03 -8.29217447e-05 9.99989095e-01 3.17203006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.81105275399999 meters Centerline goodness : 0.997637 Centerline is valid? [True, True] Translation: X:85.60, Y:30.23, Z:0.32 [[ 8.01116333e-01 -5.98496700e-01 -3.78433502e-03 8.55981055e+01] [ 5.98490449e-01 8.01125268e-01 -2.73639499e-03 3.02275902e+01] [ 4.66944978e-03 -7.27176439e-05 9.99989095e-01 3.18138849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84105275399999 meters Centerline goodness : 0.998115 Centerline is valid? [True, True] Translation: X:85.62, Y:30.25, Z:0.32 [[ 8.03769074e-01 -5.94929367e-01 -3.78478616e-03 8.56232822e+01] [ 5.94923079e-01 8.03777983e-01 -2.73577086e-03 3.02491666e+01] [ 4.66971821e-03 -5.27286286e-05 9.99989095e-01 3.18112559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.87105275399999 meters Centerline goodness : 0.998088 Centerline is valid? [True, True] Translation: X:85.65, Y:30.27, Z:0.32 [[ 8.05326543e-01 -5.92819390e-01 -3.78553032e-03 8.56492383e+01] [ 5.92813084e-01 8.05335439e-01 -2.73474077e-03 3.02682485e+01] [ 4.66982908e-03 -4.17525758e-05 9.99989095e-01 3.15719636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90105275399999 meters Centerline goodness : 0.998213 Centerline is valid? [True, True] Translation: X:85.68, Y:30.29, Z:0.32 [[ 8.05119463e-01 -5.93100594e-01 -3.78622245e-03 8.56773927e+01] [ 5.93094295e-01 8.05128365e-01 -2.73378219e-03 3.02864638e+01] [ 4.66980293e-03 -4.45656798e-05 9.99989095e-01 3.15007775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.93105275399999 meters Centerline goodness : 0.998565 Centerline is valid? [True, True] Translation: X:85.70, Y:30.31, Z:0.32 [[ 8.04815966e-01 -5.93512359e-01 -3.78695185e-03 8.57039040e+01] [ 5.93506070e-01 8.04824874e-01 -2.73277141e-03 3.03067981e+01] [ 4.66976666e-03 -4.82008449e-05 9.99989095e-01 3.16111573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.961052754 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:85.73, Y:30.33, Z:0.32 [[ 8.03208515e-01 -5.95685936e-01 -3.78769731e-03 8.57291055e+01] [ 5.95679676e-01 8.03217443e-01 -2.73173780e-03 3.03284669e+01] [ 4.66960234e-03 -6.20992423e-05 9.99989095e-01 3.18130048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.991052754 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:85.75, Y:30.35, Z:0.32 [[ 8.02954132e-01 -5.96028782e-01 -3.78843862e-03 8.57529163e+01] [ 5.96022530e-01 8.02963067e-01 -2.73070935e-03 3.03487663e+01] [ 4.66955766e-03 -6.53604193e-05 9.99989095e-01 3.17461088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.021052754 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:85.78, Y:30.37, Z:0.32 [[ 8.02633987e-01 -5.96459828e-01 -3.78903627e-03 8.57779533e+01] [ 5.96453585e-01 8.02642928e-01 -2.72987982e-03 3.03706411e+01] [ 4.66950681e-03 -6.88899395e-05 9.99989095e-01 3.15540570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.051052754 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:85.80, Y:30.39, Z:0.31 [[ 8.02030386e-01 -5.97271210e-01 -3.78976278e-03 8.58045504e+01] [ 5.97264980e-01 8.02039336e-01 -2.72887086e-03 3.03899967e+01] [ 4.66941483e-03 -7.48552425e-05 9.99989095e-01 3.13923215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.081052754 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:85.83, Y:30.41, Z:0.31 [[ 7.97235882e-01 -6.03656012e-01 -3.79052045e-03 8.58300132e+01] [ 6.03649859e-01 7.97244885e-01 -2.72781803e-03 3.04097145e+01] [ 4.66863679e-03 -1.13432722e-04 9.99989095e-01 3.13436721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.111052754 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:85.86, Y:30.43, Z:0.31 [[ 7.94732859e-01 -6.06947535e-01 -3.79122552e-03 8.58551272e+01] [ 6.06941424e-01 7.94741890e-01 -2.72683774e-03 3.04310823e+01] [ 4.66809318e-03 -1.33944265e-04 9.99989095e-01 3.14984065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14105275399999 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:85.88, Y:30.45, Z:0.32 [[ 7.88702263e-01 -6.14763663e-01 -3.79196628e-03 8.58794293e+01] [ 6.14757647e-01 7.88711357e-01 -2.72580723e-03 3.04530226e+01] [ 4.66649411e-03 -1.81289937e-04 9.99989095e-01 3.17060189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.17105275399999 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:85.91, Y:30.47, Z:0.32 [[ 7.86628438e-01 -6.17415027e-01 -3.79265735e-03 8.59052345e+01] [ 6.17409046e-01 7.86637556e-01 -2.72484536e-03 3.04732649e+01] [ 4.66580718e-03 -1.98180108e-04 9.99989095e-01 3.17862323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20105275399999 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:85.93, Y:30.49, Z:0.32 [[ 7.83120859e-01 -6.21857967e-01 -3.79340891e-03 8.59309833e+01] [ 6.21852042e-01 7.83130014e-01 -2.72379866e-03 3.04931830e+01] [ 4.66454827e-03 -2.25875536e-04 9.99989095e-01 3.15086171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.23105275399999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:85.96, Y:30.51, Z:0.32 [[ 7.82090794e-01 -6.23152946e-01 -3.79410834e-03 8.59576083e+01] [ 6.23147042e-01 7.82099962e-01 -2.72282404e-03 3.05116842e+01] [ 4.66410781e-03 -2.34791771e-04 9.99989095e-01 3.15417654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26105275399999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:85.98, Y:30.53, Z:0.32 [[ 7.81806201e-01 -6.23509955e-01 -3.79472431e-03 8.59824954e+01] [ 6.23504059e-01 7.81815374e-01 -2.72196531e-03 3.05323413e+01] [ 4.66394628e-03 -2.37976651e-04 9.99989095e-01 3.18200071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.29105275399999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:86.01, Y:30.55, Z:0.32 [[ 7.82294305e-01 -6.22897436e-01 -3.79536078e-03 8.60085473e+01] [ 6.22891537e-01 7.82303476e-01 -2.72107757e-03 3.05524939e+01] [ 4.66407617e-03 -2.35414623e-04 9.99989095e-01 3.20600971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.321052754 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:86.04, Y:30.57, Z:0.32 [[ 7.84646434e-01 -6.19931902e-01 -3.79608553e-03 8.60356153e+01] [ 6.19925973e-01 7.84655586e-01 -2.72006611e-03 3.05723585e+01] [ 4.66487548e-03 -2.19001839e-04 9.99989095e-01 3.20499847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.351052754 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:86.06, Y:30.59, Z:0.32 [[ 7.86794738e-01 -6.17203066e-01 -3.79681499e-03 8.60629278e+01] [ 6.17197110e-01 7.86803873e-01 -2.71904751e-03 3.05909718e+01] [ 4.66555320e-03 -2.04050968e-04 9.99989095e-01 3.19067561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.381052754 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:86.09, Y:30.61, Z:0.32 [[ 7.93042487e-01 -6.09154490e-01 -3.79754529e-03 8.60903899e+01] [ 6.09148446e-01 7.93051564e-01 -2.71802716e-03 3.06097495e+01] [ 4.66734768e-03 -1.57757791e-04 9.99989095e-01 3.18896627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.12, Y:30.63, Z:0.32 [[ 7.98977022e-01 -6.01349558e-01 -3.79827684e-03 8.61164534e+01] [ 6.01343431e-01 7.98986043e-01 -2.71700448e-03 3.06277665e+01] [ 4.66863962e-03 -1.13244680e-04 9.99989095e-01 3.20154339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.441052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:86.14, Y:30.65, Z:0.32 [[ 8.01637399e-01 -5.97798501e-01 -3.79895704e-03 8.61436035e+01] [ 5.97792338e-01 8.01646395e-01 -2.71605307e-03 3.06460626e+01] [ 4.66907268e-03 -9.36976924e-05 9.99989095e-01 3.21059269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.471052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:86.17, Y:30.66, Z:0.32 [[ 8.06963818e-01 -5.90588654e-01 -3.79968619e-03 8.61691085e+01] [ 5.90582416e-01 8.06972762e-01 -2.71503263e-03 3.06638210e+01] [ 4.66971073e-03 -5.30947509e-05 9.99989095e-01 3.21566442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:86.20, Y:30.68, Z:0.32 [[ 8.09561832e-01 -5.87022315e-01 -3.80027263e-03 8.61969561e+01] [ 5.87016041e-01 8.09570751e-01 -2.71421154e-03 3.06825688e+01] [ 4.66989231e-03 -3.34989289e-05 9.99989095e-01 3.20741337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.53105275399999 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:86.23, Y:30.70, Z:0.32 [[ 8.12458714e-01 -5.83006339e-01 -3.80099555e-03 8.62251633e+01] [ 5.83000025e-01 8.12467605e-01 -2.71319877e-03 3.06984734e+01] [ 4.66999784e-03 -1.16185174e-05 9.99989095e-01 3.19752497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56105275399999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:86.25, Y:30.72, Z:0.32 [[ 8.14302286e-01 -5.80428579e-01 -3.80163213e-03 8.62523828e+01] [ 5.80422241e-01 8.14311160e-01 -2.71230653e-03 3.07166102e+01] [ 4.67001169e-03 2.08556027e-06 9.99989095e-01 3.19563197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.59105275399999 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:86.28, Y:30.74, Z:0.32 [[ 8.18146067e-01 -5.74997874e-01 -3.80235749e-03 8.62777165e+01] [ 5.74991483e-01 8.18154902e-01 -2.71128928e-03 3.07371048e+01] [ 4.66990299e-03 3.19074897e-05 9.99989095e-01 3.20764269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62105275399999 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:86.30, Y:30.76, Z:0.32 [[ 8.21123625e-01 -5.70737706e-01 -3.80298784e-03 8.63022877e+01] [ 5.70731273e-01 8.21132430e-01 -2.71040483e-03 3.07567051e+01] [ 4.66968688e-03 5.50933503e-05 9.99989095e-01 3.24261447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.65105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:86.33, Y:30.78, Z:0.33 [[ 8.21273623e-01 -5.70521841e-01 -3.80333356e-03 8.63292170e+01] [ 5.70515408e-01 8.21282427e-01 -2.70991961e-03 3.07755085e+01] [ 4.66967935e-03 5.57250966e-05 9.99989095e-01 3.26155356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68105275399999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:86.36, Y:30.80, Z:0.33 [[ 8.22693803e-01 -5.68472018e-01 -3.80405643e-03 8.63560363e+01] [ 5.68465568e-01 8.22702595e-01 -2.70890450e-03 3.07956799e+01] [ 4.66954351e-03 6.61238505e-05 9.99989095e-01 3.26180962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.711052754 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:86.38, Y:30.81, Z:0.33 [[ 8.22387002e-01 -5.68915760e-01 -3.80477314e-03 8.63812837e+01] [ 5.68909319e-01 8.22395801e-01 -2.70789748e-03 3.08135667e+01] [ 4.66959501e-03 6.23687974e-05 9.99989095e-01 3.26803341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.741052754 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:86.41, Y:30.83, Z:0.33 [[ 8.21849848e-01 -5.69691448e-01 -3.80534915e-03 8.64081357e+01] [ 5.69685019e-01 8.21858656e-01 -2.70708779e-03 3.08333734e+01] [ 4.66966390e-03 5.69692860e-05 9.99989095e-01 3.28487248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.771052754 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:86.43, Y:30.85, Z:0.33 [[ 8.19431064e-01 -5.73165112e-01 -3.80605261e-03 8.64329109e+01] [ 5.73158725e-01 8.19439902e-01 -2.70609839e-03 3.08541163e+01] [ 4.66987256e-03 3.59888214e-05 9.99989095e-01 3.32766264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.801052754 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:86.46, Y:30.87, Z:0.33 [[ 8.18591418e-01 -5.74363647e-01 -3.80670820e-03 8.64603934e+01] [ 5.74357278e-01 8.18600269e-01 -2.70517585e-03 3.08731245e+01] [ 4.66992702e-03 2.80231765e-05 9.99989095e-01 3.33557519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.831052754 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:86.49, Y:30.89, Z:0.33 [[ 8.14916585e-01 -5.79565753e-01 -3.80742688e-03 8.64875865e+01] [ 5.79559445e-01 8.14925480e-01 -2.70416394e-03 3.08905240e+01] [ 4.67000999e-03 -2.96216176e-06 9.99989095e-01 3.32579958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.861052754 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:86.52, Y:30.91, Z:0.33 [[ 8.12016195e-01 -5.83622478e-01 -3.80809589e-03 8.65158262e+01] [ 5.83616219e-01 8.12025124e-01 -2.70322149e-03 3.09066677e+01] [ 4.66993037e-03 -2.74068945e-05 9.99989095e-01 3.30300233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.89105275399999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:86.54, Y:30.93, Z:0.33 [[ 8.10882212e-01 -5.85197002e-01 -3.80873501e-03 8.65434967e+01] [ 5.85190764e-01 8.10891156e-01 -2.70232070e-03 3.09251487e+01] [ 4.66985951e-03 -3.75727692e-05 9.99989095e-01 3.30583717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92105275399999 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:86.57, Y:30.95, Z:0.33 [[ 8.09814905e-01 -5.86673084e-01 -3.80940976e-03 8.65696266e+01] [ 5.86666867e-01 8.09823863e-01 -2.70136919e-03 3.09463539e+01] [ 4.66977152e-03 -4.72454574e-05 9.99989095e-01 3.34681174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.95105275399999 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:86.60, Y:30.97, Z:0.34 [[ 8.09760527e-01 -5.86748133e-01 -3.81010197e-03 8.65954782e+01] [ 5.86741921e-01 8.09769489e-01 -2.70039252e-03 3.09667913e+01] [ 4.66975459e-03 -4.88752818e-05 9.99989095e-01 3.36203941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98105275399999 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:86.62, Y:30.98, Z:0.33 [[ 8.10785914e-01 -5.85330402e-01 -3.81080211e-03 8.66222117e+01] [ 5.85324179e-01 8.10794868e-01 -2.69940411e-03 3.09846863e+01] [ 4.66982209e-03 -4.19157870e-05 9.99989095e-01 3.34470909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.01105275399999 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:86.65, Y:31.00, Z:0.33 [[ 8.10786201e-01 -5.85330000e-01 -3.81145099e-03 8.66498508e+01] [ 5.85323782e-01 8.10795158e-01 -2.69848760e-03 3.10012781e+01] [ 4.66981176e-03 -4.30363966e-05 9.99989095e-01 3.31494384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04105275399999 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:86.68, Y:31.02, Z:0.33 [[ 8.10932902e-01 -5.85126737e-01 -3.81187558e-03 8.66773802e+01] [ 5.85120519e-01 8.10941860e-01 -2.69788770e-03 3.10206370e+01] [ 4.66981570e-03 -4.26007198e-05 9.99989095e-01 3.31651152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.071052754 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:86.71, Y:31.04, Z:0.33 [[ 8.12711837e-01 -5.82653357e-01 -3.81255164e-03 8.67065983e+01] [ 5.82647116e-01 8.12720779e-01 -2.69693198e-03 3.10369951e+01] [ 4.66991641e-03 -2.95436730e-05 9.99989095e-01 3.28218417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.101052754 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:86.73, Y:31.06, Z:0.33 [[ 8.13804503e-01 -5.81126225e-01 -3.81325191e-03 8.67338624e+01] [ 5.81119972e-01 8.13813437e-01 -2.69594149e-03 3.10557098e+01] [ 4.66995794e-03 -2.19875167e-05 9.99989095e-01 3.27595247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.131052754 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:86.76, Y:31.07, Z:0.33 [[ 8.14687929e-01 -5.79887085e-01 -3.81395701e-03 8.67603295e+01] [ 5.79880823e-01 8.14696857e-01 -2.69494362e-03 3.10741377e+01] [ 4.66998178e-03 -1.61024901e-05 9.99989095e-01 3.29303932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.161052754 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:86.79, Y:31.09, Z:0.33 [[ 8.15953465e-01 -5.78105001e-01 -3.81439472e-03 8.67874986e+01] [ 5.78098723e-01 8.15962381e-01 -2.69432394e-03 3.10931303e+01] [ 4.67000474e-03 -6.65375543e-06 9.99989095e-01 3.30304238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.191052754 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:86.81, Y:31.11, Z:0.33 [[ 8.18669786e-01 -5.74251884e-01 -3.81508829e-03 8.68149722e+01] [ 5.74245568e-01 8.18678675e-01 -2.69334151e-03 3.11109509e+01] [ 4.66998786e-03 1.41597727e-05 9.99989095e-01 3.28296231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.221052754 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:86.84, Y:31.13, Z:0.33 [[ 8.20274310e-01 -5.71957600e-01 -3.81578332e-03 8.68420767e+01] [ 5.71951264e-01 8.20283185e-01 -2.69235647e-03 3.11290352e+01] [ 4.66993664e-03 2.60287517e-05 9.99989095e-01 3.26606065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.25105275399999 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:86.87, Y:31.15, Z:0.32 [[ 8.22347457e-01 -5.68972842e-01 -3.81642906e-03 8.68687905e+01] [ 5.68966477e-01 8.22356312e-01 -2.69144081e-03 3.11457909e+01] [ 4.66982126e-03 4.18793059e-05 9.99989095e-01 3.22248195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28105275399999 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:86.89, Y:31.16, Z:0.32 [[ 8.23733079e-01 -5.66964942e-01 -3.81698185e-03 8.68949980e+01] [ 5.66958560e-01 8.23741921e-01 -2.69065662e-03 3.11641135e+01] [ 4.66971594e-03 5.23123320e-05 9.99989095e-01 3.22263242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.31105275399999 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:86.92, Y:31.18, Z:0.32 [[ 8.24226052e-01 -5.66248039e-01 -3.81761482e-03 8.69225737e+01] [ 5.66241653e-01 8.24234891e-01 -2.68975824e-03 3.11832519e+01] [ 4.66968166e-03 5.52762914e-05 9.99989095e-01 3.23273972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34105275399999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:86.95, Y:31.20, Z:0.33 [[ 8.24477526e-01 -5.65881816e-01 -3.81830590e-03 8.69491544e+01] [ 5.65875431e-01 8.24486366e-01 -2.68877685e-03 3.12021202e+01] [ 4.66967108e-03 5.61505902e-05 9.99989095e-01 3.25825266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.37105275399999 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:86.98, Y:31.22, Z:0.33 [[ 8.24129047e-01 -5.66389204e-01 -3.81895027e-03 8.69758384e+01] [ 5.66382828e-01 8.24137893e-01 -2.68786131e-03 3.12216378e+01] [ 4.66971726e-03 5.21567249e-05 9.99989095e-01 3.27168315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40105275399999 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:87.00, Y:31.24, Z:0.33 [[ 8.23817527e-01 -5.66842212e-01 -3.81962883e-03 8.70025441e+01] [ 5.66835845e-01 8.23826380e-01 -2.68689668e-03 3.12404855e+01] [ 4.66975745e-03 4.84100407e-05 9.99989095e-01 3.28609861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.43105275399999 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:87.03, Y:31.26, Z:0.33 [[ 8.23066310e-01 -5.67932438e-01 -3.82030441e-03 8.70298246e+01] [ 5.67926088e-01 8.23075175e-01 -2.68593578e-03 3.12575308e+01] [ 4.66982778e-03 4.10527163e-05 9.99989095e-01 3.30270888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.461052754 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:87.06, Y:31.27, Z:0.33 [[ 8.22872335e-01 -5.68213446e-01 -3.82093338e-03 8.70569338e+01] [ 5.68207104e-01 8.22881205e-01 -2.68504073e-03 3.12749448e+01] [ 4.66985051e-03 3.83642425e-05 9.99989095e-01 3.31672813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.491052754 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:87.08, Y:31.29, Z:0.33 [[ 8.22671397e-01 -5.68504328e-01 -3.82134838e-03 8.70846643e+01] [ 5.68497991e-01 8.22680271e-01 -2.68444998e-03 3.12937086e+01] [ 4.66986935e-03 3.59913443e-05 9.99989095e-01 3.32824970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.521052754 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:87.11, Y:31.31, Z:0.34 [[ 8.22045740e-01 -5.69408635e-01 -3.82200723e-03 8.71123700e+01] [ 5.69402313e-01 8.22054624e-01 -2.68351161e-03 3.13118762e+01] [ 4.66991340e-03 2.97095335e-05 9.99989095e-01 3.35079638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.551052754 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:87.14, Y:31.33, Z:0.34 [[ 8.21858101e-01 -5.69679426e-01 -3.82266382e-03 8.71400027e+01] [ 5.69673111e-01 8.21866991e-01 -2.68257596e-03 3.13307862e+01] [ 4.66992955e-03 2.70279974e-05 9.99989095e-01 3.35226029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.581052754 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:87.17, Y:31.35, Z:0.33 [[ 8.21177646e-01 -5.70659843e-01 -3.82332278e-03 8.71674951e+01] [ 5.70653542e-01 8.21186546e-01 -2.68163646e-03 3.13478987e+01] [ 4.66996347e-03 2.03072277e-05 9.99989095e-01 3.31536530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.61105275399999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:87.20, Y:31.37, Z:0.33 [[ 8.20760642e-01 -5.71259438e-01 -3.82393599e-03 8.71955354e+01] [ 5.71253148e-01 8.20769550e-01 -2.68076175e-03 3.13661822e+01] [ 4.66998068e-03 1.58282661e-05 9.99989095e-01 3.29836383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64105275399999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:87.22, Y:31.38, Z:0.33 [[ 8.18635375e-01 -5.74300876e-01 -3.82458659e-03 8.72226320e+01] [ 5.74294623e-01 8.18644309e-01 -2.67983323e-03 3.13819517e+01] [ 4.67000662e-03 -2.63323093e-06 9.99989095e-01 3.26929472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.67105275399999 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:87.25, Y:31.40, Z:0.32 [[ 8.17742518e-01 -5.75571494e-01 -3.82490514e-03 8.72498622e+01] [ 5.75565257e-01 8.17751463e-01 -2.67937849e-03 3.13993813e+01] [ 4.66999566e-03 -1.04407971e-05 9.99989095e-01 3.24891984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70105275399999 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:87.28, Y:31.42, Z:0.32 [[ 8.16064844e-01 -5.77947694e-01 -3.82546159e-03 8.72769866e+01] [ 5.77941487e-01 8.16073810e-01 -2.67858379e-03 3.14170088e+01] [ 4.66994034e-03 -2.49948974e-05 9.99989095e-01 3.22288897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.73105275399999 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:87.30, Y:31.44, Z:0.32 [[ 8.15763490e-01 -5.78372968e-01 -3.82601515e-03 8.73036534e+01] [ 5.78366770e-01 8.15772461e-01 -2.67779286e-03 3.14359826e+01] [ 4.66992081e-03 -2.83943763e-05 9.99989095e-01 3.24839657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76105275399999 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:87.33, Y:31.45, Z:0.32 [[ 8.15667124e-01 -5.78508858e-01 -3.82673680e-03 8.73306437e+01] [ 5.78502666e-01 8.15676100e-01 -2.67676119e-03 3.14542080e+01] [ 4.66990781e-03 -3.04313432e-05 9.99989095e-01 3.23735795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.79105275399999 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:87.36, Y:31.47, Z:0.33 [[ 8.16365049e-01 -5.77523558e-01 -3.82718490e-03 8.73581566e+01] [ 5.77517358e-01 8.16374019e-01 -2.67612034e-03 3.14733231e+01] [ 4.66993686e-03 -2.55745995e-05 9.99989095e-01 3.25628772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.821052754 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:87.38, Y:31.49, Z:0.33 [[ 8.17280992e-01 -5.76226629e-01 -3.82788673e-03 8.73847722e+01] [ 5.76220419e-01 8.17289956e-01 -2.67511609e-03 3.14929996e+01] [ 4.66996650e-03 -1.93849640e-05 9.99989095e-01 3.27024189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.851052754 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:87.41, Y:31.51, Z:0.33 [[ 8.19444743e-01 -5.73145405e-01 -3.82858917e-03 8.74107118e+01] [ 5.73139167e-01 8.19453687e-01 -2.67411039e-03 3.15133369e+01] [ 4.67000559e-03 -3.02870382e-06 9.99989095e-01 3.29335032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.881052754 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:87.44, Y:31.53, Z:0.33 [[ 8.20490046e-01 -5.71647987e-01 -3.82929919e-03 8.74369401e+01] [ 5.71641737e-01 8.20498982e-01 -2.67309325e-03 3.15323165e+01] [ 4.67000446e-03 4.25916478e-06 9.99989095e-01 3.29302571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.911052754 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:87.46, Y:31.55, Z:0.33 [[ 8.22082302e-01 -5.69355796e-01 -3.82974103e-03 8.74624659e+01] [ 5.69349524e-01 8.22091222e-01 -2.67246008e-03 3.15519215e+01] [ 4.66997712e-03 1.65209063e-05 9.99989095e-01 3.29128009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.941052754 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:87.49, Y:31.57, Z:0.33 [[ 8.23718807e-01 -5.66985586e-01 -3.83039627e-03 8.74883850e+01] [ 5.66979293e-01 8.23727712e-01 -2.67152061e-03 3.15711570e+01] [ 4.66991723e-03 2.88264026e-05 9.99989095e-01 3.29743358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.971052754 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:87.52, Y:31.59, Z:0.33 [[ 8.24402949e-01 -5.65990373e-01 -3.83080151e-03 8.75152995e+01] [ 5.65984072e-01 8.24411849e-01 -2.67093939e-03 3.15907550e+01] [ 4.66988414e-03 3.37576675e-05 9.99989095e-01 3.32233060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00105275399999 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:87.54, Y:31.61, Z:0.33 [[ 8.25060717e-01 -5.65031090e-01 -3.83148944e-03 8.75426828e+01] [ 5.65024783e-01 8.25069613e-01 -2.66995218e-03 3.16102238e+01] [ 4.66985150e-03 3.79861712e-05 9.99989095e-01 3.33777666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.03105275399999 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:87.57, Y:31.63, Z:0.33 [[ 8.27111046e-01 -5.62025473e-01 -3.83219268e-03 8.75681104e+01] [ 5.62019138e-01 8.27119922e-01 -2.66894243e-03 3.16292199e+01] [ 4.66969654e-03 5.37461344e-05 9.99989095e-01 3.34498514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06105275399999 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:87.59, Y:31.65, Z:0.33 [[ 8.28660483e-01 -5.59738433e-01 -3.83284706e-03 8.75940055e+01] [ 5.59732078e-01 8.28669344e-01 -2.66800236e-03 3.16489214e+01] [ 4.66954632e-03 6.55006689e-05 9.99989095e-01 3.34673539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.09105275399999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:87.62, Y:31.67, Z:0.34 [[ 8.32387310e-01 -5.54181081e-01 -3.83349596e-03 8.76202811e+01] [ 5.54174672e-01 8.32396132e-01 -2.66706967e-03 3.16694743e+01] [ 4.66902676e-03 9.56085797e-05 9.99989095e-01 3.35750723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:87.65, Y:31.69, Z:0.34 [[ 8.34662914e-01 -5.50747782e-01 -3.83419042e-03 8.76468913e+01] [ 5.50741340e-01 8.34671713e-01 -2.66607093e-03 3.16887564e+01] [ 4.66862294e-03 1.13623360e-04 9.99989095e-01 3.35578116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.15105275399999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:87.69, Y:31.71, Z:0.33 [[ 8.35622135e-01 -5.49291308e-01 -3.83490373e-03 8.76941151e+01] [ 5.49284856e-01 8.35630926e-01 -2.66504450e-03 3.17085613e+01] [ 4.66844994e-03 1.20515626e-04 9.99989095e-01 3.34580749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18105275399999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:87.72, Y:31.73, Z:0.33 [[ 8.35094253e-01 -5.50092687e-01 -3.95274946e-03 8.77204547e+01] [ 5.50087037e-01 8.35103603e-01 -2.49495082e-03 3.17269879e+01] [ 4.67340952e-03 -9.08371455e-05 9.99989075e-01 3.34856910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.211052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:87.75, Y:31.75, Z:0.33 [[ 8.34216248e-01 -5.51423259e-01 -3.95485772e-03 8.77508536e+01] [ 5.51417638e-01 8.34225616e-01 -2.49190628e-03 3.17471755e+01] [ 4.67333870e-03 -1.01989597e-04 9.99989075e-01 3.31783760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.241052754 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:87.77, Y:31.77, Z:0.33 [[ 8.32094028e-01 -5.54620237e-01 -3.99006093e-03 8.77749077e+01] [ 5.54614895e-01 8.32103575e-01 -2.44113780e-03 3.17657995e+01] [ 4.67404839e-03 -1.81691032e-04 9.99989060e-01 3.28882081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.271052754 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:87.77, Y:31.78, Z:0.33 [[ 8.27325870e-01 -5.61708183e-01 -3.97768263e-03 8.77729077e+01] [ 5.61702836e-01 8.27335408e-01 -2.45896076e-03 3.17799203e+01] [ 4.67209606e-03 -1.99913759e-04 9.99989066e-01 3.27402350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.301052754 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:87.82, Y:31.80, Z:0.33 [[ 8.25562935e-01 -5.64297064e-01 -3.82927701e-03 8.78211858e+01] [ 5.64290741e-01 8.25571815e-01 -2.67166933e-03 3.18015993e+01] [ 4.66895833e-03 4.48056108e-05 9.99989099e-01 3.30817045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.331052754 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:87.85, Y:31.82, Z:0.33 [[ 8.23889575e-01 -5.66736534e-01 -3.95830954e-03 8.78476712e+01] [ 5.66731114e-01 8.23899061e-01 -2.48627451e-03 3.18211004e+01] [ 4.67031011e-03 -1.94881525e-04 9.99989075e-01 3.33140103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36105275399999 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:87.87, Y:31.84, Z:0.34 [[ 8.20736243e-01 -5.71293580e-01 -3.95790460e-03 8.78699604e+01] [ 5.71288209e-01 8.20745757e-01 -2.48685622e-03 3.18423903e+01] [ 4.66915840e-03 -2.20051205e-04 9.99989075e-01 3.38036752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.39105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:87.89, Y:31.86, Z:0.34 [[ 8.18374532e-01 -5.74671631e-01 -3.95481052e-03 8.78949935e+01] [ 5.74666279e-01 8.18384055e-01 -2.49129870e-03 3.18616239e+01] [ 4.66823256e-03 -2.33880842e-04 9.99989076e-01 3.38654156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42105275399999 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:87.92, Y:31.88, Z:0.34 [[ 8.14643877e-01 -5.79948040e-01 -3.95272184e-03 8.79226718e+01] [ 5.79942735e-01 8.14653425e-01 -2.49429437e-03 3.18817381e+01] [ 4.66665951e-03 -2.60390674e-04 9.99989077e-01 3.40710153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.45105275399999 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:87.95, Y:31.90, Z:0.33 [[ 8.11068681e-01 -5.84937452e-01 -3.97145371e-03 8.79461458e+01] [ 5.84932336e-01 8.11078340e-01 -2.46746699e-03 3.18996246e+01] [ 4.66447394e-03 -3.21746505e-04 9.99989070e-01 3.33624036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48105275399999 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:87.97, Y:31.92, Z:0.34 [[ 8.09591135e-01 -5.86980934e-01 -3.94678565e-03 8.79718333e+01] [ 5.86975671e-01 8.09600703e-01 -2.50271858e-03 3.19189845e+01] [ 4.66436852e-03 -2.90488381e-04 9.99989080e-01 3.38735927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.51105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:88.00, Y:31.94, Z:0.34 [[ 8.06340987e-01 -5.91437753e-01 -3.94921639e-03 8.79960012e+01] [ 5.91432559e-01 8.06350595e-01 -2.49924613e-03 3.19403866e+01] [ 4.66260150e-03 -3.20450565e-04 9.99989079e-01 3.37814019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54105275399999 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:88.02, Y:31.96, Z:0.34 [[ 8.04420305e-01 -5.94047455e-01 -3.94903529e-03 8.80213312e+01] [ 5.94042291e-01 8.04429928e-01 -2.49950462e-03 3.19577421e+01] [ 4.66154653e-03 -3.35241705e-04 9.99989079e-01 3.41577293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.571052754 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:88.05, Y:31.98, Z:0.34 [[ 8.04057585e-01 -5.94538411e-01 -3.93409928e-03 8.80453471e+01] [ 5.94533149e-01 8.04067149e-01 -2.52075071e-03 3.19766379e+01] [ 4.66196311e-03 -3.12123705e-04 9.99989084e-01 3.38076822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.601052754 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:88.07, Y:31.99, Z:0.34 [[ 8.03813243e-01 -5.94868755e-01 -3.92867161e-03 8.80725016e+01] [ 5.94863459e-01 8.03822786e-01 -2.52846418e-03 3.19948985e+01] [ 4.66206010e-03 -3.04610191e-04 9.99989086e-01 3.35038806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.631052754 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:88.08, Y:32.01, Z:0.33 [[ 8.05205720e-01 -5.92982526e-01 -3.93362041e-03 8.80772517e+01] [ 5.92977242e-01 8.05215271e-01 -2.52143333e-03 3.20092431e+01] [ 4.66257713e-03 -3.02274842e-04 9.99989084e-01 3.33557711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.661052754 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:88.13, Y:32.03, Z:0.34 [[ 8.06084935e-01 -5.91787582e-01 -3.81249263e-03 8.81255594e+01] [ 5.91781461e-01 8.06093947e-01 -2.69291978e-03 3.20327532e+01] [ 4.66686371e-03 -8.54403892e-05 9.99989106e-01 3.36189316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.691052754 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:88.15, Y:32.05, Z:0.34 [[ 8.07805169e-01 -5.89436339e-01 -3.95112436e-03 8.81480809e+01] [ 5.89431136e-01 8.07814771e-01 -2.49625661e-03 3.20512114e+01] [ 4.66316098e-03 -3.12426723e-04 9.99989079e-01 3.37022264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.721052754 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:88.15, Y:32.07, Z:0.34 [[ 8.13417992e-01 -5.81666349e-01 -3.92789106e-03 8.81517884e+01] [ 5.81660895e-01 8.13427444e-01 -2.52917647e-03 3.20656500e+01] [ 4.66619123e-03 -2.27422984e-04 9.99989087e-01 3.36337927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.75105275399999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:88.20, Y:32.09, Z:0.34 [[ 8.13125501e-01 -5.82075951e-01 -3.80878700e-03 8.81977037e+01] [ 5.82069702e-01 8.13134421e-01 -2.69735683e-03 3.20879432e+01] [ 4.66712236e-03 -2.36898893e-05 9.99989109e-01 3.37478389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78105275399999 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:88.22, Y:32.11, Z:0.33 [[ 8.15269020e-01 -5.79069065e-01 -3.92979239e-03 8.82243443e+01] [ 5.79063595e-01 8.15278463e-01 -2.52608680e-03 3.21060702e+01] [ 4.66665382e-03 -2.16159404e-04 9.99989088e-01 3.34837125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.81105275399999 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:88.24, Y:32.12, Z:0.33 [[ 8.19934809e-01 -5.72443447e-01 -3.92555774e-03 8.82431953e+01] [ 5.72437872e-01 8.19944188e-01 -2.53207305e-03 3.21218774e+01] [ 4.66820688e-03 -1.71003089e-04 9.99989089e-01 3.34078036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84105275399999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:88.26, Y:32.14, Z:0.33 [[ 8.19205290e-01 -5.73487269e-01 -3.87880715e-03 8.82551550e+01] [ 5.73481392e-01 8.19214467e-01 -2.59802090e-03 3.21370953e+01] [ 4.66750685e-03 -9.61112545e-05 9.99989103e-01 3.29146478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.87105275399999 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:88.29, Y:32.16, Z:0.33 [[ 8.22012291e-01 -5.69457038e-01 -3.80455172e-03 8.82944576e+01] [ 5.69450628e-01 8.22021094e-01 -2.70255488e-03 3.21569944e+01] [ 4.66641066e-03 5.50289602e-05 9.99989111e-01 3.30073402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90105275399999 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:88.32, Y:32.18, Z:0.33 [[ 8.24679161e-01 -5.65587482e-01 -3.88356181e-03 8.83204962e+01] [ 5.65581550e-01 8.24688303e-01 -2.59120950e-03 3.21764407e+01] [ 4.66828365e-03 -5.95544326e-05 9.99989102e-01 3.32898601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.93105275399999 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:88.35, Y:32.19, Z:0.33 [[ 8.24524532e-01 -5.65812866e-01 -3.88542377e-03 8.83460398e+01] [ 5.65806948e-01 8.24533684e-01 -2.58858720e-03 3.21949382e+01] [ 4.66831872e-03 -6.40461212e-05 9.99989101e-01 3.33043990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.961052754 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:88.38, Y:32.22, Z:0.34 [[ 8.19346479e-01 -5.73285503e-01 -3.88321353e-03 8.83771333e+01] [ 5.73279654e-01 8.19355675e-01 -2.59169787e-03 3.22173233e+01] [ 4.66751585e-03 -1.02668781e-04 9.99989102e-01 3.36323388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.991052754 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:88.38, Y:32.23, Z:0.34 [[ 8.26455565e-01 -5.62988270e-01 -3.92512184e-03 8.83814968e+01] [ 5.62982586e-01 8.26464878e-01 -2.53267677e-03 3.22308158e+01] [ 4.66984266e-03 -1.16630432e-04 9.99989089e-01 3.36858953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.021052754 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:88.41, Y:32.25, Z:0.34 [[ 8.28509298e-01 -5.59962412e-01 -3.80017906e-03 8.84084979e+01] [ 5.59955875e-01 8.28518005e-01 -2.70801045e-03 3.22500879e+01] [ 4.66490084e-03 1.15679244e-04 9.99989113e-01 3.38180773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.051052754 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:88.45, Y:32.27, Z:0.34 [[ 8.34574784e-01 -5.50881551e-01 -3.80090656e-03 8.84497389e+01] [ 5.50874925e-01 8.34583423e-01 -2.70698896e-03 3.22707162e+01] [ 4.66340389e-03 1.65360611e-04 9.99989113e-01 3.44136697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.081052754 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:88.46, Y:32.29, Z:0.34 [[ 8.31271803e-01 -5.55852461e-01 -3.90280729e-03 8.84580988e+01] [ 5.55846550e-01 8.31280964e-01 -2.56361862e-03 3.22869869e+01] [ 4.66932312e-03 -3.82980985e-05 9.99989098e-01 3.42947178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.11105275399999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:88.48, Y:32.30, Z:0.35 [[ 8.32803345e-01 -5.53555914e-01 -3.79998342e-03 8.84839725e+01] [ 5.53549311e-01 8.32812000e-01 -2.70791044e-03 3.23048017e+01] [ 4.66365163e-03 1.51678668e-04 9.99989114e-01 3.45440702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14105275399999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:88.53, Y:32.33, Z:0.35 [[ 8.36505588e-01 -5.47945214e-01 -3.80055872e-03 8.85273913e+01] [ 5.47938557e-01 8.36514202e-01 -2.70710278e-03 3.23254164e+01] [ 4.66256535e-03 1.82033944e-04 9.99989114e-01 3.48248449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.17105275399999 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:88.56, Y:32.34, Z:0.35 [[ 8.35231216e-01 -5.49885064e-01 -3.90283677e-03 8.85559904e+01] [ 5.49879089e-01 8.35240334e-01 -2.56356977e-03 3.23430333e+01] [ 4.66947542e-03 -4.91483033e-06 9.99989098e-01 3.50726916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20105275399999 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:88.56, Y:32.36, Z:0.35 [[ 8.28359235e-01 -5.60183593e-01 -3.91407040e-03 8.85591644e+01] [ 5.60177805e-01 8.28368478e-01 -2.54779111e-03 3.23586214e+01] [ 4.66952332e-03 -8.20890746e-05 9.99989094e-01 3.46780038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.23105275399999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:88.59, Y:32.38, Z:0.35 [[ 8.25899688e-01 -5.63804301e-01 -3.79667430e-03 8.85860206e+01] [ 5.63797787e-01 8.25908409e-01 -2.71213236e-03 3.23779039e+01] [ 4.66481712e-03 9.93927028e-05 9.99989115e-01 3.46628420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26105275399999 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:88.63, Y:32.40, Z:0.35 [[ 8.25709509e-01 -5.64082783e-01 -3.79737748e-03 8.86334397e+01] [ 5.64076276e-01 8.25718235e-01 -2.71114744e-03 3.23973354e+01] [ 4.66487543e-03 9.66096689e-05 9.99989115e-01 3.48292729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.29105275399999 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:88.64, Y:32.41, Z:0.34 [[ 8.17426278e-01 -5.76019894e-01 -3.91938875e-03 8.86358192e+01] [ 5.76014321e-01 8.17435654e-01 -2.54032685e-03 3.24129218e+01] [ 4.66712691e-03 -1.81094125e-04 9.99989093e-01 3.43979639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.321052754 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:88.66, Y:32.43, Z:0.34 [[ 8.11415817e-01 -5.84457007e-01 -3.79196648e-03 8.86608027e+01] [ 5.84450687e-01 8.11424677e-01 -2.71809181e-03 3.24308851e+01] [ 4.66550298e-03 -1.07147208e-05 9.99989116e-01 3.42152462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.351052754 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:88.69, Y:32.45, Z:0.34 [[ 8.08344387e-01 -5.88697690e-01 -3.79228013e-03 8.86874847e+01] [ 5.88691418e-01 8.08353282e-01 -2.71765413e-03 3.24494678e+01] [ 4.66537880e-03 -3.56823065e-05 9.99989116e-01 3.40710660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.381052754 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:88.71, Y:32.47, Z:0.34 [[ 8.03240757e-01 -5.95642427e-01 -3.79272044e-03 8.87146330e+01] [ 5.95636235e-01 8.03249708e-01 -2.71703950e-03 3.24686340e+01] [ 4.66488559e-03 -7.66448592e-05 9.99989116e-01 3.38889083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.411052754 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:88.74, Y:32.49, Z:0.34 [[ 8.01820030e-01 -5.97553553e-01 -3.79343162e-03 8.87415828e+01] [ 5.97547387e-01 8.01828999e-01 -2.71604621e-03 3.24882220e+01] [ 4.66466654e-03 -8.89748976e-05 9.99989116e-01 3.39661548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.441052754 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:88.77, Y:32.51, Z:0.34 [[ 8.03773075e-01 -5.94923901e-01 -3.79416505e-03 8.87687612e+01] [ 5.94917710e-01 8.03782027e-01 -2.71502127e-03 3.25076213e+01] [ 4.66491272e-03 -7.49549821e-05 9.99989116e-01 3.39839791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.471052754 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:88.79, Y:32.53, Z:0.34 [[ 8.04264255e-01 -5.94259714e-01 -3.79490277e-03 8.87947250e+01] [ 5.94253521e-01 8.04273205e-01 -2.71398973e-03 3.25262352e+01] [ 4.66495337e-03 -7.23694094e-05 9.99989116e-01 3.42239585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50105275399999 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:88.82, Y:32.55, Z:0.34 [[ 8.06617201e-01 -5.91061999e-01 -3.79536240e-03 8.88205134e+01] [ 5.91055774e-01 8.06626128e-01 -2.71334681e-03 3.25452958e+01] [ 4.66519467e-03 -5.46386526e-05 9.99989116e-01 3.44354263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.53105275399999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:88.85, Y:32.56, Z:0.34 [[ 8.07636493e-01 -5.89668454e-01 -3.79597497e-03 8.88476245e+01] [ 5.89662217e-01 8.07645413e-01 -2.71248956e-03 3.25640441e+01] [ 4.66527129e-03 -4.76374552e-05 9.99989116e-01 3.43872882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56105275399999 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:88.88, Y:32.58, Z:0.34 [[ 8.09413225e-01 -5.87227227e-01 -3.79669444e-03 8.88750739e+01] [ 5.87220968e-01 8.09422129e-01 -2.71148213e-03 3.25826170e+01] [ 4.66538463e-03 -3.47890887e-05 9.99989116e-01 3.43078945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.59105275399999 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:88.90, Y:32.60, Z:0.34 [[ 8.11572125e-01 -5.84239904e-01 -3.79740879e-03 8.89027699e+01] [ 5.84233617e-01 8.11581009e-01 -2.71048132e-03 3.25998376e+01] [ 4.66547621e-03 -1.88227934e-05 9.99989116e-01 3.41810376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62105275399999 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:88.93, Y:32.62, Z:0.34 [[ 8.13324069e-01 -5.81798533e-01 -3.79807783e-03 8.89301886e+01] [ 5.81792224e-01 8.13332937e-01 -2.70954350e-03 3.26185636e+01] [ 4.66551023e-03 -5.95519883e-06 9.99989116e-01 3.42796164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.65105275399999 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:88.96, Y:32.64, Z:0.35 [[ 8.16096922e-01 -5.77902572e-01 -3.79877964e-03 8.89567249e+01] [ 5.77896225e-01 8.16105763e-01 -2.70855921e-03 3.26368234e+01] [ 4.66548929e-03 1.51464252e-05 9.99989116e-01 3.45261117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68105275399999 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:88.98, Y:32.66, Z:0.34 [[ 8.18277323e-01 -5.74811089e-01 -3.79943354e-03 8.89836929e+01] [ 5.74804712e-01 8.18286143e-01 -2.70764163e-03 3.26566529e+01] [ 4.66540625e-03 3.16694413e-05 9.99989116e-01 3.44999639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.711052754 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:89.01, Y:32.67, Z:0.34 [[ 8.20907545e-01 -5.71048476e-01 -3.80012429e-03 8.90097232e+01] [ 5.71042064e-01 8.20916339e-01 -2.70667183e-03 3.26731547e+01] [ 4.66522495e-03 5.18965139e-05 9.99989116e-01 3.44540657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.741052754 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:89.04, Y:32.69, Z:0.34 [[ 8.22721635e-01 -5.68431762e-01 -3.80045492e-03 8.90376408e+01] [ 5.68425324e-01 8.22730410e-01 -2.70620751e-03 3.26900720e+01] [ 4.66504414e-03 6.61806481e-05 9.99989116e-01 3.42776139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.771052754 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:89.07, Y:32.71, Z:0.34 [[ 8.23646233e-01 -5.67091206e-01 -3.80087920e-03 8.90654225e+01] [ 5.67084757e-01 8.23655000e-01 -2.70561149e-03 3.27077803e+01] [ 4.66494164e-03 7.30460530e-05 9.99989116e-01 3.41608969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.801052754 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:89.09, Y:32.73, Z:0.34 [[ 8.25211736e-01 -5.64810711e-01 -3.80155047e-03 8.90936064e+01] [ 5.64804242e-01 8.25220488e-01 -2.70466798e-03 3.27254130e+01] [ 4.66474278e-03 8.47919250e-05 9.99989116e-01 3.40664225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.831052754 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:89.12, Y:32.74, Z:0.34 [[ 8.28918314e-01 -5.59356749e-01 -3.80221928e-03 8.91206914e+01] [ 5.59350226e-01 8.28927026e-01 -2.70372744e-03 3.27425753e+01] [ 4.66411051e-03 1.14396979e-04 9.99989116e-01 3.37776055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86105275399999 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:89.15, Y:32.76, Z:0.34 [[ 8.30914764e-01 -5.56386730e-01 -3.80284142e-03 8.91477991e+01] [ 5.56380181e-01 8.30923456e-01 -2.70285211e-03 3.27612798e+01] [ 4.66370118e-03 1.30014125e-04 9.99989116e-01 3.38971715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.89105275399999 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:89.17, Y:32.78, Z:0.34 [[ 8.33449879e-01 -5.52581969e-01 -3.80353687e-03 8.91732283e+01] [ 5.52575384e-01 8.33458544e-01 -2.70187309e-03 3.27810159e+01] [ 4.66309666e-03 1.50134948e-04 9.99989116e-01 3.44367591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:89.20, Y:32.80, Z:0.35 [[ 8.33953305e-01 -5.51821904e-01 -3.80418583e-03 8.91990026e+01] [ 5.51815315e-01 8.33961968e-01 -2.70095905e-03 3.28007796e+01] [ 4.66299467e-03 1.53265724e-04 9.99989116e-01 3.47244620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.95105275399999 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:89.23, Y:32.82, Z:0.35 [[ 8.34427219e-01 -5.51105019e-01 -3.80459132e-03 8.92256360e+01] [ 5.51098425e-01 8.34435878e-01 -2.70038777e-03 3.28189201e+01] [ 4.66288474e-03 1.56572770e-04 9.99989116e-01 3.49296384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98105275399999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:89.25, Y:32.84, Z:0.35 [[ 8.33904651e-01 -5.51895419e-01 -3.80519464e-03 8.92530875e+01] [ 5.51888838e-01 8.33913319e-01 -2.69953734e-03 3.28373954e+01] [ 4.66306478e-03 1.51112293e-04 9.99989116e-01 3.50647216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.01105275399999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:89.28, Y:32.86, Z:0.35 [[ 8.32773768e-01 -5.53600368e-01 -3.80588134e-03 8.92804869e+01] [ 5.53593809e-01 8.32782452e-01 -2.69856886e-03 3.28555008e+01] [ 4.66339991e-03 1.40385011e-04 9.99989116e-01 3.51248576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04105275399999 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:89.31, Y:32.87, Z:0.35 [[ 8.29707568e-01 -5.58185330e-01 -3.80656674e-03 8.93074193e+01] [ 5.58178823e-01 8.29716292e-01 -2.69760170e-03 3.28724282e+01] [ 4.66413213e-03 1.13475603e-04 9.99989116e-01 3.50957316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.071052754 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:89.33, Y:32.89, Z:0.35 [[ 8.27945750e-01 -5.60795275e-01 -3.80720503e-03 8.93336023e+01] [ 5.60788799e-01 8.27954498e-01 -2.69670056e-03 3.28902828e+01] [ 4.66448946e-03 9.76838290e-05 9.99989116e-01 3.50838559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.101052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:89.36, Y:32.91, Z:0.35 [[ 8.25845022e-01 -5.63884297e-01 -3.80782921e-03 8.93606021e+01] [ 5.63877858e-01 8.25853797e-01 -2.69581891e-03 3.29077662e+01] [ 4.66484016e-03 7.91780445e-05 9.99989116e-01 3.51585049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.131052754 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:89.39, Y:32.93, Z:0.35 [[ 8.25730991e-01 -5.64051263e-01 -3.80844638e-03 8.93872503e+01] [ 5.64044830e-01 8.25739770e-01 -2.69494673e-03 3.29271062e+01] [ 4.66487375e-03 7.71665407e-05 9.99989116e-01 3.52284024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.161052754 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:89.41, Y:32.95, Z:0.35 [[ 8.24401978e-01 -5.65991934e-01 -3.80909816e-03 8.94145296e+01] [ 5.65985527e-01 8.24410775e-01 -2.69402518e-03 3.29457685e+01] [ 4.66505809e-03 6.50652524e-05 9.99989116e-01 3.51964068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.191052754 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:89.44, Y:32.96, Z:0.35 [[ 8.23506005e-01 -5.67294761e-01 -3.80976014e-03 8.94408835e+01] [ 5.67288372e-01 8.23514815e-01 -2.69308871e-03 3.29633197e+01] [ 4.66516904e-03 5.65420958e-05 9.99989116e-01 3.50974137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.221052754 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:89.47, Y:32.98, Z:0.35 [[ 8.21977697e-01 -5.69506933e-01 -3.81037669e-03 8.94697812e+01] [ 5.69500572e-01 8.21986527e-01 -2.69221609e-03 3.29806913e+01] [ 4.66531403e-03 4.29298772e-05 9.99989116e-01 3.48325593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.25105275399999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:89.50, Y:33.00, Z:0.34 [[ 8.18932076e-01 -5.73877801e-01 -3.81109334e-03 8.94970469e+01] [ 5.73871491e-01 8.18940944e-01 -2.69120122e-03 3.29967190e+01] [ 4.66548102e-03 1.68331814e-05 9.99989116e-01 3.44333575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28105275399999 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:89.52, Y:33.01, Z:0.34 [[ 8.17649545e-01 -5.75703651e-01 -3.81167097e-03 8.95241909e+01] [ 5.75697364e-01 8.17658429e-01 -2.69038286e-03 3.30138319e+01] [ 4.66550813e-03 5.42138896e-06 9.99989116e-01 3.41859099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.31105275399999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:89.55, Y:33.03, Z:0.34 [[ 8.15372305e-01 -5.78924409e-01 -3.81229108e-03 8.95520685e+01] [ 5.78918162e-01 8.15381217e-01 -2.68950387e-03 3.30298463e+01] [ 4.66548997e-03 -1.40575747e-05 9.99989116e-01 3.35553992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34105275399999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:89.58, Y:33.05, Z:0.33 [[ 8.14757725e-01 -5.79789024e-01 -3.81291151e-03 8.95781168e+01] [ 5.79782790e-01 8.14766646e-01 -2.68862400e-03 3.30478911e+01] [ 4.66546780e-03 -2.00833004e-05 9.99989116e-01 3.32954194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.37105275399999 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:89.60, Y:33.07, Z:0.33 [[ 8.12877038e-01 -5.82422852e-01 -3.81348352e-03 8.96027602e+01] [ 5.82416651e-01 8.12885983e-01 -2.68781242e-03 3.30672563e+01] [ 4.66537067e-03 -3.61753056e-05 9.99989116e-01 3.32612704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40105275399999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:89.63, Y:33.09, Z:0.34 [[ 8.12265974e-01 -5.83274756e-01 -3.81404702e-03 8.96289739e+01] [ 5.83268568e-01 8.12274927e-01 -2.68701256e-03 3.30869966e+01] [ 4.66532136e-03 -4.20448709e-05 9.99989116e-01 3.35407423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.43105275399999 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:89.65, Y:33.11, Z:0.34 [[ 8.10970354e-01 -5.85074810e-01 -3.81474127e-03 8.96539756e+01] [ 5.85068647e-01 8.10979324e-01 -2.68602658e-03 3.31060881e+01] [ 4.66520279e-03 -5.35975900e-05 9.99989116e-01 3.36711491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.461052754 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:89.68, Y:33.12, Z:0.34 [[ 8.10363374e-01 -5.85915221e-01 -3.81530095e-03 8.96791883e+01] [ 5.85909070e-01 8.10372353e-01 -2.68523136e-03 3.31240908e+01] [ 4.66513233e-03 -5.94062855e-05 9.99989116e-01 3.36305606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.491052754 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:89.71, Y:33.14, Z:0.34 [[ 8.08124404e-01 -5.88999480e-01 -3.81585369e-03 8.97061877e+01] [ 5.88993368e-01 8.08133409e-01 -2.68444566e-03 3.31426026e+01] [ 4.66485595e-03 -7.81464705e-05 9.99989116e-01 3.35995137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.521052754 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:89.73, Y:33.16, Z:0.34 [[ 8.07033849e-01 -5.90492846e-01 -3.81644492e-03 8.97329041e+01] [ 5.90486755e-01 8.07042868e-01 -2.68360485e-03 3.31622868e+01] [ 4.66468412e-03 -8.78002206e-05 9.99989116e-01 3.37841003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.551052754 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:89.76, Y:33.18, Z:0.34 [[ 8.06913510e-01 -5.90657274e-01 -3.81717051e-03 8.97579657e+01] [ 5.90651190e-01 8.06922534e-01 -2.68257237e-03 3.31830935e+01] [ 4.66464179e-03 -9.00124175e-05 9.99989116e-01 3.37956575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.581052754 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:89.78, Y:33.20, Z:0.34 [[ 8.07465857e-01 -5.89901953e-01 -3.81780179e-03 8.97834518e+01] [ 5.89895864e-01 8.07474878e-01 -2.68167364e-03 3.32015604e+01] [ 4.66470355e-03 -8.67455804e-05 9.99989116e-01 3.37303163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.61105275399999 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:89.81, Y:33.22, Z:0.34 [[ 8.10435653e-01 -5.85815220e-01 -3.81838346e-03 8.98077900e+01] [ 5.85809089e-01 8.10444646e-01 -2.68084515e-03 3.32207698e+01] [ 4.66506833e-03 -6.41912461e-05 9.99989116e-01 3.37182493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64105275399999 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:89.83, Y:33.24, Z:0.34 [[ 8.13066998e-01 -5.82157601e-01 -3.81892364e-03 8.98347086e+01] [ 5.82151433e-01 8.13075966e-01 -2.68007544e-03 3.32403389e+01] [ 4.66530131e-03 -4.41109805e-05 9.99989116e-01 3.37579890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.67105275399999 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:89.86, Y:33.26, Z:0.34 [[ 8.14276781e-01 -5.80464240e-01 -3.81963888e-03 8.98606900e+01] [ 5.80458059e-01 8.14285739e-01 -2.67905569e-03 3.32588718e+01] [ 4.66537349e-03 -3.56473228e-05 9.99989116e-01 3.36681392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70105275399999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:89.89, Y:33.28, Z:0.34 [[ 8.16346398e-01 -5.77549966e-01 -3.82030419e-03 8.98863484e+01] [ 5.77543757e-01 8.16355337e-01 -2.67810663e-03 3.32780940e+01] [ 4.66546611e-03 -2.01301299e-05 9.99989116e-01 3.36412586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.73105275399999 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:89.91, Y:33.30, Z:0.34 [[ 8.17942460e-01 -5.75287348e-01 -3.82096289e-03 8.99130834e+01] [ 5.75281119e-01 8.17951384e-01 -2.67716651e-03 3.32972448e+01] [ 4.66550191e-03 -8.35964726e-06 9.99989116e-01 3.36650575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76105275399999 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:89.94, Y:33.32, Z:0.34 [[ 8.20035167e-01 -5.72300375e-01 -3.82166820e-03 8.99399722e+01] [ 5.72294118e-01 8.20044072e-01 -2.67615930e-03 3.33163200e+01] [ 4.66550332e-03 7.42650860e-06 9.99989116e-01 3.36103164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.79105275399999 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:89.97, Y:33.33, Z:0.34 [[ 8.23871396e-01 -5.66763895e-01 -3.82237787e-03 8.99660696e+01] [ 5.66757583e-01 8.23880262e-01 -2.67514529e-03 3.33346528e+01] [ 4.66535744e-03 3.76140428e-05 9.99989116e-01 3.35187921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.821052754 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:89.99, Y:33.35, Z:0.34 [[ 8.25974952e-01 -5.63693857e-01 -3.82303817e-03 8.99931584e+01] [ 5.63687516e-01 8.25983797e-01 -2.67420131e-03 3.33543125e+01] [ 4.66519844e-03 5.38244080e-05 9.99989116e-01 3.36945972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.851052754 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:90.02, Y:33.37, Z:0.34 [[ 8.26128544e-01 -5.63468729e-01 -3.82376730e-03 9.00207861e+01] [ 5.63462390e-01 8.26137391e-01 -2.67315835e-03 3.33735464e+01] [ 4.66519828e-03 5.38233569e-05 9.99989116e-01 3.37102346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.881052754 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:90.05, Y:33.39, Z:0.34 [[ 8.30043978e-01 -5.57684828e-01 -3.82449553e-03 9.00470687e+01] [ 5.57678433e-01 8.30052785e-01 -2.67211606e-03 3.33921892e+01] [ 4.66473175e-03 8.51351655e-05 9.99989116e-01 3.38490752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.911052754 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:90.07, Y:33.41, Z:0.34 [[ 8.33271420e-01 -5.52850891e-01 -3.82517298e-03 9.00744852e+01] [ 5.52844449e-01 8.33280193e-01 -2.67114593e-03 3.34114834e+01] [ 4.66418629e-03 1.11063914e-04 9.99989116e-01 3.40333019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.941052754 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:90.10, Y:33.43, Z:0.34 [[ 8.35619846e-01 -5.49294854e-01 -3.82590395e-03 9.01013150e+01] [ 5.49288379e-01 8.35628594e-01 -2.67009855e-03 3.34301446e+01] [ 4.66370613e-03 1.29662757e-04 9.99989116e-01 3.40445250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.971052754 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:90.13, Y:33.45, Z:0.34 [[ 8.39510381e-01 -5.43330173e-01 -3.82663083e-03 9.01286411e+01] [ 5.43323641e-01 8.39519087e-01 -2.66905641e-03 3.34487748e+01] [ 4.66270850e-03 1.61601571e-04 9.99989116e-01 3.39849540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00105275399999 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:90.15, Y:33.47, Z:0.34 [[ 8.41704121e-01 -5.39925480e-01 -3.82735198e-03 9.01549628e+01] [ 5.39918918e-01 8.41712804e-01 -2.66802191e-03 3.34672928e+01] [ 4.66206417e-03 1.79225297e-04 9.99989116e-01 3.40878886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.03105275399999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:90.18, Y:33.49, Z:0.34 [[ 8.44181848e-01 -5.36043239e-01 -3.82802233e-03 9.01823172e+01] [ 5.36036641e-01 8.44190503e-01 -2.66705976e-03 3.34852017e+01] [ 4.66123945e-03 1.99523206e-04 9.99989116e-01 3.42222180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06105275399999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:90.21, Y:33.50, Z:0.34 [[ 8.45343913e-01 -5.34208770e-01 -3.82871971e-03 9.02091555e+01] [ 5.34202158e-01 8.45352557e-01 -2.66605825e-03 3.35038772e+01] [ 4.66084970e-03 2.08425786e-04 9.99989116e-01 3.43585081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.09105275399999 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:90.23, Y:33.52, Z:0.35 [[ 8.47769061e-01 -5.30351728e-01 -3.82942281e-03 9.02348432e+01] [ 5.30345081e-01 8.47777679e-01 -2.66504796e-03 3.35247430e+01] [ 4.65991197e-03 2.28429659e-04 9.99989116e-01 3.45324723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12105275399999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:90.26, Y:33.54, Z:0.35 [[ 8.48779142e-01 -5.28733674e-01 -3.83013825e-03 9.02608072e+01] [ 5.28727016e-01 8.48787751e-01 -2.66401934e-03 3.35439457e+01] [ 4.65953117e-03 2.36066484e-04 9.99989116e-01 3.46009544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.15105275399999 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:90.29, Y:33.56, Z:0.35 [[ 8.50185832e-01 -5.26468780e-01 -3.83080349e-03 9.02879374e+01] [ 5.26462103e-01 8.50194426e-01 -2.66306241e-03 3.35627230e+01] [ 4.65894699e-03 2.47325069e-04 9.99989116e-01 3.45945134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18105275399999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:90.32, Y:33.58, Z:0.34 [[ 8.50404217e-01 -5.26115946e-01 -3.83148771e-03 9.03155096e+01] [ 5.26109269e-01 8.50412812e-01 -2.66207762e-03 3.35810519e+01] [ 4.65890772e-03 2.48060839e-04 9.99989116e-01 3.44190738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.211052754 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:90.34, Y:33.60, Z:0.34 [[ 8.49770818e-01 -5.27138379e-01 -3.83219348e-03 9.03431654e+01] [ 5.27131718e-01 8.49779425e-01 -2.66106125e-03 3.36000644e+01] [ 4.65926668e-03 2.41221463e-04 9.99989116e-01 3.43743687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.241052754 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:90.37, Y:33.62, Z:0.34 [[ 8.47911992e-01 -5.30123157e-01 -3.83289752e-03 9.03683862e+01] [ 5.30116531e-01 8.47920626e-01 -2.66004678e-03 3.36193500e+01] [ 4.66014526e-03 2.23603231e-04 9.99989116e-01 3.43861760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.271052754 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:90.40, Y:33.64, Z:0.34 [[ 8.46093713e-01 -5.33020386e-01 -3.83355299e-03 9.03958040e+01] [ 5.33013793e-01 8.46102373e-01 -2.65910181e-03 3.36383391e+01] [ 4.66093375e-03 2.06512705e-04 9.99989116e-01 3.43575822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.301052754 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:90.42, Y:33.66, Z:0.34 [[ 8.42329632e-01 -5.38949060e-01 -3.83424883e-03 9.04237434e+01] [ 5.38942533e-01 8.42338341e-01 -2.65809807e-03 3.36567689e+01] [ 4.66231426e-03 1.72554985e-04 9.99989116e-01 3.41653868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.331052754 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:90.45, Y:33.68, Z:0.34 [[ 8.41387604e-01 -5.40418535e-01 -3.83494768e-03 9.04507049e+01] [ 5.40412027e-01 8.41396328e-01 -2.65708943e-03 3.36759285e+01] [ 4.66265127e-03 1.63190259e-04 9.99989116e-01 3.41662273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36105275399999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:90.48, Y:33.70, Z:0.34 [[ 8.38097946e-01 -5.45506298e-01 -3.83564229e-03 9.04765802e+01] [ 5.45499848e-01 8.38106712e-01 -2.65608634e-03 3.36951651e+01] [ 4.66358938e-03 1.33718221e-04 9.99989116e-01 3.42766491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.39105275399999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:90.50, Y:33.71, Z:0.34 [[ 8.36886073e-01 -5.47363667e-01 -3.83628947e-03 9.05034543e+01] [ 5.47357241e-01 8.36894856e-01 -2.65515127e-03 3.37149616e+01] [ 4.66390426e-03 1.22238292e-04 9.99989116e-01 3.43563136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42105275399999 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:90.53, Y:33.73, Z:0.35 [[ 8.33734817e-01 -5.52151730e-01 -3.83697549e-03 9.05301969e+01] [ 5.52145359e-01 8.33743640e-01 -2.65415953e-03 3.37344511e+01] [ 4.66455269e-03 9.42970042e-05 9.99989116e-01 3.45297379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.45105275399999 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:90.56, Y:33.75, Z:0.35 [[ 8.33364915e-01 -5.52709861e-01 -3.83767529e-03 9.05565016e+01] [ 5.52703501e-01 8.33373746e-01 -2.65314730e-03 3.37537321e+01] [ 4.66463851e-03 8.99433077e-05 9.99989116e-01 3.45592516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48105275399999 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:90.58, Y:33.77, Z:0.34 [[ 8.31759361e-01 -5.55123079e-01 -3.83832689e-03 9.05834783e+01] [ 5.55116748e-01 8.31768214e-01 -2.65220429e-03 3.37730948e+01] [ 4.66489811e-03 7.52762059e-05 9.99989116e-01 3.43944832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.51105275399999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:90.61, Y:33.79, Z:0.34 [[ 8.28694835e-01 -5.59687531e-01 -3.83904331e-03 9.06105554e+01] [ 5.59681254e-01 8.28703726e-01 -2.65116687e-03 3.37912055e+01] [ 4.66525453e-03 4.83677202e-05 9.99989116e-01 3.43437390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54105275399999 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:90.64, Y:33.81, Z:0.34 [[ 8.27906020e-01 -5.60853705e-01 -3.83971098e-03 9.06377798e+01] [ 5.60847445e-01 8.27914923e-01 -2.65019952e-03 3.38097146e+01] [ 4.66532824e-03 4.06240513e-05 9.99989116e-01 3.43177235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.571052754 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:90.66, Y:33.83, Z:0.34 [[ 8.26865610e-01 -5.62386446e-01 -3.84042062e-03 9.06641860e+01] [ 5.62380207e-01 8.26874528e-01 -2.64917078e-03 3.38275384e+01] [ 4.66540372e-03 3.07316702e-05 9.99989116e-01 3.42658980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.601052754 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:90.69, Y:33.85, Z:0.34 [[ 8.27485868e-01 -5.61473405e-01 -3.84108086e-03 9.06910243e+01] [ 5.61467160e-01 8.27494782e-01 -2.64821314e-03 3.38465163e+01] [ 4.66537562e-03 3.47181812e-05 9.99989116e-01 3.42867058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.631052754 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:90.72, Y:33.87, Z:0.34 [[ 8.29644308e-01 -5.58279109e-01 -3.84178062e-03 9.07178066e+01] [ 5.58272835e-01 8.29653201e-01 -2.64719760e-03 3.38662900e+01] [ 4.66522071e-03 5.14706625e-05 9.99989116e-01 3.44322784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.661052754 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:90.74, Y:33.88, Z:0.35 [[ 8.30453802e-01 -5.57074248e-01 -3.84247787e-03 9.07442120e+01] [ 5.57067966e-01 8.30462690e-01 -2.64618514e-03 3.38847568e+01] [ 4.66515610e-03 5.70131846e-05 9.99989116e-01 3.45342713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.691052754 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:90.77, Y:33.90, Z:0.35 [[ 8.31835604e-01 -5.55008791e-01 -3.84312680e-03 9.07710055e+01] [ 5.55002491e-01 8.31844479e-01 -2.64524234e-03 3.39031226e+01] [ 4.66501657e-03 6.74618124e-05 9.99989116e-01 3.46232541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.721052754 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:90.80, Y:33.92, Z:0.35 [[ 8.32809192e-01 -5.53546814e-01 -3.84376895e-03 9.07982627e+01] [ 5.53540503e-01 8.32818059e-01 -2.64430891e-03 3.39220939e+01] [ 4.66490897e-03 7.45229736e-05 9.99989116e-01 3.45717190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.75105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.83, Y:33.94, Z:0.35 [[ 8.32613448e-01 -5.53841192e-01 -3.84447775e-03 9.08267966e+01] [ 5.53834889e-01 8.32622321e-01 -2.64327801e-03 3.39389781e+01] [ 4.66495423e-03 7.16229066e-05 9.99989116e-01 3.46000159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:90.85, Y:33.96, Z:0.35 [[ 8.32200191e-01 -5.54461953e-01 -3.84518390e-03 9.08537041e+01] [ 5.54455661e-01 8.32209071e-01 -2.64225038e-03 3.39564242e+01] [ 4.66502422e-03 6.68972868e-05 9.99989116e-01 3.45963019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.81105275399999 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:90.88, Y:33.97, Z:0.35 [[ 8.31182262e-01 -5.55986744e-01 -3.84562119e-03 9.08803376e+01] [ 5.55980471e-01 8.31191156e-01 -2.64161378e-03 3.39738771e+01] [ 4.66514856e-03 5.75722330e-05 9.99989116e-01 3.46203753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:90.91, Y:33.99, Z:0.35 [[ 8.31246744e-01 -5.55890328e-01 -3.84626900e-03 9.09060397e+01] [ 5.55884059e-01 8.31255640e-01 -2.64067020e-03 3.39945649e+01] [ 4.66515583e-03 5.69688830e-05 9.99989116e-01 3.45336232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.87105275399999 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:90.93, Y:34.01, Z:0.35 [[ 8.31280464e-01 -5.55839897e-01 -3.84696381e-03 9.09327848e+01] [ 5.55833632e-01 8.31289364e-01 -2.63965760e-03 3.40139469e+01] [ 4.66516711e-03 5.60239284e-05 9.99989116e-01 3.45443552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90105275399999 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:90.96, Y:34.03, Z:0.35 [[ 8.30579093e-01 -5.56887390e-01 -3.84765630e-03 9.09594563e+01] [ 5.56881141e-01 8.30588004e-01 -2.63864782e-03 3.40343327e+01] [ 4.66524687e-03 4.89184847e-05 9.99989116e-01 3.47418669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.93105275399999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.99, Y:34.05, Z:0.35 [[ 8.30784669e-01 -5.56580654e-01 -3.84835289e-03 9.09865910e+01] [ 5.56574406e-01 8.30793580e-01 -2.63763149e-03 3.40532750e+01] [ 4.66524153e-03 4.94090826e-05 9.99989116e-01 3.47298918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.961052754 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:91.01, Y:34.07, Z:0.35 [[ 8.29605664e-01 -5.58336482e-01 -3.84904849e-03 9.10143656e+01] [ 5.58330258e-01 8.29614592e-01 -2.63661602e-03 3.40717750e+01] [ 4.66534570e-03 3.83113545e-05 9.99989116e-01 3.48248224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.991052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.04, Y:34.09, Z:0.35 [[ 8.29685378e-01 -5.58218016e-01 -3.84974255e-03 9.10412991e+01] [ 5.58211795e-01 8.29694308e-01 -2.63560222e-03 3.40911032e+01] [ 4.66535013e-03 3.77489257e-05 9.99989116e-01 3.49972953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.021052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:91.07, Y:34.11, Z:0.35 [[ 8.29929841e-01 -5.57854491e-01 -3.85044902e-03 9.10672557e+01] [ 5.57848272e-01 8.29938772e-01 -2.63456972e-03 3.41104460e+01] [ 4.66534348e-03 3.85416944e-05 9.99989116e-01 3.52179396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.051052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:91.10, Y:34.13, Z:0.35 [[ 8.31712296e-01 -5.55193504e-01 -3.85110523e-03 9.10954659e+01] [ 5.55187260e-01 8.31721210e-01 -2.63361015e-03 3.41277912e+01] [ 4.66520914e-03 5.23213857e-05 9.99989116e-01 3.51922885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.081052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:91.12, Y:34.15, Z:0.35 [[ 8.33460420e-01 -5.52565736e-01 -3.85179731e-03 9.11237398e+01] [ 5.52559468e-01 8.33469318e-01 -2.63259755e-03 3.41458554e+01] [ 4.66503808e-03 6.58187837e-05 9.99989116e-01 3.52003548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.11105275399999 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:91.15, Y:34.16, Z:0.35 [[ 8.36174806e-01 -5.48449498e-01 -3.85250819e-03 9.11503703e+01] [ 5.48443192e-01 8.36183676e-01 -2.63155685e-03 3.41614695e+01] [ 4.66468049e-03 8.75596494e-05 9.99989116e-01 3.53502542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:91.18, Y:34.18, Z:0.35 [[ 8.37404998e-01 -5.46569324e-01 -3.85285863e-03 9.11782107e+01] [ 5.46563000e-01 8.37413855e-01 -2.63104366e-03 3.41797764e+01] [ 4.66448496e-03 9.74191376e-05 9.99989116e-01 3.54290959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.17105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.20, Y:34.20, Z:0.36 [[ 8.38455055e-01 -5.44957128e-01 -3.85355561e-03 9.12047655e+01] [ 5.44950792e-01 8.38463904e-01 -2.63002244e-03 3.41980405e+01] [ 4.66431675e-03 1.05157424e-04 9.99989116e-01 3.55595867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:91.23, Y:34.22, Z:0.35 [[ 8.42300920e-01 -5.38993790e-01 -3.85420627e-03 9.12310844e+01] [ 5.38987395e-01 8.42309727e-01 -2.62906857e-03 3.42189815e+01] [ 4.66348706e-03 1.37098279e-04 9.99989116e-01 3.54858593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.23105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:91.26, Y:34.23, Z:0.35 [[ 8.43289139e-01 -5.37446339e-01 -3.85489803e-03 9.12597153e+01] [ 5.37439933e-01 8.43297938e-01 -2.62805388e-03 3.42344288e+01] [ 4.66326550e-03 1.44433158e-04 9.99989116e-01 3.52407382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26105275399999 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:91.29, Y:34.25, Z:0.35 [[ 8.43918718e-01 -5.36457204e-01 -3.85552047e-03 9.12863516e+01] [ 5.36450792e-01 8.43927512e-01 -2.62714041e-03 3.42517817e+01] [ 4.66312820e-03 1.48795960e-04 9.99989116e-01 3.52529959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.29105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:91.31, Y:34.27, Z:0.35 [[ 8.44363725e-01 -5.35756502e-01 -3.85617900e-03 9.13114890e+01] [ 5.35750087e-01 8.44372517e-01 -2.62617344e-03 3.42712852e+01] [ 4.66304107e-03 1.51497358e-04 9.99989116e-01 3.52227847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.34, Y:34.29, Z:0.35 [[ 8.43176771e-01 -5.37622599e-01 -3.85660083e-03 9.13391507e+01] [ 5.37616206e-01 8.43185579e-01 -2.62555383e-03 3.42897456e+01] [ 4.66338728e-03 1.40434896e-04 9.99989116e-01 3.51682794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.351052754 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:91.37, Y:34.31, Z:0.35 [[ 8.38880548e-01 -5.44301890e-01 -3.85730583e-03 9.13663275e+01] [ 5.44295572e-01 8.38889410e-01 -2.62451767e-03 3.43067933e+01] [ 4.66438294e-03 1.02142340e-04 9.99989116e-01 3.51616051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.381052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:91.39, Y:34.33, Z:0.35 [[ 8.37097450e-01 -5.47040195e-01 -3.85796243e-03 9.13939658e+01] [ 5.47033911e-01 8.37106336e-01 -2.62355214e-03 3.43258705e+01] [ 4.66471327e-03 8.57325316e-05 9.99989116e-01 3.51302802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.411052754 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:91.42, Y:34.35, Z:0.35 [[ 8.35262411e-01 -5.49837990e-01 -3.85865654e-03 9.14202329e+01] [ 5.49831740e-01 8.35271321e-01 -2.62253086e-03 3.43450261e+01] [ 4.66499224e-03 6.88896027e-05 9.99989116e-01 3.46228688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.441052754 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:91.45, Y:34.36, Z:0.35 [[ 8.32935976e-01 -5.53355914e-01 -3.85908948e-03 9.14482022e+01] [ 5.53349704e-01 8.32944914e-01 -2.62189364e-03 3.43625738e+01] [ 4.66524930e-03 4.84435169e-05 9.99989116e-01 3.46757804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.471052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:91.47, Y:34.38, Z:0.35 [[ 8.32573861e-01 -5.53900594e-01 -3.85979113e-03 9.14742870e+01] [ 5.53894395e-01 8.32582807e-01 -2.62086030e-03 3.43819135e+01] [ 4.66529181e-03 4.41431095e-05 9.99989116e-01 3.50502544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.50, Y:34.40, Z:0.35 [[ 8.32102327e-01 -5.54608705e-01 -3.86022653e-03 9.15007714e+01] [ 5.54602517e-01 8.32111280e-01 -2.62021885e-03 3.44014635e+01] [ 4.66533422e-03 3.93988528e-05 9.99989116e-01 3.54306855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.53105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:91.53, Y:34.42, Z:0.36 [[ 8.31978136e-01 -5.54794985e-01 -3.86092312e-03 9.15286740e+01] [ 5.54788803e-01 8.31987093e-01 -2.61919201e-03 3.44202086e+01] [ 4.66535280e-03 3.71135715e-05 9.99989116e-01 3.55971911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:91.55, Y:34.44, Z:0.36 [[ 8.32251853e-01 -5.54384290e-01 -3.86162608e-03 9.15539066e+01] [ 5.54378109e-01 8.32260811e-01 -2.61815518e-03 3.44380150e+01] [ 4.66534416e-03 3.81635331e-05 9.99989116e-01 3.58736086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.59105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:91.58, Y:34.46, Z:0.36 [[ 8.32778444e-01 -5.53592978e-01 -3.85717192e-03 9.15816950e+01] [ 5.53586758e-01 8.32787375e-01 -2.62472698e-03 3.44563066e+01] [ 4.66523451e-03 5.05367502e-05 9.99989116e-01 3.60595641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.61, Y:34.47, Z:0.36 [[ 8.34927336e-01 -5.50346639e-01 -3.86273446e-03 9.16108113e+01] [ 5.50340423e-01 8.34936269e-01 -2.61651507e-03 3.44729173e+01] [ 4.66512737e-03 5.87810464e-05 9.99989117e-01 3.58238748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.65105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.64, Y:34.49, Z:0.36 [[ 8.35810730e-01 -5.49004096e-01 -3.86344032e-03 9.16381492e+01] [ 5.48997870e-01 8.35819657e-01 -2.61547241e-03 3.44901206e+01] [ 4.66504443e-03 6.50193968e-05 9.99989117e-01 3.58183627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68105275399999 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:91.67, Y:34.51, Z:0.36 [[ 8.36724051e-01 -5.47611125e-01 -3.86233935e-03 9.16650835e+01] [ 5.47604876e-01 8.36732962e-01 -2.61709913e-03 3.45077840e+01] [ 4.66489925e-03 7.47539207e-05 9.99989117e-01 3.58209181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.711052754 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:91.69, Y:34.53, Z:0.36 [[ 8.37744159e-01 -5.46049258e-01 -3.86416367e-03 9.16920340e+01] [ 5.46043005e-01 8.37753067e-01 -2.61440273e-03 3.45252424e+01] [ 4.66480764e-03 8.02010744e-05 9.99989117e-01 3.59525220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.741052754 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:91.72, Y:34.54, Z:0.36 [[ 8.37892258e-01 -5.45821974e-01 -3.86482628e-03 9.17199623e+01] [ 5.45815723e-01 8.37901168e-01 -2.61342284e-03 3.45440413e+01] [ 4.66480607e-03 8.02838097e-05 9.99989117e-01 3.59681644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.771052754 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:91.74, Y:34.56, Z:0.36 [[ 8.39136927e-01 -5.43906495e-01 -3.86553497e-03 9.17446002e+01] [ 5.43900229e-01 8.39145825e-01 -2.61237420e-03 3.45626205e+01] [ 4.66463483e-03 8.96743029e-05 9.99989117e-01 3.61475047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.801052754 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:91.77, Y:34.58, Z:0.36 [[ 8.38603997e-01 -5.44727813e-01 -3.86587508e-03 9.17723503e+01] [ 5.44721558e-01 8.38612904e-01 -2.61187079e-03 3.45807241e+01] [ 4.66473139e-03 8.44997842e-05 9.99989117e-01 3.59975667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.831052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:91.80, Y:34.60, Z:0.36 [[ 8.36445948e-01 -5.48035788e-01 -3.86658847e-03 9.17999184e+01] [ 5.48029573e-01 8.36454883e-01 -2.61081427e-03 3.45973057e+01] [ 4.66504646e-03 6.48001875e-05 9.99989117e-01 3.55659050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86105275399999 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:91.83, Y:34.61, Z:0.35 [[ 8.34159888e-01 -5.51509135e-01 -3.86725365e-03 9.18282913e+01] [ 5.51502961e-01 8.34168851e-01 -2.60982860e-03 3.46148983e+01] [ 4.66528685e-03 4.42124921e-05 9.99989117e-01 3.54734623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.89105275399999 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:91.86, Y:34.63, Z:0.35 [[ 8.29333645e-01 -5.58740319e-01 -3.86795747e-03 9.18551877e+01] [ 5.58734229e-01 8.29342665e-01 -2.60878507e-03 3.46322278e+01] [ 4.66549556e-03 2.39300222e-06 9.99989117e-01 3.53893043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92105275399999 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:91.88, Y:34.65, Z:0.36 [[ 8.24539406e-01 -5.65791306e-01 -3.86861223e-03 9.18824773e+01] [ 5.65785298e-01 8.24548480e-01 -2.60781375e-03 3.46515834e+01] [ 4.66533669e-03 -3.85587247e-05 9.99989117e-01 3.56067962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.95105275399999 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:91.91, Y:34.67, Z:0.36 [[ 8.23598778e-01 -5.67159661e-01 -3.86931534e-03 9.19095868e+01] [ 5.67153673e-01 8.23607866e-01 -2.60677010e-03 3.46687934e+01] [ 4.66525340e-03 -4.75637377e-05 9.99989117e-01 3.57363397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.94, Y:34.69, Z:0.36 [[ 8.24584217e-01 -5.65725987e-01 -3.86997113e-03 9.19372911e+01] [ 5.65719987e-01 8.24593298e-01 -2.60579616e-03 3.46875423e+01] [ 4.66531886e-03 -4.06216273e-05 9.99989117e-01 3.58350957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.01105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:91.96, Y:34.71, Z:0.36 [[ 8.27279403e-01 -5.61777364e-01 -3.87067246e-03 9.19636177e+01] [ 5.61771326e-01 8.27288458e-01 -2.60475398e-03 3.47058442e+01] [ 4.66545448e-03 -1.95734810e-05 9.99989117e-01 3.60748835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04105275399999 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:91.99, Y:34.72, Z:0.36 [[ 8.28958793e-01 -5.59296285e-01 -3.87110795e-03 9.19915590e+01] [ 5.59290222e-01 8.28967832e-01 -2.60410661e-03 3.47245237e+01] [ 4.66549112e-03 -6.37574948e-06 9.99989117e-01 3.61774871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.071052754 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:92.02, Y:34.74, Z:0.36 [[ 8.31709396e-01 -5.55197704e-01 -3.87180290e-03 9.20189295e+01] [ 5.55191602e-01 8.31718407e-01 -2.60307295e-03 3.47427256e+01] [ 4.66546987e-03 1.54077727e-05 9.99989117e-01 3.62481042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.101052754 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:92.05, Y:34.76, Z:0.36 [[ 8.32941270e-01 -5.53347851e-01 -3.87249975e-03 9.20465414e+01] [ 5.53341734e-01 8.32950272e-01 -2.60203585e-03 3.47604008e+01] [ 4.66543067e-03 2.45273226e-05 9.99989117e-01 3.61773237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.131052754 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:92.07, Y:34.78, Z:0.36 [[ 8.33454901e-01 -5.52573911e-01 -3.87321742e-03 9.20742320e+01] [ 5.52567790e-01 8.33463900e-01 -2.60096714e-03 3.47759310e+01] [ 4.66541348e-03 2.75736137e-05 9.99989117e-01 3.58419805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.161052754 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:92.10, Y:34.79, Z:0.36 [[ 8.31347190e-01 -5.55739906e-01 -3.87379547e-03 9.21016728e+01] [ 5.55733823e-01 8.31356216e-01 -2.60010593e-03 3.47923495e+01] [ 4.66548656e-03 8.79159178e-06 9.99989117e-01 3.58175027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.191052754 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:92.13, Y:34.81, Z:0.36 [[ 8.29748828e-01 -5.58123527e-01 -3.87445265e-03 9.21279077e+01] [ 5.58117475e-01 8.29757874e-01 -2.59912628e-03 3.48090434e+01] [ 4.66549112e-03 -5.77774883e-06 9.99989117e-01 3.57283279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.221052754 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:92.16, Y:34.83, Z:0.36 [[ 8.25742911e-01 -5.64033359e-01 -3.87501416e-03 9.21553952e+01] [ 5.64027376e-01 8.25752002e-01 -2.59828887e-03 3.48262199e+01] [ 4.66532230e-03 -4.00954496e-05 9.99989117e-01 3.57433234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.25105275399999 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:92.18, Y:34.84, Z:0.36 [[ 8.23779472e-01 -5.66897134e-01 -3.87562795e-03 9.21829801e+01] [ 5.66891186e-01 8.23788587e-01 -2.59737300e-03 3.48446736e+01] [ 4.66514139e-03 -5.73967671e-05 9.99989117e-01 3.58461935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28105275399999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:92.21, Y:34.86, Z:0.36 [[ 8.19545900e-01 -5.73000429e-01 -3.87632882e-03 9.22101285e+01] [ 5.72994554e-01 8.19555062e-01 -2.59632661e-03 3.48624352e+01] [ 4.66456117e-03 -9.33064735e-05 9.99989117e-01 3.59098431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.31105275399999 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:92.24, Y:34.88, Z:0.36 [[ 8.17766042e-01 -5.75537723e-01 -3.87698252e-03 9.22377854e+01] [ 5.75531881e-01 8.17775225e-01 -2.59535009e-03 3.48807231e+01] [ 4.66422214e-03 -1.08937873e-04 9.99989117e-01 3.59652181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34105275399999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:92.27, Y:34.90, Z:0.36 [[ 8.13983811e-01 -5.80874616e-01 -3.87770362e-03 9.22651316e+01] [ 5.80868840e-01 8.13993035e-01 -2.59427226e-03 3.48963063e+01] [ 4.66337064e-03 -1.40741587e-04 9.99989117e-01 3.56061610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.37105275399999 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:92.29, Y:34.91, Z:0.35 [[ 8.12498383e-01 -5.82950543e-01 -3.87828449e-03 9.22912198e+01] [ 5.82944795e-01 8.12507625e-01 -2.59340359e-03 3.49131635e+01] [ 4.66296176e-03 -1.53689532e-04 9.99989117e-01 3.54240592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40105275399999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:92.32, Y:34.93, Z:0.36 [[ 8.10384233e-01 -5.85885952e-01 -3.87885912e-03 9.23178039e+01] [ 5.85880241e-01 8.10393498e-01 -2.59254386e-03 3.49316437e+01] [ 4.66233724e-03 -1.71590255e-04 9.99989117e-01 3.57003828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.43105275399999 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:92.34, Y:34.95, Z:0.36 [[ 8.09823655e-01 -5.86660547e-01 -3.87948187e-03 9.23437613e+01] [ 5.86654850e-01 8.09832928e-01 -2.59161165e-03 3.49500248e+01] [ 4.66212847e-03 -1.77168435e-04 9.99989117e-01 3.56782636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.461052754 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:92.37, Y:34.97, Z:0.36 [[ 8.08975564e-01 -5.87829466e-01 -3.88014473e-03 9.23708767e+01] [ 5.87823787e-01 8.08984848e-01 -2.59061883e-03 3.49676013e+01] [ 4.66182038e-03 -1.85094042e-04 9.99989117e-01 3.57293998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.491052754 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:92.40, Y:34.98, Z:0.36 [[ 8.08908502e-01 -5.87921742e-01 -3.88075830e-03 9.23990966e+01] [ 5.87916068e-01 8.08917790e-01 -2.58969937e-03 3.49842711e+01] [ 4.66175499e-03 -1.86730318e-04 9.99989117e-01 3.56055739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.521052754 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:92.42, Y:35.00, Z:0.36 [[ 8.09163628e-01 -5.87570555e-01 -3.88145759e-03 9.24249985e+01] [ 5.87564882e-01 8.09172917e-01 -2.58865085e-03 3.50015406e+01] [ 4.66178537e-03 -1.85966049e-04 9.99989117e-01 3.55076743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.551052754 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:92.45, Y:35.02, Z:0.36 [[ 8.10846951e-01 -5.85245378e-01 -3.88201957e-03 9.24511731e+01] [ 5.85239682e-01 8.10856225e-01 -2.58780782e-03 3.50207131e+01] [ 4.66226230e-03 -1.73595822e-04 9.99989117e-01 3.60321018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.581052754 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:92.48, Y:35.04, Z:0.36 [[ 8.12493727e-01 -5.82957004e-01 -3.88261980e-03 9.24784999e+01] [ 5.82951287e-01 8.12502988e-01 -2.58690695e-03 3.50398032e+01] [ 4.66269571e-03 -1.61532543e-04 9.99989117e-01 3.61837018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.61105275399999 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:92.51, Y:35.06, Z:0.36 [[ 8.13272396e-01 -5.81870200e-01 -3.88331948e-03 9.25050308e+01] [ 5.81864475e-01 8.13281652e-01 -2.58585621e-03 3.50573311e+01] [ 4.66286515e-03 -1.56560176e-04 9.99989117e-01 3.63931574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64105275399999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:92.53, Y:35.08, Z:0.37 [[ 8.15815597e-01 -5.78299080e-01 -3.88397062e-03 9.25327668e+01] [ 5.78293319e-01 8.15824831e-01 -2.58487781e-03 3.50755635e+01] [ 4.66347214e-03 -1.37290633e-04 9.99989117e-01 3.65028205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.67105275399999 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:92.56, Y:35.09, Z:0.36 [[ 8.17545285e-01 -5.75851211e-01 -3.88466060e-03 9.25590912e+01] [ 5.75845427e-01 8.17554504e-01 -2.58384046e-03 3.50929291e+01] [ 4.66382943e-03 -1.24557456e-04 9.99989117e-01 3.63837819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70105275399999 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:92.59, Y:35.11, Z:0.36 [[ 8.20154460e-01 -5.72128977e-01 -3.88521447e-03 9.25882514e+01] [ 5.72123156e-01 8.20163656e-01 -2.58300736e-03 3.51095252e+01] [ 4.66432507e-03 -1.04356155e-04 9.99989117e-01 3.62136510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.73105275399999 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:92.61, Y:35.13, Z:0.36 [[ 8.22305744e-01 -5.69032655e-01 -3.88589271e-03 9.26147970e+01] [ 5.69026804e-01 8.22314921e-01 -2.58198661e-03 3.51277109e+01] [ 4.66466226e-03 -8.79946889e-05 9.99989117e-01 3.61808635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76105275399999 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:92.64, Y:35.15, Z:0.36 [[ 8.26739275e-01 -5.62571832e-01 -3.88648312e-03 9.26399025e+01] [ 5.62565914e-01 8.26748408e-01 -2.58109760e-03 3.51462377e+01] [ 4.66519654e-03 -5.25081714e-05 9.99989117e-01 3.59095708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.79105275399999 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:92.67, Y:35.16, Z:0.36 [[ 8.29558101e-01 -5.58406884e-01 -3.88702682e-03 9.26674423e+01] [ 5.58400923e-01 8.29567207e-01 -2.58027856e-03 3.51646423e+01] [ 4.66539529e-03 -3.00283806e-05 9.99989117e-01 3.59109844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.821052754 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:92.69, Y:35.18, Z:0.36 [[ 8.30196076e-01 -5.57457946e-01 -3.88769042e-03 9.26934684e+01] [ 5.57451980e-01 8.30205178e-01 -2.57927833e-03 3.51825382e+01] [ 4.66541991e-03 -2.58939738e-05 9.99989117e-01 3.60271910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.851052754 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:92.72, Y:35.20, Z:0.36 [[ 8.30250020e-01 -5.57377598e-01 -3.88806180e-03 9.27181816e+01] [ 5.57371634e-01 8.30259124e-01 -2.57871838e-03 3.52030817e+01] [ 4.66541864e-03 -2.61143674e-05 9.99989117e-01 3.62123340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.881052754 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:92.74, Y:35.22, Z:0.36 [[ 8.30212154e-01 -5.57433994e-01 -3.88863385e-03 9.27441939e+01] [ 5.57428034e-01 8.30221260e-01 -2.57785545e-03 3.52226553e+01] [ 4.66541076e-03 -2.74665994e-05 9.99989117e-01 3.62314824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.911052754 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:92.77, Y:35.24, Z:0.36 [[ 8.27580934e-01 -5.61332942e-01 -3.88924453e-03 9.27701136e+01] [ 5.61327029e-01 8.27590071e-01 -2.57693378e-03 3.52404064e+01] [ 4.66521798e-03 -5.05168146e-05 9.99989117e-01 3.60705271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.941052754 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:92.80, Y:35.26, Z:0.36 [[ 8.26808955e-01 -5.62469396e-01 -3.88976409e-03 9.27963336e+01] [ 5.62463499e-01 8.26818103e-01 -2.57614929e-03 3.52588267e+01] [ 4.66513250e-03 -5.78670228e-05 9.99989117e-01 3.59919441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.971052754 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:92.82, Y:35.28, Z:0.36 [[ 8.22686535e-01 -5.68481952e-01 -3.89032152e-03 9.28235156e+01] [ 5.68476126e-01 8.22695728e-01 -2.57530723e-03 3.52765691e+01] [ 4.66456657e-03 -9.28843290e-05 9.99989117e-01 3.61673750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00105275399999 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:92.85, Y:35.30, Z:0.36 [[ 8.21934036e-01 -5.69569401e-01 -3.89087560e-03 9.28495979e+01] [ 5.69563591e-01 8.21943239e-01 -2.57446983e-03 3.52959453e+01] [ 4.66441813e-03 -1.00056705e-04 9.99989117e-01 3.63593810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.03105275399999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:92.87, Y:35.32, Z:0.37 [[ 8.19793269e-01 -5.72646359e-01 -3.89146705e-03 9.28727782e+01] [ 5.72640588e-01 8.19802497e-01 -2.57357551e-03 3.53170205e+01] [ 4.66398304e-03 -1.18612100e-04 9.99989117e-01 3.69375954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06105275399999 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:92.90, Y:35.34, Z:0.37 [[ 8.18804028e-01 -5.74059941e-01 -3.89197451e-03 9.28997078e+01] [ 5.74054190e-01 8.18813268e-01 -2.57280786e-03 3.53356860e+01] [ 4.66374629e-03 -1.27578836e-04 9.99989117e-01 3.71206671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.09105275399999 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:92.93, Y:35.35, Z:0.37 [[ 8.16632486e-01 -5.77144897e-01 -3.89251206e-03 9.29276406e+01] [ 5.77139184e-01 8.16641749e-01 -2.57199431e-03 3.53539117e+01] [ 4.66320125e-03 -1.46147132e-04 9.99989117e-01 3.71058611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12105275399999 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:92.96, Y:35.37, Z:0.37 [[ 8.16015710e-01 -5.78016613e-01 -3.89312655e-03 9.29557731e+01] [ 5.78010915e-01 8.16024982e-01 -2.57106385e-03 3.53716973e+01] [ 4.66300614e-03 -1.52241141e-04 9.99989117e-01 3.69905996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.15105275399999 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:92.98, Y:35.39, Z:0.37 [[ 8.15587227e-01 -5.78621045e-01 -3.89373846e-03 9.29827177e+01] [ 5.78615358e-01 8.15596507e-01 -2.57013681e-03 3.53895324e+01] [ 4.66285473e-03 -1.56806116e-04 9.99989117e-01 3.66851518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18105275399999 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:93.01, Y:35.41, Z:0.37 [[ 8.16707672e-01 -5.77038484e-01 -3.89427231e-03 9.30105606e+01] [ 5.77032783e-01 8.16716943e-01 -2.56932766e-03 3.54078737e+01] [ 4.66311912e-03 -1.48733173e-04 9.99989117e-01 3.68291272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.211052754 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:93.04, Y:35.43, Z:0.37 [[ 8.17792451e-01 -5.75500076e-01 -3.89495121e-03 9.30377893e+01] [ 5.75494362e-01 8.17801714e-01 -2.56829808e-03 3.54259305e+01] [ 4.66335351e-03 -1.41187686e-04 9.99989117e-01 3.69439715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.241052754 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:93.06, Y:35.44, Z:0.37 [[ 8.21223467e-01 -5.70593411e-01 -3.89564855e-03 9.30645065e+01] [ 5.70587647e-01 8.21232699e-01 -2.56723990e-03 3.54442660e+01] [ 4.66408415e-03 -1.14531292e-04 9.99989117e-01 3.66720805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.271052754 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:93.09, Y:35.46, Z:0.37 [[ 8.22810014e-01 -5.68303177e-01 -3.89629659e-03 9.30926995e+01] [ 5.68297392e-01 8.22819232e-01 -2.56625599e-03 3.54622849e+01] [ 4.66435920e-03 -1.02714063e-04 9.99989117e-01 3.69946474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.301052754 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:93.12, Y:35.48, Z:0.37 [[ 8.26482967e-01 -5.62948238e-01 -3.89698025e-03 9.31191766e+01] [ 5.62942399e-01 8.26492151e-01 -2.56521741e-03 3.54807905e+01] [ 4.66490821e-03 -7.36669108e-05 9.99989117e-01 3.69213414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.331052754 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:93.15, Y:35.50, Z:0.37 [[ 8.28539082e-01 -5.59917670e-01 -3.89761633e-03 9.31463078e+01] [ 5.59911801e-01 8.28548248e-01 -2.56425058e-03 3.54991132e+01] [ 4.66513239e-03 -5.77395553e-05 9.99989117e-01 3.71293759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36105275399999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:93.17, Y:35.51, Z:0.37 [[ 8.31996914e-01 -5.54766562e-01 -3.89831003e-03 9.31737660e+01] [ 5.54760641e-01 8.32006046e-01 -2.56319553e-03 3.55145951e+01] [ 4.66539269e-03 -3.00582004e-05 9.99989117e-01 3.69218319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.39105275399999 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:93.20, Y:35.53, Z:0.37 [[ 8.34103218e-01 -5.51594618e-01 -3.89865005e-03 9.32007153e+01] [ 5.51588665e-01 8.34112329e-01 -2.56267826e-03 3.55323325e+01] [ 4.66547161e-03 -1.29129911e-05 9.99989117e-01 3.68693252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42105275399999 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:93.23, Y:35.55, Z:0.37 [[ 8.38634191e-01 -5.44681090e-01 -3.89928954e-03 9.32287423e+01] [ 5.44675067e-01 8.38643255e-01 -2.56170487e-03 3.55489449e+01] [ 4.66542507e-03 2.44874974e-05 9.99989117e-01 3.68396966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.45105275399999 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:93.26, Y:35.57, Z:0.37 [[ 8.41110768e-01 -5.40848839e-01 -3.89990166e-03 9.32566295e+01] [ 5.40842779e-01 8.41119808e-01 -2.56077264e-03 3.55669044e+01] [ 4.66527545e-03 4.46597907e-05 9.99989117e-01 3.68899978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.48105275399999 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:93.28, Y:35.58, Z:0.37 [[ 8.44866280e-01 -5.34963321e-01 -3.90059370e-03 9.32823727e+01] [ 5.34957203e-01 8.44875280e-01 -2.55971809e-03 3.55840013e+01] [ 4.66487048e-03 7.59688060e-05 9.99989117e-01 3.72402383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.51105275399999 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:93.31, Y:35.60, Z:0.37 [[ 8.45900286e-01 -5.33326812e-01 -3.90092449e-03 9.33108949e+01] [ 5.33320678e-01 8.45909277e-01 -2.55921388e-03 3.56018314e+01] [ 4.66472559e-03 8.43960600e-05 9.99989117e-01 3.72819351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54105275399999 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:93.35, Y:35.62, Z:0.37 [[ 8.49822898e-01 -5.27053906e-01 -3.90159955e-03 9.33512624e+01] [ 5.27047710e-01 8.49831846e-01 -2.55818431e-03 3.56183903e+01] [ 4.66400458e-03 1.17674491e-04 9.99989117e-01 3.74151401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.571052754 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:93.38, Y:35.64, Z:0.38 [[ 8.50151878e-01 -5.26522533e-01 -3.97562652e-03 9.33788227e+01] [ 5.26516856e-01 8.50161174e-01 -2.44515993e-03 3.56358086e+01] [ 4.66735511e-03 -1.44770709e-05 9.99989108e-01 3.75774182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.601052754 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:93.41, Y:35.66, Z:0.38 [[ 8.50516865e-01 -5.25932765e-01 -3.97353968e-03 9.34052265e+01] [ 5.25927066e-01 8.50526147e-01 -2.44834365e-03 3.56555582e+01] [ 4.66726354e-03 -7.43449528e-06 9.99989108e-01 3.77435934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.631052754 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:93.42, Y:35.67, Z:0.38 [[ 8.48077215e-01 -5.29857770e-01 -3.97263229e-03 9.34159918e+01] [ 5.29852107e-01 8.48086519e-01 -2.44972489e-03 3.56744508e+01] [ 4.66714165e-03 -2.73517309e-05 9.99989108e-01 3.81752577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.661052754 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:93.44, Y:35.69, Z:0.38 [[ 8.48220111e-01 -5.29629550e-01 -3.89658594e-03 9.34441242e+01] [ 5.29623350e-01 8.48229053e-01 -2.56523902e-03 3.56929431e+01] [ 4.66382379e-03 1.12164430e-04 9.99989118e-01 3.81985872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.691052754 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:93.47, Y:35.71, Z:0.38 [[ 8.46919480e-01 -5.31706880e-01 -3.89727756e-03 9.34713853e+01] [ 5.31700706e-01 8.46928441e-01 -2.56418783e-03 3.57101858e+01] [ 4.66411152e-03 9.94753930e-05 9.99989118e-01 3.82541540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.721052754 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:93.50, Y:35.73, Z:0.38 [[ 8.44460329e-01 -5.35603920e-01 -3.89792098e-03 9.34989799e+01] [ 5.35597793e-01 8.44469321e-01 -2.56320936e-03 3.57277605e+01] [ 4.66453967e-03 7.68107497e-05 9.99989118e-01 3.81062330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.75105275399999 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:93.54, Y:35.75, Z:0.38 [[ 8.44948400e-01 -5.34833620e-01 -3.89860225e-03 9.35363077e+01] [ 5.34827489e-01 8.44957391e-01 -2.56217275e-03 3.57466415e+01] [ 4.66448891e-03 7.98241138e-05 9.99989118e-01 3.80888325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78105275399999 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:93.55, Y:35.76, Z:0.38 [[ 8.41766050e-01 -5.39827925e-01 -3.96586258e-03 9.35512157e+01] [ 5.39822326e-01 8.41775390e-01 -2.45968898e-03 3.57629948e+01] [ 4.66617431e-03 -7.03784813e-05 9.99989111e-01 3.79977844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.81105275399999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:93.58, Y:35.78, Z:0.38 [[ 8.37981210e-01 -5.45685163e-01 -3.89799466e-03 9.35783051e+01] [ 5.45679145e-01 8.37990276e-01 -2.56291104e-03 3.57816426e+01] [ 4.66502414e-03 2.06169032e-05 9.99989119e-01 3.81272364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84105275399999 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:93.61, Y:35.80, Z:0.38 [[ 8.35595097e-01 -5.49331989e-01 -3.89866463e-03 9.36052086e+01] [ 5.49326015e-01 8.35604192e-01 -2.56189147e-03 3.58004363e+01] [ 4.66506945e-03 -9.33957521e-07 9.99989119e-01 3.81579888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.87105275399999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:93.63, Y:35.82, Z:0.38 [[ 8.34605308e-01 -5.50834617e-01 -3.89934485e-03 9.36333232e+01] [ 5.50828664e-01 8.34614417e-01 -2.56085573e-03 3.58184820e+01] [ 4.66505741e-03 -1.05671255e-05 9.99989119e-01 3.81771899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90105275399999 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:93.66, Y:35.84, Z:0.38 [[ 8.32721248e-01 -5.53678709e-01 -3.90003618e-03 9.36617704e+01] [ 5.53672792e-01 8.32730380e-01 -2.55980244e-03 3.58355706e+01] [ 4.66498672e-03 -2.77420367e-05 9.99989119e-01 3.82323734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.93105275399999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:93.69, Y:35.85, Z:0.38 [[ 8.32049911e-01 -5.54687056e-01 -3.90072424e-03 9.36890782e+01] [ 5.54681155e-01 8.32059054e-01 -2.55875352e-03 3.58528032e+01] [ 4.66494037e-03 -3.46475876e-05 9.99989119e-01 3.83062470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.961052754 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:93.72, Y:35.87, Z:0.38 [[ 8.31920256e-01 -5.54881491e-01 -3.90115040e-03 9.37160181e+01] [ 5.54875595e-01 8.31929402e-01 -2.55810362e-03 3.58697277e+01] [ 4.66492607e-03 -3.65149350e-05 9.99989119e-01 3.82059521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.991052754 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:93.74, Y:35.89, Z:0.38 [[ 8.31650708e-01 -5.55285401e-01 -3.90177694e-03 9.37443509e+01] [ 5.55279514e-01 8.31659859e-01 -2.55714762e-03 3.58872492e+01] [ 4.66489800e-03 -3.99231761e-05 9.99989119e-01 3.83200355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.021052754 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:93.77, Y:35.91, Z:0.39 [[ 8.33535608e-01 -5.52451953e-01 -3.90245832e-03 9.37719709e+01] [ 5.52446040e-01 8.33544743e-01 -2.55610734e-03 3.59058967e+01] [ 4.66500011e-03 -2.52911629e-05 9.99989119e-01 3.86960367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.051052754 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:93.80, Y:35.92, Z:0.39 [[ 8.35629212e-01 -5.49280062e-01 -3.90314149e-03 9.38000781e+01] [ 5.49274119e-01 8.35638327e-01 -2.55506373e-03 3.59240517e+01] [ 4.66506019e-03 -8.80871383e-06 9.99989119e-01 3.87493426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.081052754 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:93.83, Y:35.94, Z:0.39 [[ 8.39570131e-01 -5.43237291e-01 -3.90383993e-03 9.38280935e+01] [ 5.43231288e-01 8.39579207e-01 -2.55399615e-03 3.59405038e+01] [ 4.66500878e-03 2.35708897e-05 9.99989119e-01 3.86438488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.11105275399999 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:93.86, Y:35.96, Z:0.39 [[ 8.41233375e-01 -5.40658085e-01 -3.90427583e-03 9.38560779e+01] [ 5.40652057e-01 8.41242435e-01 -2.55332961e-03 3.59580913e+01] [ 4.66492080e-03 3.70913247e-05 9.99989119e-01 3.86769971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14105275399999 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:93.88, Y:35.98, Z:0.39 [[ 8.44604154e-01 -5.35377039e-01 -3.90496376e-03 9.38831070e+01] [ 5.35370960e-01 8.44613179e-01 -2.55227709e-03 3.59755270e+01] [ 4.66461440e-03 6.50596389e-05 9.99989119e-01 3.88436033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.17105275399999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:93.91, Y:35.99, Z:0.39 [[ 8.46956814e-01 -5.31647347e-01 -3.90560419e-03 9.39108120e+01] [ 5.31641232e-01 8.46965815e-01 -2.55129670e-03 3.59934595e+01] [ 4.66430335e-03 8.44578984e-05 9.99989119e-01 3.88659476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:93.94, Y:36.01, Z:0.39 [[ 8.49358636e-01 -5.27801713e-01 -3.90628908e-03 9.39380483e+01] [ 5.27795562e-01 8.49367612e-01 -2.55024763e-03 3.60104962e+01] [ 4.66390050e-03 1.04352803e-04 9.99989119e-01 3.88166469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.23105275399999 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:93.97, Y:36.03, Z:0.39 [[ 8.51011783e-01 -5.25132061e-01 -3.90692187e-03 9.39670718e+01] [ 5.25125887e-01 8.51020743e-01 -2.54927784e-03 3.60273466e+01] [ 4.66357908e-03 1.17839673e-04 9.99989119e-01 3.86549560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26105275399999 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:93.99, Y:36.04, Z:0.39 [[ 8.51654157e-01 -5.24089617e-01 -3.90759362e-03 9.39942238e+01] [ 5.24083437e-01 8.51663113e-01 -2.54824775e-03 3.60442427e+01] [ 4.66346353e-03 1.22320700e-04 9.99989119e-01 3.86502405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.29105275399999 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:94.02, Y:36.06, Z:0.39 [[ 8.51940225e-01 -5.23624464e-01 -3.90821788e-03 9.40220017e+01] [ 5.23618283e-01 8.51949180e-01 -2.54728997e-03 3.60626556e+01] [ 4.66342636e-03 1.23724454e-04 9.99989119e-01 3.87131304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.321052754 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:94.05, Y:36.08, Z:0.39 [[ 8.50437763e-01 -5.26061149e-01 -3.90888009e-03 9.40492890e+01] [ 5.26054998e-01 8.50446739e-01 -2.54627338e-03 3.60817211e+01] [ 4.66378983e-03 1.09161126e-04 9.99989119e-01 3.89000804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.351052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.08, Y:36.10, Z:0.39 [[ 8.49444337e-01 -5.27663751e-01 -3.90954535e-03 9.40773286e+01] [ 5.27657622e-01 8.49453328e-01 -2.54525154e-03 3.61001453e+01] [ 4.66401328e-03 9.91481057e-05 9.99989119e-01 3.88984275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.381052754 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:94.11, Y:36.12, Z:0.39 [[ 8.45959911e-01 -5.33232163e-01 -3.91021981e-03 9.41059232e+01] [ 5.33226098e-01 8.45968945e-01 -2.54421495e-03 3.61173772e+01] [ 4.66458177e-03 6.72725990e-05 9.99989119e-01 3.87014562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.411052754 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:94.13, Y:36.14, Z:0.39 [[ 8.42644999e-01 -5.38455300e-01 -3.91088908e-03 9.41303484e+01] [ 5.38449295e-01 8.42654074e-01 -2.54318576e-03 3.61368383e+01] [ 4.66491847e-03 3.71872944e-05 9.99989119e-01 3.86413538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.441052754 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:94.16, Y:36.16, Z:0.39 [[ 8.39944617e-01 -5.42658035e-01 -3.91121810e-03 9.41572123e+01] [ 5.42652078e-01 8.39953723e-01 -2.54267964e-03 3.61557866e+01] [ 4.66504775e-03 1.32794495e-05 9.99989119e-01 3.86422926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.471052754 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:94.19, Y:36.17, Z:0.39 [[ 8.33461165e-01 -5.52564190e-01 -3.91189768e-03 9.41852315e+01] [ 5.52558346e-01 8.33470344e-01 -2.54163369e-03 3.61732935e+01] [ 4.66486647e-03 -4.31987339e-05 9.99989119e-01 3.86830594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50105275399999 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:94.21, Y:36.19, Z:0.38 [[ 8.33001192e-01 -5.53257359e-01 -3.91257894e-03 9.42125980e+01] [ 5.53251528e-01 8.33010380e-01 -2.54058453e-03 3.61888145e+01] [ 4.66481595e-03 -4.83303388e-05 9.99989119e-01 3.84977950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.53105275399999 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:94.24, Y:36.21, Z:0.38 [[ 8.34737208e-01 -5.50634617e-01 -3.91312908e-03 9.42397756e+01] [ 5.50628761e-01 8.34746379e-01 -2.53973689e-03 3.62060522e+01] [ 4.66493738e-03 -3.46685303e-05 9.99989119e-01 3.84703184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56105275399999 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:94.26, Y:36.22, Z:0.39 [[ 8.37661337e-01 -5.46175949e-01 -3.91372203e-03 9.42648801e+01] [ 5.46170048e-01 8.37670480e-01 -2.53882283e-03 3.62242231e+01] [ 4.66505338e-03 -1.08840277e-05 9.99989119e-01 3.91011130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.59105275399999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:94.29, Y:36.24, Z:0.40 [[ 8.41240670e-01 -5.40646663e-01 -3.91426890e-03 9.42923271e+01] [ 5.40640706e-01 8.41249776e-01 -2.53797941e-03 3.62425475e+01] [ 4.66502793e-03 1.88384018e-05 9.99989119e-01 3.97485855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62105275399999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:94.32, Y:36.26, Z:0.40 [[ 8.43036091e-01 -5.37842749e-01 -3.91493417e-03 9.43199601e+01] [ 5.37836767e-01 8.43045180e-01 -2.53695279e-03 3.62605462e+01] [ 4.66494804e-03 3.31472275e-05 9.99989119e-01 4.00563960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.65105275399999 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:94.35, Y:36.28, Z:0.40 [[ 8.46102453e-01 -5.33005917e-01 -3.91560643e-03 9.43489574e+01] [ 5.32999887e-01 8.46111511e-01 -2.53591477e-03 3.62757955e+01] [ 4.66469725e-03 5.86259214e-05 9.99989119e-01 3.96607397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.38, Y:36.29, Z:0.39 [[ 8.47125700e-01 -5.31378124e-01 -3.91623143e-03 9.43781126e+01] [ 5.31372082e-01 8.47134750e-01 -2.53494921e-03 3.62913425e+01] [ 4.66459229e-03 6.64445740e-05 9.99989119e-01 3.93308971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.711052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.41, Y:36.31, Z:0.39 [[ 8.48761759e-01 -5.28760943e-01 -3.91688932e-03 9.44055345e+01] [ 5.28754877e-01 8.48770793e-01 -2.53393226e-03 3.63073012e+01] [ 4.66438567e-03 7.96304715e-05 9.99989119e-01 3.93874491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.741052754 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:94.43, Y:36.33, Z:0.40 [[ 8.49215843e-01 -5.28031351e-01 -3.91729834e-03 9.44328349e+01] [ 5.28025280e-01 8.49224873e-01 -2.53329979e-03 3.63256048e+01] [ 4.66432890e-03 8.28857669e-05 9.99989119e-01 3.95371084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.771052754 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:94.46, Y:36.34, Z:0.40 [[ 8.49813364e-01 -5.27069157e-01 -3.91794409e-03 9.44602999e+01] [ 5.27063081e-01 8.49822391e-01 -2.53230070e-03 3.63427661e+01] [ 4.66425421e-03 8.69792921e-05 9.99989119e-01 3.95877884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.801052754 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:94.49, Y:36.36, Z:0.40 [[ 8.50115388e-01 -5.26581876e-01 -3.91854410e-03 9.44882266e+01] [ 5.26575799e-01 8.50124414e-01 -2.53137189e-03 3.63600381e+01] [ 4.66422456e-03 8.85477059e-05 9.99989119e-01 3.95317818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.831052754 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:94.52, Y:36.37, Z:0.39 [[ 8.49563321e-01 -5.27472087e-01 -3.91917826e-03 9.45176336e+01] [ 5.27466024e-01 8.49572357e-01 -2.53038966e-03 3.63749725e+01] [ 4.66433543e-03 8.24928665e-05 9.99989119e-01 3.88793881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86105275399999 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:94.55, Y:36.39, Z:0.38 [[ 8.49211208e-01 -5.28038785e-01 -3.91981845e-03 9.45453149e+01] [ 5.28032733e-01 8.49220251e-01 -2.52939756e-03 3.63895314e+01] [ 4.66440923e-03 7.82003040e-05 9.99989119e-01 3.84544925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.89105275399999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:94.57, Y:36.40, Z:0.38 [[ 8.47613155e-01 -5.30600199e-01 -3.92033454e-03 9.45738290e+01] [ 5.30594178e-01 8.47622218e-01 -2.52859741e-03 3.64037774e+01] [ 4.66463695e-03 6.31657494e-05 9.99989119e-01 3.81419873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92105275399999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:94.60, Y:36.42, Z:0.38 [[ 8.46514176e-01 -5.32351742e-01 -3.92084394e-03 9.46025391e+01] [ 5.32345743e-01 8.46523255e-01 -2.52780730e-03 3.64209149e+01] [ 4.66476819e-03 5.25801371e-05 9.99989119e-01 3.81358841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.95105275399999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:94.63, Y:36.44, Z:0.38 [[ 8.43929086e-01 -5.36440416e-01 -3.92146287e-03 9.46308053e+01] [ 5.36434465e-01 8.43938196e-01 -2.52684676e-03 3.64371064e+01] [ 4.66497503e-03 2.88716374e-05 9.99989119e-01 3.83296715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98105275399999 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:94.66, Y:36.45, Z:0.38 [[ 8.39954811e-01 -5.42642178e-01 -3.92205107e-03 9.46585332e+01] [ 5.42636299e-01 8.39963967e-01 -2.52593346e-03 3.64528857e+01] [ 4.66505961e-03 -6.57731287e-06 9.99989119e-01 3.83775679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.01105275399999 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:94.69, Y:36.47, Z:0.38 [[ 8.37247870e-01 -5.46809489e-01 -3.92267861e-03 9.46864783e+01] [ 5.46803660e-01 8.37257058e-01 -2.52495854e-03 3.64698755e+01] [ 4.66496164e-03 -3.09188645e-05 9.99989119e-01 3.83681299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04105275399999 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:94.72, Y:36.49, Z:0.38 [[ 8.31486184e-01 -5.55531577e-01 -3.92334448e-03 9.47154592e+01] [ 5.55525849e-01 8.31495436e-01 -2.52392347e-03 3.64867186e+01] [ 4.66436221e-03 -8.09117794e-05 9.99989119e-01 3.82255094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.071052754 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:94.74, Y:36.50, Z:0.38 [[ 8.28444939e-01 -5.60056770e-01 -3.92402408e-03 9.47441992e+01] [ 5.60051098e-01 8.28454225e-01 -2.52286643e-03 3.65040205e+01] [ 4.66382275e-03 -1.07598074e-04 9.99989119e-01 3.82708974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.101052754 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:94.77, Y:36.52, Z:0.38 [[ 8.26144868e-01 -5.63444100e-01 -3.92470166e-03 9.47723923e+01] [ 5.63438471e-01 8.26154181e-01 -2.52181191e-03 3.65218407e+01] [ 4.66330872e-03 -1.27945929e-04 9.99989119e-01 3.83472702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.131052754 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:94.80, Y:36.54, Z:0.38 [[ 8.22443534e-01 -5.68833214e-01 -3.92538904e-03 9.47991384e+01] [ 5.68827651e-01 8.22452886e-01 -2.52074149e-03 3.65402067e+01] [ 4.66232903e-03 -1.59702287e-04 9.99989119e-01 3.84086271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.161052754 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:94.83, Y:36.56, Z:0.39 [[ 8.22161527e-01 -5.69240731e-01 -3.92602875e-03 9.48262215e+01] [ 5.69235178e-01 8.22170885e-01 -2.51974476e-03 3.65586264e+01] [ 4.66220788e-03 -1.63196474e-04 9.99989119e-01 3.88500981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.191052754 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:94.85, Y:36.58, Z:0.39 [[ 8.21442041e-01 -5.70278489e-01 -3.92671933e-03 9.48530275e+01] [ 5.70272952e-01 8.21451408e-01 -2.51866811e-03 3.65785117e+01] [ 4.66195137e-03 -1.70361954e-04 9.99989119e-01 3.93150953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.221052754 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:94.88, Y:36.60, Z:0.39 [[ 8.22608005e-01 -5.68595326e-01 -3.92741433e-03 9.48808024e+01] [ 5.68589776e-01 8.22617365e-01 -2.51758391e-03 3.65966183e+01] [ 4.66224568e-03 -1.62102953e-04 9.99989119e-01 3.92031987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.25105275399999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:94.91, Y:36.61, Z:0.39 [[ 8.23878590e-01 -5.66752714e-01 -3.92811584e-03 9.49078739e+01] [ 5.66747148e-01 8.23887940e-01 -2.51648889e-03 3.66133745e+01] [ 4.66255418e-03 -1.52967130e-04 9.99989119e-01 3.90620098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28105275399999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:94.93, Y:36.63, Z:0.39 [[ 8.26730801e-01 -5.62583991e-01 -3.92876798e-03 9.49349464e+01] [ 5.62578383e-01 8.26740126e-01 -2.51547036e-03 3.66303911e+01] [ 4.66323349e-03 -1.30623113e-04 9.99989119e-01 3.88828293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.31105275399999 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:94.96, Y:36.65, Z:0.39 [[ 8.28855213e-01 -5.59449368e-01 -3.92941319e-03 9.49631856e+01] [ 5.59443729e-01 8.28864519e-01 -2.51446207e-03 3.66483966e+01] [ 4.66366539e-03 -1.14160570e-04 9.99989119e-01 3.88943426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34105275399999 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:94.99, Y:36.67, Z:0.39 [[ 8.31009513e-01 -5.56244320e-01 -3.93011612e-03 9.49904420e+01] [ 5.56238650e-01 8.31018801e-01 -2.51336291e-03 3.66670242e+01] [ 4.66404423e-03 -9.74540009e-05 9.99989119e-01 3.88949279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.37105275399999 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:95.02, Y:36.68, Z:0.39 [[ 8.35862417e-01 -5.48924921e-01 -3.93080966e-03 9.50177186e+01] [ 5.48919175e-01 8.35871657e-01 -2.51227777e-03 3.66849167e+01] [ 4.66470426e-03 -5.77782232e-05 9.99989119e-01 3.88371370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40105275399999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:95.05, Y:36.70, Z:0.39 [[ 8.40473356e-01 -5.41838612e-01 -3.93145474e-03 9.50450411e+01] [ 5.41832793e-01 8.40482551e-01 -2.51126788e-03 3.67033822e+01] [ 4.66502101e-03 -1.95373616e-05 9.99989119e-01 3.86076594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.43105275399999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:95.07, Y:36.72, Z:0.38 [[ 8.42633668e-01 -5.38472878e-01 -3.93213240e-03 9.50715795e+01] [ 5.38467027e-01 8.42642842e-01 -2.51020636e-03 3.67208844e+01] [ 4.66506126e-03 -2.13925071e-06 9.99989119e-01 3.84465721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.461052754 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:95.10, Y:36.74, Z:0.38 [[ 8.46619329e-01 -5.32184410e-01 -3.93276279e-03 9.50977798e+01] [ 5.32178495e-01 8.46628462e-01 -2.50921833e-03 3.67393994e+01] [ 4.66495579e-03 3.14209515e-05 9.99989119e-01 3.83467930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.491052754 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:95.13, Y:36.76, Z:0.38 [[ 8.48679934e-01 -5.28892142e-01 -3.93335212e-03 9.51259859e+01] [ 5.28886197e-01 8.48689047e-01 -2.50829418e-03 3.67571642e+01] [ 4.66480994e-03 4.84432927e-05 9.99989119e-01 3.84392966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.521052754 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:95.15, Y:36.78, Z:0.38 [[ 8.51691103e-01 -5.24029377e-01 -3.93403866e-03 9.51522341e+01] [ 5.24023384e-01 8.51700186e-01 -2.50721693e-03 3.67750963e+01] [ 4.66447679e-03 7.38461019e-05 9.99989119e-01 3.83399035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.551052754 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:95.18, Y:36.79, Z:0.38 [[ 8.51831771e-01 -5.23800680e-01 -3.93467758e-03 9.51806645e+01] [ 5.23794689e-01 8.51840855e-01 -2.50621385e-03 3.67931176e+01] [ 4.66447563e-03 7.39093640e-05 9.99989119e-01 3.83555430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.581052754 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:95.21, Y:36.81, Z:0.38 [[ 8.53113104e-01 -5.21711169e-01 -3.93535021e-03 9.52085280e+01] [ 5.21705161e-01 8.53122177e-01 -2.50515722e-03 3.68103950e+01] [ 4.66430304e-03 8.40899418e-05 9.99989119e-01 3.83221841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.61105275399999 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:95.24, Y:36.83, Z:0.38 [[ 8.54778936e-01 -5.18977339e-01 -3.93604057e-03 9.52355949e+01] [ 5.18971308e-01 8.54787992e-01 -2.50407208e-03 3.68272216e+01] [ 4.66403688e-03 9.77359448e-05 9.99989119e-01 3.82637324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64105275399999 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:95.26, Y:36.85, Z:0.39 [[ 8.57673974e-01 -5.14178818e-01 -3.93668118e-03 9.52616738e+01] [ 5.14172740e-01 8.57683000e-01 -2.50306456e-03 3.68455854e+01] [ 4.66344730e-03 1.22679184e-04 9.99989119e-01 3.85783514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.67105275399999 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:95.29, Y:36.86, Z:0.39 [[ 8.59491012e-01 -5.11135694e-01 -3.93725520e-03 9.52892915e+01] [ 5.11129588e-01 8.59500019e-01 -2.50216130e-03 3.68641445e+01] [ 4.66301488e-03 1.38137523e-04 9.99989119e-01 3.89728625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.70105275399999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:95.32, Y:36.88, Z:0.39 [[ 8.61299903e-01 -5.08081656e-01 -3.93792054e-03 9.53172133e+01] [ 5.08075523e-01 8.61308892e-01 -2.50111375e-03 3.68822625e+01] [ 4.66253599e-03 1.53447987e-04 9.99989119e-01 3.90377704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.73105275399999 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:95.34, Y:36.90, Z:0.39 [[ 8.62413239e-01 -5.06189583e-01 -3.93859574e-03 9.53447662e+01] [ 5.06183435e-01 8.62422217e-01 -2.50005004e-03 3.68995936e+01] [ 4.66223175e-03 1.62424336e-04 9.99989119e-01 3.91049707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76105275399999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:95.37, Y:36.92, Z:0.39 [[ 8.62828434e-01 -5.05481529e-01 -3.93922240e-03 9.53726172e+01] [ 5.05475378e-01 8.62837410e-01 -2.49906225e-03 3.69169320e+01] [ 4.66213826e-03 1.65082039e-04 9.99989119e-01 3.90104941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.79105275399999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:95.40, Y:36.93, Z:0.39 [[ 8.63691670e-01 -5.04005135e-01 -3.93990657e-03 9.53998635e+01] [ 5.03998974e-01 8.63700639e-01 -2.49798314e-03 3.69348223e+01] [ 4.66189616e-03 1.71778363e-04 9.99989119e-01 3.88550405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.821052754 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:95.43, Y:36.95, Z:0.39 [[ 8.64160024e-01 -5.03201675e-01 -3.94054149e-03 9.54280211e+01] [ 5.03195510e-01 8.64168990e-01 -2.49698117e-03 3.69517366e+01] [ 4.66177887e-03 1.74928523e-04 9.99989119e-01 3.87174906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.851052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:95.46, Y:36.97, Z:0.39 [[ 8.64595644e-01 -5.02452822e-01 -3.94119847e-03 9.54559199e+01] [ 5.02446655e-01 8.64604609e-01 -2.49594376e-03 3.69688808e+01] [ 4.66167235e-03 1.77740119e-04 9.99989119e-01 3.86244358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.881052754 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:95.48, Y:36.99, Z:0.39 [[ 8.65067646e-01 -5.01639741e-01 -3.94185881e-03 9.54834148e+01] [ 5.01633569e-01 8.65076608e-01 -2.49490046e-03 3.69873065e+01] [ 4.66155107e-03 1.80888965e-04 9.99989119e-01 3.86177309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.911052754 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:95.51, Y:37.01, Z:0.39 [[ 8.64921864e-01 -5.01891050e-01 -3.94251592e-03 9.55107928e+01] [ 5.01884886e-01 8.64930831e-01 -2.49386164e-03 3.70055763e+01] [ 4.66165041e-03 1.78306307e-04 9.99989119e-01 3.85385794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.941052754 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:95.54, Y:37.02, Z:0.39 [[ 8.64522301e-01 -5.02578991e-01 -3.94317821e-03 9.55384060e+01] [ 5.02572839e-01 8.64531276e-01 -2.49281401e-03 3.70234096e+01] [ 4.66183684e-03 1.73359042e-04 9.99989119e-01 3.85165225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.971052754 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:95.56, Y:37.04, Z:0.38 [[ 8.62815363e-01 -5.05503804e-01 -3.94386011e-03 9.55649076e+01] [ 5.05497687e-01 8.62824362e-01 -2.49173472e-03 3.70407161e+01] [ 4.66243996e-03 1.56294827e-04 9.99989119e-01 3.84649280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00105275399999 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:95.59, Y:37.06, Z:0.38 [[ 8.62231884e-01 -5.06498391e-01 -3.94445236e-03 9.55923279e+01] [ 5.06492289e-01 8.62240893e-01 -2.49079682e-03 3.70586031e+01] [ 4.66265271e-03 1.49809728e-04 9.99989119e-01 3.83758318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.03105275399999 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:95.62, Y:37.08, Z:0.38 [[ 8.60762290e-01 -5.08991863e-01 -3.94511829e-03 9.56186913e+01] [ 5.08985792e-01 8.60771320e-01 -2.48974163e-03 3.70767501e+01] [ 4.66310291e-03 1.35066548e-04 9.99989119e-01 3.83904757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06105275399999 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:95.65, Y:37.09, Z:0.38 [[ 8.58896468e-01 -5.12134053e-01 -3.94573840e-03 9.56468978e+01] [ 5.12128019e-01 8.58905523e-01 -2.48875848e-03 3.70948200e+01] [ 4.66359448e-03 1.16862678e-04 9.99989119e-01 3.83859567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.09105275399999 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:95.67, Y:37.11, Z:0.38 [[ 8.58706823e-01 -5.12451967e-01 -3.94640410e-03 9.56747634e+01] [ 5.12445941e-01 8.58715884e-01 -2.48770245e-03 3.71130315e+01] [ 4.66366789e-03 1.13888308e-04 9.99989119e-01 3.84243114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:95.70, Y:37.13, Z:0.39 [[ 8.58074313e-01 -5.13510364e-01 -3.94707020e-03 9.57001227e+01] [ 5.13504354e-01 8.58083385e-01 -2.48664514e-03 3.71307288e+01] [ 4.66383341e-03 1.06888587e-04 9.99989119e-01 3.85145174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.15105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:95.73, Y:37.15, Z:0.39 [[ 8.57641949e-01 -5.14232149e-01 -3.94760603e-03 9.57279584e+01] [ 5.14226151e-01 8.57651028e-01 -2.48579421e-03 3.71493706e+01] [ 4.66394367e-03 1.01959135e-04 9.99989119e-01 3.86335664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.75, Y:37.17, Z:0.39 [[ 8.55781231e-01 -5.17322815e-01 -3.94825371e-03 9.57542084e+01] [ 5.17316855e-01 8.55790335e-01 -2.48476506e-03 3.71682122e+01] [ 4.66430302e-03 8.39171080e-05 9.99989119e-01 3.89612609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.211052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.78, Y:37.19, Z:0.39 [[ 8.54805718e-01 -5.18933128e-01 -3.94882991e-03 9.57824464e+01] [ 5.18927188e-01 8.54814836e-01 -2.48384901e-03 3.71861045e+01] [ 4.66446993e-03 7.40531388e-05 9.99989119e-01 3.89700436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.241052754 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:95.81, Y:37.20, Z:0.39 [[ 8.54458486e-01 -5.19504665e-01 -3.94950217e-03 9.58100213e+01] [ 5.19498737e-01 8.54467611e-01 -2.48277961e-03 3.72035865e+01] [ 4.66453727e-03 6.96707166e-05 9.99989119e-01 3.88810990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.271052754 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:95.84, Y:37.22, Z:0.39 [[ 8.53552383e-01 -5.20992059e-01 -3.95012916e-03 9.58382668e+01] [ 5.20986152e-01 8.53561521e-01 -2.48178166e-03 3.72214124e+01] [ 4.66466679e-03 6.03680593e-05 9.99989119e-01 3.86861817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.301052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:95.86, Y:37.24, Z:0.39 [[ 8.53232692e-01 -5.21515451e-01 -3.95080611e-03 9.58638618e+01] [ 5.21509554e-01 8.53241837e-01 -2.48070353e-03 3.72397724e+01] [ 4.66471828e-03 5.62342219e-05 9.99989119e-01 3.89415500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.331052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.89, Y:37.26, Z:0.39 [[ 8.52708392e-01 -5.22372268e-01 -3.95113705e-03 9.58921862e+01] [ 5.22366383e-01 8.52717545e-01 -2.48017633e-03 3.72577286e+01] [ 4.66477921e-03 5.09260021e-05 9.99989119e-01 3.90175819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.92, Y:37.27, Z:0.39 [[ 8.52878007e-01 -5.22095286e-01 -3.95179676e-03 9.59202139e+01] [ 5.22089403e-01 8.52887161e-01 -2.47912472e-03 3.72742332e+01] [ 4.66477605e-03 5.11997417e-05 9.99989119e-01 3.86969540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.39105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:95.95, Y:37.29, Z:0.38 [[ 8.53270915e-01 -5.21452898e-01 -3.95237519e-03 9.59485731e+01] [ 5.21447012e-01 8.53280067e-01 -2.47820221e-03 3.72913282e+01] [ 4.66474869e-03 5.36236355e-05 9.99989119e-01 3.84678704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42105275399999 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:95.98, Y:37.31, Z:0.38 [[ 8.52434523e-01 -5.22819048e-01 -3.95304162e-03 9.59765058e+01] [ 5.22813182e-01 8.52443688e-01 -2.47713872e-03 3.73077551e+01] [ 4.66484068e-03 4.48963011e-05 9.99989119e-01 3.82519423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.45105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:96.00, Y:37.32, Z:0.38 [[ 8.52144617e-01 -5.23291430e-01 -3.95366079e-03 9.60044643e+01] [ 5.23285573e-01 8.52153787e-01 -2.47615009e-03 3.73249949e+01] [ 4.66487514e-03 4.11443159e-05 9.99989119e-01 3.82805203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.48105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:96.03, Y:37.34, Z:0.38 [[ 8.52683656e-01 -5.22412620e-01 -3.95431423e-03 9.60328327e+01] [ 5.22406759e-01 8.52692824e-01 -2.47510613e-03 3.73426309e+01] [ 4.66484205e-03 4.47220592e-05 9.99989119e-01 3.83356186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.51105275399999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:96.06, Y:37.36, Z:0.38 [[ 8.53466364e-01 -5.21132923e-01 -3.95496613e-03 9.60610954e+01] [ 5.21127053e-01 8.53475526e-01 -2.47406403e-03 3.73603781e+01] [ 4.66478301e-03 5.04905895e-05 9.99989119e-01 3.83402040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:96.09, Y:37.38, Z:0.38 [[ 8.54522412e-01 -5.19399461e-01 -3.95562452e-03 9.60897254e+01] [ 5.19393577e-01 8.54531565e-01 -2.47301091e-03 3.73756706e+01] [ 4.66468655e-03 5.87172802e-05 9.99989119e-01 3.83550871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.571052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:96.12, Y:37.39, Z:0.38 [[ 8.55543840e-01 -5.17715256e-01 -3.95619534e-03 9.61175585e+01] [ 5.17709358e-01 8.55552985e-01 -2.47209740e-03 3.73920473e+01] [ 4.66457727e-03 6.68283554e-05 9.99989119e-01 3.84094382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.601052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:96.15, Y:37.41, Z:0.39 [[ 8.57675185e-01 -5.14176644e-01 -3.95676872e-03 9.61451211e+01] [ 5.14170712e-01 8.57684308e-01 -2.47117933e-03 3.74112409e+01] [ 4.66428114e-03 8.50145955e-05 9.99989119e-01 3.87762741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.631052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:96.17, Y:37.43, Z:0.39 [[ 8.58491474e-01 -5.12812566e-01 -3.95742438e-03 9.61729409e+01] [ 5.12806625e-01 8.58500591e-01 -2.47012889e-03 3.74301701e+01] [ 4.66416430e-03 9.11911573e-05 9.99989119e-01 3.89317586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.661052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.20, Y:37.45, Z:0.39 [[ 8.61551085e-01 -5.07655455e-01 -3.95808562e-03 9.61993349e+01] [ 5.07649465e-01 8.61560169e-01 -2.46906888e-03 3.74484492e+01] [ 4.66356520e-03 1.17908926e-04 9.99989119e-01 3.90813830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.691052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.23, Y:37.47, Z:0.39 [[ 8.65713869e-01 -5.00523552e-01 -3.95869980e-03 9.62268622e+01] [ 5.00517491e-01 8.65722906e-01 -2.46808375e-03 3.74652999e+01] [ 4.66247115e-03 1.55255842e-04 9.99989119e-01 3.90608979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.721052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.26, Y:37.48, Z:0.39 [[ 8.67424462e-01 -4.97553139e-01 -3.95926985e-03 9.62554000e+01] [ 4.97547051e-01 8.67433482e-01 -2.46716896e-03 3.74829684e+01] [ 4.66195089e-03 1.70159668e-04 9.99989119e-01 3.90400209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.75105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:96.28, Y:37.50, Z:0.39 [[ 8.69428000e-01 -4.94043796e-01 -3.95994739e-03 9.62825781e+01] [ 4.94037676e-01 8.69436998e-01 -2.46608099e-03 3.74994952e+01] [ 4.66127678e-03 1.87716658e-04 9.99989119e-01 3.90809662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.31, Y:37.52, Z:0.39 [[ 8.70173250e-01 -4.92729975e-01 -3.96057813e-03 9.63099241e+01] [ 4.92723847e-01 8.70182242e-01 -2.46506759e-03 3.75161393e+01] [ 4.66103745e-03 1.93564585e-04 9.99989119e-01 3.90912712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.81105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:96.34, Y:37.53, Z:0.39 [[ 8.70330838e-01 -4.92451565e-01 -3.96098608e-03 9.63367938e+01] [ 4.92445437e-01 8.70339829e-01 -2.46441189e-03 3.75331619e+01] [ 4.66100745e-03 1.94284145e-04 9.99989119e-01 3.91497348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.84105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.37, Y:37.55, Z:0.39 [[ 8.70103275e-01 -4.92853524e-01 -3.96159144e-03 9.63657987e+01] [ 4.92847405e-01 8.70112273e-01 -2.46343839e-03 3.75497998e+01] [ 4.66114362e-03 1.90985748e-04 9.99989119e-01 3.90712984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.87105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.39, Y:37.57, Z:0.39 [[ 8.69604424e-01 -4.93733173e-01 -3.96224951e-03 9.63924912e+01] [ 4.93727067e-01 8.69613431e-01 -2.46237947e-03 3.75658375e+01] [ 4.66138382e-03 1.85026248e-04 9.99989119e-01 3.90611545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:96.42, Y:37.58, Z:0.39 [[ 8.68775768e-01 -4.95189824e-01 -3.96277955e-03 9.64201468e+01] [ 4.95183737e-01 8.68784788e-01 -2.46152618e-03 3.75825072e+01] [ 4.66172530e-03 1.76210309e-04 9.99989119e-01 3.91257393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.93105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:96.45, Y:37.60, Z:0.39 [[ 8.65625204e-01 -5.00676840e-01 -3.96334915e-03 9.64474452e+01] [ 5.00670815e-01 8.65634265e-01 -2.46060871e-03 3.76008722e+01] [ 4.66278062e-03 1.45631663e-04 9.99989119e-01 3.91654759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.961052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.47, Y:37.62, Z:0.39 [[ 8.63138801e-01 -5.04951182e-01 -3.96401340e-03 9.64741585e+01] [ 5.04945207e-01 8.63147895e-01 -2.45953814e-03 3.76176350e+01] [ 4.66347651e-03 1.21313235e-04 9.99989119e-01 3.89541784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.991052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:96.50, Y:37.63, Z:0.38 [[ 8.57347329e-01 -5.14723072e-01 -3.96454960e-03 9.65009567e+01] [ 5.14717204e-01 8.57356492e-01 -2.45867353e-03 3.76327606e+01] [ 4.66456833e-03 6.73152932e-05 9.99989119e-01 3.84706253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.53, Y:37.65, Z:0.38 [[ 8.54396836e-01 -5.19605933e-01 -3.96483578e-03 9.65291006e+01] [ 5.19600120e-01 8.54406035e-01 -2.45821195e-03 3.76506575e+01] [ 4.66488113e-03 4.01593680e-05 9.99989119e-01 3.83173414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.051052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:96.56, Y:37.67, Z:0.38 [[ 8.48391210e-01 -5.29354918e-01 -3.96549277e-03 9.65566672e+01] [ 5.29349215e-01 8.48400478e-01 -2.45715167e-03 3.76680287e+01] [ 4.66503128e-03 -1.45046023e-05 9.99989119e-01 3.82855559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.081052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:96.59, Y:37.69, Z:0.38 [[ 8.45914185e-01 -5.33304287e-01 -3.96590096e-03 9.65851277e+01] [ 5.33298631e-01 8.45923481e-01 -2.45649266e-03 3.76859565e+01] [ 4.66490681e-03 -3.70275620e-05 9.99989119e-01 3.83100032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.11105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.61, Y:37.70, Z:0.38 [[ 8.43164009e-01 -5.37641814e-01 -3.96655167e-03 9.66121592e+01] [ 5.37636210e-01 8.43173337e-01 -2.45544149e-03 3.77033451e+01] [ 4.66463863e-03 -6.22219152e-05 9.99989119e-01 3.84981616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.64, Y:37.72, Z:0.39 [[ 8.42233031e-01 -5.39099048e-01 -3.96711630e-03 9.66388219e+01] [ 5.39093465e-01 8.42242371e-01 -2.45452891e-03 3.77200229e+01] [ 4.66450764e-03 -7.13611490e-05 9.99989119e-01 3.87037080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.17105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.67, Y:37.74, Z:0.39 [[ 8.42119442e-01 -5.39276464e-01 -3.96743435e-03 9.66655205e+01] [ 5.39270885e-01 8.42128785e-01 -2.45401471e-03 3.77377567e+01] [ 4.66448305e-03 -7.29483346e-05 9.99989119e-01 3.90514941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.20105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:96.69, Y:37.76, Z:0.39 [[ 8.42734154e-01 -5.38315336e-01 -3.96801010e-03 9.66926921e+01] [ 5.38309751e-01 8.42743492e-01 -2.45308342e-03 3.77553232e+01] [ 4.66454711e-03 -6.87213502e-05 9.99989119e-01 3.92086482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.23105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.72, Y:37.77, Z:0.39 [[ 8.44706709e-01 -5.35214748e-01 -3.96858281e-03 9.67199593e+01] [ 5.35209133e-01 8.44716030e-01 -2.45215654e-03 3.77728163e+01] [ 4.66475586e-03 -5.26686867e-05 9.99989119e-01 3.92797435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.75, Y:37.79, Z:0.39 [[ 8.45956828e-01 -5.33236617e-01 -3.96915216e-03 9.67485809e+01] [ 5.33230985e-01 8.45966139e-01 -2.45123461e-03 3.77898010e+01] [ 4.66485638e-03 -4.28362568e-05 9.99989119e-01 3.91989147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.29105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:96.78, Y:37.81, Z:0.39 [[ 8.47978374e-01 -5.30015960e-01 -3.96980682e-03 9.67775918e+01] [ 5.30010297e-01 8.47987666e-01 -2.45017393e-03 3.78064526e+01] [ 4.66497850e-03 -2.63439907e-05 9.99989119e-01 3.89769036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.321052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:96.81, Y:37.82, Z:0.39 [[ 8.48985774e-01 -5.28400787e-01 -3.97047586e-03 9.68060640e+01] [ 5.28395112e-01 8.48995058e-01 -2.44908928e-03 3.78238598e+01] [ 4.66501508e-03 -1.87380779e-05 9.99989119e-01 3.88800272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.351052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.83, Y:37.84, Z:0.39 [[ 8.50113533e-01 -5.26584477e-01 -3.97114129e-03 9.68336317e+01] [ 5.26578787e-01 8.50122808e-01 -2.44800983e-03 3.78393494e+01] [ 4.66504175e-03 -1.00324782e-05 9.99989119e-01 3.87729800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.86, Y:37.86, Z:0.39 [[ 8.50933643e-01 -5.25258186e-01 -3.97167693e-03 9.68613557e+01] [ 5.25252485e-01 8.50942911e-01 -2.44714049e-03 3.78564757e+01] [ 4.66505090e-03 -3.77900668e-06 9.99989119e-01 3.87614556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.89, Y:37.87, Z:0.39 [[ 8.52784998e-01 -5.22247038e-01 -3.97224959e-03 9.68882554e+01] [ 5.22241309e-01 8.52794249e-01 -2.44621058e-03 3.78729388e+01] [ 4.66503783e-03 1.16188574e-05 9.99989119e-01 3.86592770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.441052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.92, Y:37.89, Z:0.39 [[ 8.54217628e-01 -5.19900433e-01 -3.97277850e-03 9.69171975e+01] [ 5.19894683e-01 8.54226866e-01 -2.44535129e-03 3.78894025e+01] [ 4.66499333e-03 2.34357603e-05 9.99989119e-01 3.85118115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.471052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.95, Y:37.91, Z:0.39 [[ 8.54355946e-01 -5.19673098e-01 -3.97342858e-03 9.69459124e+01] [ 5.19667350e-01 8.54365186e-01 -2.44429453e-03 3.79069719e+01] [ 4.66499316e-03 2.34364694e-05 9.99989119e-01 3.85274480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.97, Y:37.92, Z:0.39 [[ 8.56273683e-01 -5.16507102e-01 -3.97407874e-03 9.69744162e+01] [ 5.16501325e-01 8.56282904e-01 -2.44323700e-03 3.79230116e+01] [ 4.66488495e-03 3.94626063e-05 9.99989119e-01 3.85246541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.53105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.00, Y:37.94, Z:0.39 [[ 8.58043603e-01 -5.13561463e-01 -3.97472453e-03 9.70027132e+01] [ 5.13555659e-01 8.58052808e-01 -2.44218597e-03 3.79399508e+01] [ 4.66473614e-03 5.42597729e-05 9.99989119e-01 3.87014225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.03, Y:37.96, Z:0.39 [[ 8.58966261e-01 -5.12016756e-01 -3.97537212e-03 9.70310415e+01] [ 5.12010941e-01 8.58975458e-01 -2.44113137e-03 3.79565265e+01] [ 4.66464725e-03 6.14154705e-05 9.99989119e-01 3.87349537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.59105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.06, Y:37.97, Z:0.39 [[ 8.60908494e-01 -5.08744293e-01 -3.97605181e-03 9.70585873e+01] [ 5.08738448e-01 8.60917672e-01 -2.44002380e-03 3.79738485e+01] [ 4.66440145e-03 7.78667845e-05 9.99989119e-01 3.88106375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.62105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.09, Y:37.99, Z:0.39 [[ 8.62814817e-01 -5.05504479e-01 -3.97647432e-03 9.70857361e+01] [ 5.05498602e-01 8.62823975e-01 -2.43933505e-03 3.79921248e+01] [ 4.66409217e-03 9.45922124e-05 9.99989119e-01 3.86866243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.65105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.11, Y:38.01, Z:0.39 [[ 8.63549274e-01 -5.04248782e-01 -3.97716157e-03 9.71142879e+01] [ 5.04242897e-01 8.63558427e-01 -2.43821402e-03 3.80081351e+01] [ 4.66397784e-03 1.00062471e-04 9.99989119e-01 3.87399647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.14, Y:38.02, Z:0.39 [[ 8.64157743e-01 -5.03205302e-01 -3.97737729e-03 9.71419006e+01] [ 5.03199408e-01 8.64166890e-01 -2.43786207e-03 3.80248272e+01] [ 4.66386288e-03 1.05283481e-04 9.99989119e-01 3.89670177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.711052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:97.17, Y:38.04, Z:0.39 [[ 8.65233690e-01 -5.01353006e-01 -3.97801779e-03 9.71696677e+01] [ 5.01347097e-01 8.65242827e-01 -2.43681647e-03 3.80436913e+01] [ 4.66365663e-03 1.14048036e-04 9.99989119e-01 3.90781539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.741052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:97.20, Y:38.06, Z:0.39 [[ 8.65239242e-01 -5.01343419e-01 -3.97869052e-03 9.71981860e+01] [ 5.01337515e-01 8.65248382e-01 -2.43571759e-03 3.80600385e+01] [ 4.66368652e-03 1.12811624e-04 9.99989119e-01 3.89779939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.771052754 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:97.23, Y:38.08, Z:0.39 [[ 8.62990726e-01 -5.05204089e-01 -3.97936920e-03 9.72270815e+01] [ 5.05198231e-01 8.62999896e-01 -2.43460828e-03 3.80754021e+01] [ 4.66416927e-03 9.06740880e-05 9.99989119e-01 3.89606386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.801052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:97.26, Y:38.09, Z:0.39 [[ 8.62219381e-01 -5.06519396e-01 -3.98004261e-03 9.72554479e+01] [ 5.06513557e-01 8.62228563e-01 -2.43350692e-03 3.80925288e+01] [ 4.66432487e-03 8.22712911e-05 9.99989119e-01 3.88918690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.831052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.28, Y:38.11, Z:0.39 [[ 8.61009611e-01 -5.08573106e-01 -3.98071514e-03 9.72825001e+01] [ 5.08567294e-01 8.61018810e-01 -2.43240629e-03 3.81098253e+01] [ 4.66452704e-03 6.98636682e-05 9.99989119e-01 3.87957353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:97.31, Y:38.13, Z:0.39 [[ 8.59846533e-01 -5.10537059e-01 -3.98134081e-03 9.73112032e+01] [ 5.10531272e-01 8.59855749e-01 -2.43138177e-03 3.81272893e+01] [ 4.66468928e-03 5.80161981e-05 9.99989119e-01 3.89013465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.89105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:97.34, Y:38.14, Z:0.39 [[ 8.57261624e-01 -5.14865663e-01 -3.98199433e-03 9.73401029e+01] [ 5.14859928e-01 8.57270872e-01 -2.43031100e-03 3.81429515e+01] [ 4.66493144e-03 3.32430358e-05 9.99989119e-01 3.88959454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92105275399999 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:97.37, Y:38.16, Z:0.39 [[ 8.56448587e-01 -5.16216966e-01 -3.98264325e-03 9.73689574e+01] [ 5.16211251e-01 8.56457847e-01 -2.42924713e-03 3.81592854e+01] [ 4.66498464e-03 2.46400152e-05 9.99989119e-01 3.87997165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.95105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:97.40, Y:38.18, Z:0.39 [[ 8.54125332e-01 -5.20051969e-01 -3.98329498e-03 9.73975416e+01] [ 5.20046301e-01 8.54134620e-01 -2.42817799e-03 3.81753189e+01] [ 4.66504889e-03 2.47051254e-06 9.99989119e-01 3.89190172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.98105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:97.43, Y:38.19, Z:0.39 [[ 8.53001356e-01 -5.21893490e-01 -3.98394416e-03 9.74259562e+01] [ 5.21887847e-01 8.53010659e-01 -2.42711241e-03 3.81921834e+01] [ 4.66504100e-03 -8.84185816e-06 9.99989119e-01 3.89811613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.01105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:97.46, Y:38.21, Z:0.39 [[ 8.51035254e-01 -5.25093439e-01 -3.98459668e-03 9.74551093e+01] [ 5.25087835e-01 8.51044581e-01 -2.42604069e-03 3.82077190e+01] [ 4.66496746e-03 -2.76170966e-05 9.99989119e-01 3.87720890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04105275399999 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:97.48, Y:38.22, Z:0.39 [[ 8.50151766e-01 -5.26522642e-01 -3.98525314e-03 9.74833845e+01] [ 5.26517059e-01 8.50161106e-01 -2.42496185e-03 3.82237005e+01] [ 4.66490454e-03 -3.67181585e-05 9.99989119e-01 3.86873655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.071052754 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:97.51, Y:38.24, Z:0.39 [[ 8.49527822e-01 -5.27528762e-01 -3.98566116e-03 9.75125222e+01] [ 5.27523193e-01 8.49537170e-01 -2.42429104e-03 3.82394598e+01] [ 4.66485055e-03 -4.30260134e-05 9.99989119e-01 3.85058925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.101052754 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:97.54, Y:38.26, Z:0.38 [[ 8.50068002e-01 -5.26657860e-01 -3.98630600e-03 9.75412376e+01] [ 5.26652287e-01 8.50077347e-01 -2.42323025e-03 3.82559473e+01] [ 4.66488169e-03 -3.94866725e-05 9.99989119e-01 3.84937493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.131052754 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:97.57, Y:38.27, Z:0.39 [[ 8.51503136e-01 -5.24334353e-01 -3.98694664e-03 9.75691935e+01] [ 5.24328759e-01 8.51512469e-01 -2.42217575e-03 3.82723572e+01] [ 4.66496473e-03 -2.79805391e-05 9.99989119e-01 3.87356311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.161052754 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:97.60, Y:38.29, Z:0.39 [[ 8.52963199e-01 -5.21955825e-01 -3.98734448e-03 9.75976358e+01] [ 5.21950208e-01 8.52972518e-01 -2.42152066e-03 3.82894879e+01] [ 4.66502207e-03 -1.57272746e-05 9.99989119e-01 3.88893710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.191052754 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:97.63, Y:38.31, Z:0.39 [[ 8.54168862e-01 -5.19980433e-01 -3.98801725e-03 9.76265283e+01] [ 5.19974800e-01 8.54178172e-01 -2.42041216e-03 3.83061849e+01] [ 4.66504425e-03 -6.22777500e-06 9.99989119e-01 3.88441648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.221052754 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:97.65, Y:38.32, Z:0.39 [[ 8.55581656e-01 -5.17652510e-01 -3.98869347e-03 9.76547224e+01] [ 5.17646856e-01 8.55590953e-01 -2.41929728e-03 3.83225781e+01] [ 4.66504535e-03 5.17173797e-06 9.99989119e-01 3.88097081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.25105275399999 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:97.68, Y:38.34, Z:0.39 [[ 8.57081150e-01 -5.15165980e-01 -3.98932206e-03 9.76847756e+01] [ 5.15160304e-01 8.57090434e-01 -2.41826031e-03 3.83369418e+01] [ 4.66501522e-03 1.75049596e-05 9.99989119e-01 3.85224223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28105275399999 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:97.71, Y:38.35, Z:0.38 [[ 8.57826753e-01 -5.13923478e-01 -3.98994488e-03 9.77141143e+01] [ 5.13917794e-01 8.57836032e-01 -2.41723227e-03 3.83529418e+01] [ 4.66499090e-03 2.30628434e-05 9.99989119e-01 3.83520761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.31105275399999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:97.74, Y:38.37, Z:0.38 [[ 8.58008142e-01 -5.13620583e-01 -3.99060476e-03 9.77429223e+01] [ 5.13614900e-01 8.58017422e-01 -2.41614239e-03 3.83696744e+01] [ 4.66498887e-03 2.34357786e-05 9.99989119e-01 3.82816941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.34105275399999 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:97.77, Y:38.38, Z:0.38 [[ 8.58356832e-01 -5.13037639e-01 -3.99125906e-03 9.77702858e+01] [ 5.13031955e-01 8.58366111e-01 -2.41506105e-03 3.83849180e+01] [ 4.66497874e-03 2.53407074e-05 9.99989119e-01 3.79273663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.37105275399999 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:97.80, Y:38.40, Z:0.38 [[ 8.58645083e-01 -5.12555057e-01 -3.99178556e-03 9.77982274e+01] [ 5.12549373e-01 8.58654361e-01 -2.41419049e-03 3.84005384e+01] [ 4.66496963e-03 2.69456106e-05 9.99989119e-01 3.78119847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40105275399999 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:97.83, Y:38.42, Z:0.38 [[ 8.58483434e-01 -5.12825756e-01 -3.99218815e-03 9.78273559e+01] [ 5.12820077e-01 8.58492716e-01 -2.41352458e-03 3.84169520e+01] [ 4.66498202e-03 2.46966315e-05 9.99989119e-01 3.78017878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.43105275399999 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:97.85, Y:38.43, Z:0.38 [[ 8.58080133e-01 -5.13500285e-01 -3.99282799e-03 9.78545684e+01] [ 5.13494619e-01 8.58089422e-01 -2.41246560e-03 3.84342421e+01] [ 4.66500523e-03 1.97931142e-05 9.99989119e-01 3.78578850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.461052754 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:97.88, Y:38.45, Z:0.38 [[ 8.56982000e-01 -5.15330869e-01 -3.99342330e-03 9.78812909e+01] [ 5.15325227e-01 8.56991304e-01 -2.41147976e-03 3.84510344e+01] [ 4.66503900e-03 8.68298481e-06 9.99989119e-01 3.76125211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.491052754 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:97.91, Y:38.47, Z:0.37 [[ 8.56441122e-01 -5.16229265e-01 -3.99393441e-03 9.79088028e+01] [ 5.16223636e-01 8.56450434e-01 -2.41063296e-03 3.84686012e+01] [ 4.66504613e-03 2.80185168e-06 9.99989119e-01 3.74680877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.521052754 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:97.94, Y:38.49, Z:0.38 [[ 8.55035033e-01 -5.18554854e-01 -3.99451813e-03 9.79363139e+01] [ 5.18549256e-01 8.55044363e-01 -2.40966532e-03 3.84864607e+01] [ 4.66503386e-03 -1.10061395e-05 9.99989119e-01 3.75012645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.551052754 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:97.96, Y:38.50, Z:0.38 [[ 8.54329447e-01 -5.19716495e-01 -3.99513977e-03 9.79638806e+01] [ 5.19710914e-01 8.54338788e-01 -2.40863421e-03 3.85038161e+01] [ 4.66500980e-03 -1.85506099e-05 9.99989119e-01 3.75728900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.581052754 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:97.99, Y:38.52, Z:0.38 [[ 8.52711423e-01 -5.22366983e-01 -3.99552617e-03 9.79892471e+01] [ 5.22361434e-01 8.52720783e-01 -2.40799307e-03 3.85217261e+01] [ 4.66492428e-03 -3.37855854e-05 9.99989119e-01 3.78789979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.61105275399999 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:98.02, Y:38.54, Z:0.38 [[ 8.52584034e-01 -5.22574872e-01 -3.99601834e-03 9.80170055e+01] [ 5.22569329e-01 8.52593397e-01 -2.40717604e-03 3.85403031e+01] [ 4.66490857e-03 -3.58767668e-05 9.99989119e-01 3.80464844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64105275399999 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:98.04, Y:38.56, Z:0.38 [[ 8.52788329e-01 -5.22241412e-01 -3.99664228e-03 9.80433855e+01] [ 5.22235870e-01 8.52797694e-01 -2.40613967e-03 3.85587777e+01] [ 4.66491310e-03 -3.52621259e-05 9.99989119e-01 3.81143490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.67105275399999 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:98.07, Y:38.58, Z:0.38 [[ 8.53517024e-01 -5.21049625e-01 -3.99722373e-03 9.80706472e+01] [ 5.21044074e-01 8.53526384e-01 -2.40517335e-03 3.85750024e+01] [ 4.66495058e-03 -2.98733404e-05 9.99989119e-01 3.81630863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.70105275399999 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:98.10, Y:38.59, Z:0.38 [[ 8.54509341e-01 -5.19420643e-01 -3.99779555e-03 9.80989907e+01] [ 5.19415079e-01 8.54518692e-01 -2.40422251e-03 3.85923663e+01] [ 4.66499383e-03 -2.20847028e-05 9.99989119e-01 3.82943535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.73105275399999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:98.13, Y:38.61, Z:0.39 [[ 8.56628625e-01 -5.15918028e-01 -3.99842624e-03 9.81252939e+01] [ 5.15912430e-01 8.56637957e-01 -2.40317316e-03 3.86105270e+01] [ 4.66504404e-03 -4.21087821e-06 9.99989119e-01 3.86670393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76105275399999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:98.15, Y:38.63, Z:0.39 [[ 8.57527258e-01 -5.14422987e-01 -3.99901434e-03 9.81533635e+01] [ 5.14417378e-01 8.57536583e-01 -2.40219413e-03 3.86281554e+01] [ 4.66504497e-03 2.78447941e-06 9.99989119e-01 3.87864817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.79105275399999 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:98.18, Y:38.65, Z:0.39 [[ 8.58267271e-01 -5.13187388e-01 -3.99963916e-03 9.81819596e+01] [ 5.13181770e-01 8.58276590e-01 -2.40115336e-03 3.86456680e+01] [ 4.66503828e-03 8.28943662e-06 9.99989119e-01 3.88130090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.821052754 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:98.21, Y:38.66, Z:0.39 [[ 8.59744470e-01 -5.10708767e-01 -4.00026385e-03 9.82093531e+01] [ 5.10703128e-01 8.59753776e-01 -2.40011218e-03 3.86620162e+01] [ 4.66500028e-03 2.05359167e-05 9.99989119e-01 3.86270683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.851052754 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:98.24, Y:38.68, Z:0.39 [[ 8.59944995e-01 -5.10371040e-01 -4.00084528e-03 9.82379238e+01] [ 5.10365402e-01 8.59954302e-01 -2.39914259e-03 3.86783175e+01] [ 4.66499701e-03 2.12376592e-05 9.99989119e-01 3.85286151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.881052754 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:98.27, Y:38.70, Z:0.38 [[ 8.59849996e-01 -5.10531070e-01 -4.00145755e-03 9.82665224e+01] [ 5.10525438e-01 8.59859306e-01 -2.39812096e-03 3.86951269e+01] [ 4.66500577e-03 1.91784258e-05 9.99989119e-01 3.84122073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.911052754 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:98.29, Y:38.71, Z:0.38 [[ 8.59049930e-01 -5.11876159e-01 -4.00207018e-03 9.82936826e+01] [ 5.11870546e-01 8.59059252e-01 -2.39709815e-03 3.87119155e+01] [ 4.66503281e-03 1.06851445e-05 9.99989119e-01 3.82874936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.941052754 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:98.32, Y:38.73, Z:0.38 [[ 8.57021827e-01 -5.15264561e-01 -4.00263951e-03 9.83220622e+01] [ 5.15258990e-01 8.57031173e-01 -2.39614711e-03 3.87287016e+01] [ 4.66503653e-03 -8.84562063e-06 9.99989119e-01 3.82562176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.971052754 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:98.35, Y:38.75, Z:0.38 [[ 8.54753901e-01 -5.19018056e-01 -4.00323907e-03 9.83487067e+01] [ 5.19012531e-01 8.54763275e-01 -2.39514501e-03 3.87472049e+01] [ 4.66494525e-03 -3.04716982e-05 9.99989119e-01 3.84251852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00105275399999 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:98.38, Y:38.76, Z:0.39 [[ 8.52890982e-01 -5.22073695e-01 -4.00361144e-03 9.83768069e+01] [ 5.22068206e-01 8.52900378e-01 -2.39452241e-03 3.87649864e+01] [ 4.66479887e-03 -4.78916684e-05 9.99989119e-01 3.85252716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.03105275399999 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:98.40, Y:38.78, Z:0.39 [[ 8.50801747e-01 -5.25471554e-01 -4.00420155e-03 9.84042957e+01] [ 5.25466107e-01 8.50811167e-01 -2.39353520e-03 3.87831870e+01] [ 4.66455405e-03 -6.76482740e-05 9.99989119e-01 3.85270093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06105275399999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:98.43, Y:38.80, Z:0.38 [[ 8.50423541e-01 -5.26083418e-01 -4.00479434e-03 9.84311558e+01] [ 5.26077983e-01 8.50432967e-01 -2.39254295e-03 3.88003125e+01] [ 4.66448631e-03 -7.21592802e-05 9.99989119e-01 3.84685621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.09105275399999 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:98.46, Y:38.82, Z:0.39 [[ 8.47919254e-01 -5.30110268e-01 -4.00534774e-03 9.84605257e+01] [ 5.30104882e-01 8.47928708e-01 -2.39161614e-03 3.88163499e+01] [ 4.66406961e-03 -9.53570201e-05 9.99989119e-01 3.85342615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12105275399999 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:98.49, Y:38.83, Z:0.39 [[ 8.47619031e-01 -5.30590171e-01 -4.00593450e-03 9.84890258e+01] [ 5.30584795e-01 8.47628492e-01 -2.39063292e-03 3.88340592e+01] [ 4.66399055e-03 -9.91419802e-05 9.99989119e-01 3.87060158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.15105275399999 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:98.52, Y:38.85, Z:0.39 [[ 8.48053429e-01 -5.29895583e-01 -4.00651711e-03 9.85161172e+01] [ 5.29890203e-01 8.48062888e-01 -2.38965611e-03 3.88513495e+01] [ 4.66404669e-03 -9.64581033e-05 9.99989119e-01 3.90403150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18105275399999 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:98.54, Y:38.87, Z:0.39 [[ 8.48474823e-01 -5.29220577e-01 -4.00705932e-03 9.85443315e+01] [ 5.29215194e-01 8.48484280e-01 -2.38874657e-03 3.88677420e+01] [ 4.66410068e-03 -9.38053556e-05 9.99989119e-01 3.92227341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.211052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:98.57, Y:38.88, Z:0.39 [[ 8.51710506e-01 -5.23997284e-01 -4.00762665e-03 9.85719948e+01] [ 5.23991847e-01 8.51719932e-01 -2.38779438e-03 3.88837782e+01] [ 4.66457327e-03 -6.62541327e-05 9.99989119e-01 3.92412515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.241052754 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:98.60, Y:38.90, Z:0.40 [[ 8.52646246e-01 -5.22473265e-01 -4.00819559e-03 9.85996040e+01] [ 5.22467817e-01 8.52655665e-01 -2.38683897e-03 3.88991590e+01] [ 4.66467022e-03 -5.90239123e-05 9.99989119e-01 3.95211170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.271052754 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:98.63, Y:38.91, Z:0.40 [[ 8.55154786e-01 -5.18357236e-01 -4.00851411e-03 9.86292903e+01] [ 5.18351745e-01 8.55164180e-01 -2.38630391e-03 3.89139960e+01] [ 4.66489558e-03 -3.71610717e-05 9.99989119e-01 3.95408433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.301052754 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:98.66, Y:38.93, Z:0.40 [[ 8.57649813e-01 -5.14218557e-01 -4.00906963e-03 9.86566697e+01] [ 5.14213025e-01 8.57659183e-01 -2.38537025e-03 3.89311762e+01] [ 4.66501704e-03 -1.57034684e-05 9.99989119e-01 3.95176431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.331052754 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:98.69, Y:38.95, Z:0.39 [[ 8.58948238e-01 -5.12046724e-01 -4.00961952e-03 9.86854200e+01] [ 5.12041172e-01 8.58957596e-01 -2.38444558e-03 3.89478002e+01] [ 4.66504069e-03 -4.97495349e-06 9.99989119e-01 3.94651229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36105275399999 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:98.71, Y:38.96, Z:0.39 [[ 8.59084293e-01 -5.11818420e-01 -4.01025295e-03 9.87143970e+01] [ 5.11812871e-01 8.59093653e-01 -2.38337977e-03 3.89649305e+01] [ 4.66504053e-03 -4.97495331e-06 9.99989119e-01 3.94807591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.39105275399999 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:98.74, Y:38.98, Z:0.39 [[ 8.60584799e-01 -5.09291387e-01 -4.01088610e-03 9.87436567e+01] [ 5.09285815e-01 8.60594145e-01 -2.38231379e-03 3.89798352e+01] [ 4.66503699e-03 7.49563668e-06 9.99989119e-01 3.92391225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42105275399999 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:98.77, Y:39.00, Z:0.39 [[ 8.61441491e-01 -5.07840985e-01 -4.01144382e-03 9.87721955e+01] [ 5.07835402e-01 8.61450831e-01 -2.38137431e-03 3.89959151e+01] [ 4.66502109e-03 1.42614512e-05 9.99989119e-01 3.91646652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.45105275399999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:98.80, Y:39.01, Z:0.39 [[ 8.63323446e-01 -5.04635047e-01 -4.01208240e-03 9.87998595e+01] [ 5.04629434e-01 8.63332768e-01 -2.38029795e-03 3.90116227e+01] [ 4.66494398e-03 3.03521575e-05 9.99989119e-01 3.90332478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.48105275399999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:98.83, Y:39.03, Z:0.39 [[ 8.63910169e-01 -5.03629943e-01 -4.01267711e-03 9.88275495e+01] [ 5.03624323e-01 8.63919487e-01 -2.37929498e-03 3.90270084e+01] [ 4.66491415e-03 3.46153290e-05 9.99989119e-01 3.88904830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.51105275399999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:98.86, Y:39.04, Z:0.39 [[ 8.64381845e-01 -5.02819967e-01 -4.01326302e-03 9.88568190e+01] [ 5.02814344e-01 8.64391161e-01 -2.37830630e-03 3.90435553e+01] [ 4.66488897e-03 3.78385771e-05 9.99989119e-01 3.88620277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54105275399999 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:98.89, Y:39.06, Z:0.39 [[ 8.65059732e-01 -5.01652818e-01 -4.01389163e-03 9.88852750e+01] [ 5.01647187e-01 8.65069043e-01 -2.37724491e-03 3.90607634e+01] [ 4.66484500e-03 4.29014039e-05 9.99989119e-01 3.90371979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.571052754 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:98.91, Y:39.08, Z:0.39 [[ 8.65376373e-01 -5.01106393e-01 -4.01452264e-03 9.89125197e+01] [ 5.01100761e-01 8.65385683e-01 -2.37617883e-03 3.90769451e+01] [ 4.66482882e-03 4.46086651e-05 9.99989119e-01 3.91211212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.601052754 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:98.94, Y:39.09, Z:0.39 [[ 8.67393638e-01 -4.97606428e-01 -4.01491489e-03 9.89407919e+01] [ 4.97600762e-01 8.67402928e-01 -2.37551588e-03 3.90933590e+01] [ 4.66462090e-03 6.26826549e-05 9.99989119e-01 3.91892861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.631052754 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:98.97, Y:39.11, Z:0.39 [[ 8.69119504e-01 -4.94585851e-01 -4.01554211e-03 9.89700562e+01] [ 4.94580157e-01 8.69128777e-01 -2.37445515e-03 3.91099238e+01] [ 4.66439512e-03 7.76778316e-05 9.99989119e-01 3.94325244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.661052754 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:99.00, Y:39.13, Z:0.40 [[ 8.69874583e-01 -4.93256607e-01 -4.01618573e-03 9.89982464e+01] [ 4.93250904e-01 8.69883850e-01 -2.37336602e-03 3.91264593e+01] [ 4.66429358e-03 8.35435344e-05 9.99989119e-01 3.95511930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.691052754 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:99.03, Y:39.14, Z:0.40 [[ 8.70778513e-01 -4.91659076e-01 -4.01683602e-03 9.90256391e+01] [ 4.91653361e-01 8.70787773e-01 -2.37226493e-03 3.91428141e+01] [ 4.66415727e-03 9.08263950e-05 9.99989119e-01 3.96306591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.721052754 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:99.05, Y:39.16, Z:0.40 [[ 8.70928843e-01 -4.91392727e-01 -4.01723932e-03 9.90545432e+01] [ 4.91387012e-01 8.70938103e-01 -2.37158177e-03 3.91587029e+01] [ 4.66414483e-03 9.14597452e-05 9.99989119e-01 3.96141469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.75105275399999 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:99.08, Y:39.17, Z:0.40 [[ 8.69608651e-01 -4.93725279e-01 -4.01788911e-03 9.90833817e+01] [ 4.93719594e-01 8.69617930e-01 -2.37048039e-03 3.91733990e+01] [ 4.66439450e-03 7.76796742e-05 9.99989119e-01 3.98970059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78105275399999 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:99.11, Y:39.19, Z:0.40 [[ 8.68869484e-01 -4.95024920e-01 -4.01849368e-03 9.91116426e+01] [ 4.95019254e-01 8.68878774e-01 -2.36945508e-03 3.91903926e+01] [ 4.66452317e-03 6.95154671e-05 9.99989119e-01 4.01748223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.81105275399999 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:99.14, Y:39.21, Z:0.40 [[ 8.68427100e-01 -4.95800584e-01 -4.01910831e-03 9.91398676e+01] [ 4.95794931e-01 8.68436398e-01 -2.36841207e-03 3.92065084e+01] [ 4.66460003e-03 6.41396920e-05 9.99989119e-01 4.01776260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.84105275399999 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:99.17, Y:39.22, Z:0.40 [[ 8.66961614e-01 -4.98358708e-01 -4.01968147e-03 9.91695088e+01] [ 4.98353088e-01 8.66970931e-01 -2.36743890e-03 3.92220899e+01] [ 4.66478078e-03 4.92579797e-05 9.99989119e-01 3.99209906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.87105275399999 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:99.20, Y:39.24, Z:0.40 [[ 8.66415341e-01 -4.99307814e-01 -4.02031499e-03 9.91974217e+01] [ 4.99302209e-01 8.66424668e-01 -2.36636259e-03 3.92379091e+01] [ 4.66484341e-03 4.29006975e-05 9.99989119e-01 3.99048519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90105275399999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:99.23, Y:39.25, Z:0.40 [[ 8.64217041e-01 -5.03103110e-01 -4.02090546e-03 9.92252452e+01] [ 5.03097550e-01 8.64226394e-01 -2.36535883e-03 3.92537974e+01] [ 4.66499201e-03 2.12757276e-05 9.99989119e-01 3.98750030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.93105275399999 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:99.25, Y:39.27, Z:0.40 [[ 8.62764783e-01 -5.05589515e-01 -4.02148927e-03 9.92542583e+01] [ 5.05583986e-01 8.62774155e-01 -2.36436586e-03 3.92691549e+01] [ 4.66503559e-03 6.69101919e-06 9.99989119e-01 3.96681649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.961052754 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:99.28, Y:39.28, Z:0.39 [[ 8.61977615e-01 -5.06930383e-01 -4.02210837e-03 9.92838692e+01] [ 5.06924874e-01 8.61986999e-01 -2.36331221e-03 3.92849206e+01] [ 4.66503989e-03 -1.78455611e-06 9.99989119e-01 3.94308707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.991052754 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:99.31, Y:39.30, Z:0.39 [[ 8.60971982e-01 -5.08636475e-01 -4.02272614e-03 9.93123171e+01] [ 5.08630990e-01 8.60981379e-01 -2.36226020e-03 3.92991050e+01] [ 4.66502400e-03 -1.22433365e-05 9.99989119e-01 3.91160631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.021052754 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:99.34, Y:39.31, Z:0.39 [[ 8.62393247e-01 -5.06222977e-01 -4.02311028e-03 9.93419824e+01] [ 5.06217469e-01 8.62402631e-01 -2.36160580e-03 3.93135570e+01] [ 4.66504001e-03 6.41933232e-08 9.99989119e-01 3.89859161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.051052754 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:99.37, Y:39.33, Z:0.39 [[ 8.63129595e-01 -5.04966446e-01 -4.02371761e-03 9.93704101e+01] [ 5.04960929e-01 8.63138974e-01 -2.36057057e-03 3.93292082e+01] [ 4.66503642e-03 5.65814125e-06 9.99989119e-01 3.89645670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.081052754 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:99.40, Y:39.34, Z:0.39 [[ 8.65875242e-01 -5.00243811e-01 -4.02428260e-03 9.93999666e+01] [ 5.00238246e-01 8.65884593e-01 -2.35960699e-03 3.93446640e+01] [ 4.66494309e-03 3.00252003e-05 9.99989119e-01 3.90636299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.11105275399999 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:99.43, Y:39.36, Z:0.39 [[ 8.67493636e-01 -4.97431997e-01 -4.02487727e-03 9.94288981e+01] [ 4.97426408e-01 8.67502972e-01 -2.35859220e-03 3.93598555e+01] [ 4.66483222e-03 4.39834775e-05 9.99989119e-01 3.90181612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14105275399999 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:99.46, Y:39.37, Z:0.39 [[ 8.72169890e-01 -4.89186549e-01 -4.02543130e-03 9.94582318e+01] [ 4.89180875e-01 8.72179175e-01 -2.35764624e-03 3.93743363e+01] [ 4.66422618e-03 8.71040586e-05 9.99989119e-01 3.91712857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.17105275399999 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:99.48, Y:39.39, Z:0.39 [[ 8.75319889e-01 -4.83527541e-01 -4.02599318e-03 9.94845539e+01] [ 4.83521812e-01 8.75329140e-01 -2.35668638e-03 3.93921217e+01] [ 4.66359192e-03 1.16198941e-04 9.99989119e-01 3.93884563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.20105275399999 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:99.51, Y:39.41, Z:0.39 [[ 8.80809557e-01 -4.73453601e-01 -4.02636442e-03 9.95119324e+01] [ 4.73447768e-01 8.80818744e-01 -2.35605195e-03 3.94086075e+01] [ 4.66197853e-03 1.68959827e-04 9.99989119e-01 3.93786149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.23105275399999 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:99.54, Y:39.42, Z:0.39 [[ 8.83373967e-01 -4.68651490e-01 -4.02691545e-03 9.95429628e+01] [ 4.68645612e-01 8.83383124e-01 -2.35510977e-03 3.94210565e+01] [ 4.66103485e-03 1.93246403e-04 9.99989119e-01 3.92534663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26105275399999 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:99.57, Y:39.44, Z:0.39 [[ 8.83494437e-01 -4.68424336e-01 -4.02749232e-03 9.95727804e+01] [ 4.68418460e-01 8.83503596e-01 -2.35412283e-03 3.94366127e+01] [ 4.66103237e-03 1.93302676e-04 9.99989119e-01 3.92427093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.29105275399999 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:99.60, Y:39.45, Z:0.39 [[ 8.83088995e-01 -4.69188236e-01 -4.02806652e-03 9.96022073e+01] [ 4.69182373e-01 8.83098162e-01 -2.35313994e-03 3.94511376e+01] [ 4.66124371e-03 1.88134176e-04 9.99989119e-01 3.91596599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.321052754 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:99.63, Y:39.47, Z:0.39 [[ 8.82705981e-01 -4.69908418e-01 -4.02865505e-03 9.96302356e+01] [ 4.69902567e-01 8.82715155e-01 -2.35213192e-03 3.94668128e+01] [ 4.66144145e-03 1.83165562e-04 9.99989119e-01 3.91061371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.351052754 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:99.66, Y:39.48, Z:0.39 [[ 8.82692129e-01 -4.69934432e-01 -4.02920297e-03 9.96576460e+01] [ 4.69928585e-01 8.82701307e-01 -2.35119295e-03 3.94831304e+01] [ 4.66148925e-03 1.81941858e-04 9.99989119e-01 3.90587829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.381052754 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:99.68, Y:39.50, Z:0.39 [[ 8.82311236e-01 -4.70649173e-01 -4.02970911e-03 9.96846338e+01] [ 4.70643338e-01 8.82320420e-01 -2.35032516e-03 3.94983681e+01] [ 4.66167323e-03 1.77162546e-04 9.99989119e-01 3.85541167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.411052754 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:99.71, Y:39.51, Z:0.38 [[ 8.81064430e-01 -4.72979099e-01 -4.03017632e-03 9.97131770e+01] [ 4.72973292e-01 8.81073632e-01 -2.34952374e-03 3.95141328e+01] [ 4.66215771e-03 1.63916036e-04 9.99989119e-01 3.84920870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.441052754 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:99.74, Y:39.53, Z:0.39 [[ 8.80309241e-01 -4.74383172e-01 -4.03069479e-03 9.97403351e+01] [ 4.74377384e-01 8.80318455e-01 -2.34863395e-03 3.95309333e+01] [ 4.66244743e-03 1.55453723e-04 9.99989119e-01 3.85002158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.471052754 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:99.77, Y:39.55, Z:0.39 [[ 8.78724202e-01 -4.77312817e-01 -4.03124660e-03 9.97660636e+01] [ 4.77307064e-01 8.78733438e-01 -2.34768644e-03 3.95500967e+01] [ 4.66297201e-03 1.38826416e-04 9.99989119e-01 3.86420728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50105275399999 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:99.79, Y:39.57, Z:0.38 [[ 8.76771170e-01 -4.80890903e-01 -4.03177635e-03 9.97940453e+01] [ 4.80885192e-01 8.76780432e-01 -2.34677631e-03 3.95656685e+01] [ 4.66352599e-03 1.18764267e-04 9.99989119e-01 3.82549971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.53105275399999 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:99.82, Y:39.58, Z:0.38 [[ 8.74188356e-01 -4.85570241e-01 -4.03234079e-03 9.98226695e+01] [ 4.85564583e-01 8.74197651e-01 -2.34580606e-03 3.95808848e+01] [ 4.66411646e-03 9.27144702e-05 9.99989119e-01 3.83558165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56105275399999 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:99.85, Y:39.60, Z:0.38 [[ 8.73748899e-01 -4.86360563e-01 -4.03288235e-03 9.98504486e+01] [ 4.86354918e-01 8.73758202e-01 -2.34487465e-03 3.95970246e+01] [ 4.66421859e-03 8.74194800e-05 9.99989119e-01 3.82120864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.59105275399999 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:99.88, Y:39.62, Z:0.39 [[ 8.73291203e-01 -4.87181903e-01 -4.03345939e-03 9.98765850e+01] [ 4.87176271e-01 8.73300514e-01 -2.34388165e-03 3.96157840e+01] [ 4.66431888e-03 8.18855220e-05 9.99989119e-01 3.86014462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.62105275399999 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:99.90, Y:39.64, Z:0.39 [[ 8.73742177e-01 -4.86372629e-01 -4.03399467e-03 9.99029525e+01] [ 4.86366993e-01 8.73751485e-01 -2.34296005e-03 3.96353671e+01] [ 4.66426047e-03 8.51411577e-05 9.99989119e-01 3.91463441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.65105275399999 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:99.93, Y:39.65, Z:0.39 [[ 8.74626347e-01 -4.84780854e-01 -4.03452840e-03 9.99312104e+01] [ 4.84775205e-01 8.74635647e-01 -2.34204062e-03 3.96518991e+01] [ 4.66411880e-03 9.25710959e-05 9.99989119e-01 3.90953228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68105275399999 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:99.96, Y:39.67, Z:0.39 [[ 8.75768564e-01 -4.82714346e-01 -4.03514977e-03 9.99608639e+01] [ 4.82708680e-01 8.75777854e-01 -2.34096955e-03 3.96671422e+01] [ 4.66391439e-03 1.02345721e-04 9.99989119e-01 3.89729266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.711052754 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:99.99, Y:39.68, Z:0.39 [[ 8.78434617e-01 -4.77845514e-01 -4.03576505e-03 9.99877861e+01] [ 4.77839802e-01 8.78443879e-01 -2.33990834e-03 3.96832264e+01] [ 4.66330781e-03 1.27007317e-04 9.99989119e-01 3.87948539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.741052754 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:100.02, Y:39.70, Z:0.39 [[ 8.79268262e-01 -4.76309806e-01 -4.03626037e-03 1.00016579e+02] [ 4.76304082e-01 8.79277516e-01 -2.33905363e-03 3.96987836e+01] [ 4.66310717e-03 1.34168328e-04 9.99989119e-01 3.88636114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.771052754 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:100.04, Y:39.71, Z:0.39 [[ 8.82721873e-01 -4.69878494e-01 -4.03686042e-03 1.00044344e+02] [ 4.69872707e-01 8.82731088e-01 -2.33801756e-03 3.97143935e+01] [ 4.66204636e-03 1.67008705e-04 9.99989119e-01 3.89529091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.801052754 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:100.07, Y:39.73, Z:0.39 [[ 8.85002762e-01 -4.65568267e-01 -4.03739905e-03 1.00072292e+02] [ 4.65562439e-01 8.85011951e-01 -2.33708706e-03 3.97313839e+01] [ 4.66121998e-03 1.88667152e-04 9.99989119e-01 3.89447960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.831052754 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:100.10, Y:39.75, Z:0.39 [[ 8.88296593e-01 -4.59252502e-01 -4.03759166e-03 1.00099995e+02] [ 4.59246610e-01 8.88305742e-01 -2.33675425e-03 3.97466667e+01] [ 4.65977609e-03 2.21480554e-04 9.99989119e-01 3.89834669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86105275399999 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:100.13, Y:39.76, Z:0.39 [[ 8.90428342e-01 -4.55105551e-01 -4.03808774e-03 1.00129535e+02] [ 4.55099621e-01 8.90437465e-01 -2.33589668e-03 3.97616404e+01] [ 4.65874415e-03 2.42216411e-04 9.99989119e-01 3.88090571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.89105275399999 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:100.16, Y:39.78, Z:0.39 [[ 8.93723408e-01 -4.48600223e-01 -4.03868850e-03 1.00158699e+02] [ 4.48594231e-01 8.93732491e-01 -2.33485752e-03 3.97756506e+01] [ 4.65692474e-03 2.74984454e-04 9.99989119e-01 3.85355262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92105275399999 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:100.19, Y:39.79, Z:0.39 [[ 8.95238268e-01 -4.45569443e-01 -4.03922149e-03 1.00186908e+02] [ 4.45563425e-01 8.95247333e-01 -2.33393511e-03 3.97919750e+01] [ 4.65603243e-03 2.89698662e-04 9.99989119e-01 3.88507109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.95105275399999 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:100.21, Y:39.81, Z:0.39 [[ 8.96367357e-01 -4.43293628e-01 -4.03975816e-03 1.00214867e+02] [ 4.43287591e-01 8.96376410e-01 -2.33300582e-03 3.98096007e+01] [ 4.65535053e-03 3.00455593e-04 9.99989119e-01 3.90906537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.98105275399999 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:100.24, Y:39.83, Z:0.39 [[ 8.96928780e-01 -4.42156577e-01 -4.04037480e-03 1.00241037e+02] [ 4.42150533e-01 8.96937828e-01 -2.33193743e-03 3.98259359e+01] [ 4.65504647e-03 3.05127920e-04 9.99989119e-01 3.93108018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.01105275399999 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:100.27, Y:39.84, Z:0.39 [[ 8.96949878e-01 -4.42113773e-01 -4.04087089e-03 1.00268978e+02] [ 4.42107732e-01 8.96958928e-01 -2.33107745e-03 3.98425128e+01] [ 4.65509667e-03 3.04359368e-04 9.99989119e-01 3.92793556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04105275399999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:100.30, Y:39.86, Z:0.39 [[ 8.96182623e-01 -4.43666962e-01 -4.04143338e-03 1.00297679e+02] [ 4.43660941e-01 8.96191687e-01 -2.33010185e-03 3.98584058e+01] [ 4.65568821e-03 2.95170648e-04 9.99989119e-01 3.92592940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.071052754 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:100.33, Y:39.87, Z:0.39 [[ 8.95539325e-01 -4.44964019e-01 -4.04204157e-03 1.00325740e+02] [ 4.44958017e-01 8.95548401e-01 -2.32904634e-03 3.98746746e+01] [ 4.65618569e-03 2.87213792e-04 9.99989119e-01 3.91875100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.101052754 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:100.35, Y:39.89, Z:0.39 [[ 8.94640492e-01 -4.46768450e-01 -4.04241983e-03 1.00353161e+02] [ 4.46762469e-01 8.94649582e-01 -2.32838962e-03 3.98912279e+01] [ 4.65680024e-03 2.77070176e-04 9.99989119e-01 3.89838461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.131052754 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:100.38, Y:39.91, Z:0.39 [[ 8.94627988e-01 -4.46793484e-01 -4.04294148e-03 1.00380318e+02] [ 4.46787507e-01 8.94637081e-01 -2.32748349e-03 3.99072510e+01] [ 4.65686982e-03 2.75896123e-04 9.99989119e-01 3.89271654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.161052754 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:100.41, Y:39.92, Z:0.39 [[ 8.95665450e-01 -4.44710076e-01 -4.04342270e-03 1.00407501e+02] [ 4.44704081e-01 8.95674532e-01 -2.32664719e-03 3.99228721e+01] [ 4.65627418e-03 2.85770924e-04 9.99989119e-01 3.87667272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.191052754 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:100.44, Y:39.94, Z:0.39 [[ 8.97037168e-01 -4.41936609e-01 -4.04389531e-03 1.00435180e+02] [ 4.41930590e-01 8.97046233e-01 -2.32582547e-03 3.99393749e+01] [ 4.65542848e-03 2.99230848e-04 9.99989119e-01 3.87253040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22105275399998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:100.47, Y:39.95, Z:0.39 [[ 8.97927064e-01 -4.40125699e-01 -4.04440164e-03 1.00465034e+02] [ 4.40119665e-01 8.97936120e-01 -2.32494468e-03 3.99530170e+01] [ 4.65488221e-03 3.07610055e-04 9.99989119e-01 3.85794769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.25105275399999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:100.49, Y:39.97, Z:0.39 [[ 8.98263354e-01 -4.39438943e-01 -4.04498017e-03 1.00494368e+02] [ 4.39432908e-01 8.98272408e-01 -2.32393771e-03 3.99690778e+01] [ 4.65472281e-03 3.10010688e-04 9.99989119e-01 3.88561841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28105275399999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:100.52, Y:39.99, Z:0.39 [[ 8.98376624e-01 -4.39207326e-01 -4.04557908e-03 1.00523586e+02] [ 4.39201293e-01 8.98385679e-01 -2.32289464e-03 3.99857643e+01] [ 4.65472265e-03 3.10010678e-04 9.99989119e-01 3.88718188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.31105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:100.55, Y:40.00, Z:0.39 [[ 8.99789821e-01 -4.36304832e-01 -4.04617772e-03 1.00550995e+02] [ 4.36298774e-01 8.99798860e-01 -2.32185141e-03 4.00026299e+01] [ 4.65378109e-03 3.23835883e-04 9.99989119e-01 3.91341351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.34105275399999 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:100.58, Y:40.02, Z:0.39 [[ 9.01631122e-01 -4.32486930e-01 -4.04673480e-03 1.00578245e+02] [ 4.32480838e-01 9.01640138e-01 -2.32088008e-03 4.00180178e+01] [ 4.65244882e-03 3.42442450e-04 9.99989119e-01 3.90860067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.37105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:100.61, Y:40.03, Z:0.39 [[ 9.02884591e-01 -4.29863974e-01 -4.04720382e-03 1.00607371e+02] [ 4.29857859e-01 9.02893592e-01 -2.32006189e-03 4.00346860e+01] [ 4.65150542e-03 3.55025762e-04 9.99989119e-01 3.90349807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40105275399999 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:100.64, Y:40.05, Z:0.39 [[ 9.03720488e-01 -4.28103836e-01 -4.04777411e-03 1.00635429e+02] [ 4.28097709e-01 9.03729480e-01 -2.31906650e-03 4.00511212e+01] [ 4.65089406e-03 3.62945082e-04 9.99989119e-01 3.89531448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.43105275399999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:100.66, Y:40.07, Z:0.39 [[ 9.03836180e-01 -4.27859523e-01 -4.04830488e-03 1.00663899e+02] [ 4.27853397e-01 9.03845173e-01 -2.31813958e-03 4.00671663e+01] [ 4.65087892e-03 3.63137422e-04 9.99989119e-01 3.90295588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.461052754 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:100.69, Y:40.08, Z:0.39 [[ 9.03521172e-01 -4.28524326e-01 -4.04886690e-03 1.00691102e+02] [ 4.28518211e-01 9.03530173e-01 -2.31715754e-03 4.00833792e+01] [ 4.65123179e-03 3.58587692e-04 9.99989119e-01 3.91291854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.491052754 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:100.72, Y:40.10, Z:0.39 [[ 9.01590637e-01 -4.32571297e-01 -4.04931975e-03 1.00719373e+02] [ 4.32565226e-01 9.01599667e-01 -2.31636591e-03 4.01006029e+01] [ 4.65285874e-03 3.36818902e-04 9.99989119e-01 3.93880897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.521052754 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:100.75, Y:40.12, Z:0.40 [[ 8.98892303e-01 -4.38150918e-01 -4.04988955e-03 1.00747466e+02] [ 4.38144908e-01 8.98901373e-01 -2.31536925e-03 4.01163154e+01] [ 4.65493244e-03 3.06829111e-04 9.99989119e-01 3.95047017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.551052754 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:100.78, Y:40.13, Z:0.39 [[ 8.97433387e-01 -4.41131398e-01 -4.05042262e-03 1.00775606e+02] [ 4.41125422e-01 8.97442480e-01 -2.31443633e-03 4.01321580e+01] [ 4.65599186e-03 2.90308049e-04 9.99989119e-01 3.94290279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.581052754 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:100.80, Y:40.15, Z:0.39 [[ 8.95459941e-01 -4.45123673e-01 -4.05095392e-03 1.00801929e+02] [ 4.45117742e-01 8.95469063e-01 -2.31350602e-03 4.01483174e+01] [ 4.65730021e-03 2.68500502e-04 9.99989119e-01 3.94331296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.61105275399999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:100.83, Y:40.16, Z:0.40 [[ 8.94237343e-01 -4.47574754e-01 -4.05144426e-03 1.00830595e+02] [ 4.47568851e-01 8.94246484e-01 -2.31264702e-03 4.01646383e+01] [ 4.65807221e-03 2.54755073e-04 9.99989119e-01 3.96220723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:100.86, Y:40.18, Z:0.40 [[ 8.89702999e-01 -4.56521801e-01 -4.05206709e-03 1.00858272e+02] [ 4.56515995e-01 8.89712202e-01 -2.31155523e-03 4.01830757e+01] [ 4.66044889e-03 2.06764181e-04 9.99989119e-01 4.00257320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.67105275399999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:100.89, Y:40.20, Z:0.39 [[ 8.89673247e-01 -4.56579620e-01 -4.06987115e-03 1.00885802e+02] [ 4.56573957e-01 8.89682540e-01 -2.28027038e-03 4.01962600e+01] [ 4.66201829e-03 1.70498378e-04 9.99989118e-01 3.91233450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.70105275399999 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:100.91, Y:40.21, Z:0.39 [[ 8.91173959e-01 -4.53643557e-01 -4.06163490e-03 1.00912739e+02] [ 4.53637799e-01 8.91183192e-01 -2.29474199e-03 4.02101345e+01] [ 4.66065567e-03 2.02503190e-04 9.99989119e-01 3.90557372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.73105275399999 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:100.94, Y:40.22, Z:0.39 [[ 8.95033331e-01 -4.45980882e-01 -4.04826757e-03 1.00941697e+02] [ 4.45974938e-01 8.95042446e-01 -2.31825363e-03 4.02248847e+01] [ 4.65726811e-03 2.69488390e-04 9.99989119e-01 3.89523791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76105275399999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:100.97, Y:40.24, Z:0.39 [[ 8.95789357e-01 -4.44460320e-01 -4.05610277e-03 1.00965713e+02] [ 4.44454423e-01 8.95798501e-01 -2.30446283e-03 4.02399408e+01] [ 4.65769307e-03 2.61560458e-04 9.99989119e-01 3.90694796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.79105275399999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:100.99, Y:40.26, Z:0.39 [[ 8.97564898e-01 -4.40863852e-01 -4.03945765e-03 1.00994737e+02] [ 4.40857787e-01 8.97573933e-01 -2.33375660e-03 4.02555992e+01] [ 4.65458082e-03 3.13871639e-04 9.99989118e-01 3.91683114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.821052754 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:101.02, Y:40.27, Z:0.40 [[ 9.02603879e-01 -4.30453141e-01 -4.04120637e-03 1.01023484e+02] [ 4.30446985e-01 9.02612852e-01 -2.33067560e-03 4.02711935e+01] [ 4.65089144e-03 3.64151743e-04 9.99989118e-01 3.97450508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.851052754 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:101.05, Y:40.29, Z:0.40 [[ 9.05557214e-01 -4.24204942e-01 -4.03729232e-03 1.01053405e+02] [ 4.24198694e-01 9.05566123e-01 -2.33757390e-03 4.02868948e+01] [ 4.64764556e-03 4.04192781e-04 9.99989118e-01 3.97835230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.881052754 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:101.08, Y:40.30, Z:0.40 [[ 9.10302234e-01 -4.13924356e-01 -4.05827481e-03 1.01082391e+02] [ 4.13918170e-01 9.10311186e-01 -2.30056002e-03 4.03018779e+01] [ 4.64655078e-03 4.14411241e-04 9.99989119e-01 4.00739500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.911052754 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:101.11, Y:40.32, Z:0.40 [[ 9.15625841e-01 -4.02011001e-01 -4.05879660e-03 1.01111503e+02] [ 4.02004703e-01 9.15634714e-01 -2.29963906e-03 4.03161695e+01] [ 4.64085527e-03 4.73953629e-04 9.99989119e-01 3.99981488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.941052754 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:101.14, Y:40.33, Z:0.40 [[ 9.18685994e-01 -3.94967805e-01 -4.05932133e-03 1.01139215e+02] [ 3.94961443e-01 9.18694821e-01 -2.29871245e-03 4.03319389e+01] [ 4.63719489e-03 5.08519518e-04 9.99989119e-01 3.99810594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.97105275399998 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:101.17, Y:40.35, Z:0.40 [[ 9.23129683e-01 -3.84467302e-01 -4.05985447e-03 1.01167720e+02] [ 3.84460844e-01 9.23138440e-01 -2.29777045e-03 4.03475098e+01] [ 4.63122533e-03 5.60285029e-04 9.99989119e-01 4.01769089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00105275399999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:101.20, Y:40.36, Z:0.40 [[ 9.24988192e-01 -3.79974155e-01 -4.06038616e-03 1.01196834e+02] [ 3.79967658e-01 9.24996921e-01 -2.29683052e-03 4.03630389e+01] [ 4.62858093e-03 5.81725683e-04 9.99989119e-01 4.00993953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.03105275399999 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:101.23, Y:40.38, Z:0.40 [[ 9.28732748e-01 -3.70727650e-01 -4.06099060e-03 1.01225869e+02] [ 3.70721072e-01 9.28741415e-01 -2.29576133e-03 4.03779713e+01] [ 4.62271236e-03 6.26653947e-04 9.99989119e-01 4.01639344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06105275399999 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:101.25, Y:40.39, Z:0.40 [[ 9.30090391e-01 -3.67308275e-01 -4.06152850e-03 1.01254684e+02] [ 3.67301668e-01 9.30099037e-01 -2.29480931e-03 4.03921594e+01] [ 4.62052620e-03 6.42573890e-04 9.99989119e-01 3.99437618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.09105275399999 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:101.28, Y:40.41, Z:0.40 [[ 9.31759185e-01 -3.63054156e-01 -4.06209606e-03 1.01282766e+02] [ 3.63047514e-01 9.31767804e-01 -2.29380422e-03 4.04076613e+01] [ 4.61770548e-03 6.62539269e-04 9.99989119e-01 3.99522535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12105275399999 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:101.31, Y:40.42, Z:0.40 [[ 9.32164891e-01 -3.62011204e-01 -4.06246358e-03 1.01311362e+02] [ 3.62004556e-01 9.32173505e-01 -2.29315313e-03 4.04235662e+01] [ 4.61706804e-03 6.66966510e-04 9.99989119e-01 4.00355214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.15105275399999 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:101.34, Y:40.44, Z:0.40 [[ 9.31568844e-01 -3.63542268e-01 -4.06298803e-03 1.01340697e+02] [ 3.63535637e-01 9.31577472e-01 -2.29222355e-03 4.04379132e+01] [ 4.61830826e-03 6.58323100e-04 9.99989119e-01 4.00788804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18105275399999 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:101.37, Y:40.45, Z:0.40 [[ 9.31467889e-01 -3.63800852e-01 -4.06351215e-03 1.01369262e+02] [ 3.63794227e-01 9.31476521e-01 -2.29129404e-03 4.04541505e+01] [ 4.61864088e-03 6.55984562e-04 9.99989119e-01 4.00882319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.211052754 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:101.40, Y:40.47, Z:0.39 [[ 9.30846874e-01 -3.65386890e-01 -4.06411664e-03 1.01395058e+02] [ 3.65380285e-01 9.30855521e-01 -2.29022134e-03 4.04706740e+01] [ 4.61992227e-03 6.46897276e-04 9.99989119e-01 3.92156587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.241052754 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:101.42, Y:40.49, Z:0.40 [[ 9.29507727e-01 -3.68780310e-01 -4.05806627e-03 1.01422676e+02] [ 3.68773691e-01 9.29516364e-01 -2.30096073e-03 4.04851674e+01] [ 4.62058801e-03 6.42252700e-04 9.99989119e-01 3.96750306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.271052754 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:101.45, Y:40.50, Z:0.40 [[ 9.24583084e-01 -3.80958789e-01 -4.06470552e-03 1.01451097e+02] [ 3.80952334e-01 9.24591844e-01 -2.28917192e-03 4.04997943e+01] [ 4.63027374e-03 5.68070578e-04 9.99989119e-01 3.98552082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.301052754 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:101.48, Y:40.52, Z:0.40 [[ 9.22003553e-01 -3.87160074e-01 -4.06523667e-03 1.01478758e+02] [ 3.87153683e-01 9.22012359e-01 -2.28822828e-03 4.05165044e+01] [ 4.63410909e-03 5.35883254e-04 9.99989119e-01 3.98662831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.331052754 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:101.51, Y:40.53, Z:0.40 [[ 9.17475067e-01 -3.97772512e-01 -4.06580441e-03 1.01507724e+02] [ 3.97766227e-01 9.17483949e-01 -2.28721906e-03 4.05331343e+01] [ 4.64010316e-03 4.81226778e-04 9.99989119e-01 3.96832920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36105275399999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:101.54, Y:40.55, Z:0.40 [[ 9.14055701e-01 -4.05568292e-01 -4.06640797e-03 1.01535132e+02] [ 4.05562088e-01 9.14064640e-01 -2.28614550e-03 4.05504815e+01] [ 4.64414786e-03 4.40483425e-04 9.99989119e-01 3.96642414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.39105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.56, Y:40.57, Z:0.40 [[ 9.12292912e-01 -4.09518136e-01 -4.06694430e-03 1.01562521e+02] [ 4.09511975e-01 9.12301880e-01 -2.28519099e-03 4.05669752e+01] [ 4.64610809e-03 4.19301147e-04 9.99989119e-01 3.98650462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42105275399999 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:101.59, Y:40.58, Z:0.40 [[ 9.09349347e-01 -4.16013487e-01 -4.06749595e-03 1.01588818e+02] [ 4.16007394e-01 9.09358362e-01 -2.28420866e-03 4.05848847e+01] [ 4.64907307e-03 3.85035260e-04 9.99989119e-01 4.01512892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.45105275399999 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:101.62, Y:40.60, Z:0.40 [[ 9.07727233e-01 -4.19541085e-01 -4.06800469e-03 1.01615982e+02] [ 4.19535032e-01 9.07736274e-01 -2.28330228e-03 4.06015220e+01] [ 4.65061454e-03 3.65945180e-04 9.99989119e-01 4.02898576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.48105275399999 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:101.65, Y:40.62, Z:0.40 [[ 9.06201959e-01 -4.22825562e-01 -4.06858128e-03 1.01645013e+02] [ 4.22819546e-01 9.06211025e-01 -2.28227440e-03 4.06172473e+01] [ 4.65199717e-03 3.47925845e-04 9.99989119e-01 4.03268263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.51105275399999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:101.67, Y:40.63, Z:0.40 [[ 9.04797026e-01 -4.25823653e-01 -4.06919910e-03 1.01673903e+02] [ 4.25817671e-01 9.04806116e-01 -2.28117232e-03 4.06325266e+01] [ 4.65321336e-03 3.31261050e-04 9.99989119e-01 4.00589811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54105275399999 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:101.70, Y:40.65, Z:0.40 [[ 9.04754191e-01 -4.25914651e-01 -4.06981287e-03 1.01704116e+02] [ 4.25908676e-01 9.04763285e-01 -2.28007678e-03 4.06469555e+01] [ 4.65333537e-03 3.29540419e-04 9.99989119e-01 3.99667771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.571052754 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:101.73, Y:40.66, Z:0.40 [[ 9.05849375e-01 -4.23580383e-01 -4.07042349e-03 1.01733450e+02] [ 4.23574389e-01 9.05858456e-01 -2.27898617e-03 4.06633920e+01] [ 4.65256137e-03 3.40291061e-04 9.99989119e-01 3.99786527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.601052754 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:101.76, Y:40.68, Z:0.40 [[ 9.08276611e-01 -4.18350362e-01 -4.07104479e-03 1.01762423e+02] [ 4.18344320e-01 9.08285660e-01 -2.27787577e-03 4.06779022e+01] [ 4.65062176e-03 3.65842816e-04 9.99989119e-01 4.00335453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.631052754 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:101.79, Y:40.69, Z:0.40 [[ 9.10034003e-01 -4.14513614e-01 -4.07162224e-03 1.01791815e+02] [ 4.14507539e-01 9.10043030e-01 -2.27684314e-03 4.06923057e+01] [ 4.64913392e-03 3.84286564e-04 9.99989119e-01 4.00597297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.661052754 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:101.82, Y:40.71, Z:0.40 [[ 9.14744869e-01 -4.04011438e-01 -4.07223721e-03 1.01819504e+02] [ 4.04005264e-01 9.14753829e-01 -2.27574270e-03 4.07094601e+01] [ 4.64452066e-03 4.36518694e-04 9.99989119e-01 4.01472431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.691052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.85, Y:40.73, Z:0.40 [[ 9.16735466e-01 -3.99474027e-01 -4.07280869e-03 1.01848203e+02] [ 3.99467813e-01 9.16744398e-01 -2.27471949e-03 4.07252185e+01] [ 4.64241590e-03 4.58360051e-04 9.99989119e-01 4.01995200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72105275399998 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:101.88, Y:40.74, Z:0.40 [[ 9.21283236e-01 -3.88870937e-01 -4.07342751e-03 1.01875642e+02] [ 3.88864626e-01 9.21292100e-01 -2.27361079e-03 4.07395200e+01] [ 4.63695775e-03 5.10627642e-04 9.99989119e-01 4.00140283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.75105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.90, Y:40.76, Z:0.40 [[ 9.23321000e-01 -3.84007467e-01 -4.07392508e-03 1.01904088e+02] [ 3.84001113e-01 9.23329833e-01 -2.27271890e-03 4.07554193e+01] [ 4.63431759e-03 5.34057321e-04 9.99989119e-01 3.99408231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.93, Y:40.77, Z:0.40 [[ 9.26891723e-01 -3.75306717e-01 -4.07445364e-03 1.01931791e+02] [ 3.75300284e-01 9.26900499e-01 -2.27177092e-03 4.07714667e+01] [ 4.62922399e-03 5.76542051e-04 9.99989119e-01 3.98721463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.81105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.96, Y:40.79, Z:0.40 [[ 9.27478182e-01 -3.73855074e-01 -4.07501587e-03 1.01961032e+02] [ 3.73848631e-01 9.27486951e-01 -2.27076196e-03 4.07861096e+01] [ 4.62845992e-03 5.82643070e-04 9.99989119e-01 4.00500403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.84105275399999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:101.99, Y:40.80, Z:0.40 [[ 9.29414615e-01 -3.69014718e-01 -4.07563107e-03 1.01988347e+02] [ 3.69008235e-01 9.29423354e-01 -2.26965723e-03 4.08018386e+01] [ 4.62552363e-03 6.05511176e-04 9.99989119e-01 3.98596819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.87105275399999 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:102.02, Y:40.82, Z:0.40 [[ 9.30275936e-01 -3.66837935e-01 -4.07593301e-03 1.02017085e+02] [ 3.66831434e-01 9.30284661e-01 -2.26911488e-03 4.08177167e+01] [ 4.62417537e-03 6.15722618e-04 9.99989119e-01 3.98282330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90105275399999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:102.05, Y:40.83, Z:0.40 [[ 9.31015198e-01 -3.64957646e-01 -4.07652763e-03 1.02045600e+02] [ 3.64951132e-01 9.31023913e-01 -2.26804613e-03 4.08331298e+01] [ 4.62308548e-03 6.23852043e-04 9.99989119e-01 3.99994943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.93105275399999 meters Centerline goodness : 0.999926 Centerline is valid? [True, True] Translation: X:102.08, Y:40.85, Z:0.40 [[ 9.32715171e-01 -3.60590885e-01 -4.07706017e-03 1.02078932e+02] [ 3.60584334e-01 9.32723860e-01 -2.26708842e-03 4.08467623e+01] [ 4.62026272e-03 6.44423733e-04 9.99989119e-01 4.00909639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.961052754 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:102.10, Y:40.86, Z:0.40 [[ 9.31074922e-01 -3.64804968e-01 -4.10184936e-03 1.02100466e+02] [ 3.64798648e-01 9.31083781e-01 -2.22245911e-03 4.08640344e+01] [ 4.62992953e-03 5.72926839e-04 9.99989118e-01 4.04794374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.991052754 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:102.13, Y:40.88, Z:0.41 [[ 9.30812230e-01 -3.65474986e-01 -4.07762845e-03 1.02128087e+02] [ 3.65468485e-01 9.30820956e-01 -2.26604341e-03 4.08812112e+01] [ 4.62372419e-03 6.19016226e-04 9.99989119e-01 4.07184992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.021052754 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:102.16, Y:40.90, Z:0.41 [[ 9.30533010e-01 -3.66185317e-01 -4.07818984e-03 1.02156477e+02] [ 3.66178827e-01 9.30541743e-01 -2.26503261e-03 4.08979797e+01] [ 4.62434757e-03 6.14340842e-04 9.99989119e-01 4.08694340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.051052754 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:102.19, Y:40.91, Z:0.41 [[ 9.29995412e-01 -3.67548496e-01 -4.07879799e-03 1.02185582e+02] [ 3.67542024e-01 9.30004159e-01 -2.26393696e-03 4.09138092e+01] [ 4.62540571e-03 6.06321313e-04 9.99989119e-01 4.08482786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.081052754 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:102.22, Y:40.93, Z:0.40 [[ 9.28378140e-01 -3.71614569e-01 -4.07942513e-03 1.02215516e+02] [ 3.71608140e-01 9.28386918e-01 -2.26280632e-03 4.09257202e+01] [ 4.62817673e-03 5.84792340e-04 9.99989119e-01 4.04726135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.11105275399999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:102.24, Y:40.94, Z:0.40 [[ 9.27045362e-01 -3.74926993e-01 -4.08000855e-03 1.02244922e+02] [ 3.74920599e-01 9.27054167e-01 -2.26175390e-03 4.09399509e+01] [ 4.63038151e-03 5.67069209e-04 9.99989119e-01 4.04265808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14105275399999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:102.27, Y:40.96, Z:0.41 [[ 9.26910298e-01 -3.75260773e-01 -4.08057256e-03 1.02273664e+02] [ 3.75254387e-01 9.26919109e-01 -2.26073586e-03 4.09565293e+01] [ 4.63072617e-03 5.64246594e-04 9.99989119e-01 4.05691916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.17105275399999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:102.30, Y:40.97, Z:0.41 [[ 9.27011765e-01 -3.75010042e-01 -4.08118376e-03 1.02303131e+02] [ 3.75003659e-01 9.27020577e-01 -2.25963196e-03 4.09727881e+01] [ 4.63072600e-03 5.64246574e-04 9.99989119e-01 4.05848276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.20105275399999 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:102.33, Y:40.99, Z:0.40 [[ 9.27723046e-01 -3.73246955e-01 -4.08179466e-03 1.02331275e+02] [ 3.73240560e-01 9.27731849e-01 -2.25852790e-03 4.09887336e+01] [ 4.62979957e-03 5.71797063e-04 9.99989119e-01 4.04492781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.23105275399999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:102.36, Y:41.00, Z:0.40 [[ 9.28625669e-01 -3.70995555e-01 -4.08236292e-03 1.02360662e+02] [ 3.70989142e-01 9.28634460e-01 -2.25750028e-03 4.10045493e+01] [ 4.62854545e-03 5.81860390e-04 9.99989119e-01 4.03314851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26105275399999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:102.39, Y:41.02, Z:0.40 [[ 9.30597683e-01 -3.66020875e-01 -4.08296151e-03 1.02389350e+02] [ 3.66014421e-01 9.30606443e-01 -2.25641714e-03 4.10216293e+01] [ 4.62552606e-03 6.05393776e-04 9.99989119e-01 4.04921642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.29105275399999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:102.42, Y:41.04, Z:0.41 [[ 9.31166035e-01 -3.64572543e-01 -4.08355741e-03 1.02417625e+02] [ 3.64566080e-01 9.31174789e-01 -2.25533820e-03 4.10374632e+01] [ 4.62474009e-03 6.11367815e-04 9.99989119e-01 4.06972271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.321052754 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:102.45, Y:41.05, Z:0.41 [[ 9.31840703e-01 -3.62844629e-01 -4.08411138e-03 1.02445742e+02] [ 3.62838153e-01 9.31849447e-01 -2.25433458e-03 4.10521582e+01] [ 4.62375012e-03 6.18809294e-04 9.99989119e-01 4.09465973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.351052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:102.47, Y:41.07, Z:0.41 [[ 9.32126331e-01 -3.62110230e-01 -4.08466086e-03 1.02474950e+02] [ 3.62103752e-01 9.32135073e-01 -2.25333853e-03 4.10675043e+01] [ 4.62341258e-03 6.21325157e-04 9.99989119e-01 4.10236892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.381052754 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:102.50, Y:41.08, Z:0.41 [[ 9.32088904e-01 -3.62206550e-01 -4.08524840e-03 1.02503996e+02] [ 3.62200078e-01 9.32097651e-01 -2.25227283e-03 4.10821159e+01] [ 4.62363841e-03 6.19641231e-04 9.99989119e-01 4.11163740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.411052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:102.53, Y:41.10, Z:0.41 [[ 9.31881591e-01 -3.62739584e-01 -4.08579613e-03 1.02533060e+02] [ 3.62733121e-01 9.31890345e-01 -2.25127876e-03 4.10972666e+01] [ 4.62414189e-03 6.15871649e-04 9.99989119e-01 4.12053800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.441052754 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:102.56, Y:41.11, Z:0.41 [[ 9.31076347e-01 -3.64801504e-01 -4.08637534e-03 1.02563268e+02] [ 3.64795064e-01 9.31085118e-01 -2.25022694e-03 4.11117102e+01] [ 4.62564943e-03 6.04443521e-04 9.99989119e-01 4.13911043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.47105275399998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:102.59, Y:41.13, Z:0.41 [[ 9.30479228e-01 -3.66321857e-01 -4.08699135e-03 1.02591981e+02] [ 3.66315436e-01 9.30488013e-01 -2.24910754e-03 4.11260686e+01] [ 4.62679371e-03 5.95619828e-04 9.99989119e-01 4.13795317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50105275399999 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:102.62, Y:41.14, Z:0.42 [[ 9.29450819e-01 -3.68923389e-01 -4.08756494e-03 1.02620453e+02] [ 3.68916998e-01 9.29459625e-01 -2.24806460e-03 4.11403538e+01] [ 4.62859019e-03 5.81493298e-04 9.99989119e-01 4.15508679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.53105275399999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:102.65, Y:41.16, Z:0.42 [[ 9.28509441e-01 -3.71286285e-01 -4.08811539e-03 1.02649295e+02] [ 3.71279921e-01 9.28518266e-01 -2.24706317e-03 4.11560710e+01] [ 4.63019355e-03 5.68584210e-04 9.99989119e-01 4.15978568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56105275399999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:102.68, Y:41.17, Z:0.41 [[ 9.28316578e-01 -3.71768225e-01 -4.08872798e-03 1.02677486e+02] [ 3.71761870e-01 9.28325410e-01 -2.24594794e-03 4.11707784e+01] [ 4.63064216e-03 5.64917545e-04 9.99989119e-01 4.14639773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.59105275399999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:102.71, Y:41.19, Z:0.41 [[ 9.28227000e-01 -3.71991821e-01 -4.08929807e-03 1.02707094e+02] [ 3.71985473e-01 9.28235837e-01 -2.24490949e-03 4.11866317e+01] [ 4.63092098e-03 5.62626125e-04 9.99989119e-01 4.13025053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62105275399999 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:102.73, Y:41.20, Z:0.41 [[ 9.28603361e-01 -3.71051305e-01 -4.08990342e-03 1.02734262e+02] [ 3.71044952e-01 9.28612195e-01 -2.24380608e-03 4.12019198e+01] [ 4.63050136e-03 5.66067853e-04 9.99989119e-01 4.10536992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.65105275399999 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:102.76, Y:41.22, Z:0.41 [[ 9.28776209e-01 -3.70618435e-01 -4.09020269e-03 1.02763136e+02] [ 3.70612081e-01 9.28785042e-01 -2.24326041e-03 4.12185557e+01] [ 4.63031274e-03 5.67608369e-04 9.99989119e-01 4.10427570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68105275399999 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:102.79, Y:41.24, Z:0.41 [[ 9.28607206e-01 -3.71041671e-01 -4.09079688e-03 1.02792133e+02] [ 3.71035325e-01 9.28616046e-01 -2.24217631e-03 4.12355204e+01] [ 4.63072047e-03 5.64270931e-04 9.99989119e-01 4.10661173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.711052754 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:102.82, Y:41.25, Z:0.41 [[ 9.28291268e-01 -3.71831389e-01 -4.09139429e-03 1.02821179e+02] [ 3.71825055e-01 9.28300116e-01 -2.24108567e-03 4.12513762e+01] [ 4.63134779e-03 5.59097346e-04 9.99989119e-01 4.10118797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.741052754 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:102.85, Y:41.27, Z:0.41 [[ 9.27144880e-01 -3.74680699e-01 -4.09198942e-03 1.02849739e+02] [ 3.74674398e-01 9.27153751e-01 -2.23999850e-03 4.12674158e+01] [ 4.63318754e-03 5.43639474e-04 9.99989119e-01 4.09018438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.771052754 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:102.88, Y:41.28, Z:0.41 [[ 9.25710540e-01 -3.78210587e-01 -4.09251785e-03 1.02878559e+02] [ 3.78204323e-01 9.25719437e-01 -2.23903263e-03 4.12837191e+01] [ 4.63534917e-03 5.24888157e-04 9.99989119e-01 4.08084106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.801052754 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:102.91, Y:41.30, Z:0.41 [[ 9.24731608e-01 -3.80597819e-01 -4.09313109e-03 1.02907533e+02] [ 3.80591583e-01 9.24740525e-01 -2.23791101e-03 4.13001884e+01] [ 4.63682825e-03 5.11655806e-04 9.99989119e-01 4.08608841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.831052754 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:102.94, Y:41.32, Z:0.41 [[ 9.22431100e-01 -3.86140009e-01 -4.09374323e-03 1.02935088e+02] [ 3.86133832e-01 9.22440058e-01 -2.23679070e-03 4.13175864e+01] [ 4.63994712e-03 4.82552544e-04 9.99989119e-01 4.09478446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86105275399999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:102.96, Y:41.33, Z:0.41 [[ 9.21227050e-01 -3.89003803e-01 -4.09431185e-03 1.02964549e+02] [ 3.88997659e-01 9.21236030e-01 -2.23574939e-03 4.13338012e+01] [ 4.64154261e-03 4.66955090e-04 9.99989119e-01 4.11222321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.89105275399999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:102.99, Y:41.35, Z:0.41 [[ 9.20073743e-01 -3.91723804e-01 -4.09492100e-03 1.02992846e+02] [ 3.91717691e-01 9.20082745e-01 -2.23463312e-03 4.13485919e+01] [ 4.64302514e-03 4.51974262e-04 9.99989119e-01 4.11389026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92105275399999 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:103.02, Y:41.36, Z:0.41 [[ 9.17912811e-01 -3.96761009e-01 -4.09548834e-03 1.03021243e+02] [ 3.96754950e-01 9.17921849e-01 -2.23359286e-03 4.13642495e+01] [ 4.64554078e-03 4.25338232e-04 9.99989119e-01 4.14330382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.95105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:103.05, Y:41.38, Z:0.42 [[ 9.15779584e-01 -4.01660275e-01 -4.09603122e-03 1.03048904e+02] [ 4.01654268e-01 9.15788657e-01 -2.23259687e-03 4.13808806e+01] [ 4.64784440e-03 3.99378206e-04 9.99989119e-01 4.16274038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.98105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:103.08, Y:41.40, Z:0.42 [[ 9.14650536e-01 -4.04224709e-01 -4.09660961e-03 1.03076860e+02] [ 4.04218733e-01 9.14659629e-01 -2.23153506e-03 4.13965158e+01] [ 4.64904504e-03 3.85148393e-04 9.99989119e-01 4.16541079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.01105275399999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:103.11, Y:41.41, Z:0.42 [[ 9.12919214e-01 -4.08119740e-01 -4.09717470e-03 1.03105762e+02] [ 4.08113807e-01 9.12928335e-01 -2.23049706e-03 4.14133609e+01] [ 4.65073676e-03 3.64150057e-04 9.99989119e-01 4.15807598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.13, Y:41.43, Z:0.42 [[ 9.12881689e-01 -4.08203662e-01 -4.09778625e-03 1.03133602e+02] [ 4.08197735e-01 9.12890814e-01 -2.22937297e-03 4.14289926e+01] [ 4.65086964e-03 3.62446692e-04 9.99989119e-01 4.15117555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.071052754 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:103.16, Y:41.45, Z:0.41 [[ 9.14252944e-01 -4.05123139e-01 -4.09835668e-03 1.03159302e+02] [ 4.05117186e-01 9.14262052e-01 -2.22832383e-03 4.14462308e+01] [ 4.64971754e-03 3.76936901e-04 9.99989119e-01 4.14772444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.101052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.19, Y:41.46, Z:0.42 [[ 9.15739051e-01 -4.01752649e-01 -4.09865511e-03 1.03187159e+02] [ 4.01746665e-01 9.15748139e-01 -2.22777478e-03 4.14649243e+01] [ 4.64835021e-03 3.93439341e-04 9.99989119e-01 4.16596998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.21, Y:41.48, Z:0.42 [[ 9.17465788e-01 -3.97793570e-01 -4.09927172e-03 1.03213893e+02] [ 3.97787552e-01 9.17474853e-01 -2.22663960e-03 4.14834621e+01] [ 4.64672163e-03 4.12226395e-04 9.99989119e-01 4.17621653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.161052754 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:103.24, Y:41.50, Z:0.42 [[ 9.20467848e-01 -3.90796790e-01 -4.09984505e-03 1.03241132e+02] [ 3.90790708e-01 9.20476871e-01 -2.22558344e-03 4.15037634e+01] [ 4.64356341e-03 4.46396653e-04 9.99989119e-01 4.18338379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.191052754 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:103.27, Y:41.52, Z:0.42 [[ 9.21421131e-01 -3.88543802e-01 -4.10044957e-03 1.03269826e+02] [ 3.88537702e-01 9.21430142e-01 -2.22446910e-03 4.15190758e+01] [ 4.64258151e-03 4.56493584e-04 9.99989119e-01 4.18705424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22105275399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.30, Y:41.53, Z:0.42 [[ 9.21012355e-01 -3.89511777e-01 -4.10097344e-03 1.03299859e+02] [ 3.89505691e-01 9.21021375e-01 -2.22350289e-03 4.15338807e+01] [ 4.64316476e-03 4.50521138e-04 9.99989119e-01 4.20143597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.25105275399999 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:103.33, Y:41.55, Z:0.42 [[ 9.21095309e-01 -3.89315564e-01 -4.10157647e-03 1.03329572e+02] [ 3.89309481e-01 9.21104331e-01 -2.22238995e-03 4.15493867e+01] [ 4.64319085e-03 4.50250352e-04 9.99989119e-01 4.21243152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.36, Y:41.56, Z:0.42 [[ 9.21372255e-01 -3.88659671e-01 -4.10217856e-03 1.03359120e+02] [ 3.88653587e-01 9.21381276e-01 -2.22127803e-03 4.15644330e+01] [ 4.64299171e-03 4.52297535e-04 9.99989119e-01 4.21259824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.31105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:103.39, Y:41.58, Z:0.42 [[ 9.22631919e-01 -3.85659835e-01 -4.10277986e-03 1.03388820e+02] [ 3.85653726e-01 9.22640924e-01 -2.22016686e-03 4.15781181e+01] [ 4.64162179e-03 4.66144467e-04 9.99989119e-01 4.21953002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.34105275399999 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:103.42, Y:41.59, Z:0.42 [[ 9.23635929e-01 -3.83249049e-01 -4.10333809e-03 1.03418887e+02] [ 3.83242922e-01 9.23644920e-01 -2.21913465e-03 4.15927403e+01] [ 4.64050863e-03 4.77097216e-04 9.99989119e-01 4.23497356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.37105275399999 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:103.45, Y:41.60, Z:0.43 [[ 9.26217875e-01 -3.76966319e-01 -4.10395171e-03 1.03448295e+02] [ 3.76960135e-01 9.26226828e-01 -2.21799928e-03 4.16048931e+01] [ 4.63730120e-03 5.07324384e-04 9.99989119e-01 4.26156090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:103.48, Y:41.62, Z:0.43 [[ 9.28957659e-01 -3.70163238e-01 -4.10433273e-03 1.03479228e+02] [ 3.70156992e-01 9.28966568e-01 -2.21729398e-03 4.16183287e+01] [ 4.63354861e-03 5.40524767e-04 9.99989119e-01 4.26828756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.43105275399999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:103.51, Y:41.63, Z:0.43 [[ 9.29909372e-01 -3.67765836e-01 -4.10492972e-03 1.03509888e+02] [ 3.67759572e-01 9.29918268e-01 -2.21618821e-03 4.16322992e+01] [ 4.63228745e-03 5.51226987e-04 9.99989119e-01 4.25053006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.461052754 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:103.54, Y:41.64, Z:0.42 [[ 9.30597607e-01 -3.66020817e-01 -4.10553975e-03 1.03539829e+02] [ 3.66014541e-01 9.30606495e-01 -2.21505755e-03 4.16447831e+01] [ 4.63139913e-03 5.58640005e-04 9.99989119e-01 4.22898600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.491052754 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:103.57, Y:41.65, Z:0.42 [[ 9.31212757e-01 -3.64452934e-01 -4.10610725e-03 1.03571811e+02] [ 3.64446647e-01 9.31221638e-01 -2.21400506e-03 4.16542921e+01] [ 4.63059656e-03 5.65252733e-04 9.99989119e-01 4.19244055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.521052754 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:103.60, Y:41.67, Z:0.42 [[ 9.31272749e-01 -3.64299604e-01 -4.10662324e-03 1.03602815e+02] [ 3.64293320e-01 9.31281633e-01 -2.21304756e-03 4.16672625e+01] [ 4.63063515e-03 5.64935473e-04 9.99989119e-01 4.18225558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.551052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:103.64, Y:41.68, Z:0.42 [[ 9.30946633e-01 -3.65132164e-01 -4.10721037e-03 1.03635565e+02] [ 3.65125892e-01 9.30955525e-01 -2.21195737e-03 4.16751277e+01] [ 4.63128696e-03 5.59565416e-04 9.99989119e-01 4.16802617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.581052754 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:103.67, Y:41.68, Z:0.42 [[ 9.30381640e-01 -3.66569407e-01 -4.10775617e-03 1.03668264e+02] [ 3.66563153e-01 9.30390545e-01 -2.21094331e-03 4.16842735e+01] [ 4.63228168e-03 5.51269012e-04 9.99989119e-01 4.17016290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.61105275399999 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:103.70, Y:41.70, Z:0.42 [[ 9.30037601e-01 -3.67441400e-01 -4.10835453e-03 1.03697677e+02] [ 3.67435160e-01 9.30046515e-01 -2.20983089e-03 4.16964170e+01] [ 4.63294417e-03 5.45671922e-04 9.99989119e-01 4.17501428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64105275399999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:103.73, Y:41.71, Z:0.42 [[ 9.29217791e-01 -3.69509693e-01 -4.10891099e-03 1.03730304e+02] [ 3.69503478e-01 9.29226722e-01 -2.20879573e-03 4.17052829e+01] [ 4.63428132e-03 5.34195385e-04 9.99989119e-01 4.17888690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.67105275399999 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:103.76, Y:41.72, Z:0.42 [[ 9.28872233e-01 -3.70377492e-01 -4.10951437e-03 1.03760690e+02] [ 3.70371290e-01 9.28881173e-01 -2.20767256e-03 4.17164123e+01] [ 4.63492275e-03 5.28599606e-04 9.99989119e-01 4.17825820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.70105275399999 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:103.79, Y:41.73, Z:0.42 [[ 9.28119714e-01 -3.72259189e-01 -4.11007618e-03 1.03793718e+02] [ 3.72253009e-01 9.28128670e-01 -2.20662613e-03 4.17251304e+01] [ 4.63611639e-03 5.18024982e-04 9.99989119e-01 4.18481392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.73105275399999 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:103.82, Y:41.74, Z:0.42 [[ 9.27837135e-01 -3.72962939e-01 -4.11067463e-03 1.03824127e+02] [ 3.72956770e-01 9.27846099e-01 -2.20551072e-03 4.17376488e+01] [ 4.63664718e-03 5.13250814e-04 9.99989119e-01 4.19927846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76105275399999 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:103.86, Y:41.75, Z:0.42 [[ 9.27745897e-01 -3.73189829e-01 -4.11127089e-03 1.03855507e+02] [ 3.73183668e-01 9.27754865e-01 -2.20439869e-03 4.17472437e+01] [ 4.63691074e-03 5.10862686e-04 9.99989119e-01 4.21694249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.79105275399999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:103.89, Y:41.76, Z:0.42 [[ 9.27744891e-01 -3.73192326e-01 -4.11164083e-03 1.03885368e+02] [ 3.73186168e-01 9.27753861e-01 -2.20370845e-03 4.17594459e+01] [ 4.63699774e-03 5.10071764e-04 9.99989119e-01 4.22999538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.821052754 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:103.92, Y:41.77, Z:0.43 [[ 9.28123689e-01 -3.72249255e-01 -4.11218747e-03 1.03916982e+02] [ 3.72243092e-01 9.28132657e-01 -2.20268794e-03 4.17675215e+01] [ 4.63660442e-03 5.13633479e-04 9.99989119e-01 4.25274135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.851052754 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:103.95, Y:41.78, Z:0.43 [[ 9.28576504e-01 -3.71118260e-01 -4.11272747e-03 1.03948386e+02] [ 3.71112090e-01 9.28585467e-01 -2.20167922e-03 4.17800716e+01] [ 4.63610232e-03 5.18144703e-04 9.99989119e-01 4.26026482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.881052754 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:103.98, Y:41.79, Z:0.43 [[ 9.30264688e-01 -3.66866040e-01 -4.11333335e-03 1.03980199e+02] [ 3.66859835e-01 9.30273626e-01 -2.20054668e-03 4.17897881e+01] [ 4.63383138e-03 5.38074082e-04 9.99989119e-01 4.26522421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.911052754 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:104.01, Y:41.80, Z:0.43 [[ 9.31570121e-01 -3.63538424e-01 -4.11393561e-03 1.04011011e+02] [ 3.63532192e-01 9.31579040e-01 -2.19942018e-03 4.18027086e+01] [ 4.63202993e-03 5.53366093e-04 9.99989119e-01 4.27172115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.941052754 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:104.04, Y:41.81, Z:0.43 [[ 9.34250926e-01 -3.56592593e-01 -4.11453721e-03 1.04043073e+02] [ 3.56586299e-01 9.34259803e-01 -2.19829417e-03 4.18107156e+01] [ 4.62794214e-03 5.86570771e-04 9.99989119e-01 4.28080689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.97105275399998 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:104.08, Y:41.82, Z:0.43 [[ 9.36209785e-01 -3.51417565e-01 -4.11509676e-03 1.04077016e+02] [ 3.51411227e-01 9.36218629e-01 -2.19724622e-03 4.18185259e+01] [ 4.62478116e-03 6.10992209e-04 9.99989119e-01 4.27180711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00105275399999 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:104.11, Y:41.83, Z:0.43 [[ 9.36689921e-01 -3.50135764e-01 -4.11568546e-03 1.04108050e+02] [ 3.50129419e-01 9.36698760e-01 -2.19614296e-03 4.18298361e+01] [ 4.62410566e-03 6.16082421e-04 9.99989119e-01 4.26393037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.03105275399999 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:104.14, Y:41.84, Z:0.43 [[ 9.36654804e-01 -3.50229688e-01 -4.11628759e-03 1.04138648e+02] [ 3.50223348e-01 9.36663647e-01 -2.19501380e-03 4.18415200e+01] [ 4.62433594e-03 6.14350198e-04 9.99989119e-01 4.26030939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06105275399999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:104.17, Y:41.85, Z:0.43 [[ 9.35202842e-01 -3.54088543e-01 -4.11684776e-03 1.04170983e+02] [ 3.54082245e-01 9.35211714e-01 -2.19396267e-03 4.18505223e+01] [ 4.62698130e-03 5.94097431e-04 9.99989119e-01 4.26471618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.09105275399999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:104.20, Y:41.87, Z:0.43 [[ 9.35300989e-01 -3.53829206e-01 -4.11745420e-03 1.04200679e+02] [ 3.53822909e-01 9.35309863e-01 -2.19282396e-03 4.18662964e+01] [ 4.62698068e-03 5.94100797e-04 9.99989119e-01 4.26627981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12105275399999 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:104.23, Y:41.88, Z:0.43 [[ 9.34493440e-01 -3.55956531e-01 -4.11806193e-03 1.04230827e+02] [ 3.55950260e-01 9.34502332e-01 -2.19168207e-03 4.18772756e+01] [ 4.62848202e-03 5.82287305e-04 9.99989119e-01 4.26715201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.15105275399999 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:104.26, Y:41.88, Z:0.43 [[ 9.32717176e-01 -3.60585229e-01 -4.11862712e-03 1.04264497e+02] [ 3.60579007e-01 9.32726102e-01 -2.19061944e-03 4.18832861e+01] [ 4.63145603e-03 5.58137896e-04 9.99989119e-01 4.25240503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18105275399999 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:104.30, Y:41.89, Z:0.42 [[ 9.32143448e-01 -3.62065775e-01 -4.11918506e-03 1.04296093e+02] [ 3.62059572e-01 9.32152387e-01 -2.18956979e-03 4.18938939e+01] [ 4.63247647e-03 5.49602757e-04 9.99989119e-01 4.24235647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.211052754 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:104.33, Y:41.90, Z:0.43 [[ 9.31185993e-01 -3.64521157e-01 -4.11978696e-03 1.04326807e+02] [ 3.64514982e-01 9.31194952e-01 -2.18843670e-03 4.19036049e+01] [ 4.63405630e-03 5.36117531e-04 9.99989119e-01 4.25398261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.241052754 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:104.36, Y:41.92, Z:0.43 [[ 9.30823222e-01 -3.65446512e-01 -4.12034764e-03 1.04356083e+02] [ 3.65440350e-01 9.30832190e-01 -2.18738056e-03 4.19180824e+01] [ 4.63472281e-03 5.30323336e-04 9.99989119e-01 4.27980149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.271052754 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:104.39, Y:41.93, Z:0.43 [[ 9.30446053e-01 -3.66405731e-01 -4.12094737e-03 1.04385931e+02] [ 3.66399584e-01 9.30455031e-01 -2.18625012e-03 4.19323596e+01] [ 4.63541078e-03 5.24274392e-04 9.99989119e-01 4.28185005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.301052754 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:104.42, Y:41.94, Z:0.42 [[ 9.28470304e-01 -3.71383773e-01 -4.12154571e-03 1.04417755e+02] [ 3.71377679e-01 9.28479318e-01 -2.18512153e-03 4.19417249e+01] [ 4.63828863e-03 4.98170368e-04 9.99989119e-01 4.23975925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.331052754 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:104.45, Y:41.95, Z:0.42 [[ 9.26858744e-01 -3.75387637e-01 -4.12210153e-03 1.04448674e+02] [ 3.75381586e-01 9.26867787e-01 -2.18407250e-03 4.19542723e+01] [ 4.64051694e-03 4.76965688e-04 9.99989119e-01 4.22501816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36105275399999 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:104.48, Y:41.97, Z:0.42 [[ 9.25084224e-01 -3.79739623e-01 -4.12271614e-03 1.04477685e+02] [ 3.79733620e-01 9.25093300e-01 -2.18291172e-03 4.19676123e+01] [ 4.64283515e-03 4.53843273e-04 9.99989119e-01 4.22455801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.39105275399999 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:104.51, Y:41.98, Z:0.43 [[ 9.22153136e-01 -3.86803041e-01 -4.12328859e-03 1.04506522e+02] [ 3.86797113e-01 9.22162260e-01 -2.18182990e-03 4.19827371e+01] [ 4.64627956e-03 4.17105164e-04 9.99989119e-01 4.25163112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42105275399999 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:104.54, Y:42.00, Z:0.43 [[ 9.18911748e-01 -3.94441650e-01 -4.12117872e-03 1.04535051e+02] [ 3.94435780e-01 9.18920909e-01 -2.18581890e-03 4.19982801e+01] [ 4.64921532e-03 3.83034322e-04 9.99989119e-01 4.26396586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.45105275399999 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:104.56, Y:42.01, Z:0.43 [[ 9.18190324e-01 -3.96118065e-01 -4.12401402e-03 1.04564473e+02] [ 3.96112236e-01 9.18199511e-01 -2.18045635e-03 4.20122087e+01] [ 4.65038581e-03 3.68501508e-04 9.99989119e-01 4.27774653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.48105275399999 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:104.59, Y:42.03, Z:0.43 [[ 9.15169524e-01 -4.03048079e-01 -4.12164183e-03 1.04593435e+02] [ 4.03042298e-01 9.15178743e-01 -2.18494559e-03 4.20267349e+01] [ 4.65267711e-03 3.38399622e-04 9.99989119e-01 4.25588106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.51105275399999 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:104.62, Y:42.04, Z:0.42 [[ 9.13528532e-01 -4.06753776e-01 -4.12151347e-03 1.04621035e+02] [ 4.06748032e-01 9.13537773e-01 -2.18518857e-03 4.20420080e+01] [ 4.65399194e-03 3.19814616e-04 9.99989119e-01 4.24022065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54105275399999 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:104.65, Y:42.06, Z:0.42 [[ 9.11762359e-01 -4.10697509e-01 -4.11793010e-03 1.04650698e+02] [ 4.10691775e-01 9.11771606e-01 -2.19197512e-03 4.20592508e+01] [ 4.65485046e-03 3.07360381e-04 9.99989119e-01 4.24630887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.571052754 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:104.68, Y:42.08, Z:0.43 [[ 9.09188642e-01 -4.16364010e-01 -4.12606143e-03 1.04677377e+02] [ 4.16358403e-01 9.09197967e-01 -2.17656073e-03 4.20792480e+01] [ 4.65764821e-03 2.60983944e-04 9.99989119e-01 4.27578226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.601052754 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:104.70, Y:42.10, Z:0.43 [[ 9.08724522e-01 -4.17375985e-01 -4.12668274e-03 1.04703812e+02] [ 4.17370394e-01 9.08733857e-01 -2.17538211e-03 4.20961650e+01] [ 4.65800857e-03 2.54467872e-04 9.99989119e-01 4.30478934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.631052754 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:104.73, Y:42.12, Z:0.43 [[ 9.08400578e-01 -4.18080633e-01 -4.11991259e-03 1.04731209e+02] [ 4.18074990e-01 9.08409882e-01 -2.18822649e-03 4.21155507e+01] [ 4.65742443e-03 2.65353790e-04 9.99989119e-01 4.30357434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.661052754 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:104.76, Y:42.14, Z:0.43 [[ 9.10002466e-01 -4.14582293e-01 -4.12740630e-03 1.04756164e+02] [ 4.14576679e-01 9.10011786e-01 -2.17399945e-03 4.21365727e+01] [ 4.65729006e-03 2.67218459e-04 9.99989119e-01 4.29920997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.691052754 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:104.78, Y:42.16, Z:0.43 [[ 9.11283339e-01 -4.11759197e-01 -4.12797413e-03 1.04782460e+02] [ 4.11753559e-01 9.11292645e-01 -2.17292072e-03 4.21567383e+01] [ 4.65651256e-03 2.80438405e-04 9.99989119e-01 4.30414832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72105275399998 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:104.81, Y:42.18, Z:0.43 [[ 9.15012412e-01 -4.03404563e-01 -4.12857714e-03 1.04805499e+02] [ 4.03398845e-01 9.15021669e-01 -2.17177439e-03 4.21829879e+01] [ 4.65384125e-03 3.21737275e-04 9.99989119e-01 4.33375623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.75105275399999 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:104.83, Y:42.20, Z:0.43 [[ 9.17575629e-01 -3.97539828e-01 -4.12917415e-03 1.04832241e+02] [ 3.97534056e-01 9.17584853e-01 -2.17063872e-03 4.22035645e+01] [ 4.65178299e-03 3.50237837e-04 9.99989119e-01 4.34936160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78105275399999 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:104.86, Y:42.23, Z:0.43 [[ 9.23033549e-01 -3.84697300e-01 -4.12976193e-03 1.04856668e+02] [ 3.84691405e-01 9.23042695e-01 -2.16951985e-03 4.22269774e+01] [ 4.64655501e-03 4.13855687e-04 9.99989119e-01 4.33338164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.81105275399999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:104.88, Y:42.25, Z:0.43 [[ 9.25415847e-01 -3.78930666e-01 -4.13030754e-03 1.04880753e+02] [ 3.78924719e-01 9.25424959e-01 -2.16848063e-03 4.22458579e+01] [ 4.64399349e-03 4.41670712e-04 9.99989119e-01 4.34063955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.84105275399999 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:104.91, Y:42.27, Z:0.43 [[ 9.28853856e-01 -3.70423534e-01 -4.11335251e-03 1.04906941e+02] [ 3.70417362e-01 9.28862818e-01 -2.20077632e-03 4.22686025e+01] [ 4.63595954e-03 5.20542388e-04 9.99989118e-01 4.30896512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.87105275399999 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:104.93, Y:42.29, Z:0.43 [[ 9.29178692e-01 -3.69607755e-01 -4.13107864e-03 1.04927075e+02] [ 3.69601723e-01 9.29187748e-01 -2.16698371e-03 4.22897780e+01] [ 4.63948164e-03 4.86661300e-04 9.99989119e-01 4.34307802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90105275399999 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:104.95, Y:42.31, Z:0.43 [[ 9.31743528e-01 -3.63093769e-01 -4.11241516e-03 1.04954629e+02] [ 3.63087519e-01 9.31752436e-01 -2.20254401e-03 4.23087312e+01] [ 4.63148285e-03 5.59039510e-04 9.99989118e-01 4.33491067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.93105275399999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:104.98, Y:42.33, Z:0.43 [[ 9.32198481e-01 -3.61923917e-01 -4.13156949e-03 1.04983344e+02] [ 3.61917815e-01 9.32207490e-01 -2.16600793e-03 4.23256863e+01] [ 4.63541010e-03 5.23860702e-04 9.99989119e-01 4.33689754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.961052754 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:105.01, Y:42.34, Z:0.43 [[ 9.32031786e-01 -3.62352970e-01 -4.13215782e-03 1.05012307e+02] [ 3.62346877e-01 9.32040801e-01 -2.16488498e-03 4.23405969e+01] [ 4.63579219e-03 5.20467133e-04 9.99989119e-01 4.29560068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.991052754 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:105.04, Y:42.36, Z:0.43 [[ 9.31512718e-01 -3.63685273e-01 -4.13270507e-03 1.05037347e+02] [ 3.63679197e-01 9.31521744e-01 -2.16383979e-03 4.23552992e+01] [ 4.63666130e-03 5.12665425e-04 9.99989119e-01 4.28653710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.021052754 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:105.07, Y:42.37, Z:0.43 [[ 9.29461650e-01 -3.68895822e-01 -4.11255435e-03 1.05065693e+02] [ 3.68889629e-01 9.29470597e-01 -2.20230771e-03 4.23708935e+01] [ 4.63492046e-03 5.29881904e-04 9.99989118e-01 4.30242755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.051052754 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:105.10, Y:42.38, Z:0.43 [[ 9.26558037e-01 -3.76129259e-01 -4.12129692e-03 1.05097077e+02] [ 3.76123209e-01 9.26567081e-01 -2.18560806e-03 4.23835676e+01] [ 4.64072919e-03 4.74977291e-04 9.99989119e-01 4.33548207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.081052754 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:105.13, Y:42.40, Z:0.43 [[ 9.24335649e-01 -3.81558020e-01 -4.13344041e-03 1.05126844e+02] [ 3.81552126e-01 9.24344795e-01 -2.16239566e-03 4.23964643e+01] [ 4.64580353e-03 4.21656420e-04 9.99989119e-01 4.33344253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.11105275399999 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:105.16, Y:42.41, Z:0.43 [[ 9.22051972e-01 -3.87044020e-01 -4.13380517e-03 1.05156512e+02] [ 3.87038183e-01 9.22061154e-01 -2.16169812e-03 4.24081446e+01] [ 4.64829350e-03 3.93257572e-04 9.99989119e-01 4.32216532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14105275399999 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:105.19, Y:42.42, Z:0.43 [[ 9.17029037e-01 -3.98799015e-01 -4.13414084e-03 1.05188381e+02] [ 3.98793299e-01 9.17038295e-01 -2.16105599e-03 4.24177073e+01] [ 4.65299247e-03 3.33083427e-04 9.99989119e-01 4.31761643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.17105275399999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:105.22, Y:42.43, Z:0.43 [[ 9.14652928e-01 -4.04218907e-01 -4.13473334e-03 1.05218269e+02] [ 4.04213251e-01 9.14662223e-01 -2.15992176e-03 4.24311179e+01] [ 4.65496561e-03 3.04264758e-04 9.99989119e-01 4.33036631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.20105275399999 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:105.25, Y:42.45, Z:0.44 [[ 9.10309028e-01 -4.13908653e-01 -4.13533499e-03 1.05248318e+02] [ 4.13903101e-01 9.10318385e-01 -2.15876925e-03 4.24461747e+01] [ 4.65800474e-03 2.53519167e-04 9.99989119e-01 4.36729470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.23105275399999 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:105.28, Y:42.46, Z:0.44 [[ 9.08818255e-01 -4.17171754e-01 -4.13593967e-03 1.05276701e+02] [ 4.17166241e-01 9.08827636e-01 -2.15761013e-03 4.24603987e+01] [ 4.65895028e-03 2.35501063e-04 9.99989119e-01 4.37953432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26105275399999 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:105.31, Y:42.47, Z:0.44 [[ 9.06995345e-01 -4.21120332e-01 -4.13650273e-03 1.05306791e+02] [ 4.21114864e-01 9.07004752e-01 -2.15653011e-03 4.24745060e+01] [ 4.65998631e-03 2.14019981e-04 9.99989119e-01 4.36592273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.29105275399999 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:105.34, Y:42.49, Z:0.43 [[ 9.06393955e-01 -4.22413165e-01 -4.13708186e-03 1.05335304e+02] [ 4.22407717e-01 9.06403373e-01 -2.15541853e-03 4.24908073e+01] [ 4.66034212e-03 2.06123025e-04 9.99989119e-01 4.34008421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.321052754 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:105.36, Y:42.51, Z:0.43 [[ 9.06593572e-01 -4.21984566e-01 -4.13768708e-03 1.05363422e+02] [ 4.21979118e-01 9.06602991e-01 -2.15425609e-03 4.25076295e+01] [ 4.66030230e-03 2.07017176e-04 9.99989119e-01 4.34067048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.351052754 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:105.39, Y:42.53, Z:0.43 [[ 9.06863068e-01 -4.21405090e-01 -4.13829441e-03 1.05391886e+02] [ 4.21399641e-01 9.06872487e-01 -2.15308877e-03 4.25257525e+01] [ 4.66022791e-03 2.08680913e-04 9.99989119e-01 4.34567795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.381052754 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:105.42, Y:42.55, Z:0.43 [[ 9.06627557e-01 -4.21911533e-01 -4.13889787e-03 1.05417435e+02] [ 4.21906095e-01 9.06636981e-01 -2.15192812e-03 4.25463345e+01] [ 4.66040116e-03 2.04771094e-04 9.99989119e-01 4.34488956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.411052754 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:105.44, Y:42.57, Z:0.43 [[ 9.06319660e-01 -4.22572525e-01 -4.13945919e-03 1.05444642e+02] [ 4.22567098e-01 9.06329091e-01 -2.15084783e-03 4.25657478e+01] [ 4.66060148e-03 2.00156416e-04 9.99989119e-01 4.33891370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.441052754 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:105.47, Y:42.58, Z:0.43 [[ 9.06149969e-01 -4.22936276e-01 -4.14005171e-03 1.05473289e+02] [ 4.22930859e-01 9.06159405e-01 -2.14970671e-03 4.25834881e+01] [ 4.66073574e-03 1.97001048e-04 9.99989119e-01 4.33099388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.47105275399998 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:105.50, Y:42.61, Z:0.43 [[ 9.05682688e-01 -4.23935991e-01 -4.14064420e-03 1.05498121e+02] [ 4.23930589e-01 9.05692133e-01 -2.14856488e-03 4.26051284e+01] [ 4.66100286e-03 1.90572282e-04 9.99989119e-01 4.33002697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50105275399999 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:105.53, Y:42.63, Z:0.44 [[ 9.05657339e-01 -4.23990136e-01 -4.14119499e-03 1.05525117e+02] [ 4.23984740e-01 9.05666787e-01 -2.14750274e-03 4.26250450e+01] [ 4.66106274e-03 1.89098133e-04 9.99989119e-01 4.35201033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.53105275399999 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:105.55, Y:42.65, Z:0.44 [[ 9.06387992e-01 -4.22425915e-01 -4.14179814e-03 1.05548671e+02] [ 4.22420508e-01 9.06397434e-01 -2.14633885e-03 4.26484609e+01] [ 4.66078436e-03 1.95835293e-04 9.99989119e-01 4.38225470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56105275399999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:105.58, Y:42.67, Z:0.44 [[ 9.07278487e-01 -4.20509914e-01 -4.14235948e-03 1.05576555e+02] [ 4.20504492e-01 9.07287920e-01 -2.14525493e-03 4.26677534e+01] [ 4.66041368e-03 2.04462877e-04 9.99989119e-01 4.38194907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.59105275399999 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:105.60, Y:42.69, Z:0.44 [[ 9.10277064e-01 -4.13978867e-01 -4.14296710e-03 1.05602361e+02] [ 4.13973382e-01 9.10286461e-01 -2.14408084e-03 4.26888535e+01] [ 4.65889102e-03 2.36629511e-04 9.99989119e-01 4.36841337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62105275399999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:105.63, Y:42.71, Z:0.44 [[ 9.12120284e-01 -4.09901718e-01 -4.14353264e-03 1.05630052e+02] [ 4.09896197e-01 9.12129659e-01 -2.14298735e-03 4.27077945e+01] [ 4.65785321e-03 2.56243964e-04 9.99989119e-01 4.37123729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.65105275399999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:105.66, Y:42.73, Z:0.44 [[ 9.16032196e-01 -4.01083336e-01 -4.14412250e-03 1.05655087e+02] [ 4.01077729e-01 9.16041521e-01 -2.14184607e-03 4.27316989e+01] [ 4.65524704e-03 2.99884714e-04 9.99989119e-01 4.38692979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68105275399999 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:105.68, Y:42.75, Z:0.44 [[ 9.17833782e-01 -3.96943283e-01 -4.14472346e-03 1.05681203e+02] [ 3.96937640e-01 9.17843084e-01 -2.14068250e-03 4.27505334e+01] [ 4.65393531e-03 3.19593968e-04 9.99989119e-01 4.39393826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.711052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:105.71, Y:42.77, Z:0.44 [[ 9.21053388e-01 -3.89414270e-01 -4.14528123e-03 1.05707654e+02] [ 3.89408555e-01 9.21062647e-01 -2.13960188e-03 4.27710224e+01] [ 4.65125520e-03 3.56479586e-04 9.99989119e-01 4.38254985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.741052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.74, Y:42.79, Z:0.44 [[ 9.22602473e-01 -3.85729812e-01 -4.14587051e-03 1.05736182e+02] [ 3.85724065e-01 9.22611713e-01 -2.13845943e-03 4.27877036e+01] [ 4.64989625e-03 3.73785937e-04 9.99989119e-01 4.37368145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.771052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:105.76, Y:42.81, Z:0.44 [[ 9.24721116e-01 -3.80622733e-01 -4.14645961e-03 1.05763280e+02] [ 3.80616941e-01 9.24730326e-01 -2.13731655e-03 4.28059214e+01] [ 4.64786822e-03 3.98208973e-04 9.99989119e-01 4.35857803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.801052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.79, Y:42.82, Z:0.44 [[ 9.25650752e-01 -3.78356297e-01 -4.14696840e-03 1.05792028e+02] [ 3.78350486e-01 9.25659952e-01 -2.13632892e-03 4.28231323e+01] [ 4.64697606e-03 4.08486963e-04 9.99989119e-01 4.35898064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.831052754 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:105.82, Y:42.84, Z:0.44 [[ 9.27314457e-01 -3.74260197e-01 -4.14754668e-03 1.05818163e+02] [ 3.74254351e-01 9.27323634e-01 -2.13520562e-03 4.28395502e+01] [ 4.64524054e-03 4.27769651e-04 9.99989119e-01 4.35113469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86105275399999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:105.85, Y:42.86, Z:0.44 [[ 9.27033234e-01 -3.74956309e-01 -4.14107221e-03 1.05848562e+02] [ 3.74950414e-01 9.27042380e-01 -2.14778590e-03 4.28561726e+01] [ 4.64427532e-03 4.38372172e-04 9.99989119e-01 4.35053314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.89105275399999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:105.88, Y:42.87, Z:0.43 [[ 9.27179021e-01 -3.74595584e-01 -4.14875381e-03 1.05876761e+02] [ 3.74589752e-01 9.27188206e-01 -2.13284386e-03 4.28688645e+01] [ 4.64562949e-03 4.23447425e-04 9.99989119e-01 4.33182152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:105.91, Y:42.88, Z:0.43 [[ 9.26462284e-01 -3.76364827e-01 -4.14167946e-03 1.05907791e+02] [ 3.76358951e-01 9.26471442e-01 -2.14660701e-03 4.28840429e+01] [ 4.64505512e-03 4.29992298e-04 9.99989119e-01 4.33617870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.95105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:105.94, Y:42.90, Z:0.43 [[ 9.25114170e-01 -3.79666369e-01 -4.14979183e-03 1.05935890e+02] [ 3.79660596e-01 9.25123393e-01 -2.13080801e-03 4.28990974e+01] [ 4.64806563e-03 3.95728250e-04 9.99989119e-01 4.33705732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.98105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:105.97, Y:42.91, Z:0.43 [[ 9.25213426e-01 -3.79424421e-01 -4.15033033e-03 1.05965860e+02] [ 3.79418650e-01 9.25222650e-01 -2.12975861e-03 4.29143986e+01] [ 4.64806206e-03 3.95768528e-04 9.99989119e-01 4.33862110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.01105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.00, Y:42.93, Z:0.44 [[ 9.24478569e-01 -3.81211419e-01 -4.15088702e-03 1.05995457e+02] [ 3.81205670e-01 9.24487807e-01 -2.12867308e-03 4.29299661e+01] [ 4.64891892e-03 3.85570975e-04 9.99989119e-01 4.36121180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:106.02, Y:42.95, Z:0.44 [[ 9.22947294e-01 -3.84903959e-01 -4.15147140e-03 1.06024040e+02] [ 3.84898253e-01 9.22956558e-01 -2.12753277e-03 4.29452207e+01] [ 4.65052354e-03 3.65706521e-04 9.99989119e-01 4.39143147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.071052754 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:106.05, Y:42.96, Z:0.44 [[ 9.22533714e-01 -3.85894166e-01 -4.15201504e-03 1.06052645e+02] [ 3.85888475e-01 9.22542987e-01 -2.12647128e-03 4.29598009e+01] [ 4.65100522e-03 3.59526698e-04 9.99989119e-01 4.38865558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.101052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:106.08, Y:42.97, Z:0.44 [[ 9.21443846e-01 -3.88489379e-01 -4.15223013e-03 1.06082230e+02] [ 3.88483716e-01 9.21453136e-01 -2.12605121e-03 4.29727797e+01] [ 4.65203379e-03 3.45963017e-04 9.99989119e-01 4.36749208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.131052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:106.11, Y:42.99, Z:0.43 [[ 9.20099493e-01 -3.91662708e-01 -4.15287541e-03 1.06111801e+02] [ 3.91657082e-01 9.20108806e-01 -2.12479002e-03 4.29883181e+01] [ 4.65329825e-03 3.28515158e-04 9.99989119e-01 4.34979705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.14, Y:43.00, Z:0.44 [[ 9.19618548e-01 -3.92790624e-01 -4.15346040e-03 1.06139359e+02] [ 3.92785015e-01 9.19627872e-01 -2.12364589e-03 4.30038147e+01] [ 4.65378614e-03 3.21527143e-04 9.99989119e-01 4.35972084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.191052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:106.17, Y:43.02, Z:0.44 [[ 9.18460813e-01 -3.95490253e-01 -4.14652825e-03 1.06169294e+02] [ 3.95484611e-01 9.18470117e-01 -2.13720354e-03 4.30187623e+01] [ 4.65370546e-03 3.23049596e-04 9.99989119e-01 4.35014699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22105275399998 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:106.20, Y:43.03, Z:0.44 [[ 9.17866712e-01 -3.96867031e-01 -4.15423480e-03 1.06199469e+02] [ 3.96861470e-01 9.17876065e-01 -2.12211729e-03 4.30334408e+01] [ 4.65527108e-03 2.99165093e-04 9.99989119e-01 4.36374035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.25105275399999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:106.23, Y:43.05, Z:0.44 [[ 9.16252578e-01 -4.00579519e-01 -4.15482448e-03 1.06225807e+02] [ 4.00574001e-01 9.16261956e-01 -2.12096215e-03 4.30473909e+01] [ 4.65652160e-03 2.79022370e-04 9.99989119e-01 4.36264038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28105275399999 meters Centerline goodness : 0.994815 Centerline is valid? [True, True] Translation: X:106.25, Y:43.06, Z:0.43 [[ 9.15214507e-01 -4.02945712e-01 -4.14242895e-03 1.06252679e+02] [ 4.02940109e-01 9.15223834e-01 -2.14519110e-03 4.30621431e+01] [ 4.65564526e-03 2.94159245e-04 9.99989119e-01 4.33568760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.31105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.28, Y:43.08, Z:0.44 [[ 9.12270803e-01 -4.09566656e-01 -4.13951087e-03 1.06283896e+02] [ 4.09561095e-01 9.12280156e-01 -2.15088854e-03 4.30790166e+01] [ 4.65732585e-03 2.66810206e-04 9.99989119e-01 4.38165587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.34105275399999 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:106.31, Y:43.09, Z:0.44 [[ 9.10445885e-01 -4.13607355e-01 -4.15298147e-03 1.06310060e+02] [ 4.13601955e-01 9.10455331e-01 -2.12455686e-03 4.30946831e+01] [ 4.65983646e-03 2.16612790e-04 9.99989119e-01 4.39084319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.37105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.34, Y:43.11, Z:0.44 [[ 9.07239747e-01 -4.20593496e-01 -4.14162018e-03 1.06340112e+02] [ 4.20588067e-01 9.07249177e-01 -2.14677669e-03 4.31070741e+01] [ 4.66040181e-03 2.05725113e-04 9.99989119e-01 4.39775953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.37, Y:43.12, Z:0.44 [[ 9.05860166e-01 -4.23556605e-01 -4.14261562e-03 1.06371379e+02] [ 4.23551217e-01 9.05869619e-01 -2.14482689e-03 4.31192895e+01] [ 4.66112523e-03 1.88303356e-04 9.99989119e-01 4.38667230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.43105275399999 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:106.40, Y:43.14, Z:0.44 [[ 9.01946301e-01 -4.31828209e-01 -4.15544023e-03 1.06396298e+02] [ 4.31823023e-01 9.01955866e-01 -2.11968548e-03 4.31356200e+01] [ 4.66336368e-03 1.17427711e-04 9.99989120e-01 4.39729351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.461052754 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:106.43, Y:43.15, Z:0.44 [[ 8.99035908e-01 -4.37855313e-01 -4.14266155e-03 1.06425522e+02] [ 4.37850075e-01 8.99045445e-01 -2.14473581e-03 4.31525536e+01] [ 4.66352497e-03 1.14329837e-04 9.99989119e-01 4.40353651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.491052754 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:106.45, Y:43.17, Z:0.44 [[ 8.97231586e-01 -4.41540722e-01 -4.15606688e-03 1.06449599e+02] [ 4.41535645e-01 8.97241209e-01 -2.11843649e-03 4.31692276e+01] [ 4.66437045e-03 6.56764578e-05 9.99989120e-01 4.40703737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.48, Y:43.19, Z:0.44 [[ 8.96192372e-01 -4.43646344e-01 -4.14175957e-03 1.06479009e+02] [ 4.43641160e-01 8.96201938e-01 -2.14650760e-03 4.31855959e+01] [ 4.66414320e-03 8.62287224e-05 9.99989119e-01 4.41620508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.551052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.51, Y:43.20, Z:0.44 [[ 8.94032187e-01 -4.47983575e-01 -4.14300829e-03 1.06505188e+02] [ 4.47978449e-01 8.94041785e-01 -2.14405561e-03 4.32029623e+01] [ 4.66452422e-03 6.08763011e-05 9.99989119e-01 4.41764532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.581052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.53, Y:43.22, Z:0.44 [[ 8.93525663e-01 -4.48993015e-01 -4.14271010e-03 1.06532838e+02] [ 4.48987896e-01 8.93535265e-01 -2.14464122e-03 4.32194644e+01] [ 4.66458649e-03 5.62652776e-05 9.99989119e-01 4.41362300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.61105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.56, Y:43.24, Z:0.44 [[ 8.93369300e-01 -4.49304063e-01 -4.14154186e-03 1.06561380e+02] [ 4.49298937e-01 8.93378898e-01 -2.14693642e-03 4.32394318e+01] [ 4.66459336e-03 5.72167244e-05 9.99989119e-01 4.41798408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:106.59, Y:43.26, Z:0.44 [[ 8.91406384e-01 -4.53185798e-01 -4.15819343e-03 1.06589384e+02] [ 4.53180866e-01 8.91416083e-01 -2.11418603e-03 4.32561723e+01] [ 4.66479958e-03 1.85227397e-07 9.99989120e-01 4.43096799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.67105275399999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:106.62, Y:43.27, Z:0.44 [[ 8.91422126e-01 -4.53154828e-01 -4.15871082e-03 1.06617573e+02] [ 4.53149901e-01 8.91431827e-01 -2.11316781e-03 4.32724263e+01] [ 4.66479938e-03 -7.94848569e-07 9.99989120e-01 4.43133951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.70105275399999 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:106.65, Y:43.29, Z:0.44 [[ 8.91908554e-01 -4.52196674e-01 -4.15926141e-03 1.06646907e+02] [ 4.52191741e-01 8.91918252e-01 -2.11208354e-03 4.32888775e+01] [ 4.66479832e-03 3.00172147e-06 9.99989120e-01 4.43828327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.73105275399999 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:106.68, Y:43.30, Z:0.45 [[ 8.92831850e-01 -4.50370940e-01 -4.15985322e-03 1.06676202e+02] [ 4.50365993e-01 8.92841540e-01 -2.11091730e-03 4.33042953e+01] [ 4.66478557e-03 1.12377673e-05 9.99989120e-01 4.46922247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76105275399999 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:106.71, Y:43.32, Z:0.45 [[ 8.94076836e-01 -4.47894298e-01 -4.16044106e-03 1.06705191e+02] [ 4.47889330e-01 8.94086515e-01 -2.10975808e-03 4.33196652e+01] [ 4.66474286e-03 2.28686656e-05 9.99989120e-01 4.47980037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.79105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:106.73, Y:43.33, Z:0.45 [[ 8.97262406e-01 -4.41478042e-01 -4.16102702e-03 1.06734564e+02] [ 4.41473009e-01 8.97272052e-01 -2.10860177e-03 4.33331728e+01] [ 4.66447463e-03 5.49879743e-05 9.99989120e-01 4.49316405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.821052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.76, Y:43.35, Z:0.45 [[ 9.00040145e-01 -4.35787125e-01 -4.16157149e-03 1.06764917e+02] [ 4.35782037e-01 9.00049762e-01 -2.10752664e-03 4.33472543e+01] [ 4.66405441e-03 8.33204805e-05 9.99989120e-01 4.49980613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.851052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:106.79, Y:43.36, Z:0.45 [[ 9.06949624e-01 -4.21218536e-01 -4.16214272e-03 1.06794390e+02] [ 4.21213299e-01 9.06959161e-01 -2.10639793e-03 4.33603842e+01] [ 4.66214732e-03 1.57246949e-04 9.99989120e-01 4.49856155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.881052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.82, Y:43.37, Z:0.45 [[ 9.13685092e-01 -4.06401557e-01 -4.16267449e-03 1.06824933e+02] [ 4.06396170e-01 9.13694545e-01 -2.10534652e-03 4.33727154e+01] [ 4.65902907e-03 2.31928763e-04 9.99989120e-01 4.48570016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.911052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.86, Y:43.39, Z:0.45 [[ 9.16441072e-01 -4.00148009e-01 -4.16325662e-03 1.06855946e+02] [ 4.00142563e-01 9.16450491e-01 -2.10419474e-03 4.33854730e+01] [ 4.65740791e-03 2.62474308e-04 9.99989120e-01 4.47366149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.941052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.89, Y:43.40, Z:0.45 [[ 9.21181051e-01 -3.89111980e-01 -4.16383949e-03 1.06886697e+02] [ 3.89106426e-01 9.21190407e-01 -2.10304071e-03 4.33978716e+01] [ 4.65400733e-03 3.17104554e-04 9.99989120e-01 4.47726318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.97105275399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.92, Y:43.41, Z:0.45 [[ 9.22930750e-01 -3.84943487e-01 -4.16442436e-03 1.06917156e+02] [ 3.84937896e-01 9.22940084e-01 -2.10188192e-03 4.34118021e+01] [ 4.65261992e-03 3.36846709e-04 9.99989120e-01 4.48916261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.95, Y:43.42, Z:0.45 [[ 9.24536182e-01 -3.81071517e-01 -4.16501202e-03 1.06948622e+02] [ 3.81065892e-01 9.24545495e-01 -2.10071678e-03 4.34221126e+01] [ 4.65126643e-03 3.55044646e-04 9.99989120e-01 4.48602158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.03105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:106.98, Y:43.43, Z:0.45 [[ 9.24861152e-01 -3.80282127e-01 -4.16559731e-03 1.06979111e+02] [ 3.80276500e-01 9.24870464e-01 -2.09955555e-03 4.34332730e+01] [ 4.65106137e-03 3.57718606e-04 9.99989120e-01 4.47670379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:107.01, Y:43.44, Z:0.45 [[ 9.24795098e-01 -3.80442728e-01 -4.16614134e-03 1.07010866e+02] [ 3.80437107e-01 9.24804414e-01 -2.09847548e-03 4.34415717e+01] [ 4.65121563e-03 3.55705080e-04 9.99989120e-01 4.45498609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.09105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:107.04, Y:43.45, Z:0.44 [[ 9.24595350e-01 -3.80927917e-01 -4.16664479e-03 1.07041193e+02] [ 3.80922305e-01 9.24604671e-01 -2.09747536e-03 4.34540674e+01] [ 4.65148616e-03 3.52148027e-04 9.99989120e-01 4.44546341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.12105275399999 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:107.07, Y:43.46, Z:0.44 [[ 9.23502565e-01 -3.83569612e-01 -4.16714517e-03 1.07072631e+02] [ 3.83564032e-01 9.23511905e-01 -2.09648077e-03 4.34639657e+01] [ 4.65255449e-03 3.37738363e-04 9.99989120e-01 4.44564678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.15105275399999 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:107.10, Y:43.47, Z:0.44 [[ 9.23031365e-01 -3.84702131e-01 -4.16764881e-03 1.07102133e+02] [ 3.84696567e-01 9.23040714e-01 -2.09547910e-03 4.34746412e+01] [ 4.65304481e-03 3.30912744e-04 9.99989120e-01 4.44669794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18105275399999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:107.13, Y:43.48, Z:0.45 [[ 9.21703774e-01 -3.87872174e-01 -4.16277629e-03 1.07133729e+02] [ 3.87866598e-01 9.21713117e-01 -2.10517220e-03 4.34828409e+01] [ 4.65342323e-03 3.25743288e-04 9.99989120e-01 4.46390548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.211052754 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:107.16, Y:43.50, Z:0.45 [[ 9.21510448e-01 -3.88331198e-01 -4.16831011e-03 1.07164568e+02] [ 3.88325676e-01 9.21519823e-01 -2.09415743e-03 4.34950315e+01] [ 4.65440706e-03 3.11126110e-04 9.99989120e-01 4.47912853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.241052754 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:107.20, Y:43.50, Z:0.45 [[ 9.22005137e-01 -3.87155198e-01 -4.16889406e-03 1.07195230e+02] [ 3.87149669e-01 9.22014508e-01 -2.09299431e-03 4.35042976e+01] [ 4.65409443e-03 3.15765548e-04 9.99989120e-01 4.50040902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.271052754 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:107.23, Y:43.52, Z:0.45 [[ 9.22111123e-01 -3.86902754e-01 -4.16348714e-03 1.07226292e+02] [ 3.86897175e-01 9.22120464e-01 -2.10376805e-03 4.35171212e+01] [ 4.65319035e-03 3.29066514e-04 9.99989120e-01 4.51009965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.301052754 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:107.26, Y:43.53, Z:0.45 [[ 9.23505326e-01 -3.83562937e-01 -4.16964936e-03 1.07258110e+02] [ 3.83557378e-01 9.23514680e-01 -2.09148284e-03 4.35261968e+01] [ 4.65294769e-03 3.32195767e-04 9.99989120e-01 4.51849769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.331052754 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:107.29, Y:43.54, Z:0.45 [[ 9.24308827e-01 -3.81622590e-01 -4.17019550e-03 1.07289332e+02] [ 3.81617017e-01 9.24318172e-01 -2.09039334e-03 4.35376225e+01] [ 4.65232880e-03 3.40751450e-04 9.99989120e-01 4.52110969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36105275399999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:107.32, Y:43.54, Z:0.45 [[ 9.25648728e-01 -3.78360988e-01 -4.17077579e-03 1.07322103e+02] [ 3.78355387e-01 9.25658056e-01 -2.08923488e-03 4.35447664e+01] [ 4.65119719e-03 3.55862122e-04 9.99989120e-01 4.51721245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.39105275399999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:107.35, Y:43.56, Z:0.45 [[ 9.26439830e-01 -3.76419768e-01 -4.17131526e-03 1.07354030e+02] [ 3.76414152e-01 9.26449149e-01 -2.08815724e-03 4.35560267e+01] [ 4.65053514e-03 3.64409938e-04 9.99989120e-01 4.52611028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42105275399999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:107.39, Y:43.56, Z:0.46 [[ 9.27580112e-01 -3.73601033e-01 -4.17188023e-03 1.07385921e+02] [ 3.73595394e-01 9.27589417e-01 -2.08702789e-03 4.35635430e+01] [ 4.64950772e-03 3.77290320e-04 9.99989120e-01 4.55604614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.45105275399999 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:107.42, Y:43.57, Z:0.46 [[ 9.28749417e-01 -3.70684670e-01 -4.17090767e-03 1.07419199e+02] [ 3.70678993e-01 9.28758699e-01 -2.08897271e-03 4.35685059e+01] [ 4.64811694e-03 3.94064327e-04 9.99989120e-01 4.55947241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.48105275399999 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:107.45, Y:43.58, Z:0.46 [[ 9.29584013e-01 -3.68586695e-01 -4.17264111e-03 1.07451462e+02] [ 3.68581013e-01 9.29593291e-01 -2.08550446e-03 4.35774525e+01] [ 4.64754838e-03 4.00695320e-04 9.99989120e-01 4.56316237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.51105275399999 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:107.49, Y:43.58, Z:0.46 [[ 9.31159141e-01 -3.64589137e-01 -4.17321852e-03 1.07486418e+02] [ 3.64583420e-01 9.31168398e-01 -2.08434840e-03 4.35814600e+01] [ 4.64589999e-03 4.19373782e-04 9.99989120e-01 4.56728254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54105275399999 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:107.52, Y:43.59, Z:0.46 [[ 9.32186318e-01 -3.61954760e-01 -4.17379973e-03 1.07517976e+02] [ 3.61949022e-01 9.32195562e-01 -2.08318390e-03 4.35906795e+01] [ 4.64481591e-03 4.31212805e-04 9.99989120e-01 4.57671962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.571052754 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:107.55, Y:43.60, Z:0.46 [[ 9.32665605e-01 -3.60717991e-01 -4.17147023e-03 1.07548851e+02] [ 3.60712220e-01 9.32674828e-01 -2.08785353e-03 4.35997090e+01] [ 4.64375161e-03 4.42568894e-04 9.99989120e-01 4.56955665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.601052754 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:107.58, Y:43.60, Z:0.46 [[ 9.33339300e-01 -3.58971203e-01 -4.17451788e-03 1.07583707e+02] [ 3.58965442e-01 9.33348530e-01 -2.08174208e-03 4.36017550e+01] [ 4.64356558e-03 4.44464043e-04 9.99989120e-01 4.55477183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.631052754 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:107.62, Y:43.60, Z:0.45 [[ 9.33114677e-01 -3.59554682e-01 -4.17487177e-03 1.07619959e+02] [ 3.59548930e-01 9.33123912e-01 -2.08103212e-03 4.36031742e+01] [ 4.64391752e-03 4.40770938e-04 9.99989120e-01 4.53859459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.661052754 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:107.65, Y:43.61, Z:0.45 [[ 9.32811930e-01 -3.60339380e-01 -4.17544279e-03 1.07652574e+02] [ 3.60333641e-01 9.32821173e-01 -2.07988578e-03 4.36113131e+01] [ 4.64440619e-03 4.35589764e-04 9.99989120e-01 4.53241631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.691052754 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:107.69, Y:43.61, Z:0.45 [[ 9.32225743e-01 -3.61853182e-01 -4.17601424e-03 1.07688421e+02] [ 3.61847463e-01 9.32234999e-01 -2.07873777e-03 4.36131998e+01] [ 4.64522451e-03 4.26772703e-04 9.99989120e-01 4.51582197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72105275399998 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:107.72, Y:43.62, Z:0.45 [[ 9.32490915e-01 -3.61169281e-01 -4.17658153e-03 1.07720210e+02] [ 3.61163560e-01 9.32500170e-01 -2.07759736e-03 4.36208004e+01] [ 4.64502733e-03 4.28911614e-04 9.99989120e-01 4.52531534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.75105275399999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:107.75, Y:43.62, Z:0.45 [[ 9.31753676e-01 -3.63066988e-01 -4.17716332e-03 1.07753935e+02] [ 3.63061291e-01 9.31762946e-01 -2.07642707e-03 4.36248505e+01] [ 4.64600813e-03 4.18152249e-04 9.99989120e-01 4.52846905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78105275399999 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:107.79, Y:43.63, Z:0.45 [[ 9.31252084e-01 -3.64351651e-01 -4.17488542e-03 1.07785652e+02] [ 3.64345947e-01 9.31261349e-01 -2.08101209e-03 4.36346360e+01] [ 4.64612962e-03 4.16844266e-04 9.99989120e-01 4.53710227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.81105275399999 meters Centerline goodness : 0.998352 Centerline is valid? [True, True] Translation: X:107.82, Y:43.64, Z:0.45 [[ 9.29998145e-01 -3.67540491e-01 -4.17588084e-03 1.07820916e+02] [ 3.67534827e-01 9.30007435e-01 -2.07900701e-03 4.36389405e+01] [ 4.64771948e-03 3.98691025e-04 9.99989120e-01 4.53024920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.84105275399999 meters Centerline goodness : 0.998249 Centerline is valid? [True, True] Translation: X:107.85, Y:43.65, Z:0.45 [[ 9.29724479e-01 -3.68232174e-01 -4.17837499e-03 1.07854994e+02] [ 3.68226540e-01 9.29733787e-01 -2.07398042e-03 4.36470887e+01] [ 4.64848272e-03 3.89641799e-04 9.99989120e-01 4.51607291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.87105275399999 meters Centerline goodness : 0.997436 Centerline is valid? [True, True] Translation: X:107.88, Y:43.65, Z:0.45 [[ 9.27556832e-01 -3.73658544e-01 -4.19718899e-03 1.07884312e+02] [ 3.73653134e-01 9.27566273e-01 -2.03601986e-03 4.36520935e+01] [ 4.65394716e-03 3.20231308e-04 9.99989119e-01 4.51191189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90105275399999 meters Centerline goodness : 0.997436 Centerline is valid? [True, True] Translation: X:107.91, Y:43.67, Z:0.45 [[ 9.27667002e-01 -3.73385165e-01 -4.17758829e-03 1.07914435e+02] [ 3.73379576e-01 9.27676336e-01 -2.07555381e-03 4.36669912e+01] [ 4.65043080e-03 3.65596635e-04 9.99989120e-01 4.51361249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.93105275399999 meters Centerline goodness : 0.996685 Centerline is valid? [True, True] Translation: X:107.95, Y:43.68, Z:0.45 [[ 9.26857882e-01 -3.75389143e-01 -4.17833183e-03 1.07946566e+02] [ 3.75383580e-01 9.26867232e-01 -2.07405284e-03 4.36777727e+01] [ 4.65133578e-03 3.53875061e-04 9.99989120e-01 4.52023989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.961052754 meters Centerline goodness : 0.996198 Centerline is valid? [True, True] Translation: X:107.98, Y:43.68, Z:0.45 [[ 9.25483500e-01 -3.78764866e-01 -4.17934609e-03 1.07978358e+02] [ 3.78759347e-01 9.25492876e-01 -2.07200395e-03 4.36849666e+01] [ 4.65275734e-03 3.34639071e-04 9.99989120e-01 4.52585128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.991052754 meters Centerline goodness : 0.996441 Centerline is valid? [True, True] Translation: X:108.01, Y:43.70, Z:0.45 [[ 9.25158035e-01 -3.79559160e-01 -4.17796293e-03 1.08008727e+02] [ 3.79553636e-01 9.25167408e-01 -2.07479907e-03 4.36968962e+01] [ 4.65282413e-03 3.33756006e-04 9.99989120e-01 4.54295702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.021052754 meters Centerline goodness : 0.995185 Centerline is valid? [True, True] Translation: X:108.04, Y:43.71, Z:0.46 [[ 9.25277221e-01 -3.79268529e-01 -4.17710533e-03 1.08040476e+02] [ 3.79262994e-01 9.25286588e-01 -2.07653297e-03 4.37061919e+01] [ 4.65258314e-03 3.37147183e-04 9.99989120e-01 4.56207581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.051052754 meters Centerline goodness : 0.995729 Centerline is valid? [True, True] Translation: X:108.07, Y:43.72, Z:0.46 [[ 9.25848636e-01 -3.77871488e-01 -4.17634629e-03 1.08070288e+02] [ 3.77865932e-01 9.25857991e-01 -2.07806813e-03 4.37171004e+01] [ 4.65194628e-03 3.45877560e-04 9.99989120e-01 4.56355045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.081052754 meters Centerline goodness : 0.995573 Centerline is valid? [True, True] Translation: X:108.10, Y:43.73, Z:0.46 [[ 9.27278757e-01 -3.74348336e-01 -4.17485806e-03 1.08101911e+02] [ 3.74342731e-01 9.27288083e-01 -2.08108023e-03 4.37251122e+01] [ 4.65034505e-03 3.66913723e-04 9.99989120e-01 4.56316259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.11105275399999 meters Centerline goodness : 0.994921 Centerline is valid? [True, True] Translation: X:108.13, Y:43.74, Z:0.46 [[ 9.28216578e-01 -3.72016917e-01 -4.17110830e-03 1.08131846e+02] [ 3.72011255e-01 9.28225869e-01 -2.08867289e-03 4.37364781e+01] [ 4.64875228e-03 3.87041564e-04 9.99989120e-01 4.56719994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14105275399999 meters Centerline goodness : 0.994879 Centerline is valid? [True, True] Translation: X:108.16, Y:43.75, Z:0.46 [[ 9.30125506e-01 -3.67218136e-01 -4.16934445e-03 1.08163417e+02] [ 3.67212410e-01 9.30134758e-01 -2.09224638e-03 4.37451781e+01] [ 4.64636301e-03 4.15016702e-04 9.99989119e-01 4.56894597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.17105275399999 meters Centerline goodness : 0.994331 Centerline is valid? [True, True] Translation: X:108.19, Y:43.76, Z:0.46 [[ 9.31168535e-01 -3.64565155e-01 -4.17209788e-03 1.08194916e+02] [ 3.64559427e-01 9.31177786e-01 -2.08666564e-03 4.37574848e+01] [ 4.64569045e-03 4.22059770e-04 9.99989120e-01 4.58550885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.20105275399999 meters Centerline goodness : 0.995170 Centerline is valid? [True, True] Translation: X:108.23, Y:43.77, Z:0.46 [[ 9.32412533e-01 -3.61371621e-01 -4.17380579e-03 1.08227747e+02] [ 3.61365877e-01 9.32421773e-01 -2.08319964e-03 4.37662924e+01] [ 4.64455663e-03 4.34130467e-04 9.99989120e-01 4.59619196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.23105275399999 meters Centerline goodness : 0.994427 Centerline is valid? [True, True] Translation: X:108.26, Y:43.78, Z:0.46 [[ 9.32989929e-01 -3.59878256e-01 -4.17539807e-03 1.08258164e+02] [ 3.59872512e-01 9.32999169e-01 -2.07996512e-03 4.37768457e+01] [ 4.64417715e-03 4.37975513e-04 9.99989120e-01 4.61661461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26105275399999 meters Centerline goodness : 0.995026 Centerline is valid? [True, True] Translation: X:108.29, Y:43.78, Z:0.46 [[ 9.33103609e-01 -3.59583404e-01 -4.17500699e-03 1.08292234e+02] [ 3.59577653e-01 9.33112845e-01 -2.08075980e-03 4.37831965e+01] [ 4.64395935e-03 4.40325266e-04 9.99989120e-01 4.62897929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.29105275399999 meters Centerline goodness : 0.994546 Centerline is valid? [True, True] Translation: X:108.32, Y:43.79, Z:0.46 [[ 9.33038671e-01 -3.59751740e-01 -4.18620589e-03 1.08321446e+02] [ 3.59746092e-01 9.33047970e-01 -2.05797976e-03 4.37944544e+01] [ 4.64629270e-03 4.14203485e-04 9.99989120e-01 4.63098400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.321052754 meters Centerline goodness : 0.995167 Centerline is valid? [True, True] Translation: X:108.36, Y:43.80, Z:0.46 [[ 9.33262426e-01 -3.59170984e-01 -4.17706659e-03 1.08355066e+02] [ 3.59165248e-01 9.33271671e-01 -2.07657791e-03 4.38023613e+01] [ 4.64418445e-03 4.37734984e-04 9.99989120e-01 4.64479110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.351052754 meters Centerline goodness : 0.995381 Centerline is valid? [True, True] Translation: X:108.39, Y:43.81, Z:0.46 [[ 9.33409305e-01 -3.58788989e-01 -4.18707774e-03 1.08385370e+02] [ 3.58783339e-01 9.33418603e-01 -2.05619195e-03 4.38134621e+01] [ 4.64603528e-03 4.17014972e-04 9.99989120e-01 4.64586038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.381052754 meters Centerline goodness : 0.995716 Centerline is valid? [True, True] Translation: X:108.42, Y:43.82, Z:0.46 [[ 9.34070771e-01 -3.57063383e-01 -4.18762336e-03 1.08418560e+02] [ 3.57057721e-01 9.34080061e-01 -2.05508014e-03 4.38198698e+01] [ 4.64536935e-03 4.24367040e-04 9.99989120e-01 4.61071446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.411052754 meters Centerline goodness : 0.995803 Centerline is valid? [True, True] Translation: X:108.45, Y:43.83, Z:0.46 [[ 9.34095541e-01 -3.56998598e-01 -4.18589124e-03 1.08449171e+02] [ 3.56992919e-01 9.34104822e-01 -2.05861118e-03 4.38297696e+01] [ 4.64498249e-03 4.28605993e-04 9.99989120e-01 4.60668902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.441052754 meters Centerline goodness : 0.996163 Centerline is valid? [True, True] Translation: X:108.48, Y:43.84, Z:0.46 [[ 9.33637147e-01 -3.58195658e-01 -4.18894733e-03 1.08482492e+02] [ 3.58190020e-01 9.33646452e-01 -2.05237894e-03 4.38361851e+01] [ 4.64614904e-03 4.15738091e-04 9.99989120e-01 4.60618544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.47105275399998 meters Centerline goodness : 0.996407 Centerline is valid? [True, True] Translation: X:108.51, Y:43.85, Z:0.46 [[ 9.32997437e-01 -3.59858588e-01 -4.19267199e-03 1.08510904e+02] [ 3.59853000e-01 9.33006772e-01 -2.04478037e-03 4.38466199e+01] [ 4.64762314e-03 3.99029256e-04 9.99989120e-01 4.61643966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50105275399999 meters Centerline goodness : 0.997082 Centerline is valid? [True, True] Translation: X:108.55, Y:43.85, Z:0.46 [[ 9.32725345e-01 -3.60563309e-01 -4.18690404e-03 1.08546067e+02] [ 3.60557675e-01 9.32734653e-01 -2.05655082e-03 4.38533298e+01] [ 4.64678725e-03 4.08576688e-04 9.99989120e-01 4.61555115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.53105275399999 meters Centerline goodness : 0.996772 Centerline is valid? [True, True] Translation: X:108.58, Y:43.86, Z:0.46 [[ 9.31974928e-01 -3.62498472e-01 -4.19411158e-03 1.08578154e+02] [ 3.62492923e-01 9.31984287e-01 -2.04183148e-03 4.38615812e+01] [ 4.64900688e-03 3.82599983e-04 9.99989120e-01 4.62763263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56105275399999 meters Centerline goodness : 0.997268 Centerline is valid? [True, True] Translation: X:108.61, Y:43.87, Z:0.46 [[ 9.30991124e-01 -3.65017743e-01 -4.19215317e-03 1.08606787e+02] [ 3.65012202e-01 9.31000487e-01 -2.04583293e-03 4.38731529e+01] [ 4.64966196e-03 3.74465238e-04 9.99989120e-01 4.63349402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.59105275399999 meters Centerline goodness : 0.997522 Centerline is valid? [True, True] Translation: X:108.64, Y:43.88, Z:0.47 [[ 9.30709479e-01 -3.65735307e-01 -4.18930656e-03 1.08638506e+02] [ 3.65729747e-01 9.30718831e-01 -2.05165247e-03 4.38835898e+01] [ 4.64942825e-03 3.77338377e-04 9.99989120e-01 4.65052034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62105275399999 meters Centerline goodness : 0.997436 Centerline is valid? [True, True] Translation: X:108.67, Y:43.89, Z:0.47 [[ 9.28535669e-01 -3.71219530e-01 -4.19192518e-03 1.08668979e+02] [ 3.71214049e-01 9.28545068e-01 -2.04629639e-03 4.38911305e+01] [ 4.65201663e-03 3.43957664e-04 9.99989120e-01 4.65969549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.65105275399999 meters Centerline goodness : 0.997406 Centerline is valid? [True, True] Translation: X:108.70, Y:43.90, Z:0.46 [[ 9.25777271e-01 -3.78046178e-01 -4.18710051e-03 1.08700826e+02] [ 3.78040722e-01 9.25786684e-01 -2.05616716e-03 4.38987363e+01] [ 4.65368804e-03 3.20658322e-04 9.99989120e-01 4.64827792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68105275399999 meters Centerline goodness : 0.997460 Centerline is valid? [True, True] Translation: X:108.73, Y:43.91, Z:0.46 [[ 9.24612197e-01 -3.80886769e-01 -4.18971362e-03 1.08732388e+02] [ 3.80881366e-01 9.24621641e-01 -2.05081850e-03 4.39101121e+01] [ 4.65502952e-03 3.00427956e-04 9.99989120e-01 4.64610968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.711052754 meters Centerline goodness : 0.998041 Centerline is valid? [True, True] Translation: X:108.76, Y:43.92, Z:0.47 [[ 9.22323548e-01 -3.86395769e-01 -4.19304509e-03 1.08762988e+02] [ 3.86390454e-01 9.22333041e-01 -2.04399748e-03 4.39205311e+01] [ 4.65717601e-03 2.65074413e-04 9.99989120e-01 4.66199207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.741052754 meters Centerline goodness : 0.997641 Centerline is valid? [True, True] Translation: X:108.79, Y:43.93, Z:0.47 [[ 9.22168129e-01 -3.86766548e-01 -4.19282028e-03 1.08793361e+02] [ 3.86761234e-01 9.22177623e-01 -2.04445788e-03 4.39333806e+01] [ 4.65725296e-03 2.63713552e-04 9.99989120e-01 4.67859114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.771052754 meters Centerline goodness : 0.997161 Centerline is valid? [True, True] Translation: X:108.82, Y:43.94, Z:0.47 [[ 9.22904025e-01 -3.85007240e-01 -4.19352457e-03 1.08818464e+02] [ 3.85001915e-01 9.22913512e-01 -2.04301456e-03 4.39438360e+01] [ 4.65683589e-03 2.70991368e-04 9.99989120e-01 4.71616619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.801052754 meters Centerline goodness : 0.996898 Centerline is valid? [True, True] Translation: X:108.84, Y:43.95, Z:0.47 [[ 9.24168088e-01 -3.81963079e-01 -4.18950016e-03 1.08842712e+02] [ 3.81957685e-01 9.24177537e-01 -2.05125690e-03 4.39546229e+01] [ 4.65534634e-03 2.95494385e-04 9.99989120e-01 4.71979996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.831052754 meters Centerline goodness : 0.997055 Centerline is valid? [True, True] Translation: X:108.87, Y:43.97, Z:0.47 [[ 9.25817947e-01 -3.77946542e-01 -4.18810963e-03 1.08867089e+02] [ 3.77941094e-01 9.25827365e-01 -2.05410312e-03 4.39655134e+01] [ 4.65380768e-03 3.18866798e-04 9.99989120e-01 4.70987972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86105275399999 meters Centerline goodness : 0.997959 Centerline is valid? [True, True] Translation: X:108.89, Y:43.98, Z:0.47 [[ 9.28355978e-01 -3.71668762e-01 -4.18444126e-03 1.08892996e+02] [ 3.71663218e-01 9.28365339e-01 -2.06160300e-03 4.39786005e+01] [ 4.65092367e-03 3.58698566e-04 9.99989120e-01 4.74167105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.89105275399999 meters Centerline goodness : 0.997042 Centerline is valid? [True, True] Translation: X:108.92, Y:43.99, Z:0.47 [[ 9.29920194e-01 -3.67737508e-01 -4.19030068e-03 1.08919480e+02] [ 3.67731977e-01 9.29929563e-01 -2.04962386e-03 4.39914996e+01] [ 4.65040806e-03 3.65079060e-04 9.99989120e-01 4.72968624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92105275399999 meters Centerline goodness : 0.997583 Centerline is valid? [True, True] Translation: X:108.94, Y:44.00, Z:0.48 [[ 9.30086684e-01 -3.67316160e-01 -4.19513272e-03 1.08943511e+02] [ 3.67310669e-01 9.30096077e-01 -2.03974512e-03 4.40031746e+01] [ 4.65110782e-03 3.56222766e-04 9.99989120e-01 4.75624533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.95105275399999 meters Centerline goodness : 0.997666 Centerline is valid? [True, True] Translation: X:108.98, Y:44.01, Z:0.47 [[ 9.29707887e-01 -3.68273939e-01 -4.18946834e-03 1.08976240e+02] [ 3.68268406e-01 9.29717254e-01 -2.05131367e-03 4.40146384e+01] [ 4.65046637e-03 3.64273673e-04 9.99989120e-01 4.73211363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.98105275399999 meters Centerline goodness : 0.997635 Centerline is valid? [True, True] Translation: X:109.00, Y:44.03, Z:0.48 [[ 9.28619152e-01 -3.71010573e-01 -4.19829396e-03 1.09003192e+02] [ 3.71005149e-01 9.28628583e-01 -2.03328103e-03 4.40281945e+01] [ 4.65302453e-03 3.30555028e-04 9.99989120e-01 4.77426458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.01105275399999 meters Centerline goodness : 0.997916 Centerline is valid? [True, True] Translation: X:109.03, Y:44.04, Z:0.48 [[ 9.27130082e-01 -3.74716235e-01 -4.18985118e-03 1.09033651e+02] [ 3.74710771e-01 9.27139490e-01 -2.05053214e-03 4.40405499e+01] [ 4.65294417e-03 3.31127664e-04 9.99989120e-01 4.78440889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04105275399999 meters Centerline goodness : 0.998059 Centerline is valid? [True, True] Translation: X:109.07, Y:44.05, Z:0.47 [[ 9.27146512e-01 -3.74675577e-01 -4.19006912e-03 1.09066792e+02] [ 3.74670114e-01 9.27155922e-01 -2.05008670e-03 4.40523798e+01] [ 4.65296482e-03 3.30837062e-04 9.99989120e-01 4.73995010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.071052754 meters Centerline goodness : 0.997541 Centerline is valid? [True, True] Translation: X:109.09, Y:44.07, Z:0.48 [[ 9.25469228e-01 -3.78799387e-01 -4.21108079e-03 1.09090075e+02] [ 3.78794160e-01 9.25478771e-01 -2.00710122e-03 4.40681781e+01] [ 4.65755459e-03 2.62377607e-04 9.99989119e-01 4.78901653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.101052754 meters Centerline goodness : 0.997514 Centerline is valid? [True, True] Translation: X:109.12, Y:44.08, Z:0.48 [[ 9.24922762e-01 -3.80131985e-01 -4.19022398e-03 1.09119019e+02] [ 3.80126579e-01 9.24932204e-01 -2.04973825e-03 4.40833852e+01] [ 4.65484417e-03 3.03034058e-04 9.99989120e-01 4.80097304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.131052754 meters Centerline goodness : 0.998037 Centerline is valid? [True, True] Translation: X:109.15, Y:44.10, Z:0.48 [[ 9.23883358e-01 -3.82651252e-01 -4.19044422e-03 1.09147137e+02] [ 3.82645875e-01 9.23892816e-01 -2.04928790e-03 4.40993339e+01] [ 4.65568389e-03 2.89846794e-04 9.99989120e-01 4.81669954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.161052754 meters Centerline goodness : 0.997973 Centerline is valid? [True, True] Translation: X:109.18, Y:44.11, Z:0.48 [[ 9.23446402e-01 -3.83704550e-01 -4.19062750e-03 1.09175650e+02] [ 3.83699185e-01 9.23455867e-01 -2.04891304e-03 4.41138373e+01] [ 4.65603680e-03 2.84121016e-04 9.99989120e-01 4.82010685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.191052754 meters Centerline goodness : 0.997889 Centerline is valid? [True, True] Translation: X:109.21, Y:44.13, Z:0.48 [[ 9.23245172e-01 -3.84188482e-01 -4.19077128e-03 1.09206789e+02] [ 3.84183123e-01 9.23254640e-01 -2.04861890e-03 4.41290069e+01] [ 4.65620482e-03 2.81353911e-04 9.99989120e-01 4.80672047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22105275399998 meters Centerline goodness : 0.996933 Centerline is valid? [True, True] Translation: X:109.23, Y:44.14, Z:0.48 [[ 9.22942342e-01 -3.84915272e-01 -4.20317555e-03 1.09231776e+02] [ 3.84910036e-01 9.22951879e-01 -2.02315062e-03 4.41433084e+01] [ 4.65807034e-03 2.49406920e-04 9.99989120e-01 4.80922145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.25105275399999 meters Centerline goodness : 0.998025 Centerline is valid? [True, True] Translation: X:109.25, Y:44.16, Z:0.48 [[ 9.23545503e-01 -3.83465759e-01 -4.20901083e-03 1.09254841e+02] [ 3.83460562e-01 9.23555062e-01 -2.01117502e-03 4.41596565e+01] [ 4.65847002e-03 2.43421984e-04 9.99989120e-01 4.77531241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28105275399999 meters Centerline goodness : 0.998012 Centerline is valid? [True, True] Translation: X:109.28, Y:44.18, Z:0.48 [[ 9.23842127e-01 -3.82750625e-01 -4.20507998e-03 1.09282668e+02] [ 3.82745385e-01 9.23851662e-01 -2.01919879e-03 4.41760544e+01] [ 4.65771973e-03 2.55945952e-04 9.99989120e-01 4.77194010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.31105275399999 meters Centerline goodness : 0.997507 Centerline is valid? [True, True] Translation: X:109.32, Y:44.19, Z:0.47 [[ 9.27784999e-01 -3.73091534e-01 -4.20755144e-03 1.09319172e+02] [ 3.73086217e-01 9.27794491e-01 -2.01415200e-03 4.41884519e+01] [ 4.65520610e-03 2.98920564e-04 9.99989120e-01 4.70944103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.34105275399999 meters Centerline goodness : 0.997388 Centerline is valid? [True, True] Translation: X:109.35, Y:44.20, Z:0.47 [[ 9.31310711e-01 -3.64200848e-01 -4.25472644e-03 1.09354358e+02] [ 3.64195875e-01 9.31320399e-01 -1.91779134e-03 4.42027846e+01] [ 4.66097476e-03 2.36505798e-04 9.99989110e-01 4.70499225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.37105275399999 meters Centerline goodness : 0.995705 Centerline is valid? [True, True] Translation: X:109.35, Y:44.22, Z:0.48 [[ 9.26912521e-01 -3.75252916e-01 -4.29265236e-03 1.09353907e+02] [ 3.75248415e-01 9.26922456e-01 -1.84036715e-03 4.42248585e+01] [ 4.66955901e-03 9.50483593e-05 9.99989093e-01 4.78753557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40105275399999 meters Centerline goodness : 0.995295 Centerline is valid? [True, True] Translation: X:109.38, Y:44.24, Z:0.48 [[ 9.28017675e-01 -3.72512664e-01 -4.18449104e-03 1.09381785e+02] [ 3.72507135e-01 9.28027042e-01 -2.06006890e-03 4.42419126e+01] [ 4.65072259e-03 3.53027585e-04 9.99989123e-01 4.78224717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.43105275399999 meters Centerline goodness : 0.995771 Centerline is valid? [True, True] Translation: X:109.41, Y:44.26, Z:0.48 [[ 9.28227774e-01 -3.71988827e-01 -4.18470507e-03 1.09411201e+02] [ 3.71983295e-01 9.28237139e-01 -2.05963404e-03 4.42580549e+01] [ 4.65055951e-03 3.55169145e-04 9.99989123e-01 4.78820289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.461052754 meters Centerline goodness : 0.996027 Centerline is valid? [True, True] Translation: X:109.44, Y:44.27, Z:0.48 [[ 9.28463116e-01 -3.71401034e-01 -4.18491773e-03 1.09443917e+02] [ 3.71395497e-01 9.28472479e-01 -2.05920185e-03 4.42734850e+01] [ 4.65037063e-03 3.57633364e-04 9.99989123e-01 4.77853388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.491052754 meters Centerline goodness : 0.996549 Centerline is valid? [True, True] Translation: X:109.48, Y:44.29, Z:0.47 [[ 9.30395080e-01 -3.66534205e-01 -4.20374757e-03 1.09478310e+02] [ 3.66528791e-01 9.30404515e-01 -2.02088208e-03 4.42861361e+01] [ 4.65190812e-03 3.39424232e-04 9.99989122e-01 4.73576378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.521052754 meters Centerline goodness : 0.995851 Centerline is valid? [True, True] Translation: X:109.49, Y:44.31, Z:0.48 [[ 9.27806015e-01 -3.73038872e-01 -4.24250139e-03 1.09492188e+02] [ 3.73033883e-01 9.27815689e-01 -1.94157030e-03 4.43054948e+01] [ 4.66054055e-03 2.18803833e-04 9.99989116e-01 4.80430223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.551052754 meters Centerline goodness : 0.995094 Centerline is valid? [True, True] Translation: X:109.52, Y:44.32, Z:0.48 [[ 9.28016460e-01 -3.72515642e-01 -4.18880804e-03 1.09520892e+02] [ 3.72510152e-01 9.28025850e-01 -2.05121799e-03 4.43201968e+01] [ 4.65143293e-03 3.43190536e-04 9.99989123e-01 4.80848189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.581052754 meters Centerline goodness : 0.995525 Centerline is valid? [True, True] Translation: X:109.55, Y:44.34, Z:0.48 [[ 9.28602160e-01 -3.71053205e-01 -4.18898131e-03 1.09550044e+02] [ 3.71047703e-01 9.28611542e-01 -2.05086407e-03 4.43368217e+01] [ 4.65091609e-03 3.50124915e-04 9.99989123e-01 4.81656327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.61105275399999 meters Centerline goodness : 0.994776 Centerline is valid? [True, True] Translation: X:109.58, Y:44.35, Z:0.48 [[ 9.28865661e-01 -3.70393080e-01 -4.18919753e-03 1.09579212e+02] [ 3.70387573e-01 9.28875041e-01 -2.05042232e-03 4.43529270e+01] [ 4.65070327e-03 3.52940177e-04 9.99989123e-01 4.81745369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64105275399999 meters Centerline goodness : 0.995638 Centerline is valid? [True, True] Translation: X:109.61, Y:44.37, Z:0.48 [[ 9.29455391e-01 -3.68910723e-01 -4.18977437e-03 1.09607402e+02] [ 3.68905206e-01 9.29464765e-01 -2.04924295e-03 4.43705190e+01] [ 4.65023535e-03 3.59050325e-04 9.99989123e-01 4.83706773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.67105275399999 meters Centerline goodness : 0.995161 Centerline is valid? [True, True] Translation: X:109.63, Y:44.38, Z:0.48 [[ 9.30308970e-01 -3.66752793e-01 -4.19631962e-03 1.09634177e+02] [ 3.66747314e-01 9.30318366e-01 -2.03585358e-03 4.43849511e+01] [ 4.65056820e-03 3.54983896e-04 9.99989123e-01 4.82361070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.70105275399999 meters Centerline goodness : 0.994695 Centerline is valid? [True, True] Translation: X:109.66, Y:44.40, Z:0.48 [[ 9.32133507e-01 -3.62090549e-01 -4.19025138e-03 1.09663426e+02] [ 3.62084968e-01 9.32142843e-01 -2.04826770e-03 4.43993581e+01] [ 4.64757121e-03 3.92031914e-04 9.99989123e-01 4.82812873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.73105275399999 meters Centerline goodness : 0.995026 Centerline is valid? [True, True] Translation: X:109.70, Y:44.41, Z:0.48 [[ 9.36195481e-01 -3.51454774e-01 -4.19083604e-03 1.09704600e+02] [ 3.51449092e-01 9.36204756e-01 -2.04707076e-03 4.44085283e+01] [ 4.64293343e-03 4.43592871e-04 9.99989123e-01 4.78904906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76105275399999 meters Centerline goodness : 0.994465 Centerline is valid? [True, True] Translation: X:109.72, Y:44.42, Z:0.48 [[ 9.34983080e-01 -3.54666842e-01 -4.25099494e-03 1.09717454e+02] [ 3.54661745e-01 9.34992699e-01 -1.92355551e-03 4.44247456e+01] [ 4.65687059e-03 2.90826578e-04 9.99989114e-01 4.78522549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.79105275399999 meters Centerline goodness : 0.994465 Centerline is valid? [True, True] Translation: X:109.74, Y:44.44, Z:0.48 [[ 9.35036232e-01 -3.54527574e-01 -4.17666119e-03 1.09744918e+02] [ 3.54521797e-01 9.35045447e-01 -2.07570855e-03 4.44381319e+01] [ 4.64126395e-03 4.60145272e-04 9.99989123e-01 4.78696912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.821052754 meters Centerline goodness : 0.994089 Centerline is valid? [True, True] Translation: X:109.78, Y:44.45, Z:0.48 [[ 9.38606096e-01 -3.44965442e-01 -4.17609649e-03 1.09783950e+02] [ 3.44959565e-01 9.38615249e-01 -2.07686455e-03 4.44481459e+01] [ 4.63619435e-03 5.08773296e-04 9.99989123e-01 4.79229801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.851052754 meters Centerline goodness : 0.993807 Centerline is valid? [True, True] Translation: X:109.80, Y:44.46, Z:0.49 [[ 9.37089997e-01 -3.49062068e-01 -4.24376846e-03 1.09796737e+02] [ 3.49056847e-01 9.37099547e-01 -1.93838594e-03 4.44632492e+01] [ 4.65345051e-03 3.35125641e-04 9.99989116e-01 4.86442316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.881052754 meters Centerline goodness : 0.993820 Centerline is valid? [True, True] Translation: X:109.82, Y:44.48, Z:0.48 [[ 9.36577817e-01 -3.50434788e-01 -4.17751105e-03 1.09823656e+02] [ 3.50428979e-01 9.36587012e-01 -2.07367029e-03 4.44757104e+01] [ 4.63928880e-03 4.78232664e-04 9.99989124e-01 4.75233276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.911052754 meters Centerline goodness : 0.993587 Centerline is valid? [True, True] Translation: X:109.84, Y:44.49, Z:0.47 [[ 9.32909023e-01 -3.60088001e-01 -4.16975977e-03 1.09844874e+02] [ 3.60082217e-01 9.32918234e-01 -2.08949397e-03 4.44854658e+01] [ 4.64244663e-03 4.47851429e-04 9.99989123e-01 4.73442785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.941052754 meters Centerline goodness : 0.993261 Centerline is valid? [True, True] Translation: X:109.87, Y:44.50, Z:0.47 [[ 9.30684615e-01 -3.65799311e-01 -4.12446767e-03 1.09869574e+02] [ 3.65793178e-01 9.30693608e-01 -2.18153931e-03 4.44966588e+01] [ 4.63662127e-03 5.21622937e-04 9.99989115e-01 4.70586877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 2735.52 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%| | 0/4165 [00:00